A three-dimensional laser radar mounting device for power line measurement

Abstract

The utility model relates to a kind of three-dimensional laser radar hanging device for transmission line measurement, applicable to the body bottom space between the two parallel landing poles of unmanned aerial vehicle is hung and installed.The device includes crossbeam, slide rail engagement quick-release structure and three-dimensional laser radar module.Arc-shaped clip is provided at the both ends of crossbeam, for clamping and fixing the landing pole of unmanned aerial vehicle bottom;"T" shape slide rail is provided below crossbeam, three-dimensional laser radar module is slidably installed by guide rail connecting block with complementary shape to slide rail structure, and positioning and locking are realized by self-locking structure.The device has the advantages of strong universality, quick disassembly and assembly, shock resistance and anti-drop, etc., can realize reliable mounting and stable measurement of three-dimensional laser radar on multiple types of unmanned aerial vehicle platform without interfering with the space structure of aircraft, and is suitable for high-precision inspection operation of transmission line.

Description

Technical Field

[0001] This utility model relates to the field of power equipment technology, and in particular to a three-dimensional lidar mounting device for measuring power transmission lines. Background Technology

[0002] With the rapid development of power transmission lines and the improvement of operation and maintenance automation, traditional manual inspection methods have been gradually replaced by intelligent inspection systems based on drones. In the daily inspection and high-precision mapping of power transmission lines, 3D LiDAR, due to its advantages such as high-density point cloud acquisition, high spatial resolution, and strong environmental adaptability, has been widely used in drone inspection systems to achieve various key tasks such as power transmission line path modeling, tower structure identification, and channel obstacle monitoring. Currently, common 3D LiDAR modules need to be mounted on multi-rotor or vertical take-off and landing fixed-wing drone platforms to complete large-scale, high-precision spatial information acquisition of power lines without interrupting power supply. However, the mounting of 3D LiDAR modules on drone platforms still generally faces the following problems:

[0003] On the one hand, the structures of different flight platforms vary greatly, with inconsistencies in the spacing between landing gears, the reserved space under the fuselage, and the location of interfaces. This means that traditional mounting methods require specially designed mounting parts or rely on bolt connections, straps, Velcro, and other methods for fixation. Not only is the disassembly and assembly process cumbersome and time-consuming, but it also severely restricts the ability to quickly deploy and interchange modules between different platforms. On the other hand, some mounting structures lack effective limiting and anti-detachment designs. Especially when encountering disturbance loads such as vibration, crosswinds, or sudden acceleration during flight, the lidar module is prone to loosening or even falling off, posing a flight safety hazard. Utility Model Content

[0004] The purpose of this invention is to provide a three-dimensional lidar mounting device for power transmission line measurement, so as to solve the technical problems of cumbersome disassembly and assembly, poor mounting versatility, and insufficient resistance to vibration and detachment of existing three-dimensional lidar modules in flight platform mounting.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A three-dimensional lidar mounting device for power transmission line measurement is used to suspend and install in the mounting space between two parallel landing poles of a UAV at the bottom of the aircraft. It includes a three-dimensional lidar module, a slide rail engagement quick-release structure, and a crossbeam.

[0007] The crossbeam is positioned between the two parallel landing gears of the UAV. Both ends of the crossbeam are equipped with arc-shaped buckle structures that match the shape of the aircraft's landing sticks, which are used to clamp and fix the landing sticks on both sides of the bottom of the UAV, thereby enhancing the stability and versatility of the crossbeam installation. The top of the three-dimensional lidar module is mounted directly below the crossbeam via a slide rail engagement quick-release structure.

[0008] Furthermore, the crossbeam is a rigid connecting rod with an overall bridge-shaped profile. Its middle part is slightly raised to form a flat top and relatively drooping ends, which helps to stably span between the two landing poles while only slightly occupying the space at the bottom of the aircraft, thereby improving the installation adaptability and system integration capability of the mounting structure.

[0009] Furthermore, the slide rail engagement quick-release structure includes a strip slide rail structure disposed on the lower surface of the crossbeam and extending along its length, and a guide rail connecting block disposed on the top of the three-dimensional lidar module. The guide rail connecting block has a slider profile that meshes with the cross-sectional shape of the slide rail, and can be slidably inserted along the slide rail direction, and is positioned and fixed through a complementary meshing relationship. The cross-section of the slide rail structure is inverted "T" shape, including an upper connecting section and a bottom extension section. The upper connecting section is relatively narrowed for connection with or transition extension of the crossbeam body. The bottom extension section is located at the lower end of the slide rail and extends horizontally symmetrically on both sides. The cross-section of the extended part is a horizontally placed isosceles trapezoidal structure, and the upper base of the trapezoid is set outward to enhance the stability of the guide rail structure and form a firm meshing and locking relationship with the connecting block.

[0010] Furthermore, the guide rail connecting block is mounted on the top of the three-dimensional LiDAR module via a connecting seat, which is used to connect the three-dimensional LiDAR module and the guide rail connecting block.

[0011] Furthermore, the guide rail connecting block is divided into a fixed part and a movable part along a cutting plane parallel to the length direction of the slide rail structure. The two parts cooperate with each other at the mating surface by a through guide pin. One end of the guide pin is fixed to the fixed part, and the other end extends through the movable part and protrudes to the outside. The exposed end is provided with a locking nut, which is connected to the exposed end of the guide pin by threads. The movable part can slide relative to the fixed part along the length direction of the guide pin. When the guide rail connecting block is positioned, tightening the locking nut can press the movable part against the fixed part, thereby firmly locking the guide rail connecting block onto the slide rail structure, forming a self-locking meshing clamping relationship, and having good anti-lifting stability and disassembly.

[0012] Furthermore, there are two guide rail connecting blocks, which are respectively located on the left and right sides of the top of the three-dimensional lidar module. The two guide rail connecting blocks are parallel to each other and coplanar. Correspondingly, there are also two connecting seats, which respectively connect each guide rail connecting block to the top of the three-dimensional lidar module.

[0013] Compared to existing technologies, this invention achieves rapid mounting and secure dismounting of the 3D LiDAR module within the limited space at the bottom of a UAV by setting a structurally stable and self-locking slide rail engagement quick-release structure, thus improving the device's versatility and adaptability. The crossbeam adopts a slightly arched bridge-like profile, effectively avoiding space constraints at the bottom of the UAV while ensuring structural rigidity and installation strength. By setting a guide rail connecting block complementary to the shape of the slide rail structure and employing a sliding and locking guide pin structure, a self-locking connection effect that resists lifting and vibration is achieved, preventing the module from loosening or falling off during flight. This improves the reliability and safety of the power transmission line measurement system and makes it suitable for widespread application on various types of UAV platforms. Attached Figure Description

[0014] Figure 1 This is an isometric view of an embodiment of the present invention;

[0015] Figure 2 This is a right view of an embodiment of the present utility model;

[0016] Figure 3 yes Figure 2 Cross-sectional view of AA in the middle;

[0017] Figure 4 yes Figure 3 A magnified view of a section at point B in the middle;

[0018] Figure 5 This is a schematic diagram of the three-dimensional lidar module in an embodiment of this utility model;

[0019] Figure 6 yes Figure 5 A magnified view of a section at point C.

[0020] The numbers in the diagram are as follows: 1. Crossbeam; 101. Strip rail; 102. Arc-shaped clip; 2. UAV landing gear; 3. 3D LiDAR module; 301. Connecting seat; 4. Guide rail connecting block; 401. Fixed part; 402. Moving part; 403. Joint surface; 404. Guide pin; 405 Locking nut. Detailed Implementation

[0021] The following will describe the technology of the embodiments of the present utility model clearly and completely with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present utility model. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present utility model can be combined with each other.

[0022] like Figures 1 to 5 As shown, this utility model provides a three-dimensional lidar mounting device for power transmission line measurement, which is used to be suspended and installed in the installation space between two parallel landing poles of a UAV and at the bottom of the aircraft. It includes a three-dimensional lidar module 3, a slide rail engagement quick-release structure and a crossbeam 1.

[0023] The crossbeam 1 is positioned between the two parallel landing gears of the UAV. Both ends of the crossbeam have arc-shaped clips 102 that match the shape of the aircraft's landing masts, used to clamp and secure the landing masts on both sides of the UAV's bottom, enhancing the stability and versatility of the crossbeam installation. The crossbeam 1 itself is a rigid connecting rod with an overall bridge-like profile. The middle section is slightly raised, forming a flat top and relatively drooping ends, which helps to stably span between the two landing masts while occupying only a slight portion of the aircraft's bottom space, improving the installation adaptability and system integration capabilities of the mounting structure.

[0024] The slide rail engagement and quick-release structure includes a strip slide rail structure 101 disposed on the lower surface of the crossbeam 1 and extending along its length, and a guide rail connecting block 4 disposed on the top of the three-dimensional lidar module 3. (Refer to...) Figure 4 The cross-section of the strip slide rail structure 101 is an inverted "T" shape, including an upper connecting section and a bottom extension section. The upper connecting section is relatively narrowed for connection with or transition extension to the crossbeam body. The bottom extension section is located at the lower end of the slide rail and extends horizontally to both sides. The cross-section of the extended part is a horizontally placed isosceles trapezoidal structure with the upper base of the trapezoid facing outward to enhance the stability of the guide rail structure and form a firm meshing and locking relationship with the guide rail connecting block.

[0025] The guide rail connecting block 4 is mounted on the top of the three-dimensional LiDAR module 3 via two mounting bases 302. The two guide rail connecting blocks 4 are parallel to each other and coplanar. Each guide rail connecting block 4 has a slider profile that matches the cross-section of the "T"-shaped slide rail structure. It can be slidably inserted along the slide rail direction and is positioned and fixed through a complementary meshing relationship.

[0026] Specifically, such as Figure 5 , Figure 6 As shown, each guide rail connecting block 4 is divided into a fixed part 401 and a movable part 402 along a cutting plane parallel to the length direction of the slide rail structure, forming a mating surface 403 between them. A guide pin 404 is provided perpendicular to the mating surface 403 to achieve a sliding fit connection between the fixed part 401 and the movable part 402. One end of the guide pin 404 is fixed to the fixed part 401, and the other end extends through the movable part 402 and protrudes to the outside. A locking nut 405 is provided at its exposed end, and the locking nut 405 is connected to the exposed end of the guide pin 404 by threads.

[0027] The movable part 402 can slide relative to the fixed part 401 along the length direction of the guide pin 404. After the guide rail connecting block is positioned on the slide rail structure, tightening the locking nut 405 can press the movable part 402 against the fixed part 401, thereby firmly locking the guide rail connecting block on the slide rail structure, forming a self-locking meshing clamping relationship, and having good anti-lifting stability and disassembly.

[0028] The working principle of this utility model:

[0029] During use, the crossbeam 1 is first fixed to the landing masts on both sides of the bottom of the drone using the arc-shaped clips 102. The overall bridge-like structure of the crossbeam 1 avoids obstructing equipment below the drone body, ensuring sufficient space for mounting below.

[0030] Then, the two guide rail connecting blocks 4 on the top of the 3D LiDAR module 3 are inserted and slid along the "T"-shaped slide rail structure 101 below the crossbeam until the module is positioned. Since the slider and the trapezoidal extension section at the bottom of the "T"-shaped structure form a complementary meshing structure, the swinging or falling off of the connecting blocks can be effectively limited.

[0031] After positioning, tighten the locking nut 405, pressing the movable part 402 against the fixed part 401, thus locking and clamping the slide rail and enhancing its resistance to lifting. For disassembly, simply loosen the nut and slide the connecting block out along the slide rail direction for quick assembly and disassembly of the radar module.

[0032] This structure enables the stable mounting of a 3D LiDAR module on the bottom of a UAV, and has the advantages of convenient installation, compact structure, and strong anti-interference capability.

[0033] In practical applications, this device, through its aforementioned structure, allows the 3D LiDAR module to be reliably suspended from the bottom of the UAV and securely mounted between two parallel landing masts. This provides the 3D LiDAR with excellent viewing angle and measurement stability, making it suitable for tasks such as spatial structure measurement of power transmission lines, obstacle identification, and inspection data acquisition. Compared to traditional mounting methods, this device significantly improves the module's versatility, safety, and replacement efficiency while ensuring measurement accuracy, making it particularly suitable for UAV deployment needs in complex terrain and high-altitude operation scenarios.

Claims

1. A three-dimensional lidar mounting device for power line measurement, said device is used to be suspended between two parallel landing poles at the bottom of a drone, characterized in that, It includes a three-dimensional lidar module, a slide rail engagement quick-release structure, and a crossbeam. The crossbeam has arc-shaped buckle structures at both ends, and the top of the three-dimensional lidar module is mounted directly below the crossbeam through the slide rail engagement quick-release structure.

2. The three-dimensional lidar mounting device for power transmission line measurement according to claim 1, characterized in that, The crossbeam is a rigid connecting rod, with an overall bridge-shaped profile structure that is flat at the top and drooping downwards at both ends.

3. The three-dimensional lidar mounting device for power transmission line measurement according to claim 1, characterized in that, The slide rail engagement quick-release structure includes a strip slide rail structure arranged on the lower surface of the crossbeam and extending along its length, and a guide rail connecting block arranged on the top of the three-dimensional lidar module. The cross-section of the slide rail structure is inverted "T" shape, and the guide rail connecting block has a slider profile that meshes with the cross-sectional shape of the slide rail. It can be slidably inserted along the slide rail direction and is positioned and fixed through a complementary meshing relationship.

4. A three-dimensional lidar mounting device for power transmission line measurement according to claim 3, characterized in that, The guide rail connecting block is mounted on the top of the 3D LiDAR module via a connecting seat, which is used to connect the 3D LiDAR module and the guide rail connecting block.

5. A three-dimensional lidar mounting device for power transmission line measurement according to claim 3 or 4, characterized in that, The guide rail connecting block is divided into a fixed part and a movable part along a cutting plane parallel to the length direction of the strip rail. The fixed part and the movable part cooperate with each other at the joint surface by a through guide pin. One end of the guide pin is fixed to the fixed part, and the other end extends through the movable part and protrudes to the outside. The exposed end is provided with a locking nut. The locking nut is connected to the exposed end of the guide pin by a thread.

6. A three-dimensional lidar mounting device for power transmission line measurement according to claim 3, characterized in that, There are two guide rail connecting blocks, which are respectively set on the left and right sides of the top of the three-dimensional lidar module. The two guide rail connecting blocks are parallel to each other and coplanar. Correspondingly, there are also two connecting seats, which respectively connect each guide rail connecting block to the top of the three-dimensional lidar module.

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