阅读说明：本技术 用于电力巡检的全自动无人机服务台及使用方法 (Full-automatic unmanned aerial vehicle service desk for power inspection and use method ) 是由 刘金长 马中刚 马胜 高平 张丽丽 于 2019-12-27 设计创作，主要内容包括：本发明提出一种用于电力巡检的全自动无人机服务台及使用方法,包括：防护壳体,太阳能电池板,天窗、开窗器、升降平台、通信模块、控制器、电源模块、无线充电座和摆正器；所述太阳能电池板和天窗设置在防护壳体的顶部；所述开窗器与天窗连接；所述升降平台设置在天窗下方；所述无线充电座和摆正器设置在升降平台上且无线充电座设置在摆正器的内侧；所述太阳能电池板、电源模块和无线充电座构成电气连接；所述开窗器、升降平台、摆正器和通信模块连接控制器。其可以解决无人机续航能力差、无法执行远程任务的问题,实现无人机在无人工干预和辅助的情况下完成全自动电力巡检任务。(The invention provides a full-automatic unmanned aerial vehicle service desk for power inspection and a using method thereof, wherein the service desk comprises the following steps: the device comprises a protective shell, a solar cell panel, a skylight, a window opener, a lifting platform, a communication module, a controller, a power supply module, a wireless charging seat and a straightening device; the solar cell panel and the skylight are arranged at the top of the protective shell; the window opener is connected with the skylight; the lifting platform is arranged below the skylight; the wireless charging seat and the straightening device are arranged on the lifting platform, and the wireless charging seat is arranged on the inner side of the straightening device; the solar cell panel, the power supply module and the wireless charging seat form electrical connection; the window opener, the lifting platform, the centering device and the communication module are connected with the controller. The unmanned aerial vehicle remote power inspection system can solve the problems that the unmanned aerial vehicle is poor in cruising ability and cannot execute remote tasks, and the unmanned aerial vehicle can complete a full-automatic power inspection task under the condition of no manual intervention and assistance.)

1. The utility model provides a full-automatic unmanned aerial vehicle service desk for electric power is patrolled and examined, its characterized in that includes: the device comprises a protective shell, a solar cell panel, a skylight, a window opener, a lifting platform, a communication module, a controller, a power supply module, a wireless charging seat and a straightening device; the solar cell panel and the skylight are arranged at the top of the protective shell; the window opener is connected with the skylight; the lifting platform is arranged below the skylight; the wireless charging seat and the straightening device are arranged on the lifting platform, and the wireless charging seat is arranged on the inner side of the straightening device; the solar cell panel, the power supply module and the wireless charging seat form electrical connection; the window opener, the lifting platform, the centering device and the communication module are connected with the controller.

2. The full-automatic unmanned aerial vehicle service desk for power inspection according to claim 1, wherein: the solar cell panel is fixed on the skylight.

3. The full-automatic unmanned aerial vehicle service desk for power inspection according to claim 1, wherein: the centering device comprises a centering device push rod and a push rod driving unit; the four straightening device push rods surround a landing area, and the push rod driving unit drives the straightening device push rods to swing so as to expand or shrink the landing area; the wireless charging seat is arranged in the falling area.

4. The full-automatic unmanned aerial vehicle service desk for power inspection according to claim 1, wherein: the communication module comprises a relay communication module connected with a far-end upper computer.

5. The full-automatic unmanned aerial vehicle service desk for power inspection according to claim 1, wherein: the communication module includes satellite positioning and satellite communication means.

6. The full-automatic unmanned aerial vehicle service desk for power inspection according to claim 1, wherein: the wind power generation system also comprises a humidity sensor and an anemometer which are connected with the controller.

7. Use of a fully automatic drone helpdesk for power routing inspection according to any one of claims 1 to 6, characterised by the following steps:

step A1: the unmanned aerial vehicle establishes connection with an idle service desk and initiates a landing request;

step A2: the window opener controls the skylight to be opened, and the lifting platform is lifted;

step A3: after the unmanned aerial vehicle lands on the lifting platform, the lifting platform retracts, and the skylight is closed;

step A4: the position of the unmanned aerial vehicle is adjusted by the aligning device, so that the unmanned aerial vehicle is aligned to the wireless charging coil of the wireless charging seat.

8. Use of a fully automatic drone helpdesk for power routing inspection according to any one of claims 1 to 6, characterised by the following steps:

step B1: when the preset power inspection time of the unmanned aerial vehicle arrives, judging whether the unmanned aerial vehicle accommodated in the service desk is suitable for taking off or not according to weather information, electric quantity information of the unmanned aerial vehicle, position information and communication abnormal information, and if so, executing the step B2;

step B2: the window opener controls the skylight to be opened, and the lifting platform is lifted; the unmanned aerial vehicle takes off from the lifting platform;

step B3: the lifting platform retracts, and the skylight is closed.

9. The method of using the fully automatic drone helpdesk for power inspection according to claim 6, characterized by the following steps:

step C1: when the preset power inspection time of the unmanned aerial vehicle arrives, judging whether the unmanned aerial vehicle accommodated in the service desk is suitable for taking off or not according to the information collected by the humidity sensor and the anemoscope, the electric quantity information of the unmanned aerial vehicle, the position information and the abnormal communication information, and if so, executing the step C2;

step C2: the window opener controls the skylight to be opened, and the lifting platform is lifted; the unmanned aerial vehicle takes off from the lifting platform;

step C3: the lifting platform retracts, and the skylight is closed.

10. The use method of the full-automatic unmanned aerial vehicle service desk for power inspection according to claim 4, wherein the service desk comprises: the unmanned aerial vehicle uploads the acquired image and data information to the remote upper computer through the relay communication module.

Technical Field

The invention relates to the field of unmanned aerial vehicles and power inspection maintenance, in particular to a full-automatic unmanned aerial vehicle service desk for power inspection and a using method thereof.

Background

With the continuous development of power grid systems and the continuous innovation of power technologies, power grid systems are increasingly large. Because the power line has wide coverage, complex terrain passing through the region and bad natural environment, the power department spends huge manpower and material resources to perform line patrol every year so as to master the running condition of the line and timely eliminate the potential hidden troubles of the line. The regular manual inspection line not only consumes long time and has low efficiency, but also is limited by topographic factors, and some line sections cannot be manually inspected.

In recent years, the unmanned aerial vehicle is used as a carrier for detecting the power transmission line, and a new inspection method provides a new mobile platform for overhead power line inspection. The unmanned aerial vehicle replaces manual inspection, so that casualties cannot be caused in safety, and the safety is high; the system is not limited by geographical conditions, and can still inspect the power line of the disaster area even if natural disasters such as earthquake, flood and the like occur; the line patrol speed is high in efficiency.

However, most of the existing schemes require a manual remote control unmanned aerial vehicle to carry out routing inspection operation, the manual resource constraint cannot be avoided, the full-automatic operation of the system cannot be realized, the working range of the unmanned aerial vehicle is very limited due to the limitation of the endurance time of the unmanned aerial vehicle, the unmanned aerial vehicle executes routing inspection tasks and is also limited by weather conditions, modules such as integrated electronics, communication and image recognition on an unmanned aerial vehicle platform are also limited by the weight of the unmanned aerial vehicle, and the mode cannot be practically applied to actual operation occasions.

Disclosure of Invention

In order to solve the problem of endurance in unmanned aerial vehicle inspection and realize quick and safe inspection of a power transmission line, the invention specifically adopts the following technical scheme:

the utility model provides a full-automatic unmanned aerial vehicle service desk for electric power is patrolled and examined, its characterized in that includes: the device comprises a protective shell, a solar cell panel, a skylight, a window opener, a lifting platform, a communication module, a controller, a power supply module, a wireless charging seat and a straightening device; the solar cell panel and the skylight are arranged at the top of the protective shell; the window opener is connected with the skylight; the lifting platform is arranged below the skylight; the wireless charging seat and the straightening device are arranged on the lifting platform, and the wireless charging seat is arranged on the inner side of the straightening device; the solar cell panel, the power supply module and the wireless charging seat form electrical connection; the window opener, the lifting platform, the centering device and the communication module are connected with the controller.

Preferably, the solar cell panel is fixed to the skylight.

Preferably, the straightener comprises a straightener push rod and a push rod driving unit; the four straightening device push rods surround a landing area, and the push rod driving unit drives the straightening device push rods to swing so as to expand or shrink the landing area; the wireless charging seat is arranged in the falling area.

Preferably, the communication module comprises a relay communication module connected with a far-end upper computer.

Preferably, the communication module comprises satellite positioning and satellite communication means.

Preferably, the wind speed meter also comprises a humidity sensor and an anemometer which are connected with the controller.

One of the using methods comprises the following steps:

step A1: the unmanned aerial vehicle establishes connection with an idle service desk and initiates a landing request;

step A2: the window opener controls the skylight to be opened, and the lifting platform is lifted;

step A3: after the unmanned aerial vehicle lands on the lifting platform, the lifting platform retracts, and the skylight is closed;

step A4: the position of the unmanned aerial vehicle is adjusted by the aligning device, so that the unmanned aerial vehicle is aligned to the wireless charging coil of the wireless charging seat.

The second using method comprises the following steps:

step B1: when the preset power inspection time of the unmanned aerial vehicle arrives, judging whether the unmanned aerial vehicle accommodated in the service desk is suitable for taking off or not according to weather information, electric quantity information of the unmanned aerial vehicle, position information and communication abnormal information, and if so, executing the step B2;

step B2: the window opener controls the skylight to be opened, and the lifting platform is lifted; the unmanned aerial vehicle takes off from the lifting platform;

step B3: the lifting platform retracts, and the skylight is closed.

The third using method comprises the following steps:

step C1: when the preset power inspection time of the unmanned aerial vehicle arrives, judging whether the unmanned aerial vehicle accommodated in the service desk is suitable for taking off or not according to the information collected by the humidity sensor and the anemoscope, the electric quantity information of the unmanned aerial vehicle, the position information and the abnormal communication information, and if so, executing the step C2;

step C2: the window opener controls the skylight to be opened, and the lifting platform is lifted; the unmanned aerial vehicle takes off from the lifting platform;

step C3: the lifting platform retracts, and the skylight is closed.

Preferably, the unmanned aerial vehicle uploads the acquired images and data information to a remote upper computer through the relay communication module.

The invention and the optimized scheme thereof can provide a field stop station for the unmanned aerial vehicle executing the power inspection, solve the problems that the unmanned aerial vehicle has poor cruising ability and can not execute remote tasks for a long time, and simultaneously can solve the problem of remote transmission of data information in the power inspection process of the unmanned aerial vehicle. Can perfect unmanned aerial vehicle system of patrolling and examining, realize patrolling and examining fast, the safety of transmission line under no artificial intervention.

The main innovation points are as follows: the full-automatic unmanned aerial vehicle service desk can be directly deployed in a field environment according to the division of the power inspection area and the cruising ability of the selected unmanned aerial vehicle, so that the unmanned aerial vehicle which needs to regularly execute the inspection task is protected for a long time from being damaged due to wind, rain and external force; under the condition of no human intervention and assistance, the unmanned aerial vehicle can be assisted to take off and execute tasks and return to the air at a fixed point, and a full-automatic unmanned aerial vehicle power inspection system is realized; a wireless charging seat and a wireless charging aligner are arranged in the service desk, so that the battery coil of the unmanned aerial vehicle is aligned with the charging coil below, and the wireless charging efficiency is improved; meanwhile, the communication module in the service desk can perform three-party communication with the background of the unmanned aerial vehicle, image data information is transmitted, the cruising ability of the unmanned aerial vehicle for collecting data is guaranteed, and meanwhile, subsequent analysis and processing can be conveniently completed at a far end.

Through this scheme, can solve the problem that unmanned aerial vehicle duration is poor, can't carry out remote task, realize that unmanned aerial vehicle accomplishes full-automatic power and patrols and examines the task under the condition of unmanned aerial vehicle without artificial intervention and supplementary. In addition, the problem that the unmanned aerial vehicle is limited in communication distance and limited in airborne load and image processing and analysis are difficult to perform can be solved.

Drawings

The invention is described in further detail below with reference to the following figures and detailed description:

FIG. 1 is a schematic diagram of the overall structure of an apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a method of use of an embodiment of the present invention;

FIG. 3 is a schematic diagram of a circuit system according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a straightening device according to an embodiment of the present invention;

in the figure: 1-a protective housing; 2-a solar panel; 3-skylight; 4-lifting the platform; 5-a power supply module; 6-wireless charging seat; 7-a centering device; 8-liquid crystal display screen; 9-communication antenna.

Detailed Description

In order to make the features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail as follows:

as shown in fig. 1, the device scheme provided in this embodiment mainly includes: protective housing 1, solar cell panel 2, plug-type skylight 3 and the ware of windowing that corresponds, lift platform 4, power module 5, wireless charging seat 6, ajuster 7, communication module, liquid crystal display 8, communication antenna 9, controller isotructure. Wherein, protective housing 1 adopts the water proofness technology to make, can place according to the situation in actual installation place, mainly used guarantee unmanned aerial vehicle berths and safety. The window opener is connected with the skylight 3 and used for controlling the opening and closing of the skylight 3, and can be specifically realized by a stepping motor and a guide rail structure. The solar cell panel 2 is fixedly covered at the position where the skylight 3 is not shielded, and the storage battery is charged by using solar energy. The lifting platform 4 is arranged below the skylight 3, and the two can be linked through an interlocking mechanism in an electric control mode: namely, when the skylight 3 is opened, the lifting platform 4 is lifted, and when the skylight 3 is closed, the lifting platform 4 is descended; the lifting platform 4 can be driven by a motor or an air cylinder, preferably by the motor, and adopts a screw rod structure to control lifting. The wireless charging seat 6 and the aligning device 7 are arranged on the lifting platform 4, and the wireless charging seat 6 is arranged on the inner side of the aligning device 7. The aligning device 7 can push the unmanned aerial vehicle to the position right above the wireless charging seat 6, so that the unmanned aerial vehicle is aligned to charge. As shown in fig. 3, the power module 5 is used for supplying power to each module of the system, and the solar panel 2, the power module 5 and the wireless charging stand 6 are electrically connected; communication module 8 includes satellite positioning and satellite communication device, and connect the relay communication module of far-end host computer, realize the interaction with unmanned aerial vehicle's information through satellite communication and positioning technology (GPS or big dipper), the unmanned aerial vehicle fixed point that can assist returning a voyage stops, and can provide the geographical position information operating condition information of service desk to long-range backstage management system in real time, with the real-time data interaction of backstage management system, make unmanned aerial vehicle and the host computer that is located the far-end realize data interaction through relay communication module, the image and the data information that the unmanned aerial vehicle that carries out the electric power inspection gathered realize the wireless biography transmission of information data through the service desk relay, accomplish technologies such as subsequent image recognition and data processing. The window opener, the lifting platform 4, the straightening device 7 and the communication module 9 are connected with a controller, the controller can adopt a single chip microcomputer or a PLC, and the action control and the starting and stopping of the action modules are mainly realized according to preset logic. The liquid crystal display screen 8 is mainly used for maintaining and operating the service desk on site, can be used for viewing the site state and displaying parameters, and preferably adopts a touch display screen and is also used as an input port.

Particularly, in order to realize that unmanned aerial vehicle carries out the electric power and patrols and examines the management and control of task more with guaranteeing, this embodiment has set up connection controller's humidity transducer and anemoscope very much for whether the current service desk of sensing area has the condition of raining or strong wind, will be more accurate than the data of transferring from the backstage, thereby can furthest guarantee unmanned aerial vehicle and carry out the security of task.

As shown in fig. 4, since it is difficult to ensure that the unmanned aerial vehicle can just land in the area aligned with the wireless charging dock 6, in this embodiment, the structure of the aligning device 7 is adopted for position fine adjustment. The straightener 7 comprises a straightener 7 push rod and a push rod driving unit; the push rods of the four straightening devices 7 enclose a landing area, and the push rod driving unit drives the push rods of the straightening devices 7 to swing (similar to the structure of a windshield wiper of an automobile), so that the landing area is expanded or reduced; the wireless charging seat 6 is arranged in the landing area, and when the landing area is the minimum, the unmanned aerial vehicle parked in the landing area is just limited to move to a state of aligning with a coil of the wireless charging seat 6.

Through above device scheme, this full-automatic unmanned aerial vehicle service desk sets up under the field environment, and the closed structure of protective housing 1 can possess dampproofing and waterproofing's characteristic, is fit for unmanned aerial vehicle to stop for a long time, stores the aircraft safely under the wind and rain environment. Under need not artificial intervention and supplementary, the service desk can assist unmanned aerial vehicle's take-off and fixed point to descend, provides the stop of long time or short time for the unmanned aerial vehicle that carries out the electric power task of patrolling and examining. And the service desk is internally provided with a wireless charging seat 6 and a wireless charging auxiliary structure which can charge the aircraft. The main power supply mode of the service desk is a solar photovoltaic panel, and 220V alternating current (optional) is supplied in an auxiliary mode, so that insufficient system power is prevented from being caused under the condition of long-time cloudy days. The service desk is provided with a satellite positioning and communication module, assists the fixed-point parking of the unmanned aerial vehicle, and provides a relay communication function for the aircraft.

As shown in fig. 2, the method for using the above device in actual operation mainly includes the following steps: the service desk determines the current position through the satellite positioning module, and the communication module acquires weather conditions (or weather conditions obtained through a sensor) from the background management system and acquires electric quantity information of the unmanned aerial vehicle and the like. Under all accorded with the flight condition, 3 openings in service desk skylight, lift platform 4 rises to the opening part, sends unmanned aerial vehicle instruction of taking off, and unmanned aerial vehicle begins to carry out the electric power task of patrolling and examining. After the unmanned aerial vehicle flies out, the lifting platform 4 descends, and the skylight 3 is closed. In the process of executing tasks, the unmanned aerial vehicle returns data such as image information to the unmanned aerial vehicle service desk, and can realize processing and analysis of images in a background management system. When the electric quantity of the unmanned aerial vehicle is too small, the unmanned aerial vehicle sends a return flight instruction. After the service desk receives the instruction, the skylight 3 of the service desk is opened, and the lifting platform 4 is lifted. The unmanned aerial vehicle is positioned according to self and is berthhed on the platform with the service desk location, and lift platform 4 descends to initial position. The unmanned aerial vehicle can be pushed right above the wireless charging seat 6 through the aligning device 7 in the service desk, and wireless charging is realized.

Three specific embodiments of the invention are provided below: