CN107359548A - The big span unwrapping wire platform of circuit and method based on multiple no-manned plane collaboration - Google Patents
The big span unwrapping wire platform of circuit and method based on multiple no-manned plane collaboration Download PDFInfo
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- CN107359548A CN107359548A CN201710730502.3A CN201710730502A CN107359548A CN 107359548 A CN107359548 A CN 107359548A CN 201710730502 A CN201710730502 A CN 201710730502A CN 107359548 A CN107359548 A CN 107359548A
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- Prior art keywords
- unmanned plane
- guide rope
- unwrapping wire
- trip gear
- big span
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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
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
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Abstract
The invention discloses the big span unwrapping wire platform of the circuit cooperateed with based on multiple no-manned plane and method, including the unmanned plane containing remote control, the number of unmanned plane is more than or equal to three framves；The lower end of every frame unmanned plane is respectively mounted carry trip gear, and carry trip gear is connected with the guide rope of unwrapping wire to be drawn；The remote control of unmanned plane, for controlling carry trip gear, realize the dispensing of guide rope.The method of the invention is under the control of ground monitoring platform, guide rope is pulled up to after the safe altitude of two shaft towers and unfolded again to horizontal direction by multiple UAVs, can effectively avoid big span from guiding rope sag in unfolding causes and lower section bar contact or winding, the safety of spanning the transmission line road, highway, railway etc. is ensure that, improves the security and success rate of line laying work.
Description
Technical field
The invention belongs to power equipment accessories technical field, in particular to the big span of circuit based on multiple no-manned plane collaboration is put
Line platform and method.
Background technology
With the popularization of unmanned air vehicle technique, in transmission line of electricity stringing engineering, multi-rotor unmanned aerial vehicle spreading guiding rope is utilized
With the features such as its is safe, strong adaptability expanded application, particularly it is important cross over, lofty mountains and steep hills etc., and complicated landform is preferable
Solve artificial unwrapping wire to be difficult to cut down the problems such as difficult into regions with complex terrain, trees.But existing unmanned plane stringing dress
Put and method has following drawback in big span unwrapping wire：First, UAV system limited mass, the small-sized rotor wing unmanned aerial vehicle of in general
It is difficult to the load-carrying demand for meeting big span spreading guiding rope；Second, unmanned plane cruising time is limited, it is particularly larger in load-carrying
In the case of, unmanned plane is difficult to the unwrapping wire flight for completing big span, completes stringing frequently with the mode of more sortie relays, adds work
Industry time and task difficulty；Third, guide rope can be because gravity be sagging with certain radian in distraction procedure, hauling distance is long
Can to guide rope sag radian it is excessive so as to bar contact or the winding such as the trees of lower section, scissors crossing circuit, influence
Line laying work even causes the accidents such as scissors crossing line short tripping operation.Therefore, traditional unmanned plane paying off system is in big span
The problems such as task difficulty is big, success rate is low, security risk is big during unwrapping wire be present.
Based on this, study and develop circuit big span unwrapping wire platform and method of the design based on multiple no-manned plane collaboration.
The content of the invention
It is an object of the invention to：For existing unmanned plane wire-binding device, in big span unwrapping wire, existing loading capacity is not
Foot, flying distance deficiency and guiding rope sag easily span unwrapping wire big with the influence such as lower section bar contact or winding the problem of, it is existing
The big span unwrapping wire platform of circuit based on multiple no-manned plane collaboration is provided, guide rope is carried out simultaneously using three framves and the unmanned plane of the above
Unfolding, solve single rack UAV system weight deficiency, flying distance deficiency, in distraction procedure guide rope because gravity is with certain radian
Sagging, hauling distance is long to cause to guide that rope sag radian is excessive causes and the barrier such as the trees of lower section, scissors crossing circuit
Contact or winding, situations such as influenceing line laying work or even cause to hand over span line short circuit tripping operation.
Another object of the present invention is to provide the operation side of the big span unwrapping wire platform of circuit based on multiple no-manned plane collaboration
Method, solve it is big to transmission line of electricity gear away from unwrapping wire loading capacity, continuation of the journey it is insufficient the problems such as, without more sortie relays fly, using two
Unwrapping wire is drawn in direction simultaneously, and operating efficiency is greatly improved.
The big span unwrapping wire platform of circuit cooperateed with based on multiple no-manned plane, including the unmanned plane containing remote control, unmanned plane
Number is more than or equal to three framves；The lower end of every frame unmanned plane is respectively mounted carry trip gear, carry trip gear and unwrapping wire to be drawn
Guide rope connection；The remote control of unmanned plane, for controlling carry trip gear, realize the dispensing of guide rope.
The technical program, which uses, to be more than or equal to three frame unmanned planes while carries out guide rope unfolding, solves UAV system weight
It is limited, as the small-sized rotor wing unmanned aerial vehicle of in general can not meet the load-carrying demand of big span spreading guiding rope；Using three framves and more than
Unmanned plane simultaneously when carrying out spreading guiding rope, operated relative to single rack unmanned plane, have that to solve unmanned plane cruising time limited,
In existing guide rope unfolding, load-carrying is larger, and single rack unmanned plane is difficult to the unwrapping wire flight for completing big span, need to often use multi rack
The mode of secondary relay completes stringing, adds the situation of activity duration and task difficulty, the technical program using three framves and more than
Unmanned plane fly big span unwrapping wire simultaneously, carry out relay stringing without multiple UAVs, the load-carrying of former single rack can be shifted
Onto three framves and the unmanned plane of the above, effectively solve the problems, such as single rack unmanned plane load-carrying deficiency, flying distance deficiency.
Carry trip gear described in the technical program, steering wheel structure that carry trip gear includes, crank block opening and closing
Lock construction, concrete structure is known to those skilled in the art, then the control passage of the control line of steering wheel and unmanned plane connects,
The control passage of unmanned plane is known to those skilled in the art, the remote control of unmanned plane, and its concrete structure is art technology
Well known to personnel, the remote control of unmanned plane is specific to control crank block open locking knot by controlling crank block to be opened and closed lock construction
The on off state of structure, for example crank block opening and closing lock construction is when be in open mode, guide rope dispensing；Crank block open locking knot
When structure is closed, guide rope is in state of flight with unmanned plane, and when to be put, remote control control crank block is unlocked
Structure is open mode.
Crank block opening and closing lock construction described in the technical program is crank block slider structure, passes through operating crank sliding block knot
Structure realizes the dispensing to guide rope and the control of carrier state.
Specific operation process is that three framves and above unmanned plane take off simultaneously, and the lower end of every frame unmanned plane is provided with carry and taken off
Buckle device, carry trip gear are connected with guide rope, and control when guide rope is released under the remote control control of unmanned plane,
Then three framves and above unmanned plane during flying go down guide rope release, the both ends of guide rope are tight to two shaft tower correct positions
It is close to be fixed on two shaft towers, other ends that guide rope is fixed by crank block switch latch-up structure are then discharged, then guide rope
Both ends.
Multiple UAVs work compound is used in the technical program, relative to the work loading capacity increase of single rack unmanned plane, is continued
Boat mileage can increase, and can realize the unfolding of heavier, longer guide rope；When carrying out big span unwrapping wire, by guide rope with being arranged on
The carry trip gear connection of unmanned plane lower end, and the remote control of unmanned plane then can control the carry trip gear of corresponding unmanned plane
The sequencing of guide rope is discharged, and can be artificial good fit with ground, the guiding rope sag and lower section for avoiding release hinder
Hinder thing contact, winding.
Further, counterweight wire clamp is installed, the position that counterweight wire clamp is fixed on guide rope is unmanned plane on the guide rope
0.6-0.8m of lower section at.The position that counterweight wire clamp is set, it is normally sagging beneficial to the guide rope ensured below unmanned plane, and not
Disturb the normal flight of unmanned plane.
Further, the counterweight wire clamp includes two and half ball chuck faces, buckle structure, is provided with just between two and half ball chuck faces
In the wire casing that guide rope passes through, buckle structure locks the contact jaw of guide rope and wire casing.
Flight is not disturbed in the guiding rope sag that the setting of counterweight wire clamp can ensure to be arranged on below unmanned plane, and counterweight wire clamp is
Plastic material, mass weight can be mitigated, improve the reliability and standardization level of mass, and the concrete structure of counterweight folder and
Its operation principle is known to those skilled in the art, and is no longer described in detail.
Further, in addition to ground monitoring platform, unmanned aerial vehicle station, unmanned aerial vehicle station connect with every frame unmanned plane
Connect, for monitoring every frame unmanned plane during flying height, flight position, by wireless between ground monitoring platform and unmanned aerial vehicle station
Network connection, realize data sharing.
Every frame unmanned plane that ground monitoring platform obtains unmanned aerial vehicle station mobile phone by WLAN is completed to put
The preoperative position of line, height condition information, height, the position of unmanned plane during flying are then manipulated according to the information of acquisition.
Another object of the present invention is to provide the operation side of the big span unwrapping wire platform of circuit based on multiple no-manned plane collaboration
Method, concrete operation step are as follows：
1) construction site is selected：Construction site is selected among two base shaft towers for needing unwrapping wire；
2) prepare before construction, check：Carry trip gear is arranged on every frame unmanned plane, the both ends of guide rope respectively with
Close to the carry trip gear connection of two frame unmanned planes of both sides shaft tower, and it is fixed on the lower section of unmanned aerial vehicle body；
3) line laying work：All unmanned planes take off simultaneously, by checking that ground monitoring platform information coordinates field observation to refer to
Waving unmanned plane operating personnel controls unmanned plane to keep synchronous vertical to rise, and barrier will not be touched until reaching sagging wire and moving horizontally
Hinder the safe altitude of thing, shaft tower flight closer to the distance is distinguished close to two frame unmanned planes of both sides shaft tower, until flying up to target stem
Tower, ground monitoring platform courses unmanned plane start synchronous reduction height and adjustment position, unmanned plane are manipulated after reaching correct position
Hovering, and control the carry trip gear of the two frame unmanned planes positioned at both ends first to unlock, the same weight-drop in both ends of guide rope, treat
The both ends of guide rope are fixed on the unmanned plane unblock for being pointed to centre after the shaft tower of both sides again, then complete unwrapping wire in transmission line of electricity and grasp
Make.
Further, in the step 3) line laying work, the both ends of guide rope are fixed on the concrete operations of both sides shaft tower
Method is：The both ends of guide rope are each bypassed into pulley respectively, and are tightly fixed on shaft tower closer to the distance.
The present invention compared with prior art, has the following advantages and advantages：
(1) the technical program can solve single rack unmanned plane and fly by setting three framves and above unmanned plane, carry trip gear
The problem of cruising time for occurring in row is short, loading capacity is insufficient.
(2) for the method for the invention under the control of ground monitoring platform, guide rope is pulled up to two by multiple UAVs
Unfolded again to horizontal direction after the safe altitude of shaft tower, can effectively avoiding big span from being guided in unfolding, rope sag causes and lower section hinders
Hinder thing contact or winding, it is ensured that the safety of spanning the transmission line road, highway, railway etc., improve line laying work security and
Success rate.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, forms one of the application
Point, do not form the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is the structure schematic diagram of the present invention；
Fig. 2 is the operation flow diagram of the embodiment of the present invention 1；
Mark and corresponding parts title in accompanying drawing：
1-unmanned plane, 2-carry trip gear, 3-counterweight wire clamp, 4- guide ropes.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make
For limitation of the invention.
Fig. 2 wherein described in embodiment 2, it is a, b, c that 3 frame unmanned planes are numbered respectively, and d represents scissors crossing circuit, and e is represented
Landing site, f represent trees, and e represents landing site, and h represents safe altitude.
Embodiment 1：
As shown in figure 1, the big span unwrapping wire platform of circuit based on multiple no-manned plane collaboration, including it is logical containing remote control, control
The unmanned plane in road, it is characterised in that：The number of unmanned plane 1 is more than or equal to three framves, and the lower end of every frame unmanned plane 1 is respectively mounted carry and taken off
Buckle device 2, carry trip gear 2 include steering wheel, crank block opening and closing lock construction, and the control of the control line and unmanned plane of steering wheel is led to
Road is connected, and crank block opening and closing lock construction is connected with the guide rope 4 of unwrapping wire to be drawn；The remote control of unmanned plane, hung for controlling
The opening and closing of the crank block opening and closing lock construction of trip gear is carried, realizes the dispensing of guide rope 4.
Wherein, counterweight wire clamp 3 is installed, the position that counterweight wire clamp 3 is fixed on guide rope is the lower section of unmanned plane 1 on guide rope
At 0.6-0.8m.
Wherein, the counterweight wire clamp 3 includes two and half ball chuck faces, buckle structure, is provided with and is easy between two and half ball chuck faces
The wire casing that guide rope passes through, buckle structure lock the contact jaw of guide rope and wire casing.
Operating platform also includes ground monitoring platform, unmanned aerial vehicle station, and unmanned aerial vehicle station is connected with every frame unmanned plane,
For monitoring every frame unmanned plane during flying height, flight position, pass through wireless network between ground monitoring platform and unmanned aerial vehicle station
Network connects, and realizes data sharing.
Embodiment 2：
The operating method of the big span unwrapping wire platform of circuit based on multiple no-manned plane collaboration, as shown in Fig. 2 including following operation
Step：
1) construction site selects：Construction site is selected among two shaft towers for needing unwrapping wire as landing site e, it is clear
Site contour, landforms, road conditions are grasped, notice whether top and neighbouring spatial domain have parallel or scissors crossing circuit d, tall and big tree
The barriers such as wood；
2) prepare and check before construction：Carry trip gear 2 is connected to unmanned plane, checked before flying, it is ensured that three framves without
Man-machine, a, b, c are in seaworthy, and carry trip gear 2 controls normally；Ground monitoring working platform situation is checked, checks net
Whether network connection is normal, and data display whether correctly；Prepare guide rope 4 and checked, it is ensured that guide rope 4 is disconnected without knotting, nothing
Stock broken lot；The both ends of guide rope 4 are connected into a, c unmanned plane carry trip gear 2 respectively, are fixed to below fuselage, in unmanned plane
The upper counterweight wire clamp 3 of folder at guide rope 0.6-0.8 rice below body, the concretely spherical weights wire clamp of counterweight wire clamp 3.
3) line laying work：Three frame multi-rotor unmanned aerial vehicle a, b, c take off simultaneously, and commanding is by checking ground monitoring platform
Information coordinates field observation commander's unmanned plane operating personnel to control three frame unmanned planes to keep synchronous vertical to rise, until reaching sagging
Wire moves horizontally safe altitude h, b unmanned plane the holding original place that will not encounter the barriers such as trees f, scissors crossing circuit d
Hovering, a, b unmanned plane start simultaneously to fly to both sides shaft tower, until flying up to target shaft tower；Three frame unmanned planes are in ground monitoring
Platform coordinates the synchronous drop of lower beginning high and adjustment position；Unmanned plane hovering is manipulated after reaching correct position, commanding sends finger
Order, a machines, c machine carries trip gear 2 first unlock, and for the both ends of guide rope 4 together with weight-drop, the staff on shaft tower is fast
Speed unlocks b machine trip gears again after catching guide rope both ends.Tower body staff holds guide rope in hand and crosses pulley, and by its
Firmly tie up on shaft tower or carry out follow-up wire erection operation.
Because in transmission line of electricity stringing engineering, existing unmanned plane spreading guiding rope device and method is in big span unwrapping wire
When single rack UAV system limited mass be present, the guide rope curtailment that can draw, endurance distance deficiency, guiding rope sag easily with
The problems such as lower section bar contact winding, task difficulty is big, success rate is low when causing to carry out big span unwrapping wire using unmanned plane, pacifies
Full blast is nearly big.This example utilizes the operating method of the unwrapping wire platform based on multiple no-manned plane collaboration, can be assisted by multiple UAVs
With solving the problems, such as single rack UAV system weight deficiency, course continuation mileage deficiency, the unfolding of heavier, longer guide rope is realized；It is logical
Cross spherical weights wire clamp 3 and be used as counterweight, it is easy to connect reliable, and alleviate mass weight；It is real-time by ground monitoring platform
Monitor multi-machine collaborative handling situations and ensure multi-machine collaborative operation effectiveness；Guide rope is pulled up to safe altitude by multiple UAVs
The method unfolded again to horizontal direction afterwards, it effectively prevent the problem of guiding rope sag is with lower section bar contact, winding.This is flat
Platform and method are simple in construction, are easily achieved, efficiently solve the big span line laying work difficulty of unmanned plane is big, success rate is low, safety
The problem of risk is big.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., all should include
Within protection scope of the present invention.
Claims (7)
1. based on the big span unwrapping wire platform of circuit of multiple no-manned plane collaboration, including the unmanned plane containing remote control, it is characterised in that：
The number of unmanned plane (1) is more than or equal to three framves；The lower end of every frame unmanned plane (1) is respectively mounted carry trip gear (2), and carry is threaded off
Device (2) is connected with the guide rope (4) of unwrapping wire to be drawn；The remote control of unmanned plane, for controlling carry trip gear and guiding
Rope (4) is disconnected, and launches guide rope (4).
2. the circuit big span unwrapping wire platform according to claim 1 based on multiple no-manned plane collaboration, it is characterised in that：It is described
Counterweight wire clamp (3) is installed, the position of the fixed guide rope (4) of counterweight wire clamp (3) is on guide rope (4)：The lower section of unmanned plane (1)
At 0.6-0.8m.
3. the circuit big span unwrapping wire platform according to claim 2 based on multiple no-manned plane collaboration, it is characterised in that：It is described
Counterweight wire clamp (3) includes two and half ball chuck faces, buckle structure, is provided between two and half ball chuck faces and is easy to what guide rope (4) passed through
Wire casing, buckle structure lock the contact jaw of guide rope (4) and wire casing.
4. the big span unwrapping wire platform of the circuit according to claim 1 based on UAS, it is characterised in that：The extension
Carrying trip gear (2) includes steering wheel, crank block opening and closing lock construction, and the control line of off line and the control passage of unmanned plane connect,
The remote control of unmanned plane, the crank block for controlling carry trip gear (2) are opened and closed the opening and closing of lock construction.
5. the circuit big span unwrapping wire platform according to claim 4 based on multiple no-manned plane collaboration, it is characterised in that：Also wrap
Ground monitoring platform, unmanned aerial vehicle station are included, unmanned aerial vehicle station is connected with every frame unmanned plane, is flown for monitoring every frame unmanned plane
Row height, flight position, are connected by wireless network between ground monitoring platform and unmanned aerial vehicle station, realize data sharing.
6. the behaviour of the big span unwrapping wire platform of circuit based on multiple no-manned plane collaboration according to claim 1 to 5 any one
Make method, it is characterised in that：Including following operating procedure,
1) construction site is selected：Construction site is selected among two base shaft towers for needing unwrapping wire；
2) prepare before construction, check：Carry trip gear is arranged on every frame unmanned plane, the both ends of guide rope respectively with it is close
The carry trip gear connection of two frame unmanned planes of both sides shaft tower, and it is fixed on the lower section of unmanned aerial vehicle body；
3) line laying work：All unmanned planes take off simultaneously, by checking that ground monitoring platform information coordinates field observation to command nothing
Human operator controls unmanned plane to keep synchronous vertical to rise, and barrier will not be touched until reaching sagging wire and moving horizontally
Safe altitude, shaft tower flight closer to the distance is distinguished close to two frame unmanned planes of both sides shaft towers, until flying up to target shaft tower, ground
Face monitor supervision platform control unmanned plane starts synchronously to reduce height and adjustment position, reaches manipulation unmanned plane hovering after correct position,
And control the carry trip gear of the two frame unmanned planes positioned at both ends first to unlock, the same weight-drop in both ends of guide rope, wait to guide
The both ends of rope are fixed on the unmanned plane unblock for being pointed to centre after the shaft tower of both sides again, then complete payoff operation in transmission line of electricity.
7. the operating method of the circuit big span unwrapping wire platform according to claim 6 based on multiple no-manned plane collaboration, it is special
Sign is：In the step 3) line laying work, the concrete operation method that the both ends of guide rope are fixed on both sides shaft tower is：Respectively
The both ends of guide rope are each bypassed into pulley, and are tightly fixed on shaft tower closer to the distance.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710730502.3A CN107359548A (en) | 2017-08-23 | 2017-08-23 | The big span unwrapping wire platform of circuit and method based on multiple no-manned plane collaboration |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710730502.3A CN107359548A (en) | 2017-08-23 | 2017-08-23 | The big span unwrapping wire platform of circuit and method based on multiple no-manned plane collaboration |
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| Publication Number | Publication Date |
|---|---|
| CN107359548A true CN107359548A (en) | 2017-11-17 |
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ID=60288566
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|---|---|---|---|
| CN201710730502.3A Pending CN107359548A (en) | 2017-08-23 | 2017-08-23 | The big span unwrapping wire platform of circuit and method based on multiple no-manned plane collaboration |
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| CN109473910A (en) * | 2018-10-17 | 2019-03-15 | 北京科技大学 | Unmanned plane stringing system and stringing method |
| CN112455685A (en) * | 2020-11-11 | 2021-03-09 | 国网四川省电力公司检修公司 | Unmanned aerial vehicle insulating rope throwing device and method with tension measurement protection function |
| CN112498685A (en) * | 2020-11-24 | 2021-03-16 | 国网江苏省电力有限公司扬州供电分公司 | Aerial supplementary wire rope handling equipment |
| CN113161919A (en) * | 2020-01-07 | 2021-07-23 | 中国电力科学研究院有限公司 | Power transmission line unmanned aerial vehicle auxiliary operation method and device |
| CN114389202A (en) * | 2021-12-01 | 2022-04-22 | 国网山西省电力公司临汾供电公司 | Overhead transmission line tension and pay-off safety cooperative control system and use method thereof |
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Application publication date: 20171117 |