Power transmission line tree obstacle detection device

Abstract

The utility model discloses a power transmission line tree obstacle detection device, and relates to the technical field of tree obstacle detection, the power transmission line tree obstacle detection device comprises an unmanned aerial vehicle, a connecting part and a detection mechanism used for detecting the tree obstacle distance, the detection mechanism is connected with the unmanned aerial vehicle through the connecting part, and the gravity centers of the connecting part and the detection mechanism are located under the gravity center of the unmanned aerial vehicle; the unmanned aerial vehicle is used for carrying the detection mechanism to detect the tree barrier distance, the convenience is improved compared with a heavy theodolite, the problem that the precision is low when the tree barrier distance is manually judged can be avoided through the arrangement of the detection mechanism, and the detection effect is improved; in addition, the gravity centers of the connecting part and the detection mechanism are located under the gravity center of the unmanned aerial vehicle, the flight stability of the unmanned aerial vehicle can be guaranteed, and the detection effect of the detection mechanism can be improved along with improvement of the flight stability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tree barrier detection, in particular to a power transmission line tree barrier detection device. BACKGROUND

[0002] Tree and bamboo hazards mainly refer to the rapid growth of trees and bamboos, especially the rapid growth of bamboo shoots, which pose a threat to the safe operation of power transmission lines and equipment. These hazards usually occur in areas with rich natural environment, rapid growth of trees and bamboos, such as mountainous or forest areas. The rapid growth of trees and bamboos may touch or contact the power transmission line, causing the line to trip, thereby affecting the reliable power supply of surrounding villagers.

[0003] When facing tree and bamboo hazards, the main data to be obtained is the tree barrier distance, that is, the distance between the tree and bamboo and the power transmission line. At present, the effective means to obtain the tree barrier distance mainly includes theodolite detection, handheld infrared range finder detection and manual observation. Although theodolite detection is accurate, it is almost not applicable to field work due to its bulkiness and low convenience. The handheld infrared range finder detection has low precision and cannot achieve effective detection in dense forests. Manual observation is strongly subjective and has poor detection effect.

[0004] Therefore, people urgently need a power transmission line tree barrier detection device with high convenience and good detection effect. SUMMARY

[0005] The present application aims to provide a power transmission line tree barrier detection device to solve the problems existing in the prior art. The detection mechanism is carried by a drone for detection, thereby improving the convenience and detection effect.

[0006] To achieve the above-mentioned purpose, the present application provides the following scheme: the present application provides a power transmission line tree barrier detection device, which comprises a drone, a connecting part and a detection mechanism for detecting a tree barrier distance. The detection mechanism is connected with the drone through the connecting part. The center of gravity of the connecting part and the detection mechanism is located directly below the center of gravity of the drone.

[0007] Preferably, the detection mechanism comprises an outer shell, a camera module, a calculation module for calculating the tree barrier distance according to the image and a wireless communication module. The camera module, the calculation module and the wireless communication module are electrically connected. The camera end of the camera module for shooting images is located outside the outer shell. The calculation module and the wireless communication module are both located inside the outer shell.

[0008] Preferably, the corners of the outer shell are rounded.

[0009] Preferably, the connecting part and the outer shell are made of aluminum alloy.

[0010] Preferably, the connecting part comprises a mounting plate and at least one connecting plate, the mounting plate is connected with the bottom of the unmanned aerial vehicle, and the mounting plate is connected with the detection mechanism through the connecting plate.

[0011] Preferably, the mounting plate and the connecting plate are integrally arranged.

[0012] Preferably, the mounting plate is bolted with the unmanned aerial vehicle.

[0013] Preferably, the four corners of the mounting plate are connected with the unmanned aerial vehicle through bolts, and the four corners of the mounting plate and the detection mechanism are provided with mounting spaces for mounting bolts.

[0014] Preferably, the camera end is arranged obliquely downward.

[0015] Preferably, the outer shell is in the shape of a cube or a cuboid, the end face of the outer shell close to the connecting part is arranged obliquely with the end face of the connecting part connected with the unmanned aerial vehicle, and the camera end is arranged on the obliquely downward end face of the outer shell.

[0016] The present application has the following technical effects compared with the prior art:

[0017] The detection mechanism carried by the unmanned aerial vehicle is used to detect the tree barrier distance, which improves the convenience compared with the use of a cumbersome theodolite, and the setting of the detection mechanism can avoid the problem of low accuracy when the tree barrier distance is determined by human judgment, and improve the detection effect. In addition, the setting of the center of gravity of the connecting part and the detection mechanism below the center of gravity of the unmanned aerial vehicle can ensure the stability of the unmanned aerial vehicle in flight, and with the improvement of flight stability, the detection effect of the detection mechanism can be improved.

[0018] The other schemes of the present application have the following technical effects compared with the prior art:

[0019] The camera end of the camera module is arranged obliquely downward, so that the flight height of the unmanned aerial vehicle needs to be higher than the power transmission line, so that the surrounding environment of the unmanned aerial vehicle is more open, the operation difficulty is reduced, and the influence of many tree branches, bamboo branches and leaves on shooting is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Fig. 1 This is a schematic diagram of the structure of a tree obstruction detection device for power transmission lines in one embodiment;

[0022] Fig. 2 This is a front view of the detection mechanism and the connecting part in one embodiment;

[0023] Fig. 3 for Fig. 2 Left view of the detection mechanism and connecting part shown;

[0024] Fig. 4 for Fig. 2 Top view of the detection mechanism and connecting parts shown;

[0025] The components include: 1. Drone; 2. Testing facility; 3. Mounting plate; 4. Connecting plate; 5. Camera unit; and 6. Outriggers. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] The purpose of this invention is to provide a tree obstruction detection device for power transmission lines to solve the problems existing in the prior art. It utilizes a drone to carry the detection mechanism for detection, thereby improving convenience and detection effectiveness.

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Please refer to the following: Figs. 1-4 As shown, a tree obstruction detection device for power transmission lines is provided, including a drone 1, a connecting part, and a detection mechanism 2. The detection mechanism 2 is used to detect the distance to the tree obstruction. The detection mechanism 2 is connected to the drone 1 through the connecting part. The drone 1 carries the detection mechanism 2 to detect the distance to the tree obstruction, which improves convenience compared to using a bulky theodolite. Moreover, the setting of the detection mechanism 2 can avoid the problem of low accuracy when manually judging the distance to the tree obstruction, thus improving the detection effect. The center of gravity of the connecting part and the detection mechanism 2 is located directly below the center of gravity of the drone 1, which can ensure the flight stability of the drone 1. As the flight stability is improved, the detection effect of the detection mechanism 2 can be further improved.

[0030] The detection mechanism 2 in the embodiment includes an outer shell, a camera module, a calculation module for calculating the tree barrier distance according to the image, and a wireless communication module, the camera module, the calculation module, and the wireless communication module are electrically connected, the camera end 5 of the camera module for shooting images is located outside the outer shell, the calculation module and the wireless communication module are both located inside the outer shell, the outer shell plays a protective role for the internal parts, after the image is obtained through the camera module, the image is transmitted to the calculation module for calculation, and the obtained tree barrier distance is transmitted to the remote terminal through the wireless communication module. The remote terminal can be a mobile phone or a computer.

[0031] The camera module can select a surveying and mapping level camera to improve the image clarity.

[0032] The hardware of the calculation module includes GPU, SSD storage device, and IMU inertial measurement unit for core processing and storage of data, and the software of the calculation module includes YOLOv5 model and monocular ranging algorithm responsible for analysis and ranging of the tree barrier. The specific working principle is as follows: the data model is trained on the GPU by using the data of the tree barrier, the image labeling tool Labeling is used to calibrate the insulator picture, and the calibrated result is output as a label in YOLO format. Then, based on the detection result, the system extracts the pixel size of the tree barrier in the image, converts the three-dimensional coordinates in the real world into pixel coordinates in the camera, realizes ranging through the proportional relationship; the coordinate system conversion is a three-time transformation of the world coordinate system, the camera coordinate system, the image coordinate system, and the pixel coordinate system through rigid body transformation, perspective projection, and secondary conversion, which projects the object in the three-dimensional world coordinate system into a two-dimensional pixel plane, combines the known camera internal parameters and the actual size of the target, and realizes the positioning of the target in the image through the algorithm, and then realizes the relative and absolute positioning of the target in the three-dimensional space, so as to calculate the relative attitude relationship and relative position relationship between the camera and the target.

[0033] In another embodiment, the detection mechanism 2 includes an infrared range finder, a camera module, and a wireless communication module. The infrared range finder is arranged on the outer wall surface of the outer shell. The camera module acquires images in real time and transmits them to the remote terminal through the wireless communication module. The staff adjusts the position aimed by the infrared range finder through the image, and sequentially acquires the distance between the tree and the bamboo and the distance between the tree and the power transmission line. The point position of the unmanned aerial vehicle 1 at the time of acquiring the distance information is located on the same vertical line, so as to calculate the tree barrier distance according to the height information of the unmanned aerial vehicle 1 at the time of acquiring the distance information and the distance information measured on both sides.

[0034] In the embodiment, the corners of the outer shell are rounded, which can effectively avoid damage to the corners in accidental collision.

[0035] In order to reduce the load of the unmanned aerial vehicle 1, the material of the connecting part and the outer shell is aluminum alloy, which ensures the structural strength while reducing the weight.

[0036] The specific structure of the connecting part in the embodiment includes a mounting plate 3 and at least one connecting plate 4, the mounting plate 3 is connected with the bottom of the unmanned aerial vehicle 1, the mounting plate 3 is connected with the detection mechanism 2 through the connecting plate 4, and the connecting plate 4 is vertically arranged between the mounting plate 3 and the detection mechanism 2.

[0037] In another embodiment, the connecting part can be a U-shaped plate or an I-shaped plate, and two branch plates of the U-shaped plate are connected with the unmanned aerial vehicle 1 and the detection mechanism 2 respectively.

[0038] In the embodiment, in order to improve the structural strength, the mounting plate 3 and the connecting plate 4 are integrally arranged, or the mounting plate 3, the connecting plate 4 and the outer shell body are integrally arranged.

[0039] The mounting plate 3 is bolted with the unmanned aerial vehicle 1, and the bolted mode can ensure the firmness of the connection and also make the mounting plate 3 detachable, thereby facilitating disassembly and carrying.

[0040] Specifically, the four corners of the mounting plate 3 are bolted with the unmanned aerial vehicle 1, and the mounting plate 3 has mounting spaces between the four corners and the detection mechanism 2, and the mounting spaces are used for workers to install bolts.

[0041] The camera end 5 is arranged to be inclined downward, so that the flight height of the unmanned aerial vehicle 1 needs to be higher than the power transmission line, thereby making the surrounding environment of the unmanned aerial vehicle 1 more open, reducing the operation difficulty, and avoiding the influence of many tree branches, bamboo branches, or leaves on shooting.

[0042] In the embodiment, the outer shell body is in a square or rectangular shape, the end face of the outer shell body close to the connecting part is arranged to be inclined to the end face of the connecting part connected with the unmanned aerial vehicle 1, and the specific inclination angle of the two end faces is 45° in the embodiment, which can be changed according to needs in actual manufacturing, and the camera end 5 is arranged on the inclined downward end face of the outer shell body.

[0043] In order to avoid the influence of the supporting leg 6 of the unmanned aerial vehicle 1 on the shooting image, the camera end 5 of the camera module should be directed to the direction where the unmanned aerial vehicle 1 is not provided with the supporting leg 6.

[0044] In order to avoid the influence of the detection mechanism 2 on the landing of the unmanned aerial vehicle 1, after the detection mechanism 2 is installed, the bottom end of the detection mechanism 2 should be not lower than the bottom end of the supporting leg 6 of the unmanned aerial vehicle 1.

[0045] The adaptive changes according to actual needs are within the protection scope of the application.

[0046] It is apparent that a person skilled in the art can, without departing from the scope of the application, make many modifications to the details of the above-described exemplary embodiments of the application. The application is therefore not limited to the details given hereinabove but can be implemented in other forms without departing from the spirit or essential characteristic of the application. The embodiments shall be considered demonstrative and shall not be considered limiting in any way. The scope of the application is defined by the appended claims rather than by the description given above and therefore all changes that come within the meaning and range of equivalents of the claims are to be embraced by the application. Any reference signs in the claims should not be construed as limiting the scope of the claims to the features

[0047] The above description of the application has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise form described. Many modifications and variations are possible in light of the above teaching. It is intended that the scope of the application be limited not with this detailed description, but rather by the claims appended hereto.

Claims

1. A tree obstruction detection device for power transmission lines, characterized in that, It includes a drone, a connecting part, and a detection mechanism for detecting the distance to tree obstacles. The detection mechanism is connected to the drone via the connecting part, and the center of gravity of the connecting part and the detection mechanism is located directly below the center of gravity of the drone. The connecting part includes a mounting plate and at least one connecting plate. The mounting plate is connected to the bottom of the UAV, and the mounting plate is connected to the detection mechanism through the connecting plate. The camera end of the detection mechanism is tilted downwards.

2. The power transmission line tree obstruction detection device according to claim 1, characterized in that, The detection mechanism includes an outer shell, a camera module, a calculation module for calculating the distance to tree obstacles based on images, and a wireless communication module. The camera module, the calculation module, and the wireless communication module are electrically connected. The camera end of the camera module for capturing images is located outside the outer shell, while the calculation module and the wireless communication module are both located inside the outer shell.

3. The tree obstruction detection device for transmission lines according to claim 2, characterized in that, The outer casing has rounded corners.

4. The tree obstruction detection device for transmission lines according to claim 2, characterized in that, Both the connecting part and the outer shell are made of aluminum alloy.

5. The tree obstruction detection device for transmission lines according to claim 1, characterized in that, The mounting plate and the connecting plate are integrally formed.

6. The tree obstruction detection device for transmission lines according to claim 1, characterized in that, The mounting plate is bolted to the UAV.

7. The tree obstruction detection device for transmission lines according to claim 6, characterized in that, The four corners of the mounting plate are connected to the UAV by bolts, and there is mounting space between the four corners of the mounting plate and the detection mechanism for installing bolts.

8. The tree obstruction detection device for transmission lines according to claim 2, characterized in that, The outer shell is in the shape of a cube or cuboid. The end face of the outer shell near the connecting part and the end face of the connecting part connected to the drone are inclined to each other. The camera end is located on the inclined downward end face of the outer shell.

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