Intelligent holder stabilizing device of photovoltaic inspection unmanned aerial vehicle

Abstract

The utility model belongs to the technical field of photovoltaic inspection unmanned aerial vehicles, in particular to an intelligent cradle head stabilizing device of a photovoltaic inspection unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a cradle head main body and a dual-light camera, and is characterized in that the cradle head main body comprises a fixed frame fixed at the bottom of the unmanned aerial vehicle body; the first overturning frame is rotationally connected to the fixing frame; the second roll-over stand is rotationally connected to the first roll-over stand; the two swing arms are respectively pivoted to the fixing frame and the first turnover frame; one end of one of the two connecting arms is pivoted to the first turnover frame, and the other end of the connecting arm is pivoted to the free end of the swing arm mounted on the fixed frame; according to the utility model, the angle of the roll-over stand is adjusted through the cooperation of the swing arm and the connecting arm, a traditional direct motor driving mode is replaced, and the transmission mode disperses stress such as external wind power to the swing arm and the connecting arm instead of directly acting on the output shaft of the motor, so that the stress borne by the motor is reduced, and the mechanical failure risk is reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to photovoltaic inspection unmanned plane technical field, concretely relates to a kind of intelligent cloud platform stabilizing device of photovoltaic inspection unmanned plane. BACKGROUND

[0002] The unmanned aerial vehicle photovoltaic inspection system is based on an unmanned aerial vehicle carrying a dual-light (infrared / visible light) high-definition camera. The unmanned aerial vehicle flies over the photovoltaic power station according to a path planned according to a specific algorithm, and pre-processes dual-light image data through an image intelligent recognition module. An AI deep learning algorithm is used to train a hot spot and cell tracking model. Based on image stitching technology and RTK high-precision positioning, the unmanned aerial vehicle photovoltaic inspection system realizes automatic diagnosis technology for photovoltaic module faults.

[0003] The unmanned aerial vehicle photovoltaic inspection system can detect abnormal conditions such as dirt, cracks, obstructions, and heating of large-area photovoltaic modules. The system generates an inspection report that includes the precise location and details of the faults. The system is a new generation of efficient and intelligent inspection and diagnosis solution for photovoltaic power stations.

[0004] The cloud platform is an important component of the dual-light camera (similar to a three-axis mechanical arm). The cloud platform can rotate horizontally and flip vertically. The cloud platform is usually fixed to the bottom of the unmanned aerial vehicle body using bolts or buckles.

[0005] For example, in the prior art, a Chinese utility model patent with the publication number CN216546757U discloses an "infrared information acquisition mechanism for photovoltaic inspection unmanned plane". The mechanism includes a base fixed to the bottom of the photovoltaic inspection unmanned plane. A card slot is formed in the base. A slot is provided on one side of the card slot. A buffer device is provided at the bottom of the base. A card is fixedly connected to the top of the buffer device. The card is adapted to the card slot. A three-axis cloud platform is fixedly connected to the bottom of the buffer device. A dual-light camera is provided at the bottom of the three-axis cloud platform.

[0006] The photovoltaic inspection unmanned plane in the prior art, including the above, can meet general use requirements. However, in actual use, the joints of the cloud platform are usually directly driven by a motor. When affected by wind, the motor output shaft will be subjected to high stress, which can easily cause mechanical failure.

[0007] To solve the above problems, the utility model provides an intelligent cloud platform stabilizing device for a photovoltaic inspection unmanned plane. UTILITY MODEL CONTENTS

[0008] To solve the above problems in the prior art, the utility model provides an intelligent cloud platform stabilizing device for a photovoltaic inspection unmanned plane, which has the characteristics of convenient use and high safety performance.

[0009] In order to achieve the above object, the utility model provides the following technical scheme: a kind of intelligent cloud platform stabilizing device of photovoltaic inspection unmanned plane, including unmanned plane body, cloud platform main part fixed in the bottom of the unmanned plane body and double light camera fixed in the output end of the cloud platform main part, the cloud platform main part includes:

[0010] Fixing frame fixed in the bottom of the unmanned plane body;

[0011] No. 1 overturning frame rotationally connected to the fixing frame;

[0012] No. 2 overturning frame rotationally connected to the no. 1 overturning frame, and the double light camera is fixed to the free end of the no. 2 overturning frame;

[0013] Two swing arms are respectively pivoted to the fixing frame and the no. 1 overturning frame;

[0014] Two connecting arms, one end of one connecting arm is pivoted to the no. 1 overturning frame, the other end is pivoted to the free end of the swing arm mounted on the fixing frame, one end of the other connecting arm is pivoted to the no. 2 overturning frame, the other end is pivoted to the free end of the swing arm mounted on the no. 1 overturning frame;

[0015] Driving mechanism for driving the swing arm to rotate.

[0016] As a preferred technical scheme of the utility model, the driving mechanism includes:

[0017] Two fixing shells are respectively fixed to the outer wall of the fixing frame and the no. 1 overturning frame;

[0018] Transmission shaft, the transmission shaft is rotationally installed on the fixing shell, and one end is fixedly connected with the swing arm;

[0019] Worm gear, which is fixed to the transmission shaft;

[0020] Worm, which is rotationally installed in the fixing shell;

[0021] Driving motor, which is fixed to the outer wall of the fixing shell, is used for driving the worm to rotate.

[0022] As a preferred technical scheme of the utility model, the driving mechanism further includes:

[0023] Protective end cover, which is fixed to the opening end of the fixing shell.

[0024] As a preferred technical scheme of the utility model, the connecting arm includes:

[0025] Two internal threads, two internal threads are symmetrically distributed;

[0026] The two ends of the bidirectional threaded screw rod are screwed to the two inner threaded pipes respectively.

[0027] As a preferred technical scheme of the utility model, further comprising installation component, the fixed frame is fixed to the unmanned aerial vehicle body bottom with installation component, wherein the installation component includes:

[0028] Lower connecting frame, it is fixed to the fixed frame top end;

[0029] Fixed column, the fixed column is fixed to the fixed frame top surface;

[0030] Adapter plate, it is fixed to the fixed column top end;

[0031] Upper connecting frame, it is located in the lower connecting frame directly above, and with fixed connection of adapter plate.

[0032] As a preferred technical scheme of the utility model, the installation component further includes:

[0033] Rubber sleeve, the rubber sleeve is fixed between the adapter plate and the upper connecting frame.

[0034] As a preferred technical scheme of the utility model, the fixed column and the rubber sleeve are all diagonal type distribution four.

[0035] As a preferred technical scheme of the utility model, the no. One turnover frame and the no. Two turnover frame are all '' U '' type components.

[0036] Compared with the prior art, the utility model has the advantages of:

[0037] In the utility model, the angle of the turnover frame is adjusted by the cooperation of the swing arm and the connecting arm, replacing the traditional motor direct drive mode, and the external stress such as wind force is dispersed to the swing arm and the connecting arm, instead of directly acting on the motor output shaft, so that the stress borne by the motor is reduced, and the mechanical failure risk is reduced.

[0038] Other additional advantages and beneficial effects of the utility model will be partly given in the following description, some will become obvious from the following description, or be understood by the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0039] The accompanying drawings are included to provide a further understanding of the utility model, and constitute a part of the specification, and are used to explain the utility model together with embodiments of the utility model, and do not constitute the limitation to the utility model.In the drawings:

[0040] Figure 1 It is the structural schematic diagram of the utility model;

[0041] Figure 2The utility model discloses a gimbal main body axis measurement structure schematic diagram

[0042] Figure 3 The utility model discloses Figure 2 A place amplification structure schematic diagram in the utility model discloses

[0043] Figure 4 The utility model discloses a driving mechanism axis measurement structure schematic diagram

[0044] Figure 5 The utility model discloses an installation assembly axis measurement structure schematic diagram.

[0045] In the drawing: 1, unmanned aerial vehicle body;2, gimbal main body;21, fixed frame;22, installation assembly;221, lower connecting frame;222, fixed column;223, adapter plate;224, upper connecting frame;225, rubber sleeve;23, no. 1 overturn frame;24, no. 2 overturn frame;25, swing arm;26, connecting arm;261, internal thread pipe;262, two-way threaded screw;27, driving mechanism;271, fixed shell;272, transmission shaft;273, worm wheel;274, worm;275, driving motor;276, protective end cover;3, dual-light camera. DETAILED DESCRIPTION

[0046] The technical scheme in the embodiments of the utility model will be apparently and completely described below with the drawings in the embodiments of the utility model, and apparently, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skill in the art without creative labor belong to the range of the utility model protection.

[0047] Please refer to Figures 1-5 The utility model provides following technical scheme: a kind of intelligent gimbal stabilizing device of photovoltaic inspection unmanned aerial vehicle, including unmanned aerial vehicle body 1, gimbal main body 2 being fixed in the bottom of unmanned aerial vehicle body 1 and dual-light camera 3 being fixed in the output end of gimbal main body 2, gimbal main body 2 includes: fixed frame 21 being fixed in the bottom of unmanned aerial vehicle body 1, no. 1 overturn frame 23 being rotationally connected in fixed frame 21, no. 2 overturn frame 24 being rotationally connected in no. 1 overturn frame 23, two swing arms 25 being respectively pivotally connected in fixed frame 21 and no. 1 overturn frame 23, two connecting arms 26 and driving mechanism 27.

[0048] Further, by Figure 1 And Figure 2As shown, in the embodiment, the dual-light camera 3 is fixed to the free end of the second turnover frame 24, one end of one connecting arm 26 is pivoted to the first turnover frame 23, and the other end is pivoted to the free end of the swing arm 25 mounted on the fixed frame 21, one end of the other connecting arm 26 is pivoted to the second turnover frame 24, and the other end is pivoted to the free end of the swing arm 25 mounted on the first turnover frame 23, and the driving mechanism 27 is used to drive the swing arm 25 to rotate. After the above scheme is adopted, in use, taking the linkage of one set of swing arm 25 and connecting arm 26 as an example, when the driving mechanism 27 is started, the power output by the driving mechanism 27 drives the swing arm 25 to rotate around the pivoting point on the fixed frame 21, when the swing arm 25 rotates clockwise, the connecting arm 26 pivoted thereto will be pulled synchronously, since the other end of the connecting arm 26 is pivoted to the first turnover frame 23, the first turnover frame 23 is further caused to overturn by a corresponding angle around the pivoting connection point with the fixed frame 21, so as to realize the posture adjustment of the first turnover frame 23 in one direction and change the pitch angle of the first turnover frame 23.

[0049] Since the overturning principle of the second turnover frame 24 is the same as above, the specific process of adjusting the inclination angle of the second turnover frame 24 will not be introduced herein.

[0050] The utility model discloses a swing arm 25 and connecting arm 26 cooperate and adjust the turnover frame angle, replace the direct drive mode of traditional motor, this transmission mode disperses the stress such as external wind to swing arm 25 and connecting arm 26, and not direct action on motor output shaft, thereby reducing the stress that motor bears, reduces the mechanical failure risk.

[0051] The utility model further based on above-mentioned transmission mechanism, can set up the device such as gyroscope or accelerometer in unmanned aerial vehicle body 1 can real -time feedback unmanned aerial vehicle body 1, and with driving mechanism 27 signal transmission connection.

[0052] When the unmanned aerial vehicle body 1 is influenced by external air flow and other factors and changes the posture in the flight process, the driving mechanism 27 will adjust the rotation angle and direction of the swing arm 25 in real time according to the posture information fed back by the gyroscope or accelerometer, adjust the overturning angle of the first turnover frame 23 and the second turnover frame 24 through the cooperation of the two sets of swing arm 25 and connecting arm 26, and then make the dual-light camera 3 fixed to the free end of the second turnover frame 24 always keep stable shooting posture, offset the posture fluctuation of the unmanned aerial vehicle body 1, ensure that the dual-light camera 3 can clearly and stably patrol and shoot the photovoltaic equipment, improve the precision and efficiency of the patrol operation.

[0053] Optionally, by Figure 1 , Figure 2 and Figure 4As shown, in this embodiment, the driving mechanism 27 comprises: two fixed shells 271, a transmission shaft 272, a worm wheel 273, a worm 274 and a driving motor 275, the two fixed shells 271 are fixed to the outer walls of the fixed frame 21 and the first overturning frame 23 respectively, the transmission shaft 272 is rotatably installed in the fixed shell 271, one end of the transmission shaft 272 is fixedly connected with the swing arm 25, the worm wheel 273 is fixed to the transmission shaft 272, the worm 274 is rotatably installed in the fixed shell 271, and the driving motor 275 is fixed to the outer wall of the fixed shell 271 and is used to drive the worm 274 to rotate. After the above scheme is adopted, in use, taking the linkage of one of the swing arms 25 and the connecting arm 26 as an example, when it is necessary to adjust the inclination angle of the first overturning frame 23, the driving motor 275 starts to work to drive the worm 274 to rotate in the fixed shell 271.

[0054] Since the worm 274 and the worm wheel 273 are in meshing relationship, according to the worm gear transmission principle, the rotation of the worm 274 will drive the worm wheel 273 to rotate, and since the worm wheel 273 is fixed to the transmission shaft 272, the rotation of the worm wheel 273 will drive the transmission shaft 272 to rotate synchronously.

[0055] The rotation of the transmission shaft 272 will drive the swing arm 25 to rotate around the axis of the transmission shaft 272, and through the connecting arm 26, the first overturning frame 23 is pulled to overturn around the rotation connection point between the first overturning frame 23 and the fixed frame 21.

[0056] In addition, the worm gear transmission has the self-locking characteristic, when the driving motor 275 stops rotating, the worm 274 no longer drives the worm wheel 273, and due to the self-locking effect, the worm wheel 273 and the transmission shaft 272 and the swing arm 25 connected therewith can maintain the current position, so that the dual-light camera 3 can be stably maintained after being adjusted to the appropriate posture and will not change the posture due to slight external vibration and other factors.

[0057] Preferably, as shown in Figure 1 , Figure 2 and Figure 4 As shown, in this embodiment, the driving mechanism 27 further comprises: a protective end cover 276 fixed to the opening end of the fixed shell 271, and the protective end cover 276 can prevent dust, sundries and the like from entering the inside of the fixed shell 271.

[0058] Preferably, as shown in Figure 1 - and Figure 3 As shown, in this embodiment, the connecting arm 26 comprises: two inner threaded pipes 261 and a bidirectional threaded screw rod 262, the two inner threaded pipes 261 are symmetrically distributed, and the bidirectional threaded screw rod 262 is screwed at both ends to the two inner threaded pipes 261. After the above scheme is adopted, in use, when it is necessary to make more fine adjustment to the posture of the dual-light camera 3 during the work of the photovoltaic inspection unmanned aerial vehicle, the bidirectional threaded screw rod 262 and the inner threaded pipe 261 in the connecting arm 26 play a crucial role.

[0059] The threads of the bidirectional threaded screw rod 262 at both ends are opposite in direction, when the bidirectional threaded screw rod 262 rotates clockwise around its own axis, due to its screw connection with the two internally threaded pipes 261, according to the principle of threaded transmission, the two internally threaded pipes 261 will move synchronously towards or reversely, adjusting the overall length of the connecting arm 26.

[0060] The change of the length of the connecting arm 26 will change the size and direction of the pulling force or pushing force on the No. 1 turnover frame 23 or the No. 2 turnover frame 24, for example, when the length of the connecting arm 26 is shortened, the pulling force on the turnover frame connected therewith will be increased, causing a slight change in the turnover angle of the turnover frame; when the length of the connecting arm 26 is elongated, the acting force on the turnover frame will change accordingly, which will also cause a slight adjustment of the posture of the turnover frame. In short, the change of the length of the connecting arm 26 will change the initial angle of the No. 1 turnover frame 23 or the No. 2 turnover frame 24, thereby changing the adjustment range.

[0061] Optionally, as shown in Figure 1 , Figure 2 and Figure 5 , in the embodiment, further comprising a mounting assembly 22, the fixed frame 21 is fixed to the bottom of the unmanned aerial vehicle body 1 by the mounting assembly 22, wherein the mounting assembly 22 comprises a lower connecting frame 221, a fixed column 222, an adapter plate 223 and an upper connecting frame 224, the lower connecting frame 221 is fixed to the top end of the fixed frame 21, the fixed column 222 is fixed to the top surface of the fixed frame 21, the adapter plate 223 is fixed to the top end of the fixed column 222, and the upper connecting frame 224 is located directly above the lower connecting frame 221 and is fixedly connected with the adapter plate 223. After adopting the above scheme, in use, the lower connecting frame 221 is fixedly connected with the fixed frame 21 by bolts, the lower connecting frame 221, the fixed column 222 and the adapter plate 223 are fixedly connected by bolts, the adapter plate 223 is fixedly connected with the upper connecting frame 224 by bolts, and the adapter plate 223 is fixedly connected with the bottom of the unmanned aerial vehicle body 1 by bolts.

[0062] Preferably, as shown in Figure 1 , Figure 2 and Figure 5 , in the embodiment, the mounting assembly 22 further comprises a rubber sleeve 225, which is fixed between the adapter plate 223 and the upper connecting frame 224. After adopting the above scheme, in use, when the unmanned aerial vehicle takes off and is in a flying state, the unmanned aerial vehicle body 1 will vibrate due to various factors, and the vibration will be transmitted to the adapter plate 223 through the upper connecting frame 224.

[0063] The rubber sleeve 225 is fixed between the adapter plate 223 and the upper connecting frame 224, since the rubber has elasticity and good damping performance, it can effectively buffer the transmitted vibration, when the vibration is transmitted from the unmanned aerial vehicle body 1 through the upper connecting frame 224, the rubber sleeve 225 will be elastically deformed, in this process, the friction and internal friction between the rubber molecules will consume part of the vibration energy, thereby reducing the vibration intensity transmitted to the adapter plate 223.

[0064] Preferably, as shown in Figure 1 , Figure 2 and Figure 5 , in the embodiment, the fixing column 222 and the rubber sleeve 225 are both diagonally distributed in four, after using the above scheme, the four diagonally distributed rubber sleeves 225 can more evenly receive the force transmitted from the unmanned aerial vehicle body 1 through the upper connecting frame 224, the diagonally distributed rubber sleeves 225 can buffer and disperse the force from four directions, avoiding the situation that the local force is too large.

[0065] Preferably, as shown in Figure 1 and Figure 2 Figure 5 Figure 1 Figure 2 , in the embodiment, the first turnover frame 23 and the second turnover frame 24 are both "U"-shaped members, after using the above scheme, in use, the "U"-shaped member has high structural stability, in the process that the first turnover frame 23 and the second turnover frame 24 drive the dual-light camera 3 to adjust the attitude, the "U"-shaped structure can effectively disperse the external force borne, the dual-light camera 3 is fixed at the free end of the second turnover frame 24, the weight of the dual-light camera 3 itself and the action force generated due to acceleration, vibration and the like in the flight process will be transmitted to the second turnover frame 24, the two side arms of the "U"-shaped structure can jointly bear these forces, avoiding the situation that the single point force is too large, reducing the risk of structural deformation, and ensuring the stability of the dual-light camera 3 installation.

[0066] It should be noted that the unmanned aerial vehicle body 1, the driving motor 275 and the dual-light camera 3 are all conventional equipment purchased in the market, and those skilled in the art can select them according to the use needs, the working principle thereof is the common sense known by those skilled in the art and has been fully disclosed by the prior art, and therefore will not be described in detail herein.

[0067] The circuit connection of the utility model relates to the common means adopted by the person skilled in the art, and can be obtained by limited tests, and belongs to the prior art widely used.

[0068] The components not described in detail herein are prior art.

[0069] The working principle and use process of the utility model: the photovoltaic inspection unmanned aerial vehicle of the utility model, in use, take the linkage of one group of swing arms 25 and connecting arms 26 as an example, when the driving mechanism 27 starts, the power output drives the swing arm 25 to rotate around the pivot joint on the fixed frame 21, when the swing arm 25 rotates clockwise, the connecting arm 26 pivotally connected therewith will be pulled synchronously;

[0070] Since the other end of the connecting arm 26 is pivotally connected to the first turnover frame 23, the first turnover frame 23 is further caused to overturn by a corresponding angle around the rotational connecting point with the fixed frame 21, realizing the posture adjustment of the first turnover frame 23 in one direction and changing the pitch angle of the first turnover frame 23.

[0071] The utility model adjusts the turnover frame angle through swing arm 25 and connecting arm 26 cooperation, replaces the traditional motor direct drive mode, this transmission mode disperses the stress such as external wind to swing arm 25 and connecting arm 26, and not directly acts on motor output shaft, thereby reducing the stress that motor bears, reduces mechanical failure risk.

[0072] Finally, it should be pointed out that: the above-mentioned is only the preferred embodiment of the utility model and does not limit the utility model, although the utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement to part of technical features. Any modification, equivalent replacement, improvement etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. An intelligent gimbal stabilization device for a photovoltaic inspection drone, comprising a drone body (1), a gimbal main body (2) fixed to the bottom of the drone body (1), and a dual-light camera (3) fixed to the output end of the gimbal main body (2), characterized in that, The main body of the gimbal (2) includes: A mounting bracket (21) is fixed to the bottom of the UAV body (1); Rotary connecting frame 23 to the fixed frame (21); Rotate the second flip frame (24) connected to the first flip frame (23), and fix the dual-light camera (3) to the free end of the second flip frame (24); Two swing arms (25) are respectively pivotally connected to the fixed frame (21) and the first flipping frame (23); Two connecting arms (26), one end of which is pivotally connected to the first flipping frame (23) and the other end is pivotally connected to the free end of the swing arm (25) mounted on the fixed frame (21); the other connecting arm (26) is pivotally connected to the second flipping frame (24) and the other end is pivotally connected to the free end of the swing arm (25) mounted on the first flipping frame (23); A drive mechanism (27) is used to drive the swing arm (25) to rotate.

2. The intelligent gimbal stabilization device for a photovoltaic inspection drone according to claim 1, characterized in that: The drive mechanism (27) includes: Fixed shell (271), the two fixed shells (271) are respectively fixed to the outer wall of the fixed frame (21) and the first flip frame (23); A drive shaft (272) is rotatably mounted on the fixed housing (271), and one end of the drive shaft (272) is fixedly connected to the swing arm (25). A worm gear (273) is fixed to the drive shaft (272); A worm gear (274) is rotatably mounted inside the fixed housing (271); A drive motor (275) is fixed to the outer wall of the fixed housing (271) and is used to drive the worm (274) to rotate.

3. The intelligent gimbal stabilization device for a photovoltaic inspection drone according to claim 2, characterized in that: The drive mechanism (27) further includes: A protective end cap (276) is fixed to the opening end of the fixed shell (271).

4. The intelligent gimbal stabilization device for a photovoltaic inspection drone according to claim 1, characterized in that: The connecting arm (26) includes: Two internally threaded tubes (261) are symmetrically distributed; A two-way threaded screw (262) is screwed at both ends to two internally threaded tubes (261).

5. The intelligent gimbal stabilization device for a photovoltaic inspection drone according to claim 1, characterized in that: The device further includes a mounting assembly (22), wherein the mounting bracket (21) is fixed to the bottom of the UAV body (1) by means of the mounting assembly (22), wherein the mounting assembly (22) includes: The lower connecting frame (221) is fixed to the top of the fixed frame (21); A fixing post (222) is fixed to the top surface of the fixing frame (21); The adapter plate (223) is fixed to the top of the fixing post (222); The upper connecting frame (224) is located directly above the lower connecting frame (221) and is fixedly connected to the adapter plate (223).

6. The intelligent gimbal stabilization device for a photovoltaic inspection drone according to claim 5, characterized in that: The mounting component (22) further includes: A rubber sleeve (225) is fixed between the adapter plate (223) and the upper connecting frame (224).

7. The intelligent gimbal stabilization device for a photovoltaic inspection drone according to claim 6, characterized in that: The fixed posts (222) and the rubber sleeves (225) are all arranged in a diagonal pattern, with four of them.

8. The intelligent gimbal stabilization device for a photovoltaic inspection drone according to claim 1, characterized in that: Both the first flipping frame (23) and the second flipping frame (24) are "U" shaped components.

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