CN108313286A - The method, system and device of rope ladder are hung based on unmanned plane - Google Patents
The method, system and device of rope ladder are hung based on unmanned plane Download PDFInfo
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- CN108313286A CN108313286A CN201711384150.7A CN201711384150A CN108313286A CN 108313286 A CN108313286 A CN 108313286A CN 201711384150 A CN201711384150 A CN 201711384150A CN 108313286 A CN108313286 A CN 108313286A
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- unmanned plane
- rope ladder
- lanyard
- target cable
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 239000000725 suspension Substances 0.000 claims description 29
- 238000004590 computer program Methods 0.000 claims description 22
- 238000010276 construction Methods 0.000 abstract description 17
- 238000005516 engineering process Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 21
- 238000012545 processing Methods 0.000 description 18
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- 230000008439 repair process Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ladders (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a kind of method, system and device hanging rope ladder based on unmanned plane, including：Unmanned plane obtains the position coordinates of rope ladder, using the position coordinates as Laser emission starting point, to target cable transmission laser beam, unmanned plane marks hitch point of the crosspoint of the laser beam and the target cable as rope ladder, and the first distance L between the Laser emission starting point and the hitch point is obtained with this1The length of lanyard is set according to the shortest distance, and it is pulled on rope ladder to target cable by the compatible lanyard of length, it needs to generally require to climb electric power line pole tower by construction personnel when hanging rope ladder on cable instead of livewire work construction personnel in traditional technology, then, move again to and the cable location of work needed to hang rope ladder, caused by be moved to that equipotential technical difficulty is big, security performance is low from shaft tower, then to the personal safety of staff great menace the technical issues of.The present invention has the characteristics that security performance is high, applicability is wide.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to it is a kind of based on unmanned plane hang the method for rope ladder, system and
Device.
Background technology
In the prior art, periodic inspection is generally required for the cable of transmission of electricity, or failure section is repaired, and by
In cable be hang on it is aerial, livewire work construction personnel need to hang on cable when entering equipotential work rope ladder then into
Row operation, the mode of suspension rope ladder are to climb electric power line pole tower by construction personnel then to move again to and need work
Cable location hangs rope ladder.There are prodigious drawbacks for such hanging method, there is many unstability factors.For example, climbing
The risk of shaft tower is moved to equipotential technical difficulty and insecurity etc. from shaft tower so that pacifies to the person of staff
Complete great threat.
Therefore, it exists in the prior art when needing to repair cable location, suspension rope ladder technical difficulty is big, safety
The low technical problem of energy.
Invention content
The present invention provides a kind of method, system and device hanging rope ladder based on unmanned plane, to solve in the prior art
The suspension technical problem that rope ladder technical difficulty is big, security performance is low.
In a first aspect, the present invention provides a kind of method hanging rope ladder based on unmanned plane, the method includes：Unmanned plane
Obtain the position coordinates of rope ladder；The unmanned plane swashs using the position coordinates as Laser emission starting point to target cable transmission
Light beam；The unmanned plane marks hitch point of the crosspoint of the laser beam and the target cable as the rope ladder；It is described
Unmanned plane obtains the first distance L between the Laser emission starting point and the hitch point1；The unmanned plane is according to described first
Distance L1The length L of the lanyard is set2；It is L by length2The lanyard pulls on the rope ladder to the target cable.
In the first aspect, the laser beam and the target cable are mutually perpendicular to.
In the first aspect, described according to the first distance L1The length L of the lanyard is set2It specifically includes：According to L2
=2L1The length L of the lanyard is set2。
In the first aspect, described according to the first distance L1The length L of the lanyard is set2It specifically includes：The nothing
Second distance L of the man-machine acquisition target cable relative to ground3；The unmanned plane is according to formula L2=L1+L3Described in setting
The length L of lanyard2。
Second aspect, the present invention provides a kind of suspension applied to target cable, the system comprises：Position is sat
Acquisition module is marked, the position coordinates that the unmanned plane obtains rope ladder are configured as；Transmitting module, being configured as the unmanned plane will
The position coordinates are as Laser emission starting point, to target cable transmission laser beam；Mark module is configured as the unmanned plane
Mark hitch point of the crosspoint of the laser beam and the target cable as the rope ladder；First distance obtains module, quilt
It is configured to the unmanned plane and obtains the first distance L between the Laser emission starting point and the hitch point1；Lanyard length is arranged
Module is configured as the unmanned plane according to the first distance L1The length L of the lanyard is set2；Suspension module is configured
To be L by length2The lanyard pull on the rope ladder to the target cable.
In second aspect, further include in the transmitting module, the laser beam and the target cable are mutually perpendicular to.
In second aspect, the lanyard length setup module further includes：According to L2=2L1The length of the lanyard is set
L2。
In second aspect, the lanyard length setup module further includes：First submodule is configured as obtaining the mesh
Second distance L of the graticule cable relative to ground3；The second submodule is configured as according to formula L2=L1+L3The lanyard is set
Length L2。
The third aspect, the present invention also provides a kind of suspension arrangements applied to target cable, including memory, processor
And storage is on a memory and the computer program that can run on a processor, when the processor executes described program realization with
Lower step：The unmanned plane obtains the position coordinates of rope ladder；The unmanned plane using the position coordinates as Laser emission starting point,
To target cable transmission laser beam；The unmanned plane marks the crosspoint of the laser beam and the target cable as described soft
The hitch point of ladder；The unmanned plane obtains the first distance L between the Laser emission starting point and the hitch point1；The nothing
It is man-machine according to the first distance L1The length L of the lanyard is set2；It is L by length2The lanyard pulls the rope ladder extremely
On the target cable.
Fourth aspect, the present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, should
Following steps are realized when program is executed by processor：The unmanned plane obtains the position coordinates of rope ladder；The unmanned plane will be described
Position coordinates are as Laser emission starting point, to target cable transmission laser beam；The unmanned plane marks the laser beam and described
Hitch point of the crosspoint of target cable as the rope ladder；The unmanned plane obtains the Laser emission starting point and the suspension
The first distance L between point1；The unmanned plane is according to the first distance L1The length L of the lanyard is set2；It is by length
L2The lanyard pulls on the rope ladder to the target cable.
The one or more technical solutions provided in the embodiment of the present invention, have at least the following technical effects or advantages：
The present invention obtains the position coordinates of rope ladder by unmanned plane first, and then unmanned plane is using the position coordinates as sharp
Light emitting starting point to target cable transmission laser beam, then marks the crosspoint of the laser beam and the target cable as institute
The hitch point for stating rope ladder obtains the first distance L between the Laser emission starting point and the hitch point with this1, this first away from
From L1The shortest distance as between rope ladder and hitch point, then the unmanned plane according to the shortest distance be arranged lanyard length
Degree, and pulled on rope ladder to target cable by the compatible lanyard of length, suspension of the rope ladder on target cable is completed with this,
It needs to generally require to climb by construction personnel when hanging rope ladder on cable instead of livewire work construction personnel in traditional technology
Step on electric power line pole tower, then, move again to need work cable location hang rope ladder, caused by be moved to from shaft tower
The technical difficulty of current potential is big, security performance is low, then to the personal safety of staff great menace the technical issues of.This hair
It is bright to have the characteristics that security performance is high, applicability is wide.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, below the special specific implementation mode for lifting the present invention.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, others are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the method flow diagram for the method for hanging rope ladder in the embodiment of the present application based on unmanned plane；
Fig. 2 is the structural schematic diagram for the device for hanging rope ladder in the embodiment of the present application based on unmanned plane；
Fig. 3 is the structural schematic diagram of server in the embodiment of the present application；
Fig. 4 is the structural schematic diagram of the embodiment of the present application Computer readable storage medium storing program for executing 400；
Fig. 5 is sliding equipment integral outer structural schematic diagram in the embodiment of the present application；
Fig. 6 is sliding equipment whole interior structural schematic diagram in the embodiment of the present application；
Fig. 7 is that laser pinpoints dispenser structural schematic diagram in the embodiment of the present application；
Fig. 8 is attachment device structural schematic diagram in the embodiment of the present application；
Fig. 9 is that body upper part internal structure schematic diagram is hung in the embodiment of the present application.
Specific implementation mode
The embodiment of the present invention carry for it is a kind of based on unmanned plane hang rope ladder method and device, to solve the prior art
The middle suspension technical problem that rope ladder technical difficulty is big, security performance is low has reached the technology effect that security performance is high, applicability is wide
Fruit.
Technical solution in the embodiment of the present invention, general thought are as follows：
Unmanned plane obtains the position coordinates of rope ladder；
The unmanned plane is using the position coordinates as Laser emission starting point, to target cable transmission laser beam；
The unmanned plane marks hitch point of the crosspoint of the laser beam and the target cable as the rope ladder；
The unmanned plane obtains the first distance L between the Laser emission starting point and the hitch point1；
The unmanned plane is according to the first distance L1The length L of the lanyard is set2；
It is L by length2The lanyard pull on the rope ladder to the target cable.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Embodiment one
The embodiment of the present invention one provides a kind of method hanging rope ladder based on unmanned plane, referring to FIG. 1, the method packet
It includes：
Step S110；Unmanned plane obtains the position coordinates of rope ladder；
Step S120；The unmanned plane is using the position coordinates as Laser emission starting point, to target cable transmission laser
Beam；
Step S130；The unmanned plane marks the crosspoint of the laser beam and the target cable as the rope ladder
Hitch point；
Step S140；The unmanned plane obtains the first distance L between the Laser emission starting point and the hitch point1；
Step S150；The unmanned plane is according to the first distance L1The length L of the lanyard is set2；
Step S160；It is L by length2The lanyard pull on the rope ladder to the target cable.
It should be noted that rope ladder described in the method can be the rope ladder climbed for construction personnel, can also be
Construction personnel repairs required utensil such as spanner, clamp etc. when cable.And in embodiments of the present invention, the rope ladder is to use
In the rope ladder of construction personnel's climbing.
Personnel are the study found that in the prior art, the cable for transmission of electricity generally requires periodic inspection, or pair event according to the study
Barrier section repairs, and since cable is to hang in the air, livewire work construction personnel needs to exist when entering equipotential work
Rope ladder is hung on cable and then carries out operation, and the mode of suspension rope ladder is to climb electric power line pole tower by construction personnel, so
Afterwards, it moves again to and the cable location of work is needed to hang rope ladder.Such working method there are prodigious drawback, have it is many not
Stability factor.For example, climbing the risk of shaft tower, it is moved to equipotential technical difficulty and insecurity from shaft tower, to work
The personal safety for making personnel is great menace.Therefore, it exists in the prior art when needing to repair cable location, hangs
Hang the technical problem that rope ladder technical difficulty is big, security performance is low.
Based on this, the embodiment of the present invention one provides the method for hanging rope ladder based on unmanned plane, is obtained first by unmanned plane
The position coordinates of rope ladder are taken, then using the position coordinates as Laser emission starting point, to target cable transmission laser beam, then are marked
Remember hitch point of the crosspoint of the laser beam and the target cable as the rope ladder, obtaining the Laser emission with this rises
The first distance L between point and the hitch point1, first distance L1The shortest distance as between rope ladder and hitch point, then
Compatible lanyard is selected according to the shortest distance, is then again hung on sliding equipment on hitch point, and changed by being suspended on
Lanyard in line wheel pulls on rope ladder to target cable, suspension of the rope ladder on target cable is completed with this, instead of traditional skill
Livewire work construction personnel needs to generally require to climb transmission line of electricity bar by construction personnel when hanging rope ladder on cable in art
Then tower moves again to and the cable location of work is needed to hang rope ladder, caused by from shaft tower to be moved to equipotential technology difficult
Degree is big, security performance is low, then to the personal safety of staff great menace the technical issues of.
In the following, being situated between in detail to the method for hanging rope ladder based on unmanned plane that the embodiment of the present invention one provides in conjunction with Fig. 1
It continues：
First, step S110 is executed, unmanned plane obtains the position coordinates of rope ladder；
Specifically, in step S110, the rope ladder is rope ladder, and the position coordinates for obtaining rope ladder can pass through nothing
Man-machine automatic acquisition can also be to control unmanned plane by earth station or manual controller to be obtained, which is
Rope ladder is currently located the geographical position coordinates information of ground location.
Then, step S120 is executed；The unmanned plane is using the position coordinates as Laser emission starting point, to target cable
Emit laser beam；
In step S120, can be mark the position coordinates to be used as Laser emission starting point by unmanned plane, and
The laser for emitting laser beam is controlled by the unmanned plane, to target cable transmission laser beam；It is of course also possible to be logical
Earth station is crossed to mark the position coordinates as Laser emission starting point, and control for emitting laser beam by earth station
Laser, to target cable transmission laser beam.Utilize the linear characteristic of laser beam that target cable and Laser emission are risen in this way
Acquired distance is air line distance between point.And when to target cable transmission laser beam, due in advance and be unaware of target
The specific orientation of cable, namely and when being unaware of to target cable transmission laser beam, transmitting of the laser beam relative to level ground
Angle is how many, therefore be can specifically include to target cable transmission laser beam described in step S120：In the laser
Emit starting point, direction emits laser beam upwards perpendicular to the ground；The transmitting of laser beam is gradually deflected in deviation target cable direction
Angle；When the laser beam emitted intersects with target cable, stop the deflection of laser beam.In this process, it can be understood as
The deflection angle of laser beam is by being gradually reduced relative to 90 ° of level ground angle, until laser beam just intersects with target cable
When then stop deflecting.
Certainly, in order to know that specific which section needs repair in target cable in advance, therefore step S120 is being executed
Before, further include：Cruise detection is carried out to target cable；Obtain the maintenance position coordinate information of the maintenace point in target cable；
Then step S120, using the position coordinates of the rope ladder as Laser emission starting point, the maintenace point into target cable are being executed
Emit laser beam；Certainly, it if having obtained the maintenance position coordinate information of the maintenace point in target cable at this time, does another
The realization method that the crosspoint of a kind of laser beam and target cable obtains can emit laser to the maintenace point in target cable
Beam.
Further, because when hanging sliding equipment, sliding equipment is not suspended at maintenace point position, but is hung
At the position of one meter of maintenace point position or so, therefore, in embodiments of the present invention, the maintenace point into target cable emits
When laser beam, a deflection angle can be preset, i.e., the direction of 1 ° of maintenace point deviation in relative target cable emits laser
Beam, moreover, because target cable is to be placed in height in the air with the state of straight line, therefore the maintenace point in relative target cable is inclined
When the direction transmitting laser beam of 1 ° of folding, it can be understood as the side of 1 ° of maintenace point deviation in Laser emission starting point relative target cable
To transmitting laser beam, it is a tapered laser beam face (because while Laser emission starting point relative target is determined to be formed by
The direction of 1 ° of maintenace point deviation in cable emits laser beam, but the direction of 1 ° of the deviation is still one 360 ° of arbitrary side
To), and the crosspoint in the tapered laser beam face and target cable has 2, then measures two crosspoints respectively and sent out apart from laser
Penetrate the distance of starting point, and crosspoint of the crosspoint of selected distance minimum as the laser beam and the target cable.
Subsequently, step S130 is executed；The unmanned plane marks the crosspoint of the laser beam and the target cable to make
For the hitch point of the rope ladder；
Can be the crosspoint that the laser beam and the target cable are marked by unmanned plane in step S130
Hitch point as the rope ladder；It is of course also possible to be to mark the laser beam and the target cable by earth station
Hitch point of the crosspoint as the rope ladder.In this step, using crosspoint as the hitch point of the rope ladder, for rope ladder
Suspension at this time can be by unmanned plane to hitch point throwing since target cable is located at high-altitude namely hitch point also is located at high-altitude
It penetrates dyestuff or powder etc. with color mark to be marked, which can be controlled by earth station.
Subsequently, step S140 is executed；The unmanned plane obtains between the Laser emission starting point and the hitch point
First distance L1；
Can be that the Laser emission starting point and described is obtained by unmanned plane specifically, in step S140
The first distance L between hitch point1；It is of course also possible to be to obtain the Laser emission starting point and described outstanding by earth station
The first distance L between hanging point1.Due to being by the straight of laser beam labelling between the Laser emission starting point and the hitch point
Linear distance namely the first distance L1It is the shortest distance between the Laser emission starting point and the hitch point, allows in this way
According to first distance L in following step1The length for choosing lanyard is relatively short length, to realize the mesh of minimum consumptive material
's.
You need to add is that since rope ladder is that there are certain volumetric spaces, it is to be presented with the state in a region, changes sentence
It talks about, it is above-mentioned that when obtaining the geographical location information of rope ladder, acquired is not the location information of a final point, and
The location information that a region is formed by by the volumetric spaces of rope ladder, this allow for obtain the Laser emission starting point and
The first distance L between the hitch point1When, resulted in due to the position coordinates inexactness of Laser emission starting point first away from
From L1Inexactness.Based on this, the embodiment of the present invention further includes following sub-step in step S140：At rope ladder periphery position
It draws a circle so that the circle can just cover all peripheral positions of the rope ladder；Obtain the position of each point on the circle
Coordinate information is set, and calculates the position coordinates of every bit respectively the distance between with hitch point, is chosen wherein apart from maximum one
It is a, namely the distance between a farthest point and hitch point are as the first distance L1。
Continue to execute step S150；The unmanned plane is according to the first distance L1The length L of the lanyard is set2；
Can be by unmanned plane according to the first distance L specifically, in step S1501The lanyard is set
Length L2；It changes sentence to have a talk about, can hang length and the first distance L on the sliding mechanism by unmanned plane1It is compatible
Lanyard is such as hung by unmanned machine travel lanyard across sliding equipment, it is of course also possible to be by ground station control nobody
Machine hangs length and the first distance L on the sliding mechanism1Compatible lanyard such as passes through the unmanned machine travel of ground station control
Lanyard is hung across sliding equipment.According to the first distance L1The length L of the lanyard is set2Specifically include two kinds of sides
Case, wherein the length of lanyard is L2：
The first, the suspension length for referring to lanyard is the first distance L12 times, unit is rice, i.e. L2=2L1.Because at this
In inventive embodiments, the effect of lanyard is across sliding equipment, and one end is connected with rope ladder to trigger rope ladder, and the other end is for constructing
Personnel pull lanyard on pull-up rope ladder to the target cable.Therefore, when sliding equipment is hung on hitch point, in order to
It enough allows the length of lanyard to be just met for job requirements, the length of lanyard can be set to the first distance L12 times, work as lanyard in this way
After hanging on sliding equipment, both ends are just also L apart from hitch point1, you can realize that one end is connected with rope ladder to trigger rope ladder,
The other end pulls lanyard for the construction personnel on ground.
Second, in order to enable the length of set lanyard is most short, in this kind of scheme, score can be measured first
Second distance L of the cable relative to ground3；According to formula L2=L1+L3Length to obtain lanyard is L2, allowed in this way by laser
The pulling point form right angle triangle of transmitting starting point, hitch point, construction personnel's pulling lanyard then realizes that the length of lanyard is most short
Technique effect.
And execute step S160；It is L by length2The lanyard pull on the rope ladder to the target cable；
Wherein, further include hanging on sliding equipment on the hitch point in step S160, then pulling length is
L2The lanyard, so that it is driven on described rope ladder to the target cable.
Specifically, can be the sliding equipment is hung on the hitch point by unmanned plane, it is of course also possible to
It is to be hung on the sliding equipment on the hitch point by ground station control unmanned plane.And the step S160 is specifically included
Following sub-step：Obtain second distance L of the target cable relative to ground3；The sliding equipment is run to distance ground
Face height is L4It is aerial, wherein the L4More than or equal to the L3；The mobile sliding equipment to the sliding equipment is hung on
On the hitch point.
Based on same inventive concept, the embodiment of the present invention additionally provides system corresponding with method in embodiment one, sees reality
Apply example two.
Embodiment two
Second embodiment of the present invention provides a kind of suspension applied to target cable, the system comprises：
Position coordinates acquisition module 210 is configured as the position coordinates that the unmanned plane obtains rope ladder；Transmitting module 220,
The unmanned plane is configured as using the position coordinates as Laser emission starting point, to target cable transmission laser beam；Mark mould
Block 230 is configured as the unmanned plane and marks the crosspoint of the laser beam and the target cable as the outstanding of the rope ladder
Hanging point；First distance obtains module 240, be configured as the unmanned plane obtain the Laser emission starting point and the hitch point it
Between the first distance L1；Lanyard length setup module 250 is configured as the unmanned plane according to the first distance L1Setting institute
State the length L of lanyard2；Suspension module 260 is configured as through length being L2The lanyard pull the rope ladder to the mesh
On graticule cable.
In the embodiment of the present invention two, in the transmitting module, the laser beam and the target cable are mutually perpendicular to.
In the embodiment of the present invention two, the lanyard length setup module further includes：According to L2=2L1The lanyard is set
Length L2。
In the embodiment of the present invention two, the lanyard length setup module further includes：First submodule is configured as described
Unmanned plane obtains second distance L of the target cable relative to ground3；The second submodule, be configured as the unmanned plane according to
According to formula L2=L1+L3The length L of the lanyard is set2。
By the system that the embodiment of the present invention two is introduced, it is used by the method to implement the embodiment of the present invention one
System, so based on the method that the embodiment of the present invention one is introduced, the affiliated personnel in this field can understand the concrete structure of the system
And deformation, so details are not described herein.Device used by the method for every embodiment of the present invention one belongs to the present invention and is intended to
The range of protection.
Embodiment three
It should be noted that based on above-described embodiment one, embodiment two, similarly invention is linked up, and the embodiment of the present invention three carries
A kind of device has been supplied, including：Radio frequency (Radio Frequency, RF) circuit 310, memory 320, input unit 330, display
The components such as unit 340, voicefrequency circuit 350, WiFi module 360, processor 370 and power supply 380.Wherein, on memory 320
It is stored with the computer program that can be run on processor 370, processor 370 realizes embodiment when executing the computer program
Step S110, step S120, step S130, step S140 described in one and step S150；Or realize institute in embodiment two
Step S210, step S220, step S230, step S240, step S250 and the step S260 stated；Or it realizes in embodiment three
Step S301, step S302, step S303 and the step S304.
In specific implementation process, when processor executes computer program, any reality in embodiment one, two may be implemented
Apply mode.
It will be understood by those skilled in the art that the restriction of the not structure twin installation of apparatus structure shown in Fig. 3 itself, it can
To include either combining certain components or different components arrangement than illustrating more or fewer components.
Each component parts of computer equipment is specifically introduced with reference to Fig. 3：
RF circuits 310 can be used for sending and receiving for signal, particularly, after the downlink information of base station is received, to processing
The processing of device 370.In general, RF circuits 310 include but not limited at least one amplifier, transceiver, coupler, low noise amplification
Device (Low Noise Amplifier, LNA), duplexer etc..
Memory 320 can be used for storing software program and module, and processor 370 is stored in memory 320 by operation
Software program and module, to execute various function application and the data processing of computer equipment.Memory 320 can be led
To include storing program area and storage data field, wherein storing program area can storage program area, needed at least one function
Application program etc.；Storage data field can be stored uses created data etc. according to computer equipment.In addition, memory 320
May include high-speed random access memory, can also include nonvolatile memory, a for example, at least disk memory,
Flush memory device or other volatile solid-state parts.
Input unit 330 can be used for receiving the number or character information of input, and generate the user with computer equipment
Setting and the related key signals input of function control.Specifically, input unit 330 may include keyboard 331 and other inputs
Equipment 332.Keyboard 331 collects the input operation of user on it, and drives corresponding connection according to preset formula
Device.Keyboard 331 gives processor 370 again after collecting output information.In addition to keyboard 331, input unit 330 can also include
Other input equipments 332.Specifically, other input equipments 332 can include but is not limited to touch panel, function key (such as sound
Measure control button, switch key etc.), it is trace ball, mouse, one or more in operating lever etc..
Display unit 340 can be used for showing information input by user or the information and computer equipment that are supplied to user
Various menus.Display unit 340 may include display panel 341, optionally, liquid crystal display (Liquid may be used
Crystal Display, LCD), the forms such as Organic Light Emitting Diode (Organic Light-Emitting Diode, OLED)
To configure display panel 341.Further, keyboard 331 can cover display panel 341, when keyboard 331 detect it is on it or attached
After close touch operation, processor 370 is sent to determine the type of touch event, is followed by subsequent processing device 370 according to incoming event
Type corresponding visual output is provided on display panel 341.Although keyboard 331 and display panel 341 are conducts in figure 3
Two independent components realize input and the input function of computer equipment, but in some embodiments it is possible to by keyboard
331 is integrated with display panel 341 and that realizes computer equipment output and input function.
Voicefrequency circuit 350, loud speaker 351, microphone 352 can provide the audio interface between user and computer equipment.
The transformed electric signal of the audio data received can be transferred to loud speaker 351, is converted by loud speaker 351 by voicefrequency circuit 350
It is exported for voice signal；
WiFi belongs to short range wireless transmission technology, and computer equipment can help user to receive and dispatch by WiFi module 360
Email, browsing webpage and access streaming video etc., it has provided wireless broadband internet to the user and has accessed.Although Fig. 3
Show WiFi module 360, but it is understood that, and it is not belonging to must be configured into for computer equipment, it completely can root
It is omitted in the range for the essence for not changing invention according to needs.
Processor 370 is the control centre of computer equipment, utilizes various interfaces and the entire computer equipment of connection
Various pieces, by running or execute the software program and/or module that are stored in memory 320, and call and be stored in
Data in memory 320 execute the various functions and processing data of computer equipment, whole to be carried out to computer equipment
Monitoring.Optionally, processor 370 may include one or more processing units；Preferably, processor 370 can be integrated using processing
Device, wherein the main processing operation system of application processor, user interface and application program etc..
Computer equipment further includes the power supply 380 (such as power supply adaptor) powered to all parts, it is preferred that power supply can
With logically contiguous by power-supply management system and processor 370.
Example IV
Based on same inventive concept, as shown in figure 4, the present embodiment five provides a kind of computer readable storage medium 400,
The step of being stored thereon with computer program 411, being realized described in embodiment one when which is executed by processor
S110, step S120, step S130, step S140 and step S150；Or the step S210 described in realization embodiment two, step
Rapid S220, step S230, step S240, step S250 and step S260；Or realize embodiment three described in step S301,
Step S302, step S303 and step S304.
In specific implementation process, when which is executed by processor, embodiment one, two and may be implemented
Any embodiment in three.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The technical solution provided in the embodiment of the present invention, has at least the following technical effects or advantages：
The present invention by obtaining the position coordinates of rope ladder first, then using the position coordinates as Laser emission starting point,
To target cable transmission laser beam, then mark suspension of the crosspoint of the laser beam and the target cable as the rope ladder
Point obtains the first distance L between the Laser emission starting point and the hitch point with this1, first distance L1As rope ladder and
Then the shortest distance between hitch point selects compatible lanyard according to the shortest distance, then again hangs sliding equipment
In on hitch point, and the lanyard by being suspended on thread-changing wheel pulls on rope ladder to target cable, and rope ladder is completed in target with this
Suspension on cable needs to generally require to lead to when hanging rope ladder on cable instead of livewire work construction personnel in traditional technology
Cross construction personnel climb electric power line pole tower, then, move again to need work cable location hang rope ladder, caused by from
Shaft tower is moved to that equipotential technical difficulty is big, security performance is low, then to the great menace of the personal safety of staff
Technical problem.The present invention has the characteristics that security performance is high, applicability is wide.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, those skilled in the art can carry out the embodiment of the present invention various modification and variations without departing from this hair
The spirit and scope of bright embodiment.In this way, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to include these modifications and variations.
Finally you need to add is that, involved sliding equipment, concrete structure see figure in embodiments of the present invention
5-9；Including the first suspension ontology 1, the first suspension ontology 1 include the first suspended end (upper end) and the second suspended end (under
End)；The first suspension ontology is fixedly connected with balance with the balance element 2 of supporting role by first suspended end,
The first pulley is rotatablely connected by first turning end and the balance element, and the first pulley passes through described second turn
Moved end the first suspended end rotation connection；And the square convergence piece 3 in section is fixed in second suspended end；
Wherein, 3 lower end of convergence piece is connected with the second suspension ontology 4.
First pulley 6 is installed between balance element 2 and suspension ontology 1, the lower end of the second suspension ontology 4 is equipped with
The second pulley 7 that can be rotated.Wherein, first pulley 6 is parallel with the axis of second pulley 7, can ensure that this draws in this way
Slide guide wheel can be moved smoothly.
As shown in Figure 9, it is provided with cylindrical cavity in the upper end of the first suspension ontology 1, is equipped in the lower end of the inner cavity
The first vertical spring 8 and the gag lever post with first spring 8 cooperation, which is to be limited in cable in first pulley
Height, and cooperated by gag lever post and the first vertical spring 8.It is provided with lock on the right side of the cylindrical cavity
Pin 9, the lock pin 9 are connected with the horizontal second spring 11 being matched therewith.
As shown in Figure 6：Slideway is installed in the suspension ontology 1, steel wire rope 12 is disposed on slideway.Slideway includes the
One idler wheel 10, the second idler wheel 13 and third idler wheel 15；First idler wheel 10, the second idler wheel 13 and third idler wheel 15 are described
In one 1 inner cavity of suspension ontology and it is not located on the same line.As shown in Figure 2, slideway is ground way, mainly plays guiding
Effect.One end of the steel wire rope 12 is connect across horizontal second spring 11 with the lock pin 9, so that by controlling steel
Cord 12, it will be able to allow 9 horizontal movement of lock pin.12 other end of the steel wire rope is connect with the convergence piece 3.
3 internal symmetry of the convergence piece is equipped on right spring 14 and left spring 16 vertical and with cushioning effect,
The column being connect with the steel wire rope 12 is installed, the column lower end exposes the linking between right spring 14 and left spring 16
In 3 shell of part and the cavity for hanging ontology 4 positioned at described second.
The embodiment of the present invention additionally provides a kind of jettison system with unmanned plane specific boot pulley, including carry is in nothing
Laser fixed point dispenser on man-machine, with the laser attachment device that connect of fixed point dispenser and described applied to nobody
The sliding equipment of machine.
As shown in Figure 7：The laser fixed point dispenser includes that ontology 17, camera shooting are hung in the dispensing second being located on its shell
First 18 and laser head 19.
As shown in Figure 8：The attachment device includes connecting plate 21, and the connecting plate 21 is circumferential to be uniformly distributed that there are three logical
Hole；The through-hole is connected with insulation lanyard 20；The connecting plate is fixedly connected with lock 22 on 21 lower face.
The dispensing second of the laser fixed point dispenser is hung ontology 17 and is connect with the insulation lanyard 20 of the attachment device.
The lock 22 of the attachment device connect and cooperates with the lock pin 9 in the guide pulley.
The course of work：First, dispenser carry will be pinpointed at nobody with the laser of built-in camera 18 and laser head 19
On machine, hangs ontology 17 using the dispensing second on laser fixed point dispenser and connect with the insulation lanyard 21 of attachment device；Secondly,
The lock 22 of connecting plate 21 is connect with the lock pin 9 of guide pulley, to combine the throwing for carrying unmanned plane specific boot pulley
Place system；Then, after unmanned plane lift-off, designated position is reached, unmanned plane is manipulated, guide pulley is placed on to the finger of target cable
Positioning is set；Finally, after the completion of placement, traction rope is torn below conducting wire, column is pulled to drive left spring 16 and right spring 14, is led to
The transmission of steel wire rope 12 is crossed, lock pin 9 is unclamped, realizes the separation of attachment device and guide pulley.
Embodiment provided above is the better embodiment of the application, only is used for facilitating illustrating the application, not to this Shen
It please make any form of restriction, any those of ordinary skill in the art, if not departing from the put forward skill of the application
In the range of art feature, the equivalent embodiment that part is changed or modified is made using technology contents disclosed herein, and
Without departing from the technical feature content of the application, in the range of still falling within present techniques feature.
Claims (10)
1. a kind of method hanging rope ladder based on unmanned plane, which is characterized in that the method includes：
Unmanned plane obtains the position coordinates of rope ladder；
The unmanned plane is using the position coordinates as Laser emission starting point, to target cable transmission laser beam；
The unmanned plane marks hitch point of the crosspoint of the laser beam and the target cable as the rope ladder；
The unmanned plane obtains the first distance L between the Laser emission starting point and the hitch point1；
The unmanned plane is according to the first distance L1The length L of the lanyard is set2；
It is L by length2The lanyard pull on the rope ladder to the target cable.
2. the method for hanging rope ladder based on unmanned plane as described in claim 1, it is characterised in that：
The laser beam and the target cable are mutually perpendicular to.
3. as described in claim 1 based on unmanned plane hang rope ladder method, which is characterized in that it is described according to described first away from
From L1The length L of the lanyard is set2It specifically includes：
According to L2=2L1The length L of the lanyard is set2。
4. as described in claim 1 based on unmanned plane hang rope ladder method, which is characterized in that it is described according to described first away from
From L1The length L of the lanyard is set2It specifically includes：
Obtain second distance L of the target cable relative to ground3；
According to formula L2=L1+L3The length L of the lanyard is set2。
5. a kind of suspension applied to target cable, which is characterized in that the system comprises：
Position coordinates acquisition module is configured as the position coordinates that unmanned plane obtains rope ladder；
Transmitting module is configured as the unmanned plane using the position coordinates as Laser emission starting point, to target cable transmission
Laser beam；
Mark module is configured as the unmanned plane and marks the crosspoint of the laser beam and the target cable as described soft
The hitch point of ladder；
First distance obtains module, is configured as the unmanned plane and obtains between the Laser emission starting point and the hitch point
First distance L1；
Lanyard length setup module is configured as the unmanned plane according to the first distance L1The length of the lanyard is set
L2；；
Suspension module is configured as through length being L2The lanyard pull on the rope ladder to the target cable.
6. system as claimed in claim 5, it is characterised in that：
In the transmitting module, the laser beam and the target cable are mutually perpendicular to.
7. system as claimed in claim 5, which is characterized in that the lanyard length setup module further includes：
According to L2=2L1The length L of the lanyard is set2。
8. system as claimed in claim 5, which is characterized in that the lanyard length setup module further includes：
First submodule is configured as the unmanned plane and obtains second distance L of the target cable relative to ground3；
The second submodule is configured as the unmanned plane according to formula L2=L1+L3The length L of the lanyard is set2。
9. a kind of suspension arrangement applied to target cable, including memory, processor and storage on a memory and can located
The computer program run on reason device, which is characterized in that the processor realizes following steps when executing described program：
Unmanned plane obtains the position coordinates of rope ladder；
The unmanned plane is using the position coordinates as Laser emission starting point, to target cable transmission laser beam；
The unmanned plane marks hitch point of the crosspoint of the laser beam and the target cable as the rope ladder；
The unmanned plane obtains the first distance L between the Laser emission starting point and the hitch point1；
The unmanned plane is according to the first distance L1The length L of the lanyard is set2；
It is L by length2The lanyard pulls on the rope ladder to the target cable.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Following steps are realized when execution：
Unmanned plane obtains the position coordinates of rope ladder；
The unmanned plane is using the position coordinates as Laser emission starting point, to target cable transmission laser beam；
The unmanned plane marks hitch point of the crosspoint of the laser beam and the target cable as the rope ladder；
The unmanned plane obtains the first distance L between the Laser emission starting point and the hitch point1；
The unmanned plane is according to the first distance L1The length L of the lanyard is set2；
It is L by length2The lanyard pulls on the rope ladder to the target cable.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711384150.7A CN108313286B (en) | 2017-12-20 | 2017-12-20 | Method, system and device for hanging rope ladder based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711384150.7A CN108313286B (en) | 2017-12-20 | 2017-12-20 | Method, system and device for hanging rope ladder based on unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN108313286A true CN108313286A (en) | 2018-07-24 |
| CN108313286B CN108313286B (en) | 2021-03-09 |
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| CN104769496A (en) * | 2012-08-17 | 2015-07-08 | 展望机器人有限公司 | Flying camera with string assembly for localization and interaction |
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