CN201528159U - Laying system of electrical laying pilot rope of unmanned helicopter - Google Patents
Laying system of electrical laying pilot rope of unmanned helicopter Download PDFInfo
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- CN201528159U CN201528159U CN2009202707100U CN200920270710U CN201528159U CN 201528159 U CN201528159 U CN 201528159U CN 2009202707100 U CN2009202707100 U CN 2009202707100U CN 200920270710 U CN200920270710 U CN 200920270710U CN 201528159 U CN201528159 U CN 201528159U
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- rope
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Abstract
The utility model relates to a laying system of an electrical laying pilot rope of unmanned helicopter, wherein a paying off bracket is carried in the unmanned helicopter, the paying off wheel of the paying off bracket is wound around one end of the pilot rope, the other end passes through the conduit and the rope exploding machine of the paying off bracket sequentially, and a heavy object is tied to the free end of the pilot rope; when the unmanned helicopter reaches the indicated releasing point, the heavy object falls under the action of braking force, so as to fall to the indicated position. The ground station issues an air route order of continuously performing the task to the unmanned helicopter, then the unmanned helicopter flies according to the air route set in advance, so as to reach the next tower. The laying system adopts an air vehicle with the density bigger than that of the atmosphere and strong wind resistance, thereby meeting the control requirement of safe flying under complicated environment. The laying system can hover in a suitable airspace according to operating requirement, the unmanned helicopter born camera aid the ground station to judge the distance away from the personnel in the tower, thereby ensuring the safety distance in flying.
Description
Technical field
The utility model relates to the high pressure overhead power line mounting technique, especially relates to a kind of exhibition place system that uses depopulated helicopter to carry out the high-tension cable strop.
Background technology
In the high pressure overhead power line installing area; after frequent online pylon is established and is finished; difficulty is put in the exhibition that strop occurs; put strop meeting restriction river shipping in the high voltage transmission line process is regional usually, stop high-tension cable power supply, trample young crops etc. for smooth exhibition, these means have increased invisible cost for setting up of circuit in some sense.Simultaneously we expect that strop has showing and placing of the tension in the process of strop is put in exhibition, like this accident that can avoid strop to be caused because of the sag problem.
The prior art relevant with the utility model patent comprises:
1) patent publication No. discloses a kind of paying-off method of remote control model helicopter for CN 1083979A.The implementation method of this technology is carried strop for utilizing the model RC Goblin, by manual remote control model RC Goblin flight crossover track tower, thereby realizes the unwrapping wire operation.This technical method has following pluses and minuses: this technology has to be convenient to launch and advantages such as environmental requirement is low are put in exhibition, but this technology has also also embodied his deficiency from some angle simultaneously, for example, the lift of remote control model helicopter is difficult to reach the requirement of unwrapping wire between multitower, model copter flight flying height reach reach a certain height after operator be difficult to distinguish the attitude of remote control model helicopter, and provide normal control and refer to realize its belt tension stabilized flight, simultaneously in flight course, remote control model helicopter is because people's vision deviation is very difficult according to more satisfactory line of flight flight, strop is difficult to drop on accurately on the cross-arm of line tower, and the back is extended and put difficulty.
2) use the exhibition of propeller-parachuting enforcement strop in the prior art and put operation.The implementation method of this technology is to use propeller-parachuting to carry strop flight crossover track tower, realizes the unwrapping wire operation.The pluses and minuses of this technology: this technology has the strong advantage of the fast wind loading rating of speed, but the enforcement of this technology has following difficulty, aircraft can not hover, be difficult in the unwrapping wire operation and line tower top staff's coordinated, and aircraft is strict to the place of taking off, land, be unsuitable for field work, often could arrive the unwrapping wire operating area because the problem of landing site is the course line of aircraft flight number kilometer.
3) also there are application dirigible, fire balloon etc. to be lower than the aircraft channeling conduct rope unwrapping wire operation of atmospheric density in the prior art.This technology is to use the aircraft that dirigible, fire balloon etc. are lower than atmospheric density to carry strop flight crossover track tower, realizes the unwrapping wire operation.The pluses and minuses of this technology: this technology requires very low to surface state.But there is following problem: if use the hydrogen dirigible then have explosive danger, near inconvenience flight existing high-tension cable; If use the helium dirigible then have helium expense height, reclaim problems such as difficulty, economically less developed region helium supply bottleneck; If the gaseous fuel that uses fire balloon then exist aircraft to carry leaks easily, easily cause the accident of burning in the flight course.
More than three kinds of methods have the shortcoming of wind loading rating difference simultaneously.
4) use has the exhibition of people's helicopter strop to put in the prior art.This technology be utilize have the people to drive helicopter strop leap line tower is real to carry out setting-out work for carrier carries.Advantages such as the advantage of this technology has been that people's helicopter power is strong, load is big, can directly open up messenger, the single step of releasing linear distance is big, can hover.But meanwhile because helicopter needs pilot driver, and the having relatively high expectations of under complex environment, flying to the driver; The maintenance of helicopter, supply difficulty; Preliminary preparation is long; Engineering cooperates personnel, equipment many when using.
5) patent publication No. discloses a kind of rocket-type paying-out device for CN 1080994A.This technology is to utilize rocket to carry strop to realize setting-out work.The advantage of this technology is simple and efficient.But the path, the drop point that carry the rocket of strop are difficult to accurate Calculation and may bring problems such as unexpected injury to staff on the tower or ground staff.
Summary of the invention
The purpose of this utility model is to propose the exhibition place system that strop is put in a kind of depopulated helicopter electric power exhibition, with the unmanned helicopter system is the traction power of strop, use the Di Nima rope as strop, autonomous flight pattern by unmanned helicopter system realizes the flight of tower along the line center, simultaneously by the tension value channeling conduct rope tension control of remote controller control strop tension controller, realize that finally safe and reliable electric power exhibition puts the strop operation.
In order to realize the purpose of this utility model, propose a kind of depopulated helicopter electric power exhibition and put strop exhibition place system, to form by airborne portion and above ground portion, described airborne portion comprises: device is put in depopulated helicopter (24) and lead-in wire exhibition;
Described depopulated helicopter (24) has automatic pilot, airborne station and antenna, and control depopulated helicopter (24) is done program control flight;
Described lead-in wire exhibition is put device and is comprised pay off rack (27), actinobacillus wheel (5), strop (13), laying tension controller (1) and fried rope device (6);
Described above ground portion comprises: ground station, task controller, video-frequency monitor, power supply, radio station and antenna;
Wherein, the exhibition of described lead-in wire is put device and is fixed or hang below the ventral of depopulated helicopter, described strop (13) one ends are on described actinobacillus wheel (5), and an other end is fastened weight (23) after passing the conduit (14) of pay off rack (27) afterbody and described fried rope device (6) successively.
Described pay off rack (27) is made up of actinobacillus wheel (5), central fixed shaft (11) and pay off rack support (4), described pay off rack support (4) has U type groove hanging point, actinobacillus wheel (5) is put into U type groove, is pinned the central fixed shaft (11) of actinobacillus wheel (5) by central shaft stay (12).
Described tension controller (1) comprises control circuit and brake steering wheel, and wherein, described control circuit comprises:
The AD modular converter carries out analog-to-digital conversion and digital filtering to the data of being gathered, and removes the noise that mixes in the data;
The PWM output module produces pwm signal, and this pwm signal control brake steering wheel produces brake weight, the size of the duty cycle adjustment brake weight by control PWM waveform;
The pulsewidth capture module, pwm signal is converted to the numerical information that control system can be discerned, and given according to this Numerical Implementation tension force, make the value of thrust of described strop (13) remain in the suitable scope;
The asynchronous serial communication module realizes the data communication between automatic pilot and the tension controller (1);
Described brake steering wheel comprises brake disc (10), brake rubber block (9) and towing brake line (8), described brake disc (10) is fixedly mounted in the rotating shaft of actinobacillus wheel (5), brake rubber block (9) is installed on the pay off rack support (4), towing brake line (8) drives brake rubber block (9) motion and compresses brake disc (10) generation brake weight, and described brake weight is controlled by the pwm pulse output module.
Described fried rope device (6) comprises exploding restricts device housing (25) and chops device (7) off, wherein,
The center of described fried rope device housing (25) is fried rope device wire guide (16), and two through holes are perpendicular with fried rope device wire guide (16);
The described device (7) of chopping off comprises fried rope device control line (15), fried rope device wire guide (16), gunpowder (17), chops device housing (18), termination with holes (19), atresia termination (20) off, cuts rope cutter (21) and igniter (22);
The described device (7) of chopping off is fixed in the fried device housing (25) of restricting, and explodes rope device control line (15), igniter (22), gunpowder (17) and cut rope cutter (21) to be installed in successively in the fried vertical through hole of restricting between device wire guide (16) and termination with holes (19).
Described fried rope device (6) also can be gone up two of installations at fried rope device housing (25) and chop device (7) off, described two mounting meanss of chopping device (7) off are that install one-sided installation and both sides, and described one-sided installation is meant the side of the pointing direction of fried rope device control line (15) at fried rope device (6); Described both sides are installed and are meant that the pointing direction that explodes rope device control line (15) is in the different both sides of exploding rope device (6).
Described depopulated helicopter (24) also comprises a video auxiliary system, form by two airborne cameras that are installed in depopulated helicopter the place ahead and rear, this video auxiliary system switches to auxiliary mode when running into crosswind, control depopulated helicopter (24) is offset certain distance to the left and right, guarantees that strop (13) is accurately in place.
The utility model uses the depopulated helicopter of fuel engines, belongs to the aircraft of density greater than atmospheric density, and wind loading rating is better than the technology that existing technology is used.
The depopulated helicopter that the utility model adopts has very high control frequency of amendment, can satisfy the safe flight control requirement at complex environment.The ground safeguard of unmanned helicopter flight unwrapping wire is simple simultaneously.
What the utility model adopted is that depopulated helicopter can hover in suitable spatial domain according to the requirement of operation, the staff of line of engagement tower top, and have less demanding characteristics to landing site.
The flight path of depopulated helicopter is controlled in the utility model, can independently drop to the landing point of appointment after finishing the work, simultaneously since have on the depopulated helicopter camera can the ancillary terrestrial station judge with tower on personnel's distance, guarantee the safe distance of flight.
Description of drawings
The block diagram of strop system is put in the exhibition of Fig. 1 the utility model depopulated helicopter electric power;
Fig. 2 depopulated helicopter carry pay off rack schematic diagram;
Fig. 3 is the pay off rack structural representation;
Fig. 4 is fried rope device schematic diagram;
Fig. 5 chops the device schematic diagram off;
Fig. 6 is the single schematic diagram of chopping the embodiment of device off;
Fig. 7 is two and chops device is installed embodiment at homonymy not schematic diagram off.
Embodiment
Describe depopulated helicopter electric power exhibition of the present utility model in detail below in conjunction with accompanying drawing and put the strop system.
The block diagram of strop system is put in the exhibition of Fig. 1 the utility model depopulated helicopter electric power; In the method for technical solutions of the utility model, depopulated helicopter 24 exhibition is put lead system and mainly is made up of airborne portion and above ground portion, the comprising of airborne portion: depopulated helicopter 24, automatic pilot 26, laying tension controller 1, video auxiliary system, pay off rack 27, emergency shutoff device, airborne station and antenna; Above ground portion comprises: ground station, task controller, video-frequency monitor, power supply, radio station and antenna.
Fig. 2 depopulated helicopter carry pay off rack schematic diagram, Fig. 3 is the pay off rack structural representation.As shown in the figure, depopulated helicopter 24 carries pay off rack 27, and an end of Di Nima rope 13 is wrapped on the actinobacillus wheel 5 of pay off rack 27, and an other end passes from conduit 14, passes fried rope device 6 simultaneously, and the free end of Di Nima rope 13 is fastened weight 23 then.Depopulated helicopter 24 carries pay off rack 27 lift-offs (this moment, brake gear was exported maximum brake weight, and weight 23 can not fallen), and helicopter is in floating state after depopulated helicopter 24 arrives the appointment release position, waits for the ground station control instruction.This moment, weight 23 fell under the effect of brake weight by the size of brake weight remote controllers control brake weight, after weight 23 falls to arriving assigned address.Ground station sends to depopulated helicopter 24 and continues to execute the task the course line instruction, (be made up of several gps coordinate points by the course line according to the course line that configures in advance for depopulated helicopter 24, when a last way point, current way point, when 3 of next way points are on the same straight line according to rectilinear flight, end camber line according to the circle that these 3 formations are arranged when not being in same straight line at above-mentioned 3 flies) flight, next line tower flies to.For the gps coordinate that Di Nima rope 13 can be dropped on accurately put on the line tower gps coordinate that we require the line tower and preceding two GPS to be ordered is in (requirement is latitude and longitude coordinates, and GPS highly ignores) on the same straight line herein as far as possible.Simultaneously the GPS destination suitably is set, thereby guarantees the crosswind 13 line tower cross-arms that blow off of Di Nima can not being restricted according to concrete weather condition.In order to guarantee that Di Nima rope 13 drops on the cross-arm accurately, makes depopulated helicopter 24 be in floating state when we are provided with in the course line, and switches to auxiliary mode simultaneously from tower one segment distance the time and after crossing tower one segment distance.Be separately positioned on the help of two airborne cameras at depopulated helicopter 24 the place aheads and rear by us, suitable control depopulated helicopter 24 is offset certain distance to the left and right.Control depopulated helicopter 24 then and continue the course line of executing the task.After depopulated helicopter 24 executes the task course line, hover, blow up Di Nima rope 13 by Ground Control or the fried rope of Autonomous Control device 6.Depopulated helicopter 24 makes a return voyage, and behind ground check, simple-to-maintain, replacing pay off rack 27, actinobacillus wheel 5, the fried rope of replacing device 6, fuel up, depopulated helicopter 24 unmanned planes can be carried out aerial mission next time.
Comparison program section in the tension controller 1 is carried out numeric ratio by the data that will receive and given safe range, judge whether to occur fortuitous event, if accident, the comparison program section will be controlled the fried rope device passage output current of tension controller 1 so.If also can control the fried rope device passage output current of tension controller 1 by the fried cord switch of brake weight remote controllers if the while ground controller has a premonition to meet accident.The fried rope of control device 6 cuts off Di Nima rope 13, and depopulated helicopter 24 is returned under the normal stress, guarantees flight safety indirectly.
The utility model is to realize on the basis of depopulated helicopter 24 systems realization stabilized flight.On the basis of depopulated helicopter 24 systems, we have designed pay off rack 27, have developed the strop tension control system.Pay off rack 27 adopts suitable material, on the basis that guarantees structural strength, and farthest weight reduction; The size of strop tension control system control tension force, by with automatic pilot 26 between intercommunication mutually, tension controller 1 externally environment has a strong impact under the situation of unwrapping wire safety and cuts off Di Nima rope 13.
Pay off rack 27 is divided into actinobacillus wheel 5 and pay off rack support 4 two parts, pay off rack support 4 has U type hanging point, after actinobacillus wheel 5 put into U type groove,, prevent that actinobacillus wheel 5 comes off when depopulated helicopter 24 is carried out the unwrapping wire tasks by the central fixed shaft 11 that central shaft stay 12 pins actinobacillus wheels 5.Actinobacillus wheel 5 is formed by central fixed shaft 11, brake disc 10 with around actinobacillus wheel 5, and behind the fixed center fixed axis 11, brake disc 10 can rotate freely together with actinobacillus wheel 5.Brake rubber block 9 is installed on the pay off rack support 4, drive brake rubber block 9 motions by brake weight generation device 2 towing brake lines 8 and compress brake disc 10 generation braking force, tension controller 1 is installed on the pay off rack 27 and connects with depopulated helicopter 24 by power line and data wire, power line is connected obtains the electric energy supply on the airborne power supply, data wire is connected on the automatic pilot 26 and obtains data message.
We are fixed on the ventral below of depopulated helicopter 24 with pay off rack 27 or hang below depopulated helicopter 24, actinobacillus wheel 5 can carry out carry easily and have the pinning structure after pay off rack support 4 carries are finished, one end of conduit 14 is fixed on the rear of carry frame, and an other end is installed fried rope device 6 and also is in free state.Suitable conduit 14 length are the keys that guarantee that fried rope device 6 can not clash into depopulated helicopter 24 when fried rope.
AD modular converter 3, we carry out digital filtering to the data of being gathered through after the analog-to-digital conversion, remove the noise that mixes in the data, and data are become more near actual conditions.
The pulse capture module is mainly used to the pwm signal of remote-control receiver output is converted to the numerical information that control system can be discerned, and given according to this Numerical Implementation tension force, tension force given is that the saltus step for tension force numerical value provides thresholding, corresponding change brake weight when making the tension force numerical value change surpass certain limit.By making value of thrust remain in the suitable scope after the control algolithm computing, overcome the influence that objective factor such as environment in depopulated helicopter 24 flight courses is brought unmanned plane unwrapping wire system, guarantee that the unwrapping wire system safety finishes the unwrapping wire task reliably.
The PWM output module produces pwm signal.Pwm signal mainly is to be used for controlling brake weight generation device 2, produces brake weight, the size that system regulates brake weight by the duty ratio brief introduction of control PWM waveform.
The asynchronous serial communication module, build on the data communication between automatic pilot 26 and the tension controller 1, tension controller 1 obtains the navigation information of aircraft in real time, lose according to the suitable adjustment of tonicity value of navigation information and at the bursty data chain, the fried rope of control device 6 when system in case of system halt and other fortuitous event, explode the rop exercise work.
Fig. 4 is fried rope device schematic diagram, Fig. 5 chops the device schematic diagram off, as shown in the figure, fried rope device 6 mainly comprises fried rope device housing 25 and chops device 7 off, the center of fried rope device housing 25 is fried rope device wire guide 16, have in addition two with the perpendicular through hole of fried rope device wire guide 16, through hole is that the basis of chopping device 7 off is installed, the main effect of fried rope device housing 25 is fixedly to chop device 7 off.The formation of chopping device off comprises fried rope device control line 15, fried rope device wire guide 16, gunpowder 17, chops device housing 18, termination with holes 19, atresia termination 20 off, cuts rope cutter 21, igniter 22 is formed as shown in Figure 5.Fried rope device control line 15 initial igniter 22 that the current drives of fried rope device passage output is passed the centre bore of termination 19 with holes when the fried rope of system's control, the gas that igniter 22 gunpowder 17 that ignites, gunpowder 17 blasts produce HTHPs promotes to cut rope cutter 21 and chops the Di Nima rope 13 that passes fried rope device wire guide 16 off.Blocked by atresia termination 20 then, prevent to fly out and cause unexpected injury.
What time following other implementations of the technical program also have:
Chop the difference setting and the installation method of device in the fried rope device off.Fried rope device is except that the above-mentioned single design feature of mentioning and mounting means of chopping device 7 off, can also on fried rope device housing 25, install two and chop device 7 off, two mounting meanss of chopping device 7 off are that homonymy is installed and not homonymy installation, and described homonymy installation is meant the side of the pointing direction of fried rope device control line 15 at the fried device 6 of restricting; Described not homonymy is installed and is meant that the pointing direction that explodes rope device control line 15 is in the different both sides of exploding rope device 6.
Figure 6 shows that the single situation of chopping device 7 off of installing, Fig. 4 and Fig. 7 are presented at respectively and install two on the fried rope device housing 25 and chop device 7 off.Wherein, Figure 4 shows that the homonymy of the pointing direction of fried rope device control line 15, Figure 7 shows that the not homonymy of the pointing direction of fried rope device control line 15 at fried rope device 6 at fried rope device 6.
The method that brake weight produces also has following several: the production method of brake weight can adopt DC servo motor, step motor drive brake lining to produce brake weight except that the mode by brake weight generation device control brake.The implementation method that adopts DC servo motor, stepping motor is by transmission device the rotation of direct current machine, stepping motor output shaft to be converted into the motion that brake rubber block 9 compresses brake disc 10, produces brake weight by the friction between brake rubber block 9 and the brake disc 10.
Claims (6)
1. strop exhibition place system is put in a depopulated helicopter electric power exhibition, is made up of airborne portion and above ground portion, it is characterized in that:
Described airborne portion comprises: device is put in depopulated helicopter (24) and strop exhibition,
Described depopulated helicopter (24) has automatic pilot (26), airborne station and antenna, and control depopulated helicopter (24) is done program control flight;
Described strop exhibition is put device and is comprised pay off rack (27), actinobacillus wheel (5), strop (13), laying tension controller (1) and fried rope device (6);
Described above ground portion comprises: ground station, task controller, video-frequency monitor, power supply, radio station and antenna;
Wherein, the exhibition of described lead-in wire is put device and is fixed or hang below the ventral of depopulated helicopter, described strop (13) one ends are on described actinobacillus wheel (5), and an other end is fastened weight (23) after passing the conduit (14) of pay off rack (27) afterbody and described fried rope device (6) successively.
2. strop exhibition place system is put in electric power exhibition according to claim 1, it is characterized in that: described pay off rack (27) is made up of actinobacillus wheel (5), central fixed shaft (11) and pay off rack support (4), described pay off rack support (4) has U type groove hanging point, actinobacillus wheel (5) is put into U type groove by central fixed shaft (11), by a central shaft stay (12) pinning center fixed axis (11).
3. strop exhibition place system is put in electric power exhibition according to claim 2, it is characterized in that: described tension controller (1) comprises control circuit and brake steering wheel, and wherein, described control circuit comprises:
The AD modular converter carries out analog-to-digital conversion and digital filtering to the data of being gathered, and removes the noise that mixes in the data;
The PWM output module produces pwm signal, and this pwm signal control brake steering wheel produces brake weight, the size of the duty cycle adjustment brake weight by control PWM waveform;
The pulsewidth capture module, pwm signal is converted to the numerical information that control system can be discerned, and given according to this Numerical Implementation tension force, make the value of thrust of described strop (13) remain in the suitable scope;
The asynchronous serial communication module realizes the data communication between automatic pilot and the tension controller (1);
Described brake steering wheel comprises brake disc (10), brake rubber block (9) and towing brake line (8), described brake disc (10) is fixedly mounted on the central fixed shaft (11) of actinobacillus wheel (5), brake rubber block (9) is installed on the described pay off rack support (4), towing brake line (8) drives brake rubber block (9) motion and compresses brake disc (10) generation brake weight, and described brake weight is controlled by the pwm pulse output module.
4. strop exhibition place system is put in electric power exhibition according to claim 1, it is characterized in that: described fried rope device (6) comprises exploding restricts device housing (25) and chops device (7) off, wherein,
The center of described fried rope device housing (25) is fried rope device wire guide (16), and two through holes are perpendicular with fried rope device wire guide (16);
The described device (7) of chopping off comprises fried rope device control line (15), fried rope device wire guide (16), gunpowder (17), chops device housing (18), termination with holes (19), atresia termination (20) off, cuts rope cutter (21) and igniter (22);
The described device (7) of chopping off is fixed in the fried device housing (25) of restricting, and explodes rope device control line (15), igniter (22), gunpowder (17) and cut rope cutter (21) to be installed in successively in the fried vertical through hole of restricting between device wire guide (16) and termination with holes (19).
5. strop exhibition place system is put in electric power exhibition according to claim 4, it is characterized in that: described fried rope device (6) is gone up two of installations at fried rope device housing (25) and is chopped device (7) off, described two mounting meanss of chopping device (7) off are that homonymy is installed and not homonymy installation, and described homonymy installation is meant the side of the pointing direction of fried rope device control line (15) at the fried device (6) of restricting; Described not homonymy is installed and is meant that the pointing direction that explodes rope device control line (15) is in the different both sides of exploding rope device (6).
6. strop exhibition place system is put in electric power exhibition according to claim 1, it is characterized in that: described depopulated helicopter (24) also comprises a video auxiliary system, form by two airborne cameras that are installed in depopulated helicopter the place ahead and rear, this video auxiliary system switches to auxiliary mode when running into crosswind, control depopulated helicopter (24) is offset certain distance to the left and right, guarantees that strop (13) is accurately in place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202707100U CN201528159U (en) | 2009-11-24 | 2009-11-24 | Laying system of electrical laying pilot rope of unmanned helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202707100U CN201528159U (en) | 2009-11-24 | 2009-11-24 | Laying system of electrical laying pilot rope of unmanned helicopter |
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| Publication Number | Publication Date |
|---|---|
| CN201528159U true CN201528159U (en) | 2010-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009202707100U Expired - Fee Related CN201528159U (en) | 2009-11-24 | 2009-11-24 | Laying system of electrical laying pilot rope of unmanned helicopter |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104332894A (en) * | 2014-11-17 | 2015-02-04 | 国家电网公司 | Vehicle-mounted pay-off rack of unmanned aerial vehicle and unmanned aerial vehicle |
| CN104536459A (en) * | 2014-12-24 | 2015-04-22 | 国家电网公司 | Construction method for small multi-shaft unmanned aerial vehicle to unwind and release haulage cable |
| CN104597909A (en) * | 2014-11-26 | 2015-05-06 | 深圳市鸣鑫航空科技有限公司 | Flight control algorithm for coaxial double-rotor unmanned helicopter |
| CN105752337A (en) * | 2016-02-26 | 2016-07-13 | 北京计算机技术及应用研究所 | Automatic take-up and payoff control system for mooring unmanned plane |
| CN110615111A (en) * | 2019-11-07 | 2019-12-27 | 湖南德力电力建设集团有限公司 | A guide rope cutting device for unmanned aerial vehicle |
| CN112249325A (en) * | 2020-11-11 | 2021-01-22 | 云南电网有限责任公司昆明供电局 | Unmanned aerial vehicle device capable of hanging safety rope and hanging method |
-
2009
- 2009-11-24 CN CN2009202707100U patent/CN201528159U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104332894A (en) * | 2014-11-17 | 2015-02-04 | 国家电网公司 | Vehicle-mounted pay-off rack of unmanned aerial vehicle and unmanned aerial vehicle |
| CN104332894B (en) * | 2014-11-17 | 2017-09-26 | 国家电网公司 | A kind of unmanned aerial vehicle onboard pay off rack and unmanned plane |
| CN104597909A (en) * | 2014-11-26 | 2015-05-06 | 深圳市鸣鑫航空科技有限公司 | Flight control algorithm for coaxial double-rotor unmanned helicopter |
| CN104597909B (en) * | 2014-11-26 | 2017-10-17 | 深圳市鸣鑫航空科技有限公司 | Coaxial double-rotary wing unmanned helicopter flight control method |
| CN104536459A (en) * | 2014-12-24 | 2015-04-22 | 国家电网公司 | Construction method for small multi-shaft unmanned aerial vehicle to unwind and release haulage cable |
| CN105752337A (en) * | 2016-02-26 | 2016-07-13 | 北京计算机技术及应用研究所 | Automatic take-up and payoff control system for mooring unmanned plane |
| CN110615111A (en) * | 2019-11-07 | 2019-12-27 | 湖南德力电力建设集团有限公司 | A guide rope cutting device for unmanned aerial vehicle |
| CN112249325A (en) * | 2020-11-11 | 2021-01-22 | 云南电网有限责任公司昆明供电局 | Unmanned aerial vehicle device capable of hanging safety rope and hanging method |
| CN112249325B (en) * | 2020-11-11 | 2024-04-16 | 云南电网有限责任公司昆明供电局 | Unmanned aerial vehicle device capable of suspending safety rope and suspending method |
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