CN101707334B - Uncoiling method and system for guide rope of electric power of unmanned helicopter - Google Patents
Uncoiling method and system for guide rope of electric power of unmanned helicopter Download PDFInfo
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- CN101707334B CN101707334B CN2009102235890A CN200910223589A CN101707334B CN 101707334 B CN101707334 B CN 101707334B CN 2009102235890 A CN2009102235890 A CN 2009102235890A CN 200910223589 A CN200910223589 A CN 200910223589A CN 101707334 B CN101707334 B CN 101707334B
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Abstract
The invention discloses a static cable electric laying method and a system of an unmanned helicopter. A pay-off stand is carried by an unmanned helicopter, one end of the static cable is wound on the pay-off wheel of the pay-off stand, the other end thereof sequentially passes through the conduit tube and the rope blasting device of the pay-off stand, and the free end of the static cable is attached with weight; when the unmanned helicopter achieves the appointed drop point, the weight drops under the action of braking force; when the weight achieves the appointed position, a land station sends an instruction to the unmanned helicopter for asking the helicopter to continue the mission flight course, the unmanned helicopter flies to next line tower according to the flight course set in advance. The invention uses an aircraft the density of which is larger than the air density, therefore, the anti-wind capability is strong, and safe flying control requirements in complicated environmentcan be met. The unmanned helicopter can hover at a proper airspace according to the operation requirements, the camera carried on the unmanned helicopter can assist the land station to judge the distance to the personnel on the tower, thus ensuring the safe flying distance.
Description
Technical field
The present invention relates to the high pressure overhead power line mounting technique, especially relate to a kind of exhibition of using depopulated helicopter to carry out the high-tension cable strop and put method and system.
Background technology
In the high pressure overhead power line installing area; after frequent online pylon is established and is finished; difficulty is put in the exhibition that strop occurs; put strop meeting restriction river shipping in the high voltage transmission line process is regional usually, stop high-tension cable power supply, trample young crops etc. for smooth exhibition, these means have increased invisible cost for setting up of circuit in some sense.Simultaneously we expect that strop has showing and placing of the tension in the process of strop is put in exhibition, like this accident that can avoid strop to be caused because of the sag problem.
The prior art relevant with patent of the present invention comprises:
1) patent publication No. discloses a kind of paying-off method of remote control model helicopter for CN 1083979A.The implementation method of this technology is carried strop for utilizing the model RC Goblin, by manual remote control model RC Goblin flight crossover track tower, thereby realizes the unwrapping wire operation.This technical method has following pluses and minuses: this technology has to be convenient to launch and advantages such as environmental requirement is low are put in exhibition, but this technology has also also embodied his deficiency from some angle simultaneously, for example, the lift of remote control model helicopter is difficult to reach the requirement of unwrapping wire between multitower, model copter flight flying height reach reach a certain height after operator be difficult to distinguish the attitude of remote control model helicopter, and provide normal control and refer to realize its belt tension stabilized flight, simultaneously in flight course, remote control model helicopter is because people's vision deviation is very difficult according to more satisfactory line of flight flight, strop is difficult to drop on accurately on the cross-arm of line tower, and the back is extended and put difficulty.
2) use the exhibition of propeller-parachuting enforcement strop in the prior art and put operation.The implementation method of this technology is to use propeller-parachuting to carry strop flight crossover track tower, realizes the unwrapping wire operation.The pluses and minuses of this technology: this technology has the strong advantage of the fast wind loading rating of speed, but the enforcement of this technology has following difficulty, aircraft can not hover, be difficult in the unwrapping wire operation and line tower top staff's coordinated, and aircraft is strict to the place of taking off, land, be unsuitable for field work, often could arrive the unwrapping wire operating area because the problem of landing site is the course line of aircraft flight number kilometer.
3) also there are application dirigible, fire balloon etc. to be lower than the aircraft channeling conduct rope unwrapping wire operation of atmospheric density in the prior art.This technology is to use the aircraft that dirigible, fire balloon etc. are lower than atmospheric density to carry strop flight crossover track tower, realizes the unwrapping wire operation.The pluses and minuses of this technology: this technology requires very low to surface state.But there is following problem: if use the hydrogen dirigible then have explosive danger, near inconvenience flight existing high-tension cable; If use the helium dirigible then have helium expense height, reclaim problems such as difficulty, economically less developed region helium supply bottleneck; If the gaseous fuel that uses fire balloon then exist aircraft to carry leaks easily, easily cause the accident of burning in the flight course.
More than three kinds of methods have the shortcoming of wind loading rating difference simultaneously.
4) use has the exhibition of people's helicopter strop to put in the prior art.This technology be utilize have the people to drive helicopter strop leap line tower is real to carry out setting-out work for carrier carries.Advantages such as the advantage of this technology has been that people's helicopter power is strong, load is big, can directly open up messenger, the single step of releasing linear distance is big, can hover.But meanwhile because helicopter needs pilot driver, and the having relatively high expectations of under complex environment, flying to the driver; The maintenance of helicopter, supply difficulty; Preliminary preparation is long; Engineering cooperates personnel, equipment many when using.
5) patent publication No. discloses a kind of rocket-type paying-out device for CN 1080994A.This technology is to utilize rocket to carry strop to realize setting-out work.The advantage of this technology is simple and efficient.But the path, the drop point that carry the rocket of strop are difficult to accurate Calculation and may bring problems such as unexpected injury to staff on the tower or ground staff.
Summary of the invention
The objective of the invention is to propose the exhibition that a kind of depopulated helicopter electric power exhibition puts strop and put method and system, with the unmanned helicopter system is the traction power of strop, use the Di Nima rope as strop, autonomous flight pattern by unmanned helicopter system realizes the flight of tower along the line center, simultaneously by the tension value channeling conduct rope tension control of remote controller control strop tension controller, realize that finally safe and reliable electric power exhibition puts the strop operation.
In order to realize purpose of the present invention, propose a kind of depopulated helicopter electric power exhibition and put strop exhibition place system, form by airborne portion and above ground portion, described airborne portion comprises: automatic pilot 26, device is put in airborne station and antenna and strop exhibition, described strop exhibition is put device and is comprised pay off rack 27, strop 13, laying tension controller 1 and fried rope device 6, and described pay off rack 27 comprises actinobacillus wheel 5 and conduit 14;
Described above ground portion comprises: ground station, task controller, video-frequency monitor, power supply, radio station and antenna;
Wherein, the exhibition of described strop is put device and is fixed or hang below the ventral of depopulated helicopter, and described strop 13 1 ends are on described actinobacillus wheel 5, and an other end is fastened weight 23 after passing described conduit 14 and fried rope device 6 successively.
Described pay off rack 27 also comprises central fixed shaft 11 and pay off rack support 4, and described pay off rack support 4 has U type groove hanging point, and described actinobacillus wheel 5 is put into U type groove by central fixed shaft 11, by a central shaft stay 12 pinning center fixed axis 11.
Described laying tension controller 1 comprises control circuit and brake steering wheel, and wherein, described control circuit comprises:
The AD modular converter carries out analog-to-digital conversion and digital filtering to the data of being gathered, and removes the noise that mixes in the data;
The pwm pulse output module produces pwm signal, and this pwm signal control brake steering wheel produces brake weight, the size of the duty cycle adjustment brake weight by control PWM waveform;
The pulsewidth capture module is converted to the numerical information that control system can be discerned with pwm signal, and given according to this Numerical Implementation tension force, makes the value of thrust of described strop 13 remain in the suitable scope;
The asynchronous serial communication module realizes the data communication between automatic pilot and the tension controller 1;
Described brake steering wheel comprises brake disc 10, brake rubber block 9 and towing brake line 8, described brake disc 10 is fixedly mounted on the central fixed shaft 11 of actinobacillus wheel 5, brake rubber block 9 is installed on the described pay off rack support 4, towing brake line 8 drives brake rubber block 9 motions and compresses brake disc 10 generation brake weights, and described brake weight is controlled by the pwm pulse output module.
Described fried rope device 6 comprises exploding restricts device housing 25 and chops device 7 off, wherein,
The center of described fried rope device housing 25 is fried rope device wire guide 16, have in addition two with the perpendicular through hole of the fried device wire guide 16 of restricting;
Describedly chop that device 7 comprises fried rope device control line 15, chops device wire guide, gunpowder 17 off, chops device housing 18 off off, termination with holes 19, atresia termination 20, cut rope cutter 21 and igniter 22;
The described device 7 of chopping off is fixed in the fried rope device housing 25, fried rope device control line 15, igniter 22, gunpowder 17 and cut rope cutter 21 be installed in successively between fried rope device wire guide 16 and the termination with holes 19 with the perpendicular through hole of described and fried rope device wire guide 16 in, it is described that to chop the device wire guide off concentric with the fried device wire guide 16 of restricting.
Described fried rope device 6 also can be installed two and chop device 7 off on fried rope device housing 25, described two mounting meanss of chopping device 7 off are that install one-sided installation or both sides, and described one-sided installation is meant the side of the pointing direction of fried rope device control line 15 at fried rope device 6; Described both sides are installed and are meant that the pointing direction that explodes rope device control line 15 is in the different both sides of exploding rope device 6.
Described depopulated helicopter 24 also comprises a video auxiliary system, form by two airborne cameras that are installed in depopulated helicopter the place ahead and rear, this video auxiliary system switches to auxiliary mode when running into crosswind, control depopulated helicopter 24 is offset certain distance to the left and right, guarantees that strop 13 is accurately in place.
The present invention also proposes the exhibition of a kind of depopulated helicopter electric power and puts the strop exhibition and put method, may further comprise the steps:
1) depopulated helicopter carries a pay off rack, and an end of strop is wrapped on the actinobacillus wheel of pay off rack, and an other end passes from the conduit of pay off rack, fried rope device successively, and the free end of strop is fastened weight then;
2) depopulated helicopter carries the pay off rack lift-off, and this moment, the brake gear of pay off rack was exported maximum brake weight, and weight can not fallen, and after depopulated helicopter arrived the appointment release position, helicopter was in floating state, waits for the ground station control instruction;
3) the brake weight remote controllers on the depopulated helicopter is according to ground station's control command, and the size of control brake weight slowly falls the weight on the strop free end;
4) after weight fall to arrive assigned address, ground station sends to depopulated helicopter and continues to execute the task the course line instruction, and depopulated helicopter is provided with flight according to the course line that configures in advance, and next line tower that flies to detects the tension force of strop awing all the time;
5) after depopulated helicopter executes the task course line, hover, blow up strop by Ground Control or the fried rope of Autonomous Control device, depopulated helicopter makes a return voyage.
Described course line is the way point setting that is made of gps coordinate, described by the course line be provided with flight be when a last way point, current way point, when 3 of next way points are on the same straight line according to rectilinear flight; When not being in same straight line at above-mentioned 3 according to one section camber line flight of the circle of these 3 formations.
In step 4, comprise that also warp tension ratio is than the program control step, by the tension data of described strop and given safe range are carried out numeric ratio, judge whether to occur fortuitous event, if accident, to control fried rope device so and cut off strop, depopulated helicopter is returned under the normal stress, guarantee flight safety.
Describedly according to the course line flight is set and also is included in when running into crosswind, when off-line tower one segment distance and after crossing tower one segment distance, make depopulated helicopter be in floating state, and switch to auxiliary mode simultaneously, by being separately positioned on two airborne cameras at depopulated helicopter the place ahead and rear, suitable control depopulated helicopter is offset certain distance to the left and right, guarantees that strop is accurately in place.
The present invention uses the depopulated helicopter of fuel engines, belongs to the aircraft of density greater than atmospheric density, and wind loading rating is better than the technology that existing technology is used.
The depopulated helicopter that the present invention adopts has very high control frequency of amendment, can satisfy the safe flight control requirement at complex environment.The ground safeguard of unmanned helicopter flight unwrapping wire is simple simultaneously.
Of the present invention is that depopulated helicopter can hover in suitable spatial domain according to the requirement of operation, the staff of line of engagement tower top, and have less demanding characteristics to landing site.
The flight path of depopulated helicopter is controlled in the present invention, can independently drop to the landing point of appointment after finishing the work, simultaneously since have on the depopulated helicopter camera can the ancillary terrestrial station judge with tower on personnel's distance, guarantee the safe distance of flight.
Description of drawings
The block diagram of strop system is put in Fig. 1 depopulated helicopter electric power exhibition of the present invention;
Fig. 2 depopulated helicopter carry pay off rack schematic diagram;
Fig. 3 is the pay off rack structural representation;
Fig. 4 is fried rope device schematic diagram;
Fig. 5 chops the device schematic diagram off;
Fig. 6 is the single schematic diagram of chopping the installation method embodiment of device off;
Fig. 7 is two and chops device off at the schematic diagram of homonymy installation method embodiment not.
Embodiment
Describe depopulated helicopter electric power exhibition of the present invention in detail below in conjunction with accompanying drawing and put the strop method and system.
The block diagram of strop system is put in Fig. 1 depopulated helicopter electric power exhibition of the present invention; In the method for technical solution of the present invention, depopulated helicopter 24 exhibition is put lead system and mainly is made up of airborne portion and above ground portion, the comprising of airborne portion: depopulated helicopter 24, automatic pilot 26, laying tension controller 1, video auxiliary system, pay off rack 27, emergency shutoff device, airborne station and antenna; Above ground portion comprises: ground station, task controller, video-frequency monitor, power supply, radio station and antenna.
Fig. 2 depopulated helicopter carry pay off rack schematic diagram, Fig. 3 is the pay off rack structural representation.As shown in the figure, depopulated helicopter 24 carries pay off rack 27, and an end of Di Nima rope 13 is wrapped on the actinobacillus wheel 5 of pay off rack 27, and an other end passes from conduit 14, passes fried rope device 6 simultaneously, and the free end of Di Nima rope 13 is fastened weight 23 then.Depopulated helicopter 24 carries pay off rack 27 lift-offs (this moment, brake gear was exported maximum brake weight, and weight 23 can not fallen), and helicopter is in floating state after depopulated helicopter 24 arrives the appointment release position, waits for the ground station control instruction.This moment, weight 23 fell under the effect of brake weight by the size of brake weight remote controllers control brake weight, after weight 23 falls to arriving assigned address.Ground station sends to depopulated helicopter 24 and continues to execute the task the course line instruction, (be made up of several gps coordinate points by the course line according to the course line that configures in advance for depopulated helicopter 24, when a last way point, current way point, when 3 of next way points are on the same straight line according to rectilinear flight, end camber line according to the circle that these 3 formations are arranged when not being in same straight line at above-mentioned 3 flies) flight, next line tower flies to.For the gps coordinate that Di Nima rope 13 can be dropped on accurately put on the line tower gps coordinate that we require the line tower and preceding two GPS to be ordered is in (requirement is latitude and longitude coordinates, and GPS highly ignores) on the same straight line herein as far as possible.Simultaneously the GPS destination suitably is set, thereby guarantees the crosswind 13 line tower cross-arms that blow off of Di Nima can not being restricted according to concrete weather condition.In order to guarantee that Di Nima rope 13 drops on the cross-arm accurately, makes depopulated helicopter 24 be in floating state when we are provided with in the course line, and switches to auxiliary mode simultaneously from tower one segment distance the time and after crossing tower one segment distance.Be separately positioned on the help of two airborne cameras at depopulated helicopter 24 the place aheads and rear by us, suitable control depopulated helicopter 24 is offset certain distance to the left and right.Control depopulated helicopter 24 then and continue the course line of executing the task.After depopulated helicopter 24 executes the task course line, hover, blow up Di Nima rope 13 by Ground Control or the fried rope of Autonomous Control device 6.Depopulated helicopter 24 makes a return voyage, and behind ground check, simple-to-maintain, replacing pay off rack 27, actinobacillus wheel 5, the fried rope of replacing device 6, fuel up, depopulated helicopter 24 unmanned planes can be carried out aerial mission next time.
Comparison program section in the tension controller 1 is carried out numeric ratio by the data that will receive and given safe range, judge whether to occur fortuitous event, if accident, the comparison program section will be controlled the fried rope device passage output current of tension controller 1 so.If also can control the fried rope device passage output current of tension controller 1 by the fried cord switch of brake weight remote controllers if the while ground controller has a premonition to meet accident.The fried rope of control device 6 cuts off Di Nima rope 13, and depopulated helicopter 24 is returned under the normal stress, guarantees flight safety indirectly.
The present invention realizes on the basis of depopulated helicopter 24 systems realization stabilized flight.On the basis of depopulated helicopter 24 systems, we have designed pay off rack 27, have developed the strop tension control system.Pay off rack 27 adopts suitable material, on the basis that guarantees structural strength, and farthest weight reduction; The size of strop tension control system control tension force, by with automatic pilot 26 between intercommunication mutually, tension controller 1 externally environment has a strong impact under the situation of unwrapping wire safety and cuts off Di Nima rope 13.
Pay off rack 27 is divided into actinobacillus wheel 5 and pay off rack support 4 two parts, pay off rack support 4 has U type hanging point, after actinobacillus wheel 5 put into U type groove,, prevent that actinobacillus wheel 5 comes off when depopulated helicopter 24 is carried out the unwrapping wire tasks by the central fixed shaft 11 that central shaft stay 12 pins actinobacillus wheels 5.Actinobacillus wheel 5 is formed by central fixed shaft 11, brake disc 10 with around actinobacillus wheel 5, and behind the fixed center fixed axis 11, brake disc 10 can rotate freely together with actinobacillus wheel 5.Brake rubber block 9 is installed on the pay off rack support 4, drive brake rubber block 9 motions by brake weight generation device 2 towing brake lines 8 and compress brake disc 10 generation braking force, tension controller 1 is installed on the pay off rack 27 and connects with depopulated helicopter 24 by power line and data wire, power line is connected obtains the electric energy supply on the airborne power supply, data wire is connected on the automatic pilot 26 and obtains data message.
We are fixed on the ventral below of depopulated helicopter 24 with pay off rack 27 or hang below depopulated helicopter 24, actinobacillus wheel 5 can carry out carry easily and have the pinning structure after pay off rack support 4 carries are finished, one end of conduit 14 is fixed on the rear of carry frame, and an other end is installed fried rope device 6 and also is in free state.Suitable conduit 14 length are the keys that guarantee that fried rope device 6 can not clash into depopulated helicopter 24 when fried rope.
AD modular converter 3, we carry out digital filtering to the data of being gathered through after the analog-to-digital conversion, remove the noise that mixes in the data, and data are become more near actual conditions.
The pulse capture module is mainly used to the pwm signal of remote-control receiver output is converted to the numerical information that control system can be discerned, and given according to this Numerical Implementation tension force, tension force given is that the saltus step for tension force numerical value provides thresholding, corresponding change brake weight when making the tension force numerical value change surpass certain limit.By making value of thrust remain in the suitable scope after the control algolithm computing, overcome the influence that objective factor such as environment in depopulated helicopter 24 flight courses is brought unmanned plane unwrapping wire system, guarantee that the unwrapping wire system safety finishes the unwrapping wire task reliably.
The PWM output module produces pwm signal.Pwm signal mainly is to be used for controlling brake weight generation device 2, produces brake weight, the size that system regulates brake weight by the duty ratio brief introduction of control PWM waveform.
The asynchronous serial communication module, build on the data communication between automatic pilot 26 and the tension controller 1, tension controller 1 obtains the navigation information of aircraft in real time, lose according to the suitable adjustment of tonicity value of navigation information and at the bursty data chain, the fried rope of control device 6 when system in case of system halt and other fortuitous event, explode the rop exercise work.
Fig. 4 is fried rope device schematic diagram, Fig. 5 chops the device schematic diagram off, as shown in the figure, fried rope device 6 mainly comprises fried rope device housing 25 and chops device 7 off, the center of fried rope device housing 25 is fried rope device wire guide 16, have in addition two with the perpendicular through hole of fried rope device wire guide 16, through hole is that the basis of chopping device 7 off is installed, the main effect of fried rope device housing 25 is fixedly to chop device 7 off.The formation of chopping device off comprises fried rope device control line 15, fried rope device wire guide 16, gunpowder 17, chops device housing 18, termination with holes 19, atresia termination 20 off, cuts rope cutter 21, igniter 22 is formed as shown in Figure 5.Fried rope device control line 15 initial igniter 22 that the current drives of fried rope device passage output is passed the centre bore of termination 19 with holes when the fried rope of system's control, the gas that igniter 22 gunpowder 17 that ignites, gunpowder 17 blasts produce HTHPs promotes to cut rope cutter 21 and chops the Di Nima rope 13 that passes fried rope device wire guide 16 off.Blocked by atresia termination 20 then, prevent to fly out and cause unexpected injury.
What time following other implementations of the technical program also have:
Chop the difference setting and the installation method of device in the fried rope device off.Fried rope device is except that the above-mentioned single design feature of mentioning and mounting means of chopping device 7 off, can also on fried rope device housing 25, install two and chop device 7 off, two mounting meanss of chopping device 7 off are that homonymy is installed and not homonymy installation, and described homonymy installation is meant the side of the pointing direction of fried rope device control line 15 at the fried device 6 of restricting; Described not homonymy is installed and is meant that the pointing direction that explodes rope device control line 15 is in the different both sides of exploding rope device 6.
Figure 6 shows that the single situation of chopping device 7 off of installing, Fig. 4 and Fig. 7 are presented at respectively and install two on the fried rope device housing 25 and chop device 7 off.Wherein, Figure 4 shows that the homonymy of the pointing direction of fried rope device control line 15, Figure 7 shows that the not homonymy of the pointing direction of fried rope device control line 15 at fried rope device 6 at fried rope device 6.
The method that brake weight produces also has following several: the production method of brake weight can adopt DC servo motor, step motor drive brake lining to produce brake weight except that the mode by brake weight generation device control brake.The implementation method that adopts DC servo motor, stepping motor is by transmission device the rotation of direct current machine, stepping motor output shaft to be converted into the motion that brake rubber block 9 compresses brake disc 10, produces brake weight by the friction between brake rubber block 9 and the brake disc 10.
Claims (10)
1. strop exhibition place system is put in a depopulated helicopter electric power exhibition, is made up of airborne portion and above ground portion, it is characterized in that:
Described airborne portion comprises: automatic pilot (26), device is put in airborne station and antenna and strop exhibition, described strop exhibition is put device and is comprised pay off rack (27), strop (13), laying tension controller (1) and fried rope device (6), and described pay off rack (27) comprises actinobacillus wheel (5) and conduit (14);
Described above ground portion comprises: ground station, task controller, video-frequency monitor, power supply, radio station and antenna;
Wherein, the ventral below that device is fixed on depopulated helicopter is put in described strop exhibition, and described strop (13) one ends are on described actinobacillus wheel (5), and an other end is fastened weight (23) after passing described conduit (14) and fried rope device (6) successively.
2. strop exhibition place system is put in electric power exhibition according to claim 1, it is characterized in that: described pay off rack (27) also comprises central fixed shaft (11) and pay off rack support (4), described pay off rack support (4) has U type groove hanging point, described actinobacillus wheel (5) is put into U type groove by central fixed shaft (11), by a central shaft stay (12) pinning center fixed axis (11).
3. strop exhibition place system is put in electric power exhibition according to claim 2, it is characterized in that: described laying tension controller (1) comprises control circuit and brake steering wheel, and wherein, described control circuit comprises:
The AD modular converter carries out analog-to-digital conversion and digital filtering to the data of being gathered, and removes the noise that mixes in the data;
The pwm pulse output module produces pwm signal, and this pwm signal control brake steering wheel produces brake weight, the size of the duty cycle adjustment brake weight by control PWM waveform;
The pulsewidth capture module is converted to the numerical information that control system can be discerned with pwm signal, and given according to this Numerical Implementation tension force, makes the value of thrust of described strop (13) remain in the suitable scope;
The asynchronous serial communication module realizes the data communication between automatic pilot and the tension controller (1);
Described brake steering wheel comprises brake disc (10), brake rubber block (9) and towing brake line (8), described brake disc (10) is fixedly mounted on the central fixed shaft (11) of actinobacillus wheel (5), brake rubber block (9) is installed on the described pay off rack support (4), towing brake line (8) drives brake rubber block (9) motion and compresses brake disc (10) generation brake weight, and described brake weight is controlled by the pwm pulse output module.
4. strop exhibition place system is put in electric power exhibition according to claim 1, it is characterized in that: described fried rope device (6) comprises exploding restricts device housing (25) and chops device (7) off, wherein,
The center of described fried rope device housing (25) is fried rope device wire guide (16), have in addition two with the fried perpendicular through hole of device wire guide (16) of restricting;
Describedly chop that device (7) comprises fried rope device control line (15), chops device wire guide, gunpowder (17) off, chops device housing (18) off off, termination with holes (19), atresia termination (20), cut rope cutter (21) and igniter (22);
The described device (7) of chopping off is fixed in the fried rope device housing (25), fried rope device control line (15), igniter (22), gunpowder (17) and cut rope cutter (21) be installed in successively between fried rope device wire guide (16) and termination with holes (19) with the perpendicular through hole of described and fried rope device wire guide (16) in, describedly chop the device wire guide off and to explode the device wire guide (16) of restricting concentric.
5. strop exhibition place system is put in electric power exhibition according to claim 4, it is characterized in that: described fried rope device (6) is gone up two of installations at fried rope device housing (25) and is chopped device (7) off, described two mounting meanss of chopping device (7) off are that homonymy is installed or not homonymy installation, and described homonymy installation is meant the side of the pointing direction of fried rope device control line (15) at the fried device (6) of restricting; Described not homonymy is installed and is meant that the pointing direction that explodes rope device control line (15) is in the different both sides of exploding rope device (6).
6. strop exhibition place system is put in electric power exhibition according to claim 1, it is characterized in that: described depopulated helicopter (24) also comprises a video auxiliary system, form by two airborne cameras that are installed in depopulated helicopter the place ahead and rear, this video auxiliary system switches to auxiliary mode when running into crosswind, control depopulated helicopter (24) is offset certain distance to the left and right, guarantees that strop (13) is accurately in place.
7. a depopulated helicopter electric power exhibition is put the strop exhibition and is put method, it is characterized in that comprising step:
1) depopulated helicopter carries a pay off rack, and an end of strop is wrapped on the actinobacillus wheel of pay off rack, and an other end passes from the conduit of pay off rack, fried rope device successively, and the free end of strop is fastened weight then;
2) depopulated helicopter carries the pay off rack lift-off, and this moment, the brake gear of pay off rack was exported maximum brake weight, and weight can not fallen, and after depopulated helicopter arrived the appointment release position, helicopter was in floating state, waits for the ground station control instruction;
3) the brake weight remote controllers is according to ground station's control command, and the size of control brake weight slowly falls the weight on the free end of strop;
4) after weight fall to arrive assigned address, ground station sends to depopulated helicopter and continues to execute the task the course line instruction, and depopulated helicopter is provided with flight according to the course line that configures in advance, and next line tower that flies to detects and control the tension force of strop awing all the time;
5) after depopulated helicopter executes the task course line, hover, blow up strop by Ground Control or the fried rope of Autonomous Control device, depopulated helicopter makes a return voyage.
8. electric power exhibition according to claim 7 is put the strop exhibition and is put method, it is characterized in that: described course line is the way point setting that is made of gps coordinate, described by the course line be provided with flight be when a last way point, current way point, when 3 of next way points are on the same straight line according to rectilinear flight; When not being in same straight line at above-mentioned 3 according to one section camber line flight of the circle of these 3 formations.
9. electric power exhibition according to claim 7 is put the strop exhibition and is put method, it is characterized in that: in step 4, comprise that also warp tension ratio is than the program control step, by the tension data of described strop and given safe range are carried out numeric ratio, judge whether to occur fortuitous event, if accident, will control fried rope device so and cut off strop, depopulated helicopter is returned under the normal stress, guarantees flight safety.
10. electric power exhibition according to claim 8 is put the strop exhibition and is put method, it is characterized in that: describedly according to the course line flight is set and also is included in when running into crosswind, when off-line tower one segment distance and after crossing tower one segment distance, make depopulated helicopter be in floating state, and switch to auxiliary mode simultaneously, by being separately positioned on two airborne cameras at depopulated helicopter the place ahead and rear, suitable control depopulated helicopter is offset certain distance to the left and right, guarantees that strop is accurately in place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2009102235890A CN101707334B (en) | 2009-11-24 | 2009-11-24 | Uncoiling method and system for guide rope of electric power of unmanned helicopter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102235890A CN101707334B (en) | 2009-11-24 | 2009-11-24 | Uncoiling method and system for guide rope of electric power of unmanned helicopter |
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| CN101707334A CN101707334A (en) | 2010-05-12 |
| CN101707334B true CN101707334B (en) | 2011-09-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101848320B (en) * | 2010-05-19 | 2011-09-28 | 龚文基 | Single-line flying shuttle system |
| CN102064493B (en) * | 2010-11-02 | 2013-04-24 | 北京交通大学 | Method for paying off overhead transmission line by unmanned helicopter |
| CN104769496B (en) * | 2012-08-17 | 2019-03-15 | 展望机器人股份公司 | Flight video camera with the rope component for positioning and interacting |
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-
2009
- 2009-11-24 CN CN2009102235890A patent/CN101707334B/en not_active Expired - Fee Related
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