阅读说明：本技术 一种用于无人机电网运检的协同虚拟作业培训平台 (Collaborative virtual operation training platform for unmanned aerial vehicle power grid operation and inspection ) 是由 温积群 张希 杨迁 王绍荃 汪大海 于 2021-09-02 设计创作，主要内容包括：一种用于无人机电网运检的协同虚拟作业培训平台,在练习、考核过程中,需要检验操作人员是否按照规定路线控制无人机飞行、悬停。因此,本发明通过设置的检测定位装置,来检验操作人员控制的无人机。当练习、考核开始,控制终端(即计算机设备)根据预存的路径信息、各悬停位置坐标信息,控制环形轨道、行车移动到对应位置,使若干个激光传感器发射出的激光脉冲,对应交汇在无人机巡检拍摄所规定的悬停区域。无人机按照正确路径,来到规定的悬停区域,便会反射激光脉冲到传感器接收器,产生信号,控制终端根据此信号,便能判断操作人员的飞行路径是否正确。(A collaborative virtual operation training platform for unmanned aerial vehicle power grid operation inspection needs to check whether an operator controls the unmanned aerial vehicle to fly and hover according to a specified route in the process of practice and examination. Therefore, the unmanned aerial vehicle controlled by the operator is inspected through the arranged detection positioning device. When the training and examination are started, the control terminal (namely, the computer equipment) controls the circular track and the travelling crane to move to corresponding positions according to prestored path information and coordinate information of each hovering position, so that laser pulses emitted by the plurality of laser sensors correspondingly intersect in a hovering area specified by unmanned aerial vehicle routing inspection shooting. The unmanned aerial vehicle arrives at the specified hovering area according to the correct path, and then reflects the laser pulse to the sensor receiver to generate a signal, and the control terminal can judge whether the flight path of the operator is correct or not according to the signal.)

1. The utility model provides a virtual operation training platform in coordination for unmanned aerial vehicle electric wire netting fortune is examined which characterized in that: the system comprises a control terminal, an unmanned aerial vehicle with a camera device, a simulation tower and a detection positioning device, wherein the detection positioning device comprises an annular track surrounding the simulation tower, a lifting track, a lifting driving mechanism and a plurality of travelling mechanisms, the annular track is in lifting sliding fit along the lifting track in the vertical direction, the lifting driving mechanism is in linkage fit with the annular track to drive the annular track to lift, the travelling mechanisms are arranged in the annular track and walk around the simulation tower along the annular track, the plurality of travelling mechanisms are respectively provided with a laser sensor, the control terminal is in signal connection with the lifting mechanism, the travelling mechanisms and the laser sensors, the plurality of travelling mechanisms are controlled to adjust the position of the travelling mechanisms according to a hovering area specified by a route of the unmanned aerial vehicle for inspecting and simulating the tower, so that laser pulses emitted by the plurality of laser sensors are enabled to correspond to intersect in the hovering area specified by the unmanned aerial vehicle for inspecting and shooting, the unmanned aerial vehicle hovers everywhere relative to the simulation tower according to the routing inspection path, and the laser sensor signals are triggered in sequence.

2. The collaborative virtual work training platform for unmanned aerial vehicle power grid operation inspection according to claim 1, wherein: be equipped with a plurality of gasbag type simulation pieces on the simulation shaft tower, gasbag type simulation piece includes gasbag, gas circuit and the first solenoid electric valve of control gas circuit break-make, and this gasbag should be the insulator chain shape, is equipped with air inlet, gas outlet, air inlet, gas outlet are equipped with solenoid electric valve respectively, the training platform still includes air supply equipment, a plurality of gasbag type simulation piece communicates through gas circuit and air supply equipment respectively, first solenoid electric valve and control terminal signal connection, and the control gasbag is aerifyd, is bled.

3. The collaborative virtual work training platform for unmanned aerial vehicle power grid operation inspection according to claim 1, wherein: be equipped with the pneumatic type simulation piece of a plurality of on the simulation shaft tower, the pneumatic type simulation piece includes base, lifter, lift cylinder, movable nut and motionless nut, a base terminal surface and motionless nut fixed connection are equipped with the through-hole with the coaxial setting of motionless nut on this base, lift cylinder and another terminal surface fixed connection of base to with the cooperation of lifter linkage, this lifter passes motionless nut seat sliding fit to with the coaxial fixed connection of movable nut, control terminal and lift cylinder signal connection control the relative laminating of movable nut or keep away from motionless nut, simulation elasticity state.

4. The collaborative virtual work training platform for unmanned aerial vehicle power grid operation inspection according to claim 1, wherein: the simulation shaft tower shanghai is equipped with a plurality of rotation type simulation piece, and this rotation type simulation piece includes pedestal, knot body and rotating electrical machines, and this knot body is hinged joint with the pedestal, rotating electrical machines and pedestal fixed connection to with the linkage cooperation of knot body, control terminal and rotating electrical machines signal connection, the relative pedestal rotation of control knot body is closed or is rotated and open.

5. The collaborative virtual work training platform for unmanned aerial vehicle power grid operation and inspection according to any one of claims 1 to 4, wherein: the training platform is arranged in the storehouse, a large fan and a plurality of air outlet pipes distributed at each position of the storehouse are further arranged in the storehouse, the air outlet pipes are provided with on-off control electric control doors and communicated with the large fan, the control terminal is in signal connection with the large fan and the electric control doors, and one-way airflow or turbulent flow is formed in the control storehouse.

6. The collaborative virtual work training platform for unmanned aerial vehicle power grid operation inspection according to claim 5, wherein: still be equipped with lighting apparatus in the storehouse, control terminal and lighting apparatus signal connection, visibility in the control storehouse.

7. The collaborative virtual work training platform for unmanned aerial vehicle power grid operation inspection according to claim 6, wherein: still be equipped with the sprayer in the storehouse, control terminal and sprayer signal connection control visibility in the storehouse.

8. The collaborative virtual work training platform for unmanned aerial vehicle power grid operation inspection according to claim 7, wherein: be equipped with the second solenoid electric valve of gas bomb, jet-propelled pipe and control jet-propelled pipe break-make on the unmanned aerial vehicle, this jet-propelled pipe one end and gas bomb intercommunication, the other end extends to outside the unmanned aerial vehicle, second solenoid electric valve and unmanned aerial vehicle control terminal signal connection.

9. The collaborative virtual work training platform for unmanned aerial vehicle power grid operation inspection according to claim 8, wherein: the lifting mechanism comprises a screw rod and a screw rod motor, a screw rod seat in sliding fit with the lifting track is arranged on the annular track, a screw rod screw hole is formed in the screw rod seat along the vertical direction, and the screw rod is inserted into the screw rod screw hole and is in linkage fit with the screw rod motor; the travelling mechanism comprises a vehicle body in sliding fit with the annular track, travelling wheels are rotatably arranged on the vehicle body, a travelling motor is fixedly arranged on the vehicle body, and the travelling wheels are in friction fit with the annular track and are in linkage fit with the travelling motor; and the control terminal is in signal connection with the screw motor and the walking motor.

Technical Field

The invention relates to the technical field of unmanned aerial vehicle routing inspection, in particular to a collaborative virtual operation training platform for unmanned aerial vehicle power grid operation inspection.

Background

The state net company definitely provides that the unmanned aerial vehicle inspection mode, the robot inspection mode and the helicopter inspection mode are applied to the inspection work of the power transmission line, so that the on-control, energy-control and controllable capabilities of the power transmission line are obviously improved. At present, many rotor unmanned aerial vehicle now wide application in overhead transmission line inspection operation, greatly improved the quality and the efficiency of transmission line especially the operation of traditional artifical inspection of mountain area circuit, unmanned aerial vehicle inspection gradually becomes the effective means of replacing artifical inspection. Under the practice groping, the unmanned aerial vehicle patrols and examines and forms a set of inspection shooting regulations gradually, and when the pole tower is patrolled and examined, the unmanned aerial vehicle hover area, shoot position, shoot angle, shoot detailed specifications such as quality requirement when surveying clearly stipulateing.

The problems that exist now are: the new staff learns the routing inspection regulations, but lacks a platform for practice and examination, and directly carries out practical operation on the real object, so that the visual observation is difficult to check whether the operation of the new staff is in compliance and in place, and the safety risk of power grid accidents caused by improper operation of the new staff exists. Therefore, a training platform is needed to provide the new staff with the opportunity of practicing safe operation practice, accumulate effective experience, and form a set of scientific inspection means to assess the operation.

Disclosure of Invention

In order to overcome the defects of the technology, the invention provides a collaborative virtual operation training platform for unmanned aerial vehicle power grid operation inspection.

The technical scheme of the invention is as follows: a collaborative virtual operation training platform for unmanned aerial vehicle power grid operation and inspection comprises a control terminal, an unmanned aerial vehicle with a camera device, a simulation tower and a detection positioning device, wherein the detection positioning device comprises an annular rail surrounding the simulation tower, a lifting rail, a lifting driving mechanism and a plurality of travelling mechanisms, the annular rail is in lifting sliding fit in the vertical direction along the lifting rail, the lifting driving mechanism is in linkage fit with the annular rail to drive the annular rail to lift, the travelling mechanisms are arranged in the annular rail and walk around the simulation tower along the annular rail, the travelling mechanisms are respectively provided with a laser sensor, the control terminal is in signal connection with the lifting mechanism, the travelling mechanisms and the laser sensor to control the travelling mechanisms to adjust the self position corresponding to a hovering area specified by an unmanned aerial vehicle routing inspection simulation tower path, laser pulses emitted by the plurality of laser sensors are enabled to correspondingly intersect in a hovering area specified by the unmanned aerial vehicle inspection shooting, the unmanned aerial vehicle hovers everywhere relative to the simulation tower according to an inspection path, and laser sensor signals are sequentially triggered.

By adopting the technical scheme, as shown in the attached figure 1 of the specification, when the unmanned aerial vehicle patrols and examines the tower, a patrolling and examining path is planned according to the position to be shot, the unmanned aerial vehicle hovers at each letter position in the figure 1 in sequence, the shooting angle is adjusted, and image information at each round point (and each position of the tower) in the figure 1 is shot.

Therefore, the simulation tower is arranged according to a certain proportion of the real tower, and can be arranged according to the shapes of various actual towers such as a transposition tower, a compact tower, an alternating current line single-loop strain-resistant dry-letter tower, a stay wire tower and the like according to the practice and examination requirements, the simulation tower is correspondingly replaced, the unmanned aerial vehicle operation of different paths is carried out, and the unmanned aerial vehicle operation is not limited by the shape of the simulation tower in the attached drawings of the specification.

In the training and checking process, whether the unmanned aerial vehicle is controlled to fly and hover by an operator according to a specified route needs to be checked. Therefore, the unmanned aerial vehicle controlled by the operator is inspected through the arranged detection positioning device. When the training and examination are started, the control terminal (namely, the computer equipment) controls the circular track and the travelling crane to move to corresponding positions according to prestored path information and coordinate information of each hovering position, so that laser pulses emitted by the plurality of laser sensors correspondingly intersect in a hovering area specified by unmanned aerial vehicle routing inspection shooting. The unmanned aerial vehicle arrives at the specified hovering area according to the correct path, and then reflects the laser pulse to the sensor receiver to generate a signal, and the control terminal can judge whether the flight path of the operator is correct or not according to the signal.

The three-dimensional movement of the annular track and the travelling crane can also bypass obstacles simulating a tower, so that the laser can be smoothly aligned to the hovering area.

The invention further comprises the following steps: be equipped with a plurality of gasbag type simulation pieces on the simulation shaft tower, gasbag type simulation piece includes gasbag, gas circuit and the first solenoid electric valve of control gas circuit break-make, and this gasbag should be the insulator chain shape, is equipped with air inlet, gas outlet, air inlet, gas outlet are equipped with solenoid electric valve respectively, the training platform still includes air supply equipment, a plurality of gasbag type simulation piece communicates through gas circuit and air supply equipment respectively, first solenoid electric valve and control terminal signal connection, and the control gasbag is aerifyd, is bled.

By adopting the technical scheme, the unmanned aerial vehicle operation and inspection is not only used for inspecting the flight technology of the operators, but also used for inspecting whether the shooting of the operators is in place and whether a fault point or a fault hidden danger is accurately found out. Therefore, the invention also discloses an air bag type simulation part arranged on the simulation tower, wherein the control terminal controls the inflation and deflation of each air bag, the inflated air bag is used as a normal complete part, the deflated air bag simulates a fault part, and all parts of the simulation tower randomly appear, so that whether an operator correctly shoots a fault part is checked. After practice and examination, the picture content is compared with the content set by the control terminal, and the number of the set fault parts of the picture is scored, so that the score of the operator can be obtained. The airbag is used for example to make the shape of an insulator string (simulating the insulator string in the first sheet in the attached figure 2 of the specification), but similarly, the airbag can also be used for making the shape of other parts on a tower for simulation, and still remains in the arrangement idea of the invention.

The invention further comprises the following steps: be equipped with the pneumatic type simulation piece of a plurality of on the simulation shaft tower, the pneumatic type simulation piece includes base, lifter, lift cylinder, movable nut and motionless nut, a base terminal surface and motionless nut fixed connection are equipped with the through-hole with the coaxial setting of motionless nut on this base, lift cylinder and another terminal surface fixed connection of base to with the cooperation of lifter linkage, this lifter passes motionless nut seat sliding fit to with the coaxial fixed connection of movable nut, control terminal and lift cylinder signal connection control the relative laminating of movable nut or keep away from motionless nut, simulation elasticity state.

By adopting the technical scheme, whether the nut on the bolt is loosened or not is simulated by driving of the lifting cylinder (simulating the nut in the second page in the attached figure 2 of the specification), and fault characteristics are further provided in a controllable manner for shooting. The invention drives the relative movement between the nuts for example, and similarly, the spacing opening and closing postures of other parts on the tower can be simulated by replacing the characteristic parts, and the invention is not limited to the nuts.

The invention further comprises the following steps: the simulation shaft tower shanghai is equipped with a plurality of rotation type simulation piece, and this rotation type simulation piece includes pedestal, knot body and rotating electrical machines, and this knot body is hinged joint with the pedestal, rotating electrical machines and pedestal fixed connection to with the linkage cooperation of knot body, control terminal and rotating electrical machines signal connection, the relative pedestal rotation of control knot body is closed or is rotated and open.

By adopting the technical scheme, whether the wire end hanging point (simulating the second middle hanging point in the attached figure 2 of the specification) of the suspension insulator string is tripped or not is simulated by the rotating simulation piece. The invention drives the buckling state of the hanging points and the steel cable by way of example, and similarly, the rotary buckling postures of other components on the tower can be simulated by replacing the characteristic parts, and the invention is not limited to the hanging point structure.

The invention further comprises the following steps: the training platform is arranged in the storehouse, a large fan and a plurality of air outlet pipes distributed at each position of the storehouse are further arranged in the storehouse, the air outlet pipes are provided with on-off control electric control doors and communicated with the large fan, the control terminal is in signal connection with the large fan and the electric control doors, and one-way airflow or turbulent flow is formed in the control storehouse.

By adopting the technical scheme, the real tower is arranged outdoors and is influenced by natural strong wind conditions, and the actual flight of the unmanned aerial vehicle is more difficult, so that the platform is arranged in a storehouse with controllable environment to simulate outdoor strong wind, and the large fan is controlled to blow air in the storehouse, so that the training intensity is increased.

The invention further comprises the following steps: still be equipped with lighting apparatus in the storehouse, control terminal and lighting apparatus signal connection, visibility in the control storehouse.

By adopting the technical scheme, the unmanned aerial vehicle patrols and examines in order to shoot images, outdoor light changes, and has obvious influence on image quality.

The invention further comprises the following steps: still be equipped with the sprayer in the storehouse, control terminal and sprayer signal connection control visibility in the storehouse.

By adopting the technical scheme, some towers are arranged in mountainous areas and often accompany sudden cloud and mist, the sight is shielded in case of emergency, and flight accidents are very easy to occur.

The invention further comprises the following steps: be equipped with the second solenoid electric valve of gas bomb, jet-propelled pipe and control jet-propelled pipe break-make on the unmanned aerial vehicle, this jet-propelled pipe one end and gas bomb intercommunication, the other end extends to outside the unmanned aerial vehicle, second solenoid electric valve and unmanned aerial vehicle control terminal signal connection.

By adopting the technical scheme, the towers are provided with respective pole numbers, and the pole numbers need to be shot during inspection so as to identify tower information and file photos. However, in an outdoor environment, the pole number plate is easily blocked by stains, so that shooting and recognition cannot be achieved. Therefore, the air storage bottle is arranged on the unmanned aerial vehicle, the second electromagnetic control valve is used for controlling the high-pressure air to be sprayed out, and the air spraying pipe correspondingly sprays the air to remove stains on the rod number plate. In the invention, an operator can control the unmanned aerial vehicle to carry out air injection exercise on the simulation tower.

The invention further comprises the following steps: the lifting mechanism comprises a screw rod and a screw rod motor, a screw rod seat in sliding fit with the lifting track is arranged on the annular track, a screw rod screw hole is formed in the screw rod seat along the vertical direction, and the screw rod is inserted into the screw rod screw hole and is in linkage fit with the screw rod motor; the travelling mechanism comprises a vehicle body in sliding fit with the annular track, travelling wheels are rotatably arranged on the vehicle body, a travelling motor is fixedly arranged on the vehicle body, and the travelling wheels are in friction fit with the annular track and are in linkage fit with the travelling motor; and the control terminal is in signal connection with the screw motor and the walking motor.

By adopting the technical scheme, the annular track and the travelling motion are controlled.

Drawings

Fig. 1 is a reference diagram of a route of an unmanned aerial vehicle inspection tower according to an embodiment of the invention;

FIG. 2 is a partial component reference diagram of a tower according to an embodiment of the invention;

FIG. 3 is a block diagram of an embodiment of the present invention, FIG. 1;

FIG. 4 is a block diagram of an embodiment of the present invention, FIG. 2;

FIG. 5 is an exploded view of an embodiment of the present invention;

FIG. 6 is a block diagram of an embodiment of the present invention, FIG. 3;

fig. 7 is a structural view of a balloon type simulation member according to an embodiment of the present invention;

fig. 8 is a structural view of a pneumatic type simulation member according to an embodiment of the present invention;

fig. 9 is a structural view of a rotary type dummy according to an embodiment of the present invention.

The system comprises an unmanned aerial vehicle 1, a simulation tower 2, an annular rail 3, a lifting rail 4, a travelling mechanism 5, a laser sensor 51, an air bag 61, an insulator string 62, a base 63, a lifting rod 64, a lifting cylinder 65, a movable nut 66, a fixed nut 661, a base body 67, a buckle body 68, a rotating motor 69, a storehouse 7, an air outlet pipe 71, an illuminating device 72, a sprayer 73, a large fan 74, a screw rod 81 and a screw rod seat 82.

Detailed Description

As shown in fig. 1-9, a collaborative virtual work training platform for unmanned aerial vehicle 1 power grid operation inspection, includes control terminal, unmanned aerial vehicle 1 with camera equipment, simulation shaft tower 2 and detection positioning device, detection positioning device includes circular orbit 3, lifting orbit 4, lifting drive mechanism and a plurality of running gear 5 that encircle simulation shaft tower 2, circular orbit 3 is vertical direction lift sliding fit along lifting orbit 4, lifting drive mechanism and circular orbit 3 linkage cooperation drive circular orbit 3 go up and down, a plurality of running gear 5 sets up in circular orbit 3, walks around simulation shaft tower 2 along circular orbit 3, all is equipped with laser sensor 51 on this a plurality of running gear 5, control terminal and lifting drive mechanism, running gear 5, laser sensor 51 signal connection, control a plurality of running gear 5 and patrol and examine the hovering area adjustment self position that simulation shaft tower 2 route stipulated corresponding to unmanned aerial vehicle 1 and adjust self position Laser pulses emitted by the laser sensors 51 are correspondingly intersected in a hovering area specified by the unmanned aerial vehicle 1 during inspection shooting, the unmanned aerial vehicle 1 hovers everywhere relative to the simulation tower 2 according to an inspection path, and signals of the laser sensors 51 are sequentially triggered.

As shown in the attached drawing 1 of the specification, when the unmanned aerial vehicle 1 patrols the tower, the patrol route is planned according to the position to be photographed, the unmanned aerial vehicle 1 hovers at each letter in fig. 1 in sequence, the photographing angle is adjusted, and image information at each dot (and each position of the tower) in fig. 1 is photographed.

Therefore, the simulation tower 2 is arranged according to a certain proportion of real towers, the simulation tower 2 can be arranged according to the shapes of various actual towers such as a transposition tower, a compact tower, an alternating current line single-loop strain-resistant dry tower, a stay wire tower and the like according to the practice and examination requirements, the simulation tower 2 is correspondingly replaced, the operation of the unmanned aerial vehicle 1 in different paths is carried out, and the simulation tower is not limited by the shape of the simulation tower 2 in the attached drawing of the specification.

In the training and checking process, whether the unmanned aerial vehicle 1 is controlled to fly and hover by an operator according to a specified route needs to be checked. Therefore, the unmanned aerial vehicle 1 controlled by the operator is inspected through the arranged detection positioning device. When the practice and examination start, the control terminal (i.e. the computer device) controls the circular track 3 and the traveling crane to move to the corresponding positions according to the prestored path information and the coordinate information of each hovering position, so that the laser pulses emitted by the plurality of laser sensors 51 correspondingly intersect in the hovering area specified by the routing inspection shooting of the unmanned aerial vehicle 1. The unmanned aerial vehicle 1 arrives at a specified hovering area according to a correct path, and then reflects laser pulses to the sensor receiver to generate signals, and the control terminal can judge whether the flight path of an operator is correct or not according to the signals.

The three-dimensional movement of the annular track 3 and the travelling crane can also bypass obstacles simulating the tower 2, so that the laser can be smoothly aligned to the hovering area.

The invention further comprises the following steps: be equipped with a plurality of gasbag 61 type simulations on simulation shaft tower 2, gasbag 61 type simulations include the first solenoid electric valve of gasbag 61, gas circuit and control gas circuit break-make, and this gasbag 61 should be the insulator chain 62 shape, is equipped with air inlet, gas outlet, air inlet, gas outlet are equipped with solenoid electric valve respectively, the training platform still includes air supply equipment, a plurality of gasbag 61 type simulations communicate with air supply equipment through the gas circuit respectively, first solenoid electric valve and control terminal signal connection control gasbag 61 aerifys, the gassing.

The unmanned aerial vehicle 1 is used for operation and inspection exercises and examinations, and not only is the flight technology of an operator examined, but also whether shooting of the operator is in place or not is examined, and whether a fault point or a fault hidden danger is found out accurately or not is examined. Therefore, the invention also discloses an air bag 61 type simulation part arranged on the simulation tower 2, the inflation and deflation of each air bag 61 are controlled by the control terminal, the inflated air bag 61 is used as a normal complete part, the deflated air bag 61 simulates a fault part, all positions of the simulation tower 2 randomly appear, and whether an operator correctly shoots the fault part is checked. After practice and examination, the picture content is compared with the content set by the control terminal, and the number of the set fault parts of the picture is scored, so that the score of the operator can be obtained. The airbag 61 is made into the shape of an insulator string 62 (simulating the insulator string in the first sheet in the attached drawing 2 of the specification) by way of example, but similarly, the airbag 61 can also be made into the shape of other parts on a tower to be simulated, and still fall within the arrangement idea of the invention.

Be equipped with the pneumatic type simulation piece of a plurality of on simulation shaft tower 2, the pneumatic type simulation piece includes base 63, lifter 64, lift cylinder 65, movable nut 66 and immobile nut 66, a base 63 terminal surface and immobile nut 66 fixed connection are equipped with the through-hole with the coaxial setting of immobile nut 66 on this base 63, lift cylinder 65 and another terminal surface fixed connection of base 63 to with lifter 64 linkage cooperation, this lifter 64 passes immobile nut 66 seat sliding fit, and with the coaxial fixed connection of movable nut 66, control terminal and lift cylinder 65 signal connection control movable nut 66 relatively laminates or keeps away from immobile nut 66, simulation elasticity state.

The driving of the lifting cylinder 65 simulates whether the nut on the bolt is loosened or not (simulating the nut in the second page of the specification and the attached figure 2), and further provides a fault characteristic in a controllable way for shooting. The invention drives the nuts to move relatively for example, and similarly, the opening and closing postures of the intervals of other parts on the tower 2 can be simulated by replacing the characteristic parts, and the invention is not limited to the nuts.

The simulation shaft tower 2 is provided with a plurality of rotating simulation pieces in the Shanghai, each rotating simulation piece comprises a base body 67, a buckle body 68 and a rotating motor 69, each buckle body 68 is hinged to the base body 67, the rotating motors 69 are fixedly connected with the base bodies 67 and are in linkage fit with the buckle bodies 68, the control terminals are in signal connection with the rotating motors 69, and the buckle bodies 68 are controlled to rotate and close or rotate and open relative to the base bodies 67.

By means of the rotary simulation piece, whether the wire end hanging point (simulating the second hanging point in the attached figure 2 in the specification) of the suspension insulator string 62 is tripped or not is simulated. The invention drives the buckling state of the hanging points and the steel cable for example, and similarly, the rotary buckling postures of other components on the tower 2 can also be simulated by replacing the characteristic parts, and the invention is not limited to the hanging point structure.

The training platform is arranged in the storehouse 7, the storehouse 7 is also internally provided with a large fan 74 and a plurality of air outlet pipes 71 distributed at each position of the storehouse 7, the air outlet pipes 71 are respectively provided with an on-off control electric control door and communicated with the large fan 74, the control terminal is in signal connection with the large fan 74 and the electric control door, and unidirectional airflow or turbulent flow is formed in the storehouse 7.

The real tower is arranged outdoors and is influenced by natural strong wind conditions, and the unmanned aerial vehicle 1 can fly more difficultly actually, so that the platform is arranged in the environment-controllable storehouse 7 to simulate outdoor strong wind and control the large fan 74 to blow air into the storehouse 7 in order to simulate the flight conditions of the outdoor unmanned aerial vehicle 1, and the training intensity is improved.

And a lighting device 72 is further arranged in the storehouse 7, and the control terminal is in signal connection with the lighting device 72 to control the visibility in the storehouse 7.

The unmanned aerial vehicle 1 patrols and examines in order to shoot the image, and outdoor light changes, has apparent influence to image quality, and the invention forms different brightness through setting up, controlling lighting apparatus 72, increases training emulation nature.

Still be equipped with sprayer 73 in the storehouse 7, control terminal and sprayer 73 signal connection control visibility in the storehouse 7.

Some towers are arranged in mountainous areas and often have sudden cloud and mist, sight line blocking is caused by emergency, and flight accidents are easy to occur.

Be equipped with the second solenoid electric valve of gas bomb, jet-propelled pipe and control jet-propelled pipe break-make on unmanned aerial vehicle 1, this jet-propelled pipe one end and gas bomb intercommunication, the other end extends to outside unmanned aerial vehicle 1, second solenoid electric valve and 1 control terminal signal connection of unmanned aerial vehicle.

The shaft tower all has respective pole number tablet, need shoot the pole number tablet when patrolling and examining, comes the discernment shaft tower information, files the photo. However, in an outdoor environment, the pole number plate is easily blocked by stains, so that shooting and recognition cannot be achieved. Therefore, the air storage bottle is arranged on the unmanned aerial vehicle 1, high-pressure air is ejected through the second electromagnetic control valve, and the air ejecting pipe correspondingly ejects the air to remove stains on the rod number plate. In the invention, an operator can control the unmanned aerial vehicle 1 to perform air injection exercise on the simulation tower 2.

The lifting mechanism comprises a screw rod 81 and a screw rod 81 motor, a screw rod seat 82 in sliding fit with the lifting track 4 is arranged on the annular track 3, a screw hole of the screw rod 81 is formed in the screw rod seat 82 along the vertical direction, and the screw rod 81 is inserted into the screw hole of the screw rod 81 and is in linkage fit with the screw rod 81 motor; the travelling mechanism comprises a vehicle body in sliding fit with the annular track 3, travelling wheels are rotatably arranged on the vehicle body, a travelling motor is fixedly arranged on the vehicle body, and the travelling wheels are in friction fit with the annular track 3 and are in linkage fit with the travelling motor; and the control terminal is in signal connection with the lead screw 81 motor and the walking motor.

By adopting the technical scheme, the annular track 3 and the travelling crane are controlled to move.