Unmanned aerial vehicle for emergency rescue of power grid based on camera device

Abstract

The invention relates to the field of unmanned aerial vehicles, and provides an electric power grid emergency rescue unmanned aerial vehicle based on a camera device, which comprises a vehicle body, rotor wings rotatably connected to the vehicle body, two support legs fixedly connected to the bottom wall of the vehicle body, a camera device movably connected to the top wall of the vehicle body through a holder, a maintenance device fixedly connected to the side wall of the vehicle body, and a transmission channel formed in the maintenance device, a rotating roller is detachably connected to the inner wall of the transmission channel, a paper tube is rotatably connected to the rotating roller, an electrical adhesive tape body is wound on the paper tube, and an adhesive tape control assembly is arranged in the transmission channel. The device can replace manual work to maintain a fault wire at high altitude.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle for emergency rescue of electric power grids based on a camera device. Background Art

[0002] A drone, also known as an unmanned aerial vehicle, is an aircraft that does not require direct control by a human pilot. It can fly through remote control or autonomous programs and is widely used in military, commercial, scientific research, entertainment, rescue and other fields.

[0003] At present, when the surface of wires in the power grid is damaged, it is usually repaired manually, which requires maintenance personnel to carry tools and climb to high places. This is very dangerous and time-consuming. Therefore, it is necessary to design an emergency rescue drone that can replace manual repair of damaged wires. Summary of the invention

[0004] In view of the above technical problems, the present invention aims to provide a drone for emergency rescue of power grid based on a camera device. To solve the above technical problems, the present invention adopts the following technical solutions: A camera-based unmanned aerial vehicle for emergency rescue of electric power grids comprises a body, a rotor is rotatably connected to the body, two legs are fixedly connected to the bottom wall of the body, the top wall of the body is movably connected to the camera via a pan-tilt, a maintenance device is fixedly connected to the side wall of the body, a transmission channel is provided on the maintenance device, a roller is detachably connected to the inner wall of the transmission channel, a paper tube is rotatably connected to the roller, an electrical tape body is wound around the paper tube, and a tape control component is provided in the transmission channel.

[0005] Furthermore, the tape control assembly includes a first motor, a screw rod, a displacement seat, a guide rod, a tape control rack, a second motor and a first spur gear.

[0006] The first motor and the guide rod are both fixed to the inner wall of the transmission channel, the screw is fixed to the rotor of the first motor, the displacement seat is slidably connected to the inner wall of the transmission channel, a threaded hole and a guide hole are provided on the displacement seat, the guide rod passes through the guide hole, and the guide rod is slidably connected to the inner wall of the guide hole, the screw passes through the threaded hole, and the screw is threadedly connected to the inner wall of the threaded hole, the tape operating rack is slidably connected to the displacement seat, the second motor is fixed to the displacement seat, the first spur gear is fixed to the rotor of the second motor, and the first spur gear is meshed with the tape operating rack.

[0007] An air producing cavity is provided on the tape operating rack, an insulating seat and an extension seat are fixedly connected to the tape operating rack, a clamping groove is provided on the insulating seat, an electromagnet is fixedly connected to the extension seat, the extension seat is connected to the pressure seat through an elastic member, the pressure seat is slidably connected to the tape operating rack, a permanent magnet is fixedly connected to the pressure seat, an L-shaped rod is fixedly connected to the pressure seat, the L-shaped rod is slidably connected to the inner wall of the air producing cavity, a third motor is fixedly connected to the L-shaped rod, a second spur gear is fixedly connected to the rotor of the third motor, a first connecting plate and a second connecting plate are fixedly connected to the inner wall of the air producing cavity, a first rotating shaft is rotatably connected to the first connecting plate, one end of the first rotating shaft is fixedly connected to the third spur gear, the other end of the first rotating shaft is fixedly connected to the first fan blade, the second rotating shaft is rotatably connected to the second connecting plate, one end of the second rotating shaft is fixedly connected to the fourth spur gear, the second spur gear and the fourth spur gear are meshed, and the other end of the second rotating shaft is fixedly connected to the second fan blade.

[0008] Furthermore, a plastic sheet layer is fixedly connected to the bottom wall of the pressure seat.

[0009] Furthermore, the inner wall of the transmission channel is connected to a limit block and a cutting mechanism.

[0010] Furthermore, the electromagnet is located directly above the permanent magnet.

[0011] Furthermore, a counterweight is provided in the body.

[0012] Furthermore, the camera device is provided with an image acquisition module, a noise reduction processing module and a wireless module.

[0013] Furthermore, the noise reduction processing module includes a pre-processing module.

[0014] Furthermore, the noise reduction processing module includes a spatial domain noise reduction module.

[0015] Furthermore, the noise reduction processing module includes an image enhancement module.

[0016] The present invention has the following beneficial effects: The present invention can replace manual high-altitude repair of faulty electric wires, and uses the image acquisition module and noise reduction processing module on the camera device to obtain clear image data for the operator to view the field of view of the drone, so as to facilitate the repair of the faulty electric wires. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0018] Figure 1 It is a schematic structural diagram of a drone for emergency rescue of a power grid based on a camera device of the present invention; Figure 2 The present invention Figure 1 A schematic diagram of the structure of the camera device; Figure 3 The present invention Figure 1 Right side view of the central maintenance device; Figure 4 The present invention Figure 3 The enlarged view of point A in the middle; Figure 5 The present invention Figure 4 Enlarged view of the middle insulating seat.

[0019] Figure numerals: 1, body; 2, rotor; 3, pan / tilt; 4, camera device; 5, support leg; 6, maintenance device; 7, transmission channel; 8, first motor; 9, screw; 10, displacement seat; 11, guide rod; 12, tape operating rack; 13, threaded hole; 14, guide hole; 15, second motor; 16, first straight gear; 17, rotating roller; 18, paper tube; 19, electrical tape body; 20, limit block; 21, cutting mechanism; 22, air generating chamber ; 23. Insulating seat; 24. Pressing groove; 25. Pressing seat; 26. Plastic sheet layer; 27. Permanent magnet; 28. Elastic member; 29. ​​Extension seat; 30. Electromagnet; 31. L-shaped rod; 32. Third motor; 33. Second spur gear; 34. First connecting plate; 35. First rotating shaft; 36. Third spur gear; 37. First fan blade; 38. Second connecting plate; 39. Second rotating shaft; 40. Fourth spur gear; 41. Second fan blade; 42. Faulty wire. DETAILED DESCRIPTION

[0020] 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.

[0021] In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0022] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] like Figure 1-Figure 5 As shown, a camera-based emergency rescue drone for power grid includes a body 1, a rotor 2 is rotatably connected to the body 1, two legs 5 are fixedly connected to the bottom wall of the body 1, a camera device 4 is movably connected to the top wall of the body 1 through a gimbal 3, a maintenance device 6 is fixedly connected to the side wall of the body 1, a transmission channel 7 is opened on the maintenance device 6, a roller 17 is detachably connected to the inner wall of the transmission channel 7, a paper tube 18 is rotatably connected to the roller 17, an electrical tape body 19 is wound around the paper tube 18, and a tape control component is arranged in the transmission channel 7.

[0024] like Figure 1-3 As shown in 4-5, according to an optional embodiment of the present invention, the tape control assembly includes a first motor 8, a screw rod 9, a displacement seat 10, a guide rod 11, a tape control rack 12, a second motor 15 and a first spur gear 16. The first motor 8 and the guide rod 11 are fixed to the inner wall of the transmission channel 7, the screw rod 9 is fixed to the rotor of the first motor 8, the displacement seat 10 is slidably connected to the inner wall of the transmission channel 7, a threaded hole 13 and a guide hole 14 are provided on the displacement seat 10, the guide rod 11 passes through the guide hole 14, and the guide rod 11 and the inner wall of the guide hole 14 are slidably connected, the screw rod 9 passes through the threaded hole 13, and the screw rod 9 is threadedly connected to the inner wall of the threaded hole 13, the tape control rack 12 is slidably connected to the displacement seat 10, the second motor 15 is fixed to the displacement seat 10, the first spur gear 16 is fixed to the rotor of the second motor 15, and the first spur gear 16 is meshed with the tape control rack 12; The tape operating rack 12 is provided with an air-generating chamber 22, an insulating seat 23 and an extension seat 29 are fixedly connected to the tape operating rack 12, a pressing groove 24 is provided on the insulating seat 23, an electromagnet 30 is fixedly connected to the extension seat 29, the extension seat 29 is connected to the pressure seat 25 through an elastic member 28, the pressure seat 25 is slidably connected to the tape operating rack 12, a permanent magnet 27 is fixedly connected to the pressure seat 25, an L-shaped rod 31 is fixedly connected to the pressure seat 25, the L-shaped rod 31 is slidably connected to the inner wall of the air-generating chamber 22, a third motor 32 is fixedly connected to the L-shaped rod 31, and the third electromagnet 30 is fixedly connected to the extension seat 29. A second spur gear 33 is fixedly connected to the rotor of the machine 32, a first connecting plate 34 and a second connecting plate 38 are fixedly connected to the inner wall of the air producing chamber 22, a first rotating shaft 35 is rotatably connected to the first connecting plate 34, a third spur gear 36 is fixedly connected to one end of the first rotating shaft 35, a first fan blade 37 is fixedly connected to the other end of the first rotating shaft 35, a second rotating shaft 39 is rotatably connected to the second connecting plate 38, a fourth spur gear 40 is fixedly connected to one end of the second rotating shaft 39, the second spur gear 33 is meshed with the fourth spur gear 40, and a second fan blade 41 is fixedly connected to the other end of the second rotating shaft 39.

[0025] like Figure 4 As shown, according to an optional embodiment of the present invention, a plastic sheet 26 is fixedly connected to the bottom wall of the pressing seat 25. The plastic sheet 26 can make the adhesive surface of the electrical tape body 19 easier to separate.

[0026] like Figure 3 As shown, according to an optional embodiment of the present invention, the inner wall of the transmission channel 7 is connected to a limit block 20 and a cutting mechanism 21. The limit block 20 and the cutting mechanism 21 facilitate cutting the electrical tape body 19.

[0027] like Figure 4 As shown, according to an optional implementation of the present invention, the electromagnet 30 is located directly above the permanent magnet 27 .

[0028] According to an optional embodiment of the present invention, a counterweight is provided in the machine body 1. The counterweight can balance the gravity of the maintenance device 6 to keep the machine body 1 balanced.

[0029] According to an optional embodiment of the present invention, the camera device 4 is provided with an image acquisition module, a noise reduction processing module and a wireless module. The image acquisition module acquires image data, the noise reduction processing module performs noise reduction on the image data, and the wireless module can send and receive wireless signals.

[0030] According to an optional implementation of the present invention, the noise reduction processing module includes a preprocessing module. The preprocessing module performs histogram equalization on the image data to enhance the image contrast and provide a basis for quality optimization after noise reduction.

[0031] According to an optional implementation of the present invention, the noise reduction processing module includes a spatial domain noise reduction module. The high-frequency noise in the image is reduced by a bilateral filtering method.

[0032] According to an optional implementation of the present invention, the noise reduction processing module includes an image enhancement module. The image enhancement module adjusts the contrast of the image and improves the overall contrast by stretching the histogram.

[0033] Implementation process: When the faulty wire 42 needs to be repaired, the rotor 2 on the body 1 is controlled to rotate by the remote controller, so that the body 1 flies to the side of the faulty wire 42, and the camera device 4 can provide the operator with the field of view of the drone.

[0034] In the initial state, the electrical tape body 19 passes through between the limit block 20 and the cutting mechanism 21, the electrical tape body 19 and the outer wall of the insulating seat 23 are against each other, one end of the electrical tape body 19 is clamped by the plastic sheet layer 26 of the top wall of the insulating seat 23 and the bottom wall of the pressure seat 25, the adhesive surface of the electrical tape body 19 and the plastic sheet layer 26 are against each other, and the second spur gear 33 and the fourth spur gear 40 are meshed.

[0035] The second motor 15 is controlled to rotate the first spur gear 16, which drives the tape operating rack 12 to move, thereby moving the tape operating rack 12 upward, so that the electrical tape body 19 is released from the paper tube 18, and the released electrical tape body 19 has enough length to wrap the faulty wire 42.

[0036] The second fan blade 41 is aligned with the faulty wire 42, and the third motor 32 is turned on. The third motor 32 controls the second spur gear 33 to rotate, and the second spur gear 33 drives the fourth spur gear 40, the second rotating shaft 39, and the second connecting plate 38 to rotate. The second connecting plate 38 rotates to generate wind, so that the wind blows away the debris at the damaged point of the faulty wire 42, preventing the debris from affecting the sticking effect of the electrical tape body 19, and preventing the electrical tape body 19 from falling off or loosening in the later stage.

[0037] The pressing groove 24 is aligned with the faulty wire 42, and then the position of the machine body 1 is controlled so that the adhesive surface of the electrical tape body 19 is attached to the faulty wire 42. When the electromagnet 30 is turned on, the inner wall of the pressing groove 24 is close to the faulty wire 42. The electromagnet 30 is energized to generate magnetic attraction. The electromagnet 30 adsorbs the permanent magnet 27, so that the pressing seat 25, the L-shaped rod 31, the third motor 32, and the second spur gear 33 overcome the elastic force of the elastic member 28 and move upward. The second spur gear 33 and the third spur gear 36 are meshed. The second spur gear 33 drives the third spur gear 36, the first rotating shaft 35 and the first fan blade 37 to rotate. The first fan blade 37 generates wind. After the pressing seat 25 moves upward, the electrical tape body 19 is gradually separated from the plastic sheet layer 26. The plastic sheet layer 26 can reduce the degree of adhesion between the electrical tape body 19 and the bottom wall of the pressure seat 25, making it easier for the electrical tape body 19 to be separated from the bottom wall of the pressure seat 25. The wind generated by the first wind blade 37 blows the electrical tape body 19 separated from the plastic sheet layer 26, so that the adhesive surface of the electrical tape body 19 contacts the outer wall of the faulty wire 42. The inner wall of the clamping groove 24 is close to the faulty wire 42, which enables the electrical tape body 19 and the faulty wire 42 to enter the clamping groove 24, and the inner wall of the clamping groove 24 presses the electrical tape body 19 against the outer wall of the faulty wire 42, thereby increasing the adhesive contact area between the electrical tape body 19 and the faulty wire 42, increasing the degree of adhesion, and controlling the body 1 to make the faulty wire 42 detach from the clamping groove 24.

[0038] Then the second motor 15 controls the first spur gear 16 to rotate, and the first spur gear 16 drives the tape operating rack 12 to move downward to prevent the tape operating rack 12 from contacting the faulty wire 42 when the subsequent electrical tape body 19 wraps around the faulty wire 42. The first motor 8 controls the screw 9 to rotate, so that the displacement seat 10 and the tape operating rack 12 are horizontally displaced, further preventing the subsequent electrical tape body 19 from contacting the faulty wire 42 when it wraps around the faulty wire 42.

[0039] Then, the machine body 1 is controlled to fly several circles around the faulty wire 42 so that the electrical tape body 19 wraps and repairs the damaged point of the faulty wire 42. When the wrapping and repair are completed, the cutting mechanism 21 is controlled to move to cut the electrical tape body 19. Then, the machine body 1 is controlled to move so that the tape operating rack 12 and the protruding tape on the faulty wire 42 are pushed, and the protruding tape and the faulty wire 42 are pasted together, thereby completing the repair of the faulty wire 42.

[0040] The present invention can replace manual high-altitude repair of faulty wires 42, and use the image acquisition module and noise reduction processing module on the camera device 4 to obtain clear image data for the operator to view the field of view of the drone, so as to facilitate the repair of the faulty wires 42. The position of the tape operating rack 12 can be controlled by driving the first motor 8 and the second motor 15. The magnetic force of the electromagnet 30 can release the clamping of the electrical tape body 19 by the pressure seat 25 and switch the driving object of the third motor 32, thereby achieving the cleaning of the faulty wires 42 and the wrapping and repair of the faulty wires 42. The drone of the present invention can reduce the risk of wire maintenance in power grid rescue, and does not require personnel to perform high-altitude operations, so as to safely and efficiently perform power grid maintenance.

[0041] The components, modules, mechanisms and devices not described in detail in the present invention are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A drone for emergency rescue of power grid based on a camera device, characterized in that: The invention comprises a machine body (1), a rotor (2) rotatably connected to the machine body (1), two supporting feet (5) fixedly connected to the bottom wall of the machine body (1), a camera device (4) movably connected to the top wall of the machine body (1) via a pan / tilt (3), a maintenance device (6) fixedly connected to the side wall of the machine body (1), a transmission channel (7) provided on the maintenance device (6), a roller (17) detachably connected to the inner wall of the transmission channel (7), a paper tube (18) rotatably connected to the roller (17), an electrical tape body (19) wound around the paper tube (18), and a tape control component provided in the transmission channel (7).

2. The power grid emergency rescue drone based on a camera device according to claim 1, characterized in that: The tape control assembly comprises a first motor (8), a screw rod (9), a displacement seat (10), a guide rod (11), a tape control rack (12), a second motor (15) and a first spur gear (16). The first motor (8) and the guide rod (11) are both fixedly connected to the inner wall of the transmission channel (7). The screw rod (9) is fixedly connected to the rotor of the first motor (8). The displacement seat (10) is slidably connected to the inner wall of the transmission channel (7). The displacement seat (10) is provided with a threaded hole (13) and a guide hole (14). , the guide rod (11) passes through the guide hole (14), and the guide rod (11) and the inner wall of the guide hole (14) are slidably connected, the screw rod (9) passes through the threaded hole (13), and the screw rod (9) is threadedly connected to the inner wall of the threaded hole (13), the tape operating rack (12) is slidably connected to the displacement seat (10), the second motor (15) is fixed to the displacement seat (10), the first spur gear (16) is fixed to the rotor of the second motor (15), and the first spur gear (16) and the tape operating rack (12) are meshed; The tape operating rack (12) is provided with an air generating chamber (22), the tape operating rack (12) is fixedly connected with an insulating seat (23) and an extension seat (29), the insulating seat (23) is provided with a pressing groove (24), the extension seat (29) is fixedly connected with an electromagnet (30), the extension seat (29) is connected with a pressure seat (25) via an elastic member (28), the pressure seat (25) is slidably connected to the tape operating rack (12), a permanent magnet (27) is fixedly connected to the pressure seat (25), an L-shaped rod (31) is fixedly connected to the pressure seat (25), the L-shaped rod (31) is slidably connected to the inner wall of the air generating chamber (22), and a third motor (32) is fixedly connected to the L-shaped rod (31). A second spur gear (33) is fixedly connected to the rotor of the third motor (32); a first connecting plate (34) and a second connecting plate (38) are fixedly connected to the inner wall of the air-generating chamber (22); a first rotating shaft (35) is rotatably connected to the first connecting plate (34); a third spur gear (36) is fixedly connected to one end of the first rotating shaft (35); a first fan blade (37) is fixedly connected to the other end of the first rotating shaft (35); a second rotating shaft (39) is rotatably connected to the second connecting plate (38); a fourth spur gear (40) is fixedly connected to one end of the second rotating shaft (39); the second spur gear (33) and the fourth spur gear (40) are meshed; and a second fan blade (41) is fixedly connected to the other end of the second rotating shaft (39).

3. The power grid emergency rescue drone based on a camera device according to claim 2 is characterized in that: A plastic sheet layer (26) is fixedly connected to the bottom wall of the pressure seat (25).

4. The power grid emergency rescue drone based on a camera device according to claim 3 is characterized in that: The inner wall of the transmission channel (7) is connected to the limit block (20) and the cutting mechanism (21).

5. The power grid emergency rescue drone based on a camera device according to claim 4 is characterized in that: The electromagnet (30) is located directly above the permanent magnet (27).

6. The power grid emergency rescue drone based on a camera device according to claim 5 is characterized in that: A counterweight is provided inside the machine body (1).

7. A power grid emergency rescue drone based on a camera device according to any one of claims 1 to 6, characterized in that: The camera device (4) is provided with an image acquisition module, a noise reduction processing module and a wireless module.

8. The power grid emergency rescue drone based on a camera device according to claim 7 is characterized in that: The noise reduction processing module includes a pre-processing module.

9. The power grid emergency rescue drone based on a camera device according to claim 8, characterized in that: The noise reduction processing module includes a spatial domain noise reduction module.

10. The power grid emergency rescue drone based on a camera device according to claim 9, characterized in that: The noise reduction processing module includes an image enhancement module.

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