Cage type unmanned aerial vehicle with autonomous navigation function for electric power system inspection

Abstract

The invention relates to a cage type unmanned aerial vehicle with an autonomous navigation function for inspection of an electric power system, which is applied to the field of unmanned aerial vehicles and is characterized in that through arrangement of devices such as a transverse restorer, a longitudinal restorer and an axial restorer, when a cage body touches an obstacle, the cage body moves, and the unmanned aerial vehicle keeps moving along an original path; according to the unmanned aerial vehicle, the push-pull plate moves when the movable rod and the sliding sleeve slide relatively, so that the unmanned aerial vehicle can be buffered, the unmanned aerial vehicle is prevented from bouncing and falling when collision occurs, and the safety of the unmanned aerial vehicle is improved, a transverse sensor and other devices are arranged, and the push-pull plate moves when the movable rod and the sliding sleeve slide relatively, so that the unmanned aerial vehicle is prevented from falling. The sliding distance between the movable rod and the sliding sleeve can be obtained through the distance sensor, the transverse sensor, the longitudinal sensor and the axial sensor obtain displacement data of the cage body, the unmanned aerial vehicle makes corresponding adjustment after obtaining the displacement data of the cage body, and the stability of the unmanned aerial vehicle is further improved.

Description

Technical Field

[0001] This invention relates to a drone, and more particularly to a cage-type drone with autonomous navigation function for power system inspection. Background Technology

[0002] Currently, the safe operation of the power system relies on regular inspections of transmission lines, towers, and ancillary facilities. In recent years, drones have been gradually applied to power system inspections, as they have the advantages of maneuverability and wide field of vision. However, when drones fly close to power facilities, they are easily damaged by collisions, which further limits their application in the field of power inspection.

[0003] Chinese patent application CN105730703B discloses a protective device and a drone with the protective device. The protective device achieves three-dimensional free rotation of the rotating rings by setting a rotating structure and the mutual rotation between the first rotating ring, the second rotating ring and the third rotating ring on the rotating structure, which can improve the anti-collision performance of the protective device and its ability to adapt to complex environments.

[0004] By installing protective devices on the outside of the drone, it is possible to effectively prevent the drone from crashing upon collision. However, the protective device is rigidly connected to the drone, and it will bounce back upon collision, causing the drone to become unstable and prone to crashing. Therefore, further improvements are needed. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a cage-type unmanned aerial vehicle (UAV) for power system inspection with autonomous navigation capabilities. The UAV includes a cage body on its outer side. Connecting rods are fixedly connected to the middle of the top of the cage body and the middle of the top of the UAV. One end of each connecting rod is fixedly connected to an upper connector and a lower connector, respectively. A lateral resetter and a longitudinal resetter are fixedly connected to the side wall of the upper connector, and an axial resetter is fixedly connected to one end of the upper connector. Each of the lateral, longitudinal, and axial resetters includes a movable rod. One end of the movable rod is connected to the upper connector via a spherical hinge. The other end is slidably connected to a sliding sleeve. A spring is fixedly connected between one end of the movable rod and one end of the sliding sleeve. There are two transverse resetters and two longitudinal resetters, which are perpendicular to each other. There is one axial resetter. Four support rods are fixedly connected to the side wall of the lower joint. One end of two support rods is connected to the two transverse resetters by spherical hinges, and one end of the other two support rods is connected to the two longitudinal resetters by spherical hinges. A vertical rod is connected to the top of the lower joint by a spherical hinge, and one end of the vertical rod is fixedly connected to the axial resetter.

[0006] As a further improvement of this application, the outer walls of the lateral resetter, longitudinal resetter, and axial resetter are respectively fixedly connected with a lateral sensor, a longitudinal sensor, and an axial sensor, and each of the lateral sensor, longitudinal sensor, and axial sensor includes a detection tube and a push-pull plate.

[0007] As a further improvement of this application, the detection tube and the push-pull plate are fixedly connected to the sliding sleeve and the movable rod, respectively. An intermediate groove is provided between the detection tube and the sliding sleeve. One end of the push-pull plate extends to the inside of the detection tube and is fixedly connected to one end of the detection tube with a distance sensor.

[0008] As a further improvement to this application, the drone has a built-in positioning module, which is used to obtain the drone's location information during the inspection process.

[0009] As another improvement of this application, the UAV has a built-in navigation control module, which is electrically connected to the positioning module and is used to generate inspection paths based on location information and control the flight status of the UAV.

[0010] As a further improvement to this application, the UAV also includes an obstacle avoidance module, which is electrically connected to the navigation and control module. This module is used to collect information about surrounding obstacles during the UAV's inspection process and to dynamically correct the inspection path, thereby enabling autonomous obstacle avoidance flight.

[0011] As a further improvement to this application, a base ring is fixedly connected to the outer wall of the cage, an inner rotating ring is rotatably connected to the outer wall of the base ring, and an outer rotating ring is rotatably connected to the middle of both ends of the inner rotating ring.

[0012] As another improvement of this application, an angle-adjusting motor is fixedly connected to one end of the base ring, a gear is fixedly connected to the output end of the angle-adjusting motor, and a gear ring is fixedly connected to the inner wall of the inner rotating ring, with the gear ring and the gear meshing.

[0013] In summary, by incorporating devices such as the lateral resetter, longitudinal resetter, and axial resetter, the cage moves when it encounters an obstacle, while the drone maintains its original path. At this time, relative sliding occurs between the movable rod and the sliding sleeve, which can buffer the drone and prevent it from rebounding and crashing upon collision, thus improving the safety of the drone.

[0014] By incorporating devices such as lateral, longitudinal, and axial sensors, the push-pull plate shifts when relative sliding occurs between the movable rod and the sliding sleeve. The distance sensor can acquire the sliding distance between the movable rod and the sliding sleeve, allowing the lateral, longitudinal, and axial sensors to obtain the cage's displacement data. After acquiring the cage's displacement data, the UAV makes corresponding adjustments, further improving the UAV's stability.

[0015] By using devices such as external rotating rings and tracks, drones can still move along the track to conduct inspections even in situations with weak signals, thus increasing the inspection range and practicality of the drones. Attached Figure Description

[0016] Figure 1 This is a perspective view of the overall embodiments of the first and second embodiments of this application; Figure 2 These are perspective views of the cage body in the first and second embodiments of this application; Figure 3 This is a perspective view of the upper and lower connectors in the first and second embodiments of this application; Figure 4 This is a perspective view of the transverse resetter and the axial resetter in the first and second embodiments of this application; Figure 5 This is a perspective view of the longitudinal resetter and the axial resetter in the first and second embodiments of this application; Figure 6 These are perspective cross-sectional views of the detection tube in the first and second embodiments of this application; Figure 7 This is a perspective view of the inner and outer rotating rings in the second embodiment of this application; Figure 8 This is a perspective view of the angle adjustment motor in the second embodiment of this application; Figure 9 This is a state diagram of the outer rotating ring moving along the track in the second embodiment of this application.

[0017] Explanation of the labels in the diagram: 1. Unmanned Aerial Vehicle (UAV); 2. Cage; 3. Connecting Rod; 301. Upper Connector; 302. Lower Connector; 4. Movable Rod; 401. Sliding Sleeve; 402. Spring; 5. Detection Tube; 501. Push-Pull Plate; 502. Intermediate Groove; 503. Distance Sensor; 6. Support Rod; 7. Vertical Rod; 8. Base Ring; 9. Inner Rotating Ring; 10. Outer Rotating Ring; 11. Angle Adjustment Motor; 12. Gear; 13. Gear Ring. Detailed Implementation

[0018] The two embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0019] First implementation method: Figures 1-6This invention illustrates a cage-type unmanned aerial vehicle (UAV) with autonomous navigation capabilities for power system inspection. The UAV includes a UAV 1, with a cage 2 on its outer side. Connecting rods 3 are fixedly connected to the middle of the top of both the cage 2 and the top of the UAV 1. One end of each connecting rod 3 is fixedly connected to an upper connector 301 and a lower connector 302, respectively. A lateral resetter and a longitudinal resetter are fixedly connected to the side wall of the upper connector 301, and an axial resetter is fixedly connected to one end of the upper connector 301. Each of the lateral, longitudinal, and axial resetters includes a movable rod 4. One end of the movable rod 4 is connected to the upper connector 301 via a spherical hinge, and the other end of the movable rod 4... A sliding sleeve 401 is provided for sliding connection. A spring 402 is fixedly connected between one end of the movable rod 4 and one end of the sliding sleeve 401. Two transverse resetters and two longitudinal resetters are provided, and the transverse resetters and longitudinal resetters are perpendicular to each other. One axial resetter is provided. Four support rods 6 are fixedly connected to the side wall of the lower connector 302. One end of two support rods 6 is connected to two transverse resetters by spherical hinges, and one end of the other two support rods 6 is connected to two longitudinal resetters by spherical hinges. A vertical rod 7 is connected to the top of the lower connector 302 by a spherical hinge. One end of the vertical rod 7 is fixedly connected to the axial resetter.

[0020] With the above settings, when the drone 1 is inspecting the power grid, the cage 2 moves with the drone 1. The cage 2 can protect the drone 1. Before the drone 1 touches an obstacle during flight, the cage 2 will touch the obstacle first, thus protecting the drone 1.

[0021] The sliding sleeve 401 can slide along the movable rod 4. When the cage 2 does not touch an obstacle, under the action of the spring 402, the two horizontal resetters, the two vertical resetters, and the axial resetter can keep the drone 1 at the center of the cage 2. When the cage 2 touches an obstacle, the cage 2 moves. At this time, the movable rod 4 and the sliding sleeve 401 slide relative to each other, which can buffer the drone and prevent the drone from rebounding and crashing when it collides, thus improving the safety of the drone.

[0022] The outer walls of the transverse resetter, longitudinal resetter, and axial resetter are respectively fixedly connected with transverse sensors, longitudinal sensors, and axial sensors. Each transverse sensor, longitudinal sensor, and axial sensor includes a detection tube 5 and a push-pull plate 501. The detection tube 5 and the push-pull plate 501 are respectively fixedly connected to the sliding sleeve 401 and the movable rod 4. An intermediate groove 502 is provided between the detection tube 5 and the sliding sleeve 401. One end of the push-pull plate 501 extends to the inner side of the detection tube 5 and a distance sensor 503 is fixedly connected between it and one end of the detection tube 5.

[0023] When relative sliding occurs between the movable rod 4 and the sliding sleeve 401, the push-pull plate 501 is displaced. The sliding distance between the movable rod 4 and the sliding sleeve 401 can be obtained through the distance sensor 503, so that the lateral sensor, longitudinal sensor and axial sensor can obtain the displacement data of the cage 2. After obtaining the displacement data of the cage 2, the UAV makes corresponding adjustments to further improve the stability of the UAV.

[0024] The drone has a built-in positioning module, which is used to acquire the drone's location information during the inspection process. The drone also has a built-in navigation control module, which is electrically connected to the positioning module. This module is used to generate an inspection path based on the location information and control the drone's flight status. The drone also includes an obstacle avoidance module, which is electrically connected to the navigation control module. This module is used to collect information about surrounding obstacles during the drone's inspection process and dynamically correct the inspection path to achieve autonomous obstacle avoidance flight.

[0025] Second implementation method: Figures 1-8 This invention illustrates a cage-type UAV for power system inspection with autonomous navigation capabilities. Unlike the first embodiment, the outer wall of the cage 2 is fixedly connected to a base ring 8, the outer wall of the base ring 8 is rotatably connected to an inner rotating ring 9, and the middle of both ends of the inner rotating ring 9 is rotatably connected to an outer rotating ring 10.

[0026] There is a flexible space between the drone 1 and the cage 2. The flexible space refers to the maximum distance of movement between the drone 1 and the cage 2. When the drone 1 needs to patrol along a certain fixed line, it may be blocked by obstacles, resulting in poor positioning signal. At this time, the flight of the drone 1 will become unstable.

[0027] Please see Figure 9 By pre-installing tracks on the set inspection route, the drone moves along the tracks when the signal is weak. Before moving along the tracks, the outer rotating ring 10 is brought into contact with the tracks and shifted to the track position, allowing the drone to enter the elastic space. Then the cage 2 can move within the elastic space. When the drone 1 moves along the tracks and the tracks shift, the distance between the drone 1 and the cage 2 will deviate. By obtaining the deviation value between the drone 1 and the cage 2 through the lateral, longitudinal, and axial sensors, the flight position of the drone 1 can be adjusted in time to keep the drone 1 always within the elastic space. The drone 1 can still move along the tracks to perform inspections even when the signal is weak, thus improving the inspection range of the drone.

[0028] An angle-adjusting motor 11 is fixedly connected to one end of the base ring 8, and a gear 12 is fixedly connected to the output end of the angle-adjusting motor 11. A gear ring 13 is fixedly connected to the inner wall of the inner rotating ring 9, and the gear ring 13 and the gear 12 mesh.

[0029] With the above settings, the angle-adjusting motor 11 can drive the gear 12 to rotate. When the gear 12 rotates, it can drive the inner rotating ring 9 to rotate through the gear ring 13, so that the outer rotating ring 10 can move to different angles, which can be used for tracks in different positions.

[0030] In light of current practical needs, the above-described embodiments adopted in this application are not limited to these. Any changes made within the scope of knowledge possessed by those skilled in the art without departing from the concept of this application still fall within the protection scope of this invention.

Claims

1. A cage-shaped unmanned aerial vehicle for power system inspection with autonomous navigation function, comprising an unmanned aerial vehicle (1), characterized in that: The outer side of the unmanned plane (1) is provided with a cage (2), the middle part of the top end of the cage (2) and the middle part of the top end of the unmanned plane (1) are fixedly connected with connecting rods (3), one end of the two connecting rods (3) is fixedly connected with upper joints (301) and lower joints (302) respectively, the side wall of the upper joint (301) is fixedly connected with a transverse restorer and a longitudinal restorer, one end of the upper joint (301) is fixedly connected with an axial restorer, the transverse restorer, the longitudinal restorer and the axial restorer all comprise movable rods (4), one end of the movable rod (4) is connected with the upper joint (301) through a spherical hinge, the other end of the movable rod (4) is slidably connected with a sliding sleeve (401), one end of the movable rod (4) and one end of the sliding sleeve (401) are fixedly connected with springs (402), the transverse restorer and the longitudinal restorer are both provided with two, and the transverse restorer and the longitudinal restorer are perpendicular to each other, the axial restorer is provided with one, the side wall of the lower joint (302) is fixedly connected with four supporting rods (6), one end of two supporting rods (6) is connected with two transverse restorers through a spherical hinge respectively, one end of the other two supporting rods (6) is connected with two longitudinal restorers through a spherical hinge respectively, the top end of the lower joint (302) is connected with a vertical rod (7) through a spherical hinge, one end of the vertical rod (7) is fixedly connected with the axial restorer.

2. The cage-shaped unmanned aerial vehicle for power system inspection with autonomous navigation function according to claim 1, characterized in that: The outer wall of the transverse restorer, the longitudinal restorer and the axial restorer is fixedly connected with a transverse sensor, a longitudinal sensor and an axial sensor respectively, the transverse sensor, the longitudinal sensor and the axial sensor all comprise detection tubes (5) and push-pull plates (501).

3. The cage-shaped unmanned aerial vehicle for power system inspection with autonomous navigation function according to claim 2, characterized in that: The detection tube (5) and the push-pull plate (501) are fixedly connected with the sliding sleeve (401) and the movable rod (4) respectively, an intermediate groove (502) is formed between the detection tube (5) and the sliding sleeve (401), one end of the push-pull plate (501) extends to the inside of the detection tube (5) and is fixedly connected with a distance sensor (503) between one end of the push-pull plate (501) and one end of the detection tube (5).

4. The cage-shaped unmanned aerial vehicle for power system inspection with autonomous navigation function according to claim 1, characterized in that: The unmanned plane is built-in with a positioning module, the positioning module is used for acquiring position information of the unmanned plane in the inspection process.

5. The cage-shaped unmanned aerial vehicle for power system inspection with autonomous navigation function according to claim 4, characterized in that: The unmanned plane is built-in with a navigation control module, the navigation control module is electrically connected with the positioning module, is used for generating an inspection path based on the position information and controlling the flight state of the unmanned plane.

6. The cage-shaped unmanned aerial vehicle for power system inspection with autonomous navigation function according to claim 5, characterized in that: The unmanned plane further comprises an obstacle avoidance module, the obstacle avoidance module is electrically connected with the navigation control module, is used for collecting surrounding obstacle information in the inspection process of the unmanned plane, and dynamically correcting the inspection path, so as to realize autonomous obstacle avoidance flight.

7. The cage-shaped unmanned aerial vehicle for power system inspection with autonomous navigation function according to claim 1, characterized in that: The outer wall of the cage (2) is fixedly connected with a base ring (8), the outer wall of the base ring (8) is rotatably connected with an inner rotating ring (9), the middle part of the two ends of the inner rotating ring (9) is rotatably connected with an outer rotating ring (10).

8. The cage-shaped unmanned aerial vehicle for power system inspection with autonomous navigation function according to claim 7, characterized in that: One end of the base ring (8) is fixedly connected to an angle-adjusting motor (11), and the output end of the angle-adjusting motor (11) is fixedly connected to a gear (12). The inner wall of the inner rotating ring (9) is fixedly connected to a gear ring (13), and the gear ring (13) and the gear (12) mesh.

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