CN113161919A - Power transmission line unmanned aerial vehicle auxiliary operation method and device - Google Patents

Power transmission line unmanned aerial vehicle auxiliary operation method and device Download PDF

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Publication number
CN113161919A
CN113161919A CN202010014525.6A CN202010014525A CN113161919A CN 113161919 A CN113161919 A CN 113161919A CN 202010014525 A CN202010014525 A CN 202010014525A CN 113161919 A CN113161919 A CN 113161919A
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China
Prior art keywords
unmanned aerial
aerial vehicle
distance
task
gravity center
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CN202010014525.6A
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Chinese (zh)
Inventor
文志科
邵瑰玮
付晶
蔡焕青
胡霁
陈怡�
刘壮
谈家英
周立玮
曾云飞
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China Electric Power Research Institute Co Ltd CEPRI
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China Electric Power Research Institute Co Ltd CEPRI
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Priority to CN202010014525.6A priority Critical patent/CN113161919A/en
Publication of CN113161919A publication Critical patent/CN113161919A/en
Pending legal-status Critical Current

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Abstract

The invention provides an unmanned aerial vehicle auxiliary operation method for a power transmission line, which comprises the following steps: before the unmanned aerial vehicle takes off, based on the requirement of auxiliary operation, the task tool is mounted on the unmanned aerial vehicle through the gravity center dynamic balancing device, so that the gravity center of the task tool and the gravity center of the unmanned aerial vehicle are kept in the same direction; after the unmanned aerial vehicle takes off, measuring the distance between the unmanned aerial vehicle and a peripheral object in real time, comparing the measured distance with a safety distance, and sending a prompt to ensure that the distance is always greater than the safety distance when the distance approaches the safety distance; after unmanned aerial vehicle reachd the task place, adopt the haulage rope to combine the duckbilled to press from both sides and realize being connected of unmanned aerial vehicle and transmission of electricity wire to transmit the task instrument to transmission of electricity wire, carry out the auxiliary operation through the task instrument. The unmanned aerial vehicle auxiliary operation system realizes the standard, safe and efficient development of the unmanned aerial vehicle auxiliary operation, and provides technical support and equipment support for the deep application of the unmanned aerial vehicle in maintenance operation.

Description

Power transmission line unmanned aerial vehicle auxiliary operation method and device
Technical Field
The invention relates to the technical field of electric power overhaul, in particular to an unmanned aerial vehicle auxiliary operation method and device for a power transmission line.
Background
Unmanned aerial vehicle patrols and examines and has and receive that the topography is restricted little, the tower head is patrolled and examined effectually, with low costs, easy operation, patrols and examines advantages such as efficient, can patrol and examine effective cooperatees to artifical and helicopter in patrolling and examining scope, content and frequency. At present, in the prior art, support systems such as unmanned aerial vehicle inspection technical standards, test detection, personnel training and logistics support are preliminarily established, and mass data of unmanned aerial vehicle inspection are accumulated. With the deep application of the unmanned aerial vehicle in the aspect of line inspection, the unmanned aerial vehicle is only used for power inspection and is not satisfied with the current situation of operation and maintenance of a power transmission line, and a method capable of utilizing the unmanned aerial vehicle to carry out maintenance operation is needed.
Therefore, the invention provides an unmanned aerial vehicle auxiliary operation method and device for a power transmission line.
Disclosure of Invention
In order to solve the problems, the invention provides an unmanned aerial vehicle auxiliary operation method for a power transmission line, which comprises the following steps:
before the unmanned aerial vehicle takes off, based on the requirement of auxiliary operation, a task tool is mounted on the unmanned aerial vehicle through a gravity center dynamic balancing device so as to ensure that the gravity center of the task tool and the gravity center of the unmanned aerial vehicle are kept in the same direction;
after the unmanned aerial vehicle takes off, measuring the distance between the unmanned aerial vehicle and a peripheral object in real time, comparing the measured distance with a safe distance, and sending a prompt to ensure that the distance is always greater than the safe distance when the distance is close to the safe distance;
after the unmanned aerial vehicle arrives at a task place, the unmanned aerial vehicle is connected with a power transmission lead by adopting a traction rope and combining a duckbill clip, so that the task tool is transmitted to the power transmission lead, and auxiliary operation is carried out through the task tool.
According to one embodiment of the invention, the method comprises: and measuring the distance between the unmanned aerial vehicle and the peripheral object by a distance measuring method, and sending an alarm signal when the distance is measured to be close to the safe distance in any direction.
According to one embodiment of the present invention, the ranging method includes: laser ranging or double-sided visual ranging or ultrasonic ranging.
According to one embodiment of the invention, the method comprises: and determining the safe distance according to the voltage grade of the power transmission conductor and the conductor erecting mode.
According to one embodiment of the invention, the method comprises: unmanned aerial vehicle hovers when the task place is empty, put down the duckbilled through the haulage rope, be provided with pressure sensitive sensor on the duckbilled, work as transmission conductor touches during pressure sensitive sensor, the spring release on the duckbilled, the duckbilled closure will transmission conductor is fixed.
According to one embodiment of the invention, the method further comprises: and after the auxiliary operation is finished, the task tool is retracted through a retracting device connected to the traction rope.
According to another aspect of the present invention, there is also provided an auxiliary operation device for a power transmission line unmanned aerial vehicle, the device comprising:
the first module is used for mounting a task tool on the unmanned aerial vehicle through a gravity center dynamic balancing device based on the requirement of auxiliary operation before the unmanned aerial vehicle takes off so as to ensure that the gravity center of the task tool and the gravity center of the unmanned aerial vehicle are kept in the same direction;
the second module is used for measuring the distance between the unmanned aerial vehicle and a peripheral object in real time after the unmanned aerial vehicle takes off, comparing the measured distance with a safety distance, and sending a prompt to ensure that the distance is always greater than the safety distance when the distance is close to the safety distance;
and the third module is used for realizing the connection between the unmanned aerial vehicle and a power transmission lead by adopting a traction rope and combining a duckbill clip after the unmanned aerial vehicle arrives at a task place so as to transmit the task tool to the power transmission lead and carry out auxiliary operation through the task tool.
According to another aspect of the present invention, there is also provided a power transmission line drone auxiliary operating system for performing the method according to any one of the above, the system comprising:
the top of the unmanned aerial vehicle is provided with a distance measuring device for measuring distance;
the gravity center dynamic balance device is connected with the unmanned aerial vehicle, a task tool is mounted on the gravity center dynamic balance device, and the gravity center dynamic balance device is used for ensuring that the gravity center of the task tool and the gravity center of the unmanned aerial vehicle are kept in the same direction;
and one end of the traction rope is connected with the unmanned aerial vehicle, and the other end of the traction rope is provided with a duckbilled clamp for connecting a transmission lead through the duckbilled clamp.
According to one embodiment of the invention, the cardiac balancing device comprises: the mechanical interface is used for being connected with the unmanned aerial vehicle, the gyro stabilizer and the mount interface is used for being connected with the task tool.
According to one embodiment of the invention, the duckbill comprises: springs, clips, lead screws, and pressure sensitive sensors.
According to the power transmission line unmanned aerial vehicle auxiliary operation method and device, the task mount is connected with the unmanned aerial vehicle through the gyro stabilizer, the task mount and the gravity center of the unmanned aerial vehicle are always kept in the same direction, and loss in the aspect of unmanned aerial vehicle dynamic balance is reduced; the distance between the unmanned aerial vehicle and a line is monitored in real time in a laser ranging/double-sided vision/ultrasonic mode, and the distance is judged according to the safety distance, so that the unmanned aerial vehicle is ensured to be always in an operation safety region; adopt the duckbilled to combine pressure sensitive sensor, when the wire touched pressure sensitive sensor, the duckbilled was closed and is locked the wire, accomplished the operation through fixing the device on the duckbilled. The unmanned aerial vehicle auxiliary operation system realizes the standard, safe and efficient development of the unmanned aerial vehicle auxiliary operation, and provides technical support and equipment support for the deep application of the unmanned aerial vehicle in maintenance operation.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 shows a flow chart of a method for auxiliary operation of a power transmission line unmanned aerial vehicle according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a dynamic balancing apparatus for center of gravity according to an embodiment of the present invention;
fig. 3 shows a schematic diagram of power conductor safety distances according to an embodiment of the invention;
figure 4 shows a schematic diagram of the connection of the power transmission line to the drone using a pull-cord in combination with a duckbill (with a pressure sensor) according to an embodiment of the present invention;
figure 5 shows a schematic diagram of a duckbill clip with a pressure sensor according to an embodiment of the present invention;
figure 6 shows a detailed structural schematic of a duckbill clip with a pressure sensor in accordance with an embodiment of the present invention;
figure 7 shows a diagram of a duckbill clip with a pressure sensor according to an embodiment of the invention; and
fig. 8 shows a block diagram of a power transmission line unmanned aerial vehicle auxiliary operation device according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
In the prior art, the unmanned aerial vehicle carries an insulating rope and hangs the insulating rope on a conductor, then the insulating rope pulls a semi-static rope to be pulled to the conductor, and finally the semi-static rope lifts live working personnel or tools to a maintenance operation area. However, this method is suitable for carrying operators and/or working tools into the area to be overhauled, and cannot complete unmanned transmission line overhaul operation.
In addition, the device and the method for installing the pulley insulating rope on the high-voltage line unmanned aerial vehicle realize the installation of the pulley insulating rope on the high-voltage line under manual control, and people do not need to be specially arranged to climb a tower or even put on the line to place a lifting point when encountering potential safety hazards in the line loading and unloading process when the high-voltage line is maintained by using the maintenance robot, and a structure responsible for loading and unloading the line does not need to be additionally arranged by depending on a tower. However, this method is only used for installing the pulley insulating rope.
At present, unmanned aerial vehicles are increasingly widely used in the process of auxiliary maintenance operation. The task mounting that different operation types used is different, and its weight and structure all differ, and unmanned aerial vehicle size of a dimension and load-carrying capacity all have the difference in addition, and unmanned aerial vehicle actual flight in-process task mounting and unmanned aerial vehicle focus equilibrium, with equipment safe distance control etc. do not yet relate to, have influenced operation safety, it is big that the unmanned aerial vehicle of remote control develops the instrument and arranges the degree of difficulty in addition, has influenced unmanned aerial vehicle auxiliary operation and has developed.
Fig. 1 shows a flowchart of a method for assisting the operation of a power transmission line unmanned aerial vehicle according to an embodiment of the invention.
As shown in fig. 1, in step S101, before the unmanned aerial vehicle takes off, the mission tool is mounted on the unmanned aerial vehicle through the gravity center dynamic balancing device based on the requirement of the auxiliary work, so as to ensure that the gravity center of the mission tool and the gravity center of the unmanned aerial vehicle are maintained in the same direction.
Specifically, the gravity center dynamic balance device is shown in fig. 2 and comprises a mechanical interface 201 for interfacing with the unmanned aerial vehicle, a gyrostabilizer 202 and a mounting interface 203 for adapting to a task tool. Generally, the mechanical interface 201 can be connected to various kinds of drones, and the invention does not limit the interface type of the mechanical interface 201. The gyro stabilizer 202 can still make the connected carrier keep relatively stable in the original direction when being impacted by the outside.
In the invention, the gyro stabilizer 202 is connected with the unmanned aerial vehicle, so that the centers of gravity of the task tool and the unmanned aerial vehicle are kept in the same direction. The mounting interface 203 can be replaced according to different requirements of auxiliary operation, and the capability of adapting to various task tools is achieved. Generally, the task tool includes a pulling rope winding and unwinding device, a water repellency detecting device, a flame projecting device, and the like.
As shown in fig. 1, in step S102, after the unmanned aerial vehicle takes off, the distance between the unmanned aerial vehicle and the surrounding object is measured in real time, the measured distance is compared with the safety distance, and when the distance approaches the safety distance, a prompt is sent to ensure that the distance is always greater than the safety distance.
Specifically, the safety distance is determined according to the voltage level of the power transmission conductor and the conductor installation manner, for example, the minimum safety distance for unmanned aerial vehicle flight at each voltage level is shown in tables 1-2 below.
TABLE 1 theoretical minimum safety distances for different AC voltage classes and minimum safety distances for practical operation
AC voltage class (kV) Theoretical minimum safe distance (m) Minimum safe distance (m) for practical work
500 3.0 5
750 4.0 6
1000 5.5 7.5
Generally speaking, the theoretical minimum safe distance is calculated under an ideal environment, the actual operation minimum safe distance is slightly larger than the theoretical minimum safe distance through experimental research, a range of 2m is added on the basis of the existing theoretical minimum safe distance in consideration of certain degree of predictability to serve as the actual operation minimum safe distance, and the actual requirements can be met through experimental verification.
TABLE 2 theoretical minimum safety distances for different DC voltage classes and minimum safety distances for practical operation
DC voltage class (kV) Theoretical minimum safe distance (m) Minimum safe distance (m) for practical work
±500 4.0 6
±660 6.0 8
±800 8 10
±1100 10 12
Specifically, the safety range of the unmanned aerial vehicle and the power transmission conductor should be kept in the safety range specified in table 1-2, because the power transmission conductor is generally a multi-split conductor, the working area of the power transmission conductor should be an outer circular ring with the split center as the center of the circle, the distance from the split conductor center to the sub-conductor plus the minimum safety distance in actual operation as the radius, and the working area is as shown in fig. 3. Generally, the distance from the center of the split conductor to the sub-conductor varies according to the voltage class, such as 500kV and more, which is close to 1 m.
As in fig. 3, 301 and 302 represent multi-split conductors and 303 and 304 represent circles with the radius of the split conductor center to sub-conductor distance plus the safety distance.
In actual operation, the drone allows operations to be carried out in flight in the area outside the dotted line in fig. 3, and, in addition, considering the complexity of the transmission line corridor, in general, the drone should avoid flying under the transmission line and between the two transmission lines as much as possible.
Further, in step S102, the distance between the unmanned aerial vehicle and the surrounding object needs to be measured by a distance measurement method, and when the measured distance is close to the safety distance in any direction, an alarm signal is sent. Generally, the safe distance is determined before the current auxiliary operation task is executed, and what the unmanned aerial vehicle needs to do during the operation flight process is to measure the distance between the unmanned aerial vehicle and the surrounding object in real time, and specifically, the distance measurement mode includes, but is not limited to, laser distance measurement, double-sided visual distance measurement or ultrasonic distance measurement.
Particularly, the distance between the unmanned aerial vehicle and the peripheral object is measured, and data are required to be filtered in a background. The distance measuring equipment is arranged on the top of the unmanned aerial vehicle in the actual operation process and rotates in the direction of 360 degrees, the measured minimum distance is used as the distance between the unmanned aerial vehicle and the peripheral objects, and when the distance is measured in any direction and approaches to the minimum safe distance of the actual operation in the table 1-2, an alarm signal is sent out, so that the unmanned aerial vehicle, a line and equipment are kept in the safe distance range.
As shown in fig. 1, in step S103, after the unmanned aerial vehicle arrives at the mission site, the unmanned aerial vehicle is connected to the power transmission line by using the hauling cable and the duckbill clip, so as to transfer the mission tool to the power transmission line, and perform the auxiliary operation through the mission tool.
In the actual operation process, as shown in table 1-2, unmanned aerial vehicle and transmission line minimum safe distance 5m, reach 12m far away, when remote through unmanned aerial vehicle to the circuit operate, need establish the connection of unmanned aerial vehicle and circuit at first to arrange relevant auxiliary assembly on the wire (like the pulley that is used for the instrument transmission, the pulley is connected with the duckbill clamp, realizes arranging of pulley through the duckbill clamp).
Fig. 4 shows a schematic diagram of the connection of the power transmission line and the unmanned aerial vehicle by using a traction rope combined with a duckbill (with a pressure sensor) according to an embodiment of the invention. As in fig. 4, 401 denotes the drone, 402 denotes the tow rope, 403 denotes the duck bill (with pressure sensor), 404 denotes the power conductor (line).
In actual operation, unmanned aerial vehicle hovers when the task place is empty, puts down the duckbilled through the haulage rope, is provided with pressure sensitive sensor on the duckbilled, and when transmission line touched pressure sensitive sensor, the spring release on the duckbilled, the duckbilled closed fixed with transmission line.
Figure 5 shows a schematic diagram of a duckbill clip with a pressure sensor according to an embodiment of the present invention; figure 6 shows a detailed structural schematic of a duckbill clip with a pressure sensor in accordance with an embodiment of the present invention;
figure 7 shows a diagram of a duckbill clip with a pressure sensor in accordance with an embodiment of the present invention. As shown in fig. 5, 6 and 7, 501 denotes a spring, 502 denotes a pressure-sensitive sensor, 503 denotes a duckbill clip, 601 denotes a clip, and 602 denotes a lead screw.
Specifically, in actual operation, the screw 602 is driven by the micro motor, when the screw grows, the spring 501 is pulled up, and the clamp 601 is opened; when the lead screw 602 is shortened, the spring 501 is normal, and the clamp 601 is closed. The unmanned aerial vehicle puts down duckbilled 503 through the haulage rope, and when the transmission line touched pressure sensitive sensor 502, spring 501 released, duckbilled 503 closed fixed the transmission line.
In one embodiment, after establishing the connection between the drone and the power conductor through step S103, the auxiliary equipment placement is completed by the tool placed on the duckbill.
In one embodiment, when the auxiliary work is completed, the task tool is retracted by the retraction device connected to the pull-cord, i.e. the retraction sequence is reversed from the method steps in fig. 1.
Fig. 8 shows a block diagram of a power transmission line unmanned aerial vehicle auxiliary operation device according to an embodiment of the invention. As shown in fig. 8, the auxiliary working device 800 includes a first module 801, a second module 802, and a third module 803.
First module 801 is used for before unmanned aerial vehicle takes off, based on the requirement of auxiliary operation, with the task instrument through focus dynamic balance device carry on unmanned aerial vehicle to ensure that the focus of task instrument keeps in the same direction with unmanned aerial vehicle's focus.
The second module 802 is used for measuring the distance between the unmanned aerial vehicle and the peripheral object in real time after the unmanned aerial vehicle takes off, comparing the measured distance with the safety distance, and sending out a prompt to ensure that the distance is always greater than the safety distance when the distance approaches the safety distance.
The third module 803 is used for realizing the connection of the unmanned aerial vehicle and the power transmission conductor by combining a haulage rope with a duckbill clip after the unmanned aerial vehicle arrives at a task place, so as to transmit a task tool to the power transmission conductor and carry out auxiliary operation through the task tool.
The invention also provides an unmanned aerial vehicle auxiliary operation system for the power transmission line, which is used for executing the method, and the system comprises:
the top of the unmanned aerial vehicle is provided with a distance measuring device for measuring distance;
the gravity center dynamic balance device is connected with the unmanned aerial vehicle, and is used for mounting a task tool and ensuring that the gravity center of the task tool and the gravity center of the unmanned aerial vehicle are kept in the same direction;
haulage rope, its one end is connected with unmanned aerial vehicle, and the other end is provided with the duckbilled clamp for connect transmission line through the duckbilled clamp.
Specifically, the gravity center dynamic balance device includes: the mechanical interface is used for being connected with the unmanned aerial vehicle, the gyro stabilizer and the mounting interface is used for being connected with a task tool.
Specifically, the duckbill comprises: springs, clips, lead screws, and pressure sensitive sensors.
In one embodiment, 500kV ac drone aide transfer is exemplified. The equipment that involves among the operation process has unmanned aerial vehicle, haulage rope winding and unwinding devices, duckbilled clamp, instrument transmission pulley.
Firstly, carry out task carry focus dynamic balance, will carry haulage rope winding and unwinding devices, duckbilled clip and instrument transmission skidding and pass through the top stabilizer and be connected with unmanned aerial vehicle.
Then, unmanned aerial vehicle takes off and keeps at safe distance scope with the circuit, measures the distance d of unmanned aerial vehicle and circuit through laser rangefinder, satisfies to keep more than 5m all the time.
Then, the unmanned aerial vehicle is connected with the line in a long distance, and a drawing rope is adopted to release the duckbill clip (carrying a tool transmission pulley) and is hung on the lead.
Finally, the tool transfer is completed on the ground through a transfer pulley, such as a conductor spacer, an insulator string and the like which need to be replaced.
In conclusion, the power transmission line unmanned aerial vehicle auxiliary operation method and the power transmission line unmanned aerial vehicle auxiliary operation device provided by the invention have the advantages that the task mount is connected with the unmanned aerial vehicle through the gyro stabilizer, the task mount and the gravity center of the unmanned aerial vehicle are always kept in the same direction, and the loss in the aspect of unmanned aerial vehicle dynamic balance is reduced; the distance between the unmanned aerial vehicle and a line is monitored in real time in a laser ranging/double-sided vision/ultrasonic mode, and the distance is judged according to the safety distance, so that the unmanned aerial vehicle is ensured to be always in an operation safety region; adopt the duckbilled to combine pressure sensitive sensor, when the wire touched pressure sensitive sensor, the duckbilled was closed and is locked the wire, accomplished the operation through fixing the device on the duckbilled. The unmanned aerial vehicle auxiliary operation system realizes the standard, safe and efficient development of the unmanned aerial vehicle auxiliary operation, and provides technical support and equipment support for the deep application of the unmanned aerial vehicle in maintenance operation.
It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures, process steps, or materials disclosed herein but are extended to equivalents thereof as would be understood by those ordinarily skilled in the relevant arts. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. An unmanned aerial vehicle auxiliary operation method for a power transmission line is characterized by comprising the following steps:
before the unmanned aerial vehicle takes off, based on the requirement of auxiliary operation, a task tool is mounted on the unmanned aerial vehicle through a gravity center dynamic balancing device so as to ensure that the gravity center of the task tool and the gravity center of the unmanned aerial vehicle are kept in the same direction;
after the unmanned aerial vehicle takes off, measuring the distance between the unmanned aerial vehicle and a peripheral object in real time, comparing the measured distance with a safe distance, and sending a prompt to ensure that the distance is always greater than the safe distance when the distance is close to the safe distance;
after the unmanned aerial vehicle arrives at a task place, the unmanned aerial vehicle is connected with a power transmission lead by adopting a traction rope and combining a duckbill clip, so that the task tool is transmitted to the power transmission lead, and auxiliary operation is carried out through the task tool.
2. The method of claim 1, wherein the method comprises: and measuring the distance between the unmanned aerial vehicle and the peripheral object by a distance measuring method, and sending an alarm signal when the distance is measured to be close to the safe distance in any direction.
3. The method of claim 2, wherein the ranging method comprises: laser ranging or double-sided visual ranging or ultrasonic ranging.
4. The method of any one of claims 1-3, wherein the method comprises: and determining the safe distance according to the voltage grade of the power transmission conductor and the conductor erecting mode.
5. The method of claim 1, wherein the method comprises: unmanned aerial vehicle hovers when the task place is empty, put down the duckbilled through the haulage rope, be provided with pressure sensitive sensor on the duckbilled, work as transmission conductor touches during pressure sensitive sensor, the spring release on the duckbilled, the duckbilled closure will transmission conductor is fixed.
6. The method of claim 5, further comprising: and after the auxiliary operation is finished, the task tool is retracted through a retracting device connected to the traction rope.
7. The utility model provides a transmission line unmanned aerial vehicle auxiliary operation device which characterized in that, the device contains:
the first module is used for mounting a task tool on the unmanned aerial vehicle through a gravity center dynamic balancing device based on the requirement of auxiliary operation before the unmanned aerial vehicle takes off so as to ensure that the gravity center of the task tool and the gravity center of the unmanned aerial vehicle are kept in the same direction;
the second module is used for measuring the distance between the unmanned aerial vehicle and a peripheral object in real time after the unmanned aerial vehicle takes off, comparing the measured distance with a safety distance, and sending a prompt to ensure that the distance is always greater than the safety distance when the distance is close to the safety distance;
and the third module is used for realizing the connection between the unmanned aerial vehicle and a power transmission lead by adopting a traction rope and combining a duckbill clip after the unmanned aerial vehicle arrives at a task place so as to transmit the task tool to the power transmission lead and carry out auxiliary operation through the task tool.
8. An electric transmission line drone auxiliary work system for performing the method of any one of claims 1-6, the system comprising:
the top of the unmanned aerial vehicle is provided with a distance measuring device for measuring distance;
the gravity center dynamic balance device is connected with the unmanned aerial vehicle, a task tool is mounted on the gravity center dynamic balance device, and the gravity center dynamic balance device is used for ensuring that the gravity center of the task tool and the gravity center of the unmanned aerial vehicle are kept in the same direction;
and one end of the traction rope is connected with the unmanned aerial vehicle, and the other end of the traction rope is provided with a duckbilled clamp for connecting a transmission lead through the duckbilled clamp.
9. The system of claim 8, wherein the cardiac balancing means comprises: the mechanical interface is used for being connected with the unmanned aerial vehicle, the gyro stabilizer and the mount interface is used for being connected with the task tool.
10. The system of claim 8, wherein the duckbill comprises: springs, clips, lead screws, and pressure sensitive sensors.
CN202010014525.6A 2020-01-07 2020-01-07 Power transmission line unmanned aerial vehicle auxiliary operation method and device Pending CN113161919A (en)

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CN113783139A (en) * 2021-07-28 2021-12-10 国网浙江永康市供电有限公司 High altitude electric power operation safety stop device based on unmanned aerial vehicle

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