A power inspection drone and automatic obstacle avoidance control system

Abstract

The present invention belongs to the technical field of electric power inspection, and specifically is an electric power inspection UAV and an automatic obstacle avoidance control system, comprising a flying platform, and a rotor, a power device, a control device and a collection and transmission device are installed on the flying platform, the power device is used to drive the rotor to rotate and drive the flying platform to inspect, and the control device is used to control the flying platform; the control device controls the motor to start, and drives two clamping plates to approach each other to clamp a fixed object, so as to achieve the purpose of fixing an extension rod; after the extension rod is fixed, the collection and transmission device and the electric power equipment are restricted by the extension rod, so that the distance between the two is reduced or fixed, and the shaking amplitude of the flying platform during the suspended flight is reduced, thereby improving the stability of the collection process, and then improving the stability of the UAV during inspection, making the collected images and data more accurate, and improving the inspection effect.

Description

Technical Field

[0001] The invention belongs to the technical field of electric power inspection, and specifically relates to an electric power inspection unmanned aerial vehicle and an automatic obstacle avoidance control system. Background Art

[0002] The traditional manual power grid inspection method has problems such as high labor intensity, low efficiency, and limited inspection angle. UAVs have the characteristics of fast response speed, high degree of automation, wide application range, good economy, and high inspection quality. The rapid development of UAV technology has provided a new platform for power inspection. Among them, the visible light inspection of rotor UAVs is mainly used in the conventional lean inspection of transmission lines. The main inspection contents include: tower body, insulators, auxiliary settings, etc. The visible light equipment carried by multi-rotor UAVs is used to collect relevant information of transmission line equipment. After the inspection task is completed, the ground staff will check the collected picture information and formulate corresponding maintenance plans for the defects found according to the maintenance plan.

[0003] The advantage of drones in power inspections is that they reduce the outdoor work intensity of operation and maintenance personnel, improve work efficiency and safety of operation and maintenance personnel, but some shortcomings have also been found in actual applications:

[0004] 1. The amount of data collected at a time is limited, and the collection effectiveness is low. During the inspection process, multiple shots of the inspection target are required to make up for the lack of focus failure of the mission payload and the inability to accurately aim at the target. A large amount of information captured by the front end is mostly invalid information, which affects the inspection work;

[0005] 2. Data collection is affected by dirt, resulting in the inability to accurately collect data in the collection area or target, affecting inspection work;

[0006] 3. Data collection is limited. Due to the flight angle or collection angle problems, the drone cannot collect data in small environments, which limits or affects the data collection of the drone, affecting the inspection work. Summary of the invention

[0007] In order to make up for the deficiencies of the prior art and solve the above-mentioned technical problems, the present invention proposes an electric power inspection drone and an automatic obstacle avoidance control system.

[0008] The technical solution adopted by the present invention to solve the technical problem is: the present invention proposes an electric power inspection UAV and an automatic obstacle avoidance control system, including a flight platform, and the flight platform is equipped with a rotor, a power device, a control device and a collection and transmission device; the flight platform includes:

[0009] A landing gear, wherein the landing gear is installed at the bottom of the flight platform, and a support rod is slidably connected to the bottom of the landing gear, and the support rod is located between adjacent landing gears; one end of the support rod is located inside the landing gear, and the other end is located between adjacent landing gears, and an extension rod is hingedly connected to the end of the support rod away from the landing gear; a plurality of clamping plates are hingedly connected to the end of the extension rod, and a motor is provided between the extension rod and the clamping plate, and the motor is used to drive the adjacent clamping plates to be close to the clamping structure and fixed, and the rotation angle between the extension rod and the support rod is less than 90 degrees;

[0010] No. 1 pipe, the No. 1 pipe is installed at the bottom of the flying platform, the No. 1 pipe is inclined, and the No. 2 pipe is slidably connected inside the No. 1 pipe; one end of the No. 2 pipe is located inside the No. 1 pipe, and the other end is located inside the flying platform, and an electric telescopic rod is provided inside the No. 1 pipe, one end of the electric telescopic rod is connected to one end of the No. 2 pipe, when the No. 2 pipe is extended, the end of the No. 2 pipe is located within the shooting range of the acquisition and transmission device; a water tank is provided in the flying platform, a cleaning solution is stored in the water tank, and the water tank is connected to the No. 2 pipe through a water pipe.

[0011] Preferably, the surface of the No. 1 tube is evenly provided with sliding grooves, and the sliding rod arranged on the No. 2 tube slides in the sliding grooves, the end of the sliding rod is rotatably connected to a rotating shaft, and a rubber block is provided between the surfaces of the sliding rod and the rotating shaft that are in rotational contact; driving blocks are evenly provided in the sliding grooves, and the surface of the rotating shaft close to the driving blocks is evenly provided with linkage blocks, and the linkage blocks are distributed in a ring shape, and the linkage blocks contact the driving blocks; a swing rod is provided at the part of the rotating shaft surface away from the linkage block, and a shielding cloth is provided on the side of the swing rod facing the No. 1 tube, when the rotating shaft is away from the end of the No. 1 tube, the swing rod drives the shielding cloth to be stored close to the No. 1 tube, and when the rotating shaft is close to the end of the No. 1 tube, the swing rod drives the shielding cloth to be unfolded; a camera is provided on the No. 2 tube, and the camera is away from the end of the No. 2 tube; a cleaning brush is provided on the inner wall of the No. 1 tube, and the cleaning brush contacts the camera.

[0012] Preferably, an elastic pull rope is provided in the middle of each of the shielding cloths near the bottom, and the end of the pull rope is connected to one side of a swing rod away from the head end of the pull rope. When the swing rod drives the shielding cloth to unfold, the pull rope is stretched and lengthened. When the swing rod drives the shielding cloth to be retracted, the pull rope is shortened and pulls the middle part of the shielding cloth to arch up and cover the rest of the surface of the swing rod.

[0013] Preferably, a nozzle assembly is provided at the end of the No. 2 pipe, and the nozzle assembly is tubular in shape, an L-shaped toggle rod is provided on the surface of the nozzle assembly, an arc plate is provided on the inner wall of the No. 1 pipe, the surface of the arc plate away from the end of the No. 1 pipe is set as a slope, and the slope of the arc plate contacts the top of the toggle rod.

[0014] Preferably, a clamping block is provided at the end of the swing rod, and there are two clamping blocks, which are located at two corresponding ends of the swing rod, and the extension rod, the clamping plate and the clamping block are all made of insulating materials; a scale is provided on the surface of the swing rod and the clamping block away from the No. 1 tube.

[0015] Preferably, the No. 1 tube is ball-jointed to the bottom of the flying platform, and a motor is provided at the bottom of the flying platform, and a rotating rod is provided at the output end of the motor; rotating wheels are evenly provided on the rotating rod, and driving ropes are provided at positions corresponding to the rotating wheels on the No. 1 tube, and one end of each driving rope is wound on the corresponding rotating wheel; a No. 1 electromagnet is provided on the inner ring of each rotating wheel, and when a single No. 1 electromagnet is energized, the corresponding rotating wheel and rotating rod are tightly adsorbed and rotate simultaneously.

[0016] Preferably, a protective plate is provided at a position of the rotor away from the flight platform, and the protective plate is arc-shaped; the interior of the protective plate is hollow, and a No. 1 slide plate is slidably connected to the protective plate through a spring, and a No. 2 electromagnet is provided in the protective plate, and the No. 2 electromagnet is close to the No. 1 slide plate; a No. 1 airbag is installed in the protective plate, and a solid is stored in the No. 1 airbag, and a No. 1 spike is provided on the inner wall of the No. 1 airbag close to the No. 1 slide plate, and a No. 1 capsule is provided in the No. 1 airbag, and a solution is stored in the No. 1 capsule, and the No. 1 spike faces the No. 1 capsule; a No. 1 protective groove is opened on the side of the protective plate away from the rotor, and a part of the No. 1 capsule is located inside the protective plate, and the other part is stored in the No. 1 protective groove.

[0017] Preferably, the interior of the landing gear is hollow, and a No. 2 slide is slidably connected to the landing gear via a spring, a No. 3 electromagnet is provided in the landing gear, and the No. 3 electromagnet is close to the No. 2 slide; a No. 2 airbag is provided in the landing gear, solid is stored in the No. 2 airbag, and a No. 2 spike is provided on the inner wall of the No. 2 airbag close to the No. 2 slide, a No. 2 capsule is provided in the No. 2 airbag, and a solution is stored in the No. 2 capsule, and the No. 2 spike faces the No. 2 capsule; a No. 2 protective groove is provided on the side of the landing gear away from each other, and a part of the No. 2 capsule is located in the No. 2 protective groove, and the other part is located in the landing gear.

[0018] Preferably, a fixing groove is provided at the bottom of the landing gear, and the support rod slides through the fixing groove; blocks are evenly provided on the inner wall of the fixing groove near the top, and a fixing groove is evenly provided on the surface of the support rod, and a sensor is provided in the fixing groove; when the support rod is away from the inner wall at the top of the fixing groove, the fixing groove is disengaged from the fixing block, and when the support rod is close to the fixing groove, the fixing groove is combined with the fixing block.

[0019] An automatic obstacle avoidance control system suitable for the power inspection UAV, wherein the obstacle avoidance control system is implanted in a control device, and the obstacle avoidance control system includes a laser detection unit and a path planning unit; the laser detection unit emits a laser beam and receives a reflected signal, and sends the received reflected signal to the obstacle avoidance control system; the acquisition and transmission device sends the data collected during the flight to the obstacle avoidance control system, and the obstacle avoidance control system plans and adjusts its flight path in combination with visual images, infrared detection and laser detection, and sends the path planning data to the control device, and the control device controls the flight of the UAV according to the path planning.

[0020] The beneficial effects of the present invention are as follows:

[0021] 1. An electric power inspection UAV and automatic obstacle avoidance control system of the present invention controls the motor to start through a control device, driving two clamping plates to approach each other to clamp a fixed object, so as to achieve the purpose of fixing the extension rod; after the extension rod is fixed, the collection and transmission device and the electric power equipment are restricted by the extension rod, so that the distance between the two is reduced or remains unchanged, and the shaking amplitude of the flying platform during the suspended flight is reduced, thereby improving the stability of the collection process, and then improving the stability of the UAV during inspection, making the collected images and data more accurate, and improving the inspection effect.

[0022] 2. The electric power inspection UAV and automatic obstacle avoidance control system of the present invention are in a stable state during the cleaning process, so that the UAV can resist the reaction force generated by the spraying of the No. 2 pipe, thereby preventing the UAV from being affected by the reaction force during spray cleaning, causing the position of the UAV to change, resulting in poor cleaning effect or non-cleaning, thereby improving the cleaning effect of the UAV on the parts of the electric power equipment, and further improving the inspection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] Figure 1 is a stereogram of the drone of the present invention;

[0025] Figure 2 This is a schematic diagram of the internal structure of the drone;

[0026] Figure 3 It is a stereogram of tube number one;

[0027] Figure 4 This is a schematic diagram of the interior of tube No. 1;

[0028] Figure 5 It is a three-dimensional diagram of the rotating shaft;

[0029] Figure 6 is a cross-sectional view of the rotating shaft;

[0030] Figure 7 This is a diagram of the state where the No. 2 tube extends out of the No. 1 tube;

[0031] Figure 8 It is the internal schematic diagram of the protection board;

[0032] Fig. 9 This is a schematic diagram of the interior of the landing gear;

[0033] Fig.10 It is a state diagram of the support rod moving in the fixed groove;

[0034] In the figure: flight platform 1, rotor 11, power device 12, control device 13, collection and transmission device 14, landing gear 15, support rod 16, extension rod 17, clamping plate 18, motor 19, No. 1 tube 2, No. 2 tube 21, electric telescopic rod 22, water tank 23, slide 24, slide bar 25, rotating shaft 26, rubber block 27, drive block 28, linkage block 3, swing rod 31, shielding cloth 32, camera 33, cleaning brush 34, pull rope 35, nozzle assembly 36, Toggle rod 37, arc plate 38, clamping block 39, motor 4, rotating rod 41, rotating wheel 42, driving rope 43, No. 1 electromagnet 44, protection plate 5, No. 1 slide plate 51, No. 2 electromagnet 52, No. 1 airbag 53, No. 1 spike 54, No. 1 capsule 55, No. 1 protection groove 56, No. 2 slide plate 6, No. 3 electromagnet 61, No. 2 airbag 62, No. 2 spike 63, No. 2 capsule 64, No. 2 protection groove 65, fixing groove 7, card block 71, card slot 72, sensor 73. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Embodiment 1:

[0036] A power inspection drone, as shown in the attached figure of the specification Figure 1-Figure 10 As shown, the flying platform 1 includes a rotor 11, a power device 12, a control device 13 and a collection and transmission device 14 installed on the flying platform 1. The rotor 11, the power device 12, the control device 13 and the collection and transmission device 14 are conventional equipment on the UAV, and the power device 12 includes a power supply. The power device 12 is used to drive the rotor 11 to rotate and drive the flying platform 1 for inspection. The control device 13 is used to control the flying platform 1. The collection and transmission device 14 collects power equipment through a built-in camera component and an infrared detection component; the UAV completes image capture detection and path planning assistance for the power equipment through a conventional camera component; and the UAV also performs infrared detection on the power equipment photographed by the camera component through an infrared probe in the infrared detection component to complete preliminary external detection of the power equipment; the flying platform 1 includes:

[0037] The landing gear 15 is installed at the bottom of the flight platform 1, and the bottom of the landing gear 15 is slidably connected with a support rod 16, and the support rod 16 is located between adjacent landing gears 15; one end of the support rod 16 is located in the landing gear 15, and the other end is located between adjacent landing gears 15, and the end of the support rod 16 away from the landing gear 15 is hinged with an extension rod 17; the end of the extension rod 17 is hinged with a plurality of clamping plates 18, and a motor 19 is provided between the extension rod 17 and the clamping plate 18, and the motor 19 is used to drive the adjacent clamping plates 18 to be fixed close to the clamping structure, and the rotation angle of the extension rod 17 and the support rod 16 is less than 90 degrees, that is, the UAV is stationary. When placed on the take-off platform, the extension rod 17 is in a horizontal state. After the drone takes off, the extension rod 17 swings to the position below the center of the drone under the influence of gravity, and the extension rod 17 will not swing to a vertical downward state; the motor 19 is a conventional motor 19 with a self-powered power supply conventionally used in manipulators for driving clamping. The control device 13 controls the motor 19 by wireless transmission, and the power equipment in the drone is all of light weight, which reduces the impact on the drone load; when the drone takes off, one end of the support rod 16 is located at the bottom of the landing gear 15; when the drone lands, the staff can provide landing conditions through a special lifting platform;

[0038] A No. 1 pipe 2 is installed at the bottom of the flight platform 1. The No. 1 pipe 2 is tilted, and a No. 2 pipe 21 is slidably connected inside the No. 1 pipe 2; one end of the No. 2 pipe 21 is located inside the No. 1 pipe 2, and the other end is located inside the flight platform 1. An electric telescopic rod 22 is provided inside the No. 1 pipe 2, and one end of the electric telescopic rod 22 is connected to one end of the No. 2 pipe 21. When the No. 2 pipe 21 is extended, the end of the No. 2 pipe 21 is located within the shooting range of the acquisition and transmission device 14; a water tank 23 is provided inside the flight platform 1, and a cleaning solution is stored in the water tank 23. The water tank 23 is connected to the No. 2 pipe 21 through a water pipe; the cleaning solution is a solution professionally used for cleaning parts of power equipment, such as cleaning parts that need to be inspected, such as insulating terminals in power equipment; the water tank 23 is a conventional device for conveying liquids, and the water tank 23 conveys the internal cleaning solution into the No. 2 pipe 21 and sprays it out;

[0039] Specific work flow: During the inspection, the operator controls the UAV to start, the power device 12 drives the rotor 11 to rotate and drives the flight platform 1 to fly, the control device 13 controls the UAV to fly according to the preset path, and the acquisition and transmission device 14 collects the power equipment through the camera component and the infrared detection component to complete the inspection of the power equipment; before the UAV takes off, the landing gear 15 is stationary on the take-off platform, and the extension rod 17 is stationary on the take-off platform in a horizontal state; after the UAV takes off, the gravity of the extension rod 17, the clamping plate 18 and the motor 19 makes it swing to the bottom of the UAV with the hinged part as the rotation position, and is in an inclined state. At this time, the clamping plate 18 is within the shooting range of the camera component in the acquisition and transmission device 14, which is convenient for the operator to control the clamping plate 18 to align with the fixed object through the camera, thereby improving the convenience of use;

[0040] When inspection and collection are required, the flying platform 1 drives the clamping plate 18 to approach the power equipment or parts, and looks for clampable fixed objects, such as buildings and steel structures; when the fixed object is located between the two clamping plates 18, the control device 13 controls the motor 19 to start, and drives the two clamping plates 18 to approach each other to clamp the fixed object, so as to achieve the purpose of fixing the extension rod 17; after the extension rod 17 is fixed, the acquisition and transmission device 14 and the power equipment are restricted by the extension rod 17, so that the distance between the two is reduced or fixed, and the shaking amplitude of the flying platform 1 during the suspended flight is reduced, thereby improving the stability of the acquisition process, and then improving the stability of the drone during inspection, so that the collected images and data are more accurate, and the inspection effect is improved; in addition, the stable drone can also focus and shoot faster when the camera component in the acquisition and transmission device 14, thereby improving the inspection efficiency;

[0041] Furthermore, if it is necessary to collect longer parts, such as insulating terminals or lines in high-voltage circuits, the drone needs to maintain the required height when moving. During the movement, the drone is in a suspended state, which can easily cause the drone to rise and fall and shake when moving. Therefore, according to the above method, when the distance between the drone and the power equipment is fixed, the drone is driven to fly along one end of the support rod 16, for example, the drone is driven to fly sideways, so that the landing gear 15 slides toward one end along the support rod 16, ensuring that the drone reduces shaking during the sliding collection process, improving the stability of the drone during the mobile collection process, thereby improving the accuracy of the collected images and data, and further improving the inspection effect.

[0042] When the dirt on the surface of parts in the power equipment affects the inspection work, after the drone grabs the fixed object in the above manner to maintain stable flight, the flight platform 1 drives the landing gear 15 to move on the support rod 16, while driving the No. 1 pipe 2 and the No. 2 pipe 21 to move close to the cleaning area; the control device 13 controls the water tank 23 to transport the cleaning solution into the No. 2 pipe 21, and sprays it from one end of the No. 2 pipe 21 to the cleaning area to achieve a cleaning effect, ensuring that the drone can perform more detailed photography and infrared detection of power equipment and parts to improve the inspection accuracy, thereby improving the inspection effect of the drone; and, because the drone is in a stable state during the cleaning process, the drone can resist the reaction force generated by the spraying of the No. 2 pipe 21, avoiding the drone being affected by the reaction force during the spray cleaning, resulting in a change in the position of the drone, resulting in poor cleaning effect or non-cleaning, thereby improving the cleaning effect of the drone on the parts of the power equipment, and further improving the inspection accuracy;

[0043] When faced with dirt that is difficult to clean, the electric telescopic rod 22 is started to drive the No. 2 pipe 21 to extend out of the No. 1 pipe 2, and the water tank 23 continues to transport the cleaning solution to the No. 2 pipe 21 through the water pipe. One end of the No. 2 pipe 21 is close to the cleaning area, and the dirt is sprayed at a close distance. Under the condition of equal water pressure, the spray cleaning effect of the dirt is improved to achieve the purpose of cleaning and decontamination, improve the cleanliness of power equipment parts, and thus improve the inspection effect; in addition, when the drone cannot approach the area, the No. 2 pipe 21 can be extended to achieve the purpose of cleaning, expand the applicable scope of the drone, and thus improve the convenience of using the drone during inspection; during the flight of the drone, the camera component and the infrared detection component in the collection and transmission device 14 can also timely update the planning of the drone inspection path, play a reference and auxiliary role, and improve practicality. Embodiment 2:

[0044] Based on the first embodiment, as shown in the accompanying drawings of the specification Figure 1-Figure 7As shown, the surface of the No. 1 pipe 2 is evenly provided with a slide groove 24, and the slide bar 25 arranged on the No. 2 pipe 21 slides in the slide groove 24, and the end of the slide bar 25 is rotatably connected to the rotating shaft 26, and a rubber block 27 is provided between the surfaces of the slide bar 25 and the rotating shaft 26 that are in contact with each other in rotation; driving blocks 28 are evenly provided in the slide groove 24, and the surface of the rotating shaft 26 close to the driving blocks 28 is evenly provided with linkage blocks 3, and the linkage blocks 3 are distributed in an annular manner, and the linkage blocks 3 contact the driving blocks 28; a swing rod 31 is provided at the part of the surface of the rotating shaft 26 away from the linkage block 3, and a shielding cloth 32 is provided on the side of the swing rod 31 facing the No. 1 pipe 2, when the rotating shaft 26 is away from the end of the No. 1 pipe 2, the swing rod 31 drives the shielding cloth 32 to be stored close to the No. 1 pipe 2, and when the rotating shaft 26 is close to When the end of the No. 1 tube 2 is reached, the swing rod 31 drives the shielding cloth 32 to unfold; a camera 33 is arranged on the No. 2 tube 21, and the camera 33 is far away from the end of the No. 2 tube 21; a cleaning brush 34 is arranged on the inner wall of the No. 1 tube 2, and the cleaning brush 34 contacts the camera 33; the camera 33 is a conventional camera device, and the cleaning brush 34 is a conventional tool for cleaning the camera 33; the end of the slide bar 25 is rotatably connected with a rotating shaft 26, and a rubber block 27 is arranged between the surfaces of the slide bar 25 and the rotating shaft 26 that are in rotational contact, that is, when an external force moves the rotating shaft 26, the rotating shaft 26 resists the friction of the rubber and rotates; when the external force disappears, the rotating shaft 26 is tightened and fixed by the rubber again, so that the rotating shaft 26 can rotate with an external force but not be fixed with an external force;

[0045] An elastic drawstring 35 is provided at the bottom of each shielding cloth 32, and the end of the drawstring 35 is connected to one side of the swing rod 31 away from the head end of the drawstring 35. When the swing rod 31 drives the shielding cloth 32 to unfold, the drawstring 35 is stretched and lengthened. When the swing rod 31 drives the shielding cloth 32 to retract, the drawstring 35 shortens and pulls the middle part of the shielding cloth 32 to arch up and cover the rest of the surface of the swing rod 31.

[0046] Specific work flow: When the drone needs to collect data at a close distance, or the drone cannot approach the inspection area, the electric telescopic rod 22 drives the second tube 21 to extend from the first tube 2 close to the inspection area until the camera 33 on the second tube 21 is exposed. The operator can adjust the extension distance of the second tube 21 according to the collection distance, so as to facilitate the focus of the camera 33 and more detailed shooting, improve the accuracy of inspection data collection, and thus improve the inspection effect;

[0047] When the No. 2 tube 21 extends out of the No. 1 tube 2, the rotating shaft 26 is driven to move in the slide groove 24 through the slide rod 25, and the rotating shaft 26 drives the linkage block 3 and the swing rod 31 to move away from the flight platform 1. At this time, the rotating shaft 26 is fixed; when the linkage block 3 contacts the driving block 28, the driving block 28 is fixed in the slide groove 24 and is in a fixed state, so that the driving block 28 moves the linkage block 3. The linkage block 3 is hindered by the driving block 28 during the movement, and the rotating shaft 26 is driven to rotate at the end of the slide rod 25, so that the linkage block 3 passes over the driving block 28, and the rotating shaft 26 drives the shielding cloth 32 to swing away from the No. 1 tube 21. Tube 2; when the shaft 26 moves to one end of the No. 1 tube 2, the shaft 26 passes through a plurality of driving blocks 28, so that the swing rod 31 swings further away from the No. 1 tube 2, and the shielding plate is opened, that is, the process of opening the umbrella, and the shielding cloth 32 is opened to shield the surrounding environment of the camera 33, playing a role of shading, preventing the camera 33 from being irradiated by external strong light, causing the image quality in the collection to be affected, thereby improving the accuracy of patrol data collection, and then improving the patrol effect; and the camera assembly in the collection and transmission device 14 at the bottom of the flying platform 1 is covered by the flying platform 1 and is less affected by external strong light;

[0048] If there is dirt that is difficult to clean in the cleaning area, the No. 2 pipe 21 has been extended close to the inspection area, and the water tank 23 is started to spray the cleaning solution through the No. 2 pipe 21 to complete the cleaning; at this time, the shielding cloth 32 has been opened, which can shield the spraying area to prevent the cleaning solution from splashing onto the acquisition and transmission device 14 during the spraying process, affecting the subsequent inspection work, ensuring that the acquisition data and image quality are not affected, while improving the cleaning efficiency, thereby improving the inspection efficiency; moreover, the operator can observe the cleaning status of the inspection area in a variety of ways:

[0049] First, the shielding cloth 32 is opened to a half state, at which time the camera 33 is still in the No. 1 tube 2, and the splashing cleaning solution will not splash onto the camera 33; after cleaning, the No. 2 tube 21 is extended again to expose the camera 33 for shooting;

[0050] Second, the shielding cloth 32 is fully opened, and the operator observes the cleaning status in real time through the camera 33; after the cleaning is completed, the second tube 21 is driven to retract into the first tube 2 to contact the cleaning brush 34 and then extend again, and the cycle is repeated to complete the cleaning of the camera 33, remove the cleaning solution splashed on its surface, and continue shooting;

[0051] Through a variety of observation methods, the cleaning status of the inspection area can be grasped in time, avoiding wasting too much time on cleaning work, improving cleaning efficiency, and thus improving inspection efficiency; moreover, if there is still residual dirt that is difficult to remove, the second tube 21 can be further extended to contact the cleaning area, and through reciprocating contact and slight touch, in conjunction with the moving flight of the drone, the purpose of scraping the dirt through one end of the second tube 21 is achieved, ensuring the removal of dirt, further improving cleaning efficiency, and thus improving inspection efficiency;

[0052] Furthermore, when the shielding cloth 32 is stretched open, the middle part of the shielding cloth 32 pulls the pull rope 35 to elastically deform and stretch; when the No. 2 tube 21 is reset, the swing rod 31 drives the shielding cloth 32 to approach the No. 1 tube 2, and the pull rope 35 in the stretched state elastically recovers and shortens, pulling the middle position of the shielding cloth 32 between the two adjacent swing rods 31 to cover each shielding cloth 32 one by one, such as the storage state of an umbrella. Each piece of rain cloth on the umbrella is folded and stacked on top of each other. In this way, the shielding cloth 32 is stored tightly against the surface of the No. 1 tube 2. On the one hand, the scattered shielding cloth 32 is prevented from affecting the use of the collection and transmission device 14, and on the other hand, the scattered shielding cloth 32 is prevented from being blown by the wind and swinging when the drone is in flight, thereby affecting the flight of the drone, thereby improving the convenience of use. Embodiment three:

[0053] Based on the second embodiment, as shown in the accompanying drawings of the specification Figure 1-Figure 7 As shown, a nozzle assembly 36 is provided at the end of the No. 2 pipe 21, and the nozzle assembly 36 is tubular in shape, an L-shaped toggle rod 37 is provided on the surface of the nozzle assembly 36, and an arc plate 38 is provided on the inner wall of the No. 1 pipe 2, and the surface of the arc plate 38 away from the end of the No. 1 pipe 2 is set as an inclined surface, and the inclined surface of the arc plate 38 contacts the top of the toggle rod 37; one end of the toggle rod 37 is away from one end of the No. 2 pipe 21, and is located between the No. 1 pipe 2 and the No. 2 pipe 21, and a spring is provided between the toggle rod 37 and the No. 2 pipe 21; the nozzle assembly 36 is a conventional nozzle assembly, such as a nozzle on a watering can, and the spraying state can be changed by rotating the nozzle; the spraying state of the nozzle assembly 36 is more than two, such as columnar spray and conical spray, the columnar spray is sprayed out like a water column, and the conical spray is sprayed out like a cone expanding outward state;

[0054] A clamping block 39 is provided at the end of the swing rod 31, and the number of the clamping blocks 39 is two. The clamping blocks 39 are located at the two corresponding ends of the swing rod 31. The extension rod 17, the clamping plate 18 and the clamping block 39 are all made of insulating materials. A scale is provided on the surface of the swing rod 31 and the clamping block 39 away from the first tube 2.

[0055] The No. 1 tube 2 and the bottom of the flying platform 1 are ball-jointed, and a motor 4 is provided at the bottom of the flying platform 1, and a rotating rod 41 is provided at the output end of the motor 4; rotating wheels 42 are evenly provided on the rotating rod 41, and driving ropes 43 are provided at positions corresponding to the rotating wheels 42 on the No. 1 tube 2, and one end of each driving rope 43 is rolled up on the corresponding rotating wheel 42; a No. 1 electromagnet 44 is provided at the inner circle of each rotating wheel 42, and when a single No. 1 electromagnet 44 is energized, the corresponding rotating wheel 42 and the rotating rod 41 are tightly adsorbed and rotate at the same time; the number of rotating wheels 42 is four, and they are respectively located around the No. 1 tube 2, and there are four driving ropes 43 and No. 1 electromagnet 44; the position of the No. 1 electromagnet 44 is subjected to magnetic isolation treatment to avoid affecting the movement of other parts;

[0056] Specific working process: During jet cleaning, the cleaning solution in the No. 2 pipe 21 is sprayed out through the nozzle assembly 36. If the cleaning area is small, the No. 2 pipe 21 drives the top of the toggle rod 37 to contact the head end of the inclined surface of the arc plate 38, that is, the part where the inclined surface of the arc plate 38 is away from the No. 1 pipe 2. The toggle rod 37 is guided by the inclined surface of the arc plate 38 to rotate, driving the nozzle assembly 36 to rotate at the end of the No. 2 pipe 21, so that the spray state of the No. 2 pipe 21 changes to a columnar shape, increasing the spray water pressure and improving the spray cleaning effect; if the cleaning area is large, , the second tube 21 continues to drive the toggle rod 37 to move to the position where the inclined surface of the arc plate 38 is close to the end of the first tube 2, and the toggle rod 37 continues to drive the nozzle assembly 36 to rotate, so that the spray state of the nozzle assembly 36 changes from columnar to conical spray, expanding the spray coverage of the cleaning solution and increasing the cleaning area; through the above method, the drone can be treated differently according to the cleaning method, improving the cleaning effect and the cleaning efficiency; when the second tube 21 is retracted into the first tube 2, the toggle rod 37 is affected by the spring to drive the nozzle assembly 36 to rotate in the opposite direction to reset;

[0057] Furthermore, while the second pipe 21 scrapes the dirt by telescoping, the telescoping of the second pipe 21 drives the nozzle assembly 36 to repeatedly switch between forward rotation and reverse rotation, so that the nozzle assembly 36 repeatedly sprays the dirt with high pressure for multiple times. Through the cooperation of scraping and spraying, the cleaning efficiency is accelerated and the inspection efficiency is improved.

[0058] When the power equipment is briefly stopped or quickly inspected, it is not necessary to fix it through the clamping plate 18. The electric telescopic rod 22 drives the extension and contraction of the No. 2 tube 21, so that the swing rod 31 drives the clamping block 39 to swing away from the No. 1 tube 2 and then re-approach the No. 1 tube 2; in the process of the clamping blocks 39 moving away and then re-approaching each other, the clamping process is simulated, and the fixed objects in the collected area can be clamped to fix the drone, which is convenient for focusing the camera component in the collection transmission device 14, and can also be used as a distance reference and reference data according to the set scale table. After the drone is collected, it is released and flies away, completing the rapid collection during the inspection process, further improving the collection efficiency, thereby improving the inspection efficiency;

[0059] Since the No. 1 pipe 2 and the bottom of the flying platform 1 are ball-jointed, the No. 1 pipe 2 can drive the No. 2 pipe 21 to swing at the bottom of the flying platform 1; when the No. 1 pipe 2 needs to swing toward the cleaning area, except for the No. 1 electromagnet 44 in the corresponding direction, the others are all powered off, and the No. 1 electromagnet 44 in the corresponding direction adsorbs the rotating wheel 42 in the corresponding direction onto the rotating rod 41; the motor 4 starts to drive the rotating rod 41 to rotate, and the rotating rod 41 drives the rotating wheel 42 in the corresponding direction to rotate, and the driving rope 43 in the corresponding direction is wound up, and the No. 1 pipe 2 is pulled up in the corresponding direction until it passes through the collection and transmission device 1 The camera assembly 4 observes the No. 1 tube 2 swinging to the desired position. On the one hand, it is convenient to aim the drone at the inspection area for subsequent cleaning and collection, thereby improving the inspection efficiency. On the other hand, the swinging of the No. 1 tube 2 makes it convenient for the drone to grab fixed objects through the No. 1 tube 2, thereby improving the convenience of use. When the No. 1 tube 2 swings, the No. 2 tube 21 and the electric telescopic rod 22 swing together with it, and when the No. 1 tube 2 does not need to swing, the rotating rod 41, the rotating wheel 42 and the driving rope 43 are all in a fixed state, so that the No. 1 tube 2 is in a fixed state, thereby avoiding being affected when the drone passes through the No. 1 tube 2 for stability. Embodiment 4:

[0060] Based on the third embodiment, as shown in the accompanying drawings of the specification Figure 1-Figure 10 As shown, a protective plate 5 is provided at a position of the rotor 11 away from the flight platform 1, and the protective plate 5 is arc-shaped; the protective plate 5 is hollow inside, and a No. 1 slide plate 51 is slidably connected to the protective plate 5 through a spring, and a No. 2 electromagnet 52 is provided in the protective plate 5, and the No. 2 electromagnet 52 is close to the No. 1 slide plate 51; a No. 1 airbag 53 is installed in the protective plate 5, and a solid is stored in the No. 1 airbag 53, and a No. 1 spike 54 is provided on the inner wall of the No. 1 airbag 53 close to the No. 1 slide plate 51, and a No. 1 capsule 55 is provided in the No. 1 airbag 53, and a solution is stored in the No. 1 capsule 55, and the No. 1 spike 54 faces the No. 1 capsule 55; a No. 1 protective groove 56 is provided on the side of the protective plate 5 away from the rotor 11, and a part of the No. 1 capsule 55 is located inside the protective plate 5, and the other part is stored in the No. 1 protective groove 56;

[0061] The interior of the landing gear 15 is hollow, and a second slide plate 6 is slidably connected to the landing gear 15 through a spring. A third electromagnet 61 is provided in the landing gear 15, and the third electromagnet 61 is close to the second slide plate 6. A second airbag 62 is provided in the landing gear 15, and a solid is stored in the second airbag 62. A second spike 63 is provided on the inner wall of the second airbag 62 close to the second slide plate 6. A second capsule 64 is provided in the second airbag 62, and a solution is stored in the second capsule 64. The second spike 63 faces the second capsule 64. A second protective groove 65 is provided on the side of the landing gear 15 that is away from each other, and a part of the second capsule 64 is located in the second protective groove 65, and the other part is located in the landing gear 15; the positions of the second electromagnet 52 and the third electromagnet 61 are subjected to magnetic isolation treatment to avoid affecting the movement of other parts; the solids in the first airbag 53 and the third airbag are in contact with the liquids in the second airbag 62 and the fourth airbag respectively, and a large amount of gas, such as strongly reducing metals and water, aluminum sulfate and ammonium bicarbonate, can be quickly generated;

[0062] A fixing groove 7 is provided at the bottom of the landing gear 15, and the support rod 16 passes through the fixing groove 7 and slides; a card block 71 is evenly provided on the inner wall of the fixing groove 7 near the top, and a card groove 72 is evenly provided on the surface of the support rod 16, and a sensor 73 is provided in the card groove 72; when the support rod 16 is away from the inner wall at the top of the fixing groove 7, the card groove 72 is separated from the card block 71, and when the support rod 16 is close to the fixing groove 7, the card groove 72 is combined with the card block 71; the sensor 73 is a conventional pressure sensor 73, and sends a signal to the control device 13 by wireless transmission;

[0063] Specific work flow: During the flight of the drone, the arc-shaped protection plate 5 prevents the rotor 11 from being damaged by collision, thereby increasing the protection measures for the drone and improving the safety of the flight; if the drone falls unexpectedly, the second electromagnet 52 is energized to adsorb the first slide plate 51 toward the second electromagnet 52, and the first slide plate 51 squeezes the first airbag 53 during movement, driving the first spike 54 in the first airbag 53 to pierce the first capsule 55, and the solution in the first capsule 55 flows out and contacts the solid in the first airbag 53, reacting and quickly generating a large amount of gas, so that the first airbag 53 expands out of the first protection groove 56, and forms an expanded airbag outside the protection plate 5 to cope with the collision during the falling process, increase protection measures, and improve the safety level;

[0064] Moreover, when the No. 2 electromagnet 52 is energized, the No. 3 electromagnet 61 is also energized, so that the No. 2 slide plate 6 is attracted toward the No. 2 electromagnet 52. During the movement of the No. 2 slide plate 6, the No. 2 spike 63 in the No. 2 airbag 62 is driven to pierce the No. 2 capsule 64, and the solution in the No. 2 capsule 64 flows out and contacts the solid in the No. 2 airbag 62, reacting and quickly generating a large amount of gas, so that the No. 2 airbag 62 expands out of the No. 2 protection groove 65, and forms an expanded airbag outside the landing gear 15; through the cooperation of the expanded No. 1 airbag 53 and the No. 2 airbag 62, the UAV can be protected from the rotor 11 to the landing gear 15, so as to avoid the UAV crash and the damage of the collection and transmission device 14, further improve the safety level, thereby improving the convenience of use; moreover, after the No. 1 airbag 53 and the No. 2 airbag 62 are used, the No. 1 airbag 53 and the No. 2 airbag 62 can be replaced by simply opening the No. 1 protection groove 56 and the No. 2 protection groove 65, thereby improving practicality;

[0065] If the UAV is in flight, the support rod 16 slides down under the influence of gravity and is at the bottom of the fixed groove 7 and away from the block 71; when the extension rod 17 is kept stable by clamping, the support rod 16 and the extension rod 17 are fixedly connected and are also in a stable state, and the UAV moves, driving the landing gear 15 to move along the support rod 16 through the fixed groove 7; when the power equipment or parts are cleaned and collected for a long time, the UAV descends and drives the landing gear 15 to descend, and the landing gear 15 drives the block 71 to descend and insert into the slot 72 until the sensor 73 is triggered. At this time, the landing gear 15 is fixed on the support through the combination of the block 71 and the slot 72. The sensor 73 then sends a contact signal to the control device 13, and the UAV stops the rotation of the rotor 11 and remains stationary on the support rod 16, so that when the UAV is working in the same position for a long time, the UAV can stop flying, thereby reducing the power consumption of the UAV, increasing the inspection distance, and improving the inspection effect. When it is necessary to leave this position, the UAV is first put into flight, and then the block 71 is pulled out of the slot 72 by rising, so as to release the clamping plate 18 and fly away. In addition, when the block 71 is combined with the slot 72, the reaction force generated by the injection of the No. 2 tube 21 can be resisted to keep the UAV stable. Embodiment five:

[0066] An automatic obstacle avoidance control system suitable for the above-mentioned power inspection UAV, the obstacle avoidance control system is implanted in the control device 13, and the obstacle avoidance control system includes a laser detection unit and a path planning unit; the laser detection unit emits a laser beam and receives a reflected signal, and sends the received reflected signal to the obstacle avoidance control system; the acquisition and transmission device 14 sends the data collected during the flight to the obstacle avoidance control system, the obstacle avoidance control system combines visual images, infrared detection and laser detection, plans and adjusts its flight path, and sends the path planning data to the control device 13, and the control device 13 controls the flight of the UAV according to the path planning.

Claims

1. A power inspection drone, comprising a flight platform (1), wherein the flight platform (1) is equipped with a rotor (11), a power device (12), a control device (13) and a data collection and transmission device (14); characterized in that: The flying platform (1) comprises: A landing gear (15), wherein the landing gear (15) is installed at the bottom of the flight platform (1), and a support rod (16) is slidably connected to the bottom of the landing gear (15), and the support rod (16) is located between adjacent landing gears (15); one end of the support rod (16) is located inside the landing gear (15), and the other end is located between adjacent landing gears (15), and an extension rod (17) is hingedly connected to the end of the support rod (16) away from the landing gear (15); a plurality of clamping plates (18) are hingedly connected at the end of the extension rod (17), and a motor (19) is provided between the extension rod (17) and the clamping plate (18), and the motor (19) is used to drive the adjacent clamping plates (18) to be fixed close to the clamping structure, and the rotation angle between the extension rod (17) and the support rod (16) is less than 90 degrees; A No. 1 pipe (2), the No. 1 pipe (2) is installed at the bottom of the flying platform (1), the No. 1 pipe (2) is inclined, and a No. 2 pipe (21) is slidably connected inside the No. 1 pipe (2); one end of the No. 2 pipe (21) is located inside the No. 1 pipe (2), and the other end is located inside the flying platform (1), and an electric telescopic rod (22) is provided inside the No. 1 pipe (2), one end of the electric telescopic rod (22) is connected to one end of the No. 2 pipe (21), when the No. 2 pipe (21) is extended, the end of the No. 2 pipe (21) is located within the shooting range of the collection and transmission device (14); a water tank (23) is provided inside the flying platform (1), a cleaning solution is stored in the water tank (23), and the water tank (23) is connected to the No. 2 pipe (21) through a water pipe.

2. The power inspection drone according to claim 1, characterized in that: The surface of the first tube (2) is evenly provided with a slide groove (24), and the slide rod (25) arranged on the second tube (21) slides in the slide groove (24), the end of the slide rod (25) is rotatably connected with a rotating shaft (26), and a rubber block (27) is arranged between the surfaces of the slide rod (25) and the rotating shaft (26) in rotational contact; the slide groove (24) is evenly provided with a driving block (28), and the surface of the rotating shaft (26) close to the driving block (28) is evenly provided with a linkage block (3), and the linkage block (3) is distributed in an annular manner, and the linkage block (3) contacts the driving block (28); the surface of the rotating shaft (26) is away from the linkage block (3) A swing rod (31) is provided at the position of the first tube (2), and a shielding cloth (32) is provided on the side of the swing rod (31) facing the first tube (2); when the rotating shaft (26) is away from the end of the first tube (2), the swing rod (31) drives the shielding cloth (32) to be stored close to the first tube (2); when the rotating shaft (26) is close to the end of the first tube (2), the swing rod (31) drives the shielding cloth (32) to be unfolded; a camera (33) is provided on the second tube (21), and the camera (33) is away from the end of the second tube (21); a cleaning brush (34) is provided on the inner wall of the first tube (2), and the cleaning brush (34) contacts the camera (33).

3. The power inspection drone according to claim 2, characterized in that: An elastic drawstring (35) is provided at the middle and bottom position of each shielding cloth (32), and the end of the drawstring (35) is connected to one side of the swing rod (31) away from the head end of the drawstring (35). When the swing rod (31) drives the shielding cloth (32) to unfold, the drawstring (35) is stretched and lengthened. When the swing rod (31) drives the shielding cloth (32) to be retracted, the drawstring (35) is shortened to pull the middle part of the shielding cloth (32) to arch up and cover the surface of the remaining swing rod (31).

4. The power inspection drone according to claim 3, characterized in that: The end of the No. 2 pipe (21) is provided with a nozzle assembly (36), and the nozzle assembly (36) is in a tubular shape. An L-shaped toggle rod (37) is provided on the surface of the nozzle assembly (36). The inner wall of the No. 1 pipe (2) is provided with an arc plate (38), and the surface of the arc plate (38) away from the end of the No. 1 pipe (2) is set as an inclined surface, and the inclined surface of the arc plate (38) contacts the top of the toggle rod (37).

5. The power inspection drone according to claim 3, characterized in that: The end of the swing rod (31) is provided with a clamping block (39), and the number of the clamping blocks (39) is two. The clamping blocks (39) are located at the ends of two corresponding swing rods (31). The extension rod (17), the clamping plate (18) and the clamping block (39) are all made of insulating materials. The surfaces of the swing rod (31) and the clamping block (39) away from the first tube (2) are provided with a scale.

6. The power inspection drone according to claim 1, characterized in that: The No. 1 tube (2) and the bottom of the flying platform (1) are ball-jointed, and a motor (4) is provided at the bottom of the flying platform (1), and a rotating rod (41) is provided at the output end of the motor (4); rotating wheels (42) are evenly provided on the rotating rod (41), and driving ropes (43) are provided at positions corresponding to the rotating wheels (42) on the No. 1 tube (2), and one end of each driving rope (43) is wound on the corresponding rotating wheel (42); a No. 1 electromagnet (44) is provided on the inner ring of each rotating wheel (42), and when a single No. 1 electromagnet (44) is energized, the corresponding rotating wheel (42) and the rotating rod (41) are tightly adsorbed and rotate simultaneously.

7. The power inspection drone according to claim 1, characterized in that: A protective plate (5) is provided at a position of the rotor (11) away from the flight platform (1), and the protective plate (5) is arc-shaped; the interior of the protective plate (5) is hollow, and a first slide plate (51) is slidably connected to the protective plate (5) via a spring, a second electromagnet (52) is provided in the protective plate (5), and the second electromagnet (52) is close to the first slide plate (51); a first airbag (53) is installed in the protective plate (5), a solid is stored in the first airbag (53), and a A number one spike (54) is provided on the inner wall of the number one airbag (53) close to the number one slide plate (51), a number one capsule (55) is provided in the number one airbag (53), a solution is stored in the number one capsule (55), and the number one spike (54) faces the number one capsule (55); a number one protection groove (56) is provided on the side of the protection plate (5) away from the rotor (11), and a part of the number one capsule (55) is located inside the protection plate (5), and the other part is stored in the number one protection groove (56).

8. The power inspection drone according to claim 1, characterized in that: The interior of the landing gear (15) is hollow, and a second slide plate (6) is slidably connected to the landing gear (15) via a spring. A third electromagnet (61) is provided in the landing gear (15), and the third electromagnet (61) is close to the second slide plate (6); a second air bag (62) is provided in the landing gear (15), and a solid is stored in the second air bag (62). A second spike (63) is provided on the inner wall of the second air bag (62) close to the second slide plate (6); a second capsule (64) is provided in the second air bag (62), and a solution is stored in the second capsule (64), and the second spike (63) faces the second capsule (64); a second protection groove (65) is provided on a side of the landing gear (15) away from each other, and a part of the second capsule (64) is located in the second protection groove (65), and the other part is located in the landing gear (15).

9. The power inspection drone according to claim 8, characterized in that: The bottom of the landing gear (15) is provided with a fixing groove (7), and the support rod (16) penetrates the fixing groove (7) and slides; the inner wall of the fixing groove (7) near the top is evenly provided with a clamping block (71); the surface of the support rod (16) is evenly provided with a clamping groove (72), and a sensor (73) is arranged in the clamping groove (72); when the support rod (16) is away from the inner wall at the top of the fixing groove (7), the clamping groove (72) is separated from the clamping block (71); when the support rod (16) is close to the fixing groove (7), the clamping groove (72) is combined with the clamping block (71).

10. An automatic obstacle avoidance control system applicable to a power inspection drone according to any one of claims 1 to 9, characterized in that: The obstacle avoidance control system is implanted in the control device (13), and the obstacle avoidance control system includes a laser detection unit and a path planning unit; the laser detection unit emits a laser beam and receives a reflected signal, and sends the received reflected signal to the obstacle avoidance control system; the acquisition and transmission device (14) sends the data collected during the flight to the obstacle avoidance control system, and the obstacle avoidance control system plans and adjusts its flight path in combination with visual images, infrared detection and laser detection, and sends the path planning data to the control device (13), and the control device (13) controls the flight of the unmanned aerial vehicle according to the path planning.

Images