CN103612756B - The multi-rotor aerocraft of electric power line inspection and based on its system - Google Patents
- ️Wed Oct 28 2015
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- CN103612756B CN103612756B CN201310683217.2A CN201310683217A CN103612756B CN 103612756 B CN103612756 B CN 103612756B CN 201310683217 A CN201310683217 A CN 201310683217A CN 103612756 B CN103612756 B CN 103612756B Authority
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Abstract
本发明公开了一种电力线巡检用的多旋翼飞行器，飞行并挂载在电力线路上来对电力线路进行巡检，具有：挂载滑轮，通过与所述电力线路接触，来让所述多旋翼飞行器挂载在所述电力线路上；挂载导向板，形成为在所述多旋翼飞行器向所述电力线路上挂载时，能引导所述多旋翼飞行器向电力线路移动完成挂载；以及，挂载支架，用于支撑所述挂载滑轮和所述挂载导向板。本发明的电力线巡检用的多旋翼飞行器，能够以较高的精度，安全、可靠地在较大的巡检范围内进行电力线巡检。
The invention discloses a multi-rotor aircraft for power line inspection. It flies and mounts on the power line to inspect the power line. The aircraft is mounted on the power line; the mounting guide plate is formed to guide the multi-rotor aircraft to move to the power line to complete the mounting when the multi-rotor aircraft is mounted on the power line; The bracket is used to support the mounting pulley and the mounting guide plate. The multi-rotor aircraft for power line inspection of the present invention can perform power line inspection in a relatively large inspection range safely and reliably with high precision.
Description
技术领域technical field
本发明涉及电力线巡检用的多旋翼飞行器、以及基于该多旋翼飞行器的电力线巡检系统。The invention relates to a multi-rotor aircraft for power line inspection and a power line inspection system based on the multi-rotor aircraft.
背景技术Background technique
为了确保电力系统的正常运转，需要对电力系统中架设的电力线路进行巡检。目前，电力线路的巡检工作主要由人工完成，其主要有两种方式：①采用肉眼或望远镜对辖区内的电力线路进行检测。由于电力线路布置的复杂性，这种方式的主要缺陷在于其工作强度大、效率低且可靠性差；②攀爬电力线路铁塔或乘坐悬挂在架空电力线路上的吊篮进行检测，由于电力线路上有高压且需要高空作业，这种方式存在严重安全隐患。In order to ensure the normal operation of the power system, it is necessary to inspect the power lines erected in the power system. At present, the inspection of power lines is mainly done manually, and there are two main methods: ① use the naked eye or telescope to detect the power lines in the jurisdiction. Due to the complexity of power line layout, the main drawback of this method is its high work intensity, low efficiency and poor reliability; And high-altitude operations are required, and there are serious potential safety hazards in this way.
另一方面，随着航空技术的发展，特别是近年来无人机技术的发展和完善，以无人机为载体的电力线巡检系统因其高效率、广覆盖、低成本的技术优势，受到了越来越多的关注。由于电力线路架设环境的限制及无人机本身的特点，目前应用的无人机载体主要有两种：传统直升机和多旋翼飞行器。由于传统直升机机械结构复杂、操控难度大、控制精度低、成本相对较高，在实际应用受到了很大的限制，而多旋翼无人飞行器凭借其机动性强、易操控、易维护、精度高、成本低及易运输等显著优势，已有逐渐取代传统直升机的趋势。On the other hand, with the development of aviation technology, especially the development and improvement of unmanned aerial vehicle technology in recent years, the power line inspection system based on unmanned aerial vehicles has been favored due to its technical advantages of high efficiency, wide coverage and low cost. received more and more attention. Due to the limitations of the power line erection environment and the characteristics of the UAV itself, there are mainly two types of UAV carriers currently used: traditional helicopters and multi-rotor aircraft. Due to the complex mechanical structure, difficult control, low control precision and relatively high cost of traditional helicopters, their practical application has been greatly restricted. , low cost and easy transportation and other significant advantages, has gradually replaced the traditional helicopter trend.
尽管有关多旋翼飞行器用于电力线路巡检已有报道，但就其具体工作方式而言，基本上都是用多旋翼飞行器搭载图像检测设备沿线路飞行，采集图像存储或传输，再通过地面站接收图像并由人工发现问题。Although there have been reports about the use of multi-rotor aircraft for power line inspections, in terms of its specific working methods, it is basically to use multi-rotor aircraft to carry image detection equipment to fly along the line, collect images for storage or transmission, and then pass through the ground station. Images are received and problems are found by humans.
在使用这种多旋翼飞行器进行电力线路巡检时，存在如下的问题：When using this multi-rotor aircraft for power line inspection, there are the following problems:
①安全性，众所周知，几乎所有飞行器的安全手册都有“远离高压线”的相关规定，而电力线巡查却要求飞行器与高压线保持近距离平行飞行，这种低空快速飞行的工作方式无论是对飞行器本身，还是对电网，甚至对地面人员都有严重的安全隐患，一旦失控，后果不堪设想；①Safety, as we all know, almost all aircraft safety manuals have the relevant provisions of "stay away from high-voltage lines", but power line inspection requires the aircraft to keep close to the high-voltage lines and fly in parallel. It is still a serious safety hazard to the power grid and even to the ground personnel. Once it is out of control, the consequences will be disastrous;
②巡查范围小。由于多旋翼飞行器自身携带的能源有限，因此其在空时间有限，飞行范围较小，使用起来不方便。② The scope of inspection is small. Due to the limited energy carried by the multi-rotor aircraft itself, its time in the air is limited, the flight range is small, and it is inconvenient to use.
发明内容Contents of the invention
本发明的目的在于提供一种电力线巡检用的多旋翼飞行器、以及基于该多旋翼飞行器的电力线巡检系统，能够以较高的精度，安全、可靠地在较大的巡检范围内进行电力线巡检。The purpose of the present invention is to provide a multi-rotor aircraft for power line inspection and a power line inspection system based on the multi-rotor aircraft, which can safely and reliably inspect power lines within a larger inspection range with high precision. Inspection.
本发明的一个方面的电力线巡检用的多旋翼飞行器，飞行并挂载在电力线路上来对电力线路进行巡检，具有：挂载滑轮，通过与所述电力线路接触，来让所述多旋翼飞行器挂载在所述电力线路上；挂载导向板，形成为在所述多旋翼飞行器向所述电力线路上挂载时，能引导所述多旋翼飞行器向电力线路移动完成挂载；以及，挂载支架，用于支撑所述挂载滑轮和所述挂载导向板。According to one aspect of the present invention, the multi-rotor aircraft for power line inspection is flying and mounted on the power line to inspect the power line. The aircraft is mounted on the power line; the mounting guide plate is formed to guide the multi-rotor aircraft to move to the power line to complete the mounting when the multi-rotor aircraft is mounted on the power line; The bracket is used to support the mounting pulley and the mounting guide plate.
本发明的另一个方面的电力线巡检系统，包括上述的多旋翼飞行器和作为所述控制端的地面工作站。A power line inspection system according to another aspect of the present invention includes the above-mentioned multi-rotor aircraft and a ground workstation as the control terminal.
本发明的再另一个方面的电力巡检方法，用于上述的电力巡检系统，包括：Another aspect of the power inspection method of the present invention is used in the above-mentioned power inspection system, including:
步骤S1：上升挂线，通过手动或自动的方式让多旋翼飞行器飞起来并挂载到待检电力线路上；Step S1: Ascend and hang the line, let the multi-rotor aircraft fly up and mount it on the power line to be checked manually or automatically;
步骤S2：滑行巡线：通过重力或多旋翼飞行器的推进作用在待检电力线路上行进并巡检；Step S2: Taxi line inspection: travel and inspect the power line to be inspected by gravity or propulsion of the multi-rotor aircraft;
步骤S3：绕杆避障：当遇到电线杆、变压器等障碍物时，重新飞起并重新挂线；Step S3: Obstacle avoidance around the pole: When encountering obstacles such as utility poles and transformers, fly again and hang up the wire again;
步骤S4：返回步骤S2，继续进行滑行巡线；Step S4: return to step S2, and continue to patrol the line by taxiing;
步骤S5：脱线降落：当电池电量接近安全下限时，通过手动或自动的方式将多旋翼飞行器脱线并降落。Step S5: Off-line landing: When the battery power is close to the lower safety limit, the multi-rotor aircraft is off-line and landed manually or automatically.
根据本发明的电力线巡检用的多旋翼飞行器、以及基于该多旋翼飞行器的电力线巡检系统和方法，具有下列有益效果：The multi-rotor aircraft for power line inspection according to the present invention, and the power line inspection system and method based on the multi-rotor aircraft have the following beneficial effects:
①安全性高：利用多旋翼飞行器的垂直升降功能挂载或飞离待检线路上，保证人员的安全性；① High safety: Use the vertical lifting function of the multi-rotor aircraft to mount or fly off the line to be inspected to ensure the safety of personnel;
②巡检范围广：利用重力和多旋翼飞行器自身的推进作用推动巡检系统在待检线路上移动，最大限度地节约能量，扩大巡检范围；②Wide inspection range: use gravity and the propulsion of the multi-rotor aircraft to push the inspection system to move on the line to be inspected, save energy to the greatest extent, and expand the inspection range;
③机械结构简单：利用多旋翼飞行器的飞行功能方便地跨越电线杆(塔)、变压器等障碍物；③Simple mechanical structure: use the flight function of the multi-rotor aircraft to easily cross obstacles such as utility poles (towers) and transformers;
④精度高：由于本发明的特有结构和工作方式，图像采集设备与待检电力线路的位置是相对固定的，从而保证采集到的图像的质量，提高巡检的准确性。④ High precision: Due to the unique structure and working method of the present invention, the positions of the image acquisition equipment and the power line to be inspected are relatively fixed, thereby ensuring the quality of the collected images and improving the accuracy of the inspection.
附图说明Description of drawings
图1是本发明的使用了多旋翼飞行器的电力线巡检系统100的总体结构图。FIG. 1 is an overall structural diagram of a power line inspection system 100 using a multi-rotor aircraft according to the present invention.
图2是本发明的多旋翼飞行器1的正视结构示意图。FIG. 2 is a schematic front view of the multi-rotor aircraft 1 of the present invention.
图3是本发明实施例中的多旋翼飞行器1的俯视结构示意图。Fig. 3 is a schematic top view of the multi-rotor aircraft 1 in the embodiment of the present invention.
图4是本发明的多旋翼飞行器1的电控子系统1F的框图。Fig. 4 is a block diagram of the electronic control subsystem 1F of the multi-rotor aircraft 1 of the present invention.
图5是本发明实施例中的地面工作站2的框图。Fig. 5 is a block diagram of the ground station 2 in the embodiment of the present invention.
图6是本发明的基于多旋翼飞行器1的电力线巡检系统100的控制方法的流程示意图。FIG. 6 is a schematic flowchart of the control method of the power line inspection system 100 based on the multi-rotor aircraft 1 of the present invention.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明进一步详细说明。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.
图1是本发明的使用了多旋翼飞行器的电力线巡检系统100的总体结构图。如图1所示，该系统包括两个部分：多旋翼飞行器1、地面工作站2。FIG. 1 is an overall structural diagram of a power line inspection system 100 using a multi-rotor aircraft according to the present invention. As shown in Figure 1, the system includes two parts: multi-rotor aircraft 1 and ground workstation 2.
多旋翼飞行器1的主要功能是飞行并挂载在电力线路上，然后控制其自身在电力线路上行进，并利用携带的设备来完成对电力线路的检测。The main function of the multi-rotor aircraft 1 is to fly and mount on the power line, then control itself to travel on the power line, and use the carried equipment to complete the detection of the power line.
地面工作站2的主要功能是遥控、遥测、并对多旋翼飞行器1传回来的图像视频信息进行处理，产生准确的巡检结果。The main functions of the ground workstation 2 are remote control, telemetry, and processing of image and video information sent back by the multi-rotor aircraft 1 to generate accurate inspection results.
电力线巡检系统100的工作原理可简述为：由地面工作站2通过手动或基于遥控信号的遥控方式，控制多旋翼飞行器1飞行并挂载在电力线路上，然后通过多旋翼飞行器1在电力线路上行进，利用其所携带的图像设备或其它专有设备来检查电力线路，并将采集到的位置、图像、视频等相关信息以无线的方式作为数传信号／图传信号传回给地面工作站2，由地面工作站2通过人工或机器视觉等方式来完成对电力线路的检测，并且对多旋翼飞行器1发送数传信号。The working principle of the power line inspection system 100 can be briefly described as follows: the ground workstation 2 controls the multi-rotor aircraft 1 to fly and mount it on the power line through manual or remote control based on remote control signals, and then the multi-rotor aircraft 1 travels on the power line. , use the imaging equipment or other proprietary equipment carried by it to check the power line, and transmit the collected position, image, video and other related information to the ground workstation 2 in a wireless manner as a digital transmission signal/image transmission signal, The ground workstation 2 completes the detection of the power line through manual or machine vision, and sends a data transmission signal to the multi-rotor aircraft 1 .
图2是本发明的多旋翼飞行器1的正视结构示意图，图3是本发明实施例中的多旋翼飞行器1的俯视结构示意图。FIG. 2 is a schematic front view of the multi-rotor aircraft 1 of the present invention, and FIG. 3 is a schematic top view of the multi-rotor aircraft 1 in an embodiment of the present invention.
如图2和图3所示，多旋翼飞行器1包括以下几个部分：As shown in Figures 2 and 3, the multi-rotor aircraft 1 includes the following parts:
摄像机11，用于采集待检电力线路的图像、视频信息。The camera 11 is used to collect image and video information of the power line to be inspected.
挂载导向板12，用于提高挂载电力线路的简易性。本发明的挂载导向板，形成为一个将电力线路导向挂载滑轮13的倾斜板状构造，但并非限定于此。只要是在多旋翼飞行器1向电力线路上挂载时，能引导多旋翼飞行器向电力线路移动完成挂载的构造即可，可以采用任何形式的结构。The mounting guide plate 12 is used to improve the simplicity of mounting the power line. The mounting guide plate of the present invention is formed as an inclined plate-like structure that guides the power line to the mounting pulley 13, but is not limited thereto. As long as the multi-rotor aircraft 1 is mounted on the power line, it can guide the multi-rotor aircraft to move to the power line to complete the mounting structure, and any structure can be used.
挂载滑轮13，将多旋翼飞行器挂在待检电力线路上，在挂载滑轮13上有凹形槽，以保证电线与滑轮有足够的摩擦力和相对固定的位置，多旋翼飞行器1通过挂载滑轮13滚动则可以行进。但本发明的挂载滑轮13并不限定于此，只要是通过与所述电力线路接触，来让所述多旋翼飞行器挂载在所述电力线路上的构造即可，可以采用任何形式的结构。Mount the pulley 13, hang the multi-rotor aircraft on the power line to be checked, and there is a concave groove on the mounting pulley 13 to ensure that the wire and the pulley have sufficient friction and a relatively fixed position. Pulley 13 rolls then can advance. However, the mounting pulley 13 of the present invention is not limited thereto, as long as the multi-rotor aircraft is mounted on the power line by being in contact with the power line, any structure can be adopted.
GPS天线14，用于接收GPS(全球定位系统)信号，以完成多旋翼飞行器1的实时定位。The GPS antenna 14 is used to receive GPS (Global Positioning System) signals to complete the real-time positioning of the multi-rotor aircraft 1 .
挂载支架15，用于支撑／安装挂载导向板12、挂载滑轮13、挂载滑轮轴16、刹车器铰链17、刹车器杠杆18、刹车器电磁铁19。The mounting bracket 15 is used to support/install the mounting guide plate 12, the mounting pulley 13, the mounting pulley shaft 16, the brake hinge 17, the brake lever 18, and the brake electromagnet 19.
挂载滑轮轴16，是挂载滑轮13的转动轴。The hanging pulley shaft 16 is the rotating shaft of the hanging pulley 13 .
刹车器铰链17，作为刹车器杠杆18的支点。Brake hinge 17, as the fulcrum of brake lever 18.
刹车器杠杆18，当刹车器电磁铁19得电时，吸引刹车器杠杆18绕刹车器铰链17转动并压在挂载滑轮13上，产生摩擦力并控制挂载滑轮13的转动速度，当刹车器电磁铁19不得电时，由其自身的弹簧拉离挂载滑轮13。The brake lever 18, when the brake electromagnet 19 is energized, attracts the brake lever 18 to rotate around the brake hinge 17 and press on the mounting pulley 13 to generate friction and control the rotation speed of the mounting pulley 13. When the device electromagnet 19 was not powered, it was pulled away from the mounting pulley 13 by its own spring.
刹车器电磁铁19，得电时对刹车器杠杆18产生吸引力。Brake electromagnet 19 produces attractive force to brake lever 18 when getting electricity.
多个螺旋桨1A，由无刷电机1B带动其旋转并产生升力。A plurality of propellers 1A are driven by brushless motors 1B to rotate and generate lift.
无刷电机1B，与螺旋桨1A对应设置，用于带动螺旋桨1A并产生升力。The brushless motor 1B is set corresponding to the propeller 1A, and is used to drive the propeller 1A and generate lift.
电机支架1C，用于安装无刷电机1B和其它设备。The motor bracket 1C is used for installing the brushless motor 1B and other equipment.
起落架1D，用于在起降时产生缓冲和保护作用。The landing gear 1D is used for buffering and protecting when taking off and landing.
起落架横杆1E，用于保持多旋翼飞行器1在地面时的稳定。The landing gear bar 1E is used to keep the multi-rotor aircraft 1 stable on the ground.
电控子系统1F，用于控制多旋翼飞行器1的飞行、挂载、行进、绕杆避障和对电力线路的巡检。The electronic control subsystem 1F is used to control the multi-rotor aircraft 1 to fly, mount, travel, avoid obstacles around the pole and inspect the power line.
图4是本发明的多旋翼飞行器1的电控子系统1F的框图。如图4所示，电控子系统1F包括以下十一个部分：飞控图传电台1F1、飞控数传电台1F2、GPS模块1F3、遥控接收机1F4、飞控中央处理器1F5、图像采集器1F6、多路电调1F7、气压高度计1F8、三轴加速度计及三轴陀螺仪1F9、三轴地磁计1F10、飞控电源1F11。Fig. 4 is a block diagram of the electronic control subsystem 1F of the multi-rotor aircraft 1 of the present invention. As shown in Figure 4, the electronic control subsystem 1F includes the following eleven parts: flight control image transmission station 1F1, flight control digital transmission station 1F2, GPS module 1F3, remote control receiver 1F4, flight control central processing unit 1F5, image acquisition Device 1F6, multi-channel ESC 1F7, barometric altimeter 1F8, three-axis accelerometer and three-axis gyroscope 1F9, three-axis magnetometer 1F10, flight control power supply 1F11.
飞控图传电台1F1，将图像采集器1F6采集的图像通过无线方式传给地面工作站2。The flight control image transmission station 1F1 transmits the images collected by the image collector 1F6 to the ground workstation 2 by wireless.
飞控数传电台1F2，将多旋翼飞行器1的状态信息，包括位置、检测时间等信息通过无线方式传给地面工作站2。The flight control digital transmission station 1F2 transmits the status information of the multi-rotor aircraft 1, including the position and detection time, to the ground workstation 2 through wireless means.
GPS模块1F3，接收GPS天线14传过来的GPS信号并计算出多旋翼飞行器1的经度、纬度、高度等定位信息。The GPS module 1F3 receives the GPS signal from the GPS antenna 14 and calculates the longitude, latitude, altitude and other positioning information of the multi-rotor aircraft 1 .
遥控接收机1F4，接收由地面工作站2的遥控器24传过来的手动遥控信号、以备手动控制多旋翼飞行器1。The remote control receiver 1F4 receives the manual remote control signal transmitted by the remote controller 24 of the ground workstation 2 to prepare for manual control of the multi-rotor aircraft 1 .
飞控中央处理器1F5是整个电控子系统1F的核心，其与飞控图传电台1F1、飞控数传电台1F2、GPS模块1F3、遥控接收机1F4、图像采集器1F6、多路电调1F7、气压高度计1F8、三轴加速度计及三轴陀螺仪1F9、三轴地磁计1F10各个部分通信，得到必须的姿态、位置、遥控等信号，以完成多旋翼飞行器1的手动或自动控制。The flight control central processing unit 1F5 is the core of the entire electronic control subsystem 1F. 1F7, barometric altimeter 1F8, three-axis accelerometer and three-axis gyroscope 1F9, and three-axis magnetometer 1F10 communicate with each other to obtain necessary attitude, position, remote control and other signals to complete the manual or automatic control of the multi-rotor aircraft 1.
图像采集器1F6，采集由摄像机11传来的图像或视频信息。The image collector 1F6 collects the image or video information transmitted by the camera 11 .
多路电调1F7，控制多路无刷电机1B的旋转并调节其转速。The multi-channel ESC 1F7 controls the rotation of the multi-channel brushless motor 1B and adjusts its speed.
气压高度计1F8，通过测量大气压力和环境温度来以较高的精度计算多旋翼飞行器1的海拔高度。The barometric altimeter 1F8 calculates the altitude of the multi-rotor aircraft 1 with high precision by measuring atmospheric pressure and ambient temperature.
三轴加速度计及三轴陀螺仪1F9，测量多旋翼飞行器1的三轴加速度、三轴旋转速率。The three-axis accelerometer and the three-axis gyroscope 1F9 measure the three-axis acceleration and the three-axis rotation rate of the multi-rotor aircraft 1 .
三轴地磁计1F10，测量地磁在多旋翼飞行器1上的三轴分量，并和三轴加速度计及三轴陀螺仪1F9测量到的三轴加速度、三轴旋转速率一起传送给飞控中央处理器1F5，通过卡尔曼滤波法来计算多旋翼飞行器1的姿态。The three-axis magnetometer 1F10 measures the three-axis component of the geomagnetism on the multi-rotor aircraft 1, and transmits the three-axis acceleration and three-axis rotation rate measured by the three-axis accelerometer and the three-axis gyroscope 1F9 to the flight control central processing unit 1F5, the attitude of the multi-rotor aircraft 1 is calculated by the Kalman filter method.
飞控电源1F11的给整个电控子系统1F供电，含电池、电压变换模块等组件，无需专门说明，专业人士可根据实际系统的需要自行选择电压等级、功率大小，或者可以理解为根据需要作相应的修改。The flight control power supply 1F11 supplies power to the entire electronic control subsystem 1F, including batteries, voltage conversion modules and other components. There is no need for special instructions. Professionals can choose the voltage level and power size according to the needs of the actual system, or it can be understood as making power as needed. Modify accordingly.
图5是本发明实施例中的地面工作站2的框图。如图5所示，地面工作站2由五个部分组成：数传电台21、图传电台22、地面计算机23、遥控器24、地面工作站电源25。Fig. 5 is a block diagram of the ground station 2 in the embodiment of the present invention. As shown in FIG. 5 , the ground workstation 2 is composed of five parts: a data transmission station 21 , a picture transmission station 22 , a ground computer 23 , a remote controller 24 , and a ground workstation power supply 25 .
数传电台21，用于接收由多旋翼飞行器1的飞控数传电台1F2发送过来的状态信息。The digital transmission station 21 is used to receive the status information sent by the flight control digital transmission station 1F2 of the multi-rotor aircraft 1 .
图传电台22，用于收由多旋翼飞行器1的飞控图传电台1F1发送过来的图像、视频等信息。The image transmission station 22 is used to receive information such as images and videos sent by the flight control image transmission station 1F1 of the multi-rotor aircraft 1 .
地面计算机23是地面工作站的核心，其与数传电台21、图传电台22、遥控器24通信，以完成控制、记录、检测、分析等功能。The ground computer 23 is the core of the ground workstation, and it communicates with the digital transmission station 21, the image transmission station 22, and the remote controller 24 to complete functions such as control, recording, detection, and analysis.
遥控器24用于手动控制多旋翼飞行器1。The remote controller 24 is used to manually control the multi-rotor aircraft 1 .
地面工作站电源25给整个地面工作站2供电，无需专门说明，专业人士可根据实际系统的需要自行选择电压等级、功率大小，或者可以理解为根据需要作相应的修改。The ground workstation power supply 25 supplies power to the entire ground workstation 2 without special instructions. Professionals can choose the voltage level and power according to the needs of the actual system, or it can be understood as making corresponding modifications according to needs.
图6是本发明的基于多旋翼飞行器1的电力线巡检系统100的控制方法的流程示意图，如图6所示，本发明实施例主要包括五个步骤：Fig. 6 is a schematic flow chart of the control method of the power line inspection system 100 based on the multi-rotor aircraft 1 of the present invention. As shown in Fig. 6, the embodiment of the present invention mainly includes five steps:
步骤S1：上升挂线，通过手动或自动的方式让多旋翼飞行器1飞起来并挂载到待检电力线路上；Step S1: Ascend and hang the line, let the multi-rotor aircraft 1 fly up and mount it on the power line to be inspected manually or automatically;
步骤S2：滑行巡线：通过重力或多旋翼飞行器1的推进作用在待检电力线路上行进并巡检；Step S2: Taxi line inspection: advance and inspect the power line to be inspected by gravity or the propulsion of the multi-rotor aircraft 1;
步骤S3：绕杆避障：当遇到电线杆、变压器等障碍物时，重新飞起并重新挂线；Step S3: Obstacle avoidance around the pole: When encountering obstacles such as utility poles and transformers, fly again and hang up the wire again;
步骤S4：再一次滑行巡线(与步骤S2相同)；Step S4: taxiing to patrol the line again (same as step S2);
步骤S5：脱线降落：当电池电量接近安全下限时，通过手动或自动的方式将多旋翼飞行器1脱线并降落，以备更换电池重新巡线。Step S5: Off-line landing: When the battery power is close to the lower safety limit, the multi-rotor aircraft 1 is off-line and landed manually or automatically, in case the battery is replaced to re-trace the line.
值得说明的是，依据多旋翼飞行器1携带电池的容量，步骤S2、S3、S4可以多次重复，并不限于图5所示的情况。It is worth noting that, according to the capacity of the battery carried by the multi-rotor aircraft 1 , steps S2 , S3 , and S4 can be repeated multiple times, and are not limited to the situation shown in FIG. 5 .
以上对本发明的电力线巡检用的多旋翼飞行器、以及基于该多旋翼飞行器的电力线巡检系统进行了详细说明。作为本发明，具有下列有益效果：The multi-rotor aircraft for power line inspection of the present invention and the power line inspection system based on the multi-rotor aircraft have been described in detail above. As the present invention, it has the following beneficial effects:
①安全性高：利用多旋翼飞行器的垂直升降功能挂载或飞离待检线路上，保证人员的安全性；① High safety: Use the vertical lifting function of the multi-rotor aircraft to mount or fly off the line to be inspected to ensure the safety of personnel;
②巡检范围广：利用重力和多旋翼飞行器自身的推进作用推动巡检系统在待检线路上移动，最大限度地节约能量，扩大巡检范围；②Wide inspection range: use gravity and the propulsion of the multi-rotor aircraft to push the inspection system to move on the line to be inspected, save energy to the greatest extent, and expand the inspection range;
③机械结构简单：利用多旋翼飞行器的飞行功能方便地跨越电线杆(塔)、变压器等障碍物；③Simple mechanical structure: use the flight function of the multi-rotor aircraft to easily cross obstacles such as utility poles (towers) and transformers;
④精度高：由于本发明的特有结构和工作方式，图像采集设备与待检电力线路的位置是相对固定的，从而保证采集到的图像的质量，提高巡检的准确性。④ High precision: Due to the unique structure and working method of the present invention, the positions of the image acquisition equipment and the power line to be inspected are relatively fixed, thereby ensuring the quality of the collected images and improving the accuracy of the inspection.
以上所述的具体实施例，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施例而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
Claims (7)
1.一种电力线巡检用的多旋翼飞行器，飞行并挂载在电力线路上来对电力线路进行巡检，具有：1. A multi-rotor aircraft for power line inspection, flying and mounted on the power line to carry out inspection of the power line, has: 挂载滑轮，通过从上方与所述电力线路接触，来让所述多旋翼飞行器挂载在所述电力线路上；Mounting the pulley, allowing the multi-rotor aircraft to be mounted on the power line by contacting the power line from above; 挂载导向板，为具有一定角度的倾斜板，在所述多旋翼飞行器向所述电力线路上挂载时，能引导所述多旋翼飞行器向电力线路移动完成挂载；以及，The mounting guide plate is an inclined plate with a certain angle, and when the multi-rotor aircraft is mounted on the power line, it can guide the multi-rotor aircraft to move to the power line to complete the mounting; and, 挂载支架，用于支撑所述挂载滑轮和所述挂载导向板；a mounting bracket for supporting the mounting pulley and the mounting guide plate; 摄像机，用于采集所述电力线路的图像、视频信息；A camera, used to collect images and video information of the power line; GPS天线，用于接收GPS信号，以完成所述多旋翼飞行器的实时定位；GPS antenna, for receiving GPS signal, to finish the real-time positioning of described multi-rotor aircraft; 多个螺旋桨和与之对应的无刷电机，由所述无刷电机带动所述螺旋桨旋转并产生升力；以及，a plurality of propellers and corresponding brushless motors, the brushless motors drive the propellers to rotate and generate lift; and, 电控子系统，用于控制所述多旋翼飞行器的飞行、挂载、行进、绕杆避障和对电力线路的巡检，The electronic control subsystem is used to control the flight, mounting, travel, obstacle avoidance around the pole and inspection of the power line of the multi-rotor aircraft, 所述电控子系统具有：飞控图传电台、飞控数传电台、GPS模块、遥控接收机、飞控中央处理器、图像采集器、多路电调、气压高度计、三轴加速度计及三轴陀螺仪、三轴地磁计、飞控电源，The electronic control subsystem has: flight control image transmission station, flight control digital transmission station, GPS module, remote control receiver, flight control central processing unit, image acquisition device, multi-channel ESC, barometric altimeter, three-axis accelerometer and Three-axis gyroscope, three-axis magnetometer, flight control power supply, 所述飞控图传电台，将所述图像采集器采集的图像通过无线方式传给对所述多旋翼飞行器进行控制的控制端，The flight control image transmission station wirelessly transmits the image collected by the image collector to the control terminal that controls the multi-rotor aircraft, 所述飞控数传电台，将所述多旋翼飞行器的包括位置、检测时间在内的状态信息，以无线方式传给所述控制端，The flight control digital transmission station transmits the status information of the multi-rotor aircraft including the position and detection time to the control terminal in a wireless manner, 所述GPS模块，接收所述GPS天线传过来的GPS信号并计算出多旋翼飞行器的经度、纬度、高度等定位信息，The GPS module receives the GPS signal transmitted by the GPS antenna and calculates the longitude, latitude, height and other positioning information of the multi-rotor aircraft, 所述遥控接收机，从所述控制端接收手动遥控信号，以手动控制多旋翼飞行器，The remote control receiver receives a manual remote control signal from the control terminal to manually control the multi-rotor aircraft, 所述飞控中央处理器对所述电控子系统中的各个部分间的通信进行控制，得到必须的姿态、位置、遥控等信号，以完成所述多旋翼飞行器的手动或自动控制，The flight control central processor controls the communication between various parts in the electronic control subsystem to obtain necessary attitude, position, remote control and other signals to complete the manual or automatic control of the multi-rotor aircraft, 所述图像采集器，采集由所述摄像机传来的图像或视频信息，The image collector collects the image or video information transmitted by the camera, 多路电调，控制多路无刷电机的旋转并调节其转速，Multi-channel ESC, control the rotation of multi-channel brushless motors and adjust their speed, 气压高度计，通过测量大气压力和环境温度来以较高的精度计算多旋翼飞行器的海拔高度，Barometric altimeter, which calculates the altitude of the multi-rotor aircraft with high accuracy by measuring atmospheric pressure and ambient temperature, 三轴加速度计及三轴陀螺仪，测量多旋翼飞行器的三轴加速度、三轴旋转速率，Three-axis accelerometer and three-axis gyroscope to measure the three-axis acceleration and three-axis rotation rate of the multi-rotor aircraft, 三轴地磁计，测量地磁在多旋翼飞行器上的三轴分量，并和三轴加速度计及三轴陀螺仪测量到的三轴加速度、三轴旋转速率一起传送给飞控中央处理器，计算多旋翼飞行器的姿态，The three-axis magnetometer measures the three-axis component of the geomagnetism on the multi-rotor aircraft, and transmits the three-axis acceleration and the three-axis rotation rate measured by the three-axis accelerometer and the three-axis gyroscope to the flight control central processor to calculate the multi-axis attitude of the rotorcraft, 飞控电源给整个电控子系统供电。The flight control power supply supplies power to the entire electronic control subsystem. 2.根据权利要求1所述的多旋翼飞行器，其特征在于，2. multi-rotor aircraft according to claim 1, is characterized in that, 在挂载滑轮上形成有凹形槽。A concave groove is formed on the hanging pulley. 3.根据权利要求1所述的多旋翼飞行器，其特征在于，3. multi-rotor aircraft according to claim 1, is characterized in that, 所述挂载支架，还安装有：刹车器铰链、刹车器杠杆和刹车器电磁铁，The mounting bracket is also equipped with: a brake hinge, a brake lever and a brake electromagnet, 所述刹车器电磁铁，得电时对所述刹车器杠杆产生吸引力，The brake electromagnet generates attraction to the brake lever when it is energized, 所述刹车器铰链，作为所述刹车器杠杆的支点，the brake hinge, serving as a fulcrum for the brake lever, 所述刹车器杠杆，当所述刹车器电磁铁得电时，吸引所述刹车器杠杆绕所述刹车器铰链转动并压在所述挂载滑轮上，产生摩擦力并控制所述挂载滑轮的转动速度，当所述刹车器电磁铁不得电时，由其自身的弹簧拉离所述挂载滑轮。The brake lever, when the brake electromagnet is energized, attracts the brake lever to rotate around the brake hinge and press on the mount pulley, generating friction and controlling the mount pulley The rotation speed, when the brake electromagnet is not electrified, is pulled away from the hanging pulley by its own spring. 4.根据权利要求1所述的多旋翼飞行器，其特征在于，4. multi-rotor aircraft according to claim 1, is characterized in that, 还具有：起落架，用于在起降时产生缓冲和保护作用；以及，Also has: landing gear for cushioning and protection during takeoff and landing; and, 起落架横杆，用于保持所述多旋翼飞行器在地面时的稳定。The landing gear crossbar is used to keep the multi-rotor aircraft stable when it is on the ground. 5.一种电力线巡检系统，包括权利要求1～4的任一项所述的多旋翼飞行器和作为所述控制端的地面工作站。5. A power line inspection system, comprising the multi-rotor aircraft according to any one of claims 1 to 4 and a ground workstation as the control terminal. 6.根据权利要求5所述的电力线巡检系统，其特征在于，6. The power line inspection system according to claim 5, characterized in that, 所述地面工作站包括：数传电台，用于接收由多旋翼飞行器发送过来的状态信息；The ground workstation includes: a data transmission station, used to receive status information sent by the multi-rotor aircraft; 图传电台，用于接收由多旋翼飞行器发送过来的图像、视频信息；The image transmission station is used to receive the image and video information sent by the multi-rotor aircraft; 遥控器，用于手动控制多旋翼飞行器；Remote control for manually controlling the multi-rotor aircraft; 地面计算机，与数传电台、图传电台、遥控器通信，以完成控制、记录、检测、分析等功能；和The ground computer communicates with the digital transmission station, image transmission station, and remote controller to complete functions such as control, recording, detection, and analysis; and 地面工作站电源，给整个地面工作站供电。The ground station power supply supplies power to the entire ground station. 7.一种电力巡检方法，用于权利要求5或6所述的电力巡检系统，包括：7. A power inspection method for the power inspection system according to claim 5 or 6, comprising: 步骤S1：实施上升挂线，通过手动或自动的方式让多旋翼飞行器飞起来并挂载到待检电力线路上；Step S1: Implement the lifting and hanging wire, let the multi-rotor aircraft fly up and mount it on the power line to be inspected manually or automatically; 步骤S2：实施滑行巡线，通过重力或多旋翼飞行器的推进作用在待检电力线路上行进并巡检；Step S2: Carry out taxi line inspection, travel and inspection on the power line to be inspected by gravity or the propulsion of the multi-rotor aircraft; 步骤S3：实施绕杆避障，当遇到电线杆、变压器等障碍物时，重新飞起并重新挂线；Step S3: implement obstacle avoidance around the pole, when encountering obstacles such as utility poles and transformers, fly again and hang up the wire again; 步骤S4：返回步骤S2，继续进行滑行巡线；Step S4: return to step S2, and continue to patrol the line by taxiing; 步骤S5：实施脱线降落，当电池电量接近安全下限时，通过手动或自动的方式将多旋翼飞行器脱线并降落。Step S5: Implement off-line landing. When the battery power is close to the lower safety limit, the multi-rotor aircraft is off-line and landed manually or automatically.
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