Automatic telescopic foot stool for high-altitude parking and flying of power distribution network high-voltage inspection unmanned aerial vehicle

Abstract

The utility model discloses an automatic telescopic foot stool for high-altitude parking and flying of a power distribution network high-voltage inspection unmanned aerial vehicle, and relates to the technical field of high-altitude parking and flying of unmanned aerial vehicles. The technical problem to be solved is how to realize high-altitude parking and flying of an unmanned aerial vehicle so as to automatically carry out high-voltage inspection on a power distribution network. According to the adopted scheme, the automatic telescopic foot stool comprises an unmanned aerial vehicle body and auxiliary stable supporting leg assemblies fixed to the left end and the right end of the unmanned aerial vehicle body; the two auxiliary stabilizing supporting leg assemblies are each composed of a second supporting leg fixedly installed on the unmanned aerial vehicle body, a slope notch formed in the tail of the lower end of the second supporting leg, a guiding shaft penetrating through the second supporting leg in a sliding mode and a connecting frame fixed to the lower end of the guiding shaft. The rod-shaped object is clamped from the two sides of the rod-shaped object, and the stability of the unmanned aerial vehicle parked on the rod-shaped object in the air is improved by changing the contact form.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned aerial vehicle high altitude parking technology field especially relates to a distribution network high pressure inspection unmanned aerial vehicle high altitude parking, fly automatic telescopic foot stand. BACKGROUND

[0002] The application of unmanned aerial vehicle in power grid inspection has become more and more common, especially in parking inspection, they play a huge role, when the unmanned aerial vehicle finds the accident of power grid, parking and staying in the problem in the air for further investigation, thereby assisting the user to further determine the problem of power grid, thereby providing the convenience for subsequent maintenance.

[0003] Because in the distribution network high pressure inspection, there is the need for unmanned aerial vehicle fixed point long time monitoring, and because its long time monitoring in the relatively bad weather is too high for the stability of unmanned aerial vehicle, in the rainy day, the unmanned aerial vehicle parking in the problem place not far from the branch and other pole-shaped objects, but because the bottom end of the unmanned aerial vehicle support is ball or plane in the utility model, it is difficult to stop on the pole-shaped object, so an unmanned aerial vehicle high altitude parking, fly automatic telescopic foot stand for distribution network high pressure inspection is needed to solve the above problems. UTILITY MODEL CONTENTS

[0004] The utility model discloses a kind of unmanned aerial vehicle high altitude parking, fly automatic telescopic foot stand for distribution network high pressure inspection, because the bottom end of the unmanned aerial vehicle support is ball or plane in the utility model, it is difficult to stop on the pole-shaped object.

[0005] To achieve the above object, the utility model provides the following technical scheme: a kind of unmanned aerial vehicle high altitude parking, fly automatic telescopic foot stand for distribution network high pressure inspection, including unmanned aerial vehicle body, the auxiliary stabilizing leg assembly of being fixed in the left and right ends of unmanned aerial vehicle body, start-stop control unit and navigation system;

[0006] Two described auxiliary stabilizing leg assemblies are provided with pole-shaped object between;

[0007] Two described auxiliary stabilizing leg assemblies are all by second leg that is fixedly installed on unmanned aerial vehicle body, slope gap that is opened in the lower end tail portion of the second leg, guide shaft that is slidably penetrated through the second leg, connecting frame that is fixed in the lower end of the guide shaft, and sleeve that is movably connected on connecting frame by support shaft and is welded on first clamp, and second clamp that is rotatably connected in the front end of first clamp, and torsion spring that is fixed in the inner and outer ends of corresponding sleeve and second clamp is formed;

[0008] By the first clamp and the second clamp, the pole-shaped object is clamped, and the pole-shaped object is linearly connected with the first clamp and the second clamp on both sides.

[0009] The start-stop control unit comprises a single-chip microcomputer control unit, an analog input and output module connected to the single-chip microcomputer control unit, a sample and hold circuit, a serial communication module, a switching value input and output module, a millimeter wave radar sensor, a laser ranging sensor, a sample and hold circuit, and a CAN bus module, the CAN bus module is connected with a wireless receiving module, and the wireless receiving module is connected with an upper computer.

[0010] The navigation system comprises a GPS positioning system, a visual detection system, and an inertial detection system.

[0011] Preferably, the two auxiliary stabilizing leg assemblies are distributed on the left and right sides of the unmanned aerial vehicle body in a central symmetric manner.

[0012] Preferably, the sleeve rotates through the upper end of the first clamp, the lower ends of the first clamp and the second clamp are in line contact, and the lower end formed by the combination of the first clamp and the second clamp has a gap.

[0013] Preferably, the rod is arranged between the two slope gaps, the rear end of the rod is in contact with the left slope gap, and the front end of the rod is in contact with the right slope gap.

[0014] Preferably, a spring is welded to the upper end of the connecting frame, and the end of the spring away from the connecting frame is welded to the second leg.

[0015] Preferably, two first legs are fixedly installed on the left and right sides of the unmanned aerial vehicle body, and two auxiliary stabilizing leg assemblies are arranged between the corresponding two first legs, and a propeller is electrically connected to each of the four first legs.

[0016] Preferably, a camera bracket is installed at the front end of the bottom of the unmanned aerial vehicle body, and a camera is rotatably connected between the left and right side walls of the camera bracket.

[0017] Preferably, the first clamp is sleeved on the support shaft, and the second clamp is sleeved on the support shaft.

[0018] Preferably, the single-chip microcomputer control unit adopts an ARM Cortex-M4 core MCU with a model number of STM32F407.

[0019] Preferably, the GPS positioning system comprises: a satellite with a navigation signal transmitter, an atomic clock, a power supply system, and a thermal control system; a receiver with an antenna, a radio frequency front end, a signal processor, a memory, and a user interface; and an antenna.

[0020] The visual detection system comprises an optical camera, an image processing unit, and an infrared sensor.

[0021] The inertial detection system comprises an accelerometer, a gyroscope and a memory.

[0022] Compared with the prior art, the utility model has the beneficial effects that:

[0023] 1、The utility model discloses a first clamping piece and second clamping piece in the auxiliary stable support leg assembly are set from the both sides of the pole-shaped object and hold the pole-shaped object, replace the single line contact or point contact formed by the general unmanned aerial vehicle support leg plane or globular and pole-shaped object contact, increase the stability of the unmanned aerial vehicle on the pole-shaped object in the air through the change contact form, i. e. improve the stability of the unmanned aerial vehicle support leg in the high altitude.

[0024] 2、The utility model discloses an unmanned aerial vehicle directly falls on the pole-shaped object, and the sudden impact force exists the damage of the pole-shaped object, through the spring, the spring can slow down the sudden force of the unmanned aerial vehicle to the pole-shaped object, thereby avoiding the problem of the damage of the pole-shaped object caused by the sudden impact force, i. e. guarantee the safety of the unmanned aerial vehicle using the auxiliary stable support leg assembly and stopping on the pole-shaped object.

[0025] 3. The utility model discloses a start-stop control unit based on the control of ARM Cortex-M4 kernel MCU improves the flight ability of the aircraft, improves the data information control ability through the GPS positioning system, improves the data information detection ability through the visual detection system. BRIEF DESCRIPTION OF DRAWINGS

[0026] The utility model is further illustrated as follows in combination with the drawings and examples:

[0027] Figure 1 It is the overall structure schematic view of the utility model;

[0028] Figure 2 It is the auxiliary stable support leg assembly schematic view of the utility model;

[0029] Figure 3 It is the support shaft and sleeve connection relation schematic view of the utility model;

[0030] Figure 4 It is the first clamping piece overall schematic view of the utility model;

[0031] Figure 5 It is the second clamping piece overall schematic view of the utility model;

[0032] Figure 6 It is the connection frame overall schematic view of the utility model;

[0033] Figure 7 It is the utility model Figure 2 It is the enlarged schematic view of A place in the utility model;

[0034] Figure 8The utility model discloses a start-stop control unit's principle schematic view.

[0035] Figure 9 The utility model discloses a singlechip control unit's principle structure diagram in the utility model.

[0036] Reference Signs: 1, unmanned aerial vehicle body;2, camera;3, camera support;4, first supporting leg;5, propeller;6, first clamp;7, sleeve;8, second clamp;9, torsional spring;10, support shaft;11, connecting frame;12, guide shaft;13, second supporting leg;14, spring;15, rod;16, slope gap. DETAILED DESCRIPTION

[0037] This part will describe the specific embodiment of the utility model in detail, and the preferred embodiment of the utility model is shown in the drawings, and the function of the drawings is to supplement the description of the text part with graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the utility model, but it cannot be understood as the limitation of the protection scope of the utility model.

[0038] In the description of the utility model, it is understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right and the like, is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as the limitation of the utility model.

[0039] In the description of the utility model, greater than, less than, more than and the like are understood as not including the number, and above, below, within and the like are understood as including the number. If the first and the second are described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.

[0040] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installing and connecting should be understood in a broad sense, and the person skilled in the art can reasonably determine the specific meaning of the above words in the utility model according to the specific content of the technical scheme.

[0041] Please refer to Figures 1-9 The utility model provides a kind of technical scheme: a distribution network high-voltage inspection unmanned aerial vehicle high-altitude stop, fly automatic telescopic foot stand, comprising: unmanned aerial vehicle body 1, auxiliary stabilizing supporting leg assembly fixed at the left and right ends of unmanned aerial vehicle body 1, start-stop control unit and navigation system;

[0042] Two described auxiliary stabilizing supporting leg assemblies are provided with rod 15 between them;

[0043] Each of the auxiliary stabilizing leg assemblies is composed of a second leg 13 fixedly installed on the UAV body 1, a slope gap 16 opened at the tail end of the lower end of the second leg 13, a guide shaft 12 slidingly penetrating through the second leg 13, a connecting frame 11 fixedly installed at the lower end of the guide shaft 12, a sleeve 7 welded on the first clamp 6 and movably sleeved on the connecting frame 11 through a support shaft 10, a second clamp 8 rotatably connected to the front end of the first clamp 6, and a torsion spring 9 fixedly installed at the inner and outer ends of the sleeve 7 and the second clamp 8, respectively.

[0044] The rod-shaped object 15 is clamped by the first clamp 6 and the second clamp 8, and the rod-shaped object 15 is in linear contact with the first clamp 6 and the second clamp 8 on both sides, respectively.

[0045] The start-stop control unit comprises a single-chip microcomputer control unit, an analog input and output module connected to the single-chip microcomputer control unit, a sample and hold circuit, a serial communication module, a switching value input and output module, a millimeter wave radar sensor, a laser ranging sensor, a sample and hold circuit, and a CAN bus module. The CAN bus module is connected with a wireless receiving module, and the wireless receiving module is connected with an upper computer.

[0046] In the implementation of the unmanned aerial vehicle start-stop control, the millimeter wave radar sensor and the laser ranging sensor can collect the surrounding environment data of the unmanned aerial vehicle in real time, such as the distance from the obstacles and other information. These data are first transmitted to the sample and hold circuit, which will be transmitted to the single-chip microcomputer control unit after being stabilized. For example, when the unmanned aerial vehicle is ready to take off, the millimeter wave radar sensor detects whether there are obstacles in the vicinity at a close distance. If an obstacle within a safe distance is detected, the single-chip microcomputer control unit will be fed back in time. The analog input and output module and the switching value input and output module play an important role in the start-stop process. The analog input and output module can be used to process some continuously changing signals, such as the throttle control signal of the engine. When the unmanned aerial vehicle starts, the single-chip microcomputer control unit will output appropriate analog signals through the analog output module to control the engine to gradually increase the power. The switching value input and output module is used to control some switching states, such as controlling the landing gear of the unmanned aerial vehicle to retract or lower, and other actions related to start-stop. The serial communication module and the CAN bus module are mainly responsible for data transmission. After the single-chip microcomputer control unit processes the sensor data and the control instructions to be executed, it transmits the relevant data to the wireless receiving module through the CAN bus module. The wireless receiving module then sends these data to the host computer, which can monitor and analyze the data. At the same time, the host computer can also send start-stop instructions to the single-chip microcomputer control unit through the wireless receiving module and the CAN bus module. For example, the operator issues a take-off instruction on the host computer, which is transmitted to the single-chip microcomputer control unit through the wireless receiving module and the CAN bus module. The single-chip microcomputer control unit, as the core, receives data and instructions from sensors, host computers and other sources. When receiving the start instruction from the host computer and the sensor feedback that the surrounding environment is safe, the single-chip microcomputer control unit will control the various components of the unmanned aerial vehicle to work cooperatively according to the preset program, such as starting the engine, deploying the propeller, etc., to realize the start of the unmanned aerial vehicle. During the landing process of the unmanned aerial vehicle, the single-chip microcomputer control unit also gradually reduces the engine power according to the sensor data and the host computer instructions to control the unmanned aerial vehicle to land smoothly and stop running.

[0047] In further embodiments, the single-chip microcomputer control unit adopts an ARM Cortex-M4 kernel MCU (such as an STM32F407), an LQFP144 package, and an integrated FPU floating point operation unit. The peripheral circuit design adopts a double-layer PCB layout, with the top layer being a digital signal area and the bottom layer being an analog signal area. The clock system adopts an 8MHz crystal oscillator + 32.768kHz RTC backup crystal oscillator, which is multiplied to 168MHz through a PLL. The power supply module adopts a three-stage filtering design (10μF tantalum capacitor + 0.1μF ceramic capacitor + magnetic bead), among which a 2x20Pin expansion interface is adopted in the interface configuration, including 14 channels of 12-bit ADC channels and 8 channels of PWM outputs. The input channel adopts 8-channel differential input and uses an AD8251 programmable instrument amplifier. The anti-aliasing filter adopts a 4thorder Butterworth active filter (cutoff frequency 1kHz). The specific output channel adopts a DAC8564 four-channel 16-bit DAC chip, and the output stage buffer adopts an OPA2188 zero drift operational amplifier. The ±30kV ESD protection is realized through a TVS diode array (SMBJ5.0A). In specific embodiments, the digital / analog ground separation is realized through optical coupling isolation (HCPL-0721).

[0048] In the sample and hold circuit, the core device is an LF398 sample and hold chip, and the holding capacitor adopts a polypropylene film capacitor (100pF, ±1% precision). The 74HC logic gate is used to build the sample / hold timing control, the sampling time is 500ns (typical value), and the voltage drop rate is <1mV / μs (@25℃). The layout feature adopts a star ground topology to reduce the charge injection effect, and the sensitive area is covered by an RF shield (μ-Metal material).

[0049] In the serial communication module design, the physical layer realizes data communication through an RS-485 interface controlled by an SN65HVD3082E chip, and the CAN isolation improves the isolation capability through an ADM3053 isolated CAN transceiver (2.5kV RMS). The application uses a waterproof DB9 connector (IP67 level) to improve the communication capability.

[0050] In the switching quantity input and output module design, the 24V industrial level input is shaped through a TLP290-4 optocoupler isolated Schmitt trigger (SN74LVC1G17), and the output circuit is a relay output based on a G5LE-14 DC24V / 5A contact capacity, which is driven through an IRF540N cooperating with an ULN2003 Darlington array MOSFET, to improve the data driving capability.

[0051] In the millimeter wave radar sensor design, a 24GHz SiGe radar chip (BGT24MTR11) is designed

[0052] The radio frequency front end improves the communication ability through a 4x4 microstrip antenna and a beam width of ±45° patch antenna array. During signal processing, an AD8331 variable gain amplifier (60 dB dynamic range) and an AD9244 14-bit ADC with a sampling rate of 65 MSPS are used to improve data acquisition and communication capabilities. The mechanical structure is an aluminum alloy shielded housing (thickness 5 mm) with an IP65 protection level and a working temperature of -40°C to 85°C.

[0053] In laser ranging sensor applications, the optical system is a 650 nm laser diode (Class II, <1 mW) APD avalanche photodiode receiver. The processing unit uses a TDC-GP22 time-to-digital conversion chip (resolution 55 ps) and an STM32F303 coprocessor to calculate the phase difference.

[0054] In the CAN bus module design, the data control capability is improved by using a MCP2515 independent CAN controller, and the data transmission and reception capability is improved by using a TJA1050 high-speed CAN transceiver. In the topology structure, a two-wire differential transmission (CAN_H / CAN_L) is used, and a bus terminal resistor (120Ω, 1% precision) is programmable. The diagnostic interface uses a CAN bus error counter LED indicator (red / yellow / green three colors).

[0055] The navigation system includes a GPS positioning system, a visual detection system, and an inertial detection system.

[0056] The GPS positioning system component structure features include:

[0057] Structure: The satellite is usually cylindrical, with a diameter of about 1.5 meters and a height of about 2.4 meters.

[0058] Transmitter: Located at the top of the satellite, used to send navigation signals. Chipset: ublox MAX-M10S multi-frequency receiver (L1+L5 frequency band), low noise amplifier (NF=1.2dB) + surface acoustic wave filter (BW=20MHz) are used in circuit design, 3.3V LDO voltage regulator is used for power supply, ripple <10mVpp.

[0059] Atomic clock: Used to provide high-precision time signals, usually located inside the satellite, used to synchronize the time of the satellite and the receiver.

[0060] Solar panels: Covering the surface of the satellite, used to collect solar energy to provide power for the satellite.

[0061] In other embodiments, the antenna can be.

[0062] 2. Receiver:

[0063] Structure: A receiver is typically an electronic device that contains one or more antennas.

[0064] Antenna: Used to receive signals from satellites, typically designed to capture signals from different directions.

[0065] RF Front-End: Amplifies, filters, and converts received RF signals.

[0066] Processor: Used to decode satellite signals, execute positioning algorithms, and contains memory for storing data. In specific applications, it is a baseband processing module processor, dual-core ARM Cortex-R5 (working frequency 400MHz), with a storage structure of 64MB SDRAM + 4MB Flash, and an interface of SPI / UART dual-channel redundant design.

[0067] Visual Detection System Component Structure Features:

[0068] 1. Camera:

[0069] Structure: The camera consists of a lens, image sensor, and image processing unit.

[0070] Lens: Responsible for focusing light rays to form an image.

[0071] Image Sensor: Converts optical signals into electrical signals, such as CMOS or CCD sensors.

[0072] Image Processing Unit: Includes DSP and software for processing and enhancing image data.

[0073] 2. Laser Radar (LiDAR):

[0074] Structure: Laser radar consists of a laser emitter, optical system, scanner, and receiver.

[0075] Laser Emitter: Emits laser pulses.

[0076] Optical System: Focuses and scatters laser light.

[0077] Scanner: Controls the direction of the laser beam for scanning.

[0078] Receiver: Detects reflected laser pulses and calculates distances.

[0079] Inertial Detection System Component Structure Features

[0080] 1. Inertial Measurement Unit (IMU):

[0081] Structure: IMU usually contains an accelerometer and a gyroscope.

[0082] Accelerometer: Measures acceleration along three axes.

[0083] Gyroscope: Measures angular velocity, typically divided into mechanical and fiber-optic gyroscopes.

[0084] Sensor signal processor: Responsible for processing raw sensor data, including filters and algorithms.

[0085] 2. Sensor signal processor:

[0086] Processor: A microcontroller or DSP used to process and compute sensor data. Specifically, the Xilinx Zynq UltraScale+ MPSoC (with 4K video codec IP core) processor: Communication interface: Used for communication with other components in the navigation system or external devices.

[0087] The navigation system in the utility model realizes high-precision and high-reliability positioning and navigation by combining multiple sensors and algorithms. The working principles and specific implementation processes of the GPS positioning system, visual detection system, and inertial detection system are introduced as follows:

[0088] The GPS positioning system determines the position of the user receiver through a series of signals sent by satellites in orbit. Each satellite transmits a signal containing its position and time information. The user receiver receives these signals and calculates the distance to each satellite. By solving these distances, the receiver can determine its position in three-dimensional space. After the user receiver is turned on, it will automatically search for and lock onto the signals of at least 4 GPS satellites. The receiver records the time stamp of the received signal and compares it with the time when the satellite sent the signal, thereby calculating the time of signal propagation. Since the propagation speed of signals in a vacuum is known (the speed of light), the receiver can calculate the distance to each satellite by multiplying the time difference by the speed of light. The receiver uses the triangulation method to solve the three-dimensional position (longitude, latitude, and altitude) of the receiver by combining the distance information of at least 4 satellites. The receiver continuously receives satellite signals and constantly updates position information.

[0089] In the specific work of the visual detection system, a camera or sensor is used to capture images or data of the surrounding environment. Through image processing and pattern recognition technology, the system can analyze features in the image, such as landmarks, road signs, or objects. The camera or sensor captures the image of the current environment. The image is pre-processed to improve image quality, such as filtering, denoising, etc. Key features such as edges, corners, and textures are extracted from the pre-processed image. The extracted features are matched with a pre-established map database to determine the position of the receiver. According to the matching result, the system plans a path from the current position to the target position.

[0090] In a specific work, the inertial detection system uses gyroscopes and accelerometers to measure the motion state of the device. The gyroscope measures the angular velocity of the device, and the accelerometer measures the linear acceleration of the device. The gyroscope and accelerometer collect angular velocity and acceleration data in real time. By integrating the acceleration data, the velocity of the device is obtained; and by integrating the velocity data, the displacement of the device is obtained. The gyroscope data is used to calculate the attitude of the device, such as the yaw, pitch and roll angles. Due to the cumulative error of the inertial system, error correction is required periodically, which is realized in the utility model by data fusion with GPS or other navigation systems. Combined with inertial data and external information, the system can solve the navigation parameters of the device, such as position, velocity and attitude. In practical applications, these systems are not worked alone, but are combined together through multi-sensor fusion technology to provide more accurate and reliable navigation information.

[0091] In a specific embodiment, the unmanned aerial vehicle body 1 is started, and the start-stop control unit and the navigation system are activated at the same time. The navigation system obtains the current position and flight path information of the unmanned aerial vehicle through the GPS positioning system. The unmanned aerial vehicle flies according to the preset route, and the start-stop control unit monitors the flight state of the unmanned aerial vehicle. The millimeter wave radar sensor and the laser ranging sensor continuously collect surrounding environment data for obstacle avoidance and precise control.

[0092] When the unmanned aerial vehicle reaches the predetermined inspection point, the start-stop control unit receives a signal and starts to prepare for landing. When the automatic telescopic landing leg is expanded, the start-stop control unit controls the movement of the first clamping piece 6 and the second clamping piece 8, and realizes the expansion and contraction of the landing leg through the expansion and contraction of the torsional spring 9. The first clamping piece 6 and the second clamping piece 8 are connected with the guide shaft 12 on the second supporting leg 13 through the rod-shaped object 15, so as to ensure the stability and direction of the landing leg.

[0093] When the unmanned aerial vehicle hovers, the unmanned aerial vehicle hovers above the inspection point, and the auxiliary stable supporting leg assembly is expanded, so that the unmanned aerial vehicle is stable in the air. During the inspection, the visual detection system and the inertial detection system work cooperatively to inspect the power distribution network and collect image and video data. The data is transmitted to the wireless receiving module through the serial communication module and the CAN bus module. The wireless receiving module transmits the collected data to the host computer.

[0094] When the automatic telescopic landing leg is retracted, after the inspection is completed, the start-stop control unit receives a signal and starts to retract the landing leg. The first clamping piece 6 and the second clamping piece 8 retract the rod-shaped object 15 through the movement of the torsional spring 9, and the landing leg is retracted. When landing, after the landing leg is completely retracted, the unmanned aerial vehicle is ready for landing. The navigation system ensures that the unmanned aerial vehicle lands stably. When the flight is over, the unmanned aerial vehicle lands and is turned off, and the start-stop control unit and the navigation system stop working.

[0095] The working principle is that the auxiliary stabilizing leg assembly is composed of the first clamp 6, the second clamp 8, the torsional spring 9 and the rod-shaped object 15 and the like, can automatically expand and contract and provide stable support. The single-chip microcomputer control unit is the core of the whole system, is responsible for receiving sensor data, processing logic, controlling the execution mechanism and communicating with the upper computer. The millimeter wave radar sensor and the laser ranging sensor are used for detecting the surrounding environment and distance, helping the unmanned aerial vehicle to avoid obstacles and keep an accurate flight path. The GPS positioning system provides accurate position information, and the visual detection system and the inertial detection system assist the unmanned aerial vehicle to keep stable during the inspection process. In the specific working process, the following implementation modes are realized. 1. Pre-flight preparation: when the auxiliary stabilizing leg assembly is static, the first clamp 6 and the second clamp 8 cooperate with each other, and under the action of the torsional spring 9, the rod-shaped object 15 is stably supported on the ground, so that the unmanned aerial vehicle is kept in a stable state. At this time, the single-chip microcomputer control unit starts initialization, self-checks each hardware device, including the millimeter wave radar sensor, the laser ranging sensor, the GPS positioning system, the visual detection system and the inertial detection system and the like, and ensures that they can work normally.

[0096] 1. Pre-flight preparation: when the auxiliary stabilizing leg assembly is static, the first clamp 6 and the second clamp 8 cooperate with each other, and under the action of the torsional spring 9, the rod-shaped object 15 is stably supported on the ground, so that the unmanned aerial vehicle is kept in a stable state. At this time, the single-chip microcomputer control unit starts initialization, self-checks each hardware device, including the millimeter wave radar sensor, the laser ranging sensor, the GPS positioning system, the visual detection system and the inertial detection system and the like, and ensures that they can work normally. 2. Take-off stage: after receiving the take-off instruction, the single-chip microcomputer control unit controls the power system of the unmanned aerial vehicle to start, and the auxiliary stabilizing leg assembly automatically shrinks and separates from the ground by changing the internal structure when the power system starts, so as to provide space for the take-off of the unmanned aerial vehicle. At the same time, the single-chip microcomputer control unit receives the position information from the GPS positioning system in real time to determine the initial position of the unmanned aerial vehicle. The millimeter wave radar sensor and the laser ranging sensor start to work, detect the obstacle information within a certain range around the unmanned aerial vehicle, such as distance, direction and the like, and transmit the data to the single-chip microcomputer control unit.

[0097] 3. The patrol flight process: During the flight, the GPS positioning system continuously provides accurate position information for the UAV, and the single-chip control unit controls the flight direction and speed of the UAV according to the preset patrol route and the received position information. The millimeter wave radar sensor and the laser ranging sensor continuously detect the surrounding environment, and when an obstacle is detected, the distance, angle, etc. Data is transmitted to the single-chip control unit. The single-chip control unit processes complex algorithms, combines image information fed back by the visual detection system and attitude information provided by the inertial detection system to determine whether the UAV needs to adjust the flight path. If adjustment is needed, the single-chip control unit immediately issues instructions to control the power system and flight control mechanism of the UAV, such as adjusting the propeller speed, changing the flight attitude, etc. To avoid obstacles and maintain an accurate flight path. The visual detection system captures images of the surrounding environment in real time during the patrol process, and transmits image data to the single-chip control unit for identification and monitoring of patrol targets, such as the status of power transmission lines, the appearance of buildings, etc. The inertial detection system constantly monitors the attitude changes of the UAV, including acceleration, angular velocity, etc. When the attitude of the UAV deviates, it is fed back to the single-chip control unit in a timely manner, and the single-chip control unit adjusts the flight control mechanism to keep the UAV in a stable flight attitude. 4. Landing stage: When the UAV completes the patrol task and prepares to land, the single-chip control unit guides the UAV to fly to the predetermined landing site according to the position information provided by the GPS positioning system. The auxiliary stabilizing leg assembly automatically expands under the instruction of the single-chip control unit when the UAV approaches a certain height above the ground. The millimeter wave radar sensor and the laser ranging sensor accurately measure the distance between the UAV and the ground, and when the distance reaches a suitable value, the single-chip control unit controls the UAV power system to reduce power, allowing the UAV to slowly descend. At the same time, combined with the information of the visual detection system and the inertial detection system, the UAV can land smoothly. When the UAV lands on the ground, the auxiliary stabilizing leg assembly uses the first clamp 6, the second clamp 8, and the torsional spring 9 to stably support the rod-shaped object 15 on the ground, keeping the UAV in a stable state.

[0098] The CAN bus module and the wireless receiving module are used for data transmission to ensure information exchange between the UAV and the upper computer. Through the above working process and principle, the power distribution network high-voltage patrol UAV can realize the expansion and contraction of the automatic telescopic landing gear, as well as autonomous patrol and landing, thereby improving the patrol efficiency and safety.

[0099] By setting the first clamp 6 and the second clamp 8 in the auxiliary stabilizing leg assembly, the rod-shaped object 15 is clamped from both sides of the rod-shaped object 15, replacing the single line contact or point contact formed by the general UAV leg plane or ball-shaped contact with the rod-shaped object 15. By changing the contact form, the stability of the UAV resting on the rod-shaped object 15 in the air is increased, that is, the stability of the UAV leg in high-altitude hovering is improved.

[0100] To achieve the clamping of the rod-shaped object 15 from both sides by the first clamp 6 and the second clamp 8, thereby increasing the contact area and improving the stability of the unmanned aerial vehicle landing leg in the air, the following implementation methods are provided:

[0101] In specific embodiments, when designing the clamping structure, the first clamp 6 and the second clamp 8 are designed to be able to rotate around the rod-shaped object 15, so that the rod-shaped object can be clamped at different angles to increase the contact area. The surface of the first clamp 6 and the second clamp 8 is designed as a polygonal or mesh structure, which can increase the number of contact points with the rod-shaped object 15 and form a multi-point contact. When self-adapting clamping, springs or other elastic elements are used to enable the first clamp 6 and the second clamp 8 to automatically adjust the clamping force according to the diameter of the rod-shaped object 15, ensuring stable clamping force. When the control system is working, sensors such as pressure sensors or displacement sensors are installed on the first clamp 6 and the second clamp 8 to monitor the size and direction of the clamping force in real time. According to the feedback of the sensors, the control system can adjust the clamping force to ensure sufficient stability during flight. The control system can adjust the position and angle of the first clamp 6 and the second clamp 8 in real time according to the flight state and the shape of the rod-shaped object 15 to optimize the clamping effect. When selecting materials, high-strength, lightweight, corrosion-resistant materials are selected to manufacture the first clamp 6 and the second clamp 8 to ensure that they can withstand sufficient force when clamping the rod-shaped object 15. The first clamp 6 and the second clamp 8 are manufactured according to the design drawings and ensure their precision and quality. The stability and adaptability of the clamping structure are tested in a simulated flight environment. According to the test results, the design is adjusted to optimize the clamping effect. The clamping structure is integrated into the unmanned aerial vehicle body 1 and connected with the start-stop control unit and the navigation system. Ground and air tests are conducted to ensure that the unmanned aerial vehicle can be stably clamped on the rod-shaped object 15 when it is in the air. Through the above methods, the unmanned aerial vehicle landing leg can be clamped from both sides of the rod-shaped object 15, forming a multi-point contact to increase the contact area and improve the stability of the unmanned aerial vehicle in the air.

[0102] The two auxiliary stabilizing leg assemblies are distributed on the left and right sides of the unmanned aerial vehicle body 1 in a central symmetric manner.

[0103] The sleeve 7 rotates through the upper end of the first clamp 6, the lower ends of the first clamp 6 and the second clamp 8 are in line contact, and the lower ends of the first clamp 6 and the second clamp 8 combined form a gap.

[0104] The rod-shaped object 15 is arranged between the two slope gaps 16, the rear end of the rod-shaped object 15 is in contact with the left slope gap 16, and the front end of the rod-shaped object 15 is in contact with the right slope gap 16.

[0105] The upper end of the connecting frame 11 is welded with a spring 14, and the end of the spring 14 away from the connecting frame 11 is welded on the second leg 13.

[0106] The left and right sides of the unmanned aerial vehicle body 1 are fixedly provided with two first legs 4, and two auxiliary stabilizing leg assemblies are arranged between the two first legs 4, respectively.

[0107] The bottom front end of the unmanned aerial vehicle body 1 is provided with a camera bracket 3, and the left and right side walls of the camera bracket 3 are rotatably connected with a camera 2.

[0108] The first clamping piece 6 is sleeved on the supporting shaft 10, and the second clamping piece 8 is sleeved on the supporting shaft 10.

[0109] When it is needed to use the unmanned aerial vehicle to monitor a high place, the unmanned aerial vehicle body 1 is controlled to move to the upper end of the rod-shaped object 15, and the rod-shaped object 15 is located at the lower end between the two slope notches 16.

[0110] Firstly, the unmanned aerial vehicle body 1 is controlled to move to the upper end of the rod-shaped object 15, and the rod-shaped object 15 is located at the lower end between the two slope notches 16, and then the unmanned aerial vehicle body 1 is controlled to rotate, and the rotation of the unmanned aerial vehicle body 1 drives the two second legs 13 to rotate, and the rotation of the two second legs 13 drives the corresponding slope notches 16 to contact the rod-shaped object 15.

[0111] Secondly, the unmanned aerial vehicle body 1 is controlled to drive the unmanned aerial vehicle body 1 to move downward, and the movement of the unmanned aerial vehicle body 1 drives the two second legs 13 to move downward, and the downward movement of the two second legs 13 drives the corresponding guide shafts 12 to move downward, and the downward movement of the two guide shafts 12 drives the corresponding connecting frames 11 to move downward, and the downward movement of the two connecting frames 11 drives the corresponding supporting shafts 10 to move downward, and the downward movement of the two supporting shafts 10 drives the corresponding first clamping pieces 6 and second clamping pieces 8 to move downward and contact the rod-shaped object 15, and the rod-shaped object 15 drives the first clamping pieces 6 and second clamping pieces 8 to move relative to the rod-shaped object 15 to the first clamping pieces 6 and second clamping pieces 8 between the rod-shaped object 15, and the first clamping pieces 6 and second clamping pieces 8 are clamped on the rod-shaped object 15 due to the limitation of the torsional spring 9.

[0112] When the first clamping piece 6 and the second clamping piece 8 clamp the rod-shaped object 15, the unmanned aerial vehicle body 1 continues to move downward, and the downward movement of the unmanned aerial vehicle body 1 drives the two second legs 13 to continue to move downward, and the downward movement of the two second legs 13 drives the corresponding springs 14 to be compressed to slow down the descending speed of the second legs 13.

[0113] Since the unmanned aerial vehicle directly falls on the rod 15, the sudden impact force can damage the rod 15, by arranging the spring 14, the spring 14 can slow down the sudden force of the unmanned aerial vehicle on the rod 15, thereby avoiding the problem of damage of the rod 15 caused by the sudden impact force, that is, ensuring the safety of the unmanned aerial vehicle using the auxiliary stabilizing leg assembly to land on the rod 15.

[0114] When it is needed to use the unmanned aerial vehicle to stop flying to a high place for monitoring;

[0115] Firstly, the unmanned aerial vehicle body 1 is controlled to move to the upper end of the rod 15, so that the rod 15 is located at the lower end between the two slope notches 16, then the unmanned aerial vehicle body 1 is controlled to rotate, the rotation of the unmanned aerial vehicle body 1 drives the rotation of the two second legs 13, and the rotation of the two second legs 13 drives the rotation of the corresponding slope notches 16.

[0116] Secondly, the unmanned aerial vehicle body 1 is controlled to drive the unmanned aerial vehicle body 1 to move downward, the detailed movement of the unmanned aerial vehicle body 1 drives the downward movement of the two second legs 13, the downward movement of the two second legs 13 drives the downward movement of the corresponding guide shafts 12, the downward movement of the two guide shafts 12 respectively drives the downward movement of the corresponding connecting frames 11, the downward movement of the two connecting frames 11 drives the downward movement of the corresponding support shafts 10, and the downward movement of the two support shafts 10 drives the downward movement of the corresponding first clamping pieces 6 and second clamping pieces 8.

[0117] When the first clamping piece 6 and the second clamping piece 8 clamp the rod 15, the unmanned aerial vehicle body 1 continues to move downward, the downward movement of the unmanned aerial vehicle body 1 drives the continuous downward movement of the two second legs 13, and the downward movement of the two second legs 13 drives the compression of the corresponding springs 14. The above embodiment of the utility model is described in detail in combination with the drawings, but the utility model is not limited to the above embodiment, and various changes can be made within the knowledge range of ordinary skilled persons in the technical field without departing from the purpose of the utility model.

Claims

1. A power distribution network high-voltage inspection unmanned aerial vehicle high-altitude stop, fly automatic telescopic foot stand, characterized by: Include: The unmanned aerial vehicle body (1), the auxiliary stabilizing leg assembly fixed at the left and right ends of the unmanned aerial vehicle body (1), the start-stop control unit and the navigation system; Two said auxiliary stabilizing leg assemblies are provided with a rod (15) between them; Two said auxiliary stabilizing leg assemblies are composed of a second leg (13) fixedly installed on the unmanned aerial vehicle body (1), a slope gap (16) opened at the lower end of the second leg (13), a guide shaft (12) slidingly penetrating the second leg (13), a connecting frame (11) fixedly installed on the lower end of the guide shaft (12), and a sleeve (7) welded on a first clamp (6) movably sleeved on the connecting frame (11) through a support shaft (10), and a second clamp (8) rotatably connected to the front end of the first clamp (6), and a torsion spring (9) fixedly installed at the inner and outer ends of the corresponding sleeve (7) and second clamp (8). The first clamp (6) and the second clamp (8) are arranged to clamp the rod (15), and the rod (15) is linearly connected to the corresponding first clamp (6) and second clamp (8) on both sides. The start-stop control unit includes a single-chip microcomputer control unit, an analog input / output module connected to the single-chip microcomputer control unit, a sample and hold circuit, a serial communication module, a switching value input / output module, a millimeter wave radar sensor, a laser ranging sensor, a sample and hold circuit, and a CAN bus module. The CAN bus module is connected to a wireless receiving module, and the wireless receiving module is connected to an upper computer. The navigation system includes a GPS positioning system, a visual detection system and an inertial detection system.

2. The power distribution network high-voltage inspection unmanned aerial vehicle high-altitude parking, flying automatic telescopic leg according to claim 1, characterized in that: Two said auxiliary stabilizing leg assemblies are distributed on the left and right sides of the unmanned aerial vehicle body (1) in a central symmetric manner.

3. The power distribution network high-voltage inspection unmanned aerial vehicle high-altitude parking, flying automatic telescopic leg according to claim 1, characterized in that: The sleeve (7) is rotatably connected to the upper end of the first clamp (6), the lower ends of the first clamp (6) and the second clamp (8) are linearly connected, and the lower ends of the first clamp (6) and the second clamp (8) are combined to form a gap.

4. The power distribution network high-voltage inspection unmanned aerial vehicle high-altitude parking, flying automatic telescopic leg according to claim 3, characterized in that: The rod (15) is arranged between the two slope gaps (16), the rear end of the rod (15) is in contact with the left slope gap (16), and the front end of the rod (15) is in contact with the right slope gap (16).

5. The power distribution network high-voltage inspection unmanned aerial vehicle high-altitude parking, flying automatic telescopic leg according to claim 1, characterized in that: The upper end of the connecting frame (11) is welded with a spring (14), and the end of the spring (14) away from the connecting frame (11) is welded on the second leg (13).

6. The power distribution network high-voltage inspection unmanned aerial vehicle high-altitude parking, flying automatic telescopic leg according to claim 1, characterized in that: The left and right sides of the unmanned aerial vehicle body (1) are fixedly installed with two first legs (4), and two said auxiliary stabilizing leg assemblies are arranged between the corresponding two first legs (4), and four said first legs (4) are electrically connected with propellers (5).

7. The power distribution network high-voltage inspection unmanned aerial vehicle high-altitude parking, flying automatic telescopic leg according to claim 6, characterized in that: The bottom front end of the unmanned aerial vehicle body (1) is provided with a camera support (3), and the left and right side walls of the camera support (3) are rotatably connected with a camera (2).

8. The power distribution network high-voltage inspection unmanned aerial vehicle high-altitude parking, flying automatic telescopic leg according to claim 1, characterized in that: The first clamp (6) is sleeved on the support shaft (10), and the second clamp (8) is sleeved on the support shaft (10).

9. The power distribution network high-voltage inspection unmanned aerial vehicle high-altitude parking, flying automatic telescopic leg according to claim 1, characterized in that: The single-chip microcomputer control unit adopts an ARM Cortex-M4 kernel MCU, and the model is STM32F407.

10. The automatic telescopic foot support of the high-voltage inspection unmanned aerial vehicle of the power distribution network according to claim 1, characterized in that: The GPS positioning system comprises: satellites with a navigation signal transmitter, an atomic clock, a power supply system and a thermal control system; a receiver with an antenna, a radio frequency front end, a signal processor, a memory and a user interface; and an antenna: The visual detection system comprises an optical camera, an image processing unit and an infrared sensor. The inertial detection system comprises an accelerometer, a gyroscope and a memory.

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