Electric power inspection unmanned aerial vehicle and control method

Abstract

The invention relates to an electric power inspection unmanned aerial vehicle and a control method. The electric power inspection unmanned aerial vehicle comprises a vehicle body part and a power part. The machine body part comprises a main body frame and a shell, the main body frame comprises a top plate, a bottom plate, a main plate, two side plates and two end plates, the two side plates are arranged between the top plate and the bottom plate, the two side plates are distributed in parallel at intervals, the two end plates are arranged between the two side plates, and a cabin is defined by the top plate, the bottom plate, the two side plates and the two end plates; the main plate is parallel to the top plate, the main plate penetrates through the cabin, the two ends of the main plate in the first direction protrude out of the sides, back to the cabin, of the two end plates correspondingly, and lightening holes communicating the interior and the exterior of the cabin are formed in the side plates and the end plates correspondingly; the power part is arranged outside the main body frame, the power part comprises two groups of power assemblies, the two groups of power assemblies are distributed up and down, and the lower power assembly is mounted on the top plate. The flight stability is good, and electric power inspection is facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an electric power inspection UAV and a control method thereof. Background Art

[0002] With the continuous development of the power industry, the traditional manual inspection method faces problems such as high risk, low efficiency and high cost in power line inspection. Therefore, drones are widely used in power inspection, and the inspection efficiency is effectively improved by drones inspecting power grid lines.

[0003] However, the flight stability of the drones in the related technology is poor. When performing inspection tasks, they are easily affected by the external environment and cannot adapt well to the harsh environment of the power grid lines. Summary of the invention

[0004] Based on this, it is necessary to provide a power inspection UAV and a control method to address the above problems, which has good flight stability and is conducive to power inspection.

[0005] On the one hand, a power inspection drone is provided, comprising:

[0006] Body part,

[0007] The invention comprises a main frame and an outer shell arranged on the outer peripheral side of the main frame, wherein the main frame comprises a top plate, a bottom plate, a main plate, two identical side plates and two identical end plates, wherein the top plate is parallel to the bottom plate and the top plate is arranged above the bottom plate at an interval, the two side plates are arranged between the top plate and the bottom plate, and the two side plates are spaced and distributed in parallel, the two end plates are arranged between the two side plates, and the two end plates are spaced and distributed in parallel, the top plate, the bottom plate, the two side plates and the two end plates are arranged to form a cabin, the main plate is parallel to the top plate, the main plate passes through the cabin, and the two ends of the main plate in a first direction respectively protrude from the side of the two end plates facing away from the cabin, the side plates and the end plates are both provided with weight-reducing holes connecting the inside and the outside of the cabin, and the outer shell is respectively connected to the top plate, the bottom plate, the main plate, the side plates and the end plates; and

[0008] The power part is arranged outside the main frame, and the power part includes two groups of power components. The two groups of power components are distributed upper and lower, and the lower power component is installed on the top plate.

[0009] In one embodiment, the power assembly includes a first pull rod, a swash plate, a servo and a rotating propeller group. The servos in the two groups of power assemblies are arranged opposite to each other, and the rotating propeller group and the servo in the same group of power assemblies are respectively arranged on opposite sides of the swash plate, and the servo is connected to the swash plate. The rotating propeller group includes a rotating propeller and a driving motor for driving the rotating propeller to rotate. The driving motor and the swash plate are respectively arranged on opposite sides of the rotating propeller, and the driving motor is connected to the rotating propeller. The swash plate is connected to the rotating propeller through the first pull rod, and the rotating propeller can rotate relative to the swash plate. The driving motor in the power assembly below is installed on the top plate.

[0010] In one embodiment, the power part further includes a mounting frame, and the servos in the two groups of the power components are both mounted on the mounting frame.

[0011] In one embodiment, the rotating propeller blade includes a hub, a rotating ball head and two horizontal wing bodies, the hub includes a hub body and a connecting part arranged in the middle of the hub body, the drive motor is connected to one end of the connecting part, and the two ends of the hub body in the length direction are respectively connected to the two wing bodies, the rotating ball head is arranged at the end of the connecting part away from the drive motor, the rotating ball head is rotatably connected to the inclined plate, and the end of the first pull rod away from the inclined plate is connected to the hub body.

[0012] In one embodiment, the side plates are respectively connected to the main plate, the top plate, the bottom plate and the two end plates;

[0013] And / or, the main board is respectively connected to the two end boards.

[0014] In one embodiment, the side panel includes a panel body and a first panel split and a second panel split respectively arranged on the panel body, the first panel split and the second panel split are respectively arranged at two ends of the panel body in the first direction, the main panel includes a third panel split, a fourth panel split and a fifth panel split connected in sequence along the first direction, the third panel split and the fifth panel split are respectively arranged on the outside of the cabin, the fourth panel split is arranged on the inside of the cabin, the third panel split and the first panel split are located on the same side of the main frame, and the third panel split is snap-connected to the first panel split, the fifth panel split and the second panel split are located on the same side of the main frame, and the fifth panel split is snap-connected to the second panel split, and the fourth panel split is snap-connected to the panel body.

[0015] In one embodiment, it further includes a system part arranged on the main frame, and the system part includes:

[0016] A sensing module is used to sense the current heading and attitude information of the power inspection drone, as well as the current wind direction and wind speed;

[0017] A flight controller is used to solve the target lift and target direction that need to be adjusted according to the heading, the attitude information, the wind direction and the wind speed sensed by the perception module, and output a PWM signal to the servo according to the target lift and the target direction, so that the servo pulls the swash plate in the same group of the power components to rotate, and the rotation of the swash plate drives the first pull rod to pull the rotating propeller to rotate, and adjusts the pitch angle of the rotating propeller to adjust the pitch of the rotating propeller.

[0018] In one embodiment, the perception module includes an inertial navigation sensor and a wind speed and direction sensor respectively connected to the flight controller for communication, the inertial navigation sensor is used to sense the current heading and attitude information of the power inspection UAV, and the wind speed and direction sensor is used to sense the current wind speed and wind direction of the power inspection UAV.

[0019] In one of the embodiments, it also includes a data transmission module, and the perception module also includes a dual-optical pod communicatively connected to the data transmission module, the dual-optical pod is arranged on the third plate split, and part of the dual-optical pod is located outside the shell, the dual-optical pod is used to collect image information around the power grid line, and the data transmission module is used to transmit the image information collected by the dual-optical pod to the ground station.

[0020] On the other hand, a control method is also provided. The above-mentioned power inspection drone further includes a sensing module and a flight controller, and the power assembly includes a first pull rod, a swash plate, a steering gear and a rotating blade group. The method includes the following steps:

[0021] The flight controller receives the current heading, attitude information, wind direction and wind speed of the power inspection UAV sensed by the sensing module;

[0022] The flight controller obtains the target lift and target direction that need to be adjusted based on the heading, the attitude information, the wind direction and the wind speed sensed by the sensing module;

[0023] The flight controller outputs PWM signals according to the target lift and the target direction to respectively control the servos in the two groups of power components, so that the servos pull the swash plate in the same group of the power components to rotate, and the rotation of the swash plate drives the first pull rod to pull the rotating propeller in the rotating propeller group to rotate, and adjusts the pitch angle of the rotating propeller to adjust the pitch of the rotating propeller.

[0024] The above-mentioned electric inspection drone, by setting two groups of upper and lower distributed power components, uses the two groups of power components to provide power for the electric inspection drone respectively, thereby improving the flight stability of the electric inspection drone; by setting two identical side panels and two identical end panels, the two side panels are parallel and spaced and the two end panels are parallel and spaced, so that the main frame has good symmetry, and weight reduction holes are set on the end panels and side panels, so that the main frame is a hollow structure, reducing the overall weight of the main frame, which is conducive to providing load capacity. In addition, the main board is set to pass through the cabin, and the main board can be used to enhance the overall structural strength of the main frame, reduce the wind resistance of the inspection drone, and the main board is set to protrude from the two end plates at both ends of the first direction. The two sides of the main frame facing the nose and tail are protruding with the main board, which is conducive to balancing the weight of the front and rear sides of the main frame, and further conducive to improving the flight stability of the electric inspection drone, so that the electric inspection drone has good flight stability and has the ability to adapt to the complex environment in the electric inspection, which is conducive to the electric inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] FIG1 is a three-dimensional diagram of a power inspection drone in some embodiments of the present application.

[0026] FIG. 2 is a three-dimensional view of a power inspection drone with its outer shell removed in some embodiments of the present application.

[0027] FIG. 3 is a three-dimensional diagram of a main frame in some embodiments of the present application.

[0028] FIG. 4 is a structural diagram of a power assembly in some embodiments of the present application.

[0029] FIG5 is a schematic diagram of a perception module in some embodiments of the present application.

[0030] FIG. 6 is a logic diagram of a control method in some embodiments of the present application.

[0031] In the figure:

[0032] 1. Main frame; 11. Top plate; 12. Bottom plate; 13. Side plate; 131. Plate body; 132. First plate split; 133. Second plate split; 14. End plate; 15. Main plate; 151. Third plate split; 152. Fifth plate split;

[0033] 2. Shell; 3. Tail assembly; 31. First tail; 32. Second tail; 33. Third tail; 4. Power assembly; 41. First tie rod; 42. Tilt plate; 43. Servo; 44. Rotating propeller; 441. Propeller hub body; 442. Connecting part; 443. Wing body; 444. Rotating ball head; 45. Driving motor; 46. Mounting bracket; 5. Lightening hole; 6. Cabin; 7. Dual-optical pod; 8. Antenna; 9. Snap-on protrusion. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0035] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0036] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0037] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0038] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0040] Refer to Figure 1, which shows a stereoscopic view of a power inspection drone in some embodiments of the present application, and Figure 2 shows a stereoscopic view of a power inspection drone after removing the outer shell in some embodiments of the present application; Figure 3 shows a stereoscopic view of a main frame in some embodiments of the present application; and Figure 4 shows a structural diagram of a power assembly in some embodiments of the present application. The power inspection drone includes a body part and a power part, wherein the body part includes a main frame 1 and an outer shell 2 arranged on the outer peripheral side of the main frame 1, and the outer shell 2 provides protection for the main frame 1. The main frame 1 includes a top plate 11, a bottom plate 12, a main board 15, two identical side plates 13, and two identical end plates 14, the top plate 11 is parallel to the bottom plate 12, and the top plate 11 is arranged above the bottom plate 12 at intervals, the two side plates 13 are arranged between the top plate 11 and the bottom plate 12, and the two side plates 13 are arranged at intervals and in parallel, and the two end plates 14 are arranged between the two side plates 13, and the two end plates 14 are arranged at intervals and in parallel. The top plate 11, the bottom plate 12, two side plates 13 and two end plates 14 are arranged to form the cabin 6. The main plate 15 is parallel to the top plate 11. The main plate 15 passes through the cabin 6, and the two ends of the main plate 15 in the first direction are respectively protruded from the side of the two end plates 14 facing away from the cabin 6. In this embodiment, the first direction refers to the direction from the nose to the tail of the power inspection drone, that is, the direction indicated by the X arrow in the figure. The side plates 13 and the end plates 14 are both provided with weight-reducing holes 5 connecting the inside and outside of the cabin 6. The outer shell 2 is respectively connected to the top plate 11, the bottom plate 12, the main plate 15, the side plates 13 and the end plates 14 to fix the outer shell 2 to the main frame 1. The power part is arranged outside the main frame 1, and the power part includes two groups of power components 4, which are distributed up and down, and the lower power components 4 are installed on the top plate 11.

[0041] By setting two groups of power components 4 distributed upper and lower, the two groups of power components 4 are used to provide power for the power inspection UAV respectively, thereby improving the flight stability of the power inspection UAV; by setting two identical side panels 13 and two identical end panels 14, the two side panels 13 are parallel and spaced apart, and the two end panels 14 are parallel and spaced apart, so that the main frame 1 has good symmetry, and weight-reducing holes 5 are provided on the end panels 14 and the side panels 13, so that the main frame 1 has a hollow structure, thereby reducing the overall weight of the main frame 1, which is beneficial to providing load capacity. In addition, a main board 15 is arranged to pass through the cabin 6. The main board 15 can be used to enhance the overall structural strength of the main frame 1 and reduce the wind resistance of the inspection drone. The main board 15 is arranged to protrude from the two end plates 14 on the side facing away from the cabin 6 at both ends in the first direction, so that the main frame 1 has main boards 15 protruding from both sides facing the nose and the tail, which is beneficial to balancing the weight of the front and rear sides of the main frame 1, and further beneficial to improving the flight stability of the power inspection drone, so that the power inspection drone has good flight stability and the ability to adapt to the complex environment during power inspection, which is beneficial to power inspection.

[0042] The power assembly 4 includes a first pull rod 41, a swash plate 42, a steering gear 43 and a rotating blade group. The steering gears 43 in the two power assemblies 4 are arranged opposite to each other. The rotating blade group and the steering gear 43 in the same power assembly 4 are arranged on opposite sides of the swash plate 42, and the steering gear 43 is connected to the swash plate 42. In this embodiment, the steering gear 43 is connected to the swash plate 42 through a second pull rod (not shown in the figure). The rotating blade group includes a rotating blade 44 and a driving motor 45 for driving the rotating blade 44 to rotate. The driving motor 45 and the swash plate 42 are arranged on opposite sides of the rotating blade 44, respectively. The driving motor 45 is connected to the rotating blade 44. The swash plate 42 is connected to the rotating blade 44 through the first pull rod 41. The rotating blade 44 can rotate relative to the swash plate 42. The driving motor 45 in the lower power assembly 4 is installed on the top plate 11. In this embodiment, the driving motor 45 is a brushless motor, and the driving motor 45 has an electric regulator inside. The driving motor 45 drives the rotating blades 44 to rotate. The cooperative work of the rotating blades 44 of the two power components 4 can effectively distribute the lift, thereby improving the flight stability. When the servo 43 in the same power component 4 rotates, the second pull rod pulls the swash plate 42 to rotate. During the rotation of the swash plate 42, the first pull rod 41 pulls the rotating blades 44, so that the rotating blades 44 rotate around their axis to adjust the pitch angle of the rotating blades 44, thereby quickly controlling the flight direction of the power inspection UAV and improving the flexibility of the power inspection UAV.

[0043] In some embodiments, referring to FIG. 4 , the servos 43 in the two power components 4 are arranged relative to each other. To facilitate the installation of the servos 43 , the power part further includes a mounting frame 46 . The servos 43 in the two power components 4 are all mounted on the mounting frame 46 , and the mounting frame 46 provides support and fixation for the servos 43 .

[0044] Among them, the rotating blade 44 includes a hub, a rotating ball head 444 and two horizontal wing bodies 443, the hub includes a hub body 441 and a connecting portion 442 arranged in the middle of the hub body 441, the driving motor 45 is connected to one end of the connecting portion 442, the two ends of the hub body 441 in the length direction are respectively connected to the two wing bodies 443, the rotating ball head 444 is arranged at one end of the connecting portion 442 away from the driving motor 45, and the rotating ball head 444 is rotatably connected to the swash plate 42. When the driving motor 45 rotates, the hub body 441 and the wing body 443 are driven to rotate, and when the driving motor 45 rotates, the two wing bodies 443 can be used to offset the total torque. By setting the rotating ball head 444, on the one hand, the rotating ball head 444 is used to provide support and positioning for the swash plate 42, and on the other hand, it provides conditions for the rotating blade 44 to rotate relative to the swash plate 42. In this embodiment, the axes of the hub bodies 441 in the two groups of power components 4 coincide.

[0045] In some embodiments, referring to FIG. 2 and FIG. 3 , the side panels 13 are respectively snap-fitted to the main panel 15 , the top panel 11 , the bottom panel 12 and the two end panels 14 , and the main panel 15 is respectively snap-fitted to the two end panels 14 . The various panels are assembled to form the main frame 1 by snap-fitting, which is beneficial to the assembly of the main frame 1 .

[0046] Among them, among the two plates that are clamped together, one plate is provided with a clamping protrusion 9, and the other plate is provided with a clamping hole. The clamping protrusion 9 is clamped into the clamping hole. The clamping of the two plates is achieved through the cooperation of the clamping protrusion 9 and the clamping hole.

[0047] Referring to Figure 3, the side panel 13 includes a panel body 131 and a first panel split 132 and a second panel split 133 respectively arranged on the panel body 131, the first panel split 132 and the second panel split 133 are respectively arranged at both ends of the panel body 131 in the first direction, the main panel 15 includes a third panel split 151, a fourth panel split (not shown) and a fifth panel split 152 connected in sequence along the first direction, the third panel split 151 and the fifth panel split 152 are respectively arranged on the outside of the cabin 6, the fourth panel split is arranged on the inside of the cabin 6, the third panel split 151 and the first panel split 132 are located on the same side of the main frame 1, and the third panel split 151 is snap-connected with the first panel split 132, the fifth panel split 152 and the second panel split 133 are located on the same side of the main frame 1, and the fifth panel split 152 is snap-connected with the second panel split 133, and the fourth panel split is snap-connected with the panel body 131. By arranging the first plate body 132 and the second plate body 133 on the plate body 131, the portion where the side plate 13 is connected to the main plate 15 is increased, thereby ensuring the structural strength of the main frame 1. In actual implementation, the housing 2 is respectively connected to the plate body 131, the first plate body 132 and the second plate body 133, and the first plate body 132 and the second plate body 133 can provide support for the front and rear ends of the housing 2.

[0048] In this embodiment, the plate body 131, the first plate body 132 and the second plate body 133 are all provided with weight-reducing holes 5, so that the weight-reducing holes 5 are dispersed at multiple positions of the side plate 13, thereby reducing the impact of the opening of the weight-reducing holes 5 on the structural strength of the side plate 13.

[0049] In some embodiments, the power inspection UAV also includes a system part arranged on the main frame 1, and the system part includes a sensing module and a flight controller, and the sensing module, the servo 43 and the drive motor 45 are all connected to the flight controller in communication. The sensing module is used to sense the current heading and attitude information of the power inspection UAV, as well as the wind direction and wind speed of the power inspection UAV; the flight controller is used to solve the target lift and target direction that need to be adjusted according to the heading, attitude information, wind direction and wind speed sensed by the sensing module, and output a PWM signal to the servo 43 according to the target lift and target direction, so that the servo 43 pulls the swash plate 42 in the same group of power components to rotate, and the rotation of the swash plate 42 drives the first pull rod 41 to pull the rotating blade 44 to rotate, and adjusts the pitch angle of the rotating blade 44 to adjust the pitch of the rotating blade 44. In addition, the flight controller is also used to control the rotation of the drive motor. Through the cooperation between the sensing module and the flight controller, the pitch of the rotating propeller 44 can be adjusted in real time according to the current heading, wind speed and wind direction, so that the power inspection UAV can fly stably, thereby improving the wind resistance of the power inspection UAV.

[0050] Among them, the system part also includes an energy module, an obstacle avoidance module, a data transmission module, and a positioning module. The obstacle avoidance module, the data transmission module, the positioning module, the perception module, and the flight controller are electrically connected to the energy module respectively, and the energy module is used to power various electronic devices. In this embodiment, the energy module is a high-energy-density lithium battery, which is conducive to extending the flight time of the power inspection drone. The obstacle avoidance module is connected to the flight controller in communication. The obstacle avoidance module is used to collect environmental information data around the inspection drone and transmit the collected environmental information data to the flight controller for processing, so that the current position of the power inspection drone and the accurate position of the obstacle can be determined, so that the flight controller can plan a route to avoid obstacles according to the current position of the power inspection drone and the accurate position of the obstacle; the positioning module is used to determine the precise position information of the power inspection drone, including the flight altitude and longitude and latitude, etc. The flight controller controls the flight path of the power inspection drone according to the position information determined by the positioning module combined with the information perceived by the perception module and the information collected by the obstacle avoidance module; the data transmission module is used to transmit flight control data and information perceived by the perception module between the ground station to ensure that the power inspection drone can be monitored and controlled in real time during flight. The energy module, the control aircraft and the positioning module are all arranged inside the machine gun, and the sensing module, the obstacle avoidance module and the data transmission module are at least partially exposed outside the housing 2. In the present embodiment, there are four obstacle avoidance modules, which are respectively distributed on both sides of the main frame 1 near the nose, the bottom and both sides of the main frame 1 in the width direction. Due to the large weight of the energy module, in order to reduce the risk of shaking of the power inspection UAV due to the unbalanced force on the left and right sides or the front and rear sides during navigation, the center line of the energy module coincides with the axis line of the hub body 441. In the present embodiment, referring to FIG. 2, the data transmission module includes an antenna, one end of the antenna 8 is connected to the fifth board split 152 of the main board 15, and the other end extends out of the housing 2. In order to reduce the resistance of the antenna 8 to the power inspection UAV during flight, the antenna 8 is set to be in the shape of a saber knot.

[0051] Referring to FIG. 5 , the perception module includes a dual-light pod 7, a laser radar, a sound sensor, an infrared sensor, an inertial navigation sensor, and a wind speed and direction sensor. The dual-light pod 7 is used to collect image information around the power grid line. The laser radar is used to scan the power grid line and model the surrounding environment. The sound sensor is used to collect surrounding sound signals to detect the sound wave frequency band of the power grid line to assist the obstacle avoidance module in positioning. The infrared sensor is used to measure the distance of the obstacle to assist the obstacle avoidance module in avoiding the obstacle. The inertial navigation sensor is used to sense the current heading and attitude information of the power inspection drone. The wind speed and direction sensor is used to sense the current wind speed and wind direction of the power inspection drone. The laser radar, the sound sensor, and the infrared sensor are all used to assist the obstacle avoidance module in avoiding the obstacle. In the case where the power inspection drone includes a data transmission module, the dual-light pod 7 is connected to the data transmission module for communication. In this embodiment, the dual-light pod 7 is arranged on the third plate split 151, and part of the dual-light pod 7 is located outside the housing 2. The data transmission module can also transmit the image information collected by the dual-light pod to the ground station, so that the staff on the ground station can monitor the power grid lines in real time during the flight of the power inspection drone and realize the inspection of the power grid lines.

[0052] In some embodiments, referring to FIG. 1 , the electric power inspection UAV further includes a tail assembly 3. When the sensing module includes a dual-light pod 7, the tail assembly 3 is arranged at an end of the mainboard 15 away from the dual-light pod 7, and a portion of the tail assembly 3 is located outside the housing 2. The mainboard 15 provides support and fixation for the tail assembly 3. In this embodiment, the dual-light pod 7 is arranged on the side of the main frame 1 close to the nose of the electric power inspection UAV, and the tail assembly 3 is arranged at an end of the electric power inspection UAV close to the tail. The dual-light pod 7 and the tail assembly 3 arranged in this way can balance the weight of the joint and the tail of the electric power inspection UAV, which is conducive to maintaining the stability of the electric power inspection.

[0053] In this embodiment, the tail assembly 3 includes a first tail 31, a second tail 32 and a third tail 33. The first tail 31 and the second tail 32 are both horizontally distributed, and the first tail 31 and the second tail 32 are respectively arranged on one side of the main board 15 in the second direction, and the second direction is respectively perpendicular to the first direction and the vertical direction. In this embodiment, the second direction is the width direction of the power inspection drone, that is, the direction indicated by the Y arrow in the figure. The third tail 33 is arranged vertically, and the upper end of the third tail 33 is connected to the bottom of the main board 15, and the end of the third tail 33 away from the main board 15 is exposed outside the housing 2, so that when the power inspection drone lands on the ground, the third tail 33 and the bottom of the main frame 1 can be used to support the power inspection drone, thereby reducing the force on the main frame 1.

[0054] In some embodiments, a control method is also provided, which is applied to a power inspection drone of any of the above structures, wherein the power inspection drone further includes a sensing module and a flight controller, and the power assembly includes a first pull rod 41, a swash plate 42, a steering gear 43 and a rotating blade assembly. Referring to FIG. 6 , the control method includes the following steps:

[0055] Step S1, start the power inspection drone.

[0056] Step S2: Initialize the system.

[0057] Step S3: The flight controller receives the current heading, attitude information, wind direction and wind speed of the power inspection drone sensed by the sensing module. In this step, the inertial navigation sensor is used to sense the current heading and attitude information of the power inspection drone; the wind speed and direction sensor is used to sense the current wind speed and wind direction of the power inspection drone.

[0058] Step S4: The flight controller obtains the target lift and target direction that need to be adjusted according to the heading, attitude information, wind direction and wind speed sensed by the sensing module;

[0059] Step S5, the flight controller outputs PWM signals according to the target lift and target direction to control the servos 43 in the two groups of power components 4 respectively, so that the servos 43 pull the swash plate 42 in the same group of power components 4 to rotate through the second pull rod, and the rotation of the swash plate 42 drives the first pull rod 41 to pull the rotating propeller 44 in the rotating propeller group to rotate, and adjusts the pitch angle of the rotating propeller 44 to adjust the pitch of the rotating propeller 44, thereby adjusting the actual heading and actual lift size of the power inspection UAV.

[0060] Step S6, repeating steps S3, S4 and S5 in sequence until the UAV finishes cruising and performing the inspection task.

[0061] It is understandable that when the power inspection UAV is performing inspection tasks, it is often affected by winds of different directions, resulting in unstable flight of the power inspection UAV. Through the current heading, attitude information, wind direction and wind speed of the power inspection UAV sensed in the sensing module, the flight controller solves the target lift and target direction that need to be adjusted based on the current heading, attitude information, wind direction and wind speed of the power inspection UAV sensed, and controls the two sets of power components 4 according to the solved information, so that the pitch of the rotating propeller 44 is adjusted, thereby adjusting the actual heading and actual lift of the UAV, reducing the impact of wind force and wind direction on the flight of the power inspection UAV, thereby improving the wind resistance and flight stability of the power inspection UAV, and improving the ability of the power inspection UAV to adapt to the environment in the power grid line.

[0062] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A power inspection drone, characterized in that: include: The body part comprises a main frame and an outer shell arranged on the outer peripheral side of the main frame, the main frame comprises a top plate, a bottom plate, a main plate, two identical side plates and two identical end plates, the top plate is parallel to the bottom plate, and the top plate is arranged above the bottom plate at an interval, the two side plates are arranged between the top plate and the bottom plate, and the two side plates are spaced and distributed in parallel, the two end plates are arranged between the two side plates, and the two end plates are spaced and distributed in parallel, the top plate, the bottom plate, the two side plates and the two end plates are surrounded to form a cabin, the main plate is parallel to the top plate, the main plate passes through the cabin, and the two ends of the main plate in a first direction respectively protrude from the side of the two end plates facing away from the cabin, the side plates and the end plates are both provided with weight reduction holes connecting the inside and the outside of the cabin, and the outer shell is respectively connected to the top plate, the bottom plate, the main plate, the side plates and the end plates; and The power part is arranged outside the main frame, and the power part includes two groups of power components. The two groups of power components are distributed upper and lower, and the lower power component is installed on the top plate.

2. The power inspection drone according to claim 1, characterized in that: The power assembly includes a first pull rod, a swash plate, a servo and a rotating propeller group. The servos in the two groups of power assemblies are arranged opposite to each other. The rotating propeller group and the servo in the same group of power assemblies are respectively arranged on opposite sides of the swash plate, and the servo is connected to the swash plate. The rotating propeller group includes a rotating propeller and a driving motor for driving the rotating propeller to rotate. The driving motor and the swash plate are respectively arranged on opposite sides of the rotating propeller, and the driving motor is connected to the rotating propeller. The swash plate is connected to the rotating propeller through the first pull rod, and the rotating propeller can rotate relative to the swash plate. The driving motor in the power assembly below is installed on the top plate.

3. The power inspection drone according to claim 2, characterized in that: The power part also includes a mounting frame, and the steering gears in the two groups of power components are both mounted on the mounting frame.

4. The power inspection drone according to claim 2, characterized in that: The rotating propeller blade includes a hub, a rotating ball head and two horizontal wing bodies. The hub includes a hub body and a connecting part arranged in the middle of the hub body. The drive motor is connected to one end of the connecting part, and the two ends of the hub body in the length direction are respectively connected to the two wing bodies. The rotating ball head is arranged at an end of the connecting part away from the drive motor. The rotating ball head is rotatably connected to the inclined plate, and the end of the first pull rod away from the inclined plate is connected to the hub body.

5. The power inspection drone according to claim 2, characterized in that: The side plates are respectively connected with the main plate, the top plate, the bottom plate and the two end plates; And / or, the main board is respectively connected to the two end boards.

6. The power inspection drone according to claim 5, characterized in that: The side panel includes a panel body and a first panel split and a second panel split respectively arranged on the panel body, the first panel split and the second panel split are respectively arranged at two ends of the panel body in the first direction, the main panel includes a third panel split, a fourth panel split and a fifth panel split sequentially connected along the first direction, the third panel split and the fifth panel split are respectively arranged on the outside of the cabin, the fourth panel split is arranged on the inside of the cabin, the third panel split and the first panel split are located on the same side of the main frame, and the third panel split is snap-connected to the first panel split, the fifth panel split and the second panel split are located on the same side of the main frame, and the fifth panel split is snap-connected to the second panel split, and the fourth panel split is snap-connected to the panel body.

7. The power inspection drone according to claim 6, characterized in that: It also includes a system part arranged on the main frame, and the system part includes: A sensing module is used to sense the current heading and attitude information of the power inspection drone, as well as the current wind direction and wind speed; A flight controller is used to solve the target lift and target direction that need to be adjusted according to the heading, the attitude information, the wind direction and the wind speed sensed by the perception module, and output a PWM signal to the servo according to the target lift and the target direction, so that the servo pulls the swash plate in the same group of the power components to rotate, and the rotation of the swash plate drives the first pull rod to pull the rotating propeller to rotate, and adjusts the pitch angle of the rotating propeller to adjust the pitch of the rotating propeller.

8. The power inspection drone according to claim 7, characterized in that: The sensing module includes an inertial navigation sensor and a wind speed and direction sensor which are respectively connected to the flight controller for communication. The inertial navigation sensor is used to sense the current heading and attitude information of the power inspection UAV, and the wind speed and direction sensor is used to sense the current wind speed and direction of the power inspection UAV.

9. The power inspection drone according to claim 8, characterized in that: It also includes a data transmission module, and the perception module also includes a dual-optical pod that is communicatively connected to the data transmission module. The dual-optical pod is arranged on the third plate split, and part of the dual-optical pod is located outside the shell. The dual-optical pod is used to collect image information around the power grid line, and the data transmission module is used to transmit the image information collected by the dual-optical pod to the ground station.

10. A control method, applied to the power inspection UAV according to claim 1, wherein the power inspection UAV further comprises a sensing module and a flight controller, the power assembly comprises a first pull rod, a swash plate, a steering gear and a rotating blade assembly, and the method comprises the following steps: The flight controller receives the current heading, attitude information, wind direction and wind speed of the power inspection UAV sensed by the sensing module; The flight controller obtains the target lift and target direction that need to be adjusted based on the heading, the attitude information, the wind direction and the wind speed sensed by the sensing module; The flight controller outputs PWM signals according to the target lift and the target direction to respectively control the servos in the two groups of power components, so that the servos pull the swash plate in the same group of the power components to rotate, and the rotation of the swash plate drives the first pull rod to pull the rotating propeller in the rotating propeller group to rotate, and adjusts the pitch angle of the rotating propeller to adjust the pitch of the rotating propeller.

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