CN108313286B - Method, system and device for hanging rope ladder based on unmanned aerial vehicle - Google Patents
Method, system and device for hanging rope ladder based on unmanned aerial vehicle Download PDFInfo
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- CN108313286B CN108313286B CN201711384150.7A CN201711384150A CN108313286B CN 108313286 B CN108313286 B CN 108313286B CN 201711384150 A CN201711384150 A CN 201711384150A CN 108313286 B CN108313286 B CN 108313286B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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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
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- 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
Abstract
The invention discloses a method, a system and a device for hanging a rope ladder based on an unmanned aerial vehicle, wherein the method comprises the following steps: the unmanned aerial vehicle acquires position coordinates of the rope ladder, the position coordinates are used as laser emission starting points, laser beams are emitted to a target cable, the unmanned aerial vehicle marks the intersection points of the laser beams and the target cable to be used as hanging points of the rope ladder, and therefore a first distance L between the laser emission starting points and the hanging points is obtained1The length of the hanging rope is set according to the shortest distance, the hanging rope with the matched length pulls the rope ladder to the target cable, the technical problem that in the prior art, when a live-wire operation constructor needs to hang the rope ladder on the cable, the constructor often needs to climb a transmission line tower and then moves to a cable section needing to work to hang the rope ladder is replaced, the technical difficulty that the rope ladder moves to the equipotential from the tower is large, the safety performance is low, and the personal safety of the constructor is threatened. The invention has the characteristics of high safety performance and wide applicability.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method, a system and a device for hanging a rope ladder based on an unmanned aerial vehicle.
Background
In the prior art, cables used for power transmission need to be regularly overhauled or a fault road section is maintained, and live-line operation constructors need to hang a rope ladder on the cables to operate when entering equipotential work due to the fact that the cables are hung in the air, the mode of hanging the rope ladder is that the constructors climb a power transmission line tower, and then the cable section needing to operate is moved to hang the rope ladder. Such a suspension method has a great disadvantage and has a lot of instability factors. For example, the risk of climbing a tower, the technical difficulty and insecurity of moving from the tower to the equipotential and the like threaten the personal safety of workers.
Therefore, the technical problems of high difficulty and low safety performance of the suspension rope ladder when the cable section needs to be maintained exist in the prior art.
Disclosure of Invention
The invention provides a method, a system and a device for hanging a rope ladder based on an unmanned aerial vehicle, which are used for solving the technical problems of high difficulty and low safety performance of the rope ladder hanging technology in the prior art.
In a first aspect, the present invention provides a method for suspending a rope ladder based on an unmanned aerial vehicle, the method comprising: the unmanned aerial vehicle acquires the position coordinates of the rope ladder; the unmanned aerial vehicle takes the position coordinates as a laser emission starting point and emits laser beams to the target cable; the unmanned aerial vehicle marks the intersection point of the laser beam and the target cable as a suspension point of the rope ladder; the unmanned aerial vehicle obtains a first distance L between the laser emission starting point and the suspension point1(ii) a The unmanned aerial vehicle is based on the first distance L1Length L of the hanging rope is set2(ii) a A passage length of L2The hanging rope pulls the rope ladder to the target cable.
In a first aspect, the laser beam and the target line are perpendicular to each other.
In the first aspect, the first distance L is a function of1Length L of the hanging rope is set2The method specifically comprises the following steps: according to L2＝2L1Length L of the hanging rope is set2。
In the first aspect, the first distance L is a function of1Length L of the hanging rope is set2The method specifically comprises the following steps: the unmanned aerial vehicle obtains a second distance L of the target cable relative to the ground3(ii) a The unmanned aerial vehicle is according to formula L2＝L1+L3Length L of the hanging rope is set2。
In a second aspect, the present invention provides a suspension system for application to a target cable, the system comprising: a position coordinate acquisition module configured to acquire position coordinates of the rope ladder by the unmanned aerial vehicle; a transmission module configured for the drone to sit in the positionThe mark is used as a laser emission starting point and emits laser beams to the target cable; a marking module configured for the drone to mark an intersection of the laser beam and the target cable as a hanging point of the rope ladder; a first distance obtaining module configured to obtain a first distance L between the laser emission starting point and the suspension point by the unmanned aerial vehicle1(ii) a A tether length setting module configured to the drone according to the first distance L1Length L of the hanging rope is set2(ii) a A suspension module configured to pass through a length L2The roping pulls the rope ladder onto the target cable.
In a second aspect, the transmitting module further comprises that the laser beam and the target cable are perpendicular to each other.
In a second aspect, the lanyard length setting module further comprises: according to L2＝2L1Length L of the hanging rope is set2。
In a second aspect, the lanyard length setting module further comprises: a first sub-module configured to acquire a second distance L of the target cable relative to the ground3(ii) a A second sub-module configured to be in accordance with formula L2＝L1+L3Length L of the hanging rope is set2。
In a third aspect, the present invention further provides a suspension device applied to a target cable, including a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the program: the unmanned aerial vehicle acquires the position coordinates of the rope ladder; the unmanned aerial vehicle takes the position coordinates as a laser emission starting point and emits laser beams to the target cable; the unmanned aerial vehicle marks the intersection point of the laser beam and the target cable as a suspension point of the rope ladder; the unmanned aerial vehicle obtains a first distance L between the laser emission starting point and the suspension point1(ii) a The unmanned aerial vehicle is based on the first distance L1Length L of the hanging rope is set2(ii) a A passage length of L2The hanging rope pulls the rope ladder to the target cable.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of: the unmanned aerial vehicle acquires the position coordinates of the rope ladder; the unmanned aerial vehicle takes the position coordinates as a laser emission starting point and emits laser beams to the target cable; the unmanned aerial vehicle marks the intersection point of the laser beam and the target cable as a suspension point of the rope ladder; the unmanned aerial vehicle obtains a first distance L between the laser emission starting point and the suspension point1(ii) a The unmanned aerial vehicle is based on the first distance L1Length L of the hanging rope is set2(ii) a A passage length of L2The hanging rope pulls the rope ladder to the target cable.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
according to the method, the unmanned aerial vehicle firstly acquires the position coordinate of the rope ladder, then the unmanned aerial vehicle takes the position coordinate as a laser emission starting point, a laser beam is emitted to a target cable, then the intersection point of the laser beam and the target cable is marked as a suspension point of the rope ladder, and therefore a first distance L between the laser emission starting point and the suspension point is obtained1The first distance L1The unmanned aerial vehicle sets the length of the hanging rope according to the shortest distance, pulls the rope to the target cable through the hanging rope with the matched length, and accordingly completes hanging of the rope on the target cable. The invention has the characteristics of high safety performance and wide applicability.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of a method for suspending a rope ladder based on an unmanned aerial vehicle in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a device for suspending a rope ladder based on an unmanned aerial vehicle in the embodiment of the present application;
FIG. 3 is a schematic structural diagram of a server in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a computer-readable storage medium 400 according to an embodiment of the present application;
FIG. 5 is a schematic view of the overall external structure of the sliding mechanism in the embodiment of the present application;
FIG. 6 is a schematic view of the entire internal structure of the sliding mechanism in the embodiment of the present application;
FIG. 7 is a schematic diagram of a laser pointing dispenser according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a connecting device according to an embodiment of the present application;
fig. 9 is a schematic view of the internal structure of the upper part of the suspension body in the embodiment of the present application.
Detailed Description
The method and the device for hanging the rope ladder based on the unmanned aerial vehicle are used for solving the technical problems of high difficulty and low safety performance of the rope ladder hanging technology in the prior art and achieving the technical effects of high safety performance and wide applicability.
The technical scheme in the embodiment of the invention has the following general idea:
the unmanned aerial vehicle acquires the position coordinates of the rope ladder;
the unmanned aerial vehicle takes the position coordinates as a laser emission starting point and emits laser beams to the target cable;
the unmanned aerial vehicle marks the intersection point of the laser beam and the target cable as a suspension point of the rope ladder;
the unmanned aerial vehicle obtains a first distance L between the laser emission starting point and the suspension point1；
The unmanned aerial vehicle is based on the first distance L1Length L of the hanging rope is set2；
A passage length of L2The roping pulls the rope ladder onto the target cable.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
An embodiment of the present invention provides a method for suspending a rope ladder based on an unmanned aerial vehicle, please refer to fig. 1, where the method includes:
step S110; the unmanned aerial vehicle acquires the position coordinates of the rope ladder;
step S120; the unmanned aerial vehicle takes the position coordinates as a laser emission starting point and emits laser beams to the target cable;
step S130; the unmanned aerial vehicle marks the intersection point of the laser beam and the target cable as a suspension point of the rope ladder;
step S140; the unmanned aerial vehicle obtains a first distance L between the laser emission starting point and the suspension point1；
Step S150; the unmanned aerial vehicle is based on the first distance L1Length L of the hanging rope is set2；
Step S160;a passage length of L2The roping pulls the rope ladder onto the target cable.
It should be noted that, in the method, the rope ladder may be a rope ladder for a constructor to climb, and may also be an apparatus, such as a wrench, a clamp, etc., required by the constructor to repair the cable. In the embodiment of the invention, the rope ladder is used for climbing of constructors.
According to research findings of researchers, in the prior art, cables used for power transmission often need to be periodically overhauled or a fault section is maintained, and live-line operation constructors need to hang a rope ladder on the cables for operation when entering equipotential work due to the fact that the cables are hung in the air, and the rope ladder is hung in a mode that the constructors climb a power transmission line tower and then move to the cable section needing to work to hang the rope ladder. Such a working method has a great disadvantage and has a lot of instability factors. For example, the risk of climbing a tower, the technical difficulty and insecurity of moving from the tower to the equipotential are very threatening to the personal safety of the staff. Therefore, the technical problems of high difficulty and low safety performance of the suspension rope ladder when the cable section needs to be maintained exist in the prior art.
Based on the above, the first embodiment of the present invention provides a method for suspending a rope ladder based on an unmanned aerial vehicle, where the unmanned aerial vehicle first obtains a position coordinate of the rope ladder, then uses the position coordinate as a laser emission starting point, emits a laser beam to a target cable, and marks a crossing point of the laser beam and the target cable as a suspension point of the rope ladder, so as to obtain a first distance L between the laser emission starting point and the suspension point1The first distance L1Namely the shortest distance between the rope ladder and the hanging point, then the hanging rope matched with the shortest distance is selected according to the shortest distance, then the sliding mechanism is hung on the hanging point, and the rope ladder is pulled to the target cable through the hanging rope hung on the wire changing wheel, so that the hanging of the rope ladder on the target cable is completed, and the method replaces the traditional technology that when a live-working constructor needs to hang the rope ladder on the cable, the constructor often needs to climb the transmission line tower and tower through the constructorAnd then the cable is moved to a cable section needing to work to hang the rope ladder, so that the technical difficulty of moving from the tower to the equipotential is high, the safety performance is low, and the personal safety of workers is threatened.
The method for suspending the rope ladder based on the unmanned aerial vehicle provided by the first embodiment of the invention is described in detail below with reference to fig. 1:
firstly, executing step S110, acquiring the position coordinates of the rope ladder by the unmanned aerial vehicle;
specifically, in step S110, the rope ladder is a rope ladder, and the position coordinate of the rope ladder may be automatically obtained by the unmanned aerial vehicle, or obtained by controlling the unmanned aerial vehicle through a ground station or a manual remote controller, where the position coordinate is geographic position coordinate information of a ground position where the rope ladder is currently located.
Then, step S120 is performed; the unmanned aerial vehicle takes the position coordinates as a laser emission starting point and emits laser beams to the target cable;
in this step S120, the unmanned aerial vehicle may mark the position coordinates as a laser emission starting point, and control a laser for emitting a laser beam to emit the laser beam toward the target cable; of course, it is also possible to mark the position coordinates as a laser emission start point by the ground station, and to control the laser for emitting the laser beam by the ground station to emit the laser beam toward the target cable. The distance acquired between the target cable and the laser emission starting point is a straight-line distance by using the straight-line characteristic of the laser beam. And when the laser beam is emitted to the target cable, since the specific position of the target cable is not known in advance, that is, the emission angle of the laser beam relative to the horizontal ground is not known when the laser beam is emitted to the target cable, the emitting the laser beam to the target cable in step S120 may specifically include: emitting a laser beam upwards in a direction vertical to the ground at the laser emission starting point; gradually deflecting the emission angle of the laser beam in a direction deviated to the target cable; when the emitted laser beam intersects the target wire, deflection of the laser beam is stopped. In this process, it is understood that the deflection angle of the laser beam is gradually reduced from an angle of 90 ° with respect to the horizontal ground, and the deflection is stopped when the laser beam just intersects the target cable.
Of course, in order to know in advance which specific segment of the target cable needs to be repaired, before performing step S120, the method further includes: performing cruise detection on a target cable; acquiring maintenance position coordinate information of a maintenance point in a target cable; then, in step S120, the position coordinates of the rope ladder are used as a laser emission starting point, and a laser beam is emitted to a maintenance point in the target cable; of course, if the maintenance position coordinate information of the maintenance point in the target cable is already acquired at this time, another implementation of acquiring the intersection point of the laser beam and the target cable may be made to emit the laser beam to the maintenance point in the target cable.
Further, since the slide mechanism is suspended not at the maintenance point position but at a position one meter to the left and right from the maintenance point position when the slide mechanism is suspended, in the embodiment of the present invention, when the laser beam is emitted to the maintenance point in the target cable, a deflection angle can be set in advance, that is, the laser beam is emitted in a direction deflected by 1 ° with respect to the maintenance point in the target cable, and since the target cable is arranged in a straight line state in the upper air, when the laser beam is emitted in a direction deflected by 1 ° with respect to the maintenance point in the target cable, it can be understood that the laser beam is emitted in a direction deflected by 1 ° with respect to the maintenance point in the target cable, a tapered laser beam surface is formed (since although it is determined that the laser beam is emitted in a direction deflected by 1 ° with respect to the maintenance point in the target cable, the direction deflected by 1 ° is still an arbitrary direction of 360 °), and 2 intersection points of the conical laser beam surface and the target cable are respectively measured, and the distance between the two intersection points and the laser emission starting point is measured, and the intersection point with the minimum distance is selected as the intersection point of the laser beam and the target cable.
Then, step S130 is executed; the unmanned aerial vehicle marks the intersection point of the laser beam and the target cable as a suspension point of the rope ladder;
in this step S130, the intersection point of the laser beam and the target cable may be marked by a drone as a suspension point of the rope ladder; of course, it is also possible to mark the intersection of the laser beam and the target cable as a suspension point of the rope ladder by a ground station. In the step, the crossing point is used as a suspension point of the rope ladder for suspension of the rope ladder, and as the target cable is located at high altitude, namely the suspension point is also located at high altitude, the suspension point can be marked by projecting dye or powder with a color mark to the suspension point through the unmanned aerial vehicle, and the unmanned aerial vehicle can be controlled through a ground station.
Then, step S140 is executed; the unmanned aerial vehicle obtains a first distance L between the laser emission starting point and the suspension point1；
Specifically, in step S140, the first distance L between the laser emission starting point and the suspension point may be obtained by an unmanned aerial vehicle1(ii) a Of course, the first distance L between the laser emission starting point and the suspension point may be obtained by a ground station1. Since the laser emission starting point and the suspension point are linear distances marked by the laser beam, namely, the first distance L1Is the shortest distance between the laser emission starting point and the suspension point, such that the following steps are performed according to the first distance L1The length of the hanging rope is selected to be relatively short so as to achieve the purpose of lowest material consumption.
It should be added that, since the rope ladder has a certain volume space and is presented in a state of a region, in other words, when the geographical position information of the rope ladder is obtained, the obtained position information of not a final point location but a region formed by the volume space of the rope ladder is obtained, so that the first distance L between the laser emission starting point and the suspension point is obtained1The first distance L is caused by the position coordinate inaccuracy of the laser emission starting point1The inaccuracy of (a). Based on this, the embodiment of the present invention further includes the following sub-steps in step S140: drawing a circle at the periphery of the rope ladder to ensure that the circle can just cover all the periphery of the rope ladderA site; obtaining the position coordinate information of each point on the ring, calculating the distance between the position coordinate of each point and the suspension point, and selecting the point with the largest distance, namely the distance between the farthest point and the suspension point as the first distance L1。
Continuing to execute step S150; the unmanned aerial vehicle is based on the first distance L1Length L of the hanging rope is set2；
Specifically, in step S150, the drone may depend on the first distance L1Length L of the hanging rope is set2(ii) a In other words, the suspension length of the unmanned aerial vehicle on the sliding mechanism and the first distance L can be1The adaptive hanging rope, if the hanging rope is pulled by the unmanned aerial vehicle to pass through the sliding mechanism to be hung, of course, the hanging length of the unmanned aerial vehicle on the sliding mechanism can be controlled by the ground station, and the first distance L is obtained1And the matched hanging rope is controlled by the ground station to be drawn by the unmanned plane to pass through the sliding mechanism for hanging. According to the first distance L1Length L of the hanging rope is set2The method specifically comprises two schemes, wherein the length of the hanging rope is L2：
First, the hanging length of the hanging rope is a first distance L 12 times of (D), in meters, i.e. L2＝2L1. Because in the embodiment of the invention, the hanging rope is used for penetrating through the sliding mechanism, one end of the hanging rope is connected with the rope ladder to hook the rope ladder, and the other end of the hanging rope is used for pulling the hanging rope by constructors to pull the rope ladder to the target cable. Therefore, when the sliding mechanism is suspended on the suspension point, in order to enable the length of the hanging rope to just meet the operation requirement, the length of the hanging rope can be set to be the first distance L 12 times of the length of the hanging rope, thus when the hanging rope is hung on the sliding mechanism, the distance between the two ends of the hanging rope and the hanging point is just L1One end of the rope ladder can be connected with the rope ladder to hook up the rope ladder, and the other end of the rope ladder is used for pulling the hanging rope by a constructor on the ground.
Secondly, in order to minimize the length of the provided suspension cord, in this solution a second distance L of the target cable relative to the ground may first be measured3(ii) a According to the formula L2＝L1+L3To obtain the length of the hanging rope is L2Therefore, the laser emitting starting point, the hanging point and the pulling point of the construction personnel pulling the hanging rope form a right-angled triangle, and then the technical effect that the length of the hanging rope is shortest is achieved.
And, executing step S160; a passage length of L2The rope pulls the rope ladder onto the target cable;
wherein, in the step S160, the method further comprises hanging the sliding mechanism on the hanging point, and then pulling the sliding mechanism to a length L2The rope is hung to drive the rope ladder to the target cable.
Specifically, the sliding mechanism may be suspended from the suspension point by an unmanned aerial vehicle, or of course, the sliding mechanism may be suspended from the suspension point by controlling the unmanned aerial vehicle by a ground station. And the step S160 specifically includes the following substeps: obtaining a second distance L of the target cable relative to the ground3(ii) a Moving the sliding mechanism to a height L from the ground4Wherein said L is4Is greater than or equal to L3(ii) a And moving the sliding mechanism to the state that the sliding mechanism is suspended on the suspension point.
Based on the same inventive concept, the embodiment of the invention also provides a system corresponding to the method in the first embodiment, which is shown in the second embodiment.
Example two
An embodiment of the present invention provides a suspension system applied to a target cable, where the system includes:
a position coordinate acquisition module 210 configured to acquire position coordinates of the rope ladder by the unmanned aerial vehicle; a transmitting module 220 configured to transmit a laser beam to a target cable by the drone using the position coordinates as a laser transmission starting point; a marking module 230 configured for the drone to mark the intersection of the laser beam and the target cable as a suspension point of the rope ladder; a first distance obtaining module 240 configured to obtain a first distance L between the laser emission starting point and the suspension point by the UAV1(ii) a A tether length setting module 250 configured for the drone to depend on the first distance L1Length L of the hanging rope is set2(ii) a A suspension module 260 configured to pass through a length L2The roping pulls the rope ladder onto the target cable.
In the second embodiment of the present invention, in the emission module, the laser beam and the target cable are perpendicular to each other.
In the second embodiment of the present invention, the hanging rope length setting module further includes: according to L2＝2L1Length L of the hanging rope is set2。
In the second embodiment of the present invention, the hanging rope length setting module further includes: a first sub-module configured to acquire, by the drone, a second distance L of the target cable relative to the ground3(ii) a A second sub-module configured for the drone to be in accordance with formula L2＝L1+L3Length L of the hanging rope is set2。
Since the system described in the second embodiment of the present invention is a system used for implementing the method of the first embodiment of the present invention, based on the method described in the first embodiment of the present invention, a person skilled in the art can understand the specific structure and the deformation of the system, and thus the detailed description is omitted here. All the devices adopted in the method of the first embodiment of the present invention belong to the protection scope of the present invention.
EXAMPLE III
Based on the same invention communication between the first embodiment and the second embodiment, a third embodiment of the present invention provides an apparatus, including: radio Frequency (RF) circuitry 310, memory 320, input unit 330, display unit 340, audio circuitry 350, WiFi module 360, processor 370, and power supply 380. Wherein, the memory 320 stores a computer program that can be executed on the processor 370, and the processor 370 implements the steps S110, S120, S130, S140, and S150 in the first embodiment when executing the computer program; or implementing step S210, step S220, step S230, step S240, step S250 and step S260 described in embodiment two; or step S301, step S302, step S303, and step S304 described in the third embodiment are implemented.
In a specific implementation process, when the processor executes the computer program, either implementation manner of the first embodiment or the second embodiment can be realized.
Those skilled in the art will appreciate that the device configuration shown in fig. 3 is not intended to be limiting of the device itself and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The following describes the components of the computer device in detail with reference to fig. 3:
The memory 320 may be used to store software programs and modules, and the processor 370 may execute various functional applications of the computer device and data processing by operating the software programs and modules stored in the memory 320. The memory 320 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 320 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The input unit 330 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus. Specifically, the input unit 330 may include a keyboard 331 and other input devices 332. The keyboard 331 can collect the input operation of the user thereon and drive the corresponding connection device according to a preset program. The keyboard 331 collects the output information and sends it to the processor 370. The input unit 330 may include other input devices 332 in addition to the keyboard 331. In particular, other input devices 332 may include, but are not limited to, one or more of a touch panel, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.
The display unit 340 may be used to display information input by a user or information provided to the user and various menus of the computer device. The Display unit 340 may include a Display panel 341, and optionally, the Display panel 341 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like. Further, the keyboard 331 may cover the display panel 341, and when the keyboard 331 detects a touch operation on or near the keyboard 331, the keyboard 331 transmits the touch event to the processor 370 to determine the type of the touch event, and then the processor 370 provides a corresponding visual output on the display panel 341 according to the type of the input event. Although the keyboard 331 and the display panel 341 are shown in fig. 3 as two separate components to implement input and output functions of the computer device, in some embodiments, the keyboard 331 and the display panel 341 may be integrated to implement input and output functions of the computer device.
WiFi belongs to short-distance wireless transmission technology, and computer equipment can help a user to receive and send e-mails, browse webpages, access streaming media and the like through the WiFi module 360, and provides wireless broadband internet access for the user. Although fig. 3 shows the WiFi module 360, it is understood that it does not belong to the essential constitution of the computer device, and may be omitted entirely as needed within the scope not changing the essence of the invention.
The processor 370 is a control center of the computer device, connects various parts of the entire computer device using various interfaces and lines, performs various functions of the computer device and processes data by operating or executing software programs and/or modules stored in the memory 320 and calling data stored in the memory 320, thereby monitoring the computer device as a whole. Alternatively, processor 370 may include one or more processing units; preferably, the processor 370 may be integrated with an application processor, wherein the application processor primarily handles operating systems, user interfaces, application programs, and the like.
The computer device also includes a power supply 380 (such as a power adapter) for powering the various components, which may preferably be logically connected to the processor 370 through a power management system.
Example four
Based on the same inventive concept, as shown in fig. 4, the fifth embodiment provides a computer-readable storage medium 400, on which a computer program 411 is stored, and when the computer program 411 is executed by a processor, the steps S110, S120, S130, S140 and S150 in the first embodiment are implemented; or implementing step S210, step S220, step S230, step S240, step S250 and step S260 described in embodiment two; or step S301, step S302, step S303, and step S304 described in the third embodiment are implemented.
In a specific implementation, the computer program 411 may implement any one of the first, second, and third embodiments when executed by a processor.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The technical scheme provided by the embodiment of the invention at least has the following technical effects or advantages:
the method comprises the steps of firstly obtaining the position coordinate of the rope ladder, then using the position coordinate as a laser emission starting point, emitting a laser beam to a target cable, marking the intersection point of the laser beam and the target cable as a hanging point of the rope ladder, and thus obtaining a first distance L between the laser emission starting point and the hanging point1The first distance L1Namely the shortest distance between the rope ladder and the hanging point, then the hanging ropes which are matched are selected according to the shortest distance, then the sliding mechanism is hung on the hanging point, and the rope ladder is pulled to the target cable through the hanging ropes which are hung on the wire changing wheel, thereby completing the operation of the rope ladder on the target wireThe suspension on the cable replaces the technical problem that in the prior art, when live-line work constructors need to suspend the rope ladder on the cable, the constructors often need to climb the transmission line tower and then move to the cable section needing to work to suspend the rope ladder, so that the technical difficulty of moving the tower to the equipotential is high, the safety performance is low, and the personal safety of the constructors is threatened. The invention has the characteristics of high safety performance and wide applicability.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.
Finally, it should be added that the embodiment of the present invention relates to a sliding mechanism, the specific structure of which can be seen in fig. 5-9; the suspension device comprises a first suspension body 1, wherein the first suspension body 1 comprises a first suspension end (upper end) and a second suspension end (lower end); the first suspension body is fixedly connected with a balancing piece 2 with balancing and supporting functions through the first suspension end, the first pulley is rotatably connected with the balancing piece through the first rotating end, and the first pulley is rotatably connected with the first suspension end through the second rotating end; a connecting piece 3 with a square section is fixed on the second suspension end;
wherein the lower end of the connecting piece 3 is connected with a second hanging body 4.
A first pulley 6 is installed between the balance member 2 and the suspension body 1, and a second pulley 7 capable of rotating is installed at the lower end of the second suspension body 4. Wherein the axes of the first pulley 6 and the second pulley 7 are parallel, which ensures a smooth movement of the guide pulley.
As can be seen from fig. 9, a cylindrical inner cavity is formed at the upper end of the first suspension body 1, a vertical first spring 8 and a limiting rod matched with the first spring 8 are installed at the lower end of the inner cavity, the limiting rod is limited to the height of the cable in the first pulley, and is matched with the vertical first spring 8 through the limiting rod. A lock pin 9 is arranged at the right side of the cylindrical inner cavity, and the lock pin 9 is connected with a horizontal second spring 11 matched with the lock pin 9.
As shown in fig. 6: a slideway is arranged in the suspension body 1, and a steel wire rope 12 is arranged on the slideway. The slideway comprises a first roller 10, a second roller 13 and a third roller 15; the first roller 10, the second roller 13 and the third roller 15 are not located on the same straight line in the inner cavity of the first suspension body 1. As can be seen from fig. 2, the slide way is a fixed slide way and mainly plays a guiding role. One end of the wire rope 12 is connected to the locking pin 9 through a horizontal second spring 11, so that the locking pin 9 can be moved horizontally by controlling the wire rope 12. The other end of the steel wire rope 12 is connected with the connecting piece 3.
On link joint 3 inside symmetry install vertical right spring 14 and the left spring 16 that just has the cushioning effect, install between right spring 14 and the left spring 16 with the stand that wire rope 12 is connected, the stand lower extreme exposes link joint 3 shell is located in the cavity of second suspension body 4.
The embodiment of the invention also provides a throwing system with the special guide pulley for the unmanned aerial vehicle, which comprises a laser fixed-point throwing device mounted on the unmanned aerial vehicle, a connecting device connected with the laser fixed-point throwing device and the sliding mechanism applied to the unmanned aerial vehicle.
As shown in fig. 7: the laser fixed point dispenser comprises a second hanging body 17, a camera 18 and a laser head 19 which are positioned on the shell of the laser fixed point dispenser.
As shown in fig. 8: the connecting device comprises a connecting plate 21, and three through holes are uniformly distributed in the circumferential direction of the connecting plate 21; the through hole is connected with an insulating hanging rope 20; the lower end face of the connecting plate 21 is fixedly connected with a lock catch 22.
The second hanging body 17 for throwing of the laser fixed-point dispenser is connected with the insulating hanging rope 20 of the connecting device. The lock 22 of the connecting device is connected with the lock pin 9 on the guide pulley and matched with the guide pulley.
The working process is as follows: firstly, a laser fixed-point dispenser with a built-in camera 18 and a laser head 19 is mounted on an unmanned aerial vehicle, and a second hanging body 17 for dispensing on the laser fixed-point dispenser is connected with an insulating hanging rope 21 of a connecting device; secondly, connecting the lock catch 22 of the connecting plate 21 with the lock pin 9 of the guide pulley, thereby combining a throwing system with a special guide pulley for the unmanned aerial vehicle; then, after the unmanned aerial vehicle is lifted off, the unmanned aerial vehicle reaches a designated position, the unmanned aerial vehicle is operated, and the guide pulley is placed at the designated position of the target cable; finally, after the placement is finished, the traction rope is pulled below the lead, the upright post is pulled to drive the left spring 16 and the right spring 14, the transmission is carried out through the steel wire rope 12, the lock pin 9 is loosened, and the connection device is separated from the guide pulley.
The above-mentioned embodiments are merely preferred embodiments of the present application, which are not intended to limit the present application in any way, and those skilled in the art will appreciate that various modifications and equivalents can be made without departing from the technical features of the present application.
Claims (4)
1. A method of suspending a rope ladder based on an unmanned aerial vehicle, the method comprising:
the unmanned aerial vehicle acquires the position coordinates of the rope ladder;
the unmanned aerial vehicle takes the position coordinates as a laser emission starting point and emits laser beams to the target cable;
the unmanned aerial vehicle marks the intersection point of the laser beam and the target cable as a suspension point of the rope ladder;
the unmanned aerial vehicle obtains a first distance L between the laser emission starting point and the suspension point1(ii) a The unmanned aerial vehicle draws a circle on the periphery of the escalator, so that the circle can just cover all the periphery of the escalator; the unmanned aerial vehicle acquires position coordinate information of each point on the ring, calculates the distance between the position coordinate of each point and the suspension point, selects the point with the largest distance from the position coordinate of each point and the suspension point, and takes the distance between the farthest point and the suspension point as a first distance L1；
The unmanned aerial vehicle is based on the first distance L1Length L of the hanging rope2；
A passage length of L2The rope pulls the rope ladder onto the target cable;
according to the first distance L1Length L of the hanging rope is set2The method specifically comprises the following steps:
obtaining a second distance L of the target cable relative to the ground3；
According to the formula L2＝L1+L3Length L of the hanging rope is set2。
2. A suspension system for application to a target cable, the system comprising:
the position coordinate acquisition module is configured to acquire the position coordinates of the rope ladder by the unmanned aerial vehicle;
a transmitting module configured to transmit a laser beam to a target cable by the drone using the position coordinates as a laser transmission starting point;
a marking module configured for the drone to mark an intersection of the laser beam and the target cable as a hanging point of the rope ladder;
a first distance obtaining module configured to obtain a first distance L between the laser emission starting point and the suspension point by the unmanned aerial vehicle1(ii) a The unmanned aerial vehicle draws a circle on the periphery of the escalator, so that the circle can just cover all the periphery of the escalator; the unmanned aerial vehicle acquires the position coordinate information of each point on the ring, and calculates the distance between the position coordinate of each point and the suspension point respectivelyAnd the unmanned aerial vehicle selects one point with the largest distance from the points, and the distance between the farthest point and the suspension point is taken as the first distance L1；
A tether length setting module configured to the drone according to the first distance L1Length L of the hanging rope is set2；
A suspension module configured to pass through a length L2The rope pulls the rope ladder onto the target cable;
hang rope length and set up the module and still include:
a first sub-module configured to acquire, by the drone, a second distance L of the target cable relative to the ground3；
A second sub-module configured for the drone to be in accordance with formula L2＝L1+L3Length L of the hanging rope is set2。
3. A suspension device for application to a target cable, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of:
the unmanned aerial vehicle acquires the position coordinates of the rope ladder;
the unmanned aerial vehicle takes the position coordinates as a laser emission starting point and emits laser beams to the target cable;
the unmanned aerial vehicle marks the intersection point of the laser beam and the target cable as a suspension point of the rope ladder;
the unmanned aerial vehicle obtains a first distance L between the laser emission starting point and the suspension point1(ii) a The unmanned aerial vehicle draws a circle on the periphery of the escalator, so that the circle can just cover all the periphery of the escalator; the unmanned aerial vehicle acquires position coordinate information of each point on the ring, calculates the distance between the position coordinate of each point and the suspension point, selects the point with the largest distance from the position coordinate of each point and the suspension point, and takes the distance between the farthest point and the suspension point as a first distance L1；
The unmanned aerial vehicle is based on the first distance L1Length L of the hanging rope2；
A passage length of L2The hanging rope pulls the rope ladder to the target cable.
4. A computer-readable storage medium, on which a computer program is stored, which program, when executed by a processor, carries out the steps of:
the unmanned aerial vehicle acquires the position coordinates of the rope ladder;
the unmanned aerial vehicle takes the position coordinates as a laser emission starting point and emits laser beams to the target cable;
the unmanned aerial vehicle marks the intersection point of the laser beam and the target cable as a suspension point of the rope ladder;
the unmanned aerial vehicle obtains a first distance L between the laser emission starting point and the suspension point1(ii) a The unmanned aerial vehicle draws a circle on the periphery of the escalator, so that the circle can just cover all the periphery of the escalator; the unmanned aerial vehicle acquires position coordinate information of each point on the ring, calculates the distance between the position coordinate of each point and the suspension point, selects the point with the largest distance from the position coordinate of each point and the suspension point, and takes the distance between the farthest point and the suspension point as a first distance L1；
The unmanned aerial vehicle is based on the first distance L1Length L of the hanging rope2；
A passage length of L2The hanging rope pulls the rope ladder to the target cable.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| 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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| CN108313286B true CN108313286B (en) | 2021-03-09 |
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