An unmanned aerial vehicle power grid equipment defect identification device with obstacle avoidance function

Abstract

The utility model relates to unmanned aerial vehicle power grid equipment defect identification device technical field, concretely relates to a kind of unmanned aerial vehicle power grid equipment defect identification device with obstacle avoidance function, including shell, the front side of shell is symmetrically equipped with base plate by fixed screw, the front side fixedly connected with fixing frame of base plate, the back of shell is symmetrically equipped with servo motor one, the output end fixedly connected with rotating stand of two servo motor one.The utility model is equipped with binocular camera, and the distance between stereoscopic vision computer and obstacle can be calculated, and the setting of infrared camera is matched to realize that heating equipment (such as fault insulator) can be detected at night or under low light conditions, and by installing flexible conductive obstacle avoidance structure, which is composed of flexible base, carbon fiber elastic tentacle and conductive copper ring, on the body near the circumference of propeller blade, the object is contacted in advance, and a loop is formed when contacting, triggering the power-off signal.

Description

Technical Field

[0001] This utility model relates to the technical field of unmanned aerial vehicle (UAV) power grid equipment defect identification device, specifically to a UAV power grid equipment defect identification device with obstacle avoidance function. Background Technology

[0002] Electrical equipment in power distribution networks is crucial for ensuring the safe and stable operation of power systems, and monitoring its operational status is a vital part of power inspection work. Traditional inspection methods rely on manual daily checks, depending solely on the experience of the inspectors to determine potential hazards. This approach is no longer sufficient for the operational requirements of modern power systems, suffering from low efficiency, gaps in inspections, and sometimes even failure to detect hazards in a timely manner due to the inexperience of the inspectors. With the development of image recognition and artificial intelligence technologies, high-definition video detection and infrared thermal imaging based on various AI algorithms have been widely applied in power systems. However, how to stably move power distribution network defect identification devices along the distribution network has become an urgent technical challenge that needs to be solved.

[0003] A search revealed a utility model patent with publication number CN221606090U, which discloses a drone-based power distribution network defect identification and monitoring device. This device includes a drone remote controller. Symmetrically mounted rotating mounting brackets are located at both ends of the front of the casing, each bracket having a stepper motor fixedly connected to it. The other end of each stepper motor is mounted on the bottom plate of the drone fuselage, and the output shaft of the stepper motor is connected to a propeller assembly. Symmetrically mounted fixed mounting brackets are located at both ends of the rear of the casing, with the other end of each fixed mounting bracket also having a propeller assembly mounted on it. An infrared detector is mounted on the casing, and a clamping mechanism and an electromagnetic sensor are connected to the bottom of the casing. This utility model utilizes drone technology to achieve rapid and stable access to the designated line to be inspected. The clamping mechanism enables relative height positioning of the monitoring device and the cable to be inspected, allowing the monitoring device to move stably along the power distribution network, significantly improving work efficiency and facilitating the collection of stable and effective electromagnetic intensity and infrared image data.

[0004] The aforementioned patent only uses a drone remote controller and clamping mechanism to achieve relative height positioning of the monitoring equipment and the cable to be tested, thereby enabling the monitoring equipment to move stably along the power distribution network. If a sudden change in magnetic field strength is detected, it is identified as a fault point, and the power transmission cable between the fault point is determined to be an abnormal power distribution network defect line. This reduces the workload of manual operation and significantly improves the work efficiency of operators. However, it cannot adequately protect the equipment. Due to the lack of obstacle avoidance structure, it is very easy to collide with obstacles (such as buildings, trees, or power lines) during flight, resulting in equipment damage, mission failure, or even safety accidents. Furthermore, its stability and autonomy will be significantly reduced in complex or dynamic environments, seriously limiting the reliability of application scenarios.

[0005] Therefore, it is necessary to invent a defect identification device for UAV power grid equipment with obstacle avoidance function to solve the above problems. Utility Model Content

[0006] The purpose of this invention is to provide a defect identification device for UAV power grid equipment with obstacle avoidance function. Through the use of binocular cameras, the device can calculate the distance between the drone and obstacles using stereo vision, achieving centimeter-level accuracy. Combined with an infrared camera, it can detect heat-generating equipment (such as faulty insulators) at night or in low light conditions, while also assisting in obstacle avoidance. Furthermore, a flexible conductive obstacle avoidance structure, consisting of a flexible base, carbon fiber elastic tendrils, and conductive copper rings, is installed around the drone near the propeller blades. This structure pre-contacts objects, forming a circuit upon contact and triggering a power-off signal, reducing the risk of subsequent installation accidents. This addresses the problem that existing technologies cannot adequately protect equipment, and the lack of an obstacle avoidance structure makes it prone to collisions during flight due to the inability to detect and avoid obstacles (such as buildings, trees, or power lines), leading to equipment damage, mission failure, or even safety accidents. Moreover, in complex or dynamic environments, its stability and autonomy significantly decrease, severely limiting the reliability of its applications.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a defect identification device for UAV power grid equipment with obstacle avoidance function, comprising a housing, a base plate symmetrically mounted on the front side of the housing by fixing screws, a fixing frame fixedly connected to the front side of the base plate, servo motors symmetrically mounted on the rear side of the housing, rotating frames fixedly connected to the output ends of the two servo motors, protective frames fixedly connected to the outer ends of the fixing frame and the rotating frame, a second servo motor installed inside the protective frame, a propeller blade fixedly connected to the output end of the second servo motor, supports fixedly connected to the front, rear, and sides of the housing, a flexible base hinged to the end of the support, a carbon fiber elastic tendril fixedly provided at the front end of the flexible base, a conductive copper ring fixedly snapped between the flexible base and the carbon fiber elastic tendril, and limit blocks fixedly connected to the two sides of the flexible base near one end of the support by rubber springs, the limit blocks being fixedly connected to the housing.

[0008] Preferably, a radar altimeter and an infrared detector are respectively installed on the top of the housing.

[0009] Preferably, a binocular camera is installed on the front side of the housing, and an infrared camera is installed on the rear side of the housing.

[0010] Preferably, an electromagnetic sensor is installed in the middle of the bottom of the housing, and electromagnetic telescopic rods are symmetrically installed on the bottom of the housing. The output ends of the two electromagnetic telescopic rods are fixedly connected to mounting brackets.

[0011] Preferably, the mounting bracket has a guide rod fixedly connected inside, and guide sleeves are symmetrically fitted on the guide rod. The bottom of each of the two guide sleeves is fixedly connected to a fixing clip, and the bottom of the fixing clip is fixedly connected to a guide plate.

[0012] Preferably, the guide rod is symmetrically fitted with a spring located between the guide sleeve and the mounting bracket.

[0013] The technical effects and advantages provided by this utility model in the above technical solution are as follows:

[0014] 1. By using a binocular camera, the distance between the aircraft and obstacles can be calculated using stereo vision, with recognition accuracy down to the centimeter level. Combined with an infrared camera, it can detect heat-generating equipment (such as faulty insulators) at night or in low light conditions, while also assisting in obstacle avoidance. Furthermore, by installing a flexible conductive obstacle avoidance structure around the aircraft near the propeller blades, consisting of a flexible base, carbon fiber elastic tendrils, and conductive copper rings, it can pre-contact objects, forming a circuit upon contact and triggering a power-off signal, reducing the risk of subsequent installation accidents. The flexible base material has a buffering effect against mechanical impacts, and combined with the elastic expansion of rubber springs, the conductive obstacle avoidance structure can absorb impact forces through bendability and resilience when in contact with external objects, improving its structural strength and durability. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the rear view structure of this utility model;

[0018] Figure 3 This is a schematic cross-sectional view of the protective frame structure of this utility model;

[0019] Figure 4 This is an enlarged schematic diagram of the flexible conductive obstacle avoidance structure of this utility model;

[0020] Figure 5 This is a schematic cross-sectional view of the connection between the mounting bracket and the fixing clip of this utility model.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. Housing; 2. Fixing screws; 3. Base plate; 4. Fixing frame; 5. Servo motor one; 6. Rotating frame; 7. Protective frame; 8. Servo motor two; 9. Propeller blade; 10. Support; 11. Flexible base; 12. Carbon fiber elastic tendrils; 13. Conductive copper ring; 14. Rubber spring; 15. Limiting block; 16. Radar altimeter; 17. Infrared detector; 18. Binocular camera; 19. Infrared camera; 20. Electromagnetic sensor; 21. Electromagnetic telescopic rod; 22. Mounting bracket; 23. Guide rod; 24. Guide sleeve; 25. Fixing clamp; 26. Guide plate; 27. Spring one. Detailed Implementation

[0023] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0024] This utility model provides, for example Figure 1-5 The device shown is a defect identification device for UAV power grid equipment with obstacle avoidance function. It includes a housing 1. A base plate 3 is symmetrically mounted on the front side of the housing 1 by fixing screws 2. A fixing frame 4 is fixedly connected to the front side of the base plate 3. Servo motors 5 are symmetrically mounted on the rear side of the housing 1. The output ends of the two servo motors 5 are fixedly connected to a rotating frame 6. The servo motors 5 can drive the rotating frame 6 to rotate, which can drive the propeller blade 9 connected to the rotating frame 6 to deflect at an angle, thereby providing a horizontal force for the device.

[0025] The outer ends of both the fixed frame 4 and the rotating frame 6 are fixedly connected to protective frames 7. The protective frames 7 effectively protect the servo motor 8 and reduce the probability of damage caused by external objects.

[0026] The protective frame 7 is equipped with a second servo motor 8. The output end of the second servo motor 8 is fixedly connected to a propeller blade 9. Supports 10 are fixedly connected to the front, rear, and sides of the housing 1. A flexible base 11 is hinged to the end of the support 10. A carbon fiber elastic tendril 12 is fixedly provided at the front end of the flexible base 11. The flexible base 11 is made of TPU material, which has both elastic bending recovery and conductivity, and has the function of buffering mechanical impact.

[0027] A conductive copper ring 13 is fixedly snapped between the flexible base 11 and the carbon fiber elastic tendril 12. The conductive copper ring 13 provides power to improve the contact conductivity sensitivity.

[0028] Both sides of the flexible base 11 near the support 10 are fixedly connected to limit blocks 15 by rubber springs 14. The limit blocks 15 are fixedly connected to the housing 1. The elasticity of the rubber springs 14 can enable the flexible base 11 to rotate and adjust its state along the support 10, which can help absorb energy and restore its original shape when in contact with an object.

[0029] Preferably, a radar altimeter 16 and an infrared detector 17 are respectively installed on the top of the housing 1. The radar altimeter 16 displays the positioning information of the device's height. By operating the remote control, the servo motor 5 rotates, causing the two front rotating frames 6 and the connected propeller blades 9 to deflect at an angle, preferably 25 degrees. At this time, the propeller blades 9 on the rotating frames 6 generate a stable propulsive force along the direction of the cable, realizing the movement of the device along the power transmission cable and collecting relevant data.

[0030] Further fault diagnosis and analysis are performed using the infrared imaging image displayed on the infrared detector 17. This diagnosis and analysis involves, after data acquisition, first segmenting the device area from the infrared image as the detection area; then, combining ambient temperature information to detect abnormal heating in the infrared image; achieving precise location of the abnormal area through registration of the infrared and visible light images; and analyzing changes in the abnormal heating area using visual labels. The infrared detector 17 can employ existing technologies for its detection method.

[0031] Preferably, a binocular camera 18 is installed on the front side of the housing 1, and an infrared camera 19 is installed on the rear side of the housing 1. The binocular camera 18 calculates the distance to obstacles such as power grid towers, wires, insulators, etc. through stereo vision, and the recognition accuracy can reach the centimeter level.

[0032] The infrared camera 19 can detect heat-generating equipment, such as faulty insulators, at night or in low light conditions, and also assist in obstacle avoidance.

[0033] Preferably, an electromagnetic sensor 20 is installed in the middle of the bottom of the housing 1. The electromagnetic sensor 20 is used to collect magnetic field strength data of the power transmission cable and to determine whether the data is abnormal based on the electromagnetic data. If the magnetic field strength of the device changes suddenly during movement, it can be identified as a fault point, and the power transmission cable between the fault points is a faulty line in the power distribution network.

[0034] Electromagnetic telescopic rods 21 are symmetrically installed on the bottom of the housing 1, and the output ends of the two electromagnetic telescopic rods 21 are fixedly connected to the mounting brackets 22.

[0035] Preferably, a guide rod 23 is fixedly connected inside the mounting bracket 22, and guide sleeves 24 are symmetrically sleeved on the guide rod 23. A fixing clip 25 is fixedly connected to the bottom of each of the two guide sleeves 24. The fixing clip 25 has a structure that is narrow at the top and wide at the bottom, and the two pieces are symmetrical, which makes it convenient to clamp the cable.

[0036] The bottom of the fixing clamp 25 is fixedly connected to a guide plate 26. The guide plate 26 is inclined outward and downward in a figure-eight shape and is arranged opposite to each other to facilitate better guidance of the cable to slide into the fixing clamp 25 for limiting.

[0037] Preferably, the guide rod 23 is symmetrically fitted with springs 27 located between the guide sleeve 24 and the mounting bracket 22. The elastic expansion of the springs 27 can push the two guide sleeves 24 to close together, so that the two fixing clamps 25 have a clamping and limiting function, which facilitates better movement of the cable.

[0038] The working principle of this practical application is as follows:

[0039] First, the propeller blades 9 on the housing 1 drive the machine body to move above the cable to be tested, positioning the cable between the two fixed clamps 25. Then, the electromagnetic telescopic rod 21 extends, pushing the cable into the space between the two clamps 25. The radar altimeter 16 displays the device's height positioning information. By operating the remote control, the servo motor 5 adjusts the propeller blades 9 on the rotating frame 6 to deflect at an angle. At this time, the propeller blades 9 on the fixed frame 4 generate a stable propulsive force along the cable direction, collecting corresponding data. The electromagnetic sensor 20 at the bottom of the housing 1 is used to collect the magnetic field strength data of the power transmission cable, determining whether the data is abnormal based on the electromagnetic data. A sudden change in magnetic field strength during the movement of the equipment can be identified as a fault point, and the power transmission cable between the fault points is the faulty line in the power distribution network. Simultaneously, the infrared imaging image displayed on the infrared detector 17 is used for further fault diagnosis and analysis.

[0040] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A defect identification device for unmanned aerial vehicle (UAV) power grid equipment with obstacle avoidance function, comprising a housing (1), characterized in that: A base plate (3) is symmetrically mounted on the front side of the housing (1) by fixing screws (2). A fixing frame (4) is fixedly connected to the front side of the base plate (3). Servo motors (5) are symmetrically mounted on the rear side of the housing (1). A rotating frame (6) is fixedly connected to the output end of each of the two servo motors (5). A protective frame (7) is fixedly connected to the outer end of the fixing frame (4) and the rotating frame (6). A servo motor (8) is installed inside the protective frame (7). A propeller blade (9) is fixedly connected to the output end of the servo motor (8). Supports (10) are fixedly connected to the front and rear sides and both sides of the housing (1). A flexible base (11) is hinged to the end of the support (10). A carbon fiber elastic tendril (12) is fixedly provided at the front end of the flexible base (11). A conductive copper ring (13) is fixedly snapped between the flexible base (11) and the carbon fiber elastic tendril (12). Limiting blocks (15) are fixedly connected to both sides of the flexible base (11) near the support (10) by rubber springs (14). The limiting blocks (15) are fixedly connected to the housing (1).

2. The UAV power grid equipment defect identification device with obstacle avoidance function according to claim 1, characterized in that: A radar altimeter (16) and an infrared detector (17) are respectively installed on the top of the housing (1).

3. The UAV power grid equipment defect identification device with obstacle avoidance function according to claim 2, characterized in that: A binocular camera (18) is installed on the front side of the housing (1), and an infrared camera (19) is installed on the rear side of the housing (1).

4. The UAV power grid equipment defect identification device with obstacle avoidance function according to claim 3, characterized in that: An electromagnetic sensor (20) is installed in the middle of the bottom of the housing (1), and electromagnetic telescopic rods (21) are symmetrically installed at the bottom of the housing (1). The output ends of the two electromagnetic telescopic rods (21) are fixedly connected to the mounting brackets (22).

5. A defect identification device for unmanned aerial vehicle (UAV) power grid equipment with obstacle avoidance function according to claim 4, characterized in that: The mounting bracket (22) is internally fixedly connected to a guide rod (23), and guide sleeves (24) are symmetrically sleeved on the guide rod (23). The bottom of each of the two guide sleeves (24) is fixedly connected to a fixing clip (25), and the bottom of the fixing clip (25) is fixedly connected to a guide plate (26).

6. A defect identification device for unmanned aerial vehicle (UAV) power grid equipment with obstacle avoidance function according to claim 5, characterized in that: Springs (27) are symmetrically fitted on the guide rod (23) between the guide sleeve (24) and the mounting bracket (22).

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