CN104485606A - Pulling rope release system of small multi-shaft unmanned aerial vehicle - Google Patents
Pulling rope release system of small multi-shaft unmanned aerial vehicle Download PDFInfo
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- CN104485606A CN104485606A CN201410820783.8A CN201410820783A CN104485606A CN 104485606 A CN104485606 A CN 104485606A CN 201410820783 A CN201410820783 A CN 201410820783A CN 104485606 A CN104485606 A CN 104485606A
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Abstract
The invention discloses a pulling rope release system of a small multi-shaft unmanned aerial vehicle, which comprises a multi-shaft unmanned aerial vehicle, a lead wire release device and a video monitor, wherein the multi-shaft unmanned aerial vehicle is equipped with a control system; the lead wire release device comprises a payoff rack wound with a pulling rope and a lead wire unhooking controller; the payoff rack is arranged on ground; the lead wire unhooking controller is mounted on the multi-shaft unmanned aerial vehicle and comprises a power mechanism and a locking mechanism; the power mechanism is connected with the control system of the multi-shaft unmanned aerial vehicle and with the locking mechanism to drive the locking mechanism to carry out locking or unlocking; one end of the pulling rope penetrates through the locking mechanism; the video monitor is mounted on the multi-shaft unmanned aerial vehicle and comprises an onboard camera and a real-time image transmission system; and the onboard camera and the real-time image transmission system are connected with the control system respectively. The system can carry out pay-off operation of the unmanned aerial vehicle in a high precision and controllability manner, so that the pay-off time is greatly saved, and a construction effect is significant.
Description
Technical field
The present invention relates to a kind of flight aid, particularly relate to a kind of small-sized multi-axis unmanned plane pull rope unfolding system.
Background technology
Electric stringing ensures power supply safety, power supply quality, the critical facility of reasonable distribution electric energy.Install because it is in outdoor, field, therefore bring a lot of inconvenience to installation, particularly to amateur erection staff, mechanization install degree low, equip simple and crude, difficulty can be larger, and can damage biological environment.Past electric power payingoff construction operation is generally: 1, artificial unwrapping wire, runs into the construction environments such as mountain area, river, railway, task difficulty greatly, have a big risk, circuit crop compensation outstanding problem, personnel's intensity is large, the cycle is long.2, propeller-parachuting unwrapping wire, carries out aerial driver behavior by two people, and a people is driver one people is jug hustler, and propeller-parachuting carries pull rope along flight line, arrives and specifies shaft tower to be put down by fag end; The method cost is high, and by wind impact is large; For aerial manned control, there is personal safety hidden danger; Flying height requires high, causes parabola low precision.
For effectively cracking ecological environmental protection, all difficulties of engineering construction and the contradiction of Poling Construction; prior art has occurred adopting unmanned plane to carry out drawing the technical scheme of stringing; but the large multi-scheme of technical scheme at present for unmanned plane proposition is perfect not; there is various disadvantages, cause construction effect poor.
Summary of the invention
The invention provides a kind of small-sized multi-axis unmanned plane pull rope unfolding system, which overcome the weak point existing for unmanned plane paying off system of prior art.
The technical solution adopted for the present invention to solve the technical problems is: a kind of small-sized multi-axis unmanned plane pull rope unfolding system, comprise multiaxis unmanned plane, this multiaxis unmanned plane is provided with can the remote control command that sends of wireless receiving ground station control the control system of multiaxis unmanned plane during flying, also comprises:
Lead-in wire unfolding device, this lead-in wire unfolding device comprises the pay off rack, the lead-in wire unhook controller that are wound with pull rope, pay off rack is arranged at ground, lead-in wire unhook controller is installed on multiaxis unmanned plane, it comprises actuating unit and latching device, actuating unit is connected with the control system of multiaxis unmanned plane, and is connected with latching device to drive this latching device locking or unblock, and one end of pull rope is through this latching device;
Video-frequency monitor, this video-frequency monitor is installed on multiaxis unmanned plane, it comprises airborne camera and real-time image transmission system, the distance of airborne camera personnel on real-time judge target shaft tower position, ancillary terrestrial station and multiaxis unmanned plane and tower, this airborne camera is connected with control system respectively with real-time image transmission system, and the output of airborne camera is connected to the input of real-time image transmission system, this real-time image transmission system and the video reception and the playing device radio communication that are arranged at ground station.
Further, described latching device comprises lock ring and the sliding shackle of lateral opening, described lead-in wire unhook controller also comprises the firm banking being installed on described multiaxis unmanned plane, lock ring is secured to this firm banking, sliding shackle is movably set in this firm banking, and be in transmission connection mutually by a transmission mechanism and described actuating unit, with can axial motion and closed or away from the lateral opening of lock ring under the driving of described actuating unit.
Further, described video-frequency monitor also comprises angle of pitch controlling organization, and this angle of pitch controlling organization is installed on described multiaxis unmanned plane, and is connected with described control system, be in transmission connection mutually with described airborne camera, to control the angle of pitch of described airborne camera.
Further, described multiaxis unmanned plane comprises body, body surrounding has been evenly arranged multiple horn, the tail end of each horn is separately installed with brushless electric machine, and each brushless electric machine is connected with described control system respectively, and the driving shaft of each brushless electric machine is provided with screw; Described control system, lead-in wire unhook controller, video-frequency monitor are installed on body respectively.
Further, described control system comprises GPS navigator, reception antenna, power supply and master controller, GPS navigator, reception antenna, power supply are connected with master controller with real-time image transmission system respectively with described actuating unit, airborne camera, the remote control command that master controller is sent by reception antenna satellite receiver.
Further, described actuating unit is direct current machine or cylinder.
Further, described lock ring is U-shaped structure, and its lateral opening is arranged down.
Further, the airborne camera of described video-frequency monitor is installed on the front end of described body; Described lead-in wire unhook controller is installed on the ventral of described body.
Compared to prior art, the present invention has following beneficial effect:
1, the present invention is by arranging lead-in wire unfolding device and video-frequency monitor, and lead-in wire unfolding device comprises actuating unit and the latching device for tractive pull rope, latching device puts down pull rope by unblock, video-frequency monitor comprises airborne camera and real-time image transmission system, the video that airborne camera is taken is reached ground by real-time image transmission system, the distance of personnel on ancillary terrestrial staff real-time judge target shaft tower position and multiaxis unmanned plane and tower, make the present invention can high accuracy, unmanned plane line laying work is carried out on controllability highland, therefrom greatly save the unwrapping wire time, construction effect is remarkable.In addition, the present invention adopts multiaxis unmanned aerial vehicle line laying work, also have can carry out growing distance operation, security risk low, can not damage biological environment, greatly reduce that hand labor intensity, security performance are high, strong adaptability, the feature such as fast and accurate for positioning;
2, the present invention arranges angle of pitch controlling organization further to control the angle of pitch of airborne camera, makes the shooting angle of airborne camera realize controlledization, improves homework precision and construction effect further.
Below in conjunction with drawings and Examples, the present invention is described in further detail; But a kind of small-sized multi-axis unmanned plane pull rope unfolding system of the present invention is not limited to embodiment.
Accompanying drawing explanation
Fig. 1 is the structural representation of multiaxis unmanned plane of the present invention;
Fig. 2 is the structural representation of lead-in wire unhook controller of the present invention.
Embodiment
Embodiment, shown in Figure 1, a kind of small-sized multi-axis unmanned plane pull rope unfolding system of the present invention, comprising:
Multiaxis unmanned plane, this multiaxis unmanned plane is provided with can the remote control command that sends of wireless receiving ground station control the control system 1 of multiaxis unmanned plane during flying, this control system 1 specifically comprises GPS navigator, reception antenna, power supply (this power supply is specially battery) and master controller, the remote control command that master controller is sent by reception antenna satellite receiver;
Lead-in wire unfolding device, this lead-in wire unfolding device comprises pay off rack (not embodying in figure), lead-in wire unhook controller 2, pay off rack is movably set with actinobacillus wheel, this actinobacillus wheel is wound with pull rope, this pay off rack is arranged at ground, lead-in wire unhook controller 2 is installed on multiaxis unmanned plane, it comprises actuating unit and latching device, actuating unit is connected with the master controller of the control system 1 of multiaxis unmanned plane, and be connected with latching device to drive this latching device locking or unblock, one end of pull rope is through this latching device;
Video-frequency monitor, this video-frequency monitor is installed on multiaxis unmanned plane, it comprises the airborne camera 3 of high definition and real-time image transmission system 4, the distance of airborne camera 3 personnel on real-time judge target shaft tower position, ancillary terrestrial station and multiaxis unmanned plane and tower, this airborne camera 3 is connected with the master controller of control system 1 respectively with real-time image transmission system 4, and the output of airborne camera 3 is connected to the input of real-time image transmission system 4, this real-time image transmission system 4 and the video reception and the playing device radio communication that are arranged at ground station.
Preferred as one, as shown in Figure 2, described actuating unit be direct current machine 21 (or, this actuating unit also can adopt cylinder), described latching device comprises lock ring 22 and the sliding shackle 23 of lateral opening, described lead-in wire unhook controller 2 also comprises the firm banking 24 being installed on described multiaxis unmanned plane, lock ring 22 is in U-shaped structure, and its lateral opening is arranged down, this lock ring 22 and direct current machine 21 are secured to firm banking 24 respectively, sliding shackle 23 is movably set in firm banking 24, and be in transmission connection mutually by the driving shaft of a transmission mechanism with described direct current machine 21, with can axial motion and closed or away from the lateral opening of lock ring 22 under the driving of described drive motors.Here, transmission mechanism specifically comprises rotating disk 25 and an arm of force axle 26, and rotating disk 25 is secured to the driving shaft of direct current machine 21, and the two ends of arm of force axle 26 are hinged with rotating disk 25 and sliding shackle 23 respectively.
Preferred as one, described video-frequency monitor also comprises angle of pitch controlling organization (not embodying in figure), this angle of pitch controlling organization is installed on described multiaxis unmanned plane, and be connected with the master controller of described control system 1, be in transmission connection mutually with described airborne camera 3, to control the angle of pitch of described airborne camera 3.Here, angle of pitch controlling organization can adopt actuating unit to coordinate adjusting rod to realize.
Preferred as one, described multiaxis unmanned plane comprises body 5, body 5 surrounding has been evenly arranged six horns 6 (here, the number of horn 6 is not limited to six, also it can be eight, 12 etc.), specifically, the cross section of this body 5 is hexagonal shape, and six horns 6 are connected to six angles place of this hexagonal shape.The tail end of each horn 6 is separately installed with brushless electric machine 7, and each brushless electric machine 7 is connected with described control system 1 respectively, and the driving shaft of each brushless electric machine 7 is separately installed with screw 8; Described control system 1, lead-in wire unhook controller 2, video-frequency monitor are installed on body 5 respectively.Specifically, the airborne camera 3 of described video-frequency monitor is installed on the front end of described body 5; Described lead-in wire unhook controller 2 is installed on the ventral of described body 5.
A kind of small-sized multi-axis unmanned plane pull rope unfolding system of the present invention, its construction method comprises the following steps:
Surface personnel selectes construction site, the pay off rack being wound with pull rope is arranged on this construction site, by the latching device (now, latching device be in blocking) of one end of pull rope through lead-in wire unhook controller 2, and fasten weight, such as sandbag; The flight path of setting multiaxis unmanned plane, and the preliminary angle of pitch regulating airborne camera 3; Start multiaxis unmanned plane, and open airborne camera 3 and real-time image transmission system 4;
Multiaxis unmanned plane, along the path flight preset, hovers when time above it arrives first appointment shaft tower, the pull rope that the workmen on tower catches this multiaxis unmanned plane band to come fast, and crosses the pulley towards sky coaster on tower; The staff that staff on tower goes up earthward waves, ground staff sends the instruction continuing to perform navigational duty to multiaxis unmanned plane, multiaxis unmanned plane continues next shaft tower that flies to, and repeat the above-mentioned process of grabbing rope, crossing pulley, until multiaxis unmanned plane flies to reach last target shaft tower;
When multiaxis unmanned plane reaches last target shaft tower, ground station staff sends instruction to it, the direct current machine 21 of lead-in wire unhook controller 2 is started, drive sliding shackle 23 axial motion and open the lateral opening of lock ring 22, then one end of pull rope is together with weight-drop, and the staff on tower catches pull rope fast, cross the pulley on shaft tower, and it is firmly tied up on shaft tower, wait for the use of follow-up erection wire, or carry out follow-up wire erection operation: utilize pull rope to draw wire;
Multiaxis unmanned plane independently makes a return voyage to takeoff point after finishing the work.
A kind of small-sized multi-axis unmanned plane pull rope unfolding system of the present invention, its multiaxis unmanned plane adopts high strength carbon fiber material to make, and the light and handy and wind loading rating chamber of material, can meet the requirement of safe flight in complex environment.Lead-in wire unhook controller 2 on this multiaxis unmanned plane realizes putting rop exercise by the mode that latching device unlocks and does, than the cutting of employing cutting knife or alternate manner more superior: structure is simpler, it is more convenient to operate.This multiaxis unmanned plane is also equipped with airborne camera 3 and real-time image transmission system 4 simultaneously, can the distance of personnel on staff's real-time judge target shaft tower position, ancillary terrestrial station and multiaxis unmanned plane and tower, multiaxis unmanned plane is in flight course, ground staff can send instruction to it, regulated the angle of pitch of airborne camera 3 by angle of pitch controlling organization, make the shooting angle of airborne camera 3 reach optimum state.
Above-described embodiment is only used for further illustrating a kind of small-sized multi-axis unmanned plane pull rope unfolding system of the present invention; but the present invention is not limited to embodiment; every above embodiment is done according to technical spirit of the present invention any simple modification, equivalent variations and modification, all fall in the protection range of technical solution of the present invention.
Claims (8)
1. a small-sized multi-axis unmanned plane pull rope unfolding system, comprises multiaxis unmanned plane, and this multiaxis unmanned plane is provided with can the remote control command that sends of wireless receiving ground station control the control system of multiaxis unmanned plane during flying, it is characterized in that: also comprise:
Lead-in wire unfolding device, this lead-in wire unfolding device comprises the pay off rack, the lead-in wire unhook controller that are wound with pull rope, pay off rack is arranged at ground, lead-in wire unhook controller is installed on multiaxis unmanned plane, it comprises actuating unit and latching device, actuating unit is connected with the control system of multiaxis unmanned plane, and is connected with latching device to drive this latching device locking or unblock, and one end of pull rope is through this latching device;
Video-frequency monitor, this video-frequency monitor is installed on multiaxis unmanned plane, it comprises airborne camera and real-time image transmission system, the distance of airborne camera personnel on real-time judge target shaft tower position, ancillary terrestrial station and multiaxis unmanned plane and tower, this airborne camera is connected with control system respectively with real-time image transmission system, and the output of airborne camera is connected to the input of real-time image transmission system, this real-time image transmission system and the video reception and the playing device radio communication that are arranged at ground station.
2. small-sized multi-axis unmanned plane pull rope unfolding system according to claim 1, it is characterized in that: described latching device comprises lock ring and the sliding shackle of lateral opening, described lead-in wire unhook controller also comprises the firm banking being installed on described multiaxis unmanned plane, lock ring is secured to this firm banking, sliding shackle is movably set in this firm banking, and be in transmission connection mutually by a transmission mechanism and described actuating unit, with can axial motion and closed or away from the lateral opening of lock ring under the driving of described actuating unit.
3. small-sized multi-axis unmanned plane pull rope unfolding system according to claim 1, it is characterized in that: described video-frequency monitor also comprises angle of pitch controlling organization, this angle of pitch controlling organization is installed on described multiaxis unmanned plane, and be connected with described control system, be in transmission connection mutually with described airborne camera, to control the angle of pitch of described airborne camera.
4. small-sized multi-axis unmanned plane pull rope unfolding system according to claim 1, it is characterized in that: described multiaxis unmanned plane comprises body, body surrounding has been evenly arranged multiple horn, the tail end of each horn is separately installed with brushless electric machine, each brushless electric machine is connected with described control system respectively, and the driving shaft of each brushless electric machine is provided with screw; Described control system, lead-in wire unhook controller, video-frequency monitor are installed on body respectively.
5. small-sized multi-axis unmanned plane pull rope unfolding system according to claim 1, it is characterized in that: described control system comprises GPS navigator, reception antenna, power supply and master controller, GPS navigator, reception antenna, power supply are connected with master controller with real-time image transmission system respectively with described actuating unit, airborne camera, the remote control command that master controller is sent by reception antenna satellite receiver.
6. small-sized multi-axis unmanned plane pull rope unfolding system according to claim 1 and 2, is characterized in that: described actuating unit is direct current machine or cylinder.
7. small-sized multi-axis unmanned plane pull rope unfolding system according to claim 2, is characterized in that: described lock ring is U-shaped structure, and its lateral opening is arranged down.
8. small-sized multi-axis unmanned plane pull rope unfolding system according to claim 4, is characterized in that: the airborne camera of described video-frequency monitor is installed on the front end of described body; Described lead-in wire unhook controller is installed on the ventral of described body.
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| CN201410820783.8A CN104485606A (en) | 2014-12-24 | 2014-12-24 | Pulling rope release system of small multi-shaft unmanned aerial vehicle |
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| CN201410820783.8A CN104485606A (en) | 2014-12-24 | 2014-12-24 | Pulling rope release system of small multi-shaft unmanned aerial vehicle |
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| CN105958372A (en) * | 2016-05-31 | 2016-09-21 | 成都德善能科技有限公司 | String system for mountainous area through employing unmanned plane |
| CN105977863A (en) * | 2016-06-08 | 2016-09-28 | 国网甘肃省电力公司检修公司 | Power transmission power off maintenance method and live-line maintenance method through rope throwing by unmanned plane |
| CN106275404A (en) * | 2016-08-31 | 2017-01-04 | 深圳市莲花百川科技有限公司 | The double cross arm structure of many rotor wing unmanned aerial vehicles |
| CN106882378A (en) * | 2017-03-31 | 2017-06-23 | 国网上海市电力公司 | A kind of automatically-unhooked Throwing device of unmanned plane |
| CN107147038A (en) * | 2017-06-09 | 2017-09-08 | 国网山东省电力公司经济技术研究院 | A kind of absorption draught line restraint device certainly |
| CN107168368A (en) * | 2017-06-09 | 2017-09-15 | 国网山东省电力公司经济技术研究院 | A kind of automatic paying off system of unmanned plane and line-putting method of view-based access control model identification |
| CN107257107A (en) * | 2017-07-27 | 2017-10-17 | 国网山东省电力公司经济技术研究院 | A kind of pull rope unwrapping wire based on unmanned plane is from restraint device |
| CN108155600A (en) * | 2018-01-02 | 2018-06-12 | 广东能飞航空科技发展有限公司 | A kind of electric wire lifting guidance method |
| CN108227743A (en) * | 2018-01-12 | 2018-06-29 | 国网福建省电力有限公司 | Improve for pass through unwrapping wire unmanned plane performance method and pass through line-putting method |
| CN108390314A (en) * | 2018-04-28 | 2018-08-10 | 广东电网有限责任公司 | A kind of overhead transmission line, which floats, hangs object cleaning plant |
| CN108599007A (en) * | 2018-03-29 | 2018-09-28 | 武汉大学 | A kind of apparatus and method of high-tension line unmanned plane installation pulley insulating cord |
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| CN108780988A (en) * | 2016-04-08 | 2018-11-09 | 天技术有限公司 | It is installed on the construction of line device of unmanned plane and utilizes its construction of line method |
| CN109494628A (en) * | 2018-11-24 | 2019-03-19 | 王丽红 | A kind of electric power unwrapping wire multi-rotor unmanned aerial vehicle and electric power line-putting method |
| CN109683629A (en) * | 2019-01-09 | 2019-04-26 | 燕山大学 | Unmanned plane electric stringing system based on integrated navigation and computer vision |
| CN110139800A (en) * | 2016-09-09 | 2019-08-16 | Wing航空有限责任公司 | For improving and reducing the method and system of payload |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
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| CN108780988A (en) * | 2016-04-08 | 2018-11-09 | 天技术有限公司 | It is installed on the construction of line device of unmanned plane and utilizes its construction of line method |
| CN105958372B (en) * | 2016-05-31 | 2017-12-01 | 新昌县澄潭镇博纳机械厂 | One kind utilizes unmanned plane mountain area stringing system and stringing method |
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| CN105977863A (en) * | 2016-06-08 | 2016-09-28 | 国网甘肃省电力公司检修公司 | Power transmission power off maintenance method and live-line maintenance method through rope throwing by unmanned plane |
| CN106275404A (en) * | 2016-08-31 | 2017-01-04 | 深圳市莲花百川科技有限公司 | The double cross arm structure of many rotor wing unmanned aerial vehicles |
| CN110139800A (en) * | 2016-09-09 | 2019-08-16 | Wing航空有限责任公司 | For improving and reducing the method and system of payload |
| CN110139800B (en) * | 2016-09-09 | 2022-11-01 | Wing航空有限责任公司 | Method and system for increasing and decreasing payload |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| CN106882378A (en) * | 2017-03-31 | 2017-06-23 | 国网上海市电力公司 | A kind of automatically-unhooked Throwing device of unmanned plane |
| CN107168368A (en) * | 2017-06-09 | 2017-09-15 | 国网山东省电力公司经济技术研究院 | A kind of automatic paying off system of unmanned plane and line-putting method of view-based access control model identification |
| CN107147038A (en) * | 2017-06-09 | 2017-09-08 | 国网山东省电力公司经济技术研究院 | A kind of absorption draught line restraint device certainly |
| CN107168368B (en) * | 2017-06-09 | 2020-07-31 | 国网山东省电力公司经济技术研究院 | Pay-off method of unmanned aerial vehicle automatic pay-off system based on visual identification |
| CN107147038B (en) * | 2017-06-09 | 2018-08-24 | 国网山东省电力公司经济技术研究院 | A kind of absorption draught line restraint device certainly |
| CN107257107A (en) * | 2017-07-27 | 2017-10-17 | 国网山东省电力公司经济技术研究院 | A kind of pull rope unwrapping wire based on unmanned plane is from restraint device |
| CN107257107B (en) * | 2017-07-27 | 2019-01-04 | 国网山东省电力公司经济技术研究院 | A kind of traction rope unwrapping wire based on unmanned plane is from restraint device |
| CN108736374A (en) * | 2017-10-27 | 2018-11-02 | 广东电网有限责任公司揭阳供电局 | A kind of cutter device for removing foreign matter for transmission line of electricity |
| CN108155600A (en) * | 2018-01-02 | 2018-06-12 | 广东能飞航空科技发展有限公司 | A kind of electric wire lifting guidance method |
| CN108227743A (en) * | 2018-01-12 | 2018-06-29 | 国网福建省电力有限公司 | Improve for pass through unwrapping wire unmanned plane performance method and pass through line-putting method |
| CN108599007A (en) * | 2018-03-29 | 2018-09-28 | 武汉大学 | A kind of apparatus and method of high-tension line unmanned plane installation pulley insulating cord |
| CN108599007B (en) * | 2018-03-29 | 2020-07-24 | 武汉大学 | Device and method for installing pulley insulating rope on high-voltage line unmanned aerial vehicle |
| CN108390314A (en) * | 2018-04-28 | 2018-08-10 | 广东电网有限责任公司 | A kind of overhead transmission line, which floats, hangs object cleaning plant |
| CN109494628A (en) * | 2018-11-24 | 2019-03-19 | 王丽红 | A kind of electric power unwrapping wire multi-rotor unmanned aerial vehicle and electric power line-putting method |
| CN109494628B (en) * | 2018-11-24 | 2024-02-27 | 王丽红 | Electric power paying-off multi-rotor unmanned aerial vehicle and electric power paying-off method |
| CN109683629A (en) * | 2019-01-09 | 2019-04-26 | 燕山大学 | Unmanned plane electric stringing system based on integrated navigation and computer vision |
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Application publication date: 20150401 |