Power transmission line unmanned aerial vehicle device and path planning method

Abstract

The invention relates to the technical field of unmanned aerial vehicle devices, and provides a power transmission line unmanned aerial vehicle device and a path planning method.The power transmission line unmanned aerial vehicle device adopts a spherical design, is smooth in overall structure, high in environmental adaptability, richer in function and higher in practicability while ensuring flight, and comprises an unmanned aerial vehicle body and further comprises an intervention system; the unmanned aerial vehicle body comprises a spherical shell, a plurality of vertical eccentric holes are formed in the spherical shell, flight wings are installed in the vertical eccentric holes, a detection system is installed on the spherical shell, a penetrating cavity is formed in the spherical shell, the intervention system comprises a mounting middle frame, the mounting middle frame is fixedly connected into the penetrating cavity, and an insertion groove is formed in the bottom end of the mounting middle frame. A tool rack is slidably connected into the inserting groove, an electric telescopic rod is installed on the inner top wall of the inserting groove, a telescopic rod body of the electric telescopic rod is connected with the tool rack, an inner groove is formed in the bottom end of the tool rack, a flame nozzle is installed in the inner groove, and a gas supply system matched with the flame nozzle is installed in the middle installation frame.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle devices, and in particular to a transmission line unmanned aerial vehicle device and a path planning method. Background Art

[0002] As we all know, transmission line drone devices are auxiliary flight devices that match transmission lines to achieve the purposes of inspection, cleaning and maintenance. Taking into account the construction environment of overhead transmission lines, we propose a transmission line drone device and path planning method to achieve the purposes of inspection, cleaning and maintenance while ensuring the safe movement of the drone.

[0003] After searching, the invention patent with Chinese patent application number CN202310411254.1 discloses a transmission line inspection drone anti-collision line structure, which is roughly described as including a drone body, an electromagnetic sensing unit is installed on the drone body, the electromagnetic sensing unit is composed of a four-way electromagnetic sensor and a rotating electromagnetic sensor, the rotating electromagnetic sensor is distributed in the upper and lower parts of the drone body, the upper and lower parts of the drone body are both installed with axial motors, the output end of the axial motor is connected to a swivel seat, the rotating electromagnetic sensor is distributed and installed on the swivel seat, the four-way electromagnetic sensors are distributed on the four side walls of the drone body, a control box is arranged on the top of the drone body, a control module and a data analysis module are arranged inside the control box, and a control module is arranged on the internal control panel of the drone body. The stopping unit, when in use, installs the electromagnetic sensor unit on the drone body, controls the axial motor through the control module, so that the axial motor drives the rotating electromagnetic sensor installed on the swivel seat to rotate, so as to monitor the electromagnetic intensity of the upper and lower positions around the drone body at all times, and at the same time monitors the electromagnetic intensity of the drone's horizontal flight state at all times through the four-way electromagnetic sensor. Since the transmission line will generate electromagnetic intensity when it is energized, the electromagnetic sensor unit will sense the electromagnetic intensity around the drone at all times, and transmit its electromagnetic monitoring data to the data analysis module, which will perform electromagnetic intensity analysis. When the sensing intensity exceeds the limit intensity setting, it will prompt the drone and the transmission line to be close to the limit position, thereby improving the safety of the drone's anti-collision line.

[0004] Although the above-mentioned existing technical solutions can be used as transmission line inspection drones, their flying rotors are exposed and protective measures need to be further strengthened. In addition, overhead transmission lines are mostly located in suburbs, rural areas and mountainous areas, so the environment is relatively complex. Therefore, the requirements for drones are relatively stringent and their practicality needs to be further strengthened. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a transmission line UAV device and a path planning method, which adopts a spherical design and has a relatively smooth overall structure. While ensuring flight, it has strong adaptability to the environment, richer functions, and greater practicality.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a transmission line UAV device, including a UAV body, and also including an intervention interference system, the UAV body including a spherical shell, the spherical shell is provided with a plurality of vertical offset holes, and the plurality of vertical offset holes are each provided with a flying wing, a detection system is installed on the spherical shell, a through cavity is provided in the spherical shell, the intervention interference system includes an installation middle frame, the installation middle frame is fixedly connected in the through cavity, an insertion groove is provided at the bottom end of the installation middle frame, a tool rack is slidably connected in the insertion groove, an electric telescopic rod is installed on the inner top wall of the insertion groove, and the telescopic rod of the electric telescopic rod is connected to the through cavity. The tool rack is connected, an inner groove is opened at the bottom end of the tool rack, a flamethrower is installed in the inner groove, an air supply system matching the flamethrower is installed in the installation middle frame, a plurality of side grooves are opened on the side of the tool rack, a plurality of parallel racks are rotatably connected in the side grooves, a plurality of parallel racks are installed with outriggers, a synchronous drive structure is installed in the tool rack, the synchronous drive structure is used for synchronous driving of a plurality of parallel racks, a wireless communication module, a satellite navigation module and a central control module are installed in the installation middle frame, and the flying wing, the electric telescopic rod, the wireless communication module and the satellite navigation module are all electrically connected to the central control module.

[0007] Preferably, the gas supply system includes a gas tank, a top groove cavity is provided at the top of the mounting middle frame, the gas tank is installed in the top groove cavity, a gas filling nozzle is provided at the top of the gas tank, the gas tank is connected to the flame nozzle through a telescopic tube, the flame nozzle is equipped with a solenoid valve and a spark electric generator, and the solenoid valve and the spark electric generator are both controlled by the central control module.

[0008] Preferably, the plurality of parallel frames each include linkage parallel rods and driving parallel rods, the plurality of linkage parallel rods are respectively rotatably connected in the plurality of side bar grooves, the plurality of driving parallel rods are also respectively rotatably connected in the plurality of side bar grooves, the plurality of outrigger frames are each provided with linkage grooves and driving grooves, the top ends of the plurality of linkage parallel rods are respectively rotatably connected in the plurality of linkage grooves, the top ends of the plurality of driving parallel rods are respectively rotatably connected in the plurality of driving grooves.

[0009] Preferably, the synchronous drive structure includes a first servo motor and an externally threaded barrel, an inner expansion groove is opened in the tool rack, the externally threaded barrel is fixedly connected in the inner expansion groove, the first servo motor is installed in the tool rack, the first servo motor is used for rotational driving of the externally threaded barrel, a lifting frame is slidably connected in the inner expansion groove, an electromagnetic screw assembly is installed on the lifting frame, the electromagnetic screw assembly matches the externally threaded barrel, an elastic connecting spring is fixedly connected to the bottom end of the lifting frame, the bottom end of the elastic connecting spring is connected to the tool rack, a plurality of linkage rods are hinged on the outside of the lifting frame, and the plurality of linkage rods are respectively hinged to a plurality of driving parallel rods.

[0010] Preferably, the electromagnetic screw assembly includes a first internal threaded barrel and a second internal threaded barrel, both of which are slidably connected to the lifting frame, a plurality of pull closing springs are fixedly connected between the first internal threaded barrel and the second internal threaded barrel, and two groups of electromagnets are installed between the first internal threaded barrel and the second internal threaded barrel.

[0011] Preferably, the two groups of electromagnets include a first electromagnet and a second electromagnet, the first internally threaded cylinder is provided with two first loading grooves, and the two first electromagnets are respectively installed in the two first loading grooves, the second internally threaded cylinder is provided with two second loading grooves, and the two second electromagnets are respectively installed in the two second loading grooves, and the two first electromagnets are matched with the two second electromagnets respectively.

[0012] Preferably, pressure sensors are installed in the multiple side grooves, the multiple outriggers are slidably connected to platform blocks, the multiple platform blocks are respectively matched with the pressure surfaces of the multiple pressure sensors, the multiple platform blocks are fixedly connected to pressure springs, the multiple pressure springs are respectively connected to the multiple outriggers, and the multiple pressure sensors are connected to the central control module.

[0013] Preferably, a driving gear is mounted on the output shaft of the first servo motor, the driving gear is meshed with a driven gear ring, and the driven gear ring is fixedly connected to the external threaded cylinder.

[0014] Preferably, the plurality of flying wings are equipped with mounting frames, the plurality of mounting frames are rotatably connected in the plurality of vertical offset holes respectively, driving motors are installed on the plurality of mounting frames, the plurality of flying wings are respectively installed on the output shafts of the plurality of driving motors, second servo motors are installed in the plurality of vertical offset holes, and the output shafts of the plurality of second servo motors are respectively fixedly connected to the plurality of mounting frames.

[0015] A path planning method for a transmission line UAV device comprises the following steps:

[0016] S1. When in use, the flying wing operates to realize the lift-off flight of the transmission line drone device as a whole. During the flight of the transmission line drone device, the corresponding visual detection of the transmission line is formed by the detection system. In order to facilitate the smooth implementation of the detection of the transmission line, when the detection system forms the corresponding visual detection state of the transmission line, it is necessary to control the transmission line drone device to form a parallel movement at the same height and side relative to the corresponding detected transmission line;

[0017] S2. When the transmission line drone device moves parallel to the side of the corresponding detected transmission line at the same height, if foreign objects that need to be cleaned are found on the transmission line, the transmission line drone device is identified based on the image of the foreign object information collected by the detection system. When the foreign object is a flammable object that cannot be cleaned by vibration, the transmission line drone device is controlled to adjust its position relative to the corresponding transmission line so that the transmission line drone device enters directly above the transmission line. Then the air supply system supplies air to the flame nozzle, and the flame nozzle generates flames to burn the foreign objects. In the burning process, in order to reduce the impact of the burning of foreign objects on the transmission line drone device, the transmission line drone device is in a continuous moving state during the process of the flame nozzle generating flames, and does not hover relative to the transmission line.

[0018] S3. When the foreign matter is an object that can be cleaned by vibration, the flight state of the transmission line drone device relative to the transmission line is controlled so that the transmission line drone device straddles between two adjacent transmission lines, and the electric telescopic rod works to control the tool holder to extend from the bottom end of the insertion slot. When the side slot completely leaves the insertion slot, the tool holder is inserted between two adjacent transmission lines, and the synchronous drive structure works to realize the reciprocating ejection drive of multiple outriggers, and the repeated vibration cleaning of foreign matter on the transmission line is realized through the vibration of the multiple outriggers after the relative ejection drive is opened.

[0019] Compared with the prior art, the present invention provides a transmission line drone device and a path planning method, which have the following beneficial effects:

[0020] (1) In the present invention, a flight and visual detection system is formed through the design of the drone body, which can cooperate with the power transmission line to form corresponding flight detection, and has strong environmental adaptability while ensuring flight and detection.

[0021] (2) In the present invention, the design of the intervention interference system is used to cooperate with the transmission line to form an interference operation, which facilitates the cleaning of foreign objects on the transmission line, and has richer functions and stronger practicality.

[0022] (3) In the present invention, the synchronous driving structure is designed to achieve synchronous motion driving of multiple outriggers, so as to facilitate the corresponding operation of the outriggers. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of a partially cutaway three-dimensional structure of the present invention;

[0024] Figure 2 It is a partially cutaway three-dimensional structural schematic diagram of the tool rack, the electric telescopic rod and the linkage parallel rods of the present invention;

[0025] Figure 3 For the present invention Figure 2 A schematic diagram of the local enlarged structure at point A in the middle;

[0026] Figure 4 It is a schematic diagram of a relatively unfolded partially cutaway three-dimensional structure of the outrigger, linkage parallel rods and driving parallel rods of the present invention;

[0027] Figure 5 For the present invention Figure 4 A schematic diagram of the local enlarged structure at B in the middle;

[0028] Figure 6 It is a cross-sectional three-dimensional structural schematic diagram of the outrigger, platform block and pressure spring of the present invention;

[0029] Figure 7 It is a schematic diagram of a three-dimensional structure of the lifting frame, the first internally threaded cylinder and the second internally threaded cylinder of the present invention;

[0030] Figure 8 It is a schematic diagram of an exploded three-dimensional structure of the lifting frame, the first internally threaded barrel, the second internally threaded barrel, etc. of the present invention;

[0031] Fig. 9 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0032] Fig.10 It is a schematic diagram of the overall three-dimensional structure of the present invention when viewed from above;

[0033] Fig.11 It is a bottom-up three-dimensional structural schematic diagram of the lifting frame, the first internally threaded cylinder and the second internally threaded cylinder of the present invention;

[0034] Fig.12 A schematic diagram of the relative position and movement trajectory of the flame nozzle of the present invention relative to the power transmission line during operation;

[0035] Fig.13 A schematic diagram of the relative position and travel trajectory of the outrigger of the present invention relative to the power transmission line during operation;

[0036] Fig.14 It is a schematic diagram of the relative position and travel trajectory of the detection system of the present invention relative to the transmission line when operating.

[0037] In the figure: 1, spherical shell; 2, vertical offset hole; 3, flying wing; 4, mounting middle frame; 5, tool rack; 6, electric telescopic rod; 7, inner groove; 8, flamethrower; 9, outrigger; 10, gas tank; 11, gas nozzle; 12, telescopic tube; 13, linkage parallel rod; 14, driving parallel rod; 15, linkage groove; 16, driving groove; 17, first servo motor; 18, external threaded cylinder; 19, lifting frame; 20, elastic connecting spring; 21, linkage rod; 22, first internal threaded cylinder; 23, second internal threaded cylinder; 24, pull closing spring; 25, first electromagnet; 26, second electromagnet; 27, pressure sensor; 28, platform block; 29, pressure spring; 30, driving gear; 31, driven gear ring; 32, mounting frame; 33, driving motor; 34, second servo motor. DETAILED DESCRIPTION

[0038] 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.

[0039] Example

[0040] See also Figure 1-Figure 14A transmission line UAV device includes a UAV body and an intervention interference system. The UAV body includes a spherical shell 1, and a plurality of vertical offset holes 2 are arranged on the spherical shell 1. A flight wing 3 is installed in each of the plurality of vertical offset holes 2. A detection system is installed on the spherical shell 1. Through the design of the UAV body, a flight and visual detection system is formed, which can cooperate with the transmission line to form a corresponding flight detection. While ensuring flight and detection, it has strong environmental adaptability. The detection system includes a rotating electromagnetic sensor, a rotating camera and an infrared radar sensor. A penetrating The interventional interference system includes an installation middle frame 4, which is fixedly connected in the through cavity, and a wireless communication module, a satellite navigation module and a central control module are installed in the installation middle frame 4. An insertion slot is provided at the bottom end of the installation middle frame 4, and a tool rack 5 is slidably connected in the insertion slot. An electric telescopic rod 6 is installed on the inner top wall of the insertion slot, and the telescopic rod of the electric telescopic rod 6 is connected to the tool rack 5. An inner groove 7 is provided at the bottom end of the tool rack 5, and a flamethrower 8 is installed in the inner groove 7. A gas supply system matching the flamethrower 8 is installed in the installation middle frame 4, and the gas supply system includes a gas tank 10 A top groove cavity is arranged at the top of the installation middle frame 4, a gas tank 10 is installed in the top groove cavity, a gas filling nozzle 11 is arranged at the top of the gas tank 10, which is used to replenish the gas tank 10 with combustible gas, the gas tank 10 is connected with the flame spray nozzle 8 through a telescopic tube 12, the flame spray nozzle 8 is equipped with a solenoid valve and a spark electric generator, the solenoid valve and the spark electric generator are controlled by the central control module, a plurality of side grooves are opened on the side of the tool frame 5, a plurality of side grooves are rotatably connected with parallel frames, a plurality of parallel frames are installed with outriggers 9, and a plurality of parallel frames include a linkage parallel rod 13 and a drive The plurality of linkage parallel rods 13 are rotatably connected in the plurality of side bar grooves, the plurality of driving parallel rods 14 are also rotatably connected in the plurality of side bar grooves, the plurality of outriggers 9 are provided with linkage grooves 15 and driving grooves 16, the top ends of the plurality of linkage parallel rods 13 are rotatably connected in the plurality of linkage grooves 15, the top ends of the plurality of driving parallel rods 14 are rotatably connected in the plurality of driving grooves 16, through the design of the intervention interference system, the interference operation is formed in cooperation with the transmission line, so that the foreign objects on the transmission line are cleaned up conveniently, the function is more abundant and the practicality is stronger.

[0041] It should be further explained that a synchronous drive structure is installed in the tool rack 5, and the synchronous drive structure is used for synchronous driving of multiple parallel racks. The synchronous drive structure includes a first servo motor 17 and an externally threaded barrel 18. An inner expansion groove is opened in the tool rack 5, and the externally threaded barrel 18 is fixedly connected in the inner expansion groove. The first servo motor 17 is installed in the tool rack 5, and a driving gear 30 is installed on the output shaft of the first servo motor 17. The driving gear 30 is meshed with a driven gear ring 31, and the driven gear ring 31 is fixedly connected to the externally threaded barrel 18. The first servo motor 17 is used for rotational drive of the externally threaded barrel 18. A lifting frame 19 is slidably connected in the inner expansion groove, and an electromagnetic screw assembly is installed on the lifting frame 19, and the electromagnetic screw assembly matches the externally threaded barrel 18. The bottom end of the lifting frame 19 is fixedly connected to an elastic connecting spring 20, and the bottom end of the elastic connecting spring 20 is connected to the tool rack 5. The lifting frame 19 is hinged with multiple linkage rods 21 on the outside, and the multiple linkage rods 21 are respectively The electromagnetic screw assembly is hinged with multiple driving parallel rods 14, and includes a first internally threaded barrel 22 and a second internally threaded barrel 23. The first internally threaded barrel 22 and the second internally threaded barrel 23 are both slidably connected to the lifting frame 19. Multiple pull closing springs 24 are fixedly connected between the first internally threaded barrel 22 and the second internally threaded barrel 23. Two groups of electromagnets are installed between the first internally threaded barrel 22 and the second internally threaded barrel 23. The two groups of electromagnets include a first electromagnet 25 and a second electromagnet 26. The first internally threaded barrel 22 is provided with two first loading grooves, and the two first electromagnets 25 are respectively installed in the two first loading grooves. The second internally threaded barrel 23 is provided with two second loading grooves, and the two second electromagnets 26 are respectively installed in the two second loading grooves. The two first electromagnets 25 are matched with the two second electromagnets 26 respectively. Through the design of the synchronous drive structure, the synchronous movement drive of multiple outriggers 9 is realized to facilitate the corresponding operation of the outriggers 9.

[0042] It should be further explained that the flying wing 3, the electric telescopic rod 6, the wireless communication module and the satellite navigation module are all electrically connected to the central control module, a plurality of side grooves are equipped with pressure sensors 27, a plurality of outriggers 9 are slidably connected with platform blocks 28, a plurality of platform blocks 28 are respectively matched with the pressure surfaces of a plurality of pressure sensors 27, a plurality of platform blocks 28 are fixedly connected with pressure springs 29, a plurality of pressure springs 29 are respectively connected with a plurality of outriggers 9, a plurality of pressure sensors 27 are connected to the central control module, when the outriggers 9 are completely received in the side grooves, the platform blocks 28 apply pressure relative to the corresponding pressure sensors 27, so that the pressure sensors 27 can form pressure readings, so as to facilitate the detection of whether the outriggers 9 are completely received in the side grooves, and avoid the outriggers 9 from being completely received in the side grooves. When the frame 9 is not inserted into the side slot, the electric telescopic rod 6 is shortened, thereby avoiding the interference of the tool frame 5 with the outrigger frame 9 exposed outside the side slot during the insertion process of the tool frame 5 into the slot. Multiple flying wings 3 are equipped with mounting frames 32, and multiple mounting frames 32 are respectively rotatably connected to multiple vertical offset holes 2. Drive motors 33 are installed on multiple mounting frames 32. Multiple flying wings 3 are respectively installed on output shafts of multiple drive motors 33. Second servo motors 34 are installed in multiple vertical offset holes 2, and the output shafts of multiple second servo motors 34 are respectively fixedly connected to multiple mounting frames 32, so as to facilitate the posture adjustment of multiple flying wings 3 in the corresponding vertical offset holes 2, so as to facilitate the steering and posture control of the overall travel process of the power transmission line UAV device.

[0043] The first servo motor 17, the second servo motor 34, the electric telescopic rod 6, the wireless communication module, the satellite navigation module, the central control module, the solenoid valve, the spark electric generator, the first electromagnet 25, the second electromagnet 26 and the drive motor 33 in this embodiment are all conventional equipment purchased on the market and known to those skilled in the art. In the present invention, we only use them and do not improve their structure and function. For those skilled in the art, their setting method, installation method and electrical connection method only need to be debugged according to the requirements of their instruction manual, and they will not be described in detail here.

[0044] In summary, the working process of the transmission line drone device is as follows: when in use, first, a battery capacity detection is performed for the battery in the transmission line drone device. When the battery capacity is low, the battery should be charged. The battery provides power for the first servo motor 17, the second servo motor 34, the electric telescopic rod 6, the wireless communication module, the satellite navigation module, the central control module, the solenoid valve, the spark electric generator, the first electromagnet 25, the second electromagnet 26 and the drive motor 33. Then, the drive motor 33 is started to move the drive motor 33 to form the rotation operation of the flying wing 3. The operation of the flying wing 3 realizes the overall lift-off flight of the transmission line drone device. The second servo motor 3 4 movement realizes the rotation control of the mounting frame 32, and then achieves the control of the lift direction of the flying wing 3, and realizes the flight control of the transmission line UAV device. During the flight of the transmission line UAV device, the corresponding detection of the transmission line is formed by the detection system, wherein the rotating electromagnetic sensor forms electromagnetic detection, the rotating camera forms visual detection, and the infrared radar sensor uses infrared rays to detect objects. In order to facilitate the smooth implementation of the detection of the transmission line, when the detection system forms the corresponding visual detection state of the transmission line, it is necessary to control the transmission line UAV device to form a parallel movement at the same height and side relative to the corresponding detection transmission line. At this time, the relative position and movement trajectory of the detection system relative to the transmission line during operation are as shown in the attached figure. Fig.14 As shown, attached Fig.14 The direction of the arrow in the figure is the travel direction of the transmission line drone device. When the transmission line drone device moves parallel to the corresponding detected transmission line at the same height, if foreign objects that need to be cleaned are found on the transmission line, the image of the foreign object information collected by the detection system is used for identification. When the foreign object is a flammable object that cannot be cleaned by vibration, the transmission line drone device is controlled to adjust its position relative to the corresponding transmission line so that the transmission line drone device enters directly above the transmission line. Then the gas supply system supplies gas to the flame nozzle 8, and the flame nozzle 8 generates flames to burn the foreign objects. At this time, the relative position and travel trajectory of the flame nozzle 8 relative to the transmission line during operation are shown in the attached figure. Fig.12 As shown, during the incineration process, in order to reduce the impact of foreign body combustion on the transmission line drone device, during the process of the flamethrower 8 generating flames, the transmission line drone device is in a continuous moving state and does not hover relative to the transmission line. The ignition of the combustible gas ejected from the flamethrower 8 is achieved by the operation of the spark electric generator, and the on-off control of the combustible gas ejected from the flamethrower 8 is achieved by the operation of the solenoid valve. When the combustion treatment of the foreign body cannot be completed by a single pass of the flamethrower 8, the transmission line drone device can be controlled to turn back for a secondary combustion cleaning operation.

[0045] Furthermore, when the foreign matter is an object that can be cleaned by vibration, the transmission line drone device is controlled to fly relative to the transmission line so that the transmission line drone device straddles between two adjacent transmission lines, and the electric telescopic rod 6 works to control the tool holder 5 to extend from the bottom end of the insertion slot. When the side slot completely leaves the insertion slot, the tool holder 5 is inserted between the two adjacent transmission lines. At this time, the relative position and travel trajectory of the spherical shell 1 and the outrigger 9 relative to the transmission line during operation are as shown in the attached figure. Fig.13 As shown, attached Fig.13 The direction of the arrow in the figure is the travel direction of the transmission line drone device. The synchronous driving structure works to realize the reciprocating ejection drive of multiple outriggers 9, and the repeated vibration cleaning of foreign objects on the transmission line is realized through the vibration of multiple outriggers 9 after relative ejection drive and opening. When the synchronous driving structure works to control the opening of the outrigger 9, the first electromagnet 25 and the second electromagnet 26 are energized to generate a relatively repulsive magnetic force, which causes the first internal threaded cylinder 22 and the second internal threaded cylinder 23 to form a separation movement. In the process of the first internal threaded cylinder 22 and the second internal threaded cylinder 23 moving away from each other, the closing spring 24 is stretched and lengthened. Thereafter, the threaded action of the first internal threaded cylinder 22 and the second internal threaded cylinder 23 on the external threaded cylinder 18 fails. Under the traction of the elastic connecting spring 20, the lifting frame 19 is formed to fall relatively, thereby causing multiple outriggers 9 that are relatively close to each other to move away from each other again, that is, multiple outriggers 9 are moved away from the attached Fig.13 The relative retraction state shown in FIG. Figure 4In the expanded state shown in the figure, when the multiple outriggers 9 that are far away from each other collide with the transmission line, the transmission line is vibrated, and the auxiliary cleaning of foreign matter is achieved by vibration. Then the synchronous drive structure works to control the outriggers 9 to be retracted, and the first electromagnet 25 and the second electromagnet 26 both enter the power-off state, causing the magnetic force that is relatively far away between the first internally threaded cylinder 22 and the second internally threaded cylinder 23 to disappear. Under the pulling action of the closing spring 24, the first internally threaded cylinder 22 and the second internally threaded cylinder 23 enter a relatively closed state. In the relatively closed state, the first internally threaded cylinder 22 and the second internally threaded cylinder 23 form a threaded fit relative to the externally threaded cylinder 18. That is, when the externally threaded cylinder 18 rotates, the first internally threaded cylinder 22 and the second internally threaded cylinder 23 will drive the lifting frame 19 to form a relative height adjustment in the inner expansion groove. When the rotation direction of the externally threaded cylinder 18 corresponds to the lifting frame 19, When the relative height in the inner expansion groove rises, the raised lifting frame 19 will drive the multiple linkage rods 21 to move, and the movement of the multiple linkage rods 21 will realize the rotation drive of the multiple driving parallel rods 14. The movement of the multiple driving parallel rods 14 can realize the movement drive of the multiple outriggers 9. Under the action of the multiple linkage parallel rods 13, the multiple outriggers 9 will always be kept in a parallel state relative to the tool rack 5. When the multiple outriggers 9 are stored relative to the side grooves, the first electromagnet 25 and the second electromagnet 26 are energized again to generate a relatively repulsive magnetic force to achieve the failure of the relative threading effect between the first internal threaded tube 22 and the second internal threaded tube 23 and the external threaded tube 18. In this way, the multiple outriggers 9 can be relatively ejected and driven to open again, thereby vibrating the transmission line again. This reciprocating process can realize repeated vibration cleaning of foreign objects on the transmission line and keep the multiple outriggers 9 in the attached state. Figure 4 The open state shown can also form an auxiliary support for the spherical shell 1 so that the multiple outriggers 9 can be used as the landing gear of the power transmission line drone device.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transmission line drone device, comprising a drone body, characterized in that: The drone also includes an intervention interference system. The drone body includes a spherical shell (1). The spherical shell (1) is provided with a plurality of vertical offset holes (2). A flying wing (3) is installed in each of the plurality of vertical offset holes (2). The spherical shell (1) is provided with a detection system. A through cavity is provided in the spherical shell (1). The intervention interference system includes an installation middle frame (4). The installation middle frame (4) is fixedly connected in the through cavity. An insertion groove is provided at the bottom end of the installation middle frame (4). A tool frame (5) is slidably connected in the insertion groove. An electric telescopic rod (6) is installed on the inner top wall of the insertion groove. The telescopic rod of the electric telescopic rod (6) is connected to the tool frame (5). The tool frame (5) is provided with a plurality of vertical offset holes (2). An inner groove (7) is provided at the bottom, a flamethrower (8) is installed in the inner groove (7), an air supply system matching the flamethrower (8) is installed in the mounting middle frame (4), a plurality of side grooves are provided on the side of the tool frame (5), parallel frames are rotatably connected in the plurality of side grooves, and outriggers (9) are installed on the plurality of parallel frames, a synchronous drive structure is installed in the tool frame (5), and the synchronous drive structure is used for synchronously driving the plurality of parallel frames, a wireless communication module, a satellite navigation module and a central control module are installed in the mounting middle frame (4), and the flying wing (3), the electric telescopic rod (6), the wireless communication module and the satellite navigation module are all electrically connected to the central control module.

2. A transmission line drone device according to claim 1, characterized in that: The gas supply system comprises a gas tank (10), a top groove cavity is arranged at the top of the mounting middle frame (4), the gas tank (10) is installed in the top groove cavity, a gas filling nozzle (11) is arranged at the top of the gas tank (10), the gas tank (10) is connected with a flame spray nozzle (8) through a telescopic tube (12), the flame spray nozzle (8) is equipped with a solenoid valve and a spark electric generator, and the solenoid valve and the spark electric generator are both controlled by the central control module.

3. A transmission line drone device according to claim 2, characterized in that: The plurality of parallel frames each comprise a linkage parallel rod (13) and a driving parallel rod (14); the plurality of linkage parallel rods (13) are respectively rotatably connected in the plurality of side bar grooves; the plurality of driving parallel rods (14) are also respectively rotatably connected in the plurality of side bar grooves; the plurality of outriggers (9) are each provided with a linkage groove (15) and a driving groove (16); the top ends of the plurality of linkage parallel rods (13) are respectively rotatably connected in the plurality of linkage grooves (15); the top ends of the plurality of driving parallel rods (14) are respectively rotatably connected in the plurality of driving grooves (16).

4. A transmission line drone device according to claim 3, characterized in that: The synchronous drive structure comprises a first servo motor (17) and an externally threaded barrel (18). An inner expansion groove is provided in the tool rack (5), and the externally threaded barrel (18) is fixedly connected in the inner expansion groove. The first servo motor (17) is installed in the tool rack (5), and the first servo motor (17) is used for rotationally driving the externally threaded barrel (18). A lifting frame (19) is slidably connected in the inner expansion groove, and an electromagnetic screw assembly is installed on the lifting frame (19), and the electromagnetic screw assembly matches the externally threaded barrel (18). The bottom end of the lifting frame (19) is fixedly connected with an elastic connecting spring (20), and the bottom end of the elastic connecting spring (20) is connected to the tool rack (5). The lifting frame (19) is hinged with a plurality of linkage rods (21) on the outside, and the plurality of linkage rods (21) are respectively hinged with a plurality of driving parallel rods (14).

5. A transmission line drone device according to claim 4, characterized in that: The electromagnetic screw assembly comprises a first internally threaded barrel (22) and a second internally threaded barrel (23), wherein the first internally threaded barrel (22) and the second internally threaded barrel (23) are both slidably connected to the lifting frame (19), a plurality of pulling closing springs (24) are fixedly connected between the first internally threaded barrel (22) and the second internally threaded barrel (23), and two groups of electromagnets are installed between the first internally threaded barrel (22) and the second internally threaded barrel (23).

6. A transmission line drone device according to claim 5, characterized in that: The two groups of electromagnets each comprise a first electromagnet (25) and a second electromagnet (26); the first internally threaded cylinder (22) is provided with two first loading grooves, and the two first electromagnets (25) are respectively installed in the two first loading grooves; the second internally threaded cylinder (23) is provided with two second loading grooves, and the two second electromagnets (26) are respectively installed in the two second loading grooves; the two first electromagnets (25) are matched with the two second electromagnets (26) respectively.

7. A transmission line drone device according to claim 6, characterized in that: Pressure sensors (27) are installed in the plurality of side grooves, the plurality of outriggers (9) are slidably connected to platform blocks (28), the plurality of platform blocks (28) are respectively matched with the pressure-bearing surfaces of the plurality of pressure sensors (27), the plurality of platform blocks (28) are fixedly connected to pressure springs (29), the plurality of pressure springs (29) are respectively connected to the plurality of outriggers (9), and the plurality of pressure sensors (27) are connected to a central control module.

8. A transmission line drone device according to claim 7, characterized in that: A driving gear (30) is mounted on the output shaft of the first servo motor (17), the driving gear (30) is meshed with a driven gear ring (31), and the driven gear ring (31) is fixedly connected to the external threaded cylinder (18).

9. A transmission line drone device according to claim 8, characterized in that: The plurality of flying wings (3) are each equipped with a mounting frame (32), the plurality of mounting frames (32) are respectively rotatably connected in the plurality of vertical offset holes (2), the plurality of mounting frames (32) are each equipped with a driving motor (33), the plurality of flying wings (3) are respectively equipped on the output shafts of the plurality of driving motors (33), the plurality of vertical offset holes (2) are each equipped with a second servo motor (34), and the output shafts of the plurality of second servo motors (34) are respectively fixedly connected to the plurality of mounting frames (32).

10. A path planning method for a transmission line drone device, characterized in that: A transmission line drone device according to any one of claims 1 to 9 is used, comprising the following steps: S1. When in use, the flying wing (3) operates to realize the lift-off flight of the transmission line drone device as a whole. During the flight of the transmission line drone device, the detection system forms a corresponding visual detection of the transmission line. In order to facilitate the smooth detection of the transmission line, when the detection system forms a corresponding visual detection state of the transmission line, it is necessary to control the transmission line drone device to form a parallel movement at the same height and side relative to the corresponding detected transmission line; S2, when the transmission line drone device moves parallel to the side of the corresponding transmission line to be detected, if foreign matter that needs to be cleaned is found on the transmission line, the transmission line drone device is identified based on the image of the foreign matter information collected by the detection system. When the foreign matter is a flammable material that cannot be cleaned by vibration, the transmission line drone device is controlled to adjust its position relative to the corresponding transmission line so that the transmission line drone device enters directly above the transmission line. Then, the air supply system supplies air to the flame nozzle (8), and the flame nozzle (8) generates flames to burn the foreign matter. In the burning process, in order to reduce the influence of the burning of foreign matter on the transmission line drone device, the transmission line drone device is in a continuous moving state during the process of the flame nozzle (8) generating flames, and does not hover relative to the transmission line. S3. When the foreign matter is an object that can be cleaned by vibration, the flight state of the transmission line drone device relative to the transmission line is controlled so that the transmission line drone device straddles between two adjacent transmission lines, the electric telescopic rod (6) works, and the tool holder (5) is controlled to extend from the bottom end of the insertion slot. When the side slot completely leaves the insertion slot, the tool holder (5) is inserted between the two adjacent transmission lines, and the synchronous drive structure works to realize the reciprocating ejection drive of the multiple outriggers (9), and the repeated vibration cleaning of the foreign matter on the transmission line is realized by the vibration of the multiple outriggers (9) after the relative ejection drive is opened.

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