CN109353518A - A method of the intelligence based on unmanned plane, which is launched, collects fixed pulley - Google Patents
A method of the intelligence based on unmanned plane, which is launched, collects fixed pulley Download PDFInfo
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- CN109353518A CN109353518A CN201811467908.8A CN201811467908A CN109353518A CN 109353518 A CN109353518 A CN 109353518A CN 201811467908 A CN201811467908 A CN 201811467908A CN 109353518 A CN109353518 A CN 109353518A
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- fixed pulley
- unmanned plane
- touching lever
- soft rope
- horizontal load
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000000007 visual effect Effects 0.000 claims description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 5
- 230000005611 electricity Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000005347 demagnetization Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 208000033748 Device issues Diseases 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 239000004615 ingredient Substances 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- 239000007769 metal material Substances 0.000 description 1
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Classifications
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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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
-
- 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
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- Aviation & Aerospace Engineering (AREA)
- Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of, and the intelligence based on unmanned plane launches the method for collecting fixed pulley, and the fixed pulley is coupled by retracting platform with unmanned plane；The retracting platform includes hoisting equipment, soft rope, Horizontal load-bearing touching lever；The soft rope bottom end is equipped with Horizontal load-bearing touching lever；The fixed pulley includes hook and the vertical touching lever integrated with hook；The vertical rod other end is equipped with fixed pulley；Unmanned plane, which takes off, send fixed pulley to predetermined position；Fixed pulley is mounted by hook and high-voltage ground wire cable；Fixed pulley is controlled by controller and unmanned plane is detached from；And: after the completion of operation；Unmanned plane takes off to be coupled with fixed pulley；Fixed pulley is separated with contactant；Unmanned plane continues flight and returns to ground with fixed pulley.Artificial directly operation is needed when the present invention solves the problems, such as pulley blocks high-altitude line maintenance, is had and is avoided artificial high altitude operation and technical effect safely and fast.
Description
Technical field
The present invention relates to maintenance of overhead transmission line auxiliary implement technical fields, and in particular to a kind of intelligence based on unmanned plane
The method for collecting fixed pulley can be launched.
Background technique
Maintenance of overhead transmission line is the guarantee of transmission line of electricity operation, and the dispensing of transmission line of electricity fixed pulley is collected for a long time
It always along manually climbing shaft tower, is carried out using the mode for discharging lead after hook throwing, the risk of high altitude operation is higher and work
Make low efficiency, it is a worth thinking deeply about for how solving the problems, such as that fixed pulley is directly operated in high-altitude route not employment.
Summary of the invention
The purpose of the present invention is to provide a kind of, and the intelligence based on unmanned plane launches the method for collecting fixed pulley, existing to solve
There is the problem of technology, the present invention solves the problems, such as to need artificial directly operation when fixed pulley group high-altitude line maintenance, has and avoid
People's high altitude operation and advantage safely and fast.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
A method of the intelligence based on unmanned plane, which is launched, collects fixed pulley, using the electronic intelligence hook assembly of fixed pulley
And unmanned plane cooperation is launched and is collected, the electronic intelligence hook assembly of the fixed pulley includes hanger bulk, hanger bulk
Bottom be connected with hollow vertical touching lever, the bottom of hollow vertical touching lever is connected with fixed pulley, and the hanger bulk is cavity knot
Structure, the inside top side of cavity structure are provided with calutron, cable location sensor and electricity are additionally provided in cavity structure
Sub- control execution unit；The junction of hanger bulk and hollow vertical touching lever is provided with safe lock executive device, safe lock
It is connected with the safe lock device that can open or close the mouth hanging of hanger bulk in executive device, is provided in hollow vertical touching lever
Placement position sensor and power supply；The power supply is used to execute dress for electronic control execution unit, calutron, safe lock
It sets, the power supply of cable location sensor and placement position sensor；The electronic control execution unit and calutron, safety lock
Only executive device, placement position sensor and the connection of cable location sensor；When in use, the calutron and unmanned plane
The magnetic suction piece of Horizontal load-bearing touching lever V-shape portion position on the release platform of bottom is cooperatively connected；
Launching the method for collecting fixed pulley includes the put-on method of fixed pulley and the collection methods of fixed pulley；
The put-on method of the fixed pulley the following steps are included:
Step 1.1 inhales the magnetic of the Horizontal load-bearing touching lever V-shape portion position on calutron and uav bottom release platform
Piece is cooperatively connected, and then manipulates unmanned plane and takes off, is sent fixed pulley to pre-determined bit by the electronic intelligence hook assembly of fixed pulley
It sets；
Step 1.2, fixed pulley are mounted by hanger bulk and high-voltage ground wire cable；
The collection methods of the fixed pulley the following steps are included:
Step 2.1, unmanned plane take off to fixed pulley position, and the Horizontal load-bearing touching lever on uav bottom release platform is hung
It is connected in the mouth hanging of hanger bulk；
Step 2.2, manipulation unmanned plane take off the electronic intelligence hook assembly of fixed pulley taking back ground.
Further, remote-receiver is additionally provided in cavity structure, the remote-receiver is wirelessly
It is connected with ground control cabinet, execution unit and remote control reception dress is controlled electronically by power supply power supply in the remote-receiver
It sets connected.
Further, the power supply is poly-lithium battery group.
Further, the position apart from hollow vertical touching lever bottom 10-30cm is arranged in placement position sensor.
Further, it is provided with hoisting equipment on uav bottom release platform, soft rope is connected on hoisting equipment, it is horizontal
Load-bearing touching lever is connected to the free end of soft rope.
Further, step 1.1 specifically: after the soft rope of uav bottom release platform is rolled by hoisting equipment,
It is accommodated in unmanned plane lower part；Fixed pulley is fixed on the magnetic suction piece of Horizontal load-bearing cross bar V-shape portion position by calutron；Then
The height and speed for adjusting unmanned plane are allowed to keep stable state relative to fixed pulley；Operator passes through unmanned aerial vehicle (UAV) control device
Sending discharges the instruction of soft rope, then the hoisting equipment of release platform releases soft rope, until soft rope all discharges, hoisting equipment is certainly
It is dynamic to stop.
Further, step 1.2 specifically: observe situation by more visual pattern positioning systems of unmanned plane；And
It is controlled right above unmanned plane hovering to high-voltage ground wire cable by unmanned aerial vehicle (UAV) control device；Make hollow vertical touching lever that placement position is set
High-voltage ground wire cable is touched in the position of sensor, and high-voltage ground wire cable is in the position of hanger bulk opening side；Lead to again
The signal of vision positioning system and placement position sensor is crossed, operator issues calutron by electronic control execution unit
The instruction of degaussing；Then fixed pulley is separated with Horizontal load-bearing cross bar, and hollow vertical touching lever below is by gravity along high pressure
Ground wire cable vertical drop, hanger bulk hook high-voltage ground wire cable, after high-voltage ground wire cable touches cable location sensor,
Cable location sensor signal passes to electronic control execution unit, and electronic control execution unit control is opened safe lock and executed
Device starts safe lock device, and hanger bulk is closed.
Further, step 2.1 specifically: control unmanned plane to predetermined position is issued by unmanned aerial vehicle (UAV) control device and discharged
The instruction of soft rope, hoisting equipment releases soft rope until soft rope all discharges, and hoisting equipment is automatically stopped；Make Horizontal load-bearing touching lever
Against hollow vertical touching lever, operator is issued the instruction for opening safe lock executive device by ground control station, passes through electricity
Sub- control execution unit opens safe lock device, by more visual pattern positioning systems, Horizontal load-bearing touching lever is made to be in hook originally
The position of body opening side, controls unmanned plane position, enters Horizontal load-bearing touching lever in hanger bulk along hollow vertical touching lever.
Further, step 2.2 specifically: by the flight pulling force of unmanned plane, fixed pulley is taken away into high-voltage ground wire cable；
Before unmanned plane landing, operator issues the instruction for withdrawing soft rope by unmanned aerial vehicle (UAV) control device, and hoisting equipment recovers volume for soft,
Until soft rope is all withdrawn, hoisting equipment is automatically stopped, and then drop to ground.
Compared with prior art, the invention has the following beneficial technical effects:
When placement position sensor contacts cable, and when cable is in the position of hanger bulk opening side, Ke Yitong
It crosses placement position sensor and signal is passed into electronic control execution unit, electronic control execution unit control calutron disappears
Magnetic, then the free-falling of hollow vertical touching lever, is caught in cable in the mouth hanging of hanger bulk, when cable touches cable location sensor
Afterwards, cable location sensor signal passes to electronic control execution unit, and safe lock is opened in electronic control execution unit control
Executive device, safe lock device starting, hook is closed, and for the present invention in conjunction with the aerial retracting platform of unmanned plane, solution needs people
Work hook throwing, hook taking operation under high altitude environment, have the risk for avoiding people's high altitude operation and the technical effect improved efficiency.
Further, by the way that remote-receiver is arranged, electromagnetism can also be controlled by manually controlling remote-receiver
Device demagnetization.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is overall structure schematic illustration of the present invention；
Fig. 3 is application flow schematic diagram of the invention.
Wherein: 1, hanger bulk；11, calutron；12, remote-receiver；13, safe lock executive device；14, pacify
Full lock device；15, execution unit is controlled electronically；16, cable location sensor；2, hollow vertical touching lever；21, placement position senses
Device；22, power supply；3, fixed pulley.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing:
Referring to Fig. 1, a kind of electronic intelligence hook assembly of fixed pulley, including hanger bulk 1, the hanger bulk 1 are sky
Cavity configuration, the portion integral of cavity structure are connected with hollow vertical touching lever 2, are equipped with independent electricity in the hollow vertical touching lever
Source 32 and placement position sensor 31；Be equipped in the cavity structure calutron 11, cable location sensor 16, remote control connect
Receiving apparatus 12, electronic control execution unit (ECU) 15, safe lock executive device 13；At the mouth hanging that the hanger bulk 1 has
Safe lock device 14 is installed, the safe lock executive device 13 connects safe lock device 14；The electronic control executes list
Member 15 connects calutron 11, safe lock executive device 13, remote-receiver 12, cable location sensor 16, power supply 32；
The power supply 32 connects remote-receiver 12, safe lock executive device 13, cable location sensor 16；The electronics is slided surely
Wheel assembly is also equipped with the ground control cabinet with 12 wireless communications of remote-receiver；The power supply 32 is poly-lithium battery group,
When in use, the Horizontal load-bearing touching lever V-shape portion position on the calutron 11 and uav bottom release platform magnetic suction piece
It is cooperatively connected, is provided with hoisting equipment on uav bottom release platform, soft rope, Horizontal load-bearing touching lever are connected on hoisting equipment
It is connected to the free end of soft rope.
2 alloys or metal material that hanger bulk 1 is suitble to by material in the embodiment of the present invention form multiple-piece stratiform knot
Structure makes its internal generation cavity that can reach the pulling force of calibration 1.5T to have the function that install associated electronic device and loss of weight
Test.Be inside the vertical touching lever of fixed pulley it is hollow, independent power supply 22 and placement position sensor 21 are installed.22 ingredient of power supply is
Lithium polymer battery provides electric power to link up with upper all electronic equipments.Unmanned plane is precisely launched when collecting fixed pulley, and level is held
After weight touching lever touches vertical touching lever, the placement position sensor 21 in vertical touching lever provides corresponding information for operator.Hook
The connection of upper all associated electronic equipments is all connected by cable, and only remote-receiver 12 and ground control cabinet are 2.4G
Wireless connection.The switch that calutron 11 can be controlled either manually or by remote-receiver 12, is switched on or off power supply, makes electricity
Magnetic device 11 generates or eliminates the magnetic of magnetic force and the Horizontal load-bearing touching lever V-Bottom portion on the aerial retracting platform of unmanned plane lightweight
Suction piece is attracting repels each other for property, achievees the effect that stable bond or separation.The lower part of 11 position of calutron is cavity at one, inside peace
Wiring cable position sensor 16, remote-receiver 12 and electronic control execution unit 15.When cable touching cable location sensing
After device 16,16 signal of cable location sensor passes to electronic control execution unit 15, and the electronic control control of execution unit 15 is prolonged
When 2 seconds unlatching safe lock executive devices 13, safe lock device 14 start, will hook closing.Ground handling operator can also pass through
Remote control device control electronic control execution unit 15, releases hook closed state, is precisely collected in order to unmanned plane and determine cunning
Wheel.These electronic information all by pass back to earth station and can show fixed pulley hook real-time status.
In actual operation, when 21 contact cable taking of placement position sensor, and cable is in the opening of hanger bulk 1 side
Position when, can by manually control remote-receiver 12 control 11 demagnetization of calutron, placement position can also be passed through
Signal is passed to electronic control execution unit 15 by sensor 21, and electronic control execution unit 15 controls 11 demagnetization of calutron,
Then 2 free-falling of hollow vertical touching lever is caught in cable in the mouth hanging of hanger bulk 1, when cable touches cable location sensor
After 16,16 signal of cable location sensor passes to electronic control execution unit 15, the electronic control control of execution unit 15 delay 2
Second opens safe lock executive device 13, and safe lock device 14 starts, and hook is closed.
The present invention can cooperate with ground control station or equipment (mobile phone), solve fixed pulley and link up with safe lock executive device
Opening and closing, in conjunction with the aerial retracting platform of unmanned plane, solve need manually under high altitude environment hook throwing, hook taking operation, have keep away
Exempt from the risk of people's high altitude operation and the technical effect improved efficiency.
Operating process of the invention is described in detail below:
When in use, it is launched using electronic intelligence hook assembly of the unmanned plane to fixed pulley, electronic intelligence is linked up with
Assembly is applied in maintenance of overhead transmission line, and detailed process is as follows:
Electronic intelligence hook assembly is connect by uav bottom release platform with unmanned plane；
Fixed pulley is sent to predetermined position 1. unmanned plane takes off；
2. fixed pulley is mounted by hook and object to be contacted；
3. controlling fixed pulley and unmanned plane being detached from；
And: after the completion of operation；
It is connect to fixed pulley position with fixed pulley 4. unmanned plane takes off；
5. fixed pulley is separated with contactant；
6. unmanned plane, which takes off, returns to ground with fixed pulley.
Wherein, fixed pulley is connect by release platform with unmanned plane: by the soft rope of the release platform of uav bottom setting
After rolling by hoisting equipment, it is accommodated in uav bottom；Fixed pulley is fixed on load-bearing horizontal cross bar V-arrangement by calutron 11
On the magnetic suction piece at position；
Unmanned plane take off by fixed pulley send to predetermined position include: adjust unmanned plane height and speed, be allowed to relative to
Fixed pulley keeps stable state；Operator issues the instruction for discharging soft rope by unmanned aerial vehicle (UAV) control device；The elevator of release platform
Equipment releases soft rope, until soft rope all discharges；After the sensor of soft rope end detects the location information on soft rope top, volume
Equipment is raised to be automatically stopped；
Fixed pulley and object to be contacted mounting include: to observe situation by more visual pattern positioning systems of unmanned plane；
And it is controlled right above unmanned plane hovering to high-tension line ground wire by unmanned aerial vehicle (UAV) control device；Make the hollow vertical touching lever 2 of fixed pulley
10-30cm at touch ground wire cable, i.e., placement position sensor 21 touches cable, and ground wire cable is in fixed pulley hook
The position of body openings side；Electricity is passed through by vision positioning system and the signal of placement position sensor 21, operator again
Sub- control execution unit 15 issues the instruction of calutron degaussing；Then fixed pulley is separated with load-bearing horizontal cross bar, below hollow
For vertical touching lever 2 by gravity along cable vertical drop, hanger bulk 1 hooks cable, the safe lock in hanger bulk 1
Executive device 13 drives safe lock device 14 by mouth hanging locking；
Control fixed pulley is detached from unmanned plane
Unmanned plane accurate launch process completion in the air is left after fixed pulley to before landing；It is issued and is received by unmanned aerial vehicle (UAV) control device
Ease back the instruction of rope, and hoisting equipment is by soft rope with given pace backrush, until soft rope is all withdrawn, sensor detects soft rope bottom
After the location information at end, hoisting equipment is automatically stopped.
It includes: that unmanned plane takes off again that unmanned plane, which takes off and connect with fixed pulley,；Unmanned plane is controlled to predetermined position, then is passed through
Unmanned aerial vehicle (UAV) control device issues the instruction of the soft rope of release, and hoisting equipment releases soft rope until soft rope all discharges, and sensor detects
To after the location information on soft rope top, hoisting equipment is automatically stopped；The Horizontal load-bearing for making draw off gear on release platform is controlled again
Touching lever is issued by ground control station against the vertical touching lever below fixed pulley on high-tension line ground wire, operator and opens safety
The instruction of lock device 14 is returned safe lock device 14 and is placed in hanger bulk 1.
It includes: so that Horizontal load-bearing touching lever is in fixed sliding by more visual pattern positioning systems that fixed pulley is separated with contactant
The position for taking turns the opening of hanger bulk 1 side, after directly touching vertical touching lever with Horizontal load-bearing touching lever；Horizontal load-bearing touching lever is along vertical
Straight touching lever enters in coupler body, and by flying pulling force before unmanned plane, fixed pulley is taken away ground wire cable；
Unmanned plane takes off, and to return to ground include: unmanned plane in the air after the completion of accurate removal process to band fixed pulley, before landing,
Operator issues the instruction for withdrawing soft rope by unmanned aerial vehicle (UAV) control device, and hoisting equipment recovers volume for soft, until soft rope is all received
It returns, after sensor detects the location information of soft rope bottom end, hoisting equipment is automatically stopped, and drop to ground.
It include two stages in the embodiment of the present application, the first segment stage precisely launches, and second stage is precisely collected, first segment
Stage is specifically: before unmanned plane takes off, soft rope is rolled by hoisting equipment is accommodated in unmanned plane lower part, and fixed pulley passes through electromagnetic installing
It sets and is fixed on the magnetic suction piece of Horizontal load-bearing cross bar V-type position bottom.After taking off, when unmanned plane height and velocity-stabilization,
Operator issues the instruction for discharging soft rope by ground control station, and hoisting equipment releases soft rope with given pace, until soft
Rope all discharges, and after sensor detects the position signal on soft rope top, hoisting equipment is automatically stopped.It is fixed by more visual patterns
Position system, the hovering of control unmanned plane make the position of ground wire cable be in fixed pulley hook and open to high-tension line ground wire top
Mouth side, to touch ground wire cable at the vertical touching lever 10CM-30CM of fixed pulley；It is sensed by vision positioning system and placement position
The signal of device, operator by ground control station issue calutron degaussing instruction, by electronic control execution unit into
Row degaussing operation, fixed pulley are separated with release platform Horizontal load-bearing cross bar, and hollow vertical touching lever 2 is by gravity along cable
Vertical drop, hanger bulk 1 hook cable, the release mechanism locking in hanger bulk 1.Accurate launch process is complete in the air for unmanned plane
Cheng Hou, before landing, operator issues the instruction for withdrawing soft rope by ground control station, and hoisting equipment is by soft rope with a constant speed
Rate backrush, until soft rope is all withdrawn, after sensor detects the position signal of soft rope bottom end, hoisting equipment is automatically stopped.
Second stage: unmanned plane carries out intelligence and collects.Before unmanned plane takes off, soft rope is rolled by hoisting equipment is accommodated in nothing
Man-machine lower part.After taking off, when unmanned plane height and velocity-stabilization, operator is issued by ground control station discharges soft rope
Instruction, hoisting equipment release soft rope with given pace, until soft rope all discharges, sensor detects the position on soft rope top
After signal, hoisting equipment is automatically stopped.The flight for controlling unmanned plane makes the Horizontal load-bearing touching lever on release platform be directed at high-voltage line
The hollow vertical touching lever 2 that fixed pulley connects on the ground wire of road, operator send out electronic intelligence hook assembly by ground control station
The instruction for opening safe lock executive device 13 out, returns safe lock device 14 and is placed in coupler body.It is positioned by more visual patterns
System makes Horizontal load-bearing touching lever be in fixed pulley hanger bulk opening side, directly touches vertical touching lever with Horizontal load-bearing touching lever,
After touching, still to fly before certain safe speed, Horizontal load-bearing touching lever enters in hanger bulk unmanned plane along vertical touching lever,
Rising and preceding winged pulling force by unmanned plane, take away ground wire cable for fixed pulley.After the completion of unmanned plane precisely collects process in the air,
Before landing, operator issues the instruction for withdrawing soft rope by ground control station, and hoisting equipment returns soft rope with given pace
Volume, until soft rope is all withdrawn, after sensor detects the position signal of soft rope bottom end, hoisting equipment is automatically stopped.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (9)
1. a kind of intelligence based on unmanned plane launches the method for collecting fixed pulley, which is characterized in that using the electronics intelligence of fixed pulley
Energy hook assembly and unmanned plane cooperation are launched and are collected, and the electronic intelligence hook assembly of the fixed pulley includes hanger bulk
(1), the bottom of hanger bulk (1) is connected with hollow vertical touching lever (2), and the bottom of hollow vertical touching lever (2) is connected with fixed pulley
(3), the hanger bulk (1) is cavity structure, and the inside top side of cavity structure is provided with calutron (11), cavity structure
In be additionally provided with cable location sensor (16) and electronic control execution unit (15)；Hanger bulk (1) and hollow vertical touch
The junction of bar (2) is provided with safe lock executive device (13), and being connected in safe lock executive device (13) can open
Or the safe lock device (14) of the mouth hanging of hanger bulk (1) is closed, hollow vertical touching lever is provided with placement position sensor in (2)
(21) and power supply (22)；The power supply (22) is used to hold for electronic control execution unit (15), calutron (11), safe lock
Luggage sets (13), cable location sensor (16) and placement position sensor (21) power supply；The electronic control execution unit
(15) with calutron (11), safe lock executive device (13), placement position sensor (21) and cable location sensor
(16) it connects；When in use, the calutron (11) and the Horizontal load-bearing touching lever V-shape portion position on uav bottom release platform
Magnetic suction piece be cooperatively connected；
Launching the method for collecting fixed pulley includes the put-on method of fixed pulley and the collection methods of fixed pulley；
The put-on method of the fixed pulley the following steps are included:
Step 1.1 inhales the magnetic of the Horizontal load-bearing touching lever V-shape portion position on calutron (11) and uav bottom release platform
Piece is cooperatively connected, and then manipulates unmanned plane and takes off, is sent fixed pulley to pre-determined bit by the electronic intelligence hook assembly of fixed pulley
It sets；
Step 1.2, fixed pulley are mounted by hanger bulk (1) and high-voltage ground wire cable；
The collection methods of the fixed pulley the following steps are included:
Step 2.1, unmanned plane take off to fixed pulley position, by the Horizontal load-bearing touching lever on uav bottom release platform mount to
In the mouth hanging of hanger bulk (1)；
Step 2.2, manipulation unmanned plane take off the electronic intelligence hook assembly of fixed pulley taking back ground.
2. a kind of intelligence based on unmanned plane according to claim 1 launches the method for collecting fixed pulley, which is characterized in that
It is additionally provided in cavity structure remote-receiver (12), the remote-receiver (12) wirelessly controls with ground
Platform is connected, and the remote-receiver (12) is powered by power supply (22), and execution unit (15) and remote control reception is controlled electronically
Device (12) is connected.
3. a kind of intelligence based on unmanned plane according to claim 1 launches the method for collecting fixed pulley, which is characterized in that
The power supply (22) is poly-lithium battery group.
4. a kind of intelligence based on unmanned plane according to claim 1 launches the method for collecting fixed pulley, which is characterized in that
Placement position sensor (21) is arranged in the position apart from hollow vertical touching lever (2) bottom 10-30cm.
5. a kind of intelligence based on unmanned plane according to claim 1 launches the method for collecting fixed pulley, which is characterized in that
It is provided with hoisting equipment on uav bottom release platform, soft rope is connected on hoisting equipment, Horizontal load-bearing touching lever is connected to soft
The free end of rope.
6. a kind of intelligence based on unmanned plane according to claim 5 launches the method for collecting fixed pulley, which is characterized in that
Step 1.1 specifically: after rolling the soft rope of uav bottom release platform by hoisting equipment, be accommodated in unmanned plane lower part；
Fixed pulley is fixed on the magnetic suction piece of Horizontal load-bearing cross bar V-shape portion position by calutron (11)；Then unmanned plane is adjusted
Height and speed are allowed to keep stable state relative to fixed pulley；Operator is issued by unmanned aerial vehicle (UAV) control device discharges soft rope
Instruction, then the hoisting equipment of release platform releases soft rope, until soft rope all discharges, hoisting equipment is automatically stopped.
7. a kind of intelligence based on unmanned plane according to claim 5 launches the method for collecting fixed pulley, which is characterized in that
Step 1.2 specifically: observe situation by more visual pattern positioning systems of unmanned plane；And pass through the control of unmanned aerial vehicle (UAV) control device
Right above unmanned plane hovering to high-voltage ground wire cable processed；Make the position of hollow vertical touching lever (2) setting placement position sensor (21)
It sets and touches high-voltage ground wire cable, and high-voltage ground wire cable is in the position of hanger bulk (1) opening side；It is fixed by vision again
The signal of position system and placement position sensor (21), operator issue calutron by electronic control execution unit (15)
(11) instruction of degaussing；Then fixed pulley is separated with Horizontal load-bearing cross bar, and hollow vertical touching lever (2) below passes through gravity edge
High-voltage ground wire cable vertical drop, hanger bulk (1) hook high-voltage ground wire cable, when high-voltage ground wire cable touch cable location
After sensor (16), cable location sensor (16) signal passes to electronic control execution unit (15), and electronic control executes list
First (15) control opens safe lock executive device (13) and starts safe lock device (14), and hanger bulk (1) is closed.
8. a kind of intelligence based on unmanned plane according to claim 5 launches the method for collecting fixed pulley, which is characterized in that
Step 2.1 specifically: control unmanned plane to predetermined position issues the instruction for discharging soft rope by unmanned aerial vehicle (UAV) control device, and elevator is set
Standby to release soft rope until soft rope all discharges, hoisting equipment is automatically stopped；Make Horizontal load-bearing touching lever against hollow vertical touching lever
(2), operator issues the instruction for opening safe lock executive device (13) by ground control station, is executed by electronic control
Unit (5) opens safe lock device (14) makes Horizontal load-bearing touching lever be in hanger bulk by more visual pattern positioning systems
(1) position of opening side, controls unmanned plane position, and Horizontal load-bearing touching lever is made to enter hook originally along hollow vertical touching lever (2)
In body (1).
9. a kind of intelligence based on unmanned plane according to claim 5 launches the method for collecting fixed pulley, which is characterized in that
Step 2.2 specifically: by the flight pulling force of unmanned plane, fixed pulley is taken away into high-voltage ground wire cable；Before unmanned plane landing, behaviour
To make personnel and issues the instruction for withdrawing soft rope by unmanned aerial vehicle (UAV) control device, hoisting equipment recovers volume for soft, until soft rope is all withdrawn,
Hoisting equipment is automatically stopped, and then drop to ground.
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| CN201811467908.8A CN109353518B (en) | 2018-12-03 | 2018-12-03 | Method for intelligently releasing and collecting fixed pulley based on unmanned aerial vehicle |
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| CN109353518B (en) | 2020-09-22 |
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