CN111301678B - Intelligent power inspection robot based on multi-rotor aircraft and use method - Google Patents
Intelligent power inspection robot based on multi-rotor aircraft and use method Download PDFInfo
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- CN111301678B CN111301678B CN202010123125.9A CN202010123125A CN111301678B CN 111301678 B CN111301678 B CN 111301678B CN 202010123125 A CN202010123125 A CN 202010123125A CN 111301678 B CN111301678 B CN 111301678B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
本发明公开了一种基于多旋翼飞行器的智能电力巡检机器人及使用方法，巡检机器人包括多旋翼飞行器和巡检机械手；多旋翼飞行器包括机架、无刷电机、控制电路模块、GPS模块和脚架；控制电路模块和GPS模块与机架固定连接，无刷电机均匀固定连接在机架上；巡检机械手包括固定杆、伺服电机、转轴和三个图像传感器模块。巡检机器人通过在巡检过程中向控制电路模块实时发送图像和位置信息，控制电路模块分析相邻图像是否有异常找出电力线的故障点，并记录故障点处图像和位置信息。本发明通过巡检机械手，可对电力线进行巡检，同时可以将巡检视频、GPS数据、故障点位置、故障点图像等都保存到控制电路模块中，后期将人工复检并修复。
The invention discloses an intelligent electric power inspection robot based on a multi-rotor aircraft and a method of using the same. The inspection robot includes a multi-rotor aircraft and an inspection manipulator; the multi-rotor aircraft includes a frame, a brushless motor, a control circuit module, a GPS module and a The tripod; the control circuit module and the GPS module are fixedly connected to the frame, and the brushless motor is evenly and fixedly connected to the frame; the inspection manipulator includes a fixed rod, a servo motor, a rotating shaft and three image sensor modules. The inspection robot sends images and position information to the control circuit module in real time during the inspection process, and the control circuit module analyzes whether the adjacent images are abnormal to find the fault point of the power line, and records the image and position information of the fault point. Through the inspection manipulator, the present invention can inspect the power line, and at the same time, the inspection video, GPS data, fault point location, fault point image, etc. can be saved in the control circuit module, and manual re-inspection and repair can be performed later.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an intelligent power inspection robot based on a multi-rotor aircraft and a using method.
Background
At present, the power line is because exposing outdoors, receives the effect of blowing by the wind and rain and shines very easily and breaks down, and this easily finally leads to the power line to break or the fault point causes accidents such as generating heat and catching fire. To prevent accidents, we often need to patrol the power line for maintenance. Because the power line is often very high outdoors, it is generally unrealistic and unsafe to manually climb up to check for faults.
Along with the rapid development of technologies such as aviation, remote sensing and information processing, the electric power industry actively develops the new technical research of line construction and operation, maintenance and repair, wherein unmanned aerial vehicle erects at the circuit and pulls and the circuit patrols and examines the top formula nimble, with low costs, not only can discover defects such as shaft tower foreign matter, insulator damage, the stockbridge damper slides, fastener skew, can also discover the defect that the gold utensil corrosion, round pin and bolt nut disappearance, manual patrolling and examining such as seeking flashover fault point are difficult to discover, can coordinate with helicopter and manual patrolling and examining mode, become one of the key directions of circuit operation and inspection technological development.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects of high risk and low safety of manual power inspection in the prior art, the invention discloses an intelligent power inspection robot based on a multi-rotor aircraft and a using method thereof.
The technical scheme is as follows: the invention discloses an intelligent electric inspection robot based on a multi-rotor aircraft and a using method thereof, wherein the inspection robot comprises the multi-rotor aircraft and an inspection manipulator;
the multi-rotor aircraft comprises a rack, a plurality of brushless motors, a control circuit module for power line inspection result processing, a GPS module and a foot rest; the control circuit module and the GPS module are fixedly connected with the rack, the brushless motors are uniformly distributed on the rack and are fixedly connected with the rack, and the foot rest is arranged on the rack;
the inspection manipulator comprises a fixed rod, a servo motor, a rotating shaft, a first image sensor module, a second image sensor module and a third image sensor module, wherein one end of the fixed rod is connected with the servo motor, the servo motor is connected with the first image sensor module through the rotating shaft, and the first image sensor module is respectively connected with the second image sensor module and the third image sensor module;
the other end of the fixing rod on the inspection manipulator is fixedly connected with the multi-rotor aircraft.
Preferably, the first image sensor module comprises a first base plate, a first image sensor and a first white plate; one end of the first white board is connected with one end of the first bottom board, and the first image sensor is arranged on the first bottom board; the first bottom plate is connected to the servo motor through a rotating shaft, and the servo motor drives the rotating shaft to synchronously rotate when rotating so as to drive the first bottom plate to rotate;
the second image sensor module comprises a second bottom plate, a first motor rotating shaft, a second image sensor, a second white plate and a second motor rotating shaft; one end of the second bottom plate is connected with the other end of the first white plate through a first motor rotating shaft, the second image sensor is installed on the second bottom plate, and the other end of the second bottom plate is connected with the second white plate through a second motor rotating shaft;
the third image sensor module comprises a third bottom plate, a third image sensor, a third white plate and a third motor rotating shaft; one end of the third white board is connected with the other end of the first bottom board, the other end of the third white board is connected with the third bottom board through a third motor rotating shaft, and a third image sensor is arranged on the third bottom board.
Preferably, the first motor rotating shaft comprises a rotating shaft servo motor, a motor rotor and a rotor rotating shaft; the rotating shaft servo motor and the motor rotor are connected through a rotor rotating shaft, the rotating shaft servo motor is fixedly connected with the first white board, and the motor rotor is fixedly connected with the second bottom board.
Preferably, the second motor rotating shaft and the third motor rotating shaft are the same in structure as the first motor rotating shaft.
Preferably, two ends of the first bottom plate are respectively and fixedly connected with one end of the first white plate and one end of the third white plate, and the connection angle is degree; the other end of the first white board is movably connected with one end of the second bottom board, and the movable connection angle range is degree-degree; the other end of the second bottom plate is movably connected with the second white plate, and the movable connection angle range is degree-degree; the other end of the third white board is movably connected with the third bottom board, and the movable connection angle range is degree-degree.
Preferably, many rotor crafts still includes damper plate and a plurality of shock attenuation post, damper plate passes through shock attenuation post and frame fixed connection, and control circuit module locates on the damper plate.
Preferably, the control circuit module comprises a microprocessor module and a motor driving module, an image processing module and a memory module which are connected with the microprocessor module; the motor driving module is connected with a servo motor and rotating shaft servo motors in the first motor rotating shaft, the second motor rotating shaft and the third motor rotating shaft, and the image processing module is connected with the first image sensor module, the second image sensor module and the third image sensor module.
A use method of an intelligent power inspection robot based on a multi-rotor aircraft comprises the following steps:
step A, initializing and setting the angle of the inspection robot: setting an angle between the first white board and the second bottom board as degree, an angle between the second bottom board and the second white board as degree, and an angle between the third white board and the third bottom board as degree;
b, taking off the inspection robot from the ground and searching the position of the power line: the inspection robot adjusts the position of the inspection robot and shoots an image through the first image sensor until a power line appears in the image of the first image sensor;
step C, adjusting the position of the multi-rotor aircraft: adjusting the position of the multi-rotor aircraft until the power line horizontally images to the middle position of the first image sensor, and enabling the inspection robot to be close to the power line until the power line images moderately in the first image sensor;
d, folding the inspection manipulator: setting an angle between the first white board and the second bottom board as degree, an angle between the second bottom board and the second white board as degree, an angle between the third white board and the third bottom board as degree, and an angle between the second white board and the third bottom board as degree at the moment, wherein the patrol manipulator is folded into a regular hexagon, and the first image sensor, the second image sensor and the third image sensor are right opposite to the power line;
e, adjusting the position of the patrol manipulator: adjusting the position of the multi-rotor aircraft until the power line is positioned in the middle of the inspection manipulator, and controlling the servo motor to enable the power line to be perpendicular to the plane of the inspection manipulator;
f, the inspection robot performs power inspection and feeds back results: the control circuit module receives real-time data sent by the image sensor and the GPS module, hovers the abnormal part of the power line, records corresponding fault images and GPS data, stores the result in the control circuit module, and continues to patrol the power line;
step G, recalling the inspection robot after inspection is finished: after the power line inspection is finished, the inspection manipulator opens and breaks away from the power line, and the inspection robot returns to the ground and descends.
Preferably, the step F further comprises:
step F1, the inspection robot advances to inspect: the inspection robot advances to perform power line inspection, the first image sensor, the second image sensor and the third image sensor acquire power line images in real time and send the shooting result and the GPS module data to the control circuit module;
step F2, hovering when the inspection robot finds the fault: the control circuit module compares adjacent front and rear frame images, compares the images with abnormal conditions to determine a fault point, the multi-rotor aircraft hovers, and records the position and image information of the fault point, so that later manual maintenance is facilitated;
step F3, the inspection robot continues to go forward for inspection: and the inspection robot continues to move forward until the inspection is finished.
Has the advantages that:
1. according to the invention, the power line can be inspected through the inspection manipulator, and meanwhile, inspection videos, GPS data, fault point positions, fault point images and the like can be stored in the control circuit module for later manual re-inspection and repair;
2. the inspection manipulator is arranged to effectively inspect all directions of the power line, the inspection manipulator can control the relative angle position change of the three image sensor modules through controlling the rotating shaft of the motor, so that the inspection manipulator can be folded during power inspection, the three image sensor modules can conveniently acquire complete power line images, all imaging information without dead angles in the peripheral area of the power line can be sent to the control circuit module to be analyzed and processed, and the practicability of the inspection robot is greatly improved;
3. the control circuit module is arranged on the damping plate, so that the safety of components in the control circuit module is improved, and the service life of the power inspection robot is prolonged.
Drawings
FIG. 1 is a schematic view of the general structure of the present invention;
the system comprises a frame 1, a brushless motor 2, a damping plate 3, a damping column 4, a control circuit module 5, a GPS module 6, a foot rest 7, a fixing rod 8, a servo motor 9, a rotating shaft 10, a first bottom plate 11, a first image sensor 12, a first white plate 13, a second bottom plate 14, a first motor rotating shaft 15, a second image sensor 16, a second white plate 17, a second motor rotating shaft 18, a third white plate 19, a third bottom plate 20, a third motor rotating shaft 21, a third image sensor 22 and a power line 23, wherein the frame is a frame, the brushless motor 2, the damping plate 3, the damping column 4, the control circuit module 5, the GPS module 6, the foot rest 7, the fixing rod 8, the servo motor 9;
FIG. 2 is an enlarged view of a first motor shaft structure according to the present invention;
wherein 24 is a rotating shaft servo motor, 25 is a motor rotor, and 26 is a rotor rotating shaft;
FIG. 3 is a front view of the attitude of the inspection robot before power inspection in the present invention;
wherein 27 is a multi-rotor aircraft, and 28 is a patrol manipulator;
FIG. 4 is a right view of the inspection robot attitude before power inspection in accordance with the present invention;
FIG. 5 is a front view of the inspection robot posture during the power inspection process of the present invention;
FIG. 6 is a schematic top view of the inspection robot in the process of power inspection;
fig. 7 is a detailed view of the inspection robot of fig. 6;
FIG. 8 is a diagram illustrating the position distribution of the first image sensor, the second image sensor and the third image sensor on the corresponding substrate in FIG. 1;
FIG. 9 is a block diagram of a control circuit module;
fig. 10 is a flow chart of the operation of the present invention.
Detailed Description
The present solution is further described below with reference to the accompanying drawings.
As shown in fig. 1, the intelligent power inspection robot based on the multi-rotor aircraft comprises a multi-rotor aircraft 27 and an inspection manipulator 28;
the multi-rotor aircraft 27 comprises a frame 1, a plurality of brushless motors 2, a control circuit module 5 for power line inspection result processing, a GPS module 6 and a foot rest 7; the control circuit module 5 and the GPS module 6 are fixedly connected with the frame 1, the brushless motors 2 are uniformly distributed on the frame 1 and fixedly connected with the frame 1, and the foot rest 7 is arranged on the frame 1; the multi-rotor aircraft 27 further comprises a damping plate 3 and a plurality of damping columns 4, the damping plate 3 is fixedly connected with the rack 1 through the damping columns 4, the control circuit module 5 is arranged on the damping plate 3, the damping plate is further arranged, the control circuit module is arranged on the damping plate, safety of components inside the control circuit module is improved, and meanwhile the service life of the power inspection robot is prolonged.
The inspection manipulator 28 comprises a fixed rod 8, a servo motor 9, a rotating shaft 10, a first image sensor module, a second image sensor module and a third image sensor module, wherein one end of the fixed rod 8 is connected with the servo motor 9, the servo motor 9 is connected with the first image sensor module through the rotating shaft 10, and the first image sensor module is respectively connected with the second image sensor module and the third image sensor module;
the other end of the fixed rod 8 on the inspection manipulator 28 is fixedly connected with the multi-rotor aircraft 27.
Wherein the first image sensor module comprises a first base plate 11, a first image sensor 12 and a first white plate 13; one end of the first white board 13 is connected with one end of the first bottom board 11, and the first image sensor 12 is installed on the first bottom board 11; the first bottom plate 11 is connected to the servo motor 9 through a rotating shaft 10, and the servo motor 9 drives the rotating shaft 10 to synchronously rotate when rotating so as to drive the first bottom plate 11 to rotate;
as shown in fig. 8, the second image sensor module includes a second base plate 14, a first motor shaft 15, a second image sensor 16, a second white plate 17, and a second motor shaft 18; one end of the second bottom plate 14 is connected with the other end of the first white plate 13 through a first motor rotating shaft 15, the second image sensor 16 is installed on the second bottom plate 14, and the other end of the second bottom plate 14 is connected with a second white plate 17 through a second motor rotating shaft 18;
the third image sensor module comprises a third bottom plate 20, a third image sensor 22, a third white plate 19 and a third motor rotating shaft 21; one end of the third white board 19 is connected to the other end of the first bottom board 11, the other end of the third white board 19 is connected to the third bottom board 20 through a third motor rotating shaft 21, and the third bottom board 20 is provided with a third image sensor 22.
As shown in fig. 2, the first motor shaft 15 includes a shaft servo motor 24, a motor rotor 25 and a rotor shaft 26; the rotating shaft servo motor 24 is connected with the motor rotor 25 through a rotor rotating shaft 26, the rotating shaft servo motor 24 is fixedly connected with the first white board 13, and the motor rotor 25 is fixedly connected with the second bottom board 14. The second motor shaft 18 and the third motor shaft 21 are identical in construction to the first motor shaft 15.
For convenience of understanding, the servo motor 9 is named as a servo motor a, and the rotating shaft servo motors in the first motor rotating shaft 15, the second motor rotating shaft 18 and the third motor rotating shaft 21 are named as a servo motor B, a servo motor C and a servo motor D, respectively.
The structural block diagram of the control circuit module 5 is shown in fig. 9, and the control circuit module 5 includes a microprocessor module, and a key module, a display module, a motor driving module, an image processing module, an MPU6050 sensor module, a memory module, a wireless communication module and a real-time clock module connected to the microprocessor module; the motor driving module is connected with the servo motor A, the servo motor B, the servo motor C and the servo motor D, and the control circuit module 5 can control the servo motor A, the servo motor B, the servo motor C and the servo motor D to rotate through the microprocessor module, so that the routing inspection manipulator 28 is controlled to be unfolded and folded; the image processing module is connected with the image sensor A, the image sensor B and the image sensor C, the control circuit module 5 receives image information sent by the image processing module, the information is stored in the memory module through the microprocessor module, and meanwhile the microprocessor module carries out comparison analysis and processing on the stored information.
Two ends of the first bottom plate 11 are respectively fixedly connected with one end of the first white plate 13 and one end of the third white plate 19, and an included angle between the first bottom plate 11 and the first white plate 13 is set to be theta1The included angle between the first bottom plate 11 and the third white plate 19 is theta2，θ1And theta2Are all 120 degrees; the other end of the first white board 13 is movably connected with one end of the second bottom board 14, and the included angle is theta3，θ3The range is 120-150 degrees; the other end of the second bottom plate 14 is movably connected with the second white plate 17, and the included angle is set as theta5，θ5The range is 120-180 degrees; the other end of the third white board 19 is movably connected with the third bottom board 20, and the included angle is set as theta4，θ4The range is 120-180 degrees. Wherein, the included angle between the second white board 17 and the third bottom board 20 is set as theta6。
As shown in fig. 10, a method for using an intelligent power inspection robot based on a multi-rotor aircraft comprises the following steps:
step A, initializing and setting the angle of the inspection robot: as shown in fig. 3 and 4, the angle between the first white board 13 and the second white board 14 is set to 150 degrees, the angle between the second white board 14 and the second white board 17 is set to 180 degrees, the angle between the third white board 19 and the third white board 20 is set to 120 degrees, and the inspection robot 28 is in an open state before takeoff, that is: theta1120 degrees, theta2120 degrees, theta3150 degrees, theta4150 degrees, theta5180 degrees, theta 60 degrees;
step B, taking off the inspection robot from the ground and searching the position of the power line 23: the inspection robot adjusts the position of the inspection robot and captures an image through the first image sensor 12 until a power line 23 appears in the image of the first image sensor 12;
step C, adjusting the position of the multi-rotor aircraft 27: adjusting the position of the multi-rotor aircraft 27 until the power line 23 is horizontally imaged to the middle position of the first image sensor 12, and enabling the inspection robot to be close to the power line 23 until the power line 23 is imaged moderately in the first image sensor 12;
step D, closing the inspection manipulator 28: setting an angle between the first white board 13 and the second bottom board 14 to be 120 degrees, an angle between the second bottom board 14 and the second white board 17 to be 120 degrees, an angle between the third white board 19 and the third bottom board 20 to be 120 degrees, an angle between the second white board 17 and the third bottom board 20 to be 120 degrees at the moment, folding the inspection manipulator 28 into a regular hexagon, and enabling the first image sensor 12, the second image sensor 16 and the third image sensor 22 to be opposite to the power line 23; at this time, θ1120 degrees, theta2120 degrees, theta3120 degrees, theta4120 degrees, theta5120 degrees, theta6As shown in fig. 5, 6 and 7, when the three image sensors A, B, C are facing the power lines, the viewing angles are the same, and all of the regions around the power lines without dead spots can be imaged onto the image sensors. At the moment, the power line 23 is perpendicular to the plane of the inspection manipulator 28, the inspection manipulator can effectively inspect all directions of the power line, the inspection manipulator can control the relative angle position change of the three image sensor modules through controlling a motor rotating shaft, so that the inspection manipulator can be folded during power inspection, the three image sensor modules can conveniently acquire complete power line images, all imaging information without dead angles in the power line region can be sent to the control circuit module for analysis and processing, and the practicability of the inspection robot is greatly improved.
Step E, adjusting the position of the inspection robot 28: adjusting the position of the multi-rotor aircraft 27 until the power line 23 is positioned in the middle of the inspection manipulator 28, and controlling the servo motor 9 to enable the power line 23 to be perpendicular to the plane of the inspection manipulator 28;
f, the inspection robot performs power inspection and feeds back results: the control circuit module 5 receives real-time data sent by the image sensor and the GPS module 6, hovers the abnormal part of the power line 23, records corresponding fault images and GPS data, stores the result in the control circuit module 5, and continues to patrol the power line 23; wherein step F further comprises:
step F1, the inspection robot advances to inspect: the inspection robot advances to inspect the power line 23, the first image sensor 12, the second image sensor 16 and the third image sensor 22 acquire the image of the power line 23 in real time, and the shooting result and the data of the GPS module 6 are sent to the control circuit module 5;
step F2, hovering when the inspection robot finds the fault: the control circuit module 5 compares the adjacent front and rear frame images, compares the abnormal images to determine a fault point, the multi-rotor aircraft 27 hovers, and the control circuit module 5 records the position and the image information of the fault point, so that the later manual maintenance is facilitated;
step F3, the inspection robot continues to go forward for inspection: and the inspection robot continues to move forward until the inspection is finished.
Step G, recalling the inspection robot after inspection is finished: after the power line 23 is inspected, the inspection manipulator 28 opens and separates from the power line, and the inspection robot returns to the ground and descends. During power inspection, the multi-rotor aircraft 27 will be advanced along the power line 23 for inspection, and the plane in which the fuselage of the multi-rotor aircraft 27 is located is no longer horizontal, and should be tilted forward by an angle to ensure that the multi-rotor aircraft 27 will be advanced along the power line 23 for inspection, but if tilted forward would cause the plane in which the inspection robot 28 is located to be non-perpendicular to the power line 23. In order to ensure the verticality, the servo motor 9 is designed, and the plane where the inspection manipulator 28 is located is ensured to be vertical to the power line 23 in real time by controlling the servo motor 9 to rotate.
According to the invention, the power line 23 can be inspected through the inspection manipulator 28, and meanwhile, inspection videos, GPS data, fault point positions, fault point images and the like can be stored in the control circuit module 5 for later manual re-inspection and repair.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. The utility model provides an intelligence electric power inspection robot based on many rotor crafts which characterized in that: comprises a multi-rotor aircraft (27) and a patrol manipulator (28);
the multi-rotor aircraft (27) comprises a rack (1), a plurality of brushless motors (2), a control circuit module (5) for power line inspection result processing, a GPS module (6) and a foot rest (7); the control circuit module (5) and the GPS module (6) are fixedly connected with the rack (1), the brushless motors (2) are uniformly distributed on the rack (1) and are fixedly connected with the rack (1), and the foot rest (7) is arranged on the rack (1);
the inspection manipulator (28) comprises a fixing rod (8), a servo motor (9), a rotating shaft (10), a first image sensor module, a second image sensor module and a third image sensor module, wherein one end of the fixing rod (8) is connected with the servo motor (9), the servo motor (9) is connected with the first image sensor module through the rotating shaft (10), and the first image sensor module is respectively connected with the second image sensor module and the third image sensor module;
the other end of the fixed rod (8) on the inspection manipulator (28) is fixedly connected with the multi-rotor aircraft (27);
the first image sensor module comprises a first base plate (11), a first image sensor (12) and a first white plate (13); one end of the first white board (13) is connected with one end of the first bottom board (11), and the first image sensor (12) is installed on the first bottom board (11); the first bottom plate (11) is connected to the servo motor (9) through a rotating shaft (10), and the rotating shaft (10) is driven to synchronously rotate when the servo motor (9) rotates, so that the first bottom plate (11) is driven to rotate;
the second image sensor module comprises a second bottom plate (14), a first motor rotating shaft (15), a second image sensor (16), a second white board (17) and a second motor rotating shaft (18); one end of the second bottom plate (14) is connected with the other end of the first white plate (13) through a first motor rotating shaft (15), the second image sensor (16) is installed on the second bottom plate (14), and the other end of the second bottom plate (14) is connected with the second white plate (17) through a second motor rotating shaft (18);
the third image sensor module comprises a third bottom plate (20), a third image sensor (22), a third white plate (19) and a third motor rotating shaft (21); one end of a third white board (19) is connected with the other end of the first bottom board (11), the other end of the third white board (19) is connected with a third bottom board (20) through a third motor rotating shaft (21), and a third image sensor (22) is arranged on the third bottom board (20);
two ends of the first bottom plate (11) are respectively and fixedly connected with one end of the first white plate (13) and one end of the third white plate (19), and the connection angle is 120 degrees; the other end of the first white board (13) is movably connected with one end of the second bottom board (14), and the movable connection angle range is 120-150 degrees; the other end of the second bottom plate (14) is movably connected with the second white plate (17), and the movable connection angle range is 120-180 degrees; the other end of the third white board (19) is movably connected with the third bottom board (20), and the movable connection angle range is 120-180 degrees.
2. The intelligent power inspection robot based on multi-rotor aircraft according to claim 1, wherein: the first motor rotating shaft (15) comprises a rotating shaft servo motor (24), a motor rotor (25) and a rotor rotating shaft (26); pivot servo motor (24) and electric motor rotor (25) are connected through rotor shaft (26), pivot servo motor (24) and first blank (13) fixed connection, electric motor rotor (25) and second bottom plate (14) fixed connection.
3. The intelligent power inspection robot based on multi-rotor aircraft according to claim 2, wherein: the structure of the second motor rotating shaft (18) and the third motor rotating shaft (21) is the same as that of the first motor rotating shaft (15).
4. The intelligent power inspection robot based on multi-rotor aircraft according to claim 1, wherein: many rotor crafts (27) still include damper plate (3) and a plurality of shock attenuation post (4), damper plate (3) are through damper post (4) and frame (1) fixed connection, and control circuit module (5) are located on damper plate (3).
5. The intelligent power inspection robot based on multi-rotor aircraft according to claim 1, wherein: the control circuit module comprises a microprocessor module and a motor driving module, an image processing module and a memory module which are connected with the microprocessor module; the motor driving module is connected with a servo motor (9) and rotating shaft servo motors in a first motor rotating shaft (15), a second motor rotating shaft (18) and a third motor rotating shaft (21), and the image processing module is connected with the first image sensor module, the second image sensor module and the third image sensor module.
6. The use method of the intelligent power inspection robot based on the multi-rotor aircraft according to any one of claims 1-5, is characterized by comprising the following steps:
step A, initializing and setting the angle of the inspection robot: setting an angle between the first white board (13) and the second bottom board (14) to be 150 degrees, an angle between the second bottom board (14) and the second white board (17) to be 180 degrees, and an angle between the third white board (19) and the third bottom board (20) to be 120 degrees;
b, taking off the inspection robot from the ground and searching the position of the power line (23): the inspection robot adjusts the position of the inspection robot and captures an image through the first image sensor (12) until a power line (23) appears in the image of the first image sensor (12);
step C, adjusting the position of the multi-rotor aircraft (27): adjusting the position of the multi-rotor aircraft (27) until the power line (23) is horizontally imaged to the middle position of the first image sensor (12), and enabling the inspection robot to be close to the power line (23) until the power line (23) is moderately imaged in the first image sensor (12);
step D, folding the inspection manipulator (28): setting an angle between a first white board (13) and a second bottom board (14) to be 120 degrees, setting an angle between the second bottom board (14) and a second white board (17) to be 120 degrees, setting an angle between a third white board (19) and a third bottom board (20) to be 120 degrees, setting an angle between the second white board (17) and the third bottom board (20) to be 120 degrees, folding an inspection manipulator (28) to be a regular hexagon, and setting a first image sensor (12), a second image sensor (16) and a third image sensor (22) to be opposite to a power line (23);
e, adjusting the position of the inspection manipulator (28): adjusting the position of the multi-rotor aircraft (27) until the power line (23) is positioned in the middle of the inspection manipulator (28), and controlling the servo motor (9) to enable the power line (23) to be perpendicular to the plane where the inspection manipulator (28) is positioned;
f, the inspection robot performs power inspection and feeds back results: the control circuit module (5) receives real-time data sent by the image sensor and the GPS module (6), hovers the abnormal part of the power line (23), records corresponding fault images and GPS data, stores the result in the control circuit module (5), and continuously inspects the power line (23);
step G, recalling the inspection robot after inspection is finished: after the power line (23) is inspected, the inspection manipulator (28) is opened and separated from the power line, and the inspection robot returns to the ground and descends.
7. The use method of the intelligent power inspection robot based on the multi-rotor aircraft according to claim 6, characterized in that: the step F further comprises the following steps:
step F1, the inspection robot advances to inspect: the inspection robot advances to inspect the power line (23), the first image sensor (12), the second image sensor (16) and the third image sensor (22) acquire images of the power line (23) in real time, and the shooting result and data of the GPS module (6) are sent to the control circuit module (5);
step F2, hovering when the inspection robot finds the fault: the control circuit module (5) compares adjacent front and rear frame images, the images with abnormal contrast are judged as fault points, the multi-rotor aircraft (27) hovers, and the control circuit module (5) records the positions and image information of the fault points, so that later manual overhaul is facilitated;
step F3, the inspection robot continues to go forward for inspection: and the inspection robot continues to move forward until the inspection is finished.
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Effective date of registration: 20231025 Address after: 073000 West 200m northbound at the intersection of Dingzhou commercial street and Xingding Road, Baoding City, Hebei Province (No. 1910, 19th floor, building 3, jueshishan community) Patentee after: Hebei Kaitong Information Technology Service Co.,Ltd. Address before: 1 No. 211167 Jiangsu city of Nanjing province Jiangning Science Park Hongjing Road Patentee before: NANJING INSTITUTE OF TECHNOLOGY Effective date of registration: 20231025 Address after: 546100 No. 345 Luluyuan Road, Xingbin District, Laibin City, Guangxi Zhuang Autonomous Region Patentee after: Laibin Huilai Engineering Technology Co.,Ltd. Patentee after: LAIBIN POWER SUPPLY BUREAU OF GUANGXI POWER GRID CO.,LTD. Address before: 073000 West 200m northbound at the intersection of Dingzhou commercial street and Xingding Road, Baoding City, Hebei Province (No. 1910, 19th floor, building 3, jueshishan community) Patentee before: Hebei Kaitong Information Technology Service Co.,Ltd. |