Unmanned aerial vehicle distance measuring device for power transmission line

Abstract

The utility model relates to the technical field of unmanned aerial vehicle distance measurement, in particular to an unmanned aerial vehicle distance measurement device for a power transmission line, which comprises a machine body, and a power transmission line detection unit and an emergency obstacle avoidance assembly are fixedly connected in the machine body. Ultrasonic detection is usually rapid and convenient, calculation is simple, real-time control is easy to achieve, the industrial practical requirement can be met in the aspect of measurement precision, the laser transmitter is adopted for judging the route, when a marginal line is detected to appear on the left side, the aircraft is corrected rightwards, and when a marginal line is detected to appear on the right side, the aircraft is corrected rightwards. The aircraft corrects leftwards to guarantee the flight route, meanwhile, by means of the distance between the laser ranging module and the obstacle and the feedback value of the laser ranging module, the unmanned aerial vehicle recognizes the obstacle and keeps the distance between the vehicle body and the obstacle, and then the functions of fully automatically avoiding the obstacle, returning to a set track and reaching a target position can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicle (UAV) ranging, in particular to a UAV ranging device for power transmission lines. Background Art

[0002] Overhead transmission lines operate in a harsh environment, characterized by numerous points, long lines, and a wide area. Furthermore, they are exposed to the wild for long periods of time, making line safety monitoring difficult. Furthermore, the operation and maintenance environment is complex and changeable, and external factors affecting the safe operation of transmission lines are increasing. For example, large-scale planting of tall trees and illegal construction of vegetable greenhouses are common in line corridors. This presents a significant safety hazard, particularly at distances from trees where visual deviations exist and are difficult to measure manually. According to an investigation, Anhui Electric Power Company experienced 12 production accidents caused by tree / bamboo obstacles from January 2014 to November 2015, resulting in significant economic losses and affecting the safety and reliability of the power grid. In accordance with the requirements of the transmission line operation regulations, line management departments are required to regularly patrol line corridors, measure the distances between trees and buildings in the corridors and the conductors, and promptly fell trees that are closer than the safe distance.

[0003] The most common method for traditional power transmission operation and maintenance management departments to measure the distance between conductors and obstacles below the conductors is to use laser rangefinders or electronic theodolites. Although the method of measuring obstacles with laser rangefinders or electronic theodolites is widely used and easy to operate, the measurement accuracy is relatively low, and a horizontal operating platform must be selected for measurement. The measurement range is limited and it is impossible to measure special areas on site. In addition, due to the strong maneuverability and low terrain requirements of drones, drones are currently prone to damage to the fuselage due to operational errors, resulting in various accidents such as personal injury and damage to buildings. Therefore, a drone ranging device for transmission lines is needed to improve the above problems. Utility Model Content

[0004] In order to solve the problem that the traditional power transmission operation and maintenance management department measures the distance between the conductor and the obstacle below the conductor, the most common method is to use a laser rangefinder or an electronic theodolite. Although the method of measuring obstacles with a laser rangefinder or an electronic theodolite is widely used and easy to operate, the measurement accuracy is relatively low, and a horizontal operating platform must be selected during measurement. The measurement range is limited and it is impossible to measure special areas on site. In addition, due to the strong maneuverability and low terrain requirements of drones, various accidents such as damage to the fuselage, personal injury and damage to buildings may occur due to operational errors during operation. The purpose of this utility model is to provide a drone distance measurement device for power transmission lines to solve the problems raised in the above background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] A UAV ranging device for power transmission lines comprises a body, wherein a power transmission line detection unit and an emergency obstacle avoidance component are fixedly connected to the body;

[0007] The machine body includes a fuselage, a base is fixedly connected to the top of the fuselage, and a laser emitter and an ultrasonic emitter are fixedly connected to both sides of the base;

[0008] The power transmission line detection unit includes a circuit board, and a central processing unit, an ultrasonic module, a remote control module, an information transmission unit and an echo level output module are fixedly connected to the side of the circuit board;

[0009] The emergency obstacle avoidance component includes a supporting plate, and the top of the supporting plate is fixedly connected to a flight attitude control module, a laser ranging module, a camera line finding module, an optical flow fixed point module and an echo solution module.

[0010] As a preferred solution of the present invention, the central processing unit is electrically connected to the ultrasonic module, and the ultrasonic module is electrically connected to the remote control module.

[0011] As a preferred solution of the present invention, the remote control module is electrically connected to the information transmission unit, and the information transmission unit is electrically connected to the echo level output module.

[0012] As a preferred solution of the present invention, the flight attitude control module is electrically connected to the laser ranging module, and the laser ranging module is electrically connected to the camera line-finding module.

[0013] As a preferred solution of the present invention, the camera line-finding module and the optical flow fixed-point module are electrically connected, and the optical flow fixed-point module and the echo solution module are electrically connected.

[0014] As a preferred solution of the present invention, a protective plate is fixedly connected to the top of the fuselage, a driver is installed on the top of the protective plate, and an output end of the driver is fixedly connected to a wing.

[0015] As a preferred solution of the present invention, a skid-type landing gear is fixedly connected to the bottom of the fuselage, and four skid-type landing gears are provided.

[0016] As a preferred solution of the present invention, a nose is fixedly connected to the side of the fuselage, and a flight control system is fixedly connected to the interior of the nose.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. In the present invention, an ultrasonic transmitter is used to transmit ultrasonic waves in a certain direction of the power transmission line, and timing is started at the same time as the transmission moment. The ultrasonic waves propagate in the air and immediately return when they encounter an obstacle on the way. The ultrasonic transmitter immediately stops timing when it receives the reflected wave. In conjunction with the ultrasonic module, the information transmission unit and the echo level output module, the distance from the transmission position to the obstacle position is calculated based on the round-trip time difference and the speed of the ultrasonic wave. Since ultrasonic waves have strong directivity, slow energy consumption, and can propagate over a long distance in the medium, ultrasonic waves are often used for distance measurement. For example, rangefinders and level measuring instruments can be realized by ultrasonic waves. Ultrasonic detection is often relatively fast, convenient, simple to calculate, easy to achieve real-time control, and can meet industrial practical requirements in terms of measurement accuracy.

[0019] 2. In the utility model, by utilizing the flight attitude control module, the laser ranging module, the camera line finding module, the optical flow fixed point module and the solution module, and adopting the laser emitter to determine the route, when the edge line is detected on the left side, the aircraft corrects to the right, and when the edge line is detected on the right side, the aircraft corrects to the left to ensure the flight route. At the same time, the distance between the laser ranging module and the obstacle and its feedback value are used to realize the recognition of the obstacle by the UAV and the maintenance of the distance between the body and the obstacle, thereby realizing the function of fully automatic obstacle avoidance, returning to the established trajectory, and reaching the target position. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 This is a schematic diagram of the internal structure of the utility model;

[0022] Figure 3 This is a schematic diagram of the control component structure of the utility model;

[0023] Figure 4 This is a schematic diagram of the drive assembly structure of the present utility model.

[0024] In the figure: 1. Airframe; 101. Fuselage; 102. Skid-type landing gear; 103. Nose; 104. Flight control integration; 105. Protective plate; 106. Drive; 107. Wing; 108. Base; 109. Laser emitter; 110. Ultrasonic emitter; 2. Transmission line detection unit; 201. Circuit board; 202. Central processing unit; 203. Ultrasonic module; 204. Remote control module; 205. Information transmission unit; 206. Echo level output module; 3. Emergency obstacle avoidance component; 301. Support plate; 302. Flight attitude control module; 303. Laser ranging module; 304. Camera line finding module; 305. Optical flow fixed point module; 306. Solution module. DETAILED DESCRIPTION

[0025] The following will combine 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, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] For examples, see Figures 1-4 , the utility model provides a technical solution:

[0027] A UAV ranging device for power transmission lines comprises a body 1, wherein a power transmission line detection unit 2 and an emergency obstacle avoidance component 3 are fixedly connected to the body 1.

[0028] In this embodiment, Figure 1 、 Figure 3 and Figure 4 As shown, the body 1 includes a fuselage 101, the top of the fuselage 101 is fixedly connected to a base 108, and both sides of the base 108 are fixedly connected to a laser transmitter 109 and an ultrasonic transmitter 110. The power transmission line detection unit 2 includes a circuit board 201, and the sides of the circuit board 201 are fixedly connected to a central processing unit 202, an ultrasonic module 203, a remote control module 204, an information transmission unit 205 and an echo level output module 206. The emergency obstacle avoidance component 3 includes a supporting plate 301, and the top of the supporting plate 301 is fixedly connected to a flight attitude control module 302, a laser ranging module 303, a camera line finding module 304, an optical flow fixed point module 305 and an echo solution module 306. The ultrasonic transmitter 110 is used to send an ultrasonic signal to a certain direction of the power transmission line. Ultrasonic waves are emitted, and timing begins at the moment of emission. Ultrasonic waves propagate through the air and immediately return when they encounter an obstacle. The ultrasonic transmitter 110 stops timing immediately upon receiving the reflected wave. The ultrasonic module 203, the information transmission unit 205, and the echo level output module 206 cooperate to calculate the distance from the emission position to the obstacle position by combining the round-trip time difference and the speed of the ultrasonic wave. Ultrasonic waves are often used for distance measurement because they have strong directivity, slow energy consumption, and can propagate over long distances in a medium. For example, rangefinders and level measuring instruments can be implemented using ultrasonic waves. Ultrasonic detection is often rapid, convenient, simple to calculate, and easy to implement in real time. Furthermore, the measurement accuracy can meet industrial practical requirements.

[0029] Among them, the central processing unit 202 is electrically connected to the ultrasonic module 203, the ultrasonic module 203 is electrically connected to the remote control module 204, the remote control module 204 is electrically connected to the information transmission unit 205, the information transmission unit 205 is electrically connected to the echo level output module 206, the flight attitude control module 302 is electrically connected to the laser ranging module 303, the laser ranging module 303 is electrically connected to the camera line finding module 304, the camera line finding module 304 is electrically connected to the optical flow fixed point module 305, the optical flow fixed point module 305 is electrically connected to the echo solution module 306, and the flight attitude control module 302 is electrically connected to the laser ranging module 303, the laser ranging module 303 is electrically connected to the camera line finding module 304, the camera line finding module 304 is electrically connected to the optical flow fixed point module 305, and the optical flow fixed point module 305 is electrically connected to the echo solution module 306. The attitude control module 302, the laser ranging module 303, the camera line-finding module 304, the optical flow fixed-point module 305 and the solution module 306, and the laser transmitter 109 are used to determine the flight path. When a margin line is detected on the left side, the aircraft corrects to the right. When a margin line is detected on the right side, the aircraft corrects to the left to ensure the flight path. At the same time, the distance between the laser ranging module 303 and the obstacle and its feedback value are used to realize the recognition of the obstacle by the UAV and the maintenance of the distance between the body 1 and the obstacle, thereby realizing the function of fully automatic obstacle avoidance, returning to the established trajectory, and reaching the target position.

[0030] In this embodiment, Figure 1 、 Figure 2 and Figure 4 As shown, a protective plate 105 is fixedly connected to the top of the fuselage 101, a driver 106 is installed on the top of the protective plate 105, an output end of the driver 106 is fixedly connected to the wing 107, a skid-type landing gear 102 is fixedly connected to the bottom of the fuselage 101, four skid-type landing gears 102 are provided, a nose 103 is fixedly connected to the side of the fuselage 101, and a flight control integration 104 is fixedly connected inside the nose 103. The built-in suspension system of the skid-type landing gear 102 can withstand the impact of a hard landing. Once the components of the skid-type landing gear 102 are damaged, or even the entire landing gear is damaged, they can be quickly and easily replaced.

[0031] The working process of the present invention is as follows: when the UAV ranging device for power transmission lines designed by the present invention is in operation, the driver 106 drives the wings 107 to lift the UAV and arrive near the output line for detection. The ultrasonic transmitter 110 is used to transmit ultrasonic waves in a certain direction of the power transmission line. The timing starts at the same time as the transmission moment. The ultrasonic waves propagate in the air and immediately return when they encounter an obstacle on the way. The ultrasonic transmitter 110 stops timing immediately when it receives the reflected wave. The ultrasonic module 203, the information transmission unit 205 and the echo level output module 206 are used to calculate the distance from the transmission position to the obstacle position by combining the round-trip time difference and the speed of the ultrasonic waves. When the UAV is avoiding obstacles, the laser transmitter 109 is used to determine the route. When a boundary line is detected on the left, the aircraft corrects to the right. When a boundary line is detected on the right, the aircraft corrects to the left to ensure the flight route. At the same time, the distance between the laser ranging module 303 and the obstacle and its feedback value are used to realize the UAV's recognition of the obstacle and the maintenance of the distance between the body 1 and the obstacle, thereby achieving fully automatic obstacle avoidance.

[0032] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may 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 appended claims and their equivalents.

Claims

1. A UAV distance measuring device for power transmission lines, comprising a body (1), characterized in that: A power transmission line detection unit (2) and an emergency obstacle avoidance component (3) are fixedly connected to the interior of the body (1); The machine body (1) comprises a body (101), a base (108) is fixedly connected to the top of the body (101), and a laser emitter (109) and an ultrasonic emitter (110) are fixedly connected to both sides of the base (108); The power transmission line detection unit (2) comprises a circuit board (201), and a central processing unit (202), an ultrasonic module (203), a remote control module (204), an information transmission unit (205), and an echo level output module (206) are fixedly connected to the side of the circuit board (201); The emergency obstacle avoidance component (3) comprises a supporting plate (301), the top of which is fixedly connected to a flight attitude control module (302), a laser ranging module (303), a camera line-finding module (304), an optical flow fixed-point module (305), and an echo resolution module (306).

2. The UAV distance measuring device for power transmission lines according to claim 1, characterized in that: The central processing unit (202) is electrically connected to the ultrasonic module (203), and the ultrasonic module (203) is electrically connected to the remote control module (204).

3. The UAV distance measuring device for power transmission lines according to claim 1, characterized in that: The remote control module (204) is electrically connected to the information delivery unit (205), and the information delivery unit (205) is electrically connected to the reverberation level output module (206).

4. The UAV distance measuring device for power transmission lines according to claim 1, characterized in that: The flight attitude control module (302) is electrically connected to the laser distance measurement module (303), and the laser distance measurement module (303) is electrically connected to the camera line-finding module (304).

5. The UAV distance measuring device for power transmission lines according to claim 1, characterized in that: The camera line-finding module (304) is electrically connected to the optical flow fixed-point module (305), and the optical flow fixed-point module (305) is electrically connected to the echo solution module (306).

6. The UAV distance measurement device for power transmission lines according to claim 1, characterized in that: A protective plate (105) is fixedly connected to the top of the fuselage (101), a driver (106) is installed on the top of the protective plate (105), and an output end of the driver (106) is fixedly connected to a wing (107).

7. The UAV distance measuring device for power transmission lines according to claim 1, characterized in that: The bottom of the fuselage (101) is fixedly connected with a skid-type landing gear (102), and four skid-type landing gears (102) are provided.

8. The UAV distance measuring device for power transmission lines according to claim 1, characterized in that: The side of the fuselage (101) is fixedly connected to a head (103), and the interior of the head (103) is fixedly connected to a flight control integration (104).

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