Intelligent power distribution network overhead line inspection unmanned aerial vehicle nest and control method

Abstract

The invention discloses an intelligent power distribution network overhead line inspection unmanned aerial vehicle nest and a control method. The intelligent power distribution network overhead line inspection unmanned aerial vehicle nest comprises a nest box body, wherein a drawer type hangar is arranged in the nest box body; a transmission rack is arranged on a bottom plate of the drawer type hangar, a driving gear is correspondingly arranged on the bottom wall of the nest box body, the driving gear rotates to drive the transmission rack to move, and the drawer type hangar is drawn out or drawn back from the opening of the nest box body; the drawer type hangar is further provided with a parking apron used for placing an unmanned aerial vehicle. And the nest box body is fixedly arranged on a power distribution network pole through the hoop. The intelligent power distribution network overhead line inspection unmanned aerial vehicle nest can be installed on an electric pole of a power distribution network, take-off, landing and storage integrated service is provided for an unmanned aerial vehicle, the design of the drawer type hangar and the lifters is adopted, the unmanned aerial vehicle can be effectively prevented from being affected by the external environment, and the unmanned aerial vehicle can be conveniently taken off and stored. Meanwhile, the distance between the unmanned aerial vehicle and the electric pole during take-off and landing can be increased, and the take-off and landing safety of the

Description

Technical Field

[0001] The present invention relates to the technical field of distribution network inspection, and in particular to an intelligent distribution network overhead line inspection drone nest and a control method. Background Art

[0002] Related technologies point out that overhead lines in distribution networks are an important component of the power system, and their operating status directly affects the quality and safety of power supply. Traditional methods for inspecting overhead lines in distribution networks mainly include manual inspection, helicopter inspection, and drone inspection. Among them, manual inspection is labor-intensive, inefficient, and high-risk, making it difficult to meet the inspection needs of distribution networks; helicopter inspection is costly, noisy, and highly interfering, with certain impacts on the environment and line equipment; and drone inspection, while offering advantages such as flexibility, safety, and cost-effectiveness, is limited by factors such as drone flight time, flight distance, payload capacity, and communication interference, making it difficult to achieve comprehensive, detailed, and regular inspections of overhead lines in distribution networks. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides an intelligent distribution network overhead line inspection drone nest, which enables autonomous, intelligent, and efficient distribution network inspection by drones.

[0004] The present invention also proposes a control method for the drone nest used for overhead line inspection of the intelligent distribution network.

[0005] According to the first aspect of the present invention, the intelligent distribution network overhead line inspection drone nest includes a nest body, and a drawer-type hangar is provided in the nest body; a transmission rack is provided on the bottom plate of the drawer-type hangar, and a driving gear is provided on the bottom wall of the corresponding nest body. The driving gear rotates to drive the transmission rack to move, and the drawer-type hangar is pulled out or retracted from the opening of the nest body; the drawer-type hangar is also provided with a landing pad for placing drones; a clamp is provided on the side of the nest body away from the opening, and the nest body is fixedly installed on the distribution network pole by the clamp.

[0006] According to the present invention, the intelligent distribution network overhead line inspection drone nest can be installed on the poles of the distribution network to provide integrated take-off, landing and storage services for drones. The design of a drawer-type hangar and elevator is adopted, which can effectively protect the drone from the influence of the external environment. At the same time, it can increase the distance between the drone and the pole during take-off and landing, improve the safety of the drone's take-off and landing, and reduce the difficulty of distribution network inspection.

[0007] In some embodiments, a lift is further provided on the drawer - type hangar. One end of the lift is arranged on the bottom plate of the drawer - type hangar, and the other end is connected to the apron. The apron is driven by the lift to move up and down so as to lift the unmanned aerial vehicle (UAV).

[0008] In some embodiments, a centering device is arranged at the center position of the apron, and the centering device is used to fix the position of the UAV.

[0009] In some embodiments, the intelligent distribution network overhead line inspection UAV nest further includes a battery - changing device. The battery - changing device includes a telescopic rod, a horizontal moving structure, a vertical moving structure, a mechanical gripper, and a charger. The mechanical gripper is arranged on the inner wall of the nest box on the side away from the drawer - type hangar and is used to grab or place the battery of the UAV. One end of the telescopic rod is arranged on the horizontal moving structure, and the other end is connected to the mechanical gripper. The telescopic rod is used to drive the mechanical gripper to perform telescopic movement and is driven by a telescopic rod motor. The horizontal moving structure is used to adjust the horizontal position of the mechanical gripper and is driven by a horizontal moving structure motor. The horizontal moving structure is arranged on the vertical moving structure, and the vertical moving structure is vertically fixed on the inner wall of the nest box, and the vertical moving structure is used to adjust the vertical position of the mechanical gripper.

[0010] In some embodiments, the intelligent distribution network overhead line inspection UAV nest further includes an integrated control module, which is arranged inside the nest box. The integrated control module includes a rectifier and transformer unit for providing power, a nest motor control unit for controlling the movement of the motors in the nest, a charging control unit for controlling the battery changing and charging of the UAV, a take - off environment perception unit for judging whether the external environment of the nest is suitable for the UAV to take off, a communication unit for the UAV to communicate with the operation and inspection platform, a take - off and landing control unit for controlling the take - off and landing of the nest and the UAV, a flight control unit for controlling the UAV to fly, an inspection result processing unit for analyzing and processing the inspection data of the UAV, and a nest interconnection unit for information exchange and cooperation between different nests. The take - off environment perception unit includes a temperature unit for collecting the internal and external temperatures of the nest, a humidity unit for collecting the rainfall and humidity data outside the nest, and a wind speed unit for collecting the wind speed information outside the nest.

[0011] In some embodiments, an anemometer and a precipitation and humidity sensor are installed on the top of the nest, and the anemometer and the precipitation and humidity sensor are connected to the integrated control module.

[0012] The control method of the intelligent distribution network overhead line inspection UAV nest according to the second aspect of the present invention is applied to the intelligent distribution network overhead line inspection UAV nest according to the first aspect of the present invention above. The control method includes:

[0013] Step S1: Install a drone nest.

[0014] Step S2: Select a drone according to the inspection plan for the inspection task.

[0015] Step S3: Determine whether the external environment of the nest is suitable for the drone to take off. If it is suitable for takeoff, proceed to the next step.

[0016] Step S4: Control the drone to take off.

[0017] Step S5: Control the drone to fly.

[0018] Step S6: Collect inspection data.

[0019] Step S7: Determine the battery power of the drone.

[0020] Step S8: Replace the battery and charge it.

[0021] Step S9: Generate an inspection report.

[0022] Further, in step S3, the takeoff environment perception unit is used to determine whether the external environment of the nest is suitable for the drone to take off. The external environment includes wind speed, temperature, rainfall, and humidity. If it is not suitable for takeoff, wait for the environment to improve or adjust the inspection plan.

[0023] Furthermore, in step S5, the flight control unit is used to control the drone to fly, plan the flight route and tasks, adjust the flight parameters, and at the same time send the flight status signal through the communication unit and receive information from the operation and maintenance platform or other nests.

[0024] Furthermore, in step S9, the inspection result processing unit analyzes and processes the inspection data of the drone and generates an inspection report, and sends the inspection report to the operation and maintenance platform or other nests.

[0025] Beneficial effects:

[0026] The nest of the present invention can be installed on the electric pole of the distribution network, providing integrated services such as taking off and landing, storage, battery replacement, charging, communication, control, and data processing for the drone, realizing autonomous, intelligent, and efficient inspection of the distribution network by the drone.

[0027] The nest of the present invention adopts the design of a drawer-type hangar and a lift, which can effectively protect the drone from the influence of the external environment, and at the same time can increase the distance between the drone and the electric pole during takeoff and landing, improving the safety of the drone's takeoff and landing.

[0028] The nest of the present invention adopts the design of a mechanical gripper and a charger, which can realize automatic battery replacement and charging of the drone, ensuring the endurance of the drone.

[0029] The nest of the present invention adopts the design of an integrated control module, integrating multiple functional units, and can realize various functions and services of the nest, as well as communication and interaction with unmanned aerial vehicles and operation and inspection platforms.

[0030] The nest of the present invention adopts the design of a flight control unit and an inspection result processing unit, and can realize autonomous inspection and intelligent inspection of unmanned aerial vehicles. Through technologies such as image recognition, machine learning, and data mining, it can identify and judge the status and abnormal conditions of the distribution network, and generate inspection reports.

[0031] The nest of the present invention adopts the design of a nest interconnection unit, and can realize interconnection and intercommunication between nests, such as realizing one-way inspection of unmanned aerial vehicles, or realizing data transmission or transfer between nests.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description, will become apparent in part from the following description, or will be learned through the practice of the present invention. Description of the Drawings

[0033] Figure 1 is a schematic diagram of the external structure of the nest of the unmanned aerial vehicle for inspecting overhead lines of the intelligent distribution network disclosed by the present invention;

[0034] Figure 2 is a schematic diagram of the internal structure of the nest of the unmanned aerial vehicle for inspecting overhead lines of the intelligent distribution network disclosed by the present invention;

[0035] Figure 3 is a schematic diagram of the internal structure of the nest of the unmanned aerial vehicle for inspecting overhead lines of the intelligent distribution network disclosed by the present invention from other angles;

[0036] Figure 4 is a schematic diagram of the driving gear and transmission rack of the nest of the unmanned aerial vehicle for inspecting overhead lines of the intelligent distribution network disclosed by the present invention;

[0037] Figure 5 is a schematic diagram of the structure of the battery replacement device of the nest of the unmanned aerial vehicle for inspecting overhead lines of the intelligent distribution network disclosed by the present invention;

[0038] Figure 6 is a schematic diagram of the structure of the centering device of the nest of the unmanned aerial vehicle for inspecting overhead lines of the intelligent distribution network disclosed by the present invention;

[0039] Figure 7 is a working operation diagram of the nest of the unmanned aerial vehicle for inspecting overhead lines of the intelligent distribution network disclosed by the present invention;

[0040] Figure 8 is a flowchart of the control method of the nest of the unmanned aerial vehicle for inspecting overhead lines of the intelligent distribution network disclosed by the present invention.

[0041] Labels in the drawings:

[0042] 1. Nest box; 2. Drawer-type hangar; 3. Lift; 4. Mechanical gripper; 5. Telescopic rod;

[0043] 6. Horizontal moving structure; 7. Vertical moving structure; 8. Charger; 9. Integrated control module;

[0044] 10. Anemometer; 11. Precipitation and humidity sensor; 12. Centering device;

[0045] 13. Driving gear; 14. Transmission rack;

[0046] 15. Landing pad; 16. Hoop. Specific embodiments

[0047] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0048] Below, refer to Figures 1-8 Describe the intelligent distribution network overhead line inspection UAV nest according to the embodiment of the first aspect of the present invention.

[0049] As Figures 1-8 shown, the intelligent distribution network overhead line inspection UAV nest according to the embodiment of the first aspect of the present invention includes: a nest box 1, and a drawer-type hangar 2 is provided inside the nest box 1; the nest box 1 is a rectangular parallelepiped-shaped outer shell made of metal or plastic, having certain waterproof and dustproof properties, and is used to protect various components and devices inside the nest. An opening is provided on one side of the nest box 1 for pulling out or retracting the drawer-type hangar 2.

[0050] A transmission rack 14 is provided on the bottom plate of the drawer-type hangar 2, and a driving gear 13 is provided on the bottom wall of the corresponding nest box 1. The driving gear 13 is driven by a motor; by rotating the driving gear 13 to drive the movement of the transmission rack 14, the drawer-type hangar 2 is pulled out or retracted from the opening of the nest box 1; the advantage of using the drawer-type hangar 2 is that during the takeoff and landing operations, the UAV is kept away from the nest box 1 and the distribution network poles, preventing the UAV from colliding and increasing safety.

[0051] A landing pad 15 for placing the UAV is also provided on the drawer-type hangar 2; a hoop 16 is provided on the side of the nest box 1 far from the opening, and the nest box 1 is fixedly installed on the distribution network pole through the hoop 16.

[0052] The intelligent inspection UAV nest for overhead lines of a distribution network according to an embodiment of the present invention can be installed on the electric poles of the distribution network, providing an integrated service for the takeoff, landing and storage of the UAV. The design of a drawer-type hangar and a lift is adopted, which can effectively protect the UAV from the influence of the external environment. At the same time, it can increase the distance between the UAV and the electric pole during takeoff and landing, improve the safety of UAV takeoff and landing, and reduce the inspection difficulty of the distribution network.

[0053] Furthermore, a lift 3 is also provided on the drawer-type hangar 2. In this embodiment, a scissor lift 3 is selected. One end of the lift 3 is arranged on the bottom plate of the drawer-type hangar 2, and the other end is connected to the landing pad 15. The lift 3 drives the landing pad 15 to lift and lower, so as to lift and lower the UAV. The lift 3 provides an auxiliary height during the takeoff and landing of the UAV, making the takeoff and landing height of the UAV higher than that of the nest box body 1, ensuring the safe takeoff and landing of the UAV.

[0054] Furthermore, a centering device 12 is arranged at the center position of the landing pad 15 to fix the position of the UAV during landing, ensuring the accuracy of the battery replacement and maintenance operations. The centering device 12, as an existing technology in the field of UAVs, will not be elaborated in this application.

[0055] Furthermore, a battery replacement device is also included. The battery replacement device includes a telescopic rod 5, a horizontal moving structure 6, a vertical moving structure 7, a mechanical gripper 4 and a charger 8. The mechanical gripper 4 is arranged on the inner wall of the nest box body 1 on the side away from the drawer-type hangar 2, and is used to grab or place the battery of the UAV. The charger 8 is a charging device that can store multiple UAV batteries. The charger 8 is fixed at a position near the top inside the nest box body 1 and is used to provide charging services for the batteries of the UAVs. The charger 8 is a structure made of metal or plastic in the shape of a cuboid, with multiple battery slots inside. Each battery slot corresponds to the shape and size of a UAV battery and is used to place the UAV battery. Each battery slot is provided with a charging interface inside, which is used to connect to the output end of the UAV battery to realize the charging of the battery. It should be noted that the UAV battery compartment in this embodiment is arranged at the tail of the UAV, and the battery replacement work of the UAV can be completed by replacing the battery.

[0056] One end of the telescopic rod 5 is arranged on the horizontal moving structure 6, and the other end is connected to the mechanical gripper 4. The telescopic rod 5 is used to drive the mechanical gripper 4 to do telescopic motion, and the telescopic rod 5 is driven by a telescopic rod 5 motor. The horizontal moving structure 6 is used to adjust the horizontal position of the mechanical gripper 4, and the horizontal moving structure 6 is driven by a horizontal moving structure 6 motor. The horizontal moving structure 6 is arranged on the vertical moving structure 7, and the vertical moving structure 7 is vertically fixed on the inner wall of the nest box body 1. The vertical moving structure 7 is used to adjust the vertical position of the mechanical gripper 4.

[0057] Further, it further includes an integrated control module 9, which is arranged inside the nest box 1; the integrated control module 9 includes: a rectifying and transforming unit that provides power, a power supply module that can convert alternating current into direct current to provide power for various components and devices in the nest; a nest motor control unit that controls the movement of the motors in the nest, and the nest motor control unit is a control module that controls the movement of the motors in the nest to achieve various actions of the nest, such as the extraction or retraction of the drawer-type hangar 2, the lifting of the elevator 3, and the telescoping and clamping of the mechanical gripper 4; the nest motor control unit is connected to each motor in the nest by wired or wireless means to send control signals to each motor and receive feedback signals from each motor.

[0058] A charging control unit that controls the battery swapping and charging of the UAV, and the charging control unit is a control module that can control the battery swapping and charging of the UAV to achieve intelligent management of the UAV battery; the charging control unit automatically swaps and charges the UAV according to information such as the remaining battery power, charging status, and charging requirements of the UAV battery to ensure the endurance of the UAV.

[0059] A communication unit for communicating between the UAV and the operation and inspection platform, and the communication unit can communicate and interact with the UAV and the operation and inspection platform to achieve remote control and data transmission of the UAV. The communication unit is connected to the operation and inspection platform by wired or wireless means to receive the inspection plan and control commands of the operation and inspection platform and send inspection data and status information to the operation and inspection platform.

[0060] A takeoff and landing control unit for controlling the takeoff and landing of the nest and the UAV. The takeoff and landing control unit is connected to the nest motor control unit, the elevator 3 motor, and the centering device 12 by wired or wireless means to send control signals to these components and receive feedback signals from these components. The takeoff and landing control unit comprehensively judges and controls the takeoff and landing of the nest and the UAV according to the received information, such as controlling the extraction or retraction of the drawer-type hangar 2, controlling the lifting of the elevator 3, controlling the clamping or loosening of the centering device 12, and controlling the takeoff or landing of the UAV.

[0061] A flight control unit that controls the flight of the UAV, and the flight control unit can control the flight of the UAV to achieve autonomous inspection of the UAV. The flight control unit is connected to the communication unit by wireless means to receive the information of the communication unit. The flight control unit automatically plans the flight route and tasks for the UAV according to the received information to ensure the safe and efficient inspection of the UAV.

[0062] An inspection result processing unit for analyzing and processing the inspection data of the UAV. The inspection result processing unit can analyze and process the inspection data of the UAV. Inside the inspection result processing unit, there is one or more data memories for storing the inspection data of the UAV. The inspection result processing unit also has one or more data processors for analyzing and processing the inspection data of the UAV, judging the status and abnormal conditions of the lines, poles, equipment, etc. of the distribution network, and generating an inspection report. The inspection result processing unit is connected to the communication unit by wired or wireless means, for sending the inspection report to the communication unit and receiving the data request of the communication unit.

[0063] A nest interconnection unit for information exchange and collaboration between different nests; the nest interconnection unit can exchange information and collaborate with other nests to achieve the interconnection and interoperability between nests. The nest interconnection unit is connected to other nests by wireless means for receiving or sending information, including the position, status, inspection plan, and inspection results of the UAV. The nest interconnection unit also coordinates and controls the nest and the UAV to achieve one-way inspection of the UAV, that is, the UAV takes off from one nest and lands at another nest, or realizes data transmission between nests, that is, one nest sends inspection data to another nest, or realizes data transfer between nests, that is, one nest forwards inspection data to another nest.

[0064] A takeoff environment perception unit for judging whether the external environment of the nest is suitable for the UAV to take off; the takeoff environment perception unit includes a temperature unit for collecting the internal and external temperatures of the nest, a humidity unit for collecting the rainfall and humidity data outside the nest, and a wind speed unit for collecting the external wind speed information of the nest.

[0065] Furthermore, an anemometer 10 and a precipitation humidity sensor 11 are installed on the top of the nest, and the anemometer 10 and the precipitation humidity sensor 11 are connected to the integrated control module 9.

[0066] Next, the working principle of the intelligent distribution network overhead line inspection UAV nest in a specific embodiment of the present invention will be described:

[0067] First, install the nest on the electric pole of the distribution network, fix the nest box body 1 through the hoop 16, and place the UAV in the drawer-type hangar 2;

[0068] Then, according to the inspection plan of the operation and maintenance platform, or according to the inspection requirements and environmental changes of the nest itself, control the takeoff and landing of the nest and the UAV through the takeoff and landing control unit.

[0069] Takeoff phase: When the takeoff command is issued, the landing control unit sends a control signal to the hangar motor control unit, causing the motor to drive the drive gear 13 to rotate. The drive gear 13 drives the rack to push the drawer-type hangar 2 out of the hangar box 1. Then, the landing control unit sends a control signal to the elevator 3 motor, causing the elevator 3 to lift the apron 15 to a height slightly higher than the top of the hangar box 1. Finally, the landing control unit sends a control signal to the centering device 12 to release the UAV, and the UAV takes off according to the flight control signal of the flight control unit. After takeoff, the elevator 3 descends, and the drive gear 13 drives the drawer-type hangar 2 to retract into the hangar box 1, forming a complete box.

[0070] Landing phase: When the UAV lands, the landing control unit sends a control signal to the hangar motor control unit, causing the motor to drive the drive gear 13 to rotate. The drive gear 13 drives the rack to push the drawer-type hangar 2 out of the hangar box 1. Then, the landing control unit sends a control signal to the elevator 3 motor, causing the elevator 3 to lift the apron 15 to a height slightly higher than the top of the hangar box 1. The UAV lands according to the flight control signal of the flight control unit. After landing, the landing control unit sends a control signal to the centering device 12 to perform centering adjustment on the UAV. Finally, the drawer-type hangar 2 retracts into the hangar box 1, forming a complete box.

[0071] Battery replacement phase: According to information such as the remaining battery power, charging status, and charging requirements of the UAV battery, the charging control unit controls the battery replacement and charging of the UAV battery as follows:

[0072] Battery replacement phase: First, the charging control unit controls the mechanical gripper 4 to clamp the battery of the UAV. Then, the charging control unit sends control signals to the motors of the mechanical gripper 4, the telescopic rod 5, the horizontal moving structure 6, and the vertical moving structure 7, causing the mechanical gripper 4 to extend with the cooperation of the telescopic rod 5 and cooperate with the centering device 12 on the apron 15 to remove the UAV battery. After removing the battery, the mechanical gripper 4 keeps clamping the battery, the telescopic rod 5 retracts, and the vertical moving structure 7 lifts the mechanical gripper 4 and the battery to the same height as the charger 8. The horizontal moving structure 6 adjusts the position of the mechanical gripper 4 and the battery to align with the battery slot in the charger 8. Then the telescopic rod 5 extends, the mechanical gripper 4 clamps the battery and inserts the battery into the battery slot in the charger 8 to charge the battery. After putting in the battery, the charging control unit controls the mechanical gripper 4 to take out the fully charged battery in the charger 8 and insert it into the UAV to complete the battery replacement. Then the mechanical gripper 4 releases, the telescopic rod 5 retracts, and the mechanical gripper 4 returns to its original position.

[0073] The control method of the intelligent distribution network overhead line inspection UAV nest according to the second aspect embodiment of the present invention is applied to the intelligent distribution network overhead line inspection UAV nest according to the first aspect embodiment of the present invention above.

[0074] Specifically, referring to Figures 7-8 , the control method of the intelligent distribution network overhead line inspection UAV nest includes:

[0075] Step S1, install the UAV nest;

[0076] Step S2, select a UAV according to the inspection plan for the inspection task;

[0077] Step S3, judge whether the external environment of the nest is suitable for the UAV to take off. If it is suitable for takeoff, continue to the next step;

[0078] Step S4, control the UAV to take off;

[0079] Step S5, control the UAV to fly;

[0080] Step S6, collect inspection data;

[0081] Step S7, judge the battery power of the UAV;

[0082] Step S8, replace the battery and charge;

[0083] Step S9, generate an inspection report.

[0084] The following specifically explains the specific content of the above steps:

[0085] Step S1, install the intelligent distribution network overhead line inspection UAV nest of the present invention on the electric pole of the distribution network, connect the nest box body 1 with the AC power supply of the distribution network, connect the communication unit with the operation and maintenance platform and other nests, connect the UAV battery intelligent charging steward with the rectifier and voltage transformation unit, place the UAV on the apron 15 of the drawer-type hangar 2 or the elevator 3, and connect the UAV with the flight control unit.

[0086] Step S2, receive the inspection plan and control command sent by the operation and maintenance platform or other nests through the communication unit, or independently formulate the inspection plan and control command through the flight control unit, and select a suitable UAV for the inspection task according to the inspection plan and control command.

[0087] Step S3, sense and judge whether the external environment of the nest is suitable for the UAV to take off through the takeoff environment perception unit, including wind speed, temperature, rainfall, humidity. If it is not suitable for takeoff, wait for the environment to improve or adjust the inspection plan and control command. If it is suitable for takeoff, continue to the next step.

[0088] Step S4: Control the nest and the UAV to take off through the takeoff and landing control unit. For example, control the extraction or retraction of the drawer-type hangar 2, control the lifting of the elevator 3, control the clamping or loosening of the centering device 12, control the takeoff or landing of the UAV. At the same time, control the movement of all motors in the nest through the nest motor control unit to achieve various actions of the nest, such as the extraction or retraction of the drawer-type hangar 2, the lifting of the elevator 3, the telescoping and clamping of the mechanical gripper 4, etc.

[0089] Step S5: Control the UAV to fly through the flight control unit, plan the flight route and tasks, adjust and optimize the flight parameters to ensure the safe and efficient inspection of the UAV. At the same time, send the flight status signals through the communication unit, including the position, status, inspection data of the UAV, and receive the information of the operation and inspection platform or other nests, the update of the inspection plan and control commands, and the positions and statuses of other UAVs.

[0090] Step S6: Inspect the lines, poles, equipment, etc. of the distribution network through the sensors and cameras of the UAV, collect inspection data, including images, videos, temperatures, currents, voltages, and send the inspection data to the flight control unit and the communication unit, or store it in the memory of the UAV for future query and use.

[0091] Step S7: Judge whether the battery power of the UAV is sufficient to continue the inspection through the flight control unit. If not, return to the nest for battery replacement and charging. If sufficient, continue the inspection until the inspection task is completed or a stop command is received from the operation and inspection platform or other nests.

[0092] Step S8: Control the mechanical gripper 4 to perform battery replacement and charging through the charging control unit, including controlling the telescopic rod 5, horizontal moving structure 6, vertical moving structure 7 and chuck motor of the mechanical gripper 4, so that the mechanical gripper 4 clamps the battery of the UAV, takes out or puts the battery into the battery slot of the intelligent charging housekeeper of the UAV battery, and at the same time controls the intelligent charging housekeeper of the UAV battery to charge the battery, and optimize the sequence and time of battery replacement and charging according to information such as the remaining battery power, charging status, and charging requirements of the battery.

[0093] Step S9: Analyze and process the inspection data of the UAV through the inspection result processing unit, judge the status and abnormal conditions of the distribution network, and generate an inspection report, send the inspection report to the operation and inspection platform or other nests, or store it in the data memory for future query and use.

[0094] Exchange information and cooperate with other nests through the nest interconnection unit, receive or send the position, status, inspection plan, and inspection results of the UAV, and coordinate and control the nest and the UAV, which can realize the one-way inspection of the UAV, or realize the data transmission or transfer between nests.

[0095] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 should not be construed as a limitation of the present invention.

[0096] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0097] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0098] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0099] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An intelligent inspection drone nest for overhead lines in a distribution network, characterized in that, It includes a nest box (1), and a drawer - type hangar (2) is arranged inside the nest box (1). A transmission rack (14) is arranged on the bottom plate of the drawer - type hangar (2), and a driving gear (13) is arranged on the bottom wall of the corresponding nest box (1). By rotating the driving gear (13), the transmission rack (14) is driven to move, so as to draw out or retract the drawer - type hangar (2) from the opening of the nest box (1). A parking apron (15) for placing unmanned aerial vehicles is also arranged on the drawer - type hangar (2). A hoop (16) is arranged on one side of the nest box (1) far away from the opening, and the nest box (1) is fixedly installed on the distribution network pole through the hoop (16).

2. The intelligent distribution network overhead line inspection UAV nest according to claim 1, wherein An elevator (3) is also arranged on the drawer - type hangar (2). One end of the elevator (3) is arranged on the bottom plate of the drawer - type hangar (2), and the other end is connected to the parking apron (15). The elevator (3) drives the parking apron (15) to lift, so as to lift the unmanned aerial vehicle.

3. The intelligent inspection unmanned aerial vehicle (UAV) nest for overhead lines of a distribution network according to claim 1, wherein A centering device (12) is arranged at the center position of the parking apron (15), and the centering device (12) is used to fix the position of the unmanned aerial vehicle.

4. The intelligent inspection unmanned aerial vehicle (UAV) nest for overhead lines of a distribution network according to claim 1, wherein, It also includes a battery - changing device; the battery - changing device includes a telescopic rod (5), a horizontal moving structure (6), a vertical moving structure (7), a mechanical gripper (4) and a charger (8). The mechanical gripper (4) is arranged on the inner wall of the nest box (1) on the side far away from the drawer - type hangar (2), and is used to grab or place the battery of the unmanned aerial vehicle. One end of the telescopic rod (5) is arranged on the horizontal moving structure (6), and the other end is connected to the mechanical gripper (4); the telescopic rod (5) is used to drive the mechanical gripper (4) to do telescopic motion, and the telescopic rod (5) is driven by a telescopic rod (5) motor. The horizontal moving structure (6) is used to adjust the horizontal position of the mechanical gripper (4), and the horizontal moving structure (6) is driven by a horizontal moving structure (6) motor; the horizontal moving structure (6) is arranged on the vertical moving structure (7), the vertical moving structure (7) is vertically fixed on the inner wall of the nest box (1), and the vertical moving structure (7) is used to adjust the vertical position of the mechanical gripper (4).

5. The intelligent inspection unmanned aerial vehicle nest for overhead lines of a distribution network according to claim 1, characterized in that, It also includes an integrated control module (9), and the integrated control module (9) is arranged inside the nest box (1); the integrated control module (9) includes a rectifier - transformer unit for providing power, a nest - motor control unit for controlling the movement of the motors in the nest, a charging control unit for controlling the battery - changing and charging of the unmanned aerial vehicle, a take - off environment perception unit for judging whether the external environment of the nest is suitable for the take - off of the unmanned aerial vehicle, a communication unit for communicating between the unmanned aerial vehicle and the operation and inspection platform, a take - off and landing control unit for controlling the take - off and landing of the nest and the unmanned aerial vehicle, a flight control unit for controlling the flight of the unmanned aerial vehicle, an inspection result processing unit for analyzing and processing the inspection data of the unmanned aerial vehicle, and a nest interconnection unit for information exchange and cooperation between different nests. The take - off environment perception unit includes a temperature unit for collecting the internal and external temperatures of the nest, a humidity unit for collecting the rainfall and humidity data outside the nest, and a wind speed unit for collecting the wind speed information outside the nest.

6. The intelligent distribution network overhead line inspection UAV nest according to claim 5, characterized in that, An anemometer (10) and a precipitation humidity sensor (11) are installed on the top of the drone nest, and the anemometer (10) and the precipitation humidity sensor (11) are connected to the integrated control module (9).

7. A control method for an intelligent inspection UAV nest of overhead lines in a distribution network, which is applied to the intelligent inspection UAV nest of overhead lines in a distribution network according to any one of claims 6, characterized in that, The control method includes: Step S1, install the drone nest; Step S2, select a drone according to the inspection plan for the inspection task; Step S3, determine whether the external environment of the nest is suitable for the drone to take off. If it is suitable for takeoff, proceed to the next step; Step S4, control the drone to take off; Step S5, control the drone to fly; Step S6, collect inspection data; Step S7, judge the battery power of the drone; Step S8, replace the battery and charge; Step S9, generate an inspection report.

8. The control method of the intelligent distribution network overhead line inspection UAV nest according to claim 7, characterized in that, In step S3, the takeoff environment perception unit is used to determine whether the external environment of the nest is suitable for the drone to take off. The external environment includes wind speed, temperature, rainfall and humidity. If it is not suitable for takeoff, wait for the environment to improve or adjust the inspection plan.

9. The control method of the intelligent distribution network overhead line inspection UAV nest according to claim 7, characterized in that, In step S5, the flight control unit is used to control the drone to fly, plan the flight route and tasks, adjust the flight parameters, and at the same time send the flight status signal through the communication unit and receive information from the operation and inspection platform or other nests.

10. The control method of the intelligent distribution network overhead line inspection UAV nest according to claim 7, characterized in that, In step S9, the inspection result processing unit analyzes and processes the inspection data of the drone and generates an inspection report, and sends the inspection report to the operation and inspection platform or other nests.

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