An automatic obstacle avoidance unmanned aerial vehicle for power inspection

Abstract

The utility model discloses a kind of automatic obstacle avoidance unmanned aerial vehicle for electric power inspection in the technical field of electric power inspection, including the body of automatic obstacle avoidance unmanned aerial vehicle, the body four corners are respectively fixedly installed with vane through support rod, the body bottom is installed with the camera for electric power inspection, the body bottom and located camera one side is installed with laser radar module, the body bottom and located camera other side is installed with distance sensor, the body bottom is installed with bottom plate through multiple mountings, the body bottom and located bottom plate two sides are fixedly installed with support frame, camera can be photographed to electric power inspection and environment, laser radar module scans surrounding environment by emitting laser beam, it is suitable for short distance obstacle avoidance, buffer piece in the bottom of support frame can buffer and support protection to the body landing.

Description

Technical Field

[0001] This utility model relates to the field of power line inspection, specifically an automatic obstacle avoidance drone for power line inspection. Background Technology

[0002] In power system operation and maintenance, drone inspection has become a core means to replace manual labor. It can efficiently complete the defect detection of transmission lines and substation equipment (such as broken conductor strands, damaged insulators, and overheating of equipment). It is especially suitable for the inspection of high-voltage lines in complex terrains such as mountainous areas and across rivers, which greatly reduces the safety risks of manual tower climbing operations (electric shock, falls from height) and improves inspection efficiency.

[0003] Automatic obstacle avoidance is a key feature of power line inspection drones. The inspection environment contains numerous obstacles (such as tree branches, tower crossarms, and hanging cables), requiring the drone to identify and navigate around them in real time using obstacle avoidance structures (such as lidar and visual sensors) to avoid collisions. However, existing obstacle avoidance structures and support designs for power line inspection drones have significant flaws, limiting their reliability in complex power scenarios. The obstacle avoidance structure of power inspection drones needs to be installed at the bottom of the fuselage (to avoid obstruction of the inspection lens and to cover the lower and side views). However, the existing fixing method has hidden dangers. Loose connections can lead to detection deviations. Most obstacle avoidance modules are directly fixed to the bottom of the fuselage with screws. When the drone flies at high speed or passes through strong airflow, continuous vibration can easily cause the screws to loosen. The obstacle avoidance module and the fuselage will be relatively displaced, causing the obstacle recognition coordinate system to shift and misjudging the distance to the obstacle. In areas with dense power lines (such as the incoming line end of a substation), collisions are likely to occur. Power line inspection tasks are heavy and equipment wears out quickly. Obstacle avoidance modules need to be calibrated or replaced regularly (e.g., due to the attenuation of lidar accuracy or lens wear). However, the existing design severely restricts the ease of maintenance, relies on tools and is complicated to operate. The obstacle avoidance module and the body are mostly fixed with integrated screws, requiring a special screwdriver for disassembly. In addition, the module cables are directly soldered to the motherboard inside the body. When replacing, the cables need to be cut and re-soldered. It is difficult to repair quickly in the field (without professional tools), resulting in the equipment being idle. Power line inspection drones need to frequently take off and land in outdoor areas (such as open spaces near power poles). The support rod at the bottom of the fuselage is a core buffer component, but the existing design has limited protective effect, and rigid support is prone to equipment damage: Most drones use fixed plastic or metal support rods (without shock absorption structure). If the ground is uneven when landing (such as a mountain covered with gravel), the impact force is directly transmitted to the fuselage, which not only causes the bottom obstacle avoidance module to be damaged by vibration (the lens or laser emitter is prone to displacement due to impact), but may also cause the battery inside the fuselage to loosen (poor battery interface contact leads to power failure). There is a contradiction between support stability and buffering: Some equipment uses spring-type support rods to improve the buffering effect, but the spring force is easily affected by temperature. When the drone is parked, it is prone to tipping over due to the tilt of the ground. When it tipps over, the obstacle avoidance module directly hits the ground and is damaged. Therefore, it is necessary to design an automatic obstacle avoidance drone for power line inspection to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide an automatic obstacle avoidance drone for power line inspection, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an automatic obstacle avoidance drone for power line inspection, comprising a main body of the drone, blades fixedly installed at the four corners of the main body via support rods, a camera for power line inspection installed at the bottom of the main body, a laser radar module installed at the bottom of the main body on one side of the camera, a distance sensor installed at the bottom of the main body on the other side of the camera, a base plate installed at the bottom of the main body via multiple mounting parts, support frames fixedly installed at the bottom of the main body on both sides of the base plate, and buffer components for support installed at the bottom of the support frames.

[0006] Preferably, the mounting component includes four circumferentially arranged fixing columns welded to the bottom of the main body, four circumferentially arranged fixing seats welded to the top of the base plate, and a connecting column rotatably mounted on the top of the fixing seats through a connecting part, wherein the top of the connecting column is screwed to the fixing column.

[0007] Preferably, the buffer includes a sliding frame that extends through the bottom of the support frame and is slidably connected, a pad strip is fixedly connected to the bottom of the sliding frame, and a plurality of shock-absorbing rods are fixedly installed between the sliding frame and the support frame in a uniform arrangement.

[0008] Preferably, two sets of evenly arranged guide rods are fixedly installed on the inner side of the support frame, and springs are fitted on the outer side of the guide rods. The guide rods pass through the sliding frame and are slidably connected to it.

[0009] Preferably, a screw rod is screwed onto the other side of the fixing column, and the screw rod is rotatably connected to a connecting plate through a fixing part. A locking rod is fixedly connected to one side of the connecting plate, and a locking groove is provided on one side of the connecting column near its end.

[0010] Preferably, the support rod is bolted to a support base, and a protective ring is welded to the top of the support base, the protective ring being located around the blade.

[0011] Preferably, an anti-slip pad is adhered to the bottom of the pad strip, and the bottom of the anti-slip pad has a plurality of evenly arranged grooves.

[0012] Compared with the prior art, the beneficial effects of this utility model are: 1. The camera can capture images of power line inspections and the environment. The lidar module scans the surrounding environment by emitting laser beams, generating a 3D point cloud map in real time and accurately calculating the distance and outline of obstacles. It is suitable for identifying hard obstacles such as poles, wires, and tree branches. The distance sensor is an ultrasonic sensor that calculates the distance to obstacles by emitting ultrasonic waves and receiving reflected waves. It is suitable for short-distance obstacle avoidance. The two support frames are in a figure-eight shape, which increases the contact area of ​​the support frame supporting the main body through the base plate. The buffer at the bottom of the support frame can buffer and support the main body when it falls. The base plate can splice, snap, and fix the camera, lidar module, and distance sensor.

[0013] 2. The fixed column and the fixed base correspond one-to-one. The connecting part at the bottom of the connecting column rotates in the fixed base, and then the top of the connecting column is screwed to the fixed column. This allows the fixed base to splice, snap, and install the camera, LiDAR module, and distance sensor through the base plate, improving the convenience and stability of disassembling and assembling the camera, LiDAR module, and distance sensor for maintenance. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a left-side sectional perspective view of the overall structure of this utility model; Figure 3 The overall structure of this utility model Figure 2 Enlarged view of point A in the middle; Figure 4 The overall structure of this utility model Figure 2 Enlarged view at point B in the middle; Figure 5 This is a schematic diagram of the overall structure of the camera, lidar module, distance sensor, base plate, support frame, fixing seat, connecting column and pad strip in this utility model.

[0015] In the diagram: 1. Main body; 2. Support rod; 3. Blade; 4. Camera; 5. LiDAR module; 6. Distance sensor; 7. Base plate; 8. Support frame; 9. Fixed column; 10. Fixed seat; 11. Connecting part; 12. Connecting column; 13. Sliding frame; 14. Pad strip; 15. Shock absorber rod; 16. Guide rod; 17. Spring; 18. Screw; 19. Fixed part; 20. Connecting plate; 21. Locking rod; 22. Locking groove; 23. Support seat; 24. Protective ring; 25. Anti-slip pad; 26. Groove. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Example 1 Please refer to Figure 1-5 As shown, this utility model provides an automatic obstacle avoidance drone for power line inspection, including a body 1 of the automatic obstacle avoidance drone. Blades 3 are fixedly installed at the four corners of the body 1 by support rods 2. A camera 4 for power line inspection is installed at the bottom of the body 1. A laser radar module 5 is installed at the bottom of the body 1 and on one side of the camera 4. A distance sensor 6 is installed at the bottom of the body 1 and on the other side of the camera 4. A base plate 7 is installed at the bottom of the body 1 by multiple mounting parts. Support frames 8 are fixedly installed at the bottom of the body 1 and on both sides of the base plate 7. A buffer for support is installed at the bottom of the support frame 8.

[0018] In addition, the camera 4 can capture images of power line inspections and the environment. The lidar module 5 scans the surrounding environment by emitting laser beams, generates a 3D point cloud map in real time, and accurately calculates the distance and outline of obstacles. It is suitable for identifying hard obstacles such as poles, wires, and tree branches. The distance sensor 6 is an ultrasonic sensor that calculates the distance to obstacles by emitting ultrasonic waves and receiving reflected waves. It is suitable for short-distance obstacle avoidance. The two support frames 8 are in a figure-eight shape, which increases the contact area of ​​the support frame 8 supporting the main body 1 through the base plate 7. The buffer at the bottom of the support frame 8 can buffer and support the main body 1 during landing. The base plate 7 can splice, snap, and fix the camera 4, lidar module 5, and distance sensor 6.

[0019] Specifically, the mounting components include four circumferentially arranged fixing posts 9 welded to the bottom of the main body 1, four circumferentially arranged fixing seats 10 welded to the top of the base plate 7, a connecting post 12 rotatably mounted on the top of the fixing seat 10 through a connecting part 11, the top of the connecting post 12 being screwed to the fixing post 9, a screw rod 18 being screwed to the other side of the fixing post 9, a connecting plate 20 being rotatably connected to the screw rod 18 through a fixing part 19, a locking rod 21 being fixedly connected to one side of the connecting plate 20, and a locking groove 22 being opened on one side of the connecting post 12 near its end.

[0020] In this configuration, the fixed column 9 corresponds one-to-one with the fixed base 10. The connecting part 11 at the bottom of the connecting column 12 rotates within the fixed base 10, and then the top of the connecting column 12 is screwed onto the fixed column 9. The screw rod 18 rotates screwed onto the fixed column 9, and then the screw rod 18 drives the connecting plate 20 to move through the fixed part 19. This causes the locking rod 21 on one side of the connecting plate 20 to insert into the locking groove 22 to lock and fix the connecting column 12, preventing the connecting column 12 from rotating in the opposite direction. This allows the fixed base 10 to splice, snap, and install the camera 4, the laser radar module 5, and the distance sensor 6 through the base plate 7, improving the convenience and stability of disassembling and assembling the camera 4, the laser radar module 5, and the distance sensor 6 for maintenance.

[0021] More specifically, the buffer includes a sliding frame 13 that runs through the bottom of the support frame 8 and is slidably connected. A pad strip 14 is fixedly connected to the bottom of the sliding frame 13. A plurality of evenly arranged shock-absorbing rods 15 are fixedly installed between the sliding frame 13 and the support frame 8. Two sets of evenly arranged guide rods 16 are fixedly installed on the inner side of the support frame 8. A spring 17 is fitted on the outer side of the guide rod 16. The guide rod 16 runs through the sliding frame 13 and is slidably connected to it. An anti-slip pad 25 is attached to the bottom of the pad strip 14. A plurality of evenly arranged grooves 26 are opened on the bottom of the anti-slip pad 25.

[0022] In addition, multiple shock-absorbing rods 15 can dampen and absorb energy for the sliding frame 13, guide rods 16 can guide and limit the sliding frame 13, springs 17 on the outside of guide rods 16 can press down on the sliding frame 13 to increase the compressive strength of the sliding frame 13 when it moves upward, and anti-slip pads 25 at the bottom of pad strips 14 can provide stable support for the body 1 and improve the shock absorption and buffering protection effect of the body 1.

[0023] Furthermore, the support rod 2 is bolted to a support base 23, and a protective ring 24 is welded to the top of the support base 23. The protective ring 24 is located around the blade 3.

[0024] Among them, the protective ring 24 can protect the blade 3 from entanglement, preventing the blade 3 from contacting, bumping or entangled with wires or other objects in the environment, which could cause the main body 1 to fall and be damaged.

[0025] Working principle: The camera 4, the lidar module 5, and the distance sensor 6 are placed on the base plate 7. Then, the connecting part 11 at the bottom of the connecting column 12 rotates in the fixed seat 10. Next, the top of the connecting column 12 is screwed to the fixed column 9, so that the screw 18 is screwed to the fixed column 9 and rotates. Then, the screw 18 drives the connecting plate 20 to move through the fixed part 19, so that the locking rod 21 on one side of the connecting plate 20 is inserted into the locking groove 22 to lock and fix the connecting column 12. That is, the fixed seat 10 splices, snaps and installs the camera 4, lidar module 5 and distance sensor 6 through the base plate 7.

[0026] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0027] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic obstacle avoidance unmanned aerial vehicle for power inspection, comprising a body (1) of the automatic obstacle avoidance unmanned aerial vehicle, characterized in that: The body (1) has blades (3) fixedly installed at its four corners by support rods (2). The bottom of the body (1) is equipped with a camera (4) for power inspection. The bottom of the body (1) and one side of the camera (4) is equipped with a laser radar module (5). The bottom of the body (1) and the other side of the camera (4) is equipped with a distance sensor (6). The bottom of the body (1) is equipped with a base plate (7) by multiple mounting parts. The bottom of the body (1) and both sides of the base plate (7) are fixedly installed with support frames (8). The bottom of the support frames (8) is equipped with a buffer for support. 2.The automatic obstacle avoidance UAV for power inspection of claim 1, wherein: The mounting component includes a main body (1) with four fixed columns (9) arranged in a circle welded to the bottom, and a base plate (7) with four fixed seats (10) arranged in a circle welded to the top. A connecting column (12) is rotatably mounted on the top of the fixed seat (10) through a connecting part (11). The top of the connecting column (12) is screwed to the fixed column (9). 3.The automatic obstacle avoidance UAV for power inspection of claim 2, wherein: The buffer includes a sliding frame (13) that runs through the bottom of the support frame (8) and is slidably connected. A pad (14) is fixedly connected to the bottom of the sliding frame (13). A plurality of shock-absorbing rods (15) are evenly arranged and fixedly installed between the sliding frame (13) and the support frame (8).

4. The automatic obstacle avoidance unmanned aerial vehicle for power inspection according to claim 3, characterized in that: The support frame (8) has two sets of guide rods (16) evenly arranged fixedly installed on its inner side. The guide rods (16) are fitted with springs (17) on their outer sides. The guide rods (16) pass through the sliding frame (13) and are slidably connected to it.

5. The automatic obstacle avoidance unmanned aerial vehicle for power inspection according to claim 4, characterized in that: A screw rod (18) is screwed onto the other side of the fixed column (9). The screw rod (18) is rotatably connected to a connecting plate (20) through a fixing part (19). A locking rod (21) is fixedly connected to one side of the connecting plate (20). A locking groove (22) is provided on one side of the connecting column (12) near the end. 6.The automatic obstacle avoidance UAV for power inspection of claim 3, wherein: The support rod (2) is bolted to a support base (23), and a protective ring (24) is welded to the top of the support base (23). The protective ring (24) is located around the blade (3). 7.The automatic obstacle avoidance UAV for power inspection of claim 5, wherein: The bottom of the pad (14) is provided with an anti-slip pad (25), and the bottom of the anti-slip pad (25) has a plurality of evenly arranged grooves (26).

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