CN109473910A - Unmanned plane stringing system and stringing method - Google Patents
Unmanned plane stringing system and stringing method Download PDFInfo
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- CN109473910A CN109473910A CN201811209561.7A CN201811209561A CN109473910A CN 109473910 A CN109473910 A CN 109473910A CN 201811209561 A CN201811209561 A CN 201811209561A CN 109473910 A CN109473910 A CN 109473910A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
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Abstract
Unmanned plane stringing system of the invention comprising stringing unmanned plane, unmanned plane of taking photo by plane, guide rope, draw drum and releasing pulley；Releasing pulley uses side incoming type；Stringing unmanned plane carries out bracing wire as flying platform；The fixed device of guide rope is provided on stringing unmanned plane, guide rope is connected to the fixed device of guide rope；Controller, wireless signal transceiver are provided on stringing unmanned plane, controller controls each unmanned plane, and wireless signal transceiver receives remote signal, and controller controls unmanned plane movement and drives traction rope movement；Marker is provided on guide rope, mark substance markers guide rope enters the position of releasing pulley；It takes photo by plane and is provided with monitoring device on unmanned plane；Releasing pulley includes frame, pulley, guide rope guide rail and centering valve system；Using the releasing pulley of this structure, installation is reliable, and convenient disassembly, unwrapping wire link subtracts manpower and unmanned plane compounding practice is time saving and energy saving, improves construction efficiency, is suitble to current power industry.
Description
Technical field
The present invention relates to electric system pay-off equipment fields, and in particular to a kind of unmanned plane stringing system and stringing method.
Background technique
Releasing pulley is applied to electric system, as auxiliary tool when being commonly used for being laid with cable.Traditional unwrapping wire is sliding
Vehicle typically only includes frame body and pulley, and not set center support system and paying off system need worker to climb up when installing guide rope
Pylon, using helicopter, dirigible carries out unwrapping wire, time-consuming and laborious and easily affected by environment.
Summary of the invention
For shortcoming in the prior art, it is an object of the invention to propose a kind of unmanned plane stringing system and stringing side
Method, carrying out operation based on side incoming type releasing pulley realizes transmission line of electricity using stringing unmanned plane as flying platform
The unmanned plane unwrapping wire of guide rope in work progress, easy to operate is structurally reasonable, is not necessarily to high-altitude personnel compounding practice, section
Manpower has been saved, construction period is shortened, has improved the personnel safety in work progress.
Technical scheme is as follows:
A kind of unmanned plane stringing system comprising stringing unmanned plane, unmanned plane of taking photo by plane, guide rope, controller, draw drum and
Releasing pulley；The releasing pulley uses side incoming type；The stringing unmanned plane is provided with the fixed device of guide rope, described to lead
Messenger is connected to the fixed device of the guide rope, and the stringing unmanned plane carries out bracing wire as flying platform；The stringing nobody
The wireless signal transceiver that can receive remote signal is respectively set in machine and the unmanned plane of taking photo by plane, and the controller passes through the frame
Line unmanned plane and the respective wireless signal transceiver of unmanned plane of taking photo by plane control the stringing unmanned plane respectively and take photo by plane nobody
Machine makes the unmanned machine travel guide rope of the stringing, and across taking photo by plane described in the releasing pulley and control, unmanned plane is shot, institute
It states unmanned plane of taking photo by plane and is provided with monitoring device；The guide rope is provided with marker, and the mark substance markers guide rope, which enters, to be put
The position of line coaster；The releasing pulley includes frame, pulley, guide rope guide rail and centering valve system；The frame includes
First crossbeam, second cross beam, the first side supports bar and the second side support rod；The top of second side support rod is arranged
It is jagged；Second side support rod is divided into the second side support rod first part and the second side support rod second by the notch
Part, one first crossbeam, the first side supports bar and the second side support rod second composition entirety, described second side
The upper end of support rod first part, portion and the first crossbeam end far from the first side supports bar of the first crossbeam are logical
Pin shaft is crossed to be attached；The size of the first side supports bar is greater than the size of second side support rod；Described first
Ballast box is arranged close to the side of the second side support rod first part in the top of crossbeam；The guide rope guide rail setting exists
The lower surface of the notch is provided with angle between the guide rope guide rail and second side support rod；The pulley exists
Parallel with own axes side setting is fluted, and the both ends of the rotation axis of the pulley are connected to the first side supports bar and the
Two side supports bars；The centering valve system includes first baffle and second baffle, the first baffle and first side
The connection of portion's support rod, the second baffle are connect with second side support rod；The first baffle and the second baffle
It is oppositely arranged, there is gap between the first baffle and second baffle；The setting of the top of the first baffle and second baffle
At inclined-plane, can slide after entering the releasing pulley so as to the guide rope to the groove of the pulley.
Preferably, the centre of the first baffle and the first side supports bar contacts, and the first baffle is provided with first
The first right-angle connector, the first part of first right-angle connector is arranged in the side at edge, the first side supports bar
The side of the first side supports bar is connected to by fastener；The first part of first right-angle connector is provided with the first company
Extension bar fixing seat, the first end of first connecting rod and first connecting rod fixing seat are rotatablely connected, the second end of first connecting rod with
First edge is affixed；It further include the first spring in the centering valve system；The first end of first spring is connected to first
Edge；The second end of first spring is connected to the second part of the first right-angle connector；And the second baffle and second
The intermediate contact of side supports bar, the second baffle are provided with second edge, the side setting of second side support rod
Second right-angle connector, the first part of second right-angle connector are connected to the side of the second side support rod by fastener
Face；Be provided with the second connecting rod fixing seat in the first part of second right-angle connector, the first end of the second connecting rod with
The rotation connection of second connecting rod fixing seat, the second end and second edge of the second connecting rod are affixed；In the centering valve system
It further include second spring；The first end of the second spring is connected to second edge；The second end of the second spring is connected to
The second part of second right-angle connector；
The spring contraction triggers the first baffle and the second baffle and opens, and the first baffle is described the
The first side supports bar is left under the support of one connecting rod, under the action of first spring, the first baffle is opened
It opens；And the second baffle leaves second side support rod under the support of second connecting rod, in second bullet
Under the action of spring, the second baffle is opened.
Preferably, the quantity of the pulley is odd number, and most intermediate pulley is used for the guidance of guide rope, most intermediate pulley
As intermediate pulley；Guidance of the wheels arrangements on the intermediate pulley both sides for rear class guide rope or cable.
Preferably, the hovering precision of the stringing unmanned plane is level -1.5m~1.5m, vertical 0.5m；The nothing of taking photo by plane
Man-machine hovering precision is -1.5m~1.5m.
Preferably, the stringing unmanned plane is provided with double antenna.
Preferably, counterweight is set on the guide rope that stringing unmanned plane is connected to provide tension.
Preferably, the counterweight is spherical weights, and the diameter of the spherical weights is less than the width of single pulley, the ball
Shape counterweight is arranged in the guide rope at the stringing unmanned plane 3m.
A kind of unmanned plane stringing method carried out using above-mentioned unmanned plane stringing system comprising following steps:
Step 1: calibration sensor, the working condition of the fixed device of test guide rope；
Step 2: installation guide rope；
Step 3: the unmanned plane that will take photo by plane flies to predetermined position, and unmanned plane of taking photo by plane hovers in predetermined position, keeps pacifying with steel tower
Full distance detects stringing region；
Step 4: stringing unmanned plane flies to predetermined position, and hovers, and guarantees that the label on guide rope is sliding close to unwrapping wire
Vehicle；Payingoff speed is controlled according to state of flight；
Step 5: control stringing unmanned plane position makes guide rope enter card slot；Control guiding rope tension, by stringing without
It is man-machine to pull guide rope, so that guide rope is entered releasing pulley；
Step 6: stringing unmanned plane makes a return voyage far from steel tower, and unmanned plane of taking photo by plane makes a return voyage, and stringing is completed.
Compared with prior art, the beneficial effects of the present invention are:
Unmanned plane stringing system of the present invention and stringing method are based on side incoming type releasing pulley, wherein putting
Line coaster can cooperate with unmanned plane, be not necessarily to staff's high altitude operation；Later, in order to guarantee that inlet wire is smooth, guide rail is provided
The high-altitude visual field enables guide rope smoothly to fall into coaster in high-altitude, easy to operate, and after the completion of inlet wire, coaster can be in stress
The state of balance；In order to guarantee that guide rope is fallen on intermediate pulley, setting centering valve is oriented to, and guide rope is carrying out one
Mistake during dragging mostly, centering valve are opened, and guarantee the placement of subsequent rear class guide rope or cable.
Detailed description of the invention
Below in conjunction with attached drawing, the present invention will be described in detail.
Fig. 1 is the structural schematic diagram of releasing pulley described in unmanned plane stringing system according to the present invention.
Fig. 2 is the structural schematic diagram of the centering valve system in unmanned plane stringing system according to the present invention.
Appended drawing reference:
Frame 1；Pulley 2；Centering valve system 3；Guide rope guide rail 4；
First crossbeam 11；First side supports bar 12；Second side support rod 13；Second cross beam 14；Notch 15；Pin shaft
16；Ballast box 17；Connector 18；Second side support rod first part 131；Second side support rod second part 132；First
Baffle 31；Second baffle 32；First edge 311；Second edge 321.
Specific embodiment
The unmanned plane stringing system of embodiment according to the present invention comprising stringing unmanned plane, unmanned plane of taking photo by plane, guiding
Rope, draw drum and releasing pulley, and releasing pulley uses side incoming type structure.
Stringing unmanned plane carries out bracing wire as flying platform, it is preferable that and the load of stringing unmanned plane is 0kg-6kg,
The maximum wind loading rating of stringing unmanned plane is 8m/s, and the hovering precision of stringing unmanned plane is level -1.5m~1.5m, vertically
0.5m, stringing unmanned plane are provided with double antenna, and to improve anti-interference, the fixed device of guide rope is provided on stringing unmanned plane,
Guide rope is connected to the fixed device of guide rope.
Unmanned plane stringing system further includes controller, is respectively set on stringing unmanned plane and unmanned plane of taking photo by plane respective wireless
Signal transceiver, wireless signal transceiver receive remote signal, and each controller is each by stringing unmanned plane and unmanned plane of taking photo by plane
From wireless signal transceiver control stringing unmanned plane respectively and unmanned plane of taking photo by plane carries out respective movement, lead stringing unmanned plane
Messenger is guided, across releasing pulley and control unmanned plane of taking photo by plane is shot.
Preferably, controller includes the first controller and second controller, and wireless signal transceiver includes the first wireless communication
Number transceiver and second wireless singal transceiver, the first wireless signal transceiver are arranged in stringing unmanned plane, second wireless singal
Transceiver setting is being taken photo by plane on unmanned plane, and the first wireless signal transceiver is communicated with the first controller, second wireless singal
Transceiver is communicated with second controller, and the first controller control stringing unmanned plane is acted, second controller control boat
Unmanned plane is clapped to be acted.
Preferably, it is provided with marker on guide rope, is configured to the position that label guide rope enters releasing pulley.
It takes photo by plane and is provided with monitoring device on unmanned plane.Preferably, take photo by plane unmanned plane hovering precision be -1.5m~1.5m,
Monitoring device includes that the pixel of camera photography machine is 20,000,000 pixels, to return video in real time.
The present invention is described in detail with reference to the accompanying drawing.
As shown in Figure 1, releasing pulley includes frame 1, pulley 2, guide rope guide rail 4 and centering valve system 3.Frame 1 wraps
Include first crossbeam 11, second cross beam 14, the first side supports bar 12 and the second side support rod 13.First crossbeam 11 is located at first
The top of side supports bar 12 and the second side support rod 13, second cross beam 14 are located at the first side supports bar 12 and the second side
The lower part of support rod 13.The top setting jagged 15 of second side support rod 13.Notch 15 divides the second side support rod 13
It is respectively the second side support rod first part 131 and the second side support rod second part 132 for two parts, first is horizontal
Beam 11, the first side supports bar 12 and the second side support rod second part 132 are an entirety, the second side support rod first
The upper end of part 131 and the first crossbeam end far from the first side supports bar of first crossbeam 11 are connected by pin shaft 16
It connects.
Preferably, the size of the first side supports bar 12 is greater than the size of the second side support rod 13, to ensure first
Side supports bar 12 can bear biggish active force, it is ensured that the intensity in work, to guarantee safety in utilization.
On the top of first crossbeam 11, ballast box 17 is set, it is preferable that the setting of ballast box 17 on 11 top of first crossbeam and
Close to the position of the second side support rod first part 131, to guarantee that releasing pulley is in horizontality.
Preferably, connector 18 is set on the top of first crossbeam 11, connector 18 is configured to fixed releasing pulley.
The lower surface of notch 15 is arranged in guide rope guide rail 4, is arranged between guide rope guide rail 4 and the second side support rod 13
There is angle, after entering guide rail so as to guide rope, can smoothly enter into releasing pulley.
The quantity of pulley 2 is at least one, it is preferable that the side setting parallel with own axes of pulley 2 is fluted, multiple
Pulley has common rotation axis, and the both ends of rotation axis are rotatably connected to the first side supports bar 12 by bearing respectively
With the second side support rod 13.
Alternatively, the quantity of pulley 2 is at least one, it is preferable that the side parallel with own axes of pulley 2 is provided with recessed
Slot, multiple pulleys have common support shaft, and the both ends of support shaft are connected to the first side supports bar 12 and the second side branch
Strut 13.
Preferably, the quantity of pulley 2 is odd number, and most intermediate pulley is used for the guidance of guide rope.By most intermediate pulley
As intermediate pulley.Guidance of the wheels arrangements on intermediate pulley both sides for rear class guide rope or cable.
Preferably, centering valve system 3 includes first baffle 31 and second baffle 32, first baffle 31 and the first side branch
Strut 12 connects, and second baffle 32 is connect with the second side support rod 13.First baffle 31 and second baffle 32 are oppositely arranged, the
There is gap between one baffle 31 and second baffle 32.
The top of first baffle 31 and second baffle 32 is arranged to inclined-plane, and energy is smooth after entering releasing pulley so as to guide rope
It slides to the groove of corresponding pulley 2.
That is, lower dimension of the upper dimension of the first plate washer 31 less than the first plate washer.The top of second plate washer 32
Lower dimension of the size less than the second plate washer.
First baffle 31 is contacted with the centre of the first side supports bar 12, and first baffle 31 is provided with first edge 311, the
One edge 311 is provided with the first hole, and the first right-angle connector, the first right-angle connector is arranged in the side of the first side supports bar 12
First part the side of the first side supports bar 12 is connected to by fastener.It is set in the first part of first right-angle connector
It is equipped with first connecting rod fixing seat, the first end and first connecting rod fixing seat of first connecting rod are rotatablely connected, first connecting rod
Second end and first edge 311 it is affixed.
The quantity of first connecting rod is two and the quantity of first connecting rod fixing seat is two.
It further include the first spring in centering valve system 3.
The first end of first spring is connected to first edge 311；The second end of first spring is connected to the connection of the first right angle
The second part of part.
Preferably, second baffle 32 is contacted with the centre of the second side support rod 13, and second baffle 32 is provided with the second side
Edge 321, second edge 321 are provided with the second hole, and the second right-angle connector is arranged in the side of the second side support rod 13, and second is straight
The first part of angle connector is connected to the side of the second side support rod 13 by fastener.The first of second right-angle connector
The second connecting rod fixing seat is provided on part, the first end of the second connecting rod and the second connecting rod fixing seat are rotatablely connected, the
The second end of two connecting rods and second edge 321 are affixed.
Preferably, the quantity of the second connecting rod is two and the quantity of the second connecting rod fixing seat is two.
It further include second spring in centering valve system 3.
The first end of second spring is connected to second edge 321；The second end of second spring is connected to the connection of the second right angle
The second part of part.
Preferably, work as guide rope, for example, cordage, gradually becomes multi-cable rope, for example, when aluminium alloy cable, spring
It shrinks, triggers first baffle 31 and second baffle 32 is opened, first baffle 31 leaves the first side under the support of first connecting rod
Portion's support rod 12, under the action of the first spring, first baffle 31 is opened.
Second baffle 32 leaves the second side support rod 13 under the support of the second connecting rod, in the effect of second spring
Under, second baffle 32 is opened.
Preferably, spherical weights are set on the guide rope that stringing unmanned plane is connected, to provide tension, can hold
It changes places and passes through coaster.Spherical weights are arranged on the guide rope apart from stringing unmanned plane 3m, to reduce suffered by high aerial guide rope
The influence of the wind arrived.Preferably, increase the diameter for the guide rope that stringing unmanned plane is connected, for example, it is attached to increase stringing unmanned plane
The diameter of close guide rope；Or increase the hardness for the guide rope that stringing unmanned plane is connected, for example, it is attached to increase stringing unmanned plane
The hardness of close guide rope, to reduce the deformation extent of guide rope.
The invention also discloses a kind of unmanned plane stringing methods comprising following steps:
Step 1: carrying out equipment debugging, and calibration sensor checks battery capacity, the work of the fixed device of test guide rope
State；
Step 2: installation guide rope clears up periphery object, it is ensured that takeoff condition；
Step 3: the unmanned plane that will take photo by plane flies to predetermined position, and unmanned plane of taking photo by plane hovers in predetermined position, keeps pacifying with steel tower
Full distance detects stringing region；
Step 4: stringing unmanned plane flies to predetermined position, and hovers, and guarantees that the label on guide rope is sliding close to unwrapping wire
Vehicle；Payingoff speed is controlled according to state of flight；
Step 5: guide rope enters coaster；
Preferably, stringing unmanned plane position is controlled, guide rope is made to enter card slot；Control guiding rope tension, by stringing without
It is man-machine to pull guide rope, so that guide rope is entered releasing pulley；
Step 6: stringing unmanned plane makes a return voyage far from steel tower, and unmanned plane of taking photo by plane makes a return voyage, and stringing is completed.
Preferably, the first part of the second side support rod 13 is used as lever.
Further, releasing pulley is integrally in C font structure, and structural strength is high, and guide rope can directly enter from notch
Coaster.Open side does not design the high-intensitive support pulley 2 of wider guarantee and cable to frame 1；The connection of pin shaft 16 right side bar and with the
One crossbeam 11, bar prevent cable from flying out coaster.
After being installed, pin shaft 16 is extracted, dismantles bar, cable goes out coaster from right side notch；Ballast box 17 ensure that
Whole stress balance will not turn on one's side when entire releasing pulley hangs over high-altitude；Guide rail is mounted on C font notch side, and guidance cable exists
High-altitude falls into coaster with can be convenient；Centering valve system 3 is mounted between notch 15 and pulley 2, guarantees cable along valve side
While falling into intermediate pulley；Meanwhile working as guide rope, for example, cordage, gradually becomes multi-cable rope, for example, aluminium alloy cable,
Its cross-sectional area is 630mm2, spring contraction, triggering baffle opening.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.Those skilled in the art should understand that: it still can be to aforementioned implementation
Technical solution documented by example is modified, or is equivalently replaced to part of or all technical features；And these are repaired
Change or replaces, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a kind of unmanned plane stringing system, which is characterized in that it includes stringing unmanned plane, unmanned plane of taking photo by plane, guide rope, control
Device, draw drum and releasing pulley；The releasing pulley uses side incoming type；
The stringing unmanned plane is provided with the fixed device of guide rope, and the guide rope is connected to the fixed device of the guide rope, institute
Stringing unmanned plane is stated as flying platform and carries out bracing wire；
The wireless signal transceiver that can receive remote signal is respectively set in the stringing unmanned plane and the unmanned plane of taking photo by plane, described
Controller controls the stringing by the stringing unmanned plane and the respective wireless signal transceiver of unmanned plane of taking photo by plane respectively
It unmanned plane and takes photo by plane unmanned plane, makes the unmanned machine travel guide rope of the stringing, across taking photo by plane described in the releasing pulley and control
Unmanned plane is shot, and the unmanned plane of taking photo by plane is provided with monitoring device；
The guide rope is provided with marker, and the mark substance markers guide rope enters the position of releasing pulley；
The releasing pulley includes frame, pulley, guide rope guide rail and centering valve system；The frame include first crossbeam,
Second cross beam, the first side supports bar and the second side support rod；The top setting of second side support rod is jagged；Institute
It states notch and the second side support rod is divided into the second side support rod first part and the second side support rod second part, it is described
One first crossbeam, the first side supports bar and the second side support rod second composition entirety, second side support rod
The first crossbeam end far from the first side supports bar of the upper end of first part and the first crossbeam by pin shaft into
Row connection；The size of the first side supports bar is greater than the size of second side support rod；The first crossbeam it is upper
Ballast box is arranged close to the side of the second side support rod first part in portion；The guide rope guide rail is arranged in the notch
Lower surface, be provided with angle between the guide rope guide rail and second side support rod；The pulley with itself axis
The parallel side setting of line is fluted, and the both ends of the rotation axis of the pulley are connected to the first side supports bar and the second side branch
Strut；The centering valve system includes first baffle and second baffle, the first baffle and the first side supports bar
Connection, the second baffle are connect with second side support rod；The first baffle and the second baffle are oppositely arranged,
There is gap between the first baffle and second baffle；The top of the first baffle and second baffle is arranged to inclined-plane, with
Toilet is stated after guide rope enters the releasing pulley and can be slid to the groove of the pulley.
2. unmanned plane stringing system as described in claim 1, which is characterized in that the first baffle and the first side supports bar
Intermediate contact, the first baffle is provided with first edge, and the side of the first side supports bar is arranged the first right angle and connects
Fitting, the first part of first right-angle connector are connected to the side of the first side supports bar by fastener；Described
The first part of one right-angle connector is provided with first connecting rod fixing seat, and the first end and first connecting rod of first connecting rod are solid
Reservation rotation connection, the second end and first edge of first connecting rod are affixed；It further include the first bullet in the centering valve system
Spring；The first end of first spring is connected to first edge；The second end of first spring is connected to the connection of the first right angle
The second part of part；And the centre of the second baffle and the second side support rod contacts, the second baffle is provided with second
The second right-angle connector, the first part of second right-angle connector is arranged in the side at edge, second side support rod
The side of the second side support rod is connected to by fastener；Second is provided in the first part of second right-angle connector
Connecting rod fixing seat, the first end of the second connecting rod and the second connecting rod fixing seat are rotatablely connected, the second end of the second connecting rod
It is affixed with second edge；It further include second spring in the centering valve system；The first end of the second spring is connected to
Two edges；The second end of the second spring is connected to the second part of the second right-angle connector；
The spring contraction, triggers the first baffle and the second baffle is opened, and the first baffle connects described first
The first side supports bar is left under the support of extension bar, under the action of first spring, the first baffle is opened；And
The second baffle leaves second side support rod under the support of second connecting rod, in the work of the second spring
Under, the second baffle is opened.
3. unmanned plane stringing system as described in claim 1, which is characterized in that the quantity of the pulley is odd number, most intermediate
Pulley be used for guide rope guidance, most intermediate pulley is as intermediate pulley；The wheels arrangements on the intermediate pulley both sides are used
In the guidance of rear class guide rope or cable.
4. unmanned plane stringing system as described in claim 1, which is characterized in that the hovering precision of the stringing unmanned plane is water
Flat -1.5m~1.5m, vertical 0.5m；The hovering precision of the unmanned plane of taking photo by plane is -1.5m~1.5m.
5. unmanned plane stringing system as described in claim 1, which is characterized in that the stringing unmanned plane is provided with double antenna.
6. unmanned plane stringing system as described in claim 1, which is characterized in that on the guide rope that stringing unmanned plane is connected
Counterweight is set to provide tension.
7. unmanned plane stringing system as claimed in claim 6, which is characterized in that the counterweight is spherical weights, the spherical shape
The diameter of counterweight is less than the width of single pulley, and the spherical weights are arranged in the guide rope apart from the stringing unmanned plane 3m
Place.
8. a kind of unmanned plane stringing method carried out using unmanned plane stringing system as described in claim 1, which is characterized in that
It includes the following steps:
Step 1: calibration sensor, the working condition of the fixed device of test guide rope；
Step 2: installation guide rope；
Step 3: the unmanned plane that will take photo by plane flies to predetermined position, take photo by plane unmanned plane predetermined position hover, with steel tower keep safety away from
From being detected to stringing region；
Step 4: stringing unmanned plane flies to predetermined position, and hovers, and guarantees the label on guide rope close to releasing pulley；
Payingoff speed is controlled according to state of flight；
Step 5: control stringing unmanned plane position makes guide rope enter card slot；Control guiding rope tension, passes through stringing unmanned plane
Guide rope is pullled, guide rope is made to enter releasing pulley；
Step 6: stringing unmanned plane makes a return voyage far from steel tower, and unmanned plane of taking photo by plane makes a return voyage, and stringing is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811209561.7A CN109473910A (en) | 2018-10-17 | 2018-10-17 | Unmanned plane stringing system and stringing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811209561.7A CN109473910A (en) | 2018-10-17 | 2018-10-17 | Unmanned plane stringing system and stringing method |
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| CN201811209561.7A Pending CN109473910A (en) | 2018-10-17 | 2018-10-17 | Unmanned plane stringing system and stringing method |
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| CN110289571A (en) * | 2019-04-01 | 2019-09-27 | 中国电力科学研究院有限公司 | A kind of releasing pulley and application method for unmanned plane spreading guiding rope |
| CN110879615A (en) * | 2019-12-25 | 2020-03-13 | 上海市南电力（集团）有限公司 | Traction pay-off system and method based on automatic flight of multi-rotor unmanned aerial vehicle |
| CN111294570A (en) * | 2020-03-27 | 2020-06-16 | 扬州大学 | Intelligent building construction system based on unmanned aerial vehicle and use method thereof |
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| CN110289571A (en) * | 2019-04-01 | 2019-09-27 | 中国电力科学研究院有限公司 | A kind of releasing pulley and application method for unmanned plane spreading guiding rope |
| CN110289571B (en) * | 2019-04-01 | 2023-09-08 | 中国电力科学研究院有限公司 | Paying-off pulley for spreading and paying-off guide rope of unmanned aerial vehicle and use method |
| CN110165602B (en) * | 2019-04-24 | 2020-11-17 | 河南送变电建设有限公司 | System and method for high-voltage stringing |
| CN110165602A (en) * | 2019-04-24 | 2019-08-23 | 河南送变电建设有限公司 | A kind of high pressure stringing system and method |
| CN110879615B (en) * | 2019-12-25 | 2023-05-30 | 上海市南电力（集团）有限公司 | Traction paying-off system and method based on multi-rotor unmanned aerial vehicle automatic flight |
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| CN111294570A (en) * | 2020-03-27 | 2020-06-16 | 扬州大学 | Intelligent building construction system based on unmanned aerial vehicle and use method thereof |
| CN111294570B (en) * | 2020-03-27 | 2022-03-08 | 扬州大学 | Intelligent building construction system based on unmanned aerial vehicle and use method thereof |
| CN113675784A (en) * | 2021-08-17 | 2021-11-19 | 国网河北省电力有限公司沧州供电分公司 | Wire leading device of paying-off tackle |
| CN113629583A (en) * | 2021-08-18 | 2021-11-09 | 国网河北省电力有限公司沧州供电分公司 | Unwrapping wire coaster upgrading module and unwrapping wire coaster |
| CN114865529A (en) * | 2022-05-31 | 2022-08-05 | 广东电网有限责任公司 | Cantilever type upward pulley for electric power angle steel tower |
| CN115224632A (en) * | 2022-08-08 | 2022-10-21 | 湘潭潭州电力建设有限公司 | A unmanned aerial vehicle stringing structure for electric power iron tower |
| CN115224632B (en) * | 2022-08-08 | 2024-02-13 | 湘潭潭州电力建设有限公司 | Unmanned aerial vehicle frame line structure for electric power iron tower |
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