Electric power inspection unmanned aerial vehicle and control method

Abstract

The application relates to a power inspection unmanned aerial vehicle and a control method. The power inspection unmanned aerial vehicle comprises a body part and a power part. The body part comprises a main frame and an outer shell, the main 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 spaced apart and parallel, the two end plates are arranged between the two side plates, the top plate, the bottom plate, the two side plates and the two end plates surround to form a cabin, the main plate is parallel to the top plate, the main plate penetrates the cabin, and the two ends of the main plate in a first direction respectively protrude from one side of the two end plates away from the cabin, and the side plates and the end plates are provided with weight-reducing holes communicating the inside and the outside of the cabin; the power part is arranged outside the main frame, the power part comprises two groups of power assemblies, the two groups of power assemblies are distributed upwards and downwards, and the lower power assembly is installed on the top plate. The flight stability is good, and the power inspection is facilitated.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a power line inspection UAV and its control method. Background Technology

[0002] With the continuous development of the power industry, traditional manual inspection methods for power lines face problems such as high risk, low efficiency, and high cost. Therefore, drones are widely used in power line inspections, effectively improving inspection efficiency.

[0003] However, the drones in this technology have poor flight stability and are easily affected by the external environment when performing inspection tasks, making them unable to adapt well to the harsh environment of power grid lines. Summary of the Invention

[0004] Therefore, it is necessary to provide a power line inspection drone and its control method to address the above problems. This drone has good flight stability and is beneficial for power line inspection.

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

[0006] Body parts,

[0007] The system includes a main frame and an outer shell disposed on the outer periphery of the main frame. The main frame includes 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 is spaced above the bottom plate. The two side plates are disposed between the top plate and the bottom plate, and are spaced apart and parallel to each other. The two end plates are disposed between the two side plates, and are spaced apart and parallel to each other. The top plate, the bottom plate, the two side plates, and the two end plates form a cabin. The main plate is parallel to the top plate and passes through the cabin. Both ends of the main plate protrude from the two end plates on the side facing away from the cabin in a first direction. Weight-reduction holes are provided on the side plates and the end plates, connecting the interior and exterior of the cabin. The outer shell is connected to the top plate, the bottom plate, the main plate, the side plates, and the end plates.

[0008] The power unit is located outside the main frame. The power unit includes two sets of power components, which are distributed on the top and bottom, with the lower power component mounted on the top plate.

[0009] In one of the embodiments, the power assembly comprises a first pull rod, a tilt plate, a rudder and a rotating propeller group, the two groups of the power assembly are oppositely arranged, the rotating propeller group and the rudder in the same group of the power assembly are arranged on opposite sides of the tilt plate respectively, the rudder is connected with the tilt plate, the rotating propeller group comprises a rotating propeller and a driving motor for driving the rotating propeller to rotate, the driving motor and the tilt plate are arranged on opposite sides of the rotating propeller respectively, the driving motor is connected with the rotating propeller, the tilt plate is connected with the rotating propeller through the first pull rod, the rotating propeller can rotate relative to the tilt plate, and the driving motor in the lower power assembly is mounted on the top plate.

[0010] In one of the embodiments, the power part further comprises a mounting rack, and the rudders in the two groups of the power assembly are mounted on the mounting rack.

[0011] In one of the embodiments, the rotating propeller comprises a propeller hub, a rotating ball head and two horizontal wing bodies, the propeller hub comprises a propeller hub body and a connecting part arranged at the middle part of the propeller hub body, the driving motor is connected with one end of the connecting part, the two ends of the propeller hub body in the length direction are connected with the two wing bodies respectively, the rotating ball head is arranged at the end of the connecting part away from the driving motor, the rotating ball head is rotationally connected with the tilt plate, and the end of the first pull rod away from the tilt plate is connected with the propeller hub body.

[0012] In one of the embodiments, the side plates are clamped with the main plate, the top plate, the bottom plate and the two end plates respectively.

[0013] In one of the embodiments, the main plate is clamped with the two end plates respectively.

[0014] In one of the embodiments, the side plate comprises a plate body and first and second plate parts arranged on the plate body respectively, the first and second plate parts are arranged at the two ends of the plate body in the first direction respectively, the main plate comprises third, fourth and fifth plate parts connected in sequence in the first direction, the third and fifth plate parts are arranged at the outside of the cabin respectively, the fourth plate part is arranged at the inside of the cabin, the third plate part and the first plate part are located on the same side of the main body frame and are clamped with each other, the fifth plate part and the second plate part are located on the same side of the main body frame and are clamped with each other, and the fourth plate part is clamped with the plate body.

[0015] In one of the embodiments, a system part is further included on the main body frame, which comprises:

[0016] a perception module for perceiving the current heading and attitude information of the power inspection UAV, and perceiving the current wind direction and wind speed;

[0017] a flight controller for solving the target lift and target direction that need to be adjusted according to the heading, attitude information, wind direction and wind speed perceived by the perception module, and outputting PWM signals to the rudder according to the target lift and target direction, so that the rudder pulls the tilt disc in the same group of power assemblies to rotate, and the first pull rod is pulled to rotate the rotating propeller by the rotation of the tilt disc, and the pitch of the rotating propeller is adjusted to adjust the pitch of the rotating propeller.

[0018] In one of the embodiments, the perception module comprises an inertial navigation sensor and a wind speed and direction sensor, which are respectively in communication connection with the flight controller, the inertial navigation sensor is used to perceive the current heading and attitude information of the power inspection UAV, and the wind speed and direction sensor is used to perceive the current wind speed and direction of the power inspection UAV.

[0019] In one of the embodiments, a data transmission module is further included, and the perception module further comprises a dual-optical pod in communication connection with the data transmission module, the dual-optical pod is arranged on the third plate part, part of the dual-optical pod is located outside the shell, and 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 further provided, the above-mentioned power inspection UAV further comprises a perception module and a flight controller, the power assembly comprises a first pull rod, a tilt disc, a rudder and a rotating propeller group, and the method comprises the following steps:

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

[0022] The flight controller solves the target lift and target direction that need to be adjusted according to the heading, attitude information, wind direction and wind speed perceived by the perception module;

[0023] The flight controller outputs PWM signals to control the rudders in two groups of power assemblies respectively according to the target lift and the target direction, so that the rudders pull the tilting discs in the same group of power assemblies to rotate, the first pull rods are driven to pull the rotary propellers in the rotary propeller group to rotate, and the pitch of the rotary propellers is adjusted to adjust the pitch of the rotary propellers.

[0024] The power inspection unmanned aerial vehicle has the following advantages. Two groups of upper and lower distributed power assemblies are arranged, and the two groups of power assemblies are used to provide power for the power inspection unmanned aerial vehicle, so that the flight stability of the power inspection unmanned aerial vehicle is improved. Two identical side plates and two identical end plates are arranged, the two side plates are parallel and distributed at intervals, and the two end plates are parallel and distributed at intervals, so that the main frame has good symmetry, and the weight reduction holes are arranged on the end plates and the side plates, so that the main frame has a hollow structure, the overall weight of the main frame is reduced, and the load capacity is provided. In addition, the main plate is arranged to pass through the cabin, the overall structural strength of the main frame is enhanced, the wind resistance of the inspection unmanned aerial vehicle is reduced, and the main plate is arranged to protrude from the two end plates on the two sides of the cabin away from the cabin. The main frame protrudes from the main plate on the two sides of the nose and the tail, which is beneficial to balance the weight of the front and rear sides of the main frame, further improves the flight stability of the power inspection unmanned aerial vehicle, and makes the power inspection unmanned aerial vehicle have good flight stability, has the ability to adapt to complex environments in power inspection, and is beneficial to power inspection. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a perspective view of the power inspection unmanned aerial vehicle in some embodiments of the present application.

[0026] Figure 2 It is a perspective view of the power inspection unmanned aerial vehicle after removing the shell in some embodiments of the present application.

[0027] Figure 3 It is a perspective view of the main frame in some embodiments of the present application.

[0028] Figure 4 It is a structural view of the power assembly in some embodiments of the present application.

[0029] Figure 5 It is a schematic view of the sensing module in some embodiments of the present application.

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

[0031] In the figure:

[0032] 1, main body frame; 11, top plate; 12, bottom plate; 13, side plate; 131, plate main body; 132, first plate sub-body; 133, second plate sub-body; 14, end plate; 15, main plate; 151, third plate sub-body; 152, fifth plate sub-body;

[0033] 2, outer shell; 3, tail wing assembly; 31, first tail wing; 32, second tail wing; 33, third tail wing; 4, power assembly; 41, first pull rod; 42, tilt plate; 43, steering engine; 44, rotating propeller; 441, propeller hub body; 442, connecting part; 443, wing body; 444, rotating ball head; 45, driving motor; 46, mounting bracket; 5, weight reduction hole; 6, cabin; 7, double light pod; 8, antenna; 9, clamping convex part. 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 embodiments of the present application will be described in detail below. In the following description, a lot of specific details are set forth in order to fully understand 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 departing from the spirit 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 these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0036] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features referred to. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "multiple" appears, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0037] In the present application, unless specifically defined otherwise, the terms "mounting", "connected", "connecting", "fixed", and the like, should be understood broadly. For example, it can be fixedly connected, or detachably connected, or integrated; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the internal communication of two elements, or the interaction relationship between two elements, unless otherwise specifically defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] In the present application, unless specifically defined otherwise, if there is a description of the first feature "on" or "under" the second feature, etc., it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "on", "above" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0039] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can be a middle element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be a middle element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions used in the present application are for illustrative purposes only and do not represent the only implementation.

[0040] Referring to Figure 1 , Figure 1 shows a perspective view of the power inspection unmanned aerial vehicle in some embodiments of the present application, Figure 2 shows a perspective view of the power inspection unmanned aerial vehicle after removing the shell in some embodiments of the present application; Figure 3 shows a perspective view of the main frame in some embodiments of the present application; Figure 4The structural diagram of the power assembly in some embodiments of the application is shown. The electric power inspection unmanned aerial vehicle includes a body part and a power part, wherein the body part includes a main frame 1 and a shell 2 arranged on the outer circumferential side of the main frame 1, and the shell 2 provides a protective effect for the main frame 1. The main frame 1 includes a top plate 11, a bottom plate 12, a main plate 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 in a spaced manner. The two side plates 13 are arranged between the top plate 11 and the bottom plate 12, and the two side plates 13 are distributed in a spaced and parallel manner. The two end plates 14 are arranged between the two side plates 13, and the two end plates 14 are distributed in a spaced and parallel manner. The top plate 11, the bottom plate 12, the two side plates 13 and the two end plates 14 form a cabin 6. The main plate 15 is parallel to the top plate 11, and the main plate 15 penetrates the cabin 6, and the two ends of the main plate 15 in the first direction respectively protrude from the sides of the two end plates 14 away from the cabin 6. In this embodiment, the first direction refers to the direction from the nose to the tail of the electric power inspection unmanned aerial vehicle, 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 that communicate between the inside and outside of the cabin 6. The shell 2 is connected with the top plate 11, the bottom plate 12, the main plate 15, the side plates 13 and the end plates 14, so that the shell 2 is fixed with the main frame 1. The power part is arranged outside the main frame 1, and the power part includes two groups of power assemblies 4. The two groups of power assemblies 4 are distributed above and below, and the lower power assembly 4 is installed on the top plate 11.

[0041] By arranging the two groups of power assemblies 4 distributed above and below, the two groups of power assemblies 4 are respectively used to provide power for the electric power inspection unmanned aerial vehicle, so as to improve the flight stability of the electric power inspection unmanned aerial vehicle. By arranging the two identical side plates 13 and the two identical end plates 14, the two side plates 13 are distributed in a parallel and spaced manner, and the two end plates 14 are distributed in a parallel and spaced manner, so that the main frame 1 has good symmetry. The weight-reducing holes 5 are arranged on the end plates 14 and the side plates 13, so that the main frame 1 has a hollow structure, the overall weight of the main frame 1 is reduced, and the load capacity is improved. In addition, the main plate 15 penetrates the cabin 6, the overall structural strength of the main frame 1 is improved by using the main plate 15, the wind resistance of the inspection unmanned aerial vehicle is reduced, and the two ends of the main plate 15 in the first direction respectively protrude from the sides of the two end plates 14 away from the cabin 6. The two sides of the main frame 1 towards the nose and the tail protrude from the main plate 15, which is conducive to balancing the weight of the front and rear sides of the main frame 1, further improves the flight stability of the electric power inspection unmanned aerial vehicle, makes the electric power inspection unmanned aerial vehicle have good flight stability, has the ability to adapt to complex environments in power inspection, and is conducive to power inspection.

[0042] The power assembly 4 comprises a first pull rod 41, an inclined disc 42, a rudder 43 and a rotating propeller group. The rudders 43 in the two power assemblies 4 are oppositely arranged. The rotating propeller group and the rudder 43 in the same power assembly 4 are arranged on opposite sides of the inclined disc 42, and the rudder 43 is connected with the inclined disc 42. In this embodiment, the rudder 43 is connected with the inclined disc 42 through a second pull rod (not shown in the figure). The rotating propeller group comprises a rotating propeller 44 and a driving motor 45 for driving the rotating propeller 44 to rotate. The driving motor 45 and the inclined disc 42 are arranged on opposite sides of the rotating propeller 44, respectively. The driving motor 45 is connected with the rotating propeller 44. The inclined disc 42 is connected with the rotating propeller 44 through the first pull rod 41. The rotating propeller 44 can rotate relative to the inclined disc 42. The driving motor 45 in the power assembly 4 below 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 electronic speed controller inside. The driving motor 45 drives the rotating propeller 44 to rotate. Through the cooperation of the rotating propellers 44 in the two power assemblies 4, the lift can be effectively distributed, thereby improving the stability of flight. When the rudder 43 in the same power assembly 4 rotates, the inclined disc 42 is pulled to rotate through the second pull rod. In the process of rotating the inclined disc 42, the rotating propeller 44 is pulled through the first pull rod 41, so that the rotating propeller 44 rotates around its axis to adjust the pitch angle of the rotating propeller 44, thereby quickly controlling the flight direction of the electric power inspection unmanned aerial vehicle and improving the flexibility of the electric power inspection unmanned aerial vehicle.

[0043] In some embodiments, referring to Figure 4 The rudders 43 in the two power assemblies 4 are oppositely arranged. In order to facilitate the installation of the rudder 43, the power part further comprises a mounting frame 46. The rudders 43 in the two power assemblies 4 are both installed on the mounting frame 46. The mounting frame 46 provides support and fixing for the rudder 43.

[0044] The rotating propeller 44 comprises a hub, a rotating ball head 444 and two horizontal wing bodies 443. The hub comprises a hub body 441 and a connecting part 442 arranged at the middle of the hub body 441. The driving motor 45 is connected with one end of the connecting part 442. The two wing bodies 443 are respectively connected with the two ends of the hub body 441 in the length direction. The rotating ball head 444 is arranged at the end of the connecting part 442 away from the driving motor 45. The rotating ball head 444 is rotationally connected with the inclined disc 42. When the driving motor 45 rotates, the hub body 441 and the wing bodies 443 are driven to rotate. When the driving motor 45 rotates, the total torque can be offset by the two wing bodies 443. By arranging the rotating ball head 444, on the one hand, the rotating ball head 444 provides support and positioning for the inclined disc 42. On the other hand, the rotating ball head 444 provides conditions for the rotating propeller 44 to rotate relative to the inclined disc 42. In this embodiment, the axes of the hub bodies 441 in the two power assemblies 4 coincide.

[0045] In some embodiments, referring toFigure 2 and Figure 3 The side plate 13 is respectively clamped with the main plate 15, the top plate 11, the bottom plate 12 and the two end plates 14, the main plate 15 is respectively clamped with the two end plates 14, and the various plates are assembled by clamping to form the main frame 1, which is beneficial to the assembly of the main frame 1.

[0046] Among the two plates clamped with each other, 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, and the clamping of the two plates is realized through the cooperation of the clamping protrusion 9 and the clamping hole.

[0047] Referring to Figure 3 The side plate 13 includes a plate body 131 and first and second plate parts 132 and 133 respectively arranged on the plate body 131, the first and second plate parts 132 and 133 are respectively arranged at two ends of the plate body 131 in the first direction, the main plate 15 includes third, fourth (not marked in the figure) and fifth plate parts 151 and 152 connected in sequence in the first direction, the third and fifth plate parts 151 and 152 are respectively arranged outside the cabin 6, and the fourth plate part is arranged inside the cabin 6, the third plate part 151 and the first plate part 132 are located on the same side of the main frame 1 and are clamped with each other, the fifth plate part 152 and the second plate part 133 are located on the same side of the main frame 1 and are clamped with each other, and the fourth plate part is clamped with the plate body 131. By arranging the first and second plate parts 132 and 133 on the plate body 131, the connection position of the side plate 13 and the main plate 15 is increased, and the structural strength of the main frame 1 is ensured. In actual implementation, the shell 2 is respectively connected with the plate body 131, the first plate part 132 and the second plate part 133, and the first and second plate parts 132 and 133 can provide support for the front end and the rear end of the shell 2.

[0048] In this embodiment, the plate body 131, the first plate part 132 and the second plate part 133 are all provided with the lightening hole 5, so that the lightening holes 5 are dispersed at multiple positions of the side plate 13, and the influence of the opening of the lightening hole 5 on the structural strength of the side plate 13 is reduced.

[0049] In some embodiments, the power inspection unmanned aerial vehicle further comprises a system part arranged on the main body frame 1, the system part comprising a sensing module and a flight controller, the sensing module, the rudder 43 and the driving motor 45 being in communication connection with the flight controller. The sensing module is used to sense the current heading and attitude information of the power inspection unmanned aerial vehicle, and to sense the wind direction and wind speed of the power inspection unmanned aerial vehicle; 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 to output PWM signals to the rudder 43 according to the target lift and target direction, so that the rudder 43 pulls the tilting disc 42 in the same group of power components to rotate, and the first pull rod 41 is pulled to rotate the rotating propeller 44 through the rotation of the tilting disc 42, and the pitch of the rotating propeller 44 is adjusted to adjust the pitch of the rotating propeller 44. In addition, the flight controller is also used to control the driving motor to rotate. Through the mutual cooperation of 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 unmanned aerial vehicle can fly stably, and the wind resistance of the power inspection unmanned aerial vehicle is improved.

[0050] In some embodiments, the system part further comprises 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 sensing module and the flight controller being in electrical connection with the energy module, and each electronic device is powered by the energy module. In this embodiment, the energy module is a high-energy-density lithium battery, which is conducive to prolonging the navigation time of the power inspection unmanned aerial vehicle. The obstacle avoidance module is in communication connection with the flight controller, and the obstacle avoidance module is used to collect environmental information data around the inspection unmanned aerial vehicle and transmit the collected environmental information data to the flight controller for processing, so as to determine the current position of the power inspection unmanned aerial vehicle and the accurate position of the obstacle, so that the flight controller can plan a route to avoid the obstacle according to the determined current position of the power inspection unmanned aerial vehicle and the accurate position of the obstacle; the positioning module is used to determine the accurate position information of the power inspection unmanned aerial vehicle, including flight height and latitude and longitude, etc. The flight controller controls the flight path of the power inspection unmanned aerial vehicle according to the position information determined by the positioning module in combination with the information sensed by the sensing module and the information collected by the obstacle avoidance module; the data transmission module is used to transmit flight control data and information sensed by the sensing module with the ground station, so as to ensure that the power inspection unmanned aerial vehicle can be monitored and controlled in real time during flight. The energy module, the control aircraft and the positioning module are 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 shell 2. In this embodiment, the obstacle avoidance module is provided with four, and the four obstacle avoidance modules are respectively distributed on both sides of the main body frame 1 close to the nose, the bottom and the two sides of the main body frame 1 in the width direction. Since the weight of the energy module is large, in order to reduce the risk of shaking of the power inspection unmanned aerial vehicle due to unbalanced stress on the left and right sides or front and back sides during navigation, the center line of the energy module coincides with the axis of the hub body 441. In this embodiment,Figure 2 The data transmission module includes an antenna, one end of the antenna 8 is connected to the fifth plate body 152 of the main plate 15, and the other end extends outside the shell 2. In order to reduce the resistance of the antenna 8 to the electric power inspection unmanned aerial vehicle during flight, the antenna 8 is provided in the shape of a machete knot.

[0051] Referring to Figure 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 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 obstacle avoidance. The inertial navigation sensor is used to perceive the current heading and attitude information of the electric power inspection unmanned aerial vehicle. The wind speed and direction sensor is used to perceive the current wind speed and direction of the electric power inspection unmanned aerial vehicle. The laser radar, the sound sensor, and the infrared sensor are all used to assist the obstacle avoidance module in obstacle avoidance. In the case that the electric power inspection unmanned aerial vehicle includes a data transmission module, the dual-light pod 7 is in communication connection with the data transmission module. In this embodiment, the dual-light pod 7 is arranged on the third plate body 151, and part of the dual-light pod 7 is located outside the shell 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 line in real time during the flight of the electric power inspection unmanned aerial vehicle, and realize the inspection of the power grid line.

[0052] In some embodiments, referring to Figure 1 The electric power inspection unmanned aerial vehicle further includes a tail assembly 3. In the case that the perception module includes a dual-light pod 7, the tail assembly 3 is arranged at the end of the main plate 15 away from the dual-light pod 7, and part of the tail assembly 3 is located outside the shell 2. The main plate 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 body frame 1 close to the nose of the electric power inspection unmanned aerial vehicle, and the tail assembly 3 is arranged at the end of the electric power inspection unmanned aerial vehicle close to the tail. The arrangement of the dual-light pod 7 and the tail assembly 3 can balance the weight of the nose and the tail of the electric power inspection unmanned aerial vehicle, which is conducive to maintaining the stability of the electric power inspection.

[0053] In this embodiment, the tail wing assembly 3 includes a first tail wing 31, a second tail wing 32 and a third tail wing 33, the first tail wing 31 and the second tail wing 32 are horizontally distributed, and the first tail wing 31 and the second tail wing 32 are arranged on one side of the main plate 15 in the second direction, the second direction is perpendicular to the first direction and the vertical direction, in this embodiment, the second direction is the width direction of the power inspection unmanned aerial vehicle, that is, the direction indicated by the Y arrow in the figure. The third tail wing 33 is vertically arranged, and the upper end of the third tail wing 33 is connected with the bottom of the main plate 15, and the end of the third tail wing 33 away from the main plate 15 is exposed outside the shell 2, so that when the power inspection unmanned aerial vehicle lands on the ground, the third tail wing 33 and the bottom of the main body frame 1 can jointly support the power inspection unmanned aerial vehicle, and the stress on the main body frame 1 is reduced.

[0054] In some embodiments, a control method is also provided, which is applied to any one of the above structures of the power inspection unmanned aerial vehicle, and the power inspection unmanned aerial vehicle further includes a sensing module and a flight controller, and the power assembly includes a first pull rod 41, a tilting disc 42, a rudder 43 and a rotating propeller group. Referring to Figure 6 , the control method includes the following steps:

[0055] Step S1, starting the power inspection unmanned aerial vehicle.

[0056] Step S2, initializing the system part.

[0057] Step S3, the flight controller receives the current heading, attitude information, wind direction and wind speed of the power inspection unmanned aerial vehicle 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 unmanned aerial vehicle; the wind speed and direction sensor is used to sense the current wind speed and direction of the power inspection unmanned aerial vehicle.

[0058] Step S4, the flight controller solves 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 to control the rudders 43 in the two groups of power assemblies 4 according to the target lift and target direction, so that the rudders 43 drive the tilting discs 42 in the same group of power assemblies 4 to rotate through the second pull rods, and the first pull rods 41 drive the rotating propellers 44 in the rotating propeller groups to rotate through the rotation of the tilting discs 42, the pitch of the rotating propellers 44 is adjusted to adjust the pitch of the rotating propellers 44, so that the actual heading and actual lift of the power inspection unmanned aerial vehicle can be adjusted.

[0060] Step S6, steps S3, S4 and S5 are repeated in sequence until the unmanned aerial vehicle ends the cruising and performs the inspection task.

[0061] It can be understood that the power inspection unmanned aerial vehicle is often affected by wind with different wind directions when performing the inspection task, resulting in unstable flight of the power inspection unmanned aerial vehicle. Through the current heading, attitude information, wind direction and wind speed of the power inspection unmanned aerial vehicle perceived in the perception module, the flight controller obtains the target lift and target direction that need to be adjusted according to the perceived current heading, attitude information, wind direction and wind speed of the power inspection unmanned aerial vehicle, and controls the two groups of power components 4 according to the obtained information, so that the pitch of the rotating propeller 44 is adjusted, thereby adjusting the actual heading and actual lift size of the unmanned aerial vehicle, reducing the influence of wind and wind direction on the flight of the power inspection unmanned aerial vehicle, thereby improving the wind resistance and flight stability of the power inspection unmanned aerial vehicle, and improving the ability of the power inspection unmanned aerial vehicle to adapt to the environment in the power grid line.

[0062] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not contradict, they should be considered as within the scope of the present disclosure.

[0063] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that for those skilled in the art, some modifications and improvements can be made without departing from the concept of the present application, and these are within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A power line inspection drone, characterized in that, include: The body includes a main frame and an outer shell disposed on the outer periphery of the main frame. The main frame includes 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 is spaced above the bottom plate. The two side plates are disposed between the top plate and the bottom plate and are spaced apart and parallel to each other. The two end plates are disposed between the two side plates and are spaced apart and parallel to each other. The top plate, the bottom plate, the two side plates, and the two end plates enclose a cabin. The main plate is parallel to the top plate and passes through the cabin. The two ends of the main plate protrude from the two end plates on the side facing away from the cabin in a first direction. The side plates and the end plates are provided with weight-reducing holes that connect the interior and exterior of the cabin. The outer shell is connected to the top plate, the bottom plate, the main plate, the side plates, and the end plates respectively. and The power unit, located outside the main frame, comprises two sets of power components distributed vertically, with the lower power component mounted on the top plate. Each power component includes a first linkage, a swashplate, a servo motor, and a rotary propeller assembly. The servos in the two sets of power components are positioned opposite each other. The rotary propeller assembly and the servo motor in the same power component are respectively located on opposite sides of the swashplate, and the servo motor is connected to the swashplate. The rotary propeller assembly includes a rotary blade and a drive motor for driving the rotary blade's rotation. The drive motor and the swashplate are respectively located on opposite sides of the rotary blade, and the drive motor is connected to the rotary blade. The swashplate is connected to the first linkage. The pull rod is connected to the rotating propeller, which can rotate relative to the swashplate. The drive motor in the power assembly below is mounted on the top plate. The rotating propeller includes a hub, a rotating ball joint, and two horizontal wing bodies. The hub includes a hub body and a connecting part located in the middle of the hub body. The drive motor is connected to one end of the connecting part. The two ends of the hub body in the length direction are respectively connected to the two wing bodies. The rotating ball joint is located at the end of the connecting part away from the drive motor and is rotatably connected to the swashplate. The end of the first pull rod away from the swashplate is connected to the hub body. The side plates are respectively engaged with the main plate, the top plate, the bottom plate, and the two end plates. And / or, the motherboard is respectively snapped into one of the two end boards; The side panel includes a main body and a first and a second plate segment respectively disposed on the main body. The first and second plate segments are respectively disposed at both ends of the main body in the first direction. The main body includes a third, a fourth, and a fifth plate segment connected sequentially along the first direction. The third and fifth plate segments are respectively disposed on the outside of the cabin, and the fourth plate segment is disposed on the inside of the cabin. The third and first plate segments are located on the same side of the main frame, and the third plate segment is engaged with the first plate segment. The fifth and second plate segments are located on the same side of the main frame, and the fifth plate segment is engaged with the second plate segment. The fourth plate segment is engaged with the main body.

2. The power line inspection drone according to claim 1, characterized in that, The power unit also includes a mounting bracket, on which the servo motors in both sets of power components are mounted.

3. The power line inspection drone according to claim 1, characterized in that, It also includes a system component disposed on the main frame, the system component comprising: The perception module is used to perceive the current heading and attitude information of the power inspection drone, as well as the current wind direction and wind speed. The flight controller is used to calculate the target lift and target direction to be adjusted based on the heading, attitude information, wind direction and wind speed sensed by the sensing module, and output a PWM signal to the servo motor based on the target lift and target direction, so that the servo motor pulls the swashplate in the same group of power components to rotate. The rotation of the swashplate drives the first lever to pull the rotary propeller to rotate, and adjusts the pitch angle of the rotary propeller to adjust the propeller pitch.

4. The power line inspection drone according to claim 3, characterized in that, The sensing module includes an inertial navigation sensor and a wind speed and direction sensor, which are respectively communicated with the flight controller. The inertial navigation sensor is used to sense the current heading and attitude information of the power inspection drone, and the wind speed and direction sensor is used to sense the current wind speed and direction of the power inspection drone.

5. The power line inspection drone according to claim 4, characterized in that, It also includes a data transmission module, and the sensing module further includes a dual-light pod that is communicatively connected to the data transmission module. The dual-light pod is mounted on the third plate split, with a portion of the dual-light pod located outside the outer shell. The dual-light pod is used to collect image information around the power grid lines, and the data transmission module is used to transmit the image information collected by the dual-light pod to the ground station.

6. A control method applied to the power line inspection drone of claim 1, wherein the power line inspection drone further includes a sensing module and a flight controller, and the power assembly includes a first control stick, a swashplate, a servo motor, and a rotary propeller assembly, the method comprising the following steps: The flight controller receives the current heading, attitude information, wind direction, and wind speed of the power inspection drone from the sensing module. The flight controller calculates the target lift and target direction that need to be adjusted based on the heading, attitude information, wind direction and wind speed sensed by the sensing module. The flight controller outputs PWM signals based on the target lift and the target direction to control the servos in the two sets of power components respectively, so that the servos pull the swashplate in the same set of power components to rotate. The rotation of the swashplate drives the first lever to pull the rotor blade in the rotor blade assembly to rotate, thereby adjusting the pitch angle of the rotor blade to adjust the pitch of the rotor blade.

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