Detection method of electric power capital construction mooring unmanned aerial vehicle and electric power capital construction mooring unmanned aerial vehicle

Abstract

The invention discloses a detection method of an electric power capital construction mooring unmanned aerial vehicle and the electric power capital construction mooring unmanned aerial vehicle, and the method comprises the steps: periodically obtaining the humidity of an outer cavity and a middle cavity when an unmanned aerial vehicle main body is in a hovering state; calculating the humidity difference between the humidity of the outer cavity and the humidity of the middle cavity; comparing the humidity difference with a preset threshold value; evaluating the waterproof performance of a waterproof part between the outer cavity and the middle cavity according to a comparison result, and if the humidity difference is greater than a preset threshold value, judging that the waterproof performance is good; if the humidity difference is smaller than or equal to a preset threshold value, it is judged that the waterproof performance is poor; and determining whether to maintain the hovering state of the unmanned aerial vehicle or recall the unmanned aerial vehicle body based on the waterproof performance evaluation result. According to the technical scheme, real-time performance detection can be carried out on the waterproof part of the electrical interface, so that an operator can take adaptive measures in time according to the actual state of the waterproof part, such as recalling an unmanned aerial vehicle or adjusting hovering time.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle waterproof detection, and in particular to a detection method for a tethered unmanned aerial vehicle for electric power infrastructure construction and a tethered unmanned aerial vehicle for electric power infrastructure construction. Background Art

[0002] A tethered drone is an unmanned aerial vehicle that is connected to the ground via a cable and is widely used in power infrastructure, communication support, surveillance and reconnaissance, etc. It is characterized by its ability to fly continuously for a long time and is suitable for tasks such as patrolling high-voltage lines, emergency rescue, and disaster site monitoring. Tethered drones rely on ground power supply equipment to transmit data and electricity through cables, ensuring stable operation during long-term operations, especially when continuously monitoring large areas.

[0003] In bad weather (such as heavy rain, strong winds, lightning, etc.), the cable of the tethered drone will usually fall off under the action of the drive motor on the drone body to prevent the cable from being damaged or causing flight interference due to external factors such as wind, rain, and lightning. At the same time, the cable falling off helps reduce electromagnetic interference caused by lightning and protect the drone's electronic equipment. After the cable falls off, the drone body will continue to hover in the air relying on its own backup power supply and continue to perform tasks such as on-site lighting or monitoring until the scheduled stay time is reached or it is recalled in advance.

[0004] However, in the prior art, the electrical interface exposed after the cable falls off is prone to water ingress in a heavy rainfall environment, which may cause the internal electronic components of the drone to short-circuit or be damaged due to the intrusion of rainwater. Although some drone designs are equipped with waterproof parts, the actual working status and waterproof performance of these waterproof parts cannot be detected and evaluated in real time. Once the performance of the waterproof parts deteriorates, the interface may lose its due protection, and rainwater may penetrate into the interior of the drone, causing equipment failure or even causing the drone to fail. The prior art lacks a means of real-time detection of the performance of waterproof parts, resulting in the operator being unable to take adaptive measures in a timely manner according to the actual status of the waterproof parts, such as recalling the drone or adjusting the hovering time. This limitation of lack of waterproof performance detection greatly increases the risk of using tethered drones in bad weather and affects their reliability and safety in complex environments. Summary of the invention

[0005] The main purpose of the present invention is to solve the technical problem that the tethered drone system in the prior art lacks real-time performance detection of the cable interface waterproof parts.

[0006] A first aspect of the present invention provides a method for detecting a tethered UAV for electric power infrastructure, the method comprising: When the cable falls off the drone body, two waterproof parts are arranged in the cable channel of the drone body, and the two waterproof parts divide the cable channel into an outer cavity, a middle cavity and an inner cavity which are arranged in sequence, and the inner cavity has an electrical interface connected to the cable; When the drone body is in a hovering state, periodically obtaining the humidity of the outer cavity and the middle cavity; calculating a humidity difference between the humidity of the outer cavity and the humidity of the middle cavity; comparing the humidity difference with a preset threshold; Evaluate the waterproof performance of the waterproof member between the outer cavity and the middle cavity according to the comparison result, and if the humidity difference is greater than the preset threshold, determine that the waterproof performance is good; if the humidity difference is less than or equal to the preset threshold, determine that the waterproof performance is poor; Based on the waterproof performance evaluation results, decide whether to maintain the drone in hovering state or recall the drone.

[0007] Optionally, the step of determining whether to maintain the hovering state of the drone or recall the drone body based on the waterproof performance evaluation result includes: Recording the moment when the cable falls from the drone body as the initial time point; Calculate the time difference between the current time and the initial time point to obtain the hovering time; Calculating the difference between the scheduled hovering time and the hovering time to obtain the remaining hovering time; If it is determined that the waterproof performance is good, the drone body continues to be in a hovering state until the predetermined hovering time ends; If the waterproof performance is judged to be poor, then: When the remaining hovering time is less than a preset time threshold, continuing to maintain the hovering state of the drone body; When the remaining hovering time is greater than or equal to a preset time threshold, the drone body is immediately recalled.

[0008] A second aspect of the present invention provides a tethered UAV for power infrastructure construction, including a UAV body, a waterproof component, a detection component, a cable, and a control component; The shell of the drone body is formed with a cable channel, and an electrical interface is provided on the inner wall of the cable channel; The waterproof component includes a power member and two waterproof members, the two waterproof members are arranged in the cable channel at intervals, the power member is used to drive the two waterproof members to move so as to divide the cable channel into an outer cavity, a middle cavity and an inner cavity arranged in sequence, and the electrical interface is located in the inner cavity; The detection component includes a first humidity sensor disposed outside the drone body and a second humidity sensor disposed in the middle cavity; One end of the cable is used to connect to the ground equipment, and the other end of the cable can extend into the cable channel and cross over the two waterproof parts, the first humidity sensor and the second humidity sensor to be detachably connected to the electrical interface; The control component includes a driving member and a controller arranged on the drone body, the driving member is connected to the cable transmission, the driving member is used to make the cable fall off the drone body, and the controller is electrically connected to the power member, the first humidity sensor, the second humidity sensor and the driving member respectively.

[0009] Optionally, the waterproof component includes two airbag bodies, each of which is arranged in a ring shape, and the outer peripheral edge of each of the airbag bodies is detachably connected to the inner peripheral wall of the cable channel, and the power component is a pump body, which is connected to each of the airbag bodies; wherein, Each of the airbag bodies has a deflated state and an inflated state. When each of the airbags is in the deflated state, the cable can pass through the annular space formed by the inner peripheral edge of each of the airbag bodies. When each of the airbags is in the inflated state, the annular spaces formed by the two airbag bodies of the same waterproof component are offset in the radial direction of the cable.

[0010] Optionally, the two airbag bodies of the same waterproof component are connected to each other.

[0011] Optionally, the waterproof member includes a first film body, a second film body, a third film body and a fourth film body, the first film body, the second film body, the third film body and the fourth film body are all arranged in a ring shape, the outer peripheral edge of the first film body and the outer peripheral edge of the second film body are sealed and connected, the inner peripheral edge of the first film body and the inner peripheral edge of the second film body are sealed and connected, and the first film body and the second film body form one of the airbag bodies; The outer peripheral edge of the third film body is sealed to the outer peripheral edge of the fourth film body, the inner peripheral edge of the third film body is sealed to the inner peripheral edge of the fourth film body, and the third film body and the fourth film body form another airbag body; The second film body is adjacent to the third film body, the second film body is provided with a first vent hole, the third film body is provided with a second vent hole, and the peripheral edge of the first vent hole and the peripheral edge of the second vent hole are sealed and connected.

[0012] Optionally, two annular grooves are provided on the inner peripheral wall of the cable channel, the two annular grooves correspond to the two airbag bodies one by one, and the outer peripheral edge portions of the airbag bodies are bonded to the bottom walls of the corresponding annular grooves.

[0013] Optionally, a Velcro velvet surface is provided on the outer peripheral edge of each of the airbag bodies, and a Velcro hook surface is provided on the groove wall of each of the annular grooves, and the Velcro velvet surface is bonded to the corresponding Velcro hook surface to fix the airbag body in the corresponding annular groove.

[0014] Optionally, a tube hole is provided on the groove side wall of the annular groove, the pump body is arranged in the drone body, the air port of the pump body is connected with the air pipe, and the air pipe can be connected with the airbag body through the tube hole.

[0015] Optionally, the peripheral wall of the cable channel includes a first curved wall and a second curved wall which are hinged to each other, and the second curved wall can rotate relative to the first curved wall and has the ability to rotate to a fixed position to define the cable channel together with the first curved wall, and has the ability to rotate to an open position to expose the waterproof component.

[0016] The detection method provided by the present invention sets two waterproof parts in the cable channel of the drone body, divides the channel into an outer cavity, a middle cavity and an inner cavity, and monitors the humidity changes of each cavity by setting humidity sensors in the outer cavity and the middle cavity. By periodically collecting humidity data and calculating the humidity difference, the performance status of the waterproof parts can be accurately judged. The change in humidity difference reflects whether external moisture has penetrated into the cable channel, thereby helping the drone to evaluate the effectiveness of the waterproof parts in real time in harsh environments such as heavy rain. This detection method effectively makes up for the technical defect that the waterproof parts of traditional tethered drones cannot monitor the performance of the waterproof parts, and realizes dynamic monitoring of the waterproof performance of the waterproof parts.

[0017] In addition, this solution can not only detect the working status of waterproof parts in real time, but also make corresponding control decisions based on the waterproof performance evaluation results. When the waterproof performance is good, the drone can continue to hover and perform tasks; when the waterproof performance deteriorates, the system can promptly decide to recall the drone to prevent rainwater from invading the interface and causing equipment damage or failure. This method has significantly improved the safety of drones in complex environments, especially in extreme weather conditions such as heavy rain. Through monitoring and early warning of waterproof performance, it can effectively prevent rainwater from invading the interface. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of an embodiment of a method for detecting a tethered UAV for electric power infrastructure according to the present invention; Figure 2 This is a schematic structural diagram of an embodiment of a tethered UAV for power infrastructure construction according to the present invention; Figure 3 for Figure 2 Schematic diagram of the structure after omitting some structures; Figure 4 for Figure 3 A partial enlarged view of the middle A; Figure 5 for Figure 3 A schematic diagram of the structure from another perspective; Figure 6 for Figure 5 A partial enlarged view of point B in the middle; Figure 7 The figure is a schematic diagram of an exploded view of a waterproof component; Figure 8 for Figure 7 Schematic diagram of the structure from another perspective.

[0020] Description of Figure Numbers: 1. UAV body; 11. Cable channel; 111. Outer cavity; 112. Middle cavity; 113. Inner cavity; 114. First arc-shaped wall; 115. Second arc-shaped wall; 12. Electrical interface; 13. Annular groove; 14. Pipe hole; 2. Waterproof component; 21. Power part; 211. Pump body; 22. Waterproof part; 221. Airbag body; 222. First membrane body; 223. Second membrane body; 223a. First ventilation hole; 224. Third membrane body; 224a. Second ventilation hole; 225. Fourth membrane body; 3. Detection component; 31. First humidity sensor; 4. Cable.

[0021] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0022] 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.

[0023] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0024] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, "and / or" in the full text includes three solutions. Taking A and / or B as an example, it includes technical solution A, technical solution B, and technical solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, which must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0025] An embodiment of the present application provides a method for detecting a tethered drone for power infrastructure. Figure 1 A flow chart of a method for detecting a tethered UAV for power infrastructure provided in one embodiment of the present application. Figure 1 , the method comprises: When the cable falls off the drone body, two waterproof parts are arranged in the cable channel of the drone body, and the two waterproof parts divide the cable channel into an outer cavity, a middle cavity and an inner cavity which are arranged in sequence, and the inner cavity has an electrical interface connected to the cable; When the drone body is in a hovering state, periodically obtaining the humidity of the outer cavity and the middle cavity; calculating a humidity difference between the humidity of the outer cavity and the humidity of the middle cavity; comparing the humidity difference with a preset threshold; Evaluate the waterproof performance of the waterproof member between the outer cavity and the middle cavity according to the comparison result, and if the humidity difference is greater than the preset threshold, determine that the waterproof performance is good; if the humidity difference is less than or equal to the preset threshold, determine that the waterproof performance is poor; Based on the waterproof performance evaluation results, decide whether to maintain the drone in hovering state or recall the drone.

[0026] Specifically, after the cable falls off from the drone body, first, two waterproof parts are set in the cable channel of the drone body. The function of these two waterproof parts is to separate the cable channel into three independent cavities: the outer cavity, the middle cavity and the inner cavity. Specifically, the outer cavity is the area connected to the surrounding environment of the drone body, the middle cavity is located between the outer cavity and the inner cavity, and the inner cavity is the area where the cable electrical interface is provided. Through such a structural design, the electrical interface can be isolated from the external environment to prevent external moisture from directly invading the inner cavity, thereby avoiding water ingress into the electrical interface.

[0027] When the drone is in hovering state, the system will periodically obtain the humidity values ​​in the outer cavity and the middle cavity. The humidity value is collected through humidity sensors installed in the outer cavity and the middle cavity respectively. These two humidity sensors monitor the humidity changes in the outer cavity and the middle cavity respectively to ensure that they can timely sense whether external moisture has penetrated into the middle cavity through the waterproof parts. If rain or moisture from the outside penetrates the drone body, the humidity value of the middle cavity will change accordingly.

[0028] Through the real-time collection of humidity data, the difference between the humidity of the outer cavity and the humidity of the middle cavity can be calculated. This difference is the humidity difference. The humidity difference can be expressed as: ΔH=H1-H2, where ΔH represents the humidity difference, H1 is the humidity value of the outer cavity, and H2 is the humidity value of the middle cavity. Through this formula, the system can obtain the humidity difference in real time and use it for subsequent judgment.

[0029] Next, the system compares the calculated humidity difference with a preset humidity difference threshold. This preset threshold is based on the experience value in the actual use environment or obtained through experiments, and usually indicates the maximum humidity difference when the waterproof component can effectively isolate external moisture under normal circumstances. Specifically, if the humidity difference is greater than this threshold, it means that the waterproof component is working properly and can effectively block external moisture from entering the middle cavity. At this time, the waterproof performance is judged to be good. If the humidity difference is less than or equal to the preset humidity difference threshold, it means that external moisture may have penetrated the waterproof component and entered the middle cavity. At this time, it can be judged that the waterproof performance is poor.

[0030] For example, in a rainstorm, the humidity value in the outer cavity will rise rapidly, while the humidity value in the middle cavity should remain relatively stable. By calculating the humidity difference, if it is found that the humidity difference continues to remain at a high level, it means that the waterproof component is still effective and external moisture has not penetrated into the interior of the drone. However, if the humidity difference becomes smaller or even close to zero, it means that external moisture has penetrated into the middle cavity and the effect of the waterproof component has weakened or failed. At this time, the system can evaluate the working status of the waterproof component based on the change in humidity difference.

[0031] After evaluating the waterproof performance, the system will make corresponding operational decisions based on the evaluation results. If the waterproof performance is determined to be good, the drone will continue to hover and continue to perform current tasks, such as on-site lighting or monitoring. On the contrary, if the evaluation results show that the waterproof performance is poor, the system will issue a recall command, requiring the drone to return to the ground immediately to prevent further rain intrusion and cause equipment failure.

[0032] It should be noted that even if the waterproof performance between the outer cavity and the middle cavity is detected to have decreased, the waterproof part between the middle cavity and the inner cavity still provides additional protection for the electrical interface. This means that even if the external moisture has penetrated the first line of defense and entered the middle cavity, the system will not immediately take recall measures, but will continue to monitor the humidity value of the middle cavity. At this time, although the waterproof performance of the middle cavity is reduced, the second waterproof part - the waterproof part located between the middle cavity and the inner cavity can still prevent moisture from further penetrating into the electrical interface. This double protection design provides higher security for the electrical interface, ensuring that the drone can still maintain normal operation in complex and harsh environments. Through this protection mechanism, the system will not end the mission immediately when the waterproof performance decreases, but will make adaptive adjustments based on actual conditions, reflecting the efficiency and flexibility of the system.

[0033] This double-layer waterproof design not only enhances the waterproof performance of the drone, but also improves its reliability in dealing with extreme weather. By continuously monitoring the humidity difference between the outer cavity and the middle cavity, even if the first line of defense waterproof component fails, the system can still rely on the second line of waterproof components to continue to protect the electrical interface and prevent rainwater from invading and damaging key electronic equipment. This design greatly reduces misjudgments and unnecessary recall operations, allowing the drone to extend its hovering time as much as possible while maintaining safety, thereby maximizing work efficiency.

[0034] In one embodiment of the present application, the decision of whether to maintain the hovering state of the drone or recall the drone body based on the waterproof performance evaluation result includes: recording the moment when the cable falls from the drone body as the initial time point; calculating the time difference between the current moment and the initial time point to obtain the hovering time; calculating the difference between the predetermined hovering time and the hovering time to obtain the remaining hovering time; if it is determined that the waterproof performance is good, continuing to maintain the hovering state of the drone body until the predetermined hovering time ends; if it is determined that the waterproof performance is poor, then: when the remaining hovering time is less than a preset time threshold, continuing to maintain the hovering state of the drone body; when the remaining hovering time is greater than or equal to the preset time threshold, immediately recalling the drone body.

[0035] Specifically, in order to achieve accurate management of the drone's hovering time after the cable falls off, the system records the moment when the cable falls off from the drone body and calibrates it as the initial time point. This initial time point is the starting point of the entire time calculation process and determines all subsequent time difference calculations and drone status judgments. In actual operation, the initial time point can be recorded by the drone's sensor or the timestamp function in the control system. When the cable falls off from the drone body, the system immediately records this moment to ensure that subsequent time management is based on this precise moment.

[0036] Next, the system will calculate the time the drone has been hovering based on the time difference between the current moment and the initial time point when the cable fell off. The calculation formula for the hovering time is: ; in, Indicates the hovering time. Indicates the current time. Indicates the initial time point when the cable fell off.

[0037] Through this formula, the system can calculate how long the drone has been hovering in the air. This calculation result is very critical because it determines whether the drone will continue to hover or whether it needs to be recalled in certain circumstances.

[0038] After the hovering time is calculated, the system will also calculate the remaining hovering time, which is the difference between the scheduled hovering time and the hovering time. The calculation formula for the remaining hovering time is: ; in, Indicates the remaining hover time. Indicates the preset total hovering time. It is the hovering time calculated by the previous formula.

[0039] Through this formula, the system can accurately calculate the time the drone can continue to hover. This process ensures that the drone's hovering time is properly managed after the cable falls off, and does not cause operational errors or safety issues due to unknown time factors.

[0040] If, when testing the waterproof performance, the system determines that the waterproof performance is good, the remaining hovering time is sufficient and the drone is in a safe state, the system will instruct the drone to continue hovering until the scheduled hovering time is over. For example, if the drone needs to remain in the air for 15 minutes after the cable falls off, and it has been hovering for 10 minutes, the remaining hovering time is 5 minutes. If the test shows that the waterproof performance is normal, the drone will continue to hover until the scheduled 15-minute hovering time is reached. This management method ensures that the drone can complete its mission safely and efficiently after the cable falls off, maximizing the work efficiency of the drone.

[0041] However, when the system determines that the waterproof performance is poor, it will make further judgments based on the remaining hovering time. If the waterproof performance deteriorates and the remaining hovering time is less than the preset time threshold, the system will still allow the drone to continue hovering. For example, assuming that the preset time threshold is 3 minutes, and the drone's current remaining hovering time is 2 minutes, although the waterproof performance has deteriorated, the system believes that the drone can still operate safely in the next short period of time due to the short remaining time, so it allows the drone to continue hovering until the mission is completed. The advantage of this is that the drone can make full use of its working time and complete the mission while ensuring safety, avoiding unnecessary interruptions due to short-term waterproof performance issues.

[0042] However, if the remaining hovering time is greater than or equal to the preset time threshold, the system will immediately issue a recall command to recall the drone body. This means that in the case of degraded waterproof performance, if the remaining hovering time of the drone is long, the system will give priority to safety issues and recall the drone to avoid the risk of further damage to the electrical interface due to long-term exposure to rain. For example, assuming that the preset time threshold is 3 minutes and the remaining hovering time is 5 minutes, the system will consider that the risk of continuing to hover is greater because in the next 5 minutes, the waterproof parts may not be able to effectively block the rain, and the electrical interface will have a higher risk of water ingress. Therefore, the system will immediately recall the drone to avoid equipment failure. This judgment mechanism ensures that the drone can end the mission in a timely manner under dangerous conditions, reduces the possibility of equipment damage, and greatly improves the safety and reliability of operations.

[0043] Through the above time calculation and decision-making mechanism, the system can flexibly cope with the complex environment in which the drone is located after the cable falls off. Its advantage is that by recording the moment when the cable falls off and calculating the hovering time in real time, the system can accurately control the working status of the drone, and make reasonable hovering or recall decisions based on the waterproof performance evaluation results. This design not only ensures the completion of the drone mission, but also effectively protects the key components of the drone in bad weather, improving its overall work efficiency and safety.

[0044] Another embodiment of the present application also provides a power infrastructure tethered drone, which is used to implement the power infrastructure tethered drone provided in the above embodiment. Figures 2 to 8 , in this embodiment, the electric power infrastructure tethered drone includes a drone body 1, a waterproof component 2, a detection component 3, a cable 4 and a control component; The shell of the drone body 1 is formed with a cable channel 11, and an electrical interface 12 is provided on the inner wall of the cable channel 11; The waterproof assembly 2 includes a power member 21 and two waterproof members 22. The two waterproof members 22 are arranged in the cable channel 11 at intervals. The power member 21 is used to drive the two waterproof members 22 to move so as to divide the cable channel 11 into an outer cavity 111, a middle cavity 112 and an inner cavity 113 arranged in sequence. The electrical interface 12 is located in the inner cavity 113. The detection component 3 includes a first humidity sensor 31 disposed outside the drone body 1 and a second humidity sensor (not shown) disposed in the middle cavity 112 ; One end of the cable 4 is used to connect to the ground equipment, and the other end of the cable 4 can extend into the cable channel 11 and cross the two waterproof parts 22, the first humidity sensor 31 and the second humidity sensor to be detachably connected to the electrical interface 12; The control component (not shown) includes a driving member and a controller arranged on the drone body. The driving member is transmission-connected to the cable 4. The driving member is used to make the cable 4 fall off from the drone body 1. The controller is electrically connected to the power member 21, the first humidity sensor 31, the second humidity sensor and the driving member respectively.

[0045] Specifically, the drone body 1 is the main structure of the entire tethered drone, and usually includes key components such as a flight device, a control device, and a shell. The electrical interface 12 is an interface located in the inner cavity 113 for connecting the cable 4. It can be a standard plug-in connector, a snap-on electrical interface 12, or other suitable electrical connection interfaces. Regarding the waterproof part 22, in this embodiment, it can be an airbag, a rubber sealing ring or a waterproof structure made of other waterproof materials. The main function is to isolate moisture and protect the inside of the cable channel 11. The humidity sensor is a sensing device for monitoring humidity changes. It can be a humidity sensor based on the principle of capacitance and resistance changes, and can monitor the humidity changes of the outer cavity 111 and the inner cavity 113 in real time.

[0046] The driving member may be a mechanical structure for controlling the movement of the cable 4. The specific form of the driving member may be a mechanical driving device such as a motor, a cylinder or a hydraulic cylinder, or an electromagnetic valve controlled by electromagnetic force. Its main function is to control the connection and disconnection of the cable 4. The driving member driving the cable 4 to disconnect from the drone body 1 is a widely used technology, which will not be introduced in detail here.

[0047] It is not difficult to understand that the multi-cavity design forms three areas of outer cavity 111, middle cavity 112 and inner cavity 113 through the separation of waterproof member 22, and the interface of cable 4 is effectively protected in inner cavity 113 to avoid direct intrusion of external moisture. At the same time, waterproof member 22 provides a physical barrier to prevent external moisture from entering the cable 4 channel.

[0048] The arrangement of the two waterproof parts 22 in this structure, by placing humidity sensors outside the drone body 1 and in the middle cavity 112 respectively, can monitor the humidity changes of the external environment and the middle cavity 112 in real time, and cooperate with the calculation function of the humidity difference to accurately judge the protection status of the waterproof part 22. This design ensures that even if external moisture enters the outer cavity 111, the middle cavity 112 and the inner cavity 113 still have an additional protective layer. By monitoring the humidity difference through the humidity sensor, it can be ensured that moisture does not penetrate further, ensuring the safety of the cable 4 interface.

[0049] The combination of this waterproof design and the humidity sensor further enhances the protective effect. When the humidity in the outer cavity 111 increases, by real-time monitoring of the humidity in the middle cavity 112, it can be determined whether the waterproof part 22 is still effective. By calculating the humidity difference, adjustments and operational decisions can be made in time when the waterproof performance decreases. Even if the waterproof part 22 between the outer cavity 111 and the middle cavity 112 fails, the waterproof part 22 between the middle cavity 112 and the inner cavity 113 is still effective as a second line of defense, ensuring that the drone can hover safely in complex environments and be quickly recalled when necessary, greatly improving the working stability of the drone and its ability to cope with harsh environments.

[0050] Optionally, the waterproof member 22 includes two airbag bodies 221, each of which is arranged in a ring shape, and the outer peripheral edge of each of the airbag bodies 221 is detachably connected to the inner peripheral wall of the cable channel 11, and the power member 21 is a pump body 211, and the pump body 211 is connected to each of the airbag bodies 221; wherein, Each of the airbag bodies 221 has an exhausted state and an inflated state. When each of the airbags is in the exhausted state, the cable 4 can pass through the annular space formed by the inner peripheral edge of each of the airbag bodies 221. When each of the airbags is in the inflated state, the annular spaces formed by the two airbag bodies 221 of the same waterproof component 22 are offset in the radial direction of the cable 4.

[0051] The airbag body 221 can be understood as a seal that can be inflated or deflated. In this embodiment, the airbag body 221 can be made of rubber, silicone or other elastic and sealing materials. Each airbag body 221 is arranged in a ring shape, and the outer peripheral edge of the airbag body 221 is connected to the inner peripheral wall of the cable channel 11. The airbag body 221 is in a contracted state when it is deflated, and the cable 4 can pass through the annular space formed by the airbag body 221. When it is inflated, the airbag body 221 will expand, and the annular space will shrink, forming a sealed protection for the cable 4. The power part 21 here is a pump body 211, which is connected to the airbag body 221. The expansion or contraction of the airbag body 221 is controlled by inflation or deflation, thereby controlling the sealing of the cable channel 11.

[0052] Please note that Figure 7 and Figure 8 "The annular spaces formed by the two airbags 221 are offset in the radial direction of the cable 4". This sentence means that although the two airbags 221 form annular sealed spaces in the inflated state, they do not overlap in the radial direction of the cable 4 but are offset. Even if external moisture breaks through the first airbag 221, the moisture cannot directly enter the annular space of the second airbag 221 along the same radial path, thereby enhancing the overall waterproof effect.

[0053] Optionally, the two airbag bodies 221 of the same waterproof member 22 are connected to each other. It is not difficult to understand that, with such a design, the pump body 211 can be connected to one of the airbag bodies 221 through a single air tube (without using multiple air tubes), and the gas flows freely between the two airbag bodies 221 through the connection of the air tube, thereby achieving synchronous inflation and deflation operations.

[0054] Optional, see Figure 7 and Figure 8 The waterproof member 22 includes a first film body 222, a second film body 223, a third film body 224 and a fourth film body 225. The first film body 222, the second film body 223, the third film body 224 and the fourth film body 225 are all arranged in a ring shape. The outer peripheral edge of the first film body 222 and the outer peripheral edge of the second film body 223 are sealed and connected. The inner peripheral edge of the first film body 222 and the inner peripheral edge of the second film body 223 are sealed and connected. The first film body 222 and the second film body 223 form an air bag body 221. The outer peripheral edge of the third film body 224 and the outer peripheral edge of the fourth film body 225 are sealed and connected, and the inner peripheral edge of the third film body 224 and the inner peripheral edge of the fourth film body 225 are sealed and connected, and the third film body 224 and the fourth film body 225 form another airbag body 221; The second film body 223 and the third film body 224 are adjacent to each other. The second film body 223 is provided with a first vent hole 223a, and the third film body 224 is provided with a second vent hole 224a. The peripheral edge of the first vent hole 223a and the peripheral edge of the second vent hole 224a are sealed and connected.

[0055] In this embodiment, the membrane is made of a flexible and waterproof material, such as a rubber membrane, a silicone membrane or other suitable waterproof film material. Each pair of membranes (the first and second membranes 223, the third and fourth membranes 225) is connected by sealing the inner and outer peripheries to form a complete airbag 221, that is, the first membrane 222 and the second membrane 223 together form one airbag 221, and the third membrane 224 and the fourth membrane 225 together form another airbag 221. Each airbag 221 expands when inflated and contracts when deflated, thereby achieving a sealing function for the cable channel 11.

[0056] The sealing connection between each pair of membranes is performed by welding, bonding, etc. The outer peripheral edge portion and the inner peripheral edge portion refer to the outer and inner edges of the membrane, respectively. The sealing connection of the outer peripheral edge portion ensures that the airbag body 221 can form a closed space on the outside to prevent gas leakage, and the sealing connection of the inner peripheral edge portion ensures that the internal space of the airbag body 221 is complete and seamless. The connection between these membranes can be performed by special sealants, heating welding, etc.

[0057] The communication between the first vent hole 223 a and the second vent hole 224 a ensures that the two airbag bodies 221 formed by the second membrane body 223 and the third membrane body 224 can ventilate each other without using an additional air pipe structure.

[0058] Optionally, two annular grooves 13 are provided on the inner peripheral wall of the cable channel 11 , and the two annular grooves 13 correspond to the two airbag bodies 221 one by one, and the outer peripheral edge portions of the airbag bodies 221 are bonded to the bottom walls of the corresponding annular grooves 13 .

[0059] The function of the annular groove 13 is to provide space for fixing the airbag 221. The shape of the annular groove 13 can be designed to be circular, elliptical or other suitable shapes according to the structure of the channel, but its cross-section is a concave structure to accommodate the airbag 221. The outer peripheral edge of the airbag 221 is the outer edge of the airbag 221. In this embodiment, the outer peripheral edge of the airbag 221 is fixed to the bottom wall of the corresponding annular groove 13 by bonding, snapping or other tight methods to ensure that the airbag 221 is stable in the channel and can effectively seal the channel when inflated.

[0060] This embodiment greatly enhances the stability and sealing effect of the waterproof part 22 in the inflated state through the combination of the annular groove 13 and the airbag body 221. First, the annular groove 13 provides a fixed space for the airbag body 221 to prevent the airbag body 221 from moving during inflation and deflation, thereby ensuring that the waterproof part 22 always remains sealed after the drone cable 4 falls off. Secondly, the application of the bonding method ensures a firm connection between the airbag body 221 and the bottom of the groove, avoiding the risk of sealing failure due to external force or air pressure changes. This structural design improves the durability and stability of the waterproof part 22, and ensures the reliable operation of the drone in complex environments, especially in humid or rainy conditions.

[0061] Optionally, a Velcro surface is provided on the outer peripheral edge of each of the airbag bodies 221 , and a Velcro hook surface is provided on the groove wall of each of the annular grooves 13 , and the Velcro surface is bonded to the corresponding Velcro hook surface to fix the airbag body 221 in the corresponding annular groove 13 .

[0062] Velcro velvet and Velcro hook refer to the two parts of Velcro. The velvet part is the soft side, usually covered with fine fibers, and the hook part is the hard side, covered with small hooks. When the velvet and hook come into contact, the two can adhere to each other to form a firm connection. Velcro is a common quick-disassembly and fastening material with strong adhesion and good durability, and can achieve firm fixation without the use of adhesives.

[0063] Preferably, a tube hole 14 is provided on the groove side wall of the annular groove 13, the pump body 211 is arranged in the drone body 1, the air port of the pump body 211 is connected with the air pipe, and the air pipe can pass through the tube hole 14 to communicate with the airbag body 221.

[0064] Optionally, the peripheral wall of the cable channel 11 includes a first curved wall 114 and a second curved wall 115 which are hinged to each other. The second curved wall 115 can rotate relative to the first curved wall 114 and can rotate to a fixed position to define the cable channel 11 together with the first curved wall 114, and can rotate to an open position to expose the waterproof component 22.

[0065] Hinge means that the two arcuate walls are connected to each other by a hinge or a similar mechanical device, so that the second arcuate wall 115 can rotate relative to the first arcuate wall 114. The first arcuate wall 114 and the second arcuate wall 115 constitute the peripheral wall of the cable channel 11. When the two are in a fixed position, they jointly define a closed cable channel 11. When the second arcuate wall 115 is rotated to the open position, the cable channel 11 is partially opened, revealing the waterproof member 22, which is convenient for maintenance and replacement.

[0066] It is not difficult to understand that the hinged structure allows the second curved wall 115 to rotate flexibly relative to the first curved wall 114, making it easy for the operator to open the channel when necessary and directly contact the waterproof part 22 for maintenance or replacement without completely disassembling the entire drone structure. Secondly, when the second curved wall 115 is in a fixed position, it and the first curved wall 114 together form a complete, sealed cable channel 11, ensuring the waterproof and dustproof performance of the drone during operation. This hinged structure design not only improves the convenience of maintenance, but also maintains the sealing and structural integrity of the cable channel 11 during operation, enabling the drone to operate stably for a long time in a complex environment, further improving the reliability and operational flexibility of the system.

[0067] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A method for detecting a tethered UAV for power infrastructure, characterized in that: include: When the cable falls off the drone body, two waterproof parts are arranged in the cable channel of the drone body, and the two waterproof parts divide the cable channel into an outer cavity, a middle cavity and an inner cavity which are arranged in sequence, and the inner cavity has an electrical interface connected to the cable; When the drone body is in a hovering state, periodically obtaining the humidity of the outer cavity and the middle cavity; calculating a humidity difference between the humidity of the outer cavity and the humidity of the middle cavity; comparing the humidity difference with a preset threshold; Evaluating the waterproof performance of the waterproof member between the outer cavity and the middle cavity according to the comparison result, and if the humidity difference is greater than the preset threshold, determining that the waterproof performance is good; If the humidity difference is less than or equal to the preset threshold, it is determined that the waterproof performance is poor; Based on the waterproof performance evaluation results, decide whether to maintain the drone in hovering state or recall the drone.

2. The detection method of the electric power infrastructure tethered drone according to claim 1, characterized in that: The decision on whether to maintain the drone in a hovering state or recall the drone body based on the waterproof performance evaluation result includes: Recording the moment when the cable falls from the drone body as the initial time point; Calculate the time difference between the current time and the initial time point to obtain the hovering time; Calculating the difference between the scheduled hovering time and the hovering time to obtain the remaining hovering time; If it is determined that the waterproof performance is good, the drone body continues to be in a hovering state until the predetermined hovering time ends; If the waterproof performance is judged to be poor, then: When the remaining hovering time is less than a preset time threshold, continuing to maintain the hovering state of the drone body; When the remaining hovering time is greater than or equal to a preset time threshold, the drone body is immediately recalled.

3. A tethered UAV for power infrastructure, characterized in that: include: A drone body (1), wherein a shell of the drone body (1) is formed with a cable channel (11), and an electrical interface (12) is provided on the inner wall of the cable channel (11); A waterproof component (2), comprising a power component (21) and two waterproof components (22), wherein the two waterproof components (22) are arranged in the cable channel (11) at intervals, and the power component (21) is used to drive the two waterproof components (22) to move so as to divide the cable channel (11) into an outer cavity (111), an intermediate cavity (112), and an inner cavity (113) arranged in sequence, and the electrical interface (12) is located in the inner cavity (113); A detection component (3) comprising a first humidity sensor (31) disposed outside the drone body (1) and a second humidity sensor disposed in the middle cavity (112); A cable (4), one end of the cable (4) being used to connect to ground equipment, and the other end of the cable (4) being able to extend into the cable channel (11) and to cross over the two waterproof parts (22), the first humidity sensor (31) and the second humidity sensor, so as to be detachably connected to the electrical interface (12); A control component comprises a driving member and a controller arranged on the drone body, the driving member being in transmission connection with the cable (4), the driving member being used to cause the cable (4) to fall off from the drone body (1), and the controller being electrically connected to the power member (21), the first humidity sensor (31), the second humidity sensor and the driving member respectively.

4. The electric power infrastructure tethered drone according to claim 3, characterized in that: The waterproof component (22) includes two airbag bodies (221), each of which is arranged in a ring shape, and the outer peripheral edge of each of the airbag bodies (221) is detachably connected to the inner peripheral wall of the cable channel (11), and the power component (21) is a pump body (211), and the pump body (211) is connected to each of the airbag bodies (221); wherein, Each of the airbag bodies (221) has an exhausted state and an inflated state. When each of the airbag bodies (221) is in the exhausted state, the cable (4) can pass through the annular space formed by the inner peripheral edge of each of the airbag bodies (221). When each of the airbag bodies (221) is in the inflated state, the annular spaces formed by the two airbag bodies (221) of the same waterproof component (22) are offset in the radial direction of the cable (4).

5. The electric power infrastructure tethered drone according to claim 4, characterized in that: The two airbag bodies (221) of the same waterproof member (22) are connected to each other.

6. The electric power infrastructure tethered drone according to claim 5, characterized in that: The waterproof member (22) comprises a first film body (222), a second film body (223), a third film body (224) and a fourth film body (225); the first film body (222), the second film body (223), the third film body (224) and the fourth film body (225) are all arranged in a ring shape; the outer peripheral edge of the first film body (222) and the outer peripheral edge of the second film body (223) are sealed and connected; the inner peripheral edge of the first film body (222) and the inner peripheral edge of the second film body (223) are sealed and connected; the first film body (222) and the second film body (223) form an air bag body (221); The outer peripheral edge of the third film body (224) and the outer peripheral edge of the fourth film body (225) are sealed and connected, the inner peripheral edge of the third film body (224) and the inner peripheral edge of the fourth film body (225) are sealed and connected, and the third film body (224) and the fourth film body (225) form another airbag body (221); The second membrane body (223) and the third membrane body (224) are adjacent to each other. The second membrane body (223) is provided with a first ventilation hole (223a), and the third membrane body (224) is provided with a second ventilation hole (224a). The peripheral edge of the first ventilation hole (223a) and the peripheral edge of the second ventilation hole (224a) are sealed and connected.

7. The electric power infrastructure tethered drone according to claim 4, characterized in that: Two annular grooves (13) are provided on the inner peripheral wall of the cable channel (11), the two annular grooves (13) correspond to the two airbag bodies (221) one by one, and the outer peripheral edge of the airbag body (221) is bonded to the bottom wall of the corresponding annular groove (13).

8. The electric power infrastructure tethered drone according to claim 7, characterized in that: The outer peripheral edge of each of the airbag bodies (221) is provided with a Velcro velvet surface, and the groove wall of each of the annular grooves (13) is provided with a Velcro hook surface, and the Velcro velvet surface is bonded to the corresponding Velcro hook surface to fix the airbag body (221) in the corresponding annular groove (13).

9. The electric power infrastructure tethered drone according to claim 7, characterized in that: A tube hole (14) is provided on the groove side wall of the annular groove (13); the pump body (211) is arranged in the drone body (1); the air port of the pump body (211) is connected to an air pipe; and the air pipe can pass through the tube hole (14) to be connected to the airbag body (221).

10. The electric power infrastructure tethered drone according to claim 3, characterized in that: The peripheral wall of the cable channel (11) comprises a first curved wall (114) and a second curved wall (115) which are hinged to each other. The second curved wall (115) can rotate relative to the first curved wall (114) and can rotate to a fixed position together with the first curved wall (114) to define the cable channel (11), and can rotate to an open position to expose the waterproof component (22).

Images