阅读说明：本技术 一种用于输电铁塔图像识别的无人机装置 (Unmanned aerial vehicle device for power transmission tower image recognition ) 是由 王凌旭 姚瑶 樊磊 何锦航 于 2019-11-27 设计创作，主要内容包括：本发明公开了一种用于输电铁塔图像识别的无人机装置,包括无人机飞行翼和无人机连接架,无人机飞行翼安装在无人机主架上,无人机主架通过无人机连接架与机箱上表面的连接滑槽处进行固定连接,红外热像仪和激光扫描仪安装在扫描仪安装机箱上,扫描仪安装机箱固定连接在扫描仪固定框架上,扫描仪固定框架固定在机箱的左前方,可视相机安装在无人机主架头部,测距装置和GPS装置安装在无人机主架底部,主信号唤醒器安装在机箱的右前方,铁塔固定扫描仪安装在输电铁塔的每一个横隔位置。本发明便于各个部件的布置达到连接架的重心调整,使得重心与无人机重心位于同一竖直方向上,无人机飞行控制更容易,实现自动唤醒开机,降低设备能耗。(The invention discloses an unmanned aerial vehicle device for image recognition of a power transmission tower, which comprises an unmanned aerial vehicle flying wing and an unmanned aerial vehicle connecting frame, wherein the unmanned aerial vehicle flying wing is installed on an unmanned aerial vehicle main frame, the unmanned aerial vehicle main frame is fixedly connected with a connecting chute on the upper surface of a case through the unmanned aerial vehicle connecting frame, a thermal infrared imager and a laser scanner are installed on a scanner installation case, the scanner installation case is fixedly connected on a scanner fixing frame, the scanner fixing frame is fixed at the front left of the case, a visual camera is installed at the head part of the unmanned aerial vehicle main frame, a distance measuring device and a GPS device are installed at the bottom part of the unmanned aerial vehicle main frame, a main signal awakening device is installed at the front right of the case, and a tower fixing scanner. The invention is convenient for the arrangement of each part to achieve the adjustment of the gravity center of the connecting frame, so that the gravity center and the gravity center of the unmanned aerial vehicle are positioned in the same vertical direction, the flight control of the unmanned aerial vehicle is easier, the automatic wake-up starting is realized, and the energy consumption of equipment is reduced.)

1. The utility model provides an unmanned aerial vehicle device for steel pylons image recognition which characterized in that: comprises an unmanned aerial vehicle flying wing (6), an unmanned aerial vehicle connecting frame (7), a connecting chute (8), a main signal awakening device (9), a scanner mounting case (12), a thermal infrared imager (13), a case (14), a laser scanner (15), an unmanned aerial vehicle main frame (17), a scanner fixing frame (19), a visible camera (21), an iron tower fixing scanner (22), a distance measuring device (23) and a GPS device (24), wherein the unmanned aerial vehicle flying wing (6) is mounted on the unmanned aerial vehicle main frame (17), the unmanned aerial vehicle main frame (17) is fixedly connected with the connecting chute (8) on the upper surface of the case (14) through the unmanned aerial vehicle connecting frame (7), the thermal infrared imager (13) and the laser scanner (15) are mounted on the scanner mounting case (12), the scanner mounting case (12) is fixedly connected on the scanner fixing frame (19), the scanner fixing frame (19) is fixed in front left of the case (14), visual camera (21) are installed at unmanned aerial vehicle body frame (17) head, and range unit (23) and GPS device (24) are installed in unmanned aerial vehicle body frame (17) bottom, and right front at quick-witted case (14) is installed in main signal awakening ware (9), and each horizontal position at transmission tower is installed in fixed scanner of iron tower (22).

2. The unmanned aerial vehicle device for image recognition of the power transmission tower according to claim 1, wherein: the unmanned aerial vehicle connecting frame (7) is fixedly connected to the connecting sliding groove (8) through a screw (20).

3. The unmanned aerial vehicle device for image recognition of the power transmission tower according to claim 1, wherein: still include battery (10), built-in lithium cell of scanner (11) and unmanned aerial vehicle solar cell panel (16), battery (10) are installed on quick-witted case (14) right side and are connected with scanner installation machine case (12) and unmanned aerial vehicle through the connecting wire, the built-in lithium cell of scanner (11) are installed inside scanner installation machine case (12), unmanned aerial vehicle solar cell panel (16) are installed at unmanned aerial vehicle's top and are connected battery (10) to quick-witted case (14) electrically.

4. The unmanned aerial vehicle device for image recognition of the power transmission tower according to claim 1, wherein: the solar energy mobile phone further comprises a solar cell panel (18), wherein the solar cell panel (18) is fixed on the power transmission iron tower and is electrically connected with the iron tower fixing scanner (22).

Technical Field

The invention belongs to the technical field of iron tower identification equipment, and particularly relates to an unmanned aerial vehicle device for image identification of a power transmission iron tower.

Background

Along with the continuous rise of the voltage grade of the power transmission line in China and the limitation of a line corridor, an iron tower used in the power transmission line gradually develops towards the direction of higher voltage grade and more loop numbers, and particularly, a large amount of extra-high voltage engineering is built, so that the efficient and high-quality design of an economical and reasonable tower type becomes a necessary link for power grid construction. For example, in 2018, the most serious disaster weather for a power grid is encountered in south China, the ice coating phenomenon of a power transmission line is serious due to natural weather conditions such as low-temperature rain, snow and freezing, the wire icing flashover, ice shedding jumping and galloping are caused, the severe ice coating phenomenon causes the disconnection and even tower falling of the power transmission line, only 110kV-500kV lines in Zhejiang province have 58 outage, 167 bases for tower falling of 500kV power transmission lines, 45 bases for tower falling of 220kV lines and 23 bases for tower falling of 110kV power transmission lines. Due to the new conditions and the new changes, the optimal design level of the power grid, especially the iron tower, is effectively improved, and is a necessary condition for building a uniform strong intelligent power grid and ensuring the normal, safe and stable operation of power facilities.

Current unmanned aerial vehicle patrols and examines the in-process at electric power, directly installs laser scanner, camera range unit etc. on unmanned aerial vehicle, and the atress is balanced to unmanned aerial vehicle to inconvenient like this, leads to being difficult to unmanned aerial vehicle control balance.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the utility model provides an unmanned aerial vehicle device for steel pylons image recognition to solve the problem that exists among the prior art.

The technical scheme adopted by the invention is as follows: an unmanned aerial vehicle device for image recognition of a power transmission tower comprises unmanned aerial vehicle flying wings, an unmanned aerial vehicle connecting frame, a connecting chute, a main signal wake-up device, a scanner mounting case, a thermal infrared imager, a case, a laser scanner, an unmanned aerial vehicle main frame, a scanner fixing frame, a visible camera, a steel tower fixing scanner, a distance measuring device and a GPS device, wherein the unmanned aerial vehicle flying wings are mounted on the unmanned aerial vehicle main frame, the unmanned aerial vehicle main frame is fixedly connected with the connecting chute on the upper surface of the case through the unmanned aerial vehicle connecting frame, the thermal infrared imager and the laser scanner are mounted on the scanner mounting case, the scanner mounting case is fixedly connected on the scanner fixing frame, the scanner fixing frame is fixed at the front left of the case, the visible camera is mounted at the head of the unmanned aerial vehicle main frame, the distance measuring device and the GPS device are mounted at the bottom of the unmanned aerial vehicle main frame, the iron tower fixing scanner is arranged at each transverse position of the power transmission iron tower.

Preferably, above-mentioned unmanned aerial vehicle link passes through screw fixed connection and connects spout department.

The image acquisition system further comprises a storage battery, a scanner built-in lithium battery and an unmanned aerial vehicle solar panel, wherein the storage battery is installed on the right side of the case and is connected with the scanner installation case and the unmanned aerial vehicle through a connecting wire, the scanner built-in lithium battery is installed inside the scanner installation case, and the unmanned aerial vehicle solar panel is installed on the top of the unmanned aerial vehicle and is electrically connected with the storage battery of the case.

The utility model provides an unmanned aerial vehicle device for steel pylons image recognition, still includes solar cell panel, and solar cell panel fixes on steel pylons to be connected with the fixed scanner electricity of iron tower.

The invention has the beneficial effects that: compared with the prior art, the invention has the following effects:

1) the unmanned aerial vehicle is driven by flying, the flying is stable, the image acquired by the image acquisition device is accurate, and the acquired image is convenient for establishing a power transmission tower model;

2) the unmanned aerial vehicle connecting frame is additionally arranged, so that newly-added equipment can be conveniently installed on the connecting frame, the arrangement of each part can be conveniently adjusted to the gravity center of the connecting frame, the gravity center and the gravity center of the unmanned aerial vehicle are positioned in the same vertical direction, the flight control of the unmanned aerial vehicle is easier, remote control can be realized, a main signal awakening device and a sub signal awakening device are adopted, automatic awakening starting is realized, the energy consumption of the equipment is reduced, the use reliability is improved, an image acquisition device and a flight device are adopted to realize automatic scanning and automatic imaging, and an accurate model is provided for accurate optimization of an iron tower rod piece;

3) the structure is simple, the maintenance is convenient, and the manufacturing difficulty is low;

4) the integration degree is high, and the whole process can be monitored;

5) the method has good adaptability to various transmission towers;

6) the functions are expandable, and the application range is wide;

7) reasonable structure and reliable performance.

Drawings

FIG. 1 is a schematic view of the overall structure;

fig. 2 is a layout diagram of an iron tower fixing scanner;

FIG. 3 is a flowchart of a method for detailed operation of the image acquisition subsystem;

FIG. 4 is a flow chart of single-chip microcomputer control;

fig. 5 is a flow chart of a method for optimizing the specific operation of the subsystem of the iron tower model.

In the figure: 1. An image acquisition subsystem, 2, a program control subsystem, 3, an iron tower model optimization subsystem, 4, a flight device, 5, an image acquisition device, 6, an unmanned aerial vehicle flight wing, 7, an unmanned aerial vehicle connecting frame, 8, a connecting sliding groove, 9, a main signal awakening device, 10, a storage battery, 11, a scanner built-in lithium battery, 12, a scanner mounting case, 13, an infrared thermal imager, 14, a case, 15, a laser scanner, 16, an unmanned aerial vehicle solar panel, 17, an unmanned aerial vehicle main frame, 18, a solar panel, 19, a scanner fixing frame, 20, screws, 21, a visual camera, 22, an iron tower fixing scanner, 23, a distance measuring device, 24, a GPS device, 25, a single chip microcomputer protective case, 26, a signal collector, 27, a single chip microcomputer, 28, a wireless receiving device, 29, a signal awakening device, 30, a single chip microcomputer lithium battery, 31, a signal emitter, 32. and (5) controlling a computer.

Detailed Description

The invention is further described with reference to the accompanying drawings and specific embodiments.