Unmanned aerial vehicle autonomous inspection system for power transmission line

Abstract

The invention provides a power transmission line unmanned aerial vehicle autonomous inspection system which comprises a machine body assembly and four wing assemblies which are symmetrically distributed on the left side and the right side of the machine body assembly. The machine body assembly comprises a machine body, a front supporting rod, a middle supporting rod, a rear supporting rod, a solar panel, an illuminating lamp, a camera, a storage battery, a charging regulator, a control mainboard, a warning lamp, an infrasonic wave generator, a loudspeaker, a fluorescent barrel, a feeding pipe, a feeding valve, a high-pressure spray head and a micro electric spray gun; the top of the machine body is fixedly connected with a front supporting rod, a middle supporting rod and a rear supporting rod. By arranging the fuselage, the front supporting rod, the middle supporting rod, the rear supporting rod and the solar panel, the fuselage is streamlined, and the top solar panel is arc-shaped, the wind resistance in the flight process is greatly reduced, and meanwhile, the lifting force can be provided, so that the power consumption in the flight process is reduced, and the cruising ability of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power drone inspection, and in particular to an autonomous drone inspection system for power transmission lines. Background Art

[0002] Transmission lines are systems used to transport electrical energy from power plants, substations or other power sources to end users, usually including a series of power equipment and poles. Transmission lines are an important part of the power system. Their main function is to transmit high-voltage electricity from power plants to distributed substations in cities, industrial areas and rural areas, and then supply electricity to individual users through the distribution system. Therefore, it is necessary to conduct long-term inspections of transmission lines.

[0003] The timeliness, safety, and accuracy of inspection results have long been a problem that has plagued power grid operation and maintenance departments in the era of human inspections. In recent years, drones have been rapidly promoted and applied in the power grid industry as a high-tech inspection tool. The flight controller can quickly and accurately discover hidden dangers and defects in the line by operating the drone to fly along the line and taking photos or laser scanning at the same time, combined with intelligent AI data processing software.

[0004] However, the existing inspection drones have low endurance and are subject to great air resistance during flight, further leading to insufficient endurance. At the same time, existing inspection drones are unable to cope with interference from external birds, and are often damaged by bird collisions. When existing inspection drones detect damaged parts in power transmission lines, they can only provide image support and are unable to mark the actual lines. Once in low-light conditions such as at night, they are unable to indicate the damaged location well, which has great limitations. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the shortcomings of the prior art, the present invention provides an autonomous transmission line inspection system using a UAV, which solves the problems of existing inspection UAVs having short flight time, weak anti-interference ability, inability to mark on actual transmission lines, and large marking limitations.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: a transmission line UAV autonomous inspection system, comprising: a body assembly and a wing assembly, the number of the wing assemblies is set to four, and they are symmetrically distributed on the left and right sides of the body assembly, the body assembly includes a fuselage, a front support rod, a middle support rod, a rear support rod, a solar panel, a lighting lamp, a camera, a battery, a charging regulator, a control main board, a warning light, an infrasonic wave generator, a loudspeaker, a fluorescent barrel, a feed pipe, a feed valve, a high-pressure nozzle and a micro-electric spray gun, the cross-section of the fuselage is streamlined, the top of the fuselage is fixedly connected with a front support rod, a middle support rod and a rear support rod, the number of the front support rod, the middle support rod and the rear support rod are all set to two, and they are symmetrically distributed on the left and right, the top of the fuselage is provided with a solar panel, the solar panel is arc-shaped, and the fuselage and the solar panel are connected through the front support rod, the middle support rod and the rear support rod. The fuselage is fixedly connected to the rear support rod, the front side wall of the fuselage is fixedly connected with a lighting lamp and a camera, the number of the cameras is set to two, and they are symmetrically distributed on the left and right sides of the lighting lamp, the inner bottom surface of the fuselage is fixedly connected with a battery, a charging regulator and a control mainboard, the battery, the charging regulator and the control mainboard are distributed in sequence from front to back, the bottom of the fuselage is fixedly connected with a warning light, an infrasound generator and a fluorescent barrel, the warning light is located behind the infrasound generator, the fluorescent barrel is located in front of the infrasound generator, the left and right side walls of the infrasound generator are fixedly connected with loudspeakers, the number of the loudspeakers is set to two, the front side wall of the fluorescent barrel is fixedly connected with a feed pipe, the circumferential surface of the feed pipe is fixedly connected with a feed valve, the front side wall of the fluorescent barrel is fixedly connected with a micro-electric spray gun, and the front output end of the micro-electric spray gun is fixedly connected with a high-pressure nozzle.

[0009] Preferably, the wing assembly includes a connecting rod, a main motor, a connecting shaft and a wing, wherein the connecting rod is fixedly connected to the fuselage, the end of the connecting rod away from the fuselage is fixedly connected to the main motor, the top output end of the main motor is fixedly connected to the connecting shaft, and the wing is fixedly connected to the circumferential surface of the connecting shaft, and the number of the wing is set to be multiple and evenly distributed on the connecting shaft. When the main motor is started, the connecting shaft can be rotated, so that the wing rotates to generate flight power, so that the inspection drone flies on the planned route.

[0010] Preferably, the control mainboard is provided with an application module, a positioning module, a wireless communication module, a data processing module and a data storage module. The application module can introduce a three-dimensional model of the power lines in the external transmission line corridor and cooperate with the inspection drone for inspection. The positioning module can locate the position of the inspection drone in real time. The wireless communication module can send and receive signals from the external control device, thereby facilitating the control of the flight of the inspection drone so that it can accurately fly along the planned route. At the same time, the images taken by the camera can be transmitted back to the receiving device. The data processing module can process the received wireless signals, the sent wireless signals and various control instructions. The data storage module can store the image information collected by the camera and various flight data.

[0011] Preferably, the output end of the solar panel is electrically connected to a charging regulator, and the charging regulator is electrically connected to a storage battery. Through the charging regulator, the storage battery can be continuously and safely charged, thereby improving the battery's endurance.

[0012] Preferably, the fluorescent barrel is filled with fluorescent glue, and the input end of the micro-electric spray gun is connected to the fluorescent barrel. When the micro-electric spray gun is started, the fluorescent glue in the fluorescent barrel can be sprayed from the high-pressure nozzle to the damaged position of the power transmission line, thereby playing a marking role, making it easier for maintenance personnel to find it, thereby improving maintenance efficiency.

[0013] Preferably, the lighting lamp, camera, warning light, infrasonic generator, loudspeaker, micro electric spray gun and main motor are all electrically connected to the control mainboard, and the control mainboard is electrically connected to the battery.

[0014] Preferably, the feed pipe is located above the micro electric spray gun.

[0015] Preferably, a bracket is fixedly connected to the bottom of the fuselage, and there are two brackets, which are symmetrically distributed on the bottom of the fuselage.

[0016] (III) Beneficial effects

[0017] The present invention provides a transmission line drone autonomous inspection system, which has the following beneficial effects:

[0018] 1. By setting up the fuselage, front support rod, middle support rod, rear support rod and solar panel, the fuselage is streamlined and the top solar panel is arc-shaped, which greatly reduces the wind resistance during flight while providing lifting force, thereby reducing power consumption during flight and improving the endurance of the drone.

[0019] 2. By setting up an infrasound generator and a loudspeaker, high-intensity infrasound can be generated, thereby driving away birds around, avoiding collisions with inspection drones, and improving the safety of inspection drones.

[0020] 3. By setting up a fluorescent barrel, a feed pipe, a feed valve, a high-pressure nozzle and a micro-electric spray gun, when a damaged part is detected in the power transmission line, you can approach the damaged part, start the micro-electric spray gun, and spray fluorescent glue to the damaged part to play a marking role. When the maintenance personnel use a flashlight to illuminate it, the damaged position can be more clearly displayed, thereby improving maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a front view of a transmission line UAV autonomous inspection system proposed by the present invention;

[0022] Figure 2 A top view of a transmission line UAV autonomous inspection system proposed by the present invention;

[0023] Figure 3 This is a front view of a transmission line UAV autonomous inspection system proposed by the present invention;

[0024] Figure 4 This is a side view of a body component of a transmission line UAV autonomous inspection system proposed by the present invention;

[0025] Figure 5 This is a cross-sectional view of the body components of a transmission line UAV autonomous inspection system proposed by the present invention;

[0026] Figure 6 This is a structural diagram of the wing components of the transmission line UAV autonomous inspection system proposed by the present invention.

[0027] Among them, 1. body assembly; 2. wing assembly; 3. bracket; 101. fuselage; 102. front support rod; 103. middle support rod; 104. rear support rod; 105. solar panel; 106. lighting lamp; 107. camera; 108. battery; 109. charging regulator; 110. control main board; 111. warning light; 112. infrasonic generator; 113. loudspeaker; 114. fluorescent barrel; 115. feed pipe; 116. feed valve; 117. high-pressure nozzle; 118. micro electric spray gun; 201. connecting rod; 202. main motor; 203. connecting shaft; 204. wing. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] like Figure 1-Figure 6As shown, an embodiment of the present invention provides an autonomous inspection system for transmission lines by a UAV, including: a body component 1 and a wing component 2, wherein the number of the wing components 2 is four and symmetrically distributed on the left and right sides of the body component 1, the body component 1 includes a fuselage 101, a front support rod 102, a middle support rod 103, a rear support rod 104, a solar panel 105, a lighting lamp 106, a camera 107, a battery 108, a charging regulator 109, a control mainboard 110, a warning light 111, an infrasonic generator 112, a loudspeaker 113, a fluorescent barrel 114, a feed pipe 115, a feed valve 116, a high-pressure nozzle 117 and a micro-electric spray gun 118, and the cross-section of the fuselage 101 is streamlined, which can reduce the wind resistance of the inspection UAV during flight. , thereby reducing power consumption, the top of the fuselage 101 is fixedly connected with a front support rod 102, a middle support rod 103 and a rear support rod 104, the number of the front support rod 102, the middle support rod 103 and the rear support rod 104 are all set to two, and are symmetrically distributed on the left and right, and a solar panel 105 is arranged on the top of the fuselage 101. The solar panel 105 is arc-shaped, which can not only reduce the wind resistance of the inspection drone during flight, but also collect solar energy and generate electricity during flight, thereby improving the endurance of the inspection drone. The fuselage 101 and the solar panel 105 are fixedly connected through the front support rod 102, the middle support rod 103 and the rear support rod 104, and the front side wall of the fuselage 101 is fixedly connected with a lighting lamp 106 and a camera 107, and the camera 107 There are two of them, and they are symmetrically distributed on the left and right sides of the lighting lamp 106, which are used to illuminate the transmission line during inspection and to perform video inspection on the transmission line. The internal bottom surface of the fuselage 101 is fixedly connected with a battery 108, a charging regulator 109 and a control mainboard 110, and the battery 108, the charging regulator 109 and the control mainboard 110 are distributed in sequence from front to back. The bottom of the fuselage 101 is fixedly connected with a warning light 111, an infrasound generator 112 and a fluorescent barrel 114. The warning light 111 is located behind the infrasound generator 112 and serves as a warning and marking. The fluorescent barrel 114 is located in front of the infrasound generator 112. The left and right side walls of the infrasound generator 112 are fixedly connected with a loudspeaker 113. There are two of them. When the infrasound generator 112 and the loudspeaker 113 are started, the infrasound can be amplified, so as to drive away the birds on the flight route of the UAV, avoid collision with the birds, and improve the flight safety of the inspection UAV. A feeding pipe 115 is fixedly connected to the front side wall of the fluorescent barrel 114, and a feeding valve 116 is fixedly connected to the circumferential surface of the feeding pipe 115. A micro-electric spray gun 118 is fixedly connected to the front side wall of the fluorescent barrel 114. The feeding pipe 115 is located above the micro-electric spray gun 118. A high-pressure nozzle 117 is fixedly connected to the front output end of the micro-electric spray gun 118. The interior of the fluorescent barrel 114 is filled with fluorescent glue. The input end of the micro-electric spray gun 118 is connected to the fluorescent barrel 114. When the micro-electric spray gun 118 is started,The fluorescent glue in the fluorescent barrel 114 can be sprayed from the high-pressure nozzle 117 to the damaged position of the power transmission line, thereby playing a marking role, making it easier for maintenance personnel to find it, thereby improving maintenance efficiency.

[0030] The control main board 110 is provided with an application module, a positioning module, a wireless communication module, a data processing module and a data storage module. The application module can introduce a three-dimensional model of the power lines in the external transmission line corridor and cooperate with the inspection drone for inspection. The positioning module can locate the position of the inspection drone in real time. The wireless communication module can send and receive signals from external control devices, thereby facilitating the control of the flight of the inspection drone so that it can accurately fly along the planned route. At the same time, the images taken by the camera 107 can be transmitted back to the receiving device. The data processing module can process the received wireless signals, the sent wireless signals and various control instructions. The data storage module can store the image information collected by the camera 107 and various flight data.

[0031] The output end of the solar panel 105 is electrically connected to the charging regulator 109 , and the charging regulator 109 is electrically connected to the battery 108 . Through the charging regulator 109 , the battery 108 can be continuously and safely charged to improve the endurance of the battery 108 .

[0032] The wing assembly 2 includes a connecting rod 201, a main motor 202, a connecting shaft 203 and a wing 204. The connecting rod 201 is fixedly connected to the fuselage 101. The end of the connecting rod 201 away from the fuselage 101 is fixedly connected to the main motor 202. The top output end of the main motor 202 is fixedly connected to the connecting shaft 203. The wing 204 is fixedly connected to the circumferential surface of the connecting shaft 203. There are multiple wing blades 204, which are evenly distributed on the connecting shaft 203. When the main motor 202 is started, the connecting shaft 203 can be rotated, so that the wing blades 204 rotate to generate flight power, so that the inspection drone can fly on the planned route.

[0033] The lighting lamp 106 , the camera 107 , the warning lamp 111 , the infrasonic wave generator 112 , the loudspeaker 113 , the micro-electric spray gun 118 and the main motor 202 are all electrically connected to the control mainboard 110 , and the control mainboard 110 is electrically connected to the battery 108 .

[0034] The bottom of the fuselage 101 is fixedly connected with a bracket 3 , and the number of the brackets 3 is two and they are symmetrically distributed at the bottom of the fuselage 101 , so as to support the fuselage 101 .

[0035] Working principle: During inspection, the solar panel 105 on the top can absorb sunlight to continuously charge the battery 108, thereby improving the endurance of the battery 108, starting the main motor 202 to rotate the connecting shaft 203, thereby rotating the wing 204 to generate flight power, so that the inspection drone can fly on the planned route, and the camera 107 on the fuselage 101 can shoot the transmission line, thereby sending the shooting information to an external receiving device. When the camera 107 finds a damaged position in the transmission line, it can approach the damaged position, and then start the micro-electric spray gun 118 to spray the fluorescent glue inside the fluorescent barrel 114 from the high-pressure nozzle 117 to the damaged position of the transmission line, thereby playing a marking role, making it easier for maintenance personnel to find it. When there are birds in the camera 107 shooting, the infrasound generator 112 and the loudspeaker 113 can be started to amplify the generated infrasound, so as to drive away the birds on the drone's flight route, avoid collision with birds, and improve the flight safety of the inspection drone.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transmission line drone autonomous inspection system, characterized in that: include: The invention relates to a body assembly (1) and a wing assembly (2), wherein the number of the wing assemblies (2) is four and they are symmetrically distributed on the left and right sides of the body assembly (1). The body assembly (1) comprises a fuselage (101), a front support rod (102), a middle support rod (103), a rear support rod (104), a solar panel (105), a lighting lamp (106), a camera (107), a battery (108), a charging regulator (109), a control mainboard (110), a warning lamp (111), an infrasound generator (112), a loudspeaker (113), a fluorescent barrel (114), a feed pipe (115), a feed valve (116), a high-pressure nozzle ( 117) and a micro electric spray gun (118), the cross section of the fuselage (101) is streamlined, the top of the fuselage (101) is fixedly connected with a front support rod (102), a middle support rod (103) and a rear support rod (104), the number of the front support rod (102), the middle support rod (103) and the rear support rod (104) is two, and they are symmetrically distributed on the left and right, the top of the fuselage (101) is provided with a solar panel (105), the solar panel (105) is arc-shaped, and the fuselage (101) and the solar panel (105) are fixed by the front support rod (102), the middle support rod (103) and the rear support rod (104). The front side wall of the fuselage (101) is fixedly connected with a lighting lamp (106) and a camera (107), the number of which is two and symmetrically distributed on the left and right sides of the lighting lamp (106), the inner bottom surface of the fuselage (101) is fixedly connected with a storage battery (108), a charging regulator (109) and a control mainboard (110), the storage battery (108), the charging regulator (109) and the control mainboard (110) are distributed in sequence from front to back, and the bottom of the fuselage (101) is fixedly connected with a warning light (111), an infrasound wave generator (112) and a fluorescent barrel (114), the warning light (111) and the infrasound wave generator (112) and the fluorescent barrel (114), the warning light (111) and the infrasound wave generator (112) and the fluorescent barrel (114) are fixedly connected. 11) is located behind the infrasonic generator (112), the fluorescent barrel (114) is located in front of the infrasonic generator (112), the left and right side walls of the infrasonic generator (112) are fixedly connected with loudspeakers (113), the number of the loudspeakers (113) is set to two, the front side wall of the fluorescent barrel (114) is fixedly connected with a feed pipe (115), the circumferential surface of the feed pipe (115) is fixedly connected with a feed valve (116), the front side wall of the fluorescent barrel (114) is fixedly connected with a micro electric spray gun (118), and the front output end of the micro electric spray gun (118) is fixedly connected with a high-pressure nozzle (117).

2. The transmission line drone autonomous inspection system according to claim 1 is characterized by: The wing assembly (2) comprises a connecting rod (201), a main motor (202), a connecting shaft (203) and a wing (204); the connecting rod (201) is fixedly connected to the fuselage (101); one end of the connecting rod (201) away from the fuselage (101) is fixedly connected to the main motor (202); the top output end of the main motor (202) is fixedly connected to the connecting shaft (203); the wing (204) is fixedly connected to the circumferential surface of the connecting shaft (203); a plurality of wing (204) are provided and are evenly distributed on the connecting shaft (203).

3. The transmission line UAV autonomous inspection system according to claim 1 is characterized by: The control main board (110) is provided with an application module, a positioning module, a wireless communication module, a data processing module and a data storage module.

4. The transmission line drone autonomous inspection system according to claim 1 is characterized by: The output end of the solar panel (105) is electrically connected to a charging regulator (109), and the charging regulator (109) is electrically connected to a storage battery (108).

5. The transmission line UAV autonomous inspection system according to claim 1 is characterized by: The fluorescent barrel (114) is filled with fluorescent glue, and the input end of the micro electric spray gun (118) is connected to the fluorescent barrel (114).

6. The transmission line drone autonomous inspection system according to claim 2 is characterized by: The lighting lamp (106), the camera (107), the warning light (111), the infrasonic wave generator (112), the loudspeaker (113), the micro electric spray gun (118) and the main motor (202) are all electrically connected to the control main board (110), and the control main board (110) is electrically connected to the battery (108).

7. The transmission line UAV autonomous inspection system according to claim 1 is characterized by: The feed pipe (115) is located above the micro electric spray gun (118).

8. The transmission line drone autonomous inspection system according to claim 1 is characterized by: A bracket (3) is fixedly connected to the bottom of the fuselage (101), and the number of the brackets (3) is two and they are symmetrically distributed at the bottom of the fuselage (101).

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