Power grid emergency rescue unmanned aerial vehicle based on fault detection device

Abstract

The invention relates to the field of unmanned aerial vehicles, and provides a power grid emergency rescue unmanned aerial vehicle based on a fault detection device, the power grid emergency rescue unmanned aerial vehicle comprises a fuselage, a rotor wing, the fault detection device and two supporting mechanisms, the rotor wing is rotatably connected to the fuselage, and the fault detection device is movably connected to the fuselage; each supporting mechanism comprises supporting legs, a bottom column and a movable rod, each supporting mechanism is provided with two supporting legs, the two supporting legs are fixedly connected to the bottom wall of the machine body and fixedly connected with the top wall of the bottom column, the bottom wall of the bottom column is fixedly connected with an extending leg, the bottom wall of the movable rod is fixedly connected with a fixed limiting plate, a column cavity is formed in the bottom column, and the movable rod is slidably connected to the inner wall of the column cavity. A driving mechanism is arranged in the column cavity and connected with the movable rod, and a clamping limiting mechanism is arranged on the movable rod. Through the two supporting mechanisms, the unmanned aerial vehicle body temporarily stops on the crossed supporting rods of the electric tower, the unmanned aerial vehicle does not need to be operated to move back and forth to the ground and the sky, waste of electric power and time is prevented, and the power grid detection and maintenance efficiency is greatly improved.

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 power grid emergency rescue based on a fault detection device. Background Art

[0002] Unmanned aerial vehicle, also known as "UAV", is an unmanned aircraft that is controlled by radio remote control equipment and self-contained program control devices, or is operated completely or intermittently autonomously by an onboard computer.

[0003] There are many application areas for drones, such as tourism photography, military monitoring, air rescue, and power grid emergency rescue. In power grid emergency rescue, drones can be equipped with cameras to detect whether there are faults in the cables in the power grid. The heights of the towers and cables in the power grid are very high, usually more than 25 meters, and the towers have few or no flat surfaces, and are mostly pole structures. Current drones cannot stop well on the towers, resulting in the need to control the drone back and forth between the ground and the sky when the drone is not in use temporarily, wasting electricity and time. Summary of the invention

[0004] In view of the above technical problems, the present invention aims to provide a power grid emergency rescue drone based on a fault detection device. To solve the above technical problems, the present invention adopts the following technical solutions: A power grid emergency rescue drone based on a fault detection device comprises a fuselage, a rotor, a fault detection device and two supporting mechanisms, wherein the rotor is rotatably connected to the fuselage, and the fault detection device is movably connected to the fuselage; The supporting mechanism comprises supporting feet, a bottom column and a movable rod. Each supporting mechanism is provided with two supporting feet, both of which are fixedly connected to the bottom wall of the fuselage, and both of which are fixedly connected to the top wall of the bottom column.

[0005] An extension foot is fixedly connected to the bottom wall of the bottom column, a fixed limit plate is fixedly connected to the bottom wall of the movable rod, a column cavity is opened on the bottom column, the movable rod is slidably connected to the inner wall of the column cavity, a driving mechanism is arranged in the column cavity, the driving mechanism is connected to the movable rod, and a clamping limit mechanism is arranged on the movable rod.

[0006] Further, the driving mechanism includes a motor, a first spur gear and a horizontal rack, the motor is fixed to the inner wall of the column cavity, the first spur gear is fixed to the motor rotor, the horizontal rack is fixed to the movable rod, the horizontal rack is slidably connected to the inner wall of the column cavity, and the horizontal rack is meshed with the first spur gear; Furthermore, a rod cavity is opened on the movable rod, the bottom wall of the rod cavity is connected with the bottom wall of the movable rod through a first channel, and the bottom wall of the rod cavity is connected with the bottom wall of the movable rod through a second channel. The clamping and limiting mechanism includes a force-bearing rack, a second spur gear, a rotating shaft, a first staggered axis bevel gear, a second staggered axis bevel gear, a threaded rod, a movable limiting plate, a displacement plate, an elastic member, an electromagnet and a limiting permanent magnet.

[0007] The stressed rack and the displacement plate are both slidably connected to the inner wall of the rod cavity, and the lower end of the stressed rack passes through the first channel and extends to the bottom of the movable rod. The second spur gear and the threaded rod are both rotatably connected to the inner wall of the rod cavity, the second spur gear and the stressed rack are meshed, the rotating shaft is fixed to the second spur gear, the first staggered axis bevel gear is fixed to the rotating shaft, the second staggered axis bevel gear is fixed to the threaded rod, the first staggered axis bevel gear and the second staggered axis bevel gear are meshed, the movable limit plate is slidably connected to the displacement plate, the lower end of the movable limit plate passes through the second channel and extends to the bottom of the movable rod, a threaded hole is provided on the movable limit plate, the threaded rod is threadedly connected to the inner wall of the threaded hole, a limiting groove is provided on the top wall of the displacement plate, the displacement plate is connected to the inner wall of the rod cavity through an elastic member, the limiting permanent magnet is slidably connected to the inner wall of the rod cavity, the limiting permanent magnet is inserted into the limiting groove, and the electromagnet is fixed to the inner wall of the rod cavity.

[0008] Furthermore, a pressure sensor is embedded in the side wall of one of the movable limiting plates.

[0009] Furthermore, a first slide rail is fixedly connected to the displacement plate, the movable limit plate is slidably connected to the first slide rail, the inner wall of the rod cavity is fixedly connected to a second slide rail, and the displacement plate is slidably connected to the second slide rail.

[0010] Furthermore, there are four rotors, which are respectively located at four corners of the top wall of the fuselage.

[0011] Furthermore, the supporting foot is connected to the bottom wall of the fuselage through a reinforcing rod.

[0012] Furthermore, the fault detection device includes a main camera device and a secondary camera device, and the main camera device and the secondary camera device are both movably connected to the fuselage.

[0013] Furthermore, the main camera device is movably connected to the top wall of the fuselage, and the auxiliary camera device is movably connected to the side wall of the fuselage.

[0014] Furthermore, a processing module is provided in the fuselage.

[0015] The present invention has the following beneficial effects: The present invention can temporarily stop the fuselage on the cross support rods of the power tower through two support mechanisms, without operating the drone to move back and forth between the ground and the sky, thus preventing waste of electricity and time and greatly improving the efficiency of power grid detection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 It is a structural schematic diagram of a power grid emergency rescue drone based on a fault detection device of the present invention; Figure 2 The present invention Figure 1 The enlarged view of point A in the middle; Figure 3 The present invention Figure 1 Left side view of the two cross braces.

[0018] 1. The camcorder is a device for rotating the wheels of a vehicle, wherein the first and second wheels are engaged, and the second and third wheels are engaged. The camcorder is a device for rotating the wheels of a vehicle, wherein the first and second wheels are engaged, and the second wheels are engaged. The camcorder is a device for rotating the wheels of a vehicle, wherein the first and second wheels are engaged, and the second wheels are engaged. DETAILED DESCRIPTION

[0019] 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.

[0020] 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.

[0021] 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.

[0022] like Figure 1-3 As shown, a power grid emergency rescue drone based on a fault detection device includes a fuselage 1, a rotor 2, a fault detection device and two supporting mechanisms, the rotor 2 is rotatably connected to the fuselage 1, and the fault detection device is movably connected to the fuselage 1; The supporting mechanism includes a supporting foot 5, a bottom column 7 and a movable rod 13. Each supporting mechanism is provided with two supporting feet 5. The two supporting feet 5 are both fixedly connected to the bottom wall of the fuselage 1. The two supporting feet 5 are both fixedly connected to the top wall of the bottom column 7. The bottom wall of the bottom column 7 is fixedly connected with an extension foot 8. The bottom wall of the movable rod 13 is fixedly connected with a fixed limiting plate 14. A column cavity 9 is opened on the bottom column 7. The movable rod 13 is slidably connected to the inner wall of the column cavity 9. A driving mechanism is provided in the column cavity 9. The driving mechanism is connected to the movable rod 13. A clamping limiting mechanism is provided on the movable rod 13.

[0023] The fault detection device is used to detect whether there is a fault in the power grid wires. The clamping limit mechanism can clamp the cross support rod 34 so that the fuselage 1 can temporarily stop on the cross support rod 34 without going back and forth on the ground.

[0024] like Figure 1-2 As shown, according to an optional embodiment of the present invention, the driving mechanism includes a motor 10, a first spur gear 11 and a horizontal rack 12, the motor 10 is fixedly connected to the inner wall of the column cavity 9, the first spur gear 11 is fixedly connected to the rotor of the motor 10, the horizontal rack 12 is fixedly connected to the movable rod 13, the horizontal rack 12 is slidably connected to the inner wall of the column cavity 9, and the horizontal rack 12 and the first spur gear 11 are meshed; the motor 10 serves as a power output device to control the rotation of the first spur gear 11, which can drive the horizontal rack 12 to move.

[0025] like Figure 1-2As shown, according to an optional embodiment of the present invention, a rod cavity 15 is opened on the movable rod 13, the bottom wall of the rod cavity 15 is connected to the bottom wall of the movable rod 13 through a first channel 16, and the bottom wall of the rod cavity 15 is connected to the bottom wall of the movable rod 13 through a second channel 17. The clamping and limiting mechanism includes a force-bearing rack 18, a second spur gear 19, a rotating shaft 20, a first staggered axis bevel gear 21, a second staggered axis bevel gear 22, a threaded rod 23, a movable limiting plate 24, a displacement plate 27, an elastic member 29, an electromagnet 30 and a limiting permanent magnet 31. The force-bearing rack 18 and the displacement plate 27 are both slidably connected to the inner wall of the rod cavity 15, and the lower end of the force-bearing rack 18 extends through the first channel 16 to below the movable rod 13. The second spur gear 19 and the threaded rod 23 are both rotatably connected to the inner wall of the rod cavity 15. The second spur gear 19 The wheel 19 is meshed with the stressed rack 18, the rotating shaft 20 is fixedly connected to the second spur gear 19, the first staggered axis bevel gear 21 is fixedly connected to the rotating shaft 20, the second staggered axis bevel gear 22 is fixedly connected to the threaded rod 23, the first staggered axis bevel gear 21 and the second staggered axis bevel gear 22 are meshed, the movable limit plate 24 is slidably connected to the displacement plate 27, the lower end of the movable limit plate 24 passes through the second channel 17 and extends to the bottom of the movable rod 13, a threaded hole 25 is provided on the movable limit plate 24, the threaded rod 23 is threadedly connected to the inner wall of the threaded hole 25, a limit groove 28 is provided on the top wall of the displacement plate 27, the displacement plate 27 is connected to the inner wall of the rod cavity 15 through the elastic member 29, the limit permanent magnet 31 is slidably connected to the inner wall of the rod cavity 15, the limit permanent magnet 31 is inserted into the limit groove 28, and the electromagnet 30 is fixedly connected to the inner wall of the rod cavity 15.

[0026] like Figure 1-2 As shown, according to an optional embodiment of the present invention, a pressure sensor 26 is embedded in the side wall of one of the movable limiting plates 24. The pressure sensor 26 can detect the pressure applied by the external object.

[0027] like Figure 1-2 As shown, according to an optional embodiment of the present invention, a first slide rail 32 is fixedly connected to the displacement plate 27, the movable limiting plate 24 is slidably connected to the first slide rail 32, a second slide rail 33 is fixedly connected to the inner wall of the rod cavity 15, and the displacement plate 27 is slidably connected to the second slide rail 33.

[0028] like Figure 1-2 As shown, according to an optional embodiment of the present invention, four rotors 2 are provided, and the four rotors 2 are respectively located at four corners of the top wall of the fuselage 1 .

[0029] like Figure 1-2 As shown, according to an optional embodiment of the present invention, the support leg 5 is connected to the bottom wall of the fuselage 1 through a reinforcing rod 6. The reinforcing rod 6 can improve the connection stability between the support leg 5 and the fuselage 1.

[0030] like Figure 1-2As shown, according to an optional implementation manner of the present invention, the main camera device 3 is movably connected to the top wall of the fuselage 1, and the auxiliary camera device 4 is movably connected to the side wall of the fuselage 1.

[0031] like Figure 1-2 As shown, according to an optional embodiment of the present invention, the fault detection device includes a main camera device 3 and a secondary camera device 4, and the main camera device 3 and the secondary camera device 4 are both movably connected to the fuselage 1. The main camera device 3 can provide a wide-angle viewing angle, and the secondary camera device 4 can provide a telephoto viewing angle.

[0032] According to an optional embodiment of the present invention, a processing module is provided in the body 1. The processing module has data processing functions and component control functions, and may be a single chip microcomputer.

[0033] Implementation process: Through the remote control device, the fuselage 1 is remotely controlled to fly near the wire to be detected, and the thermal imaging function of the main camera device 3 and the auxiliary camera device 4 is used to determine whether the wire segment to be detected has abnormally high temperature, thereby determining whether there is a fault in the power grid.

[0034] There are two cross support rods 34 with many cross structures on the power tower. When the ground staff does not need to operate the drone temporarily, in order to avoid the drone staying in the air and causing a waste of electricity, the drone can be temporarily parked on two of the cross support rods 34 on the power tower, that is, the two support mechanisms are temporarily clamped on the two cross support rods 34 respectively, and there is no need to operate the drone to fly back to the ground to waste electricity and time.

[0035] Taking one of the supporting mechanisms as an example, first turn on the motor 10, and the rotor of the motor 10 drives the first spur gear 11 to rotate, so that the first spur gear 11 drives the horizontal rack 12 and the movable rod 13 to move, so that the movable rod 13 moves to the right, and more of the movable rod 13 extends out of the column cavity 9, so that the fixed limit plate 14 and the movable limit plate 24 move to the right side of the right rotor 2 to prevent the rotor 2 from colliding with the tower. The motor 10 stops running, and the movable rod 13 is moved to the top of one of the cross support rods 34 by controlling the fuselage 1, and the fuselage 1 is controlled to move slowly downward, and the cross support rod 34 enters between the fixed limit plate 14 and the movable limit plate 24, and the cross support rod 34 pushes the force-bearing rack 18 to move upward The stressed rack 18 moves upward to drive the second spur gear 19, the rotating shaft 20, and the first staggered axis bevel gear 21 to rotate. The first staggered axis bevel gear 21 and the second staggered axis bevel gear 22 are meshed. The first staggered axis bevel gear 21 drives the second staggered axis bevel gear 22 and the threaded rod 23 to rotate. The threaded rod 23 and the threaded hole 25 are threadedly connected. When the threaded rod 23 rotates, the movable limit plate 24 can be moved to the left along the first slide rail 32 on the displacement plate 27, so that the movable limit plate 24 and the cross support rod 34 are against each other. When the pressure sensor 26 detects that the pressure value reaches the preset value, the processing module controls the rotor 2 to stop moving. At this time, the movable limit plate 24 and the fixed limit plate 14 clamp the cross support rod 34.

[0036] The working principle of the other supporting mechanism is the same as that of the above supporting mechanism, except that the extension amount of the movable rod 13 is different. Figure 1 It can be seen that the positions of the two cross support rods 34 are left and right structures.

[0037] When it is necessary to release the clamping force of the movable limit plate 24 and the fixed limit plate 14 on the cross support rod 34, the rotor 2 is first rotated, the fuselage 1 generates a certain lifting force, and the electromagnet 30 is turned on. The electromagnet 30 generates a magnetic attraction, thereby adsorbing the limiting permanent magnet 31, and the limiting permanent magnet 31 moves up and disengages from the limiting groove 28, and the displacement plate 27 can slide on the second slide rail 33, and the movable limit plate 24 can also move horizontally with the displacement plate 27, that is, the clamping force of the movable limit plate 24 on the cross support rod 34 is greatly reduced, and the fuselage 1 applies a little lifting force to move the fixed limit plate 14 and the movable limit plate 24 upward, thereby releasing the clamping of the cross support rod 34.

[0038] The present invention can improve the flexibility of shooting, increase the accuracy of data, improve the diversity of viewing angles, and provide different viewing angles through two camera devices, namely the main camera device 3 and the auxiliary camera device 4, so as to capture more image data at the same time; through the two supporting mechanisms, when the movable rod 13 stops on the cross support rod 34, the movable limit plate 24 automatically approaches the cross support rod 34, and through the detection of the pressure sensor 26, when the clamping force of the movable limit plate 24 and the fixed limit plate 14 on the cross support rod 34 reaches a preset value, the rotor 2 stops running, and the fuselage 1 is temporarily stopped on the cross support rod 34 of the power tower, and there is no need to operate the drone to go back and forth between the ground and the sky, thereby preventing waste of electricity and time, and greatly improving the efficiency of power grid detection and maintenance, and through the attraction of the electromagnet 30 to the limit permanent magnet 31, the movable limit plate 24 and the fixed limit plate 14 can automatically release the clamping of the cross support rod 34, so that the fuselage 1 can fly again for work.

[0039] 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.

[0040] 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 power grid emergency rescue drone based on a fault detection device, characterized in that: It comprises a fuselage (1), a rotor (2), a fault detection device and two supporting mechanisms, the rotor (2) is rotatably connected to the fuselage (1), and the fault detection device is movably connected to the fuselage (1); The support mechanism comprises a support foot (5), a bottom column (7) and a movable rod (13), each support mechanism being provided with two support feet (5), the two support feet (5) being fixedly connected to the bottom wall of the fuselage (1), the two support feet (5) being fixedly connected to the top wall of the bottom column (7), the bottom wall of the bottom column (7) being fixedly connected to an extension foot (8), the bottom wall of the movable rod (13) being fixedly connected to a fixed limiting plate (14), a column cavity (9) being provided on the bottom column (7), the movable rod (13) being slidably connected to the inner wall of the column cavity (9), a driving mechanism being provided in the column cavity (9), the driving mechanism being connected to the movable rod (13), and a clamping limiting mechanism being provided on the movable rod (13).

2. The power grid emergency rescue drone based on the fault detection device according to claim 1 is characterized in that: The driving mechanism comprises a motor (10), a first spur gear (11) and a horizontal rack (12); the motor (10) is fixedly connected to the inner wall of the column cavity (9); the first spur gear (11) is fixedly connected to the rotor of the motor (10); the horizontal rack (12) is fixedly connected to the movable rod (13); the horizontal rack (12) is slidably connected to the inner wall of the column cavity (9); and the horizontal rack (12) and the first spur gear (11) are meshed.

3. The power grid emergency rescue drone based on the fault detection device according to claim 2 is characterized in that: The movable rod (13) is provided with a rod cavity (15), the bottom wall of the rod cavity (15) is connected to the bottom wall of the movable rod (13) through a first channel (16), the bottom wall of the rod cavity (15) is connected to the bottom wall of the movable rod (13) through a second channel (17), and the clamping and limiting mechanism comprises a force-bearing rack (18), a second spur gear (19), a rotating shaft (20), a first staggered axis bevel gear (21), a second staggered axis bevel gear (22), a threaded rod (23), a movable limit The position plate (24), the displacement plate (27), the elastic member (29), the electromagnet (30) and the limit permanent magnet (31), the force rack (18) and the displacement plate (27) are all slidably connected to the inner wall of the rod cavity (15), the lower end of the force rack (18) passes through the first channel (16) and extends to the bottom of the movable rod (13), the second spur gear (19) and the threaded rod (23) are both rotatably connected to the inner wall of the rod cavity (15), the second spur gear (19) and the force rack ( The first and second staggered axis bevel gears (21) are meshed with each other, the rotating shaft (20) is fixedly connected to the second spur gear (19), the first staggered axis bevel gear (21) is fixedly connected to the rotating shaft (20), the second staggered axis bevel gear (22) is fixedly connected to the threaded rod (23), the first staggered axis bevel gear (21) and the second staggered axis bevel gear (22) are meshed, the movable stop plate (24) is slidably connected to the displacement plate (27), and the lower end of the movable stop plate (24) passes through the second channel (17) and extends to the movable rod (13) At the bottom, a threaded hole (25) is formed on the movable limit plate (24), the threaded rod (23) is threadedly connected to the inner wall of the threaded hole (25), a limit groove (28) is formed on the top wall of the displacement plate (27), the displacement plate (27) is connected to the inner wall of the rod cavity (15) through an elastic member (29), a limit permanent magnet (31) is slidably connected to the inner wall of the rod cavity (15), the limit permanent magnet (31) is inserted into the limit groove (28), and the electromagnet (30) is fixedly connected to the inner wall of the rod cavity (15).

4. The power grid emergency rescue drone based on the fault detection device according to claim 3 is characterized in that: A pressure sensor (26) is embedded on the side wall of one of the movable limiting plates (24).

5. The power grid emergency rescue drone based on the fault detection device according to claim 4 is characterized in that: A first slide rail (32) is fixedly connected to the displacement plate (27), the movable limit plate (24) is slidably connected to the first slide rail (32), a second slide rail (33) is fixedly connected to the inner wall of the rod cavity (15), and the displacement plate (27) is slidably connected to the second slide rail (33).

6. The power grid emergency rescue drone based on the fault detection device according to claim 5 is characterized in that: The rotors (2) are provided with four rotors, and the four rotors (2) are respectively located at four corners of the top wall of the fuselage (1).

7. The power grid emergency rescue drone based on the fault detection device according to claim 6 is characterized in that: The support foot (5) is connected to the bottom wall of the fuselage (1) via a reinforcing rod (6).

8. A power grid emergency rescue drone based on a fault detection device according to any one of claims 1 to 7, characterized in that: The fault detection device comprises a main camera device (3) and a secondary camera device (4), and the main camera device (3) and the secondary camera device (4) are both movably connected to the fuselage (1).

9. The power grid emergency rescue drone based on the fault detection device according to claim 8 is characterized in that: The main camera device (3) is movably connected to the top wall of the fuselage (1), and the auxiliary camera device (4) is movably connected to the side wall of the fuselage (1).

10. The power grid emergency rescue drone based on the fault detection device according to claim 9, characterized in that: A processing module is provided in the fuselage (1).

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