CN220526001U - Laser radar for line-imitating flight of power transmission and distribution line - Google Patents
Laser radar for line-imitating flight of power transmission and distribution line Download PDFInfo
- Publication number
- CN220526001U CN220526001U CN202420061495.8U CN202420061495U CN220526001U CN 220526001 U CN220526001 U CN 220526001U CN 202420061495 U CN202420061495 U CN 202420061495U CN 220526001 U CN220526001 U CN 220526001U
- Authority
- CN
- China
- Prior art keywords
- line
- power transmission
- flight
- laser radar
- radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 20
- 238000009434 installation Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 13
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utility model relates to the technical field of laser radars, and discloses a laser radar for line-imitating flight of power transmission and distribution lines, which comprises a radar main body, wherein an integrated circuit board and a processor unit are arranged in the radar main body; the side face of the radar main body is provided with a distance measuring module for measuring the interval distance; the distance measuring module is electrically connected with the integrated circuit board; the ranging module also establishes a control connection with the processor unit. The utility model has the side ranging function, can assist in improving the safety of the simulated line flight, and is beneficial to improving the accuracy of power grid detection.
Description
Technical Field
The utility model relates to the technical field of laser radars, in particular to a laser radar for line-imitating flight of power transmission and distribution lines.
Background
In the process of power grid maintenance and inspection, unmanned aerial vehicles are widely used, for example, after the unmanned aerial vehicles are used for carrying visible light, thermal infrared imagers, ultraviolet imagers and other equipment, fine inspection of power grid line channels and equipment can be performed. However, when the unmanned aerial vehicle performs electric network line-imitating flight, the existing unmanned aerial vehicle cannot effectively complete the flight task, and a certain safety risk exists. The main reason is that the existing laser radar technology cannot accurately measure the distance between the unmanned aerial vehicle and the high-voltage line of the power grid, so that the flight track of the unmanned aerial vehicle cannot be adjusted in time, and collision is avoided.
Specifically, although some existing lidar systems can assist unmanned aerial vehicles in completing line-simulated flight of a power grid, these systems generally employ an autonomous navigation technique, scan the surrounding environment through lidar to obtain terrain and obstacle information, and plan the flight path of the unmanned aerial vehicle on the basis of the terrain and obstacle information. However, existing lidar systems have some problems in grid-line-imitating flights. Firstly, the systems only rely on a laser radar to measure the distance, and the lateral detection capability of the laser radar is weak, so that the distance between the unmanned aerial vehicle and a high-voltage line of a power grid is difficult to accurately measure. Secondly, because the high-voltage line of the power grid is thinner and the speed of the unmanned aerial vehicle is faster, the flight track of the unmanned aerial vehicle is difficult to adjust in time only by means of the measuring result of the laser radar, and therefore the risk of collision with the power grid is increased. In addition, the laser radar is easy to be interfered in a complex environment, so that the measurement error is increased, and the accuracy of ranging is further reduced.
Disclosure of Invention
The utility model aims to provide a laser radar for line-imitating flight of a power transmission and distribution line, which has a side ranging function, can assist in improving the safety of line-imitating flight and is beneficial to improving the accuracy of power grid detection.
The basic scheme provided by the utility model is as follows: the laser radar for the line-imitating flight of the power transmission and distribution line comprises a radar main body, wherein an integrated circuit board and a processor unit are arranged in the radar main body; the side face of the radar main body is provided with a distance measuring module for measuring the interval distance; the distance measuring module is electrically connected with the integrated circuit board; the ranging module also establishes a control connection with the processor unit.
Further, the distance measuring module is a distance measuring sensor or a camera module.
Further, a mounting groove is formed in the side wall of the shell of the radar main body; the distance measuring module is arranged at the mounting groove.
Further, a connecting hole is formed in the center of the mounting groove.
Further, the mounting groove is arranged at the lower half position of the side wall of the shell.
Further, the angle between the axis of the connecting hole and the side wall is 100-104 degrees.
Further, the step height of the mounting groove is 1-2 mm.
Further, the mounting groove is provided at a 2/3 position of the lower half of the side wall of the housing.
The working principle and the advantages of the utility model are as follows:
the utility model provides a laser radar for line-simulated flight of a power transmission and distribution line, wherein a ranging module is arranged on the side surface of a radar main body, and the ranging module can measure the distance between the side of the laser radar and a target object/obstacle. In practical application, can carry on unmanned aerial vehicle with laser radar, accomplish the electric wire netting with unmanned aerial vehicle and patrol and examine, patrol and examine the in-process at unmanned aerial vehicle. In particular, in the line-imitating flight process, the distance measuring module arranged on the side can measure the distance between the unmanned aerial vehicle and the high-voltage line of the power grid in real time, can guide the unmanned aerial vehicle to adjust the track of cruising detection, avoid collision with the power grid and ensure accurate information scanning of the laser radar.
Compared with the traditional laser radar, the traditional radar cannot measure the distance between the unmanned aerial vehicle and the high-voltage line of the power grid in real time, cannot guide the unmanned aerial vehicle to adjust the track of cruise detection, and is easy to collide with the power grid. The lateral distance measuring function can be added to the laser radar through simple structural improvement, the lateral detection capacity of the laser radar is improved, and the distance between the unmanned aerial vehicle and the high-voltage line of the power grid can be measured in real time. Therefore, the unmanned aerial vehicle can be guided to adjust the track of cruise detection, and collision with a power grid is avoided, so that the safety of the unmanned aerial vehicle in the power grid line-imitating flight is improved. In addition, the distance between the unmanned aerial vehicle and the high-voltage line of the power grid is measured in real time through the distance measuring module, so that the unmanned aerial vehicle can be guided to adjust according to the real-time measurement result, and the information scanning accuracy of the laser radar is ensured; the method is beneficial to improving the detection effect of the simulated line flight of the power grid, reducing the possibility of errors and missed detection, and being capable of achieving higher power grid detection accuracy.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a lidar embodiment of the present utility model for line-simulated flight of power transmission and distribution lines;
FIG. 2 is a schematic diagram of a housing structure of an embodiment of a lidar for line-simulated flight of power transmission and distribution lines according to the present utility model;
fig. 3 is a right side view of a housing of an embodiment of a lidar for line-simulated flight of electrical power transmission and distribution lines according to the present utility model.
Detailed Description
The following is a further detailed description of the embodiments:
the labels in the drawings of this specification include: radar main body 1, housing 2, mounting groove 3, connecting hole 4, draw-in groove 5, camera hole 6, mounting hole 7, laser radar head 8.
An example is substantially as shown in figure 1: a laser radar for line-imitating flight of power transmission and distribution lines comprises a radar main body 1.
An integrated circuit board, a processor unit, a light source system and a scanning system are arranged in the radar main body 1, wherein the structures of the light source system and the scanning system are the same as the corresponding system structures in the existing laser radar; the processor unit may employ a conventional control chip and be provided on an integrated circuit board.
The side surface of the radar main body 1 is provided with a distance measuring module for measuring the interval distance; the distance measuring module is electrically connected with the integrated circuit board; the ranging module also establishes a control connection with the processor unit. Specifically, the ranging module is a ranging sensor or a camera module. In this embodiment, the ranging module uses a conventional ranging sensor, such as a laser sensor, an infrared sensor, and the like.
Specifically, as shown in fig. 2 and fig. 3, a mounting groove 3 is formed on a side wall of the housing 2 of the radar main body 1; in this embodiment, the mounting groove 3 is formed on the right side wall of the housing 2. The distance measuring module is arranged at the mounting groove 3; the step height of the mounting groove 3 is 1-2 mm. The mounting groove 3 is square, and is equipped with connecting hole 4 in the center department of mounting groove 3. The angle between the axis of the connecting hole 4 and the side wall is 100-104 degrees, which is beneficial to obtaining a larger view field range. The wires of the ranging module and the like can be connected with the integrated circuit board and the like by being connected into the radar main body 1 through the connecting holes 4. The mounting groove 3 is arranged at the lower half part of the side wall of the shell 2; specifically, the mounting groove 3 is disposed at the 2/3 position of the lower half portion of the side wall of the housing 2, so that the mounting groove 3 is disposed at a lower position, and shielding of the ranging area by other structures (such as shielding of the ranging area by a chassis of the unmanned aerial vehicle when the laser radar is mounted on the unmanned aerial vehicle) can be avoided as much as possible.
A clamping groove 5 for matching with the unmanned aerial vehicle is arranged at the top of the shell 2; a camera aperture 6 is provided in the bottom of the housing 2, and a conventional camera or other image acquisition device is mounted at the camera aperture 6 for image acquisition. A mounting hole 7 is arranged on the back of the shell 2; the mounting hole 7 is used for mounting a laser radar head 8, as shown in fig. 1, a light source system, a scanning system and the like can be arranged in the laser radar head 8, and laser is generated inside the laser radar head 8 and emitted through the annular cambered surface.
In the specific application, the laser radar is clamped with the bottom of the unmanned aerial vehicle through the clamping groove 5 at the top of the shell 2. When the unmanned aerial vehicle is patrolled and examined, laser beams are emitted by a laser radar head 8 of the laser radar so as to acquire information. Meanwhile, the distance measuring module measures the distance between the unmanned aerial vehicle and the high-voltage line of the power grid in real time and transmits the distance information to the processor unit. And the processor unit guides the unmanned aerial vehicle to adjust the cruising detection track according to the received distance information so as to avoid collision with the power grid. It should be noted that the program or the control strategy involved in the operation of the processor unit is the prior art.
According to the laser radar for the line-imitating flight of the power transmission and distribution line, based on the existing laser radar structure, the camera module or the sensor module for ranging is additionally arranged on the side face of the laser radar, the distance between the unmanned aerial vehicle and the high-voltage line of the power grid is measured in real time through the camera module, the unmanned aerial vehicle can be guided to adjust the cruising detection track, collision with the power grid is avoided, and the information scanning accuracy of the laser radar is guaranteed; the safety of the simulated line flight can be assisted and promoted, and the accuracy of power grid detection is improved.
The foregoing is merely an embodiment of the present utility model, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application day or before the priority date of the present utility model, and can know all the prior art in the field, and have the capability of applying the conventional experimental means before the date, so that a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present utility model, and these should also be considered as the scope of the present utility model, which does not affect the effect of the implementation of the present utility model and the utility of the patent.
Claims (8)
1. The laser radar for the line-imitating flight of the power transmission and distribution line comprises a radar main body, wherein an integrated circuit board and a processor unit are arranged in the radar main body; the radar is characterized in that a ranging module for measuring the interval distance is arranged on the side face of the radar main body; the distance measuring module is electrically connected with the integrated circuit board; the ranging module also establishes a control connection with the processor unit.
2. The lidar for line-simulated flight of power transmission and distribution lines of claim 1, wherein the ranging module is a ranging sensor or a camera module.
3. The laser radar for line-imitating flying of power transmission and distribution lines according to claim 1, wherein a mounting groove is formed in the side wall of the shell of the radar main body; the distance measuring module is arranged at the mounting groove.
4. A lidar for line-like flight of power transmission and distribution lines according to claim 3, wherein a connecting hole is provided in the center of the mounting groove.
5. A lidar for line-like flight of power transmission and distribution lines according to claim 3, wherein the mounting groove is provided at the lower half position of the side wall of the housing.
6. The lidar for line-simulated flight of electrical power transmission and distribution lines of claim 4, wherein the axis of the connecting hole is at an angle of 100 ° to 104 ° to the side wall.
7. The laser radar for line-imitating flying of power transmission and distribution lines according to claim 3, wherein the step height of the installation groove is 1-2 mm.
8. The lidar for line-simulated flight of power transmission and distribution lines of claim 5, wherein the mounting slot is provided at 2/3 of the lower half of the side wall of the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420061495.8U CN220526001U (en) | 2024-01-10 | 2024-01-10 | Laser radar for line-imitating flight of power transmission and distribution line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420061495.8U CN220526001U (en) | 2024-01-10 | 2024-01-10 | Laser radar for line-imitating flight of power transmission and distribution line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220526001U true CN220526001U (en) | 2024-02-23 |
Family
ID=89935222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420061495.8U Active CN220526001U (en) | 2024-01-10 | 2024-01-10 | Laser radar for line-imitating flight of power transmission and distribution line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220526001U (en) |
-
2024
- 2024-01-10 CN CN202420061495.8U patent/CN220526001U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106909152B (en) | Automobile-used environmental perception system and car | |
| CN110782465B (en) | Ground segmentation method and device based on laser radar and storage medium | |
| EP2818826B1 (en) | Distance measuring apparatus, vehicle and method of calibration in distance measuring apparatus | |
| CN112965517B (en) | Unmanned aerial vehicle inspection safety obstacle avoidance system and method based on binocular vision fusion laser radar and electromagnetic field detection | |
| CN202141803U (en) | Multi-mode millimeter wave radar used for unmanned device for electric power line patrol | |
| CN113534184B (en) | Laser-perceived agricultural robot space positioning method | |
| CN114237277B (en) | Unmanned aerial vehicle keeps away barrier system based on millimeter wave radar and nearly electric induction | |
| CN110346295B (en) | Defect composite positioning method and device, equipment and storage medium | |
| CN114690796B (en) | Relative positioning system and method for ranging between unmanned aerial vehicles | |
| CN110596731A (en) | Active obstacle detection system and method for metro vehicle | |
| CN210882093U (en) | Automatic driving vehicle environment perception system and automatic driving vehicle | |
| CN207850304U (en) | A kind of electrification railway contact net detecting system | |
| CN220526001U (en) | Laser radar for line-imitating flight of power transmission and distribution line | |
| EP3828584B1 (en) | Safety system | |
| CN109785431A (en) | A kind of road ground three-dimensional feature acquisition method and device based on laser network | |
| CN111625021A (en) | Unmanned aerial vehicle power line patrol distance measurement system and method based on electromagnetic field | |
| CN113734197A (en) | Unmanned intelligent control scheme based on data fusion | |
| CN114740457A (en) | TOF laser radar transmitting unit adjusting system and method | |
| CN112394744A (en) | Integrated unmanned aerial vehicle system | |
| CN112859893A (en) | Obstacle avoidance method and device for aircraft | |
| CN209992863U (en) | Vehicle formation device based on laser radar | |
| CN212134942U (en) | Self-positioning detection radar vehicle system | |
| CN209870770U (en) | Unmanned aerial vehicle landing assisting and guiding system based on ultraviolet air coding beacon | |
| CN114578410B (en) | Dynamic calibration platform of channel type vehicle radioactivity monitoring system | |
| CN215789881U (en) | Obstacle avoidance processing circuit and security robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |