CN112455685A - Unmanned aerial vehicle insulating rope throwing device and method with tension measurement protection function - Google Patents
Unmanned aerial vehicle insulating rope throwing device and method with tension measurement protection function Download PDFInfo
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- 238000009413 insulation Methods 0.000 claims description 14
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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
- B64D1/02—Dropping, ejecting, or releasing articles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- G01L5/0033—Force sensors associated with force applying means applying a pulling force
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Abstract
The invention discloses an unmanned aerial vehicle insulating rope throwing device with a tension measurement protection function and a method, and relates to the technical field of power line live working, the unmanned aerial vehicle insulating rope throwing device comprises an unmanned aerial vehicle body and an insulating rope, wherein a tension measurement sensor is installed on the unmanned aerial vehicle body, a throwing device is fixedly connected with the unmanned aerial vehicle body through a connecting piece, the throwing device comprises a steering engine, an installation frame, a rotating rocker, a connecting rod, a U-shaped plate and a rope locking rod, the movable end of the rope locking rod is used for sealing the opening of the U-shaped plate and fixing the insulating rope, the steering engine drives the rotating rocker to rotate, and the movable end of the rotating rocker drives the connecting rod to move and controls; the tension force measuring sensor is interactive with the information of the throwing device, the tension force measuring sensor timely measures the tension force change of the insulating rope in the air, before the tension force value of the insulating rope is close to the maximum lifting force value of the unmanned aerial vehicle, the throwing device installed on the unmanned aerial vehicle is started to timely separate the towed insulating rope from the unmanned aerial vehicle, and the air flight safety of the unmanned aerial vehicle is ensured.
Description
Technical Field
The invention relates to the technical field of live-wire work of power lines, in particular to an unmanned aerial vehicle insulating rope throwing device with a tension measurement protection function and a method.
Background
At present, with the rapid development of social economy in China, the requirements on the stability and safety of the operation of a power system are greatly improved, and because China has wide territory, complex terrain, more hills and mountainous areas and relatively more changeable meteorological conditions, the requirements on the rapidness and the high efficiency cannot be met by conventional means from the initial planning construction of power grid engineering construction to the daily inspection and maintenance after the construction. Along with the rapid development of civil unmanned aerial vehicles, the unmanned aerial vehicle has wide application in the aspects of early-stage exploration, power transmission line planning and design, construction, later-stage operation maintenance, routing inspection and the like in the power industry.
At present, in transmission line construction process, unmanned aerial vehicle has been used and pulls the effect of insulating rope in the cooperation live working process, however in the actual operation process, unmanned aerial vehicle pulls insulating rope in the flight in-process, has a great deal of flight safety problem.
Disclosure of Invention
The unmanned aerial vehicle traction device solves the technical problems that during the newly-built pay-off construction of an unmanned aerial vehicle on a line and the matched hot-line work insulating rope unfolding work, the aerial insulating rope is longer and longer along with the increase of traction distance due to the traction of the unmanned aerial vehicle, when the tension change of the insulating rope is larger than the maximum lift force of the unmanned aerial vehicle, the unmanned aerial vehicle cannot normally pull, the side-turning crash of the unmanned aerial vehicle is easily caused due to the unbalanced tension of the insulating rope and the lift force of the unmanned aerial vehicle, and the traction work of the unmanned aerial. The invention aims to provide an unmanned aerial vehicle insulating rope throwing device with a tension measurement protection function and a method thereof.
The invention is realized by the following technical scheme:
an unmanned aerial vehicle insulating rope throwing device with a tension measurement protection function comprises an unmanned aerial vehicle body and an insulating rope, wherein the bottom of the unmanned aerial vehicle body is fixedly connected with a main connecting support, the main connecting support is provided with a mounting hole, a first tension measurement sensor is mounted in the mounting hole, one end of the first tension measurement sensor is fixed on the main connecting support through a locking nut, the other end of the first tension measurement sensor is connected with a first connecting piece, and the first connecting piece is fixedly connected with a throwing device; the throwing device comprises a steering engine, a mounting rack, a rotating rocker, a connecting rod, a U-shaped plate and a rope locking rod, the mounting rack is fixedly connected with a first connecting piece through a plurality of bolts, the steering engine is mounted on one side of the mounting rack, the rotating rocker, the connecting rod and the rope locking rod are located on the other side of the mounting rack, the movable end of the rotating rocker is connected with one end of the connecting rod, the other end of the connecting rod is fixedly connected with the rope locking rod, an insulating rope is arranged in the U-shaped plate, the movable end of the rope locking rod is used for sealing an opening of the U-shaped plate and fixing the insulating rope, the steering engine drives the rotating rocker to rotate, and the movable end of the rotating rocker drives the connecting rod to move; the first tension measuring sensor is in information interaction with the throwing device, the tension received by the insulating rope is transmitted to the first tension measuring sensor through the throwing component, and when the tension exceeds a preset threshold value, the first tension measuring sensor transmits a signal to the steering engine to control the rope locking rod to move.
In the above scheme, first tension measuring sensor carries out real-time accurate measurement to the pulling force that causes through the haulage rope, avoided too big because of the haulage rope pulling force, thereby cause the unmanned aerial vehicle lift not enough hover and fall to the ground the safety risk of crash even, and it is still not enough at haulage rope length, nevertheless because dare not continue the flight to the potential safety hazard worry, thereby influence the operating efficiency, increase unnecessary activity time, wherein above-mentioned lock nut fixes first connecting piece with a plurality of bolts, first tension measuring sensor belongs to the operation of realizing fixed connection with the device of jettisoninging, accessible replacement mounting realizes the firm nature of structure of whole apparatus in the in-service use.
Furthermore, a second tension measuring sensor is fixedly arranged in the mounting hole, one end of the second tension measuring sensor is fixed to the main connecting support, a second connecting piece is arranged at the other end of the second tension measuring sensor, a guide wheel is fixedly connected to the second connecting piece, one end of the insulating rope is fixed to the U-shaped plate, the guide wheel and the U-shaped plate are located on the same horizontal plane, the insulating rope penetrates through the guide wheel, and the second tension measuring sensor is in information interaction with the throwing device.
In the above scheme, through setting up second tension measuring sensor, make unmanned aerial vehicle flight in-process, the pulling force size of insulating rope is synthesized to 2 sensors of accessible, the precision of tension measuring has been improved, and after one of them sensor is malfunctioning or damaged, unmanned aerial vehicle can continue to carry out the operation of throwing the rope through another sensor still, the aerial accuracy and the security of leading the rope in-process of unmanned aerial vehicle have been improved, the atress that can make the device of throwing through the setting of guide pulley is by vertical direction, trun into horizontal atress, the rotation rocker has been reduced, the connecting rod, the vertical fixed requirement of U-shaped board and lock rope pole, and insulating rope carries on throwing formula device, throwing formula device adopts steering wheel control, the stability of the system is improved.
Preferably, the unmanned aerial vehicle body is equipped with the receiver, the receiver communication connection has ground watch-dog, the receiver with first tension measurement sensor, second tension measurement sensor and jettison device information interaction.
In the above scheme, ground watch-dog can monitor, and the pulling force size real-time data that unmanned aerial vehicle received, and can come whether control to start the jettisoning device according to actual conditions and carry out the insulating rope jettisoning, and it has increased the success rate that the insulating rope jettisoned and has avoided the mistake to jettison and influence the operating efficiency.
Preferably, the ground monitor includes ground remote controller and ground monitoring station, ground remote controller is used for controlling unmanned aerial vehicle and steering wheel work, the ground monitoring station is used for gathering unmanned aerial vehicle's flight path, and the running state of jettisoning device, first tensile force measuring transducer and second tensile force measuring transducer, the cooperation of ground remote controller and ground monitoring station can realize the accurate judgement to jettisoning.
Further, the FPV camera is installed to total linking bridge bottom, the FPV camera monitoring the device of jettisoning with insulating rope position can whole journey observe unmanned aerial vehicle flight position and help the accurate insulating rope of jettisoning.
Optionally, unmanned aerial vehicle chooses for use many rotor unmanned aerial vehicle, many rotor unmanned aerial vehicle install the vision image device, and many rotor unmanned aerial vehicle can produce bigger lift, and it has still reduceed the influence of low wind speed to unmanned aerial vehicle flight, and the environment that vision image device is used for gathering near unmanned aerial vehicle reduces unmanned aerial vehicle flight accident.
In addition, this application still provides an unmanned aerial vehicle insulating rope method of jettisoninging with tensile force measurement protect function, includes following step:
step (1) detecting unmanned aerial vehicle
Checking and determining the body structure of the unmanned aerial vehicle and the battery capacity of the ground remote controller; and confirming that the data transmission of the receiver, the first tension measuring sensor, the second tension measuring sensor, the throwing device and the ground monitor is in a normal state.
Step (2) setting the unmanned aerial vehicle and the insulating rope
The steering engine is controlled through the ground remote controller to drive the rotating rocker to move and then drive the connecting rod to move, the connecting rod drives the rope locking rod to move, the opening of the U-shaped plate of the sealing cover is opened, one end of the insulating rope is arranged in the U-shaped plate, the ground remote controller is controlled again to drive the rope locking rod to move through the steering engine to fix the insulating rope in the U-shaped plate, and after the insulating rope is fixed in the U-shaped plate, the insulating rope penetrates through the guide wheel fixed with the second tension measuring sensor.
Step (3) setting rope throwing conditions
When the safety signals are not processed in time, the first tension measuring sensor and the second tension measuring sensor transmit information to a throwing device to throw the insulating rope; when the safety signal is processed in time, the worker combines the ground monitoring station to transmit information into the throwing device through the ground remote controller to determine whether to throw the insulating rope.
Step (4) unmanned plane line throwing
Detecting a test flight environment, carrying out a rope throwing test of the unmanned aerial vehicle under the wind speed and weather environment meeting the flight requirement of the unmanned aerial vehicle, and after the unmanned aerial vehicle pulls the insulating rope to increase along with the increase of the pulling distance, the tensile force applied to the insulating rope is increased, the insulating rope pulls the throwing device to transmit the tensile force to the first tensile force measuring sensor through the first connecting piece, when the first tension measuring sensor detects that the tension change is in the safe tension maximum range, the steering engine drives the rope locking rod to move, the insulating rope is separated from the U-shaped plate, after the insulating rope is separated from the U-shaped plate, one end of the insulating rope slides to the guide wheel from the U-shaped plate of the throwing device and then falls off, in addition, the FPV camera monitors the environment below the insulating rope, when an object touching the insulating rope is monitored, the FPV camera head sends throwing signals to the ground monitoring station unmanned aerial vehicle to recover normal flight attitude.
In the unmanned detection process, information is transmitted to a throwing device connected with the unmanned aerial vehicle through a first tension measuring sensor in the flying stress process of the unmanned aerial vehicle, and the unmanned aerial vehicle is automatically protected in the rope throwing process through the work of a steering engine; in addition, the second tension measuring sensor, the ground remote controller and the ground monitoring station are used for realizing the artificial control on the throwing, so that the throwing problem caused by detection errors is avoided, and the loss of time, energy and material resources is avoided.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the unmanned aerial vehicle insulating rope throwing device and method with the tension measurement protection function, the first tension measurement sensor and the second tension measurement sensor are used for accurately measuring the tension caused by the traction rope in real time, so that the safety risk that the unmanned aerial vehicle is suspended or even falls to the ground and crashes due to insufficient lifting force caused by overlarge tension of the traction rope is avoided; the length of the hauling rope is not enough, but the safety hazard is worried that the hauling rope dares not to fly continuously, so that the working efficiency is influenced, and the unnecessary working time is increased;
2. according to the unmanned aerial vehicle insulating rope throwing device with the tension measurement protection function, the FPV camera and the visual image device vertically downwards are arranged on the multi-rotor unmanned aerial vehicle, so that the flying position of the unmanned aerial vehicle can be observed in the whole process, and the throwing insulating rope can be accurately thrown;
3. according to the unmanned aerial vehicle insulating rope throwing device with the tension measurement protection function, the stress of the throwing device can be converted from vertical to horizontal through the arrangement of the guide wheels, the vertical fixing requirements of the rotating rocker, the connecting rod, the U-shaped plate and the rope locking rod are reduced, the insulating rope is hung on the throwing device, the throwing device is controlled by the steering engine, and the system stability is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic view of the overall structure of an unmanned aerial vehicle insulating rope throwing device in the embodiment of the invention;
fig. 2 is a schematic view of the overall structure of an unmanned aerial vehicle insulating rope throwing device in the embodiment of the invention;
FIG. 3 illustrates an unmanned aerial vehicle insulation rope tossing method in an embodiment of the invention;
FIG. 4 is a block diagram of the overall structure of the present invention;
fig. 5 is a diagram of the information transfer during the casting process of the present invention.
Reference numbers and corresponding part names:
1. a steering engine; 2. a mounting frame; 3. rotating the rocker; 4. a connecting rod; 5. a rope locking rod; 6. an FPV camera; 7. a main connecting bracket; 8. locking the nut; 9. a first tension measuring sensor; 10. a second tension measuring sensor; 11. a U-shaped plate; 12. a first connecting member; 13. a second connecting member.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, it is to be understood that the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the scope of the present invention.
Examples
As shown in fig. 1, the unmanned aerial vehicle insulating rope throwing device with the tension measurement protection function comprises an unmanned aerial vehicle body and an insulating rope, wherein the bottom of the unmanned aerial vehicle body is fixedly connected with a main connecting support 7, the main connecting support 7 is provided with a mounting hole, a first tension measurement sensor 9 is mounted in the mounting hole, one end of the first tension measurement sensor 9 is fixed on the main connecting support 7 through a locking nut 8, the other end of the first tension measurement sensor is connected with a first connecting piece 12, and the throwing device is fixedly connected with the first connecting piece 12; the first tension measuring sensor 9 is used for accurately measuring the tension caused by the traction rope in real time, the safety risk that the unmanned aerial vehicle is hovered or even falls to the ground due to insufficient lift force caused by overlarge tension of the traction rope is avoided, the throwing device comprises a steering engine 1, a mounting frame 2, a rotating rocker 3, a connecting rod 4, a U-shaped plate 11 and a rope locking rod 5, the mounting frame 2 is fixedly connected with a first connecting piece 12 through a plurality of bolts, the steering engine 1 is arranged on one side of the mounting frame 2, the rotating rocker 3, the connecting rod 4 and the rope locking rod 5 are positioned on the other side of the mounting frame 2, the movable end of the rotating rocker 3 is connected with one end of the connecting rod 4, the other end of the connecting rod 4 is fixedly connected with the rope locking rod 5, the insulating rope is arranged in, an insulating rope is fixed, the steering engine 1 drives the rotary rocker 3 to rotate, the movable end of the rotary rocker 3 drives the connecting rod 4 to move and controls the rope locking rod 5 to move at the opening of the U-shaped plate 11; first tensile force measuring transducer 9 and the information interaction of jettisoning device, the pulling force that insulating rope received is passed to first tensile force measuring transducer 9 through the part of jettisoning, and first tensile force measuring transducer 9 is when the pulling force surpassed predetermined threshold value, and it transmits the signal to steering wheel 1 control lock rope pole 5 activity, and is still not enough at haulage rope length, nevertheless because worry the dare not to continue the flight to the potential safety hazard to influence the operating efficiency, avoided increasing the problem of unnecessary activity duration. The locking nut 8 and the plurality of bolts are used for fixing the first connecting piece 12, the first tension measuring sensor 9 and the throwing device, the operation of realizing fixed connection is realized, and the structural firmness of the whole instrument can be realized by replacing the fixing piece in actual use.
As shown in fig. 1 and 2, preferably, the second tension measuring sensor 10 is further fixedly arranged in the mounting hole, one end of the second tension measuring sensor 10 is fixed to the main connecting bracket 7, the other end of the second tension measuring sensor 10 is provided with a second connecting piece 13, the second connecting piece 13 is fixedly connected with a guide wheel, one end of an insulating rope is fixed to the U-shaped plate 11, the guide wheel and the U-shaped plate 11 are located on the same horizontal plane, the insulating rope passes through the guide wheel, the second tension measuring sensor 10 is in information interaction with the throwing device, the magnitude of tension of the insulating rope can be comprehensively evaluated through the first tension measuring sensor 9 and the second tension measuring sensor 10, the precision of tension measurement is improved, after one of the sensors fails or is damaged, the unmanned aerial vehicle can continue throwing operation through the other sensor, the accuracy and the safety of the unmanned aerial vehicle in the rope pulling process are improved, the stress of the throwing device can be enabled to be in the vertical direction through the arrangement, the horizontal stress is converted, the vertical fixing requirements of the rotating rocker 3, the connecting rod 4, the U-shaped plate 11 and the rope locking rod 5 are reduced, the insulating rope is hung on the throwing device, the throwing device is controlled by the steering engine 1, and the system stability is improved.
As the optimization of above-mentioned embodiment is as shown in fig. 1, fig. 2 and fig. 5, the unmanned aerial vehicle body is equipped with the receiver, and the receiver communication connection has ground watch-dog, and the receiver is mutual with first tension measuring sensor 9, second tension measuring sensor 10 and jettison device information, can come whether to control to start the jettison device according to actual conditions and carry out the insulating rope jettison, and it has increased the success rate of insulating rope jettison and has avoided wrong jettison to influence the operating efficiency.
As the optimization of the above embodiment is as shown in fig. 4 and 5, the ground monitor includes a ground remote controller and a ground monitoring station, the ground remote controller is used for controlling the unmanned aerial vehicle and the steering engine 1 to work, the ground monitoring station is used for collecting the flight path of the unmanned aerial vehicle, the operation states of the throwing device, the first tension measuring sensor 9 and the second tension measuring sensor 10 are collected, and the cooperation of the ground remote controller and the ground monitoring station can realize the accurate judgment of throwing.
It can be understood that: the system for measuring the throwing is composed of the ground remote controller, the receiver, the tension measuring sensor and the throwing device, wherein the throwing device is controlled by arranging an electronic switch on the ground remote controller, the throwing device realizes digital-to-analog signal conversion in a PWM (pulse width modulation) driving mode, a tension display device is arranged on a ground monitoring station to monitor tension conversion in real time, and power is supplied to the throwing device through DC voltage.
As the optimization of above-mentioned embodiment as shown in fig. 4 and 5, install FPV camera 6 in total linking bridge 7 bottom, FPV camera 6 monitors jettison device and insulating rope position, can whole observation unmanned aerial vehicle flight position and help the accurate insulating rope of jettison.
It can be understood that unmanned aerial vehicle chooses for use many rotor unmanned aerial vehicle, and many rotor unmanned aerial vehicle install visual image device, and many rotor unmanned aerial vehicle can produce bigger lift, and it has still reduceed the influence of low wind speed to unmanned aerial vehicle flight, and visual image device is used for gathering near unmanned aerial vehicle's environment and reduces unmanned aerial vehicle flight accident.
As shown in FIG. 3, the application provides an unmanned aerial vehicle insulation rope throwing method with tension measurement protection function, which comprises the following steps:
step (1) detecting unmanned aerial vehicle
Checking and determining the body structure of the unmanned aerial vehicle and the battery capacity of the ground remote controller; and confirming that the data transmission of the receiver, the first tension measuring sensor 9, the second tension measuring sensor 10, the throwing device and the ground monitor is in a normal state.
Step (2) setting the unmanned aerial vehicle and the insulating rope
Drive through ground remote controller control steering wheel 1 and rotate 3 removals of rocker and then drive connecting rod 4 and remove, connecting rod 4 drive the back of locking rope pole 5 removal, make 11 openings of closing cap U-shaped plate open, arrange insulating rope one end in U-shaped plate 11, in controlling ground remote controller again through steering wheel 1 drive locking rope pole 5 removal will be fixed in U-shaped plate 11 with insulating rope, after insulating rope is fixed in U-shaped plate 11, insulating rope passed the guide pulley of fixing with second tensile force measuring sensor 10.
Step (3) setting rope throwing conditions
For the safe maximum tension range of the first tension measuring sensor 9 and the second tension measuring sensor 10, when the first tension measuring sensor 9 and the second tension measuring sensor 10 reach the maximum safe tension range, sending safety signals to a ground remote controller and a ground monitoring station, and when the safety signals are not processed in time, the first tension measuring sensor 9 and the second tension measuring sensor 10 transmit information to a throwing device to throw the insulating rope; when the safety signal is processed in time, the worker combines the ground monitoring station to transmit information into the throwing device through the ground remote controller to determine whether to throw the insulating rope.
Step (4) unmanned plane line throwing
Detecting a test flight environment, carrying out a rope throwing test of the unmanned aerial vehicle under the wind speed and weather environment meeting the flight requirement of the unmanned aerial vehicle, and after the unmanned aerial vehicle pulls the insulating rope to increase along with the increase of the pulling distance, the tensile force applied to the insulating rope is increased, the insulating rope pulls the throwing device to transmit the tensile force to the first tensile force measuring sensor 9 through the first connecting piece 12, when the first tension measuring sensor 9 detects that tension transformation is in a safe tension maximum range, the steering engine 1 drives the rope locking rod 5 to move, the insulating rope is separated from the U-shaped plate 11, after the insulating rope is separated from the U-shaped plate 11, one end of the insulating rope slides to the guide wheel from the U-shaped plate 11 of the throwing device and then falls off, in addition, the environment below the insulating rope is monitored by the FPV camera 6, and when an object touching the insulating rope is monitored, the FPV camera 6 sends a throwing signal to the ground monitoring station unmanned aerial vehicle to restore to a normal flight attitude.
In the practical use process, as shown in fig. 1, 4 and 5, a most basic unmanned aerial vehicle insulation rope throwing device with a tension measurement protection function is provided, one end of an insulation rope is fixed in a U-shaped plate 11 of the throwing device, the throwing device measures the tension applied to the unmanned aerial vehicle in the flying process through a first tension measurement sensor 9 fixed by a first connecting piece 12, the unmanned aerial vehicle is dragged along with the increase of the traction distance, the aerial insulation rope is longer and longer, when the tension change of the insulation rope is larger than the maximum lift of the unmanned aerial vehicle, the unmanned aerial vehicle cannot normally drag, the side-turning and crash of the unmanned aerial vehicle is easily caused by the imbalance of the tension of the insulation rope and the lift of the unmanned aerial vehicle, therefore, a threshold value is set for the first tension measurement sensor 9 according to the difference of the power, the operation condition and the insulation rope of the unmanned aerial vehicle, when the tension approaches the threshold value, the first tension measurement sensor 9 sends, receiver with signal transmission to ground remote controller with be used for monitoring unmanned aerial vehicle's ground monitoring station, in addition, the ground monitoring station collects the actual work image that position FPV camera 6 was gathered through the picture biography system, the staff judges it and controls steering wheel 1 work through the remote control jettison device afterwards, after the staff feedback has not been received to a certain time, steering wheel 1 is done by oneself and is jettisoned, unmanned aerial vehicle is air to be recovered normally because of the pulling force of insulating rope disappears and the gesture, effectively prevent unmanned aerial vehicle from falling down on one's side, ensure unmanned aerial vehicle air flight safety.
As a preference in the above-mentioned use, as shown in fig. 1 and 2, the above-mentioned device is further modified, and a second tension measuring sensor 10 is additionally arranged on the general connecting bracket 7, which is connected with a guide wheel through a second connecting piece 13, one end of an insulating rope is arranged in the U-shaped plate 11 and then passes through the guide wheel, wherein the second tension measuring sensor 10 can also measure the received tension, the arrangement of the guide wheel changes the stress direction of the throwing device, so that the stress direction is more stable, the problem that the unmanned aerial vehicle loses balance and falls after the rope is collided can be reduced, the detection precision is improved by the plurality of tension measuring sensors, the accuracy of tension measuring information is ensured, and the problem that the U-shaped plate 11, the connecting rod 4 and the rotary rocker 3 are stressed in the vertical direction to deflect so as to cause component separation is solved due to the adjustment of the pulling direction.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle insulating rope throwing device with a tension measurement protection function comprises an unmanned aerial vehicle body and an insulating rope, and is characterized in that a main connecting support (7) is fixedly connected to the bottom of the unmanned aerial vehicle body, a mounting hole is formed in the main connecting support (7), a first tension measurement sensor (9) is mounted in the mounting hole, one end of the first tension measurement sensor (9) is fixed to the main connecting support (7), a first connecting piece (12) is arranged at the other end of the first tension measurement sensor, and the throwing device is fixedly connected to the first connecting piece (12);
the throwing device comprises a steering engine (1), a mounting rack (2), a rotating rocker (3), a connecting rod (4), a U-shaped plate (11) and a rope locking rod (5), the mounting rack (2) is fixedly connected with the first connecting piece (12), the steering engine (1) is arranged on one side of the mounting rack (2), the rotating rocker (3), the connecting rod (4) and the rope locking rod (5) are positioned at the other side of the mounting rack (2), the movable end of the rotating rocker (3) is connected with one end of a connecting rod (4), the other end of the connecting rod (4) is fixedly connected with a rope locking rod (5), the insulating rope is arranged in the U-shaped plate (11), the movable end of the rope locking rod (5) is used for sealing the opening of the U-shaped plate (11), the insulating rope is fixed, the steering engine (1) drives the rotating rocker (3) to rotate, the movable end of the rotating rocker (3) drives the connecting rod (4) to move and controls the rope locking rod (5) to move at the opening of the U-shaped plate (11);
the first tension measuring sensor (9) is in information interaction with the throwing device.
2. The unmanned aerial vehicle insulating rope throwing device with tension measurement protection function according to claim 1, wherein a second tension measurement sensor (10) is fixedly arranged in the mounting hole, one end of the second tension measurement sensor (10) is fixed to the main connecting bracket (7), the other end of the second tension measurement sensor is provided with a second connecting piece (13), the second connecting piece (13) is fixedly connected with a guide wheel, one end of the insulating rope is fixed to the U-shaped plate (11), the insulating rope passes through the guide wheel, and the second tension measurement sensor (10) is in information interaction with the throwing device.
3. The insulating rope throwing device of unmanned aerial vehicle with tension measurement protection function of claim 2, characterized in that the unmanned aerial vehicle body is provided with a receiver, the receiver is connected with a ground monitor in a communication manner, and the receiver is in information interaction with the first tension measurement sensor (9), the second tension measurement sensor (10) and the throwing device.
4. The insulating rope throwing device of unmanned aerial vehicle with tension measurement protection function of claim 3, characterized in that, the ground control unit includes ground remote controller and ground monitoring station, ground remote controller is used for controlling unmanned aerial vehicle and steering wheel (1) work, ground monitoring station is used for gathering unmanned aerial vehicle's flight path, the operating condition of throwing device, first tension measurement sensor (9) and second tension measurement sensor (10).
5. The unmanned aerial vehicle insulating rope throwing device with tension measurement protection function according to claim 1, wherein the bottom of the main connecting bracket (7) is provided with an FPV camera (6), and the FPV camera (6) monitors the throwing device and the insulating rope position.
6. The unmanned aerial vehicle insulated rope throwing device with tension measurement protection function of claim 1, wherein the unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle, and the multi-rotor unmanned aerial vehicle is provided with a visual image device.
7. The throwing method of the unmanned aerial vehicle insulating rope throwing device with the tension measurement protection function, which is described in any one of claims 1 to 6, is characterized by comprising the following steps:
step (1) detecting unmanned aerial vehicle
Checking and determining the body structure of the unmanned aerial vehicle and the battery capacity of the ground remote controller; and confirming that the data transmission of the receiver, the first tension measuring sensor (9), the second tension measuring sensor (10), the throwing device and the ground monitor is in a normal state.
Step (2) setting the unmanned aerial vehicle and the insulating rope
The ground remote controller is controlled to drive the rotation rocker (3) to move through the ground remote controller, so that the connecting rod (4) is driven to move, the connecting rod (4) drives the rope locking rod (5) to move, an opening of the U-shaped plate (11) of the sealing cover is opened, one end of the insulating rope is arranged in the U-shaped plate (11), and the ground remote controller is controlled to drive the rope locking rod (5) to move through the ground remote controller to fix the insulating rope in the U-shaped plate (11).
Step (3) setting rope throwing conditions
When the first tension measuring sensor (9) and the second tension measuring sensor (10) reach the maximum safe tension range, the first tension measuring sensor (9) and the second tension measuring sensor (10) send safe signals to a ground remote controller and a ground monitoring station, and when the safe signals are not processed in time, the first tension measuring sensor (9) and the second tension measuring sensor (10) transmit information to a throwing device to throw an insulating rope; when the safety signal is processed in time, the worker combines the ground monitoring station to transmit information into the throwing device through the ground remote controller to determine whether to throw the insulating rope.
Step (4) unmanned plane line throwing
Detect the environment of trying to fly, under the wind speed and the weather environment that satisfy unmanned aerial vehicle flight requirement, carry out unmanned aerial vehicle and throw the rope test, unmanned aerial vehicle pulls insulating rope along with pulling the increase back of distance, the pulling force that insulating rope received increases, insulating rope pulls and throws the device and pass to first pulling force measuring sensor (9) through first connecting piece (12) with the pulling force, when first pulling force measuring sensor (9) detect that the pulling force transform is in safe pulling force maximum value scope, steering wheel (1) drive lock rope pole (5) remove, insulating rope breaks away from U-shaped plate (11), unmanned aerial vehicle resumes normal flight gesture.
8. The unmanned aerial vehicle insulation rope throwing method with tension measurement protection function according to claim 7, wherein in step (2), after the insulation rope is fixed to the U-shaped plate (11), the insulation rope passes through a guide wheel fixed with the second tension measurement sensor (10).
9. The unmanned aerial vehicle insulation rope throwing method with tension measurement protection function according to claim 7, wherein in the step (4), after the insulation rope is separated from the U-shaped plate (11), one end of the insulation rope falls off after sliding from the U-shaped plate (11) of the throwing device to the guide wheel.
10. The unmanned aerial vehicle insulated rope throwing device with tension measurement protection function according to claim 7, wherein in step (4), the FPV camera (6) monitors the environment below the insulated rope, and when an object touching the insulated rope is monitored, the FPV camera (6) sends a throwing signal to the ground monitoring station.
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Cited By (1)
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