CN111987637A - Method for automatically unfolding guide rope in autonomous flight in large crossing section of unmanned aerial vehicle - Google Patents
Method for automatically unfolding guide rope in autonomous flight in large crossing section of unmanned aerial vehicle Download PDFInfo
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- CN111987637A CN111987637A CN202010509146.4A CN202010509146A CN111987637A CN 111987637 A CN111987637 A CN 111987637A CN 202010509146 A CN202010509146 A CN 202010509146A CN 111987637 A CN111987637 A CN 111987637A
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- aerial vehicle
- unmanned aerial
- guide rope
- flight
- unfolding
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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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
Abstract
The invention relates to a method for unfolding a guide rope, in particular to a method for automatically unfolding the guide rope in an autonomous flying mode in a large-span section of an unmanned aerial vehicle, which comprises the following steps: step one, planning a route: obtaining the flight track of the air route planning unmanned aerial vehicle (1) and generating a flight planning air route (9); step two, connecting a guide rope (5): the guide rope (5) is spread on the unmanned aerial vehicle (11) to be connected; step three, monitoring the first visual angle video: monitoring the air condition; step four, autonomous flight and automatic exhibition: the unmanned aerial vehicle (11) for unfolding the guide rope flies autonomously and automatically according to the generated flight planning air route (9). The invention can realize that the process of unfolding the guide rope (5) by the unmanned aerial vehicle in the large-span section is changed from a manual control mode to an automatic unfolding mode for autonomous flight, thereby greatly reducing the working intensity of operators, reducing the operation difficulty, improving the operation efficiency and greatly reducing the cost of paying off failure.
Description
Technical Field
The invention relates to a method for unfolding a guide rope, in particular to a method for automatically unfolding the guide rope in an autonomous flying mode in a large-span section of an unmanned aerial vehicle.
Background
In a power transmission line construction part in the field of power systems, a power transmission line iron tower needs to be erected first, and then power transmission line guide rope unfolding work is carried out. The traditional guide rope unfolding mode is manual unfolding, the labor intensity is high, the construction difficulty is high, and the operation efficiency is low. Especially in the large-span section, the length of one tension section is more than 1000 meters, and partial large-span even river and lake flows are spanned, thus providing higher challenges for the spreading work of the guide rope.
In recent years, with the progress of science and technology, various modes such as an airship unfolding mode, a power umbrella unfolding mode and an unmanned aerial vehicle unfolding mode are gradually developed. Compared with the traditional manual unfolding mode, the manual unfolding mode has the advantages that the labor intensity of operators is greatly reduced, the working difficulty is reduced, and the paying-off efficiency is improved. Wherein, the aerial work can also be regardless of various landforms and landforms, and has the advantage of incomparable ground work.
However, over time, the shortcomings of the aerial work have gradually emerged. The control difficulty of the airship unfolding mode is high; the power umbrella unfolding mode needs manual operation, and the flight personnel have certain danger; the unmanned aerial vehicle exhibition mode has higher requirement to unmanned aerial vehicle control personnel's technical merit. On the basis of the existing high-altitude guide rope unfolding method, the problems of low labor intensity, low operation difficulty and high efficiency are further solved.
Based on the above problems, it is a necessary trend to research and develop a method for automatically unfolding a guide rope in an unmanned aerial vehicle large-span section by autonomous flight.
Disclosure of Invention
The invention provides a method for automatically unfolding a guide rope by autonomous flight in a large-span section of an unmanned aerial vehicle, aiming at the problems of unfolding the guide rope in the prior art.
In order to solve the technical problem, the invention is solved by the following technical scheme:
the method for automatically unfolding the guide rope in the autonomous flight of the unmanned aerial vehicle in the large-span section comprises the following steps:
step one, planning a route: an unmanned aerial vehicle operator firstly operates a flight path planning unmanned aerial vehicle to carry out one-time manual flight to determine flight path points, wherein the flight path points sequentially comprise a ground flying point, a position 4-6m higher than the top of a first base tension tower, a position 4-6m higher than the top of a second base linear tower, a position 4-6m higher than the top of a third base linear tower, a position 4-6m higher than the top of a fourth base tension tower needing to be unfolded with a guide rope and a guide rope unfolding point, and the guide rope unfolding point is the front end of the top of the fourth base tension tower which moves 4-6m upwards and then moves 4-6m away from the third base linear tower;
after the unmanned aerial vehicle lands, an unmanned aerial vehicle operator connects flight path points by using an unmanned aerial vehicle ground station to obtain a flight track of the air route planning unmanned aerial vehicle, generates a flight planning air route and stores the flight planning air route to the unmanned aerial vehicle ground station;
step two, connecting a guide rope: the method comprises the following steps that a pay-off reel needing to be unfolded with a guide rope is placed stably at a ground flying starting point, the guide rope is ensured to be wound on the pay-off reel correctly, one end of the guide rope is connected with a guide rope unfolding unmanned aerial vehicle, an automatic unhooking device is arranged at the lower end of the guide rope unfolding unmanned aerial vehicle, and a buckle connected with the guide rope is arranged on the automatic unhooking device;
step three, monitoring the first visual angle video: an unmanned aerial vehicle operator opens a first visual angle video monitoring system of a guide rope unfolding unmanned aerial vehicle to monitor the air condition;
step four, autonomous flight and automatic exhibition: the unmanned aerial vehicle operator opens the unmanned aerial vehicle ground station and the guide rope unfolding unmanned aerial vehicle, after the unmanned aerial vehicle ground station and the guide rope unfolding unmanned aerial vehicle are connected, the man-machine operator automatically uploads the planned route stored in the unmanned aerial vehicle ground station in the step one to a flight control system of the guide rope unfolding unmanned aerial vehicle, and sets a guide rope unfolding point as an opening position of a buckle in the automatic unhooking device; then start the pilot rope exhibition and put unmanned aerial vehicle, the pilot rope exhibition is put unmanned aerial vehicle and is independently flown according to the flight planning course that has generated to the pilot rope exhibition point that needs the exhibition to put the pilot rope stops automatically, confirms that the position is errorless the back buckle is automatic to be opened and is realized the exhibition of pilot rope and put.
Preferably, the method for specifically determining the flight trajectory in the step one comprises the following steps: the air route planning unmanned aerial vehicle flies to each base tower top department, and the unmanned aerial vehicle control personnel all confirm this point manually on unmanned aerial vehicle ground satellite, and then the automatic shaft tower icon that generates this point of unmanned aerial vehicle ground satellite, waits after the air route planning unmanned aerial vehicle lands, and unmanned aerial vehicle control personnel utilize unmanned aerial vehicle ground satellite to link up all shaft tower icons, gets this unmanned aerial vehicle's flight trajectory promptly.
Preferably, the wire releasing disc in the second step comprises a support, a wire disc body is rotatably connected to the support, the wire disc body comprises two circular wire blocking discs which are arranged in parallel, and a wire winding column coaxial with the axis of each circular wire blocking disc is connected between the two circular wire blocking discs.
Preferably, the support includes the support frame of two isosceles triangle shapes, and two circular drum stoppers rotate to be connected in the apex angle department of two support frames, through two angle steel fixed connection between two support frames, two angle steels are fixed respectively in the both sides of support frame bottom.
Preferably, the bracket is provided with a hand-operated handle fixedly connected with one of the circular wire blocking discs, and the hand-operated handle and the circular wire blocking disc are coaxially arranged. Ground operation personnel can be through the supplementary control of crank handle guidance pilot rope's exhibition speed, avoid the condition that the guidance rope exhibition was put too fast, too slow or is blocked to appear.
Preferably, the automatic unhooking device in the second step comprises a motor mounting plate, and a hanging point connected with the unmanned aerial vehicle for unfolding the guide rope is fixed on the upper surface of the motor mounting plate; be fixed with servo motor on the lower surface of motor mounting panel, be connected with the turbine on servo motor's the motor shaft, still include the buckle mounting panel that the upper end was all fixed on the motor mounting panel and with buckle mounting panel parallel arrangement's worm mounting panel, install two buckles that can open and shut each other on the buckle mounting panel, install two on the worm mounting panel and distribute in the turbine both sides and with the worm of turbine meshing, worm one end is rotated and is connected on the worm mounting panel, the other end passes the buckle mounting panel and is used for driving the buckle dorsad to rotate and open with the upper end connection of buckle. Realize being connected between servo motor and the unmanned aerial vehicle ground satellite station through the antenna, control servo motor rotates and realizes opening of buckle to the realization is restricting the accurate unwrapping wire of exhibition point at the guide to the guide.
Preferably, the first visual angle video monitoring system in the third step comprises a camera installed at the front end of the guide rope unfolding unmanned aerial vehicle and a ground image receiving station connected with the camera, and the camera transmits images in the range of the camera at the front end of the guide rope unfolding unmanned aerial vehicle to the ground image receiving station in real time. First visual angle video monitor system makes the operation personnel can observe the process that the unmanned aerial vehicle was put in the exhibition of guide rope and was put and the exhibition was put by the overall process, in case take place emergency and can put unmanned aerial vehicle with the exhibition of guide rope and switch back manual control mode, guarantees operation safety, the vision blind area that produces when avoiding the operation.
Preferably, the air route planning unmanned aerial vehicle is a four-rotor electric remote control unmanned aerial vehicle, and the total takeoff weight is below 7 kg. The air route planning unmanned aerial vehicle is small in size, light in weight and low in cost, and does not need to carry any equipment in the flight process, so that the psychological pressure of operators is greatly relieved.
Preferably, the unmanned aerial vehicle for spreading the guide ropes is a four-rotor electric remote control unmanned aerial vehicle, the self weight is 53.6kg, the maximum takeoff weight is 115kg, and the maximum load weight is 60 kg.
Preferably, the planned route path in the step one comprises an unfolding path and a returning path, and the whole planned route needs to ensure that the time of endurance of the pilot rope unfolding unmanned aerial vehicle can meet the time requirement of unfolding the pilot rope and returning the pilot rope and a margin is reserved.
Due to the adoption of the technical scheme, the invention has the remarkable technical effects that:
the invention plans the route of the unmanned aerial vehicle for pre-planning the pilot rope in the large crossing section by the route planning unmanned aerial vehicle without carrying any equipment, greatly reduces the psychological pressure of operators, realizes the conversion of the process of the unmanned aerial vehicle for unfolding the pilot rope in the large crossing section from a manual control mode to an automatic unfolding mode of autonomous flight, greatly reduces the working intensity of the operators, reduces the working difficulty, improves the working efficiency and greatly reduces the cost of failed paying-off.
Drawings
FIG. 1 is a flowchart of a method of example 1 of the present invention.
Fig. 2 is a schematic diagram of an operation process of a flight line planning unmanned aerial vehicle in embodiment 1 of the present invention.
Fig. 3 is a front view of the wire releasing reel in example 1 of the present invention.
Fig. 4 is a side view of the wire releasing reel in example 1 of the present invention.
Fig. 5 is a front view of the automatic unhooking apparatus in embodiment 1 of the present invention.
Fig. 6 is a bottom view of the automatic unhooking apparatus in embodiment 1 of the present invention.
Fig. 7 is a side view of the automatic unhooking apparatus in embodiment 1 of the present invention.
Fig. 8 is a schematic view of an operation process of the unmanned aerial vehicle for spreading the guide rope in embodiment 1 of the present invention.
The names of the parts indicated by the numerical references in the drawings are as follows: 1-route planning unmanned aerial vehicle, 2-first base strain tower, 3-second base linear tower, 4-third base linear tower, 5-guidance rope, 6-fourth base strain tower, 7-guidance rope exhibition point, 8-unmanned aerial vehicle ground satellite station, 9-flight planning route, 10-drawing drum, 11-guidance rope exhibition unmanned aerial vehicle, 12-automatic unhooking device, 101-support, 102-drum body, 103-circular catch plate, 104-wrapping post, 105-support frame, 106-angle steel, 107-hand handle, 108-bracing piece, 121-motor mounting panel, 122-hanging point, 123-servo motor, 124-turbine, 125-buckle mounting panel, 126-worm mounting panel, 127-worm, 128-worm buckle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1-8, the method for automatically spreading the guidance rope in the autonomous flight of the unmanned aerial vehicle in the large-span section includes the following steps:
step one, planning a route: an unmanned aerial vehicle operator firstly controls a flight path planning unmanned aerial vehicle 1 to perform one-time manual flight to determine flight path points, wherein the flight path points sequentially comprise a ground flying point, a position 4-6m higher than the top of a first base tension tower 2, a position 4-6m higher than the top of a second base straight tower 3, a position 4-6m higher than the top of a third base straight tower 4, a position 4-6m higher than the top of a fourth base tension tower 6 needing to be unfolded with a guide rope 5 and a guide rope unfolding point 7, and the guide rope unfolding point 7 is the front end of the top of the fourth base tension tower 6, which moves 4-6m upwards and then moves 4-6m away from the third base straight tower 4;
after the unmanned aerial vehicle lands, an unmanned aerial vehicle operator connects flight path points by using an unmanned aerial vehicle ground station 8 to obtain a flight track of the air route planning unmanned aerial vehicle 1, generates a flight planning air route 9 and stores the flight planning air route 9 to the unmanned aerial vehicle ground station 8;
the unmanned aerial vehicle control personnel only need manually control the route planning unmanned aerial vehicle 1 to fly, the route planning unmanned aerial vehicle 1 is small in size, light in weight and low in cost, and does not need to carry any equipment in the flying process, so that the psychological pressure of operators is greatly reduced, the control personnel can accurately determine the flight planning route 9 and a guide rope exhibition point 7 in the route, and the smooth proceeding of subsequent exhibition of the guide rope 5 is ensured.
The method for specifically determining the flight trajectory in the embodiment comprises the following steps: route planning unmanned aerial vehicle 1 flies to each base tower top department, and the unmanned aerial vehicle control personnel all confirm this point manually on unmanned aerial vehicle ground satellite 8, and unmanned aerial vehicle ground satellite 8 then the automatic shaft tower icon that generates this point, treats after route planning unmanned aerial vehicle 1 lands, and unmanned aerial vehicle control personnel utilize unmanned aerial vehicle ground satellite 8 to link up all shaft tower icons, gets this unmanned aerial vehicle's flight track promptly. The planned route path finally obtained in this embodiment includes an unfolding route and a returning route, and the whole planned route needs to ensure that the duration of the unmanned aerial vehicle 11 unfolded with the pilot rope can meet the time requirements for unfolding the pilot rope 5 and returning and a margin is reserved.
Step two, connecting a guide rope 5: pay off reel 10 that will need exhibition to put guide rope 5 steadily places at ground flying starting point, ensures that guide rope 5 has correctly twined on pay off reel 10 to put unmanned aerial vehicle 11 with the exhibition of a guide rope 5's one end and be connected, the exhibition of guide rope is put unmanned aerial vehicle 11 lower extreme and is equipped with automatic unhooking device 12, be equipped with the buckle 128 of connecting guide rope 5 on the automatic unhooking device 12, operating personnel is correctly connected with buckle 128 with the one end of guide rope 5.
The automatic unhooking device 12 in this embodiment includes a motor mounting plate 121, and a hanging point 122 connected with the unmanned aerial vehicle 11 for guiding rope unwinding is fixed on the upper surface of the motor mounting plate 121; be fixed with servo motor 123 on the lower surface of motor mounting panel 121, be connected with turbine 124 on servo motor 123's the motor shaft, still include buckle mounting panel 125 that the upper end was all fixed on motor mounting panel 121 and with buckle mounting panel 125 parallel arrangement's worm mounting panel 126, install two buckles 128 that can open and shut each other on the buckle mounting panel 125, install two on the worm mounting panel 126 and distribute in worm 124 both sides and with worm 127 that turbine 124 meshed, worm 127 one end is rotated and is connected on worm mounting panel 126, the other end passes buckle mounting panel 125 and is used for driving buckle 128 to open and shut with the upper end connection of buckle 128. The servo motor is connected with the ground station of the unmanned aerial vehicle through the antenna, after the antenna receives a unhooking signal sent by the ground station, the antenna transmits the signal to the servo motor in the automatic unhooking device 12, the worm wheel 124 is driven to rotate after the servo motor 123 rotates, the worm wheels 124 drive the worm screws 127 on two sides to rotate after the worm screws 127 rotate, then the two buckles 128 are driven to reversely rotate around the connection points of the two buckles, the buckles 128 are opened, and the paying-off action is completed.
The wire releasing disc 10 in the embodiment comprises a support 101, a wire disc body 102 is connected to the support 101 in a rotating mode, the wire disc body 102 comprises two circular wire blocking discs 103 which are arranged in parallel, a wire winding column 104 coaxial with the axis of each circular wire blocking disc 103 is connected between the two circular wire blocking discs 103, each circular wire blocking disc 103 comprises an annular outer ring, a rotating shaft seat connected with the support 101 in a rotating mode is arranged in the middle of each annular outer ring, and the rotating shaft seat is connected with the annular outer rings through supporting rods 108 uniformly arranged in the centers of the annular outer rings. Wherein, support 101 includes the support frame 105 of two isosceles triangle shapes, and two circular wire coil baffles 103 rotate to be connected in the apex angle department of two support frames 105, through two angle steel 106 fixed connection between two support frames 105, two angle steel 106 are fixed respectively in the both sides of support frame 105 bottom, and whole drum body 102 can use wrapping post 104 to be 360 degrees rotations as the center on support 101 top.
The using method of the pay-off reel 10 specifically comprises the following steps: before the operation begins, need with the winding of guide rope 5 on the wrapping post 104 of drawing drum 10, fix another of guide rope 5 again on buckle 128 of guide rope exhibition unmanned aerial vehicle 11 lower extreme automatic unhooking device 12, after guide rope exhibition unmanned aerial vehicle 11 takes off, it will automatically stimulate the guide rope 5 that has twined on drawing drum 10 wrapping post 104.
In addition, be provided with on the support 101 with one of them circular stop wire dish 103 fixed connection's hand handle 107, hand handle 107 and the coaxial setting of circular stop wire dish 103, the drum body 102 can rotate through hand handle 107, ground operation personnel can be through the speed of putting of hand handle 107 assistance-control guidance rope 5, avoid the condition that guidance rope 5 exhibition is too fast, too slow or block to appear.
In this embodiment, the automatic unhooking device 12 includes the hanging point 122 that is used for placing the unmanned aerial vehicle 11 with the guidance rope exhibition on the upper portion and the buckle 128 that can open and shut on the lower portion, and the antenna that is responsible for receiving the switching signal is installed on buckle 128 upper portion, and hanging point 122 is two and is connected with the abdomen position that unmanned aerial vehicle 11 was placed with the guidance rope exhibition.
Step three, monitoring the first visual angle video: an unmanned aerial vehicle operator opens a first visual angle video monitoring system of a guide rope unfolding unmanned aerial vehicle 11 to monitor the air condition; first visual angle video monitoring system is including installing the camera of putting unmanned aerial vehicle 11 positive front end and the ground image receiving station of being connected with the camera at the guide rope exhibition, the camera can be at the guide rope exhibition and put unmanned aerial vehicle 11 flight in-process, transmit the image of guide rope exhibition and put unmanned aerial vehicle 11 positive front end camera within range to ground image receiving station in real time, real-timely with aerial condition with the form high definition transmission of image to ground image receiving station, ensure that the guide rope exhibition is put unmanned aerial vehicle 11 and control personnel can real time monitoring aerial condition, the process that unmanned aerial vehicle 11 flies and the exhibition was put in the guide rope exhibition can be observed to the operation personnel all the way, in case take place emergency can put unmanned aerial vehicle 11 with the guide rope exhibition and switch back manual control mode, guarantee flight safety, the vision blind area that produces when avoiding the operation.
Step four, autonomous flight and automatic exhibition: the unmanned aerial vehicle operator opens the unmanned aerial vehicle ground station 8 and the guide rope unfolding unmanned aerial vehicle 11, after the connection between the unmanned aerial vehicle ground station 8 and the guide rope unfolding unmanned aerial vehicle 11 is completed, the man-machine operator automatically uploads the planned route stored in the unmanned aerial vehicle ground station 8 in the step one to the flight control system of the guide rope unfolding unmanned aerial vehicle 11, and sets a guide rope unfolding point 7 as an opening position of a buckle 128 in the automatic unhooking device 12; then start the pilot rope exhibition and put unmanned aerial vehicle 11, pilot rope exhibition is put unmanned aerial vehicle 11 and is independently flown according to flight planning course 9 that has generated to the pilot rope exhibition point 7 that needs exhibition to put pilot rope 5 stops automatically, confirms that buckle 128 is automatic to be opened after the position is errorless realizes the exhibition of pilot rope 5 and puts.
The specific method for setting the guide rope unwinding point 7 as the opening position of the buckle 128 in the automatic unhooking device 12 in this embodiment is as follows:
the longitude and latitude of the guide rope unfolding point 7 are obtained in advance, the longitude and latitude are compared with the longitude and latitude of the actual flight of the guide rope unfolding unmanned aerial vehicle, and the first criterion is set after the longitude and latitude are matched with the longitude and latitude of the actual flight of the guide rope unfolding unmanned aerial vehicle. And when the unmanned aerial vehicle 11 for guiding rope unwinding flies to the guiding rope unwinding point 7, the unmanned aerial vehicle suspends for five seconds. And judging that the unmanned aerial vehicle 11 which is unfolded by the guide rope hovers for five seconds or more, and setting the judgment as a second criterion. And setting the first criterion and the second criterion as an AND relation, when the two criteria are simultaneously established, sending a unhooking signal to the automatic unhooking device 12 by the ground station, and automatically paying off after the antenna receives the unhooking signal.
Unmanned aerial vehicle controls personnel and has stipulated the exhibition and has put the route before 5 exhibitions of guide rope, guide rope exhibition is put unmanned aerial vehicle 11 and only need independently fly according to established airline, only need unmanned aerial vehicle to control personnel and press the start key and can realize that the guide rope exhibition is put unmanned aerial vehicle 11's independently flight and automatic exhibition put guide rope 5, the skill level to unmanned aerial vehicle controls personnel no longer has very high requirement, the cost of unwrapping wire failure has been reduced by a wide margin, reached the autonomization of 5 exhibition operation overall processes of guide rope, visualization and informationization.
In this embodiment, the air route planning unmanned aerial vehicle 1 is a four-rotor electric remote control unmanned aerial vehicle, and the total takeoff weight is below 7 kg. The unmanned aerial vehicle 11 is a quad-rotor electric remote control unmanned aerial vehicle, and has a self weight of 53.6kg, a maximum takeoff weight of 115kg and a maximum load weight of 60 kg.
In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and all equivalent changes and modifications made in the claims of the present invention should be covered by the claims of the present invention.
Claims (10)
1. The method for automatically unfolding the guide rope in the autonomous flight of the unmanned aerial vehicle in the large-span section is characterized by comprising the following steps of:
step one, planning a route: an unmanned aerial vehicle operator firstly controls a flight path planning unmanned aerial vehicle (1) to manually fly once to determine flight path points, the flight path points sequentially comprise a ground flying starting point, a position 4-6m higher than the top of a first base tension tower (2), a position 4-6m higher than the top of a second base straight line tower (3), a position 4-6m higher than the top of a third base straight line tower (4), a position 4-6m higher than the top of a fourth base tension tower (6) needing to be unfolded with a guide rope (5) and a guide rope unfolding point (7), and the guide rope unfolding point (7) is the front end of the top of the fourth base tension tower (6) moving upwards for 4-6m and then moving towards the direction far away from the third base straight line tower (4) for 4-6 m;
after the unmanned aerial vehicle lands, an unmanned aerial vehicle operator connects flight path points by using an unmanned aerial vehicle ground station (8) to obtain a flight track of the air route planning unmanned aerial vehicle (1), generates a flight planning air route (9) and stores the flight planning air route (9) to the unmanned aerial vehicle ground station (8);
step two, connecting a guide rope (5): the method comprises the following steps that a pay-off reel (10) needing to be unfolded with a guide rope (5) is placed stably at a ground flying starting point, the guide rope (5) is ensured to be wound on the pay-off reel (10) correctly, one end of the guide rope (5) is connected with a guide rope unfolding unmanned aerial vehicle (11), an automatic unhooking device (12) is arranged at the lower end of the guide rope unfolding unmanned aerial vehicle (11), and a buckle (128) connected with the guide rope (5) is arranged on the automatic unhooking device (12);
step three, monitoring the first visual angle video: an unmanned aerial vehicle operator opens a first visual angle video monitoring system of a pilot rope unfolding unmanned aerial vehicle (11) to monitor the air condition;
step four, autonomous flight and automatic exhibition: an unmanned aerial vehicle operator opens an unmanned aerial vehicle ground station (8) and a guide rope unfolding unmanned aerial vehicle (11), after the unmanned aerial vehicle ground station (8) is connected with the guide rope unfolding unmanned aerial vehicle (11), the man-machine operator automatically uploads a flight planning route (9) stored in the unmanned aerial vehicle ground station (8) in the step one to a flight control system of the guide rope unfolding unmanned aerial vehicle (11), and sets a guide rope unfolding point (7) as an opening position of a buckle (128) in an automatic unhooking device (12); then start the pilot rope exhibition and put unmanned aerial vehicle (11), pilot rope exhibition is put unmanned aerial vehicle (11) and is independently flown according to flight planning course (9) that have generated to the pilot rope exhibition point (7) of putting pilot rope (5) is automatic to stop in needs exhibition, and the buckle (128) is automatic to be opened and is realized the exhibition of pilot rope (5) after confirming the position is errorless.
2. The method for automatically spreading the guide rope for unmanned aerial vehicle large-span section autonomous flight according to claim 1, characterized in that: the method for specifically determining the flight trajectory in the first step comprises the following steps: flight path planning unmanned aerial vehicle (1) flies to each base tower top department, and the unmanned aerial vehicle control personnel all confirm this point on unmanned aerial vehicle ground satellite station (8) manually, and unmanned aerial vehicle ground satellite station (8) then the automatic shaft tower icon that generates this point, treats that flight path planning unmanned aerial vehicle (1) descends the back, and unmanned aerial vehicle control personnel utilize unmanned aerial vehicle ground satellite station (8) to link together all shaft tower icons, gets this unmanned aerial vehicle's flight track promptly.
3. The method for automatically spreading the guide rope for unmanned aerial vehicle large-span section autonomous flight according to claim 1, characterized in that: and in the second step, the wire releasing disc (10) comprises a support (101), a wire disc body (102) is rotatably connected to the support (101), the wire disc body (102) comprises two circular wire blocking discs (103) which are arranged in parallel, and a wire winding column (104) coaxial with the circular wire blocking discs (103) in axis is connected between the two circular wire blocking discs (103).
4. The method for automatically spreading the guide rope in autonomous flight in the large-span section of the unmanned aerial vehicle according to claim 3, wherein the method comprises the following steps: support (101) include two isosceles triangle shape's support frame (105), and two circular catch tray (103) rotate to be connected in the apex angle department of two support frames (105), through two angle steel (106) fixed connection between two support frames (105), and two angle steel (106) are fixed respectively in the both sides of support frame (105) bottom.
5. The method for automatically spreading the guide rope in autonomous flight in the large-span section of the unmanned aerial vehicle according to claim 3 or 4, wherein the method comprises the following steps: the support (101) is provided with a hand-operated handle (107) fixedly connected with one of the circular wire blocking discs (103), and the hand-operated handle (107) and the circular wire blocking disc (103) are coaxially arranged.
6. The method for automatically spreading the guide rope for unmanned aerial vehicle large-span section autonomous flight according to claim 1, characterized in that: the automatic unhooking device (12) in the second step comprises a motor mounting plate (121), and a hanging point (122) connected with the guide rope unfolding unmanned aerial vehicle (11) is fixed on the upper surface of the motor mounting plate (121); be fixed with servo motor (123) on the lower surface of motor mounting panel (121), be connected with turbine (124) on the motor shaft of servo motor (123), still include buckle mounting panel (125) that the upper end was all fixed on motor mounting panel (121) and with buckle mounting panel (125) parallel arrangement's worm mounting panel (126), install two buckle (128) that can open and shut each other on buckle mounting panel (125), install two on worm mounting panel (126) and distribute in worm (124) both sides and with worm (127) of worm wheel (124) meshing, worm (127) one end is rotated and is connected on worm mounting panel (126), the other end passes buckle mounting panel (125) and is connected with the upper end of buckle (128) and is used for driving buckle (128) dorsad rotation.
7. The method for automatically spreading the guide rope for unmanned aerial vehicle large-span section autonomous flight according to claim 1, characterized in that: first visual angle video monitor system is including installing the camera of putting positive front end of unmanned aerial vehicle (11) and the ground image receiving station of being connected with the camera in the pilot rope exhibition, and the camera transmits the image of leading rope exhibition in the positive front end camera scope of unmanned aerial vehicle (11) to ground image receiving station in real time.
8. The method for automatically spreading the guide rope for unmanned aerial vehicle large-span section autonomous flight according to claim 1, characterized in that: the air route planning unmanned aerial vehicle (1) is a four-rotor electric remote control unmanned aerial vehicle, and the total takeoff weight is below 7 kg.
9. The method for automatically spreading the guide rope for unmanned aerial vehicle large-span section autonomous flight according to claim 1, characterized in that: the unmanned aerial vehicle (11) is a four-rotor electric remote control unmanned aerial vehicle, the self weight is 53.6kg, the maximum takeoff weight is 115kg, and the maximum load weight is 60 kg.
10. The method for automatically spreading the guide rope for unmanned aerial vehicle large-span section autonomous flight according to claim 1, characterized in that: the planned route path in the step one comprises an unfolding path and a returning path, and the whole planned route needs to ensure that the endurance time of the pilot rope unfolding unmanned aerial vehicle (11) can meet the time requirements of unfolding the pilot rope (5) and returning and a margin is reserved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010509146.4A CN111987637A (en) | 2020-06-07 | 2020-06-07 | Method for automatically unfolding guide rope in autonomous flight in large crossing section of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010509146.4A CN111987637A (en) | 2020-06-07 | 2020-06-07 | Method for automatically unfolding guide rope in autonomous flight in large crossing section of unmanned aerial vehicle |
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| CN111987637A true CN111987637A (en) | 2020-11-24 |
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| CN112904896A (en) * | 2021-01-21 | 2021-06-04 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle autonomous driving route multiplexing method |
| CN113746028A (en) * | 2021-10-14 | 2021-12-03 | 南京王府电力工程设备有限公司 | Erection device for power transmission and distribution network |
| CN114389202A (en) * | 2021-12-01 | 2022-04-22 | 国网山西省电力公司临汾供电公司 | Overhead transmission line tension and pay-off safety cooperative control system and use method thereof |
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| CN112904896A (en) * | 2021-01-21 | 2021-06-04 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle autonomous driving route multiplexing method |
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