An unmanned aerial vehicle vision-based overhead line ice thickness detection aircraft

Abstract

The utility model relates to overhead line detection technical field and disclose an overhead line icing thickness detection aircraft based on unmanned aerial vehicle vision, including aircraft body, the bottom fixedly connected with fixed frame of aircraft body, the inner wall rotationally connected with first bidirectional screw rod of fixed frame, the both ends outer wall of first bidirectional screw rod all are connected with mounting frame, the inner wall rotationally connected with thread sleeve of mounting frame, when dismounting, rotate second bidirectional screw rod and make second bidirectional screw rod rotation drive the clamping plate to remove, two clamping plates are far away from each other, and further make the clamping block and the clamping groove separate, can take down the detection block and overhaul, when installing, push the detection block and make the positioning block enter the positioning groove, when the detection block and the installation block abut, the clamping groove and the clamping block are aligned, reverse rotation second bidirectional screw rod makes two clamping plates close to each other, can make the clamping groove enter the clamping block and limit the detection block, be convenient for installation and dismounting, be convenient for overhaul.

Description

Technical Field

[0001] This utility model relates to the field of overhead line detection technology, and more specifically, to an aerial vehicle for detecting the icing thickness of overhead lines based on UAV vision. Background Technology

[0002] In power systems, overhead lines serve as a crucial carrier for electrical energy transmission, and their safe and stable operation is of paramount importance. However, in cold climates, overhead lines are highly susceptible to icing. Icing creates additional weight and stress on overhead lines, and when the ice thickness reaches a certain level, it can lead to serious accidents such as line breaks and tower collapses, posing a significant threat to the normal operation of the power system and consequently disrupting the normal order of social production and daily life.

[0003] Traditional methods for detecting the icing thickness of overhead lines mainly rely on manual inspections. Staff need to conduct on-site measurements along the lines. This method is not only labor-intensive and inefficient, but also highly limited by geographical environment and weather conditions. In some areas with complex terrain and harsh climate, manual inspections are often difficult to carry out, making it impossible to obtain information on the icing thickness of overhead lines in a timely and accurate manner, and making it difficult to detect potential icing safety hazards in a timely manner. Utility Model Content

[0004] To overcome the shortcomings of existing technologies, this utility model provides an aerial vehicle for detecting the icing thickness of overhead power lines based on UAV vision.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an aerial vehicle for detecting the icing thickness of overhead power lines based on UAV vision, comprising an aerial vehicle body, a fixed frame fixedly connected to the bottom of the aerial vehicle body, a first bidirectional screw rotatably connected to the inner wall of the fixed frame, mounting frames threadedly connected to the outer walls of both ends of the first bidirectional screw, a threaded sleeve rotatably connected to the inner wall of the mounting frame, a stud threadedly connected to the inner wall of the threaded sleeve, a mounting block fixedly connected to one end of the stud extending from the bottom of the mounting frame, a detection block abutting the bottom of the mounting block, locking blocks fixedly connected to both sides of the detection block, symmetrically distributed clamping plates slidably connected to the bottom of the mounting block, and locking grooves provided on the clamping plates, the locking grooves being adapted to the locking blocks, a thickness measuring sensor fixedly connected to the top inner wall of the detection block, and multiple equidistantly distributed insulating balls installed on the bottom inner wall of the detection block.

[0006] As a preferred embodiment of this utility model, the bottom of the mounting block is fixedly connected to symmetrically distributed support blocks, and a second bidirectional screw is rotatably connected between the two support blocks. The outer wall of the second bidirectional screw is threadedly connected to the clamping plate.

[0007] As a preferred embodiment of this utility model, guide rods are fixedly connected to the sides of the two clamping plates that are far apart from each other, and the outer walls of the guide rods are slidably connected to the support blocks.

[0008] As a preferred embodiment of this utility model, the top of the detection block is provided with a positioning groove, and the bottom of the mounting block is fixedly connected with a positioning block, and the positioning block is adapted to the positioning groove.

[0009] As a preferred embodiment of this utility model, the top of the mounting block is fixedly connected with symmetrically distributed vertical rods, and the outer wall of the vertical rods is slidably connected to the mounting frame. The top of the vertical rods is fixedly connected with a connecting block, and the inner wall of the mounting frame is fixedly connected with symmetrically distributed limiting blocks, with the limiting blocks located above the connecting blocks.

[0010] As a preferred embodiment of this utility model, a driven bevel gear is fixedly sleeved on the outer wall of the threaded sleeve, a driving bevel gear meshes with one side of the driven bevel gear, and the driving bevel gear is located above the limiting block. A second motor is fixedly connected to one side of the outer wall of the mounting frame, and the output shaft of the second motor is fixedly connected to the driving bevel gear.

[0011] As a preferred embodiment of the present invention, the first bidirectional screw has symmetrically distributed crossbars on both sides, and the crossbars are fixedly connected to the fixing frame. The outer wall of the crossbars is slidably connected to the mounting frame. A first motor is fixedly connected to one side of the outer wall of the fixing frame, and the output shaft of the first motor is fixedly connected to the first bidirectional screw.

[0012] As a preferred embodiment of this utility model, a controller is fixedly connected to the top of the aircraft body, and the controller is electrically connected to the first motor, the aircraft body and the second motor respectively. Support legs are fixedly connected to the four corners of the bottom of the aircraft body.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. In this utility model, during use, the aircraft body causes the two detection blocks to fly between the two overhead lines. The first motor is started, and the output shaft of the first motor rotates, driving the first bidirectional screw to rotate, thereby causing the two mounting frames to move away from each other. The lateral position of the detection blocks is adjusted so that the overhead lines enter the detection blocks. The second motor is started, and the output shaft of the second motor rotates, driving the active bevel gear to rotate, which in turn drives the driven bevel gear to rotate, causing the threaded sleeve to rotate, driving the stud and mounting block to move, thereby adjusting the height position of the detection blocks so that the bottom outer wall of the overhead line contacts the insulating ball, and the icing thickness of the overhead line can be detected by the thickness measurement sensor. 2. In this utility model, during disassembly, rotating the second bidirectional screw causes the clamping plate to move, and the two clamping plates move away from each other, thereby causing the locking block to disengage from the locking slot, so that the detection block can be removed for maintenance. During installation, pushing the detection block causes the positioning block to enter the positioning slot. When the detection block abuts against the installation block, the locking slot and the locking block are aligned. Rotating the second bidirectional screw in the opposite direction causes the two clamping plates to move closer to each other, so that the locking slot enters the locking block to limit the detection block, which facilitates installation and disassembly and facilitates maintenance. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the installation of the fixing frame of this utility model; Figure 3 This is a partial sectional view of the present invention; Figure 4 This is a structural diagram of the mounting frame of this utility model; Figure 5 In this utility model Figure 2 Enlarged view of point A; Figure 6 In this utility model Figure 3 Enlarged view of point B.

[0015] In the diagram: 1. Aircraft body; 2. Controller; 3. Support leg; 4. Mounting frame; 5. Fixing frame; 6. First bidirectional screw; 7. Crossbar; 8. First motor; 9. Second motor; 10. Threaded sleeve; 11. Stud; 12. Mounting block; 13. Detection block; 14. Vertical rod; 15. Connecting block; 16. Limiting block; 17. Driven bevel gear; 18. Driven bevel gear; 19. Support block; 20. Second bidirectional screw; 21. Clamping plate; 22. Slot; 23. Clamping block; 24. Positioning slot; 25. Positioning block; 26. Insulating ball; 27. Thickness measuring sensor; 28. Guide rod. 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] like Figures 1 to 6As shown, this utility model provides an aerial vehicle for detecting the icing thickness of overhead power lines based on UAV vision. It includes an aircraft body 1, a fixed frame 5 fixedly connected to the bottom of the aircraft body 1, a first bidirectional screw 6 rotatably connected to the inner wall of the fixed frame 5, mounting frames 4 threadedly connected to the outer walls of both ends of the first bidirectional screw 6, a threaded sleeve 10 rotatably connected to the inner wall of the mounting frame 4, a stud 11 threadedly connected to the inner wall of the threaded sleeve 10, and a mounting block 12 fixedly connected to one end of the stud 11 extending from the bottom of the mounting frame 4. A detection block 13 abuts against the bottom of the mounting block 12. Both sides of the mounting block 12 are fixedly connected with a locking block 23. The bottom of the mounting block 12 is slidably connected with symmetrically distributed clamping plates 21, and the clamping plates 21 are provided with locking slots 22, which are adapted to the locking blocks 23. The top inner wall of the detection block 13 is fixedly connected with a thickness measuring sensor 27, and the bottom inner wall of the detection block 13 is equipped with multiple equally spaced insulating balls 26. The first bidirectional screw 6 rotates to drive the two mounting frames 4 to move away from each other, thereby moving the detection block 13 and allowing the overhead line to enter the detection block 13. The thickness measuring sensor 27 is used to detect the icing thickness of the overhead line.

[0018] In actual use, a camera is installed on the main body of the aircraft 1 to facilitate observation of the environment; the camera is not shown in the figure.

[0019] The bottom of the mounting block 12 is fixedly connected to symmetrically distributed support blocks 19. A second bidirectional screw 20 is rotatably connected between the two support blocks 19. The outer wall of the second bidirectional screw 20 is threadedly connected to the clamping plate 21. The rotation of the second bidirectional screw 20 drives the two clamping plates 21 to move, thereby allowing the slot 22 to enter the clamping block 23 to fix the detection block 13.

[0020] In this case, guide rods 28 are fixedly connected to the sides of the two clamping plates 21 that are far apart from each other. The outer wall of the guide rods 28 is slidably connected to the support block 19, and the movement of the clamping plates 21 is guided by the support block 19.

[0021] The top of the detection block 13 is provided with a positioning groove 24, and the bottom of the mounting block 12 is fixedly connected with a positioning block 25, and the positioning block 25 is adapted to the positioning groove 24. The positioning block 25 and the positioning groove 24 facilitate the positioning of the detection block 13 during installation.

[0022] In actual use, a 0.5mm thick silicone anti-slip pad is added to the contact surface between the clamping plate 21 and the detection block 13. At the same time, an annular groove is opened on the outer wall of the positioning block 25, and a matching rubber protrusion is set on the inner wall of the positioning groove 24 to enhance positioning stability.

[0023] The top of the mounting block 12 is fixedly connected with symmetrically distributed vertical rods 14, and the outer wall of the vertical rods 14 is slidably connected to the mounting frame 4. The top of the vertical rods 14 is fixedly connected with a connecting block 15, and the inner wall of the mounting frame 4 is fixedly connected with symmetrically distributed limiting blocks 16, and the limiting blocks 16 are located above the connecting blocks 15. The vertical rods 14 guide the movement of the mounting block 12.

[0024] The outer wall of the threaded sleeve 10 is fixedly fitted with a driven bevel gear 17, and a driving bevel gear 18 is meshed on one side of the driven bevel gear 17. The driving bevel gear 18 is located above the limiting block 16. A second motor 9 is fixedly connected to one side of the outer wall of the mounting frame 4, and the output shaft of the second motor 9 is fixedly connected to the driving bevel gear 18. The model of the second motor 9 is HobbywingV1113055KV. The second motor 9 drives the driving bevel gear 18, thereby causing the threaded sleeve 10 to rotate.

[0025] The first bidirectional screw 6 has symmetrically distributed crossbars 7 on both sides, and the crossbars 7 are fixedly connected to the fixed frame 5. The outer wall of the crossbars 7 is slidably connected to the mounting frame 4. A first motor 8 is fixedly connected to one side of the outer wall of the fixed frame 5, and the output shaft of the first motor 8 is fixedly connected to the first bidirectional screw 6. The first motor 8 is a T-MOTORU13ⅡKV130. The first motor 8 drives the first bidirectional screw 6 to rotate, and the crossbars 7 guide the movement of the mounting frame 4.

[0026] The top of the aircraft body 1 is fixedly connected to a controller 2, which is electrically connected to the first motor 8, the aircraft body 1 and the second motor 9 respectively. Support legs 3 are fixedly connected to the four corners of the bottom of the aircraft body 1. The controller 2 controls the first motor 8, the aircraft body 1 and the second motor 9.

[0027] In actual use, the first motor 8 and the second motor 9 are encapsulated with IP65-rated waterproof housings, and fluororubber sealing rings are added to the motor output shafts to prevent moisture intrusion.

[0028] The controller 2 uses an STM32F407 chip to adjust the motor speed through a pulse width modulation (PWM) signal. The lateral position calibration is based on a 5mm distance between the edge of the line and the inner wall of the detection block 13. The thickness data is transmitted to the UAV's onboard storage module via a 485 bus.

[0029] Working principle and usage process of this utility model: In this application, during use, the aircraft body 1 drives two detection blocks 13 to fly between the two parallel overhead lines to be detected. The first motor 8 is started, and the output shaft of the first motor 8 rotates, driving the first bidirectional screw 6 to rotate, thereby causing the two mounting frames 4 to move away from each other. The lateral position of the detection blocks 13 is adjusted so that the overhead lines enter the detection blocks 13. The second motor 9 is started, and the output shaft of the second motor 9 rotates, driving the active bevel gear 18 to rotate, which in turn drives the driven bevel gear 17 to rotate, causing the threaded sleeve 10 to rotate, driving the stud 11 and the mounting block 12 to move, thereby adjusting the height position of the detection blocks 13 so that the bottom outer wall of the overhead lines contacts the insulating ball 26. The icing thickness of the overhead lines can then be detected by the thickness measurement sensor 27. In this application, during disassembly, rotating the second bidirectional screw 20 causes the clamping plate 21 to move, and the two clamping plates 21 move away from each other, thereby causing the locking block 23 to disengage from the locking groove 22, so that the detection block 13 can be removed for maintenance. During installation, pushing the detection block 13 causes the positioning block 25 to enter the positioning groove 24. When the detection block 13 abuts against the mounting block 12, the locking groove 22 and the locking block 23 are aligned. Rotating the second bidirectional screw 20 in the opposite direction causes the two clamping plates 21 to move closer to each other, so that the locking groove 22 enters the locking block 23 to limit the detection block 13, which facilitates installation and disassembly and maintenance.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A drone-based vision-based aerial vehicle for detecting icing thickness on overhead power lines, comprising an aircraft body (1), characterized in that: A fixed frame (5) is fixedly connected to the bottom of the aircraft body (1). A first bidirectional screw (6) is rotatably connected to the inner wall of the fixed frame (5). Both ends of the first bidirectional screw (6) are threadedly connected to mounting frames (4). A threaded sleeve (10) is rotatably connected to the inner wall of the mounting frame (4). A stud (11) is threadedly connected to the inner wall of the threaded sleeve (10). A mounting block (12) is fixedly connected to one end of the stud (11) extending out of the bottom of the mounting frame (4). The bottom of the mounting block (12) is abutted against a detection block (13). Both sides of the detection block (13) are fixedly connected with a locking block (23). The bottom of the mounting block (12) is slidably connected with symmetrically distributed clamping plates (21), and the clamping plates (21) are provided with a locking groove (22), and the locking groove (22) is adapted to the locking block (23). The top inner wall of the detection block (13) is fixedly connected with a thickness measuring sensor (27), and the bottom inner wall of the detection block (13) is equipped with multiple equally spaced insulating balls (26).

2. The aerial vehicle for detecting icing thickness of overhead power lines based on UAV vision according to claim 1, characterized in that: The bottom of the mounting block (12) is fixedly connected to symmetrically distributed support blocks (19), and a second bidirectional screw (20) is rotatably connected between the two support blocks (19). The outer wall of the second bidirectional screw (20) is threadedly connected to the clamping plate (21).

3. The aerial vehicle for detecting icing thickness of overhead power lines based on UAV vision according to claim 1, characterized in that: Guide rods (28) are fixedly connected to the two clamping plates (21) on opposite sides, and the outer wall of the guide rods (28) is slidably connected to the support block (19).

4. The aerial vehicle for detecting icing thickness of overhead power lines based on UAV vision according to claim 1, characterized in that: The top of the detection block (13) is provided with a positioning groove (24), and the bottom of the mounting block (12) is fixedly connected with a positioning block (25), and the positioning block (25) is adapted to the positioning groove (24).

5. The aerial vehicle for detecting icing thickness of overhead power lines based on UAV vision according to claim 1, characterized in that: The top of the mounting block (12) is fixedly connected with symmetrically distributed vertical rods (14), and the outer wall of the vertical rods (14) is slidably connected to the mounting frame (4). The top of the vertical rods (14) is fixedly connected with a connecting block (15), and the inner wall of the mounting frame (4) is fixedly connected with symmetrically distributed limiting blocks (16), and the limiting blocks (16) are located above the connecting blocks (15).

6. The aerial vehicle for detecting icing thickness of overhead power lines based on UAV vision according to claim 1, characterized in that: The outer wall of the threaded sleeve (10) is fixedly fitted with a driven bevel gear (17), and a driving bevel gear (18) meshes with one side of the driven bevel gear (17). The driving bevel gear (18) is located above the limiting block (16). A second motor (9) is fixedly connected to one side of the outer wall of the mounting frame (4), and the output shaft of the second motor (9) is fixedly connected to the driving bevel gear (18).

7. The aerial vehicle for detecting icing thickness of overhead power lines based on UAV vision according to claim 1, characterized in that: The first bidirectional screw (6) has symmetrically distributed crossbars (7) on both sides, and the crossbars (7) are fixedly connected to the fixed frame (5). The outer wall of the crossbars (7) is slidably connected to the mounting frame (4). The outer wall of one side of the fixed frame (5) is fixedly connected to the first motor (8), and the output shaft of the first motor (8) is fixedly connected to the first bidirectional screw (6).

8. The aerial vehicle for detecting icing thickness of overhead power lines based on UAV vision according to claim 1, characterized in that: A controller (2) is fixedly connected to the top of the aircraft body (1). The controller (2) is electrically connected to the first motor (8), the aircraft body (1), and the second motor (9). Support legs (3) are fixedly connected to the four corners of the bottom of the aircraft body (1).

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