High-voltage transmission line maintenance system based on unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle-based high-voltage transmission line maintenance system, which comprises an unmanned aerial vehicle, a hanging joint is arranged below the unmanned aerial vehicle, a hanging rod is arranged below the hanging joint, and a maintenance mechanism is fixed below the hanging rod; the overhauling mechanism comprises a base, a hanging rod is located on the rear side of the middle of the base, walking wheel sets are arranged on the two sides of the hanging rod, cleaning assemblies are further arranged on the outer sides of the walking wheel sets, electric lifting rods corresponding to the walking wheel sets are arranged on the front side of the base, an electric holder is arranged at the upper end of each electric lifting rod, and a camera is arranged on each electric holder; an electric rotating seat is further arranged in the middle of the base, a mechanical arm is arranged above the electric rotating seat, and a bolt screwing device is arranged at the end of the mechanical arm. A controller and a battery are further arranged in the base, the controller is further connected with a wireless transmission module, and the wireless transmission module is connected with a remote control center. The method has the advantage that potential safety hazards existing in high-voltage transmission line maintenance can be effectively eliminated.

Description

Technical Field

[0001] The present invention relates to the field of high-voltage power transmission line maintenance, and in particular to a high-voltage power transmission line maintenance system based on an unmanned aerial vehicle. Background Art

[0002] The electricity generated by the power plant is not only used by people nearby, but also needs to be transmitted to faraway places to meet more needs. This electricity cannot be transmitted directly through ordinary wires, but must be transmitted using high-voltage transmission lines. High-voltage transmission lines are divided into cable transmission lines and overhead transmission lines. Cable transmission lines: The cables are buried underground, which does not take up space, but is inconvenient to construct and maintain. They are mostly used in cities and across rivers. Overhead transmission lines: Transmission towers are used to suspend the conductors and ground wires in the air, so that a certain safe distance is maintained between the conductors, between the conductors and the ground wires, between the conductors and the towers, and between the conductors and ground obstacles to complete the transmission task.

[0003] In order to ensure the stable and reliable operation of overhead high-voltage transmission lines, it is necessary to conduct regular inspection and maintenance of high-voltage transmission lines. At present, the maintenance of high-voltage transmission lines is mainly carried out by manual high-altitude maintenance. However, the overhead transmission lines are at a high distance from the ground, and there are great safety hazards and construction risks in high-altitude operations. Therefore, the existing technology has a great safety hazard problem.

[0004] But the content of the invention

[0005] The purpose of the present invention is to provide a high-voltage transmission line maintenance system based on a drone, which has the characteristics of being able to effectively eliminate the potential safety hazards in the maintenance of high-voltage transmission lines.

[0006] The technical solution of the present invention is as follows: a high-voltage transmission line maintenance system based on an unmanned aerial vehicle comprises an unmanned aerial vehicle, a hanging joint is provided under the unmanned aerial vehicle, a hanging rod is provided under the hanging joint, a maintenance mechanism is fixed under the hanging rod, and the maintenance mechanism is mounted on the transmission line during maintenance; the maintenance mechanism comprises a base, the hanging rod is located at the rear side of the middle part of the base, walking wheel groups are provided on both sides of the hanging rod, a cleaning component is also provided on the outer side of the walking wheel group, an electric lifting rod corresponding to the walking wheel group is provided on the front side of the base, an electric pan-tilt is provided on the upper end of the electric lifting rod, and a camera is provided on the electric pan-tilt; an electric rotating seat is also provided in the middle position of the base, a mechanical arm is provided above the electric rotating seat, and a bolt tightener is provided at the end of the mechanical arm; a controller and a battery are also provided in the base, the controller is connected to the walking wheel group, the electric lifting rod, the electric pan-tilt, the camera, the electric rotating seat, the mechanical arm and the bolt tightener, the controller is also connected to a wireless transmission module, and the wireless transmission module is connected to a remote control center.

[0007] In the aforementioned drone-based high-voltage transmission line maintenance system, the hanging rod includes a telescopic rod body, a U-shaped clamping groove is provided at the upper end of the telescopic rod body, a pressure sensor is provided on the bottom surface of the U-shaped clamping groove, and pin holes are provided on the two symmetrical sides of the U-shaped clamping groove; an electromagnet is provided in the hanging joint, stepped guide holes are provided on both sides of the electromagnet, a telescopic pin shaft is provided in the stepped guide hole, a magnetic disk is provided at the inner end of the telescopic pin shaft, and a spring is provided on the inside of the stepped guide hole and is sleeved outside the telescopic pin shaft.

[0008] In the aforementioned drone-based high-voltage transmission line maintenance system, the walking wheel group includes a fixed support rod, on which a fixed roller is provided, and also includes a driving wheel located below the fixed roller, below which an electric lifting support rod is provided.

[0009] In the aforementioned drone-based high-voltage transmission line maintenance system, an infrared temperature sensor is also provided on the side of the camera.

[0010] In the aforementioned drone-based high-voltage power transmission line maintenance system, the cleaning component includes a bracket, on which a vertically distributed double-headed cylinder is provided, and the upper and lower output ends of the double-headed cylinder are provided with an L-shaped support plate, and the L-shaped support plate is provided with a semicircular plate, and the inner wall of the semicircular plate is provided with a female Velcro, and the female Velcro is adhered to a wiping towel with a male Velcro on the back.

[0011] In the aforementioned drone-based high-voltage transmission line maintenance system, a water tank is also provided in the base, and the water tank is connected to a sprinkler head located on the inner wall of the semicircular plate via a water pipe and a water pump.

[0012] Compared with the prior art, the present invention adopts the method of mounting the maintenance mechanism on the high-voltage transmission line by using a drone, so as to replace the traditional manual high-altitude maintenance operation mode, thereby effectively eliminating the potential safety hazards in the maintenance of high-voltage transmission lines. At the same time, the maintenance mechanism of the present application is composed of a base, a walking wheel group, a cleaning component, an adjustable camera, a mechanical arm and a bolt tightener. The inspection and cleaning of the transmission line are completed by walking on the high-voltage transmission line, and the bolts on the corresponding phase spacers and other components can also be tightened by the bolt tightener and the mechanical arm. In summary, the present invention has the characteristics of being able to effectively eliminate the potential safety hazards in the maintenance of high-voltage transmission lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure of the present invention;

[0014] Figure 2 yes Figure 1 A partial enlarged view of

[0015] Figure 3 It is a top view of the base;

[0016] Figure 4 It is a side view of the traveling wheel set and the camera;

[0017] Figure 5 It is a structural view of the cleanup component.

[0018] The markings in the attached figure are: 1-UAV, 2-hook joint, 3-hook rod, 4-maintenance mechanism, 401-base, 402-walking wheel group, 403-cleaning assembly, 404-electric lifting rod, 405-electric pan / tilt, 406-camera, 407-electric rotating seat, 408-mechanical arm, 409-bolt tightener, 410-controller, 411-battery, 301-telescopic rod body, 302-U-type Card-joining slot, 303-pressure sensor, 304-pin hole, 201-electromagnet, 202-stepped guide hole, 203-telescopic pin, 204-magnetic disk, 205-spring, 421-fixed support rod, 422-fixed roller, 423-driving wheel, 424-electric lifting support rod, 431-bracket, 432-double-headed cylinder, 433-L-type support plate, 434-semicircular plate, 435-wiping towel. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0020] Embodiment. A high-voltage transmission line maintenance system based on drones is composed of Figure 1-5 As shown, it includes a drone 1, a hanging joint 2 is provided below the drone 1, a hanging rod 3 is provided below the hanging joint 2, a maintenance mechanism 4 is fixed below the hanging rod 3, and the maintenance mechanism 4 is mounted on the power transmission line during maintenance; the maintenance mechanism 4 includes a base 401, the hanging rod 3 is located at the rear side of the middle of the base 401, walking wheel groups 402 are provided on both sides of the hanging rod 3, and a cleaning component 403 is also provided on the outer side of the walking wheel group 402, an electric lifting rod 404 corresponding to the walking wheel group 402 is provided on the front side of the base 401, and an electric pan-tilt head 405 is provided on the upper end of the electric lifting rod 404, and the electric pan-tilt head 405 is provided on the upper end of the electric lifting rod 404. 5 is provided with a camera 406; an electric rotating seat 407 is also provided in the middle position of the base 401, a mechanical arm 408 is provided above the electric rotating seat 407, and a bolt tightener 409 is provided at the end of the mechanical arm 408; a controller 410 and a battery 411 are also provided in the base 401, the controller 410 is connected with the walking wheel group 402, the electric lifting rod 404, the electric pan-tilt head 405, the camera 406, the electric rotating seat 407, the mechanical arm 408 and the bolt tightener 409, and the controller 410 is also connected with a wireless transmission module, and the wireless transmission module is connected with the remote control center.

[0021] The hanging rod 3 includes a telescopic rod body 301, a U-shaped clamping groove 302 is provided at the upper end of the telescopic rod body 301, a pressure sensor 303 is provided on the inner bottom surface of the U-shaped clamping groove 302, and pin holes 304 are provided on the two symmetrical sides of the U-shaped clamping groove 302; an electromagnet 201 is provided in the hanging joint 2, and stepped guide holes 202 are provided on both sides of the electromagnet 201, a telescopic pin shaft 203 is provided in the stepped guide hole 202, a magnetic disk 204 is provided at the inner end of the telescopic pin shaft 203, and a spring 205 is provided on the inner side of the stepped guide hole 202 and is sleeved outside the telescopic pin shaft 203.

[0022] The walking wheel set 402 includes a fixed support rod 421 , on which a fixed roller 422 is disposed, and a driving wheel 423 located below the fixed roller 422 , below which an electric lifting support rod 424 is disposed.

[0023] An infrared temperature sensor is also disposed on the side of the camera 406 .

[0024] The cleaning assembly 403 includes a bracket 431, on which a vertically distributed double-headed cylinder 432 is provided, and the upper and lower output ends of the double-headed cylinder 432 are provided with an L-shaped support plate 433, on which a semicircular plate 434 is provided, and the inner wall surface of the semicircular plate 434 is provided with a female Velcro, which is adhered to a wiping towel 435 with a male Velcro on the back.

[0025] A water tank is also provided in the base 401, and the water tank is connected to a sprinkler head located on the inner wall of the semicircular plate via a water pipe and a water pump.

[0026] The operation process of the present invention is as follows: the hook joint at the bottom of the drone is hooked to the upper end of the hook rod of the maintenance mechanism, the operator controls the drone to take off, drives the maintenance mechanism to rise, and controls the maintenance mechanism to be hung on the high-voltage transmission line. Subsequently, the maintenance mechanism moves along the high-voltage transmission line, and the drone flies synchronously. During the movement, the maintenance mechanism cleans and inspects the high-voltage transmission line. When it reaches the interphase spacer area, each bolt is tightened by a bolt tightener. Then the drone takes the maintenance mechanism away from this section of the high-voltage transmission line and hooks it to the next section of the high-voltage transmission line to be repaired, and continues the next section of the line inspection, cleaning and bolt tightening.

[0027] The process of hooking the drone's hook joint: insert the bottom of the drone's hook joint into the U-shaped card slot at the top of the hook rod, and the bottom of the hook joint applies pressure to the pressure sensor, which transmits the signal to the controller. The controller transmits the signal to the remote control center (which can be the operator of the drone) through the wireless transmission module. The remote control center controls the electromagnet of the hook joint to cut off the power. Under the elastic force of the spring, the telescopic pin shaft pops out and inserts into the pin hole of the U-shaped card slot to achieve the hooking of the drone and the maintenance mechanism. When it needs to be disassembled, the electromagnet is energized to absorb the magnetic disk, thereby driving the telescopic pin shaft to shrink and separate from the pin hole.

[0028] The maintenance process of the maintenance mechanism: First, the fixed roller of the maintenance mechanism is hung on the top of the transmission line through the drone, and then the electric lifting support pole rises so that the driving wheel contacts the bottom of the transmission line. The fixed roller and the driving wheel cooperate with each other to realize the walking of the maintenance mechanism on the transmission line. During the hanging process, the camera can be used for monitoring, which is convenient for the operator to operate; and the camera can also detect the surface condition of the transmission line during the walking process; and the infrared sensor can also detect the temperature of the transmission line. When reaching the interphase spacer area, the camera is lowered to a height that does not hinder the rotation of the mechanical arm through the electric lifting rod, and then the mechanical arm and the bolt tightener are adjusted to the position corresponding to the interphase spacer bolt through the electric rotating seat, and then the mechanical arm and the bolt tightener are controlled to tighten the bolt. The monitoring picture of the camera can be transmitted to the display screen of the drone operator or the display screen of the smart terminal through the wireless transmission module, which is convenient for the operator to operate.

[0029] In the initial state, the two semicircular plates are in a separated state. When the maintenance mechanism is hung on the transmission line and moves, the double-headed cylinder contracts, driving the two semicircular plates to shrink and fit together to form a circle that matches the transmission line, so that the wiping towel contacts the transmission line, and the transmission line is cleaned by the wiping towel. The water sprayed by the sprinkler head can wet the wiping towel, so that the wiping towel remains wet. The Velcro fitting method is adopted to facilitate the replacement of the wiping towel when not in use. The cleaning component of the present application can also be further improved by the hanging stability of the maintenance mechanism.

Claims

1. UAV-based high-voltage transmission line maintenance system, characterized by: The invention comprises an unmanned aerial vehicle (1), wherein a hanging joint (2) is provided below the unmanned aerial vehicle (1), a hanging rod (3) is provided below the hanging joint (2), a maintenance mechanism (4) is fixed below the hanging rod (3), and the maintenance mechanism (4) is mounted on the power transmission line during maintenance; the maintenance mechanism (4) comprises a base (401), the hanging rod (3) is located at the rear side of the middle part of the base (401), walking wheel groups (402) are provided on both sides of the hanging rod (3), and a cleaning component (403) is also provided on the outer side of the walking wheel group (402), an electric lifting rod (404) corresponding to the walking wheel group (402) is provided on the front side of the base (401), an electric pan-tilt platform (405) is provided at the upper end of the electric lifting rod (404), and the electric pan-tilt platform (405) is provided. 5) is provided with a camera (406); an electric rotating seat (407) is also provided in the middle position of the base (401), a mechanical arm (408) is provided above the electric rotating seat (407), and a bolt tightener (409) is provided at the end of the mechanical arm (408); a controller (410) and a battery (411) are also provided in the base (401), the controller (410) is connected with the walking wheel group (402), the electric lifting rod (404), the electric pan-tilt head (405), the camera (406), the electric rotating seat (407), the mechanical arm (408) and the bolt tightener (409), and the controller (410) is also connected with a wireless transmission module, and the wireless transmission module is connected with a remote control center.

2. The high-voltage transmission line maintenance system based on drone according to claim 1 is characterized in that: The hanging rod (3) comprises a telescopic rod body (301), the upper end of the telescopic rod body (301) is provided with a U-shaped clamping groove (302), the inner bottom surface of the U-shaped clamping groove (302) is provided with a pressure sensor (303), and two symmetrical sides of the U-shaped clamping groove (302) are provided with pin holes (304); the hanging joint (2) is provided with an electromagnet (201), both sides of the electromagnet (201) are provided with stepped guide holes (202), a telescopic pin shaft (203) is provided in the stepped guide hole (202), a magnetic disk (204) is provided at the inner end of the telescopic pin shaft (203), and a spring (205) sleeved on the outside of the telescopic pin shaft (203) is provided on the inner side of the stepped guide hole (202).

3. The high-voltage transmission line maintenance system based on drone according to claim 1 is characterized in that: The walking wheel group (402) comprises a fixed support rod (421), a fixed roller (422) is provided on the fixed support rod (421), and a driving wheel (423) located below the fixed roller (422), and an electric lifting support rod (424) is provided below the driving wheel (423).

4. The high-voltage transmission line maintenance system based on drone according to claim 1 is characterized in that: An infrared temperature sensor is also provided on the side of the camera (406).

5. The high-voltage transmission line maintenance system based on drone according to claim 1 is characterized in that: The cleaning assembly (403) comprises a bracket (431), a vertically distributed double-headed cylinder (432) is provided on the bracket (431), an L-shaped support plate (433) is provided at the upper and lower output ends of the double-headed cylinder (432), a semicircular plate (434) is provided on the L-shaped support plate (433), a female Velcro is provided on the inner wall of the semicircular plate (434), and the female Velcro is adhered to a wiping towel (435) with a male Velcro on the back.

6. The high-voltage transmission line maintenance system based on drone according to claim 5 is characterized in that: A water tank is also provided in the base (401), and the water tank is connected to a spray head located on the inner wall of the semicircular plate via a water pipe and a water pump.

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