CN109244943B - Line-hanging unmanned aerial vehicle and control method and device thereof - Google Patents
Line-hanging unmanned aerial vehicle and control method and device thereof Download PDFInfo
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- CN109244943B CN109244943B CN201811325838.2A CN201811325838A CN109244943B CN 109244943 B CN109244943 B CN 109244943B CN 201811325838 A CN201811325838 A CN 201811325838A CN 109244943 B CN109244943 B CN 109244943B
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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
- 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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Abstract
The application discloses a line-hanging unmanned aerial vehicle and a control method and device thereof, wherein the line-hanging unmanned aerial vehicle comprises a line-hanging device, an unmanned aerial vehicle module and a control system; the wire hanging device comprises a guide support, a driving wheel, a stabilizing mechanism, a lifting mechanism, a photoelectric switch and a control module; photoelectric sensing information through detecting photoelectric switch transmits removes unmanned aerial vehicle module for the hanging wire device is automatic to be hung on the wire. Meanwhile, the stabilizing module enables the line-hanging unmanned aerial vehicle to be stably hung on the wire, and walking is unstable or unbalanced due to the fact that the influence of wind power is not easily received. Compared with the prior art, the hanging wire unmanned aerial vehicle that this application provided can use manpower and materials sparingly.
Description
Technical Field
The application relates to the technical field of a wired unmanned aerial vehicle, in particular to a wired unmanned aerial vehicle and a control method and device thereof.
Background
The high-voltage transmission line is an important junction for connecting the power generation side and the power supply side, and once a sudden problem or fault occurs, the high-voltage transmission line can bring a great influence on economy. Therefore, ensuring the safe and stable operation of the high-voltage transmission line is a very important work for the power supply department. At present, a high-voltage transmission line is basically an overhead transmission line, and is exposed in air for a long time, and defects and faults are easy to occur on a lead, a line hardware fitting, an insulator, a tower and the like under the environments of a strong electric field, strong mechanical stress, rainstorm and the like. Therefore, the high-voltage transmission line needs to be regularly inspected to find the defects of the line in time, so that the risk of line breakage and power failure is reduced. At present, the following two methods are mainly used for inspecting the high-voltage line: one is that the inspection personnel inspects along the line with naked eyes or telescopes, and the personnel need to turn over mountains, wade, hike, drive and the like all the way, the environment is complex, the labor intensity is high, the inspection task is difficult, and the inspection precision and the reliability are poor; the other is line patrol along the way of the helicopter, the line is observed and detected by equipment such as naked eyes, visible or infrared cameras and the like, although the detection precision and reliability are good, the cost is high, and the requirement on weather quality is high.
Disclosure of Invention
The application aims to provide a line-hanging unmanned aerial vehicle and a control method and device thereof, and aims to achieve the purposes of stable and autonomous line hanging and replacing manual inspection.
In view of the above, the first aspect of the present application provides a wire hanging device,
the device comprises a guide support, a driving wheel, a stabilizing mechanism, a lifting mechanism, a photoelectric switch and a control module;
the guide support is provided with a first channel, a second channel and a third channel on a path entering along a lead respectively;
the first channel and the third channel are vertically arranged, and the second channel is horizontally arranged; two ends of the second channel are respectively connected with the first channel and the third channel;
the driving wheel is arranged at the upper part of the third channel;
the stabilizing mechanism is arranged in the third channel in a lifting manner through the lifting mechanism and is positioned right below the driving wheel;
the photoelectric switch specifically comprises a first photoelectric switch, a second photoelectric switch and a third photoelectric switch;
the first photoelectric switch and the second photoelectric switch are respectively arranged at the wire inlet of the first channel and the connection part of the first photoelectric switch and the second channel;
the third photoelectric switch is arranged on the third channel and is positioned below the driving wheel;
the lifting mechanism and the photoelectric switch are in communication connection with the control module.
Alternatively to this, the first and second parts may,
the stabilizing mechanism is specifically a driven wheel.
A second aspect of the present application provides a wire-hanging unmanned aerial vehicle, comprising the wire-hanging device, the unmanned aerial vehicle module and the control system as described in the first aspect;
the control system is connected with the control module;
the control system is connected with the rotor motor of the unmanned aerial vehicle module.
Optionally, the unmanned aerial vehicle further comprises a camera, and the camera is arranged on the wire hanging device or the unmanned aerial vehicle module;
the camera is connected with the control system.
The third aspect of the present application provides a method for controlling a tethered unmanned aerial vehicle, which is applied to the tethered unmanned aerial vehicle of the second aspect, including:
when the first photoelectric signal is detected, controlling the unmanned aerial vehicle module to move upwards until a second photoelectric signal is detected;
when a second photoelectric signal is detected, controlling the unmanned aerial vehicle module to move horizontally for a first preset distance in a direction close to the driving wheel and then move downwards until a third photoelectric signal is detected;
and when a third photoelectric signal is detected, controlling the lifting mechanism to drive the stabilizing mechanism to move upwards by a second preset distance.
Optionally, after controlling the lifting mechanism to move the stabilizing mechanism upward by a second preset distance when the third photoelectric signal is detected, the method further includes:
reduce the rotational speed of the rotor motor of the drone module until it stops rotating.
Optionally, when the first photoelectric signal is detected, controlling the drone module to move upward until a second photoelectric signal is detected, further comprising:
and controlling the unmanned aerial vehicle module to move according to the image information of the camera so that the lead enters the first channel.
A fourth aspect of the present application provides a wired unmanned aerial vehicle control apparatus, including a first mobile unit, a second mobile unit, and a third mobile unit;
the first mobile unit is used for controlling the unmanned aerial vehicle module to move upwards when the first photoelectric signal is detected until the second photoelectric signal is detected;
the second mobile unit is used for controlling the unmanned aerial vehicle module to horizontally move for a first preset distance in a direction away from the third channel and then move downwards until a third photoelectric signal is detected when the second photoelectric signal is detected;
and the third moving unit is used for controlling the lifting mechanism to enable the stabilizing mechanism to move upwards by a second preset distance when a third photoelectric signal is detected.
Optionally, the device further comprises a wire hanging unit;
and the wire hanging unit is used for controlling the rotation speed of a rotor motor of the unmanned aerial vehicle module to be reduced until the rotation is stopped.
Optionally, the system further comprises an image analysis unit;
the image analysis unit is used for controlling the unmanned aerial vehicle module to move according to the image information of the camera, so that the lead enters the first channel.
Compared with the prior art, the embodiment of the application has the advantages that:
in the embodiment of the application, the wire-hanging unmanned aerial vehicle and the control method and device thereof are provided, and the wire-hanging unmanned aerial vehicle comprises an unmanned aerial vehicle module and a wire-hanging device, wherein the wire-hanging device comprises a photoelectric switch and a stabilizing mechanism. Photoelectric sensing information through detecting photoelectric switch transmits removes unmanned aerial vehicle module for the hanging wire device is automatic to be hung on the wire, and stabilizing module makes hanging wire unmanned aerial vehicle can stabilize on the wire simultaneously, and the influence that is difficult for receiving wind-force leads to walking unstability or unbalance. Compared with the prior art, the hanging wire unmanned aerial vehicle that this application provided can stabilize, independently the hanging wire, has the beneficial effect of using manpower sparingly material resources.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a wire hanging device according to an embodiment of the present disclosure;
fig. 2 is a schematic operation diagram of a stabilizing mechanism of a wire hanging device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of the unmanned aerial vehicle with a wire hanging provided in the embodiment of the present application;
fig. 4 is a schematic working diagram of a camera of the on-line unmanned aerial vehicle provided in the embodiment of the present application;
fig. 5 is a signal transmission diagram of the on-line unmanned aerial vehicle provided in the embodiment of the present application;
fig. 6 is a flowchart of a method of controlling a wired wireless robot according to an embodiment of the present application;
fig. 7 is a schematic flowchart of a control device of a wired unmanned aerial vehicle according to an embodiment of the present application;
reference numbers: an unmanned aerial vehicle module 1; an equipment compartment 11; a control system 111; a battery 112; a multi-sensor module 113; a camera 12; a signal transmitting/receiving unit 13; a rotor motor 15; a wire hanging device 2; a guide roller 21; a first photoelectric switch 221; a second photoelectric switch 222; a third photoelectric switch 223; a guide support 23; a first drive wheel 241; a second drive wheel 242; a driving wheel drive motor 25; a stabilizing mechanism 26; a lifting mechanism 27; a conductive line 28; and a ground control background 3.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. 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 application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
This application first aspect has designed a hanging wire device, can avoid hanging wire unmanned aerial vehicle to receive wind-force influence to lead to the unstability to drop.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a wire hanging device according to an embodiment of the present disclosure.
The present application provides a wire hanging device 2 including: guide support 23, driving wheel, stabilizing mechanism 26, lifting mechanism 27, photoelectric switch and control module.
The guide support 23 has a first channel, a second channel and a third channel on the path along the wire. It will be appreciated that in order to facilitate the movement of the conductor relative to the wiring device 2 along a fixed path of movement, a corresponding passage is required. The first channel and the third channel are vertically arranged, and the second channel is horizontally arranged, namely the first channel, the second channel and the third channel are arranged in a U shape. Two ends of the second channel are respectively connected with the first channel and the third channel.
Alternatively, in order to facilitate the entry of the wire, a wire entrance of the first passage may be provided with a V-shaped inclined surface, and further, a guide roller 21 may be provided at the inclined surface.
The driving wheel is arranged at the upper part of the third channel, and the wire hanging device 2 is finally hung on the wire through the driving wheel. The driving wheel may include a driving wheel driving motor 25, and the wire hanging device 2 may be moved along the wire by rotating the driving wheel driving motor 25. In order to make the thread guiding device 2 more stable during the forward and backward movement after being hung on the thread guide, the driving wheels may specifically include a first driving wheel 241 and a second driving wheel 242 which are arranged in the longitudinal direction.
Referring to fig. 2, fig. 2 is a schematic view illustrating an operation of a stabilizing mechanism of a wire hanging device according to an embodiment of the present disclosure.
A stabilizing mechanism 26 is liftably disposed in the third channel by a lifting mechanism 27. It should be noted that the position of the stabilizing mechanism 26 should not hinder the movement of the wire 28 in the second channel, and therefore a groove may be provided in the bottom of the third channel, in which groove the position of the stabilizing mechanism 26 is located before the wire 28 enters the third channel. When the wire 28 enters the third channel, the stabilizing mechanism 26 rises to seal the connection port between the second channel and the third channel, or the wire 28 is stabilized between the stabilizing mechanism 26 and the driving wheel together, so that the problem that the unmanned aerial vehicle is affected by wind force to cause instability and drop is avoided, and therefore the stabilizing mechanism should be arranged right below the driving wheel. When the wire 28 is stabilized between the stabilizing mechanism 26 and the driving wheel together, the stabilizing mechanism 26 may be specifically a driven wheel, and the driving wheel and the driven wheel clamp the wire 28 together, so that the movement resistance of the wire hanging device 2 on the wire 28 is not increased while the wire hanging device 2 is prevented from falling.
The lifting mechanism 27 may be disposed inside or outside the guide support 23, and its position is not limited, and in short, the lifting mechanism 27 is used to lift the stabilizing mechanism 26 in the third channel. For example, the lifting mechanism 27 may be a worm and gear lifting table, is disposed outside the guide support 23, and is composed of a worm, a worm gear driving device, a stabilizing mechanism support lifting table, and a worm support, and those skilled in the art can clearly know the composition and connection manner thereof with reference to fig. 1, and details thereof are not described herein.
The optoelectronic switch specifically includes a first optoelectronic switch 221, a second optoelectronic switch 222, and a third optoelectronic switch 223, where the first optoelectronic switch 221 and the second optoelectronic switch 222 are respectively disposed at a wire entrance of the first channel and a connection with the second channel, that is, at two ends of the first channel. The third photoelectric switch 223 is disposed on the third channel and below the capstan. When the lead is positioned at the lead inlet of the first channel, the first photoelectric switch 221 is triggered, so that the wire hanging device 2 moves upwards, and the lead moves towards the inside of the first channel; when the lead is located at the joint of the first channel and the second channel, the second photoelectric switch 222 is triggered, so that the wire hanging device 2 moves horizontally for a preset distance in the direction away from the third channel, the lead enters the third channel, and then the wire hanging device 2 is controlled to move downwards; when the wire is close to the driving wheel, the third photoelectric switch 223 is triggered, so that the lifting mechanism 27 drives the stabilizing mechanism 26 to move upwards, the connecting port between the second channel and the third channel is sealed, or the wire is stabilized between the stabilizing mechanism 26 and the driving wheel together.
Elevating system 27 and photoelectric switch all with control module communication connection, control module can be through receiving the information that photoelectric switch transmitted and controlling elevating system 27, simultaneously, control module can also control the rotation of action wheel.
The utility model provides a hanging wire device 2 plays stabilizing effect to the wire through stabilizing mean, can avoid hanging wire unmanned aerial vehicle to receive wind-force influence to lead to the unstability to drop.
This application second aspect provides a hanging wire unmanned aerial vehicle.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a wire-hanging unmanned aerial vehicle provided in an embodiment of the present application, including the wire-hanging device 2, the unmanned aerial vehicle module 1, and the control system provided in the first aspect.
The control system is connected with the control module of the wire hanging device 2, and the control system is also connected with the rotor motor 15 of the unmanned aerial vehicle module 1. Control module passes through control system with photoelectric switch's response information and transmits for rotor motor 15, drives unmanned aerial vehicle module 1 through rotor motor 15 to control hanging wire device 2's moving direction.
Optionally, the on-line drone provided by the embodiment of the present application further includes a camera 12. Please refer to fig. 4 at the same time, fig. 4 is a schematic working diagram of a camera of the on-line drone provided in the embodiment of the present application. The camera 12 is connected with the control system, and the control system controls the rotor motor 15 to drive the unmanned aerial vehicle module 1 through analyzing the image transmitted by the camera 12, so that the first channel inlet of the wire hanging device 2 is aligned with the wire. Wherein, camera 12 both can fix on unmanned aerial vehicle module 1's equipment cabin 11, and the camera aligns the passageway of hanging wire device 2, also can be connected with equipment cabin 11 with articulated connected mode, controls its upset through control system.
Optionally, the system further comprises a signal transceiver unit 13, wherein the signal transceiver unit 13 is fixedly arranged on the equipment cabin, is connected with the control system, and can transmit the photoelectric signal or the image information obtained by the camera to the ground control background.
Please refer to fig. 5, fig. 5 is a signal transmission diagram of the on-line drone according to the embodiment of the present application.
Further, the system also comprises a battery 112 and a multi-sensor module 113, wherein the battery 112 and the multi-sensor module 113 are both connected with the control system 111, and transmit information such as sound, distance, temperature and the like sensed by the battery information and the sensor to the ground control background 3 through the signal transceiving unit 13. The ground control background 3 exchanges signals with the signal transceiving unit 13, so as to achieve the effect of manually controlling the camera 12, the rotor motor 15, the first driving wheel 241, the second driving wheel 242, the lifting mechanism 27 and the like.
The third aspect of the application provides a control method for a wired unmanned aerial vehicle, which is applied to the wired unmanned aerial vehicle provided by the second aspect.
Referring to fig. 6, fig. 6 is a flowchart of a method of controlling a wired-up unmanned aerial vehicle according to an embodiment of the present application, including:
when the wire was located first passageway entrance, triggered first photoelectric switch for control system detects first photoelectric signal, controls unmanned aerial vehicle module rebound, and the wire is to the inside removal of first passageway.
102, when a second photoelectric signal is detected, controlling the unmanned aerial vehicle module to move horizontally for a first preset distance in a direction close to the driving wheel and then move downwards until a third photoelectric signal is detected;
when the lead is positioned at the joint of the first channel and the second channel, triggering a second photoelectric switch to enable the control system to detect a second photoelectric signal and control the unmanned aerial vehicle to move a first preset distance in a direction away from the third channel, wherein the first preset distance is the length of the second channel; at the moment, the wires oppositely move towards the third channel and enter the third channel through the second channel; then control unmanned aerial vehicle module and move down to the action wheel hangs on the wire.
And 103, when the third photoelectric signal is detected, controlling the lifting mechanism to enable the stabilizing mechanism to move upwards by a second preset distance.
When the wire is close to the driving wheel, a third photoelectric switch is triggered, the control system detects a third photoelectric signal, and the lifting mechanism is controlled to drive the stabilizing mechanism to move upwards for a second preset distance. It can be understood that, after the stabilizing mechanism moves upward by the second preset distance, the connection port between the second channel and the third channel is sealed by the stabilizing mechanism, or the fixing mechanism and the driving wheel together stabilize the wire between the second channel and the third channel.
The embodiment of the application controls the unmanned aerial vehicle module and the stabilizing mechanism to move through detecting the photoelectric signal, so that the line-hanging unmanned aerial vehicle can realize independent line hanging and stable line hanging, the problems that the distance is far from being seen clearly and the line-hanging unmanned aerial vehicle is influenced by wind power and easily drops due to line hanging through naked eyes of people in the prior art are solved, and the beneficial effects of saving manpower and material resources are achieved.
Further, after step 103, the method further includes:
It can be understood that, after the stabilising arrangement rose for the unmanned aerial vehicle of hanging wire had been hung on the wire successfully, this moment can the next work of patrolling and examining, and need not to use again the unmanned aerial vehicle module. Therefore, when the line is successfully hung, the rotation speed of the rotor motor can be reduced until the rotation is stopped.
Further, before step 101, the method further includes:
and step 100, controlling the unmanned aerial vehicle module to move according to the image information of the camera, so that the lead enters the first channel.
Before entering the wire hanging step, the lead to be hung can be locked through picture analysis according to image information transmitted by the camera, and the unmanned aerial vehicle module is controlled to move to the lower part of the lead until the lead enters the first channel, so that the wire hanging step can be conveniently carried out.
The fourth aspect of the present application provides a wire-hanging unmanned aerial vehicle control device.
Referring to fig. 7, fig. 7 is a schematic flowchart of a control apparatus of a wired unmanned aerial vehicle according to an embodiment of the present application, including:
a first moving unit 201, configured to control the drone module to move upward when the first photoelectric signal is detected until the second photoelectric signal is detected;
the second moving unit 202 is configured to control the unmanned aerial vehicle module to move horizontally for a first preset distance in a direction away from the third channel and then move downwards until a third photoelectric signal is detected when the second photoelectric signal is detected;
and a third moving unit 203 for controlling the lifting mechanism to move the stabilizing mechanism upward by a second preset distance when the third photoelectric signal is detected.
Further, the method also comprises the following steps:
and a wire hanging unit 204 for controlling the rotation speed of the rotor motor of the unmanned aerial vehicle module to be reduced until the rotation is stopped.
Further, the method also comprises the following steps:
and the image analysis unit 200 is used for controlling the unmanned aerial vehicle module to move according to the image information of the camera, so that the lead enters the first channel.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (7)
1. A thread hanging device is characterized in that,
the device comprises a guide support, a driving wheel, a stabilizing mechanism, a lifting mechanism, a photoelectric switch and a control module;
the guide support is provided with a first channel, a second channel and a third channel on a path entering along a lead respectively;
the first channel and the third channel are vertically arranged, and the second channel is horizontally arranged; two ends of the second channel are respectively connected with the first channel and the third channel;
the driving wheel is arranged at the upper part of the third channel;
the stabilizing mechanism is arranged in the third channel in a lifting manner through the lifting mechanism and is positioned right below the driving wheel;
the photoelectric switch specifically comprises a first photoelectric switch, a second photoelectric switch and a third photoelectric switch;
the first photoelectric switch is arranged at the lead inlet of the first channel; the second photoelectric switch is arranged at the joint of the first channel and the second channel;
the third photoelectric switch is arranged on the third channel and is positioned below the driving wheel;
the lifting mechanism and the photoelectric switch are in communication connection with the control module.
2. The wire hanging device according to claim 1,
the stabilizing mechanism is specifically a driven wheel.
3. A tethered drone, comprising the tethered device of claim 1 or 2, a drone module and a control system;
the wire hanging device is arranged at the top of the unmanned aerial vehicle module;
the control system is connected with the control module;
the control system is connected with the rotor motor of the unmanned aerial vehicle module.
4. The tethered drone of claim 3, further comprising a camera disposed on the tethered device or the drone module;
the camera is connected with the control system.
5. A control method of a wired unmanned aerial vehicle is applied to the wired unmanned aerial vehicle of claim 4, and comprises the following steps:
when the first photoelectric signal is detected, controlling the unmanned aerial vehicle module to move upwards until a second photoelectric signal is detected;
when a second photoelectric signal is detected, controlling the unmanned aerial vehicle module to move, so that the wire moves horizontally for a first preset distance in a direction close to the driving wheel and then moves downwards until a third photoelectric signal is detected;
and when a third photoelectric signal is detected, controlling the lifting mechanism to drive the stabilizing mechanism to move upwards by a second preset distance.
6. The on-hook unmanned aerial vehicle control method of claim 5, wherein after controlling the lifting mechanism to move the stabilizing mechanism upward by a second preset distance when the third photoelectric signal is detected, the method further comprises:
reduce the rotational speed of the rotor motor of the drone module until it stops rotating.
7. The on-hook drone control method of claim 5, wherein when the first photoelectric signal is detected, controlling the drone module to move upward until before the second photoelectric signal is detected, further comprises:
and controlling the unmanned aerial vehicle module to move according to the image information of the camera so that the lead enters the first channel.
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| CN201811325838.2A CN109244943B (en) | 2018-11-08 | 2018-11-08 | Line-hanging unmanned aerial vehicle and control method and device thereof |
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| CN109950829B (en) * | 2019-04-01 | 2020-07-31 | 国网河南省电力公司内乡县供电公司 | Transmission line inspection robot based on unmanned aerial vehicle platform |
| CN112038978B (en) * | 2020-08-05 | 2022-04-05 | 河南牛帕力学工程研究院 | Hanging tool suitable for unmanned aerial vehicle electric power unwrapping wire |
| CN113086195A (en) * | 2021-04-19 | 2021-07-09 | 哈尔滨职业技术学院 | High-voltage line damage detection unmanned aerial vehicle |
| ES2952220A1 (en) * | 2022-03-21 | 2023-10-30 | Fund Andaluza Para El Desarrollo Aeroespacial | CABLE ANCHORAGE SYSTEM FOR UNMANNED AIRCRAFT (Machine-translation by Google Translate, not legally binding) |
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