Method for assisting in unfolding guide rope by using unmanned aerial vehicle guide rope unfolding system and unmanned aerial vehicle guide rope unfolding system

Abstract

The invention provides a method for assisting in unfolding a guide rope by using an unmanned aerial vehicle guide rope unfolding system and the unmanned aerial vehicle guide rope unfolding system, and belongs to the technical field of high-altitude power transmission line installation. The system comprises an unmanned aerial vehicle, a ground station system, an unmanned aerial vehicle unwinding guide rope central station system, a rope unwinding machine, a magnetic powder brake and an auxiliary threading pulley. The method comprises the steps of obtaining construction site information, arranging a construction site, connecting a guide rope with the unmanned aerial vehicle, taking off the unmanned aerial vehicle, monitoring the flight process, placing the guide rope into the auxiliary threading tackle, repeating the unfolding process, throwing the rope by the unmanned aerial vehicle, returning and finally removing the site. Full-automatic planning, execution and monitoring of the guide rope extension task are achieved, manual intervention is not needed, the construction efficiency and safety are improved, the construction efficiency can be remarkably improved, the construction risk is reduced, and automatic and intelligent management of the whole process is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of high-altitude power transmission line installation, and specifically relates to a method for using an unmanned aerial vehicle (UAV) to assist in deploying a guide rope, and provides a UAV deploying guide rope system. Background Art

[0002] In recent years, autonomous driving technology has become more mature and autonomous driving applications have become more common, performing tasks that were traditionally considered time-consuming or dangerous. As programming technology advances, the demand for equipment control is also increasing, requiring these devices to navigate safely and accurately in complex environments or workspaces.

[0003] In the field of power transmission and transformation, drones are usually used to deploy smaller guide ropes. After deployment, multiple high-altitude vertical and horizontal movements and step-by-step replacements must be carried out. However, this method can neither meet the urgent needs of quickly deploying large-scale primary guide ropes for each phase of the ground conductor in ultra-high voltage transmission lines and improving work efficiency, nor can it meet the technical requirements for deploying primary guide ropes for each phase of the conductor in the construction of large-span line spans of extra-large transmission lines. In the deployment of large-scale guide ropes, on the one hand, it is necessary to be able to plan and execute automatically, and on the other hand, it is necessary to ensure the accuracy, safety and stability of drone operation. Therefore, it is necessary to combine the practical experience of previous transmission line projects to conduct further in-depth and extensive research. Based on the above content, the present invention provides a method for using a drone to deploy a guide rope system to assist in the deployment of a guide rope, and a drone to deploy a guide rope system. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a method for using a drone to assist in deploying a guide rope and a drone to deploy a guide rope system, which does not require human intervention, has intelligent task planning and real-time control functions, reduces construction risks, and realizes automation and intelligent management of the entire process.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] (I) The present invention provides a method for assisting in deploying a guide rope using a drone deploying guide rope system, comprising the following steps:

[0007] S1. Survey the construction site, the terrain and crossing conditions of the construction site, and formulate a construction plan, including: selecting the guide rope, determining the type of tensioner and drone, determining the take-off, rope throwing and landing locations of the drone, determining the location of the tensioner and auxiliary threading pulley, and determining the flight speed and path of the drone;

[0008] S2. Arrange the take-off site of the UAV according to the construction plan, set up the guide rope tension machine, and input the coordinates of the UAV deployment route and flight speed parameters into the UAV flight control system;

[0009] S3, lead out one end of the guide rope wound on the tension machine and connect it to the drone, and place a heavy object under the drone;

[0010] S4, the UAV starts to take off, and the tension machine applies tension and releases the guide rope synchronously. The UAV performs flight operations according to the route and speed set in the pre-input program;

[0011] S5, monitor the flight process through the camera, dynamometer and sensor equipment carried by the drone, and transmit the flight data to the ground station system in real time;

[0012] S6. When the UAV flies over the tower, control the UAV to hover or adjust its attitude, and place the guide rope into the auxiliary threading pulley on the tower;

[0013] S7, the UAV flies to the next tower and repeats step S6 until the predetermined guide rope deployment task is completed;

[0014] S8, the drone flies to the rope throwing location, and after confirming that the rope throwing location is safe, the connection between the drone and the guide rope is cut off, and then the drone returns and completes the landing at the landing location;

[0015] S9. After completing the construction, remove the equipment from the site.

[0016] Furthermore, the body material of the UAV is high-strength carbon fiber, and the guide rope is a Dyneema guide rope.

[0017] Furthermore, the method also includes real-time safety control of the UAV auxiliary deployment guide rope, and the control method includes: monitoring the real-time tension of the UAV towing and releasing guide rope: through the external dynamometer and the UAV blade lift calculation, the guide rope tension is monitored in real time and displayed on the computer; monitoring and communication feedback during the guide rope passing through the auxiliary threading pulley: through precise trajectory control, the pulley passing action is realized; the pulley passing process is monitored through video; a closing window signal is given to the pulley; control of the tension and speed of the tension machine guide rope: by giving a current control signal, the guide rope tension control is given; by controlling the UAV flight speed, the guide rope movement speed is controlled; remote control of the unhooking device to achieve unhooking: in an emergency, remote unhooking is achieved, and the UAV throws away the guide rope head.

[0018] Furthermore, in S3, during the connection between the guide rope and the drone, the tension of the guide rope is adjusted by using a magnetic powder brake to ensure that the guide rope maintains appropriate tension during the deployment process.

[0019] Furthermore, in S3, before the drone takes off, a heavy object is placed under it to stabilize its flight, and the high accuracy of the flight path is ensured by the RTK real-time differential positioning module.

[0020] Furthermore, in S5, during the flight process monitoring, the data transmitted in real time include flight images, traction, flight speed and coordinates, so as to facilitate comprehensive monitoring of the flight status of the UAV.

[0021] Furthermore, in S6, when the UAV flies over the tower, the UAV is controlled to hover or adjust its posture through the ground station system to ensure that the guide rope is accurately placed in the pulley.

[0022] Furthermore, in S8, when the drone completes the predetermined guide rope deployment task, it flies to the rope throwing location, cuts off the guide rope connection after confirming safety, and then returns to the landing location.

[0023] Furthermore, in S8, if the drone detects that the battery is insufficient during the return process, it will automatically return to the predetermined location for landing.

[0024] (II) The present invention also provides a UAV deployment guide rope system, comprising:

[0025] A drone, comprising a body, a foldable arm and a flight control system, wherein the flight control system comprises an RTK real-time differential positioning module;

[0026] A ground station system, which is matched with the UAV and monitors the flight status and flight data of the UAV in real time;

[0027] The UAV guide rope deployment center station system includes a control device for the transmission line UAV continuous guide rope deployment operation system;

[0028] A rope-releasing machine, comprising a tension machine, a rope drum and a guide rope, wherein the guide rope is wound around a tension wheel of the tension machine, and the rotation speed of the tension wheel is controlled by connecting a shaft sleeve with a magnetic powder brake, thereby generating tension;

[0029] Magnetic powder brake, which adjusts the braking force by adjusting the current of the magnetic powder brake to achieve tension control of the guide rope;

[0030] The auxiliary threading pulley is installed on the cross arm of the tower and is used to guide the guide rope to pass through.

[0031] Furthermore, the body material of the UAV is high-strength carbon fiber, and the guide rope is a Dyneema guide rope.

[0032] The beneficial effects of the present invention are:

[0033] (1) The present invention realizes the fully automatic planning, execution and monitoring of the high-altitude tower Dyneema rope extension task without human intervention, and has intelligent task planning and real-time control functions, thereby improving construction efficiency and safety.

[0034] (2) The system of the present invention can monitor the flight status and the tension of the guide rope in real time to ensure the safety and stability during the construction process, significantly improve the construction efficiency, reduce the construction risk, and realize the automation and intelligent management of the whole process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of a working scene of deploying a guide rope of a UAV according to an embodiment of the present invention.

[0036] Figure 2 Schematic diagram of the control architecture of the UAV deployment guide rope system according to an embodiment of the present invention.

[0037] Figure 3 It is a flow chart of a method for using a drone to deploy a guide rope system to assist in deploying a guide rope according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present invention. It is also necessary to explain that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings.

[0039] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] Unless otherwise specified, the exemplary embodiments / embodiments shown will be understood as exemplary features that provide various details of some ways in which the technical concept of the present invention can be implemented in practice. Therefore, without departing from the technical concept of the present disclosure, the features of the various embodiments / embodiments can be combined, separated, interchanged and / or rearranged in addition.

[0041] In the field of power transmission construction, technical researchers have been committed to developing solutions to complete the erection of power transmission lines in a more mechanized, intelligent and low-risk way, thereby improving construction efficiency and saving costs. In recent years, drones, as a kind of civil aviation equipment, have been widely available and have lower procurement and use costs than manned helicopters. They have been widely used in the construction and operation and maintenance of overhead lines. Drones are flexible and easy to operate, and have the ability to take off and land vertically, and have low requirements for take-off and landing sites. In addition, the daily maintenance of drones is extremely simple and can be completed by only a small number of people, which greatly saves the use and maintenance costs of the equipment. In particular, the large multi-rotor drones and large unmanned helicopters that have appeared in recent years are more suitable for the deployment of primary guide ropes for long-distance overhead line sections such as ultra-high voltage transmission lines and large-span transmission lines because of their long flight distance, large load, and flexibility.

[0042] The embodiment of the present invention provides a UAV deployment guide rope system, referring to Figures 1-2 , mainly including the following components: drone 100, rope release machine 200, control center 300 and auxiliary equipment 400, which are used for auxiliary threading pulleys for high-altitude deployment of Dyneema ropes R on one or more towers T. The following is a detailed description of each component:

[0043] 1. Drone 100

[0044] like Figure 2 As shown, the drone 100 includes a flight control system 101, an image processing system 102, a sensor and camera combination 103, and a navigation system 104. In a specific embodiment, the drone 100 is also equipped with a loading bracket and a Dyneema rope that performs motor grabbing, holding, and release. In addition, the drone 100 in this system can also be equipped with an aerial inspection for the location and terrain exploration tasks of the guide rope extension performed in the preparation stage. The drone 100 can use the above-mentioned sensor and camera combination 103 to detect terrain features, tower T shape features, or other objects.

[0045] In this embodiment, the drone 100 can achieve automatic docking capability through a combination of sensors that monitor mechanical motion, so various sensors such as altimeters, lidars, radars, gyroscopes, etc. are used to detect objects and monitor the environment outside the drone 100. In addition, the drone 100 adopts a high-strength carbon fiber structure, which has the characteristics of lightness and high strength. In one embodiment of the present disclosure, the drone 100 includes: a high-strength carbon fiber body structure and a foldable arm, which ensures the high adaptability and high safety control of the logistics drone 100 in a complex and high-risk environment, while facilitating transportation and on-site assembly. The drone 100 is equipped with a flight control system, including an RTK real-time differential positioning network module to achieve centimeter-level positioning. In one example, the drone 100 is equipped with a flight control and navigation system that supports multi-sensor data fusion such as inertial navigation (INS) and global positioning system (GPS).

[0046] The drone 100 used in the system of this embodiment has an ultra-large load capacity of 50 kg, which meets the requirements for deploying large-sized guide ropes. At the same time, the flight time is 60 minutes when empty and 25 minutes when fully loaded, ensuring that long-distance guide rope deployment tasks can be completed.

[0047] 2. Rope release machine 200

[0048] In this embodiment, the rope unwinding machine 200 includes a tension machine, a rope drum and a Dyneema rope. The Dyneema rope is wound around a tension wheel of the tension machine. The rotation speed of the tension wheel is controlled by connecting a shaft sleeve through a magnetic powder brake, thereby generating tension.

[0049] The guide rope tension machine is used to realize the tension control of the guide rope to ensure the strength and intensity control of the guide rope. The guide rope tension machine mainly includes the tension machine body, rope drum and Dyneema rope.

[0050] In this embodiment, the guide rope tension machine body adopts a modular design, which is convenient for rapid on-site installation and debugging.

[0051] The tension machine of the guide rope includes a rope drum, on which is wound a Dyneema rope with a diameter of 5 mm. This type of Dyneema rope has the characteristics of high strength and lightness, and is suitable for high-altitude deployment operations.

[0052] The speed of the tension wheel is controlled by the magnetic powder brake. The magnetic powder brake adjusts the braking force by adjusting the current of the magnetic powder brake to achieve tension control of the Dyneema rope. In one example, specifically, a Dyneema rope with a diameter of 5 mm is wound around the tension wheel of the tension machine, driving the tension wheel to rotate. The magnetic powder brake controls the speed of the tension wheel through the connecting sleeve to generate tension in the Dyneema rope. By adjusting the current supplied to the magnetic powder brake, the braking force of the magnetic powder brake is adjusted to achieve tension control.

[0053] 3. Control Center 300

[0054] The control center 300 includes a ground station system and a UAV deployment guide rope central station system, which is the core of the entire system and is used to monitor and manage the entire deployment process.

[0055] The control center 300 can monitor the flight status of the drone 100, the tension and speed of the guide rope in real time, and realize real-time data exchange with the drone 100 through wireless communication. In one example, the control center 300 is also equipped with the drone 100 path planning and flight mission management functions, which can automatically generate a flight path according to the construction site conditions and dynamically adjust it during the flight. In one example, the control center 300 specifically includes: a ground station system, which is matched with the drone 100 and monitors the flight status and flight data of the drone 100 in real time; and a drone 100 guide rope deployment central station system, including a transmission line drone 100 continuous deployment guide rope operation system control device.

[0056] In one embodiment, the control center 300 of the present solution can implement system security monitoring through a human-computer interaction system. For example, in one example, the control center 300 of the present solution implements the following real-time security monitoring through programmable code:

[0057] Monitoring the real-time tension of the guide rope used to release the UAV 100: Through the external dynamometer and the blade lift calculation of the UAV 100, the real-time monitoring of the tension of the traction rope is achieved and displayed on the computer;

[0058] Monitoring and communication feedback during the process of the guide rope passing through the dedicated pay-off pulley: through special precise trajectory control, the pulley passing action is realized; the pulley passing process is monitored through video; and the closing window signal is given to the pulley;

[0059] Control the tension and speed of the tension machine Dyneema rope: by giving a current control signal, the tension machine Dyneema rope tension control is given; by controlling the flight speed of the drone 100, the Dyneema rope speed is controlled;

[0060] Remote controlled unhooking device to achieve unhooking: in emergency, remote unhooking is achieved and the Dyneema rope head is thrown away.

[0061] In one example, combining Figure 2As shown, the control center 300 includes at least one processor 301, configured to access at least one memory 302 and execute computer executable instructions to cooperate with at least the navigation system 104 of the drone 100 involved in the GPS module 303, and the GPS module 303 is used to generate a route map of the terrain between the drone 100 and the deployment destination, and a set of navigation instructions generated based on the route map to help the drone 100 go to the deployment destination (target tower T) The tower T deployment position where the Dyneema rope is to be installed.

[0062] The control center 300 includes at least one memory 302 storing computer executable instructions, and at least one processor 301 is configured to access the at least one memory 302, and then execute various instructions, and cooperate with at least the GPS module 303 to generate a route map of the terrain between the drone 100 and the deployment destination, and a set of navigation instructions generated based on the route map. In one example, the control center 300 may also include a scheduling management module 304 to call up the currently dispatchable drones 100 and idle drones 100 in the venue to perform multi-threaded work and supplementary work.

[0063] The control center 300 is associated with the control network, and provides a communication module that can enable communication with the drone 100, and the communication path can span and represent various networks and network topologies. The control network is associated with the communication module, which can wirelessly communicate all messages between the control center 300 and various cooperative units such as the rope release machine 200 and the drone 100, and generate GPS deployment positions related to flight path planning, or related to prohibited areas, or plan driving paths together with GPS, and store GPS data.

[0064] For example, the communication path can include wireless communication, optical communication, ultrasonic communication, or a combination thereof. For example, satellite communication, cellular communication, Bluetooth communication to establish a connection with a user terminal via WiFi or Bluetooth RTM, infrared data, WiFi are examples of wireless communications that can be included in the communication path. Cable, Ethernet, digital subscriber line (DSL), fiber optic line are examples of wired communication that can be included in the communication path. In addition, the communication path can span many network topologies and distances. For example, the communication path can include a direct connection, a local area network (LAN), a wide area network (WAN), or a combination thereof. The communication module can provide a remote operator interface for drone 100 communication, thereby providing computer executable instructions for storage transmission.

[0065] 4. Auxiliary equipment 400

[0066] The auxiliary equipment 400 is used to achieve safe placement and fixation of the guide rope on the tower T, and includes an auxiliary threading pulley and a conductor fixing device. The auxiliary threading pulley is used to provide support when the guide rope passes through the cross arm of the iron tower to ensure the stable placement of the guide rope in the air. The conductor fixing device is used to fix the position of the guide rope after the guide rope is deployed, so as to facilitate the subsequent conductor deployment operation.

[0067] In this system, the control of the drone 100 is particularly important. The drone 100 is flying with a rope during operation, and the accuracy and precision of its own control and regulation determine the success or failure of the high-altitude wiring. Therefore, it is necessary to set up a control architecture between the control center 300 and the drone 100 to better implement the working steps. Figure 2 , the control center 300 and the control system of each drone 100 are connected to the control network through at least one access opening. The control center is connected to the drone 100 through a corresponding processing system. The control system 101 provided in the drone 100 is used to transmit the instructions of the control center, and to feedback the status of the drone 100 and obtain information to the control center 300. The drone 100 uses the control system 101, the image processing system 102, and the combination of sensors and cameras 103 to monitor or perform operations or tasks, and executes instructions that may involve driving on the flight path by processing the navigation system 104 and GPS coordinates of the drone 100 to perform actions such as deployment / rope throwing / recharging of aerial tasks.

[0068] In one example, a plurality of drones 100 may be included, each of which is configured to receive and transport one or more Dyneema ropes. Therefore, the control center 300 is connected to the control system of the drone 100. The drone 100 works automatically, and the deployment operation is performed by a control network, which provides various instructions through the control center 300 of the drone 100 to deploy the guide rope system, for the control center 300, each control system receives instructions, stored in a memory and / or in a cloud server, and the communication module receives data signals from sensors and receives image data from cameras. The instructions are calibrated with performance data related to flight navigation or drive navigation, such as navigation, motor control, steering, speed, and automatic docking, and the calibration is performed through routing data provided by GPS.

[0069] The drone 100 includes a combination of sensors and cameras configured to obtain sensor readings for performing tasks and operations. The sensor readings may include sensor signals or information or data about events or changes in the environment. The sensor readings may include, for example, image readings, such as digital images or point clouds / depth views. The sensor readings may also include quantitative measurements, such as measurements of force, torque, rotation, speed, distance, or combinations thereof.

[0070] The sensor may include a sensor for detecting or measuring sensor readings, for example, the sensor may be configured to detect or measure one or more physical characteristics of the state, condition, position of one or more structural members or electronic components of the drone 100, information of an object or the surrounding environment, or a combination thereof.

[0071] In some embodiments, the combination of sensors and cameras of the drone 100 may include one or more imaging devices or cameras configured to capture, identify, and detect the drone 100 or the environment around the drone 100. For example, the imaging device may include a two-dimensional camera, a three-dimensional camera, both of which may include a combination of visual and infrared functions, a dynamic laser radar, a solid-state laser radar, other ranging devices, and other imaging devices. The imaging device can generate a representation of the drone 100 and the environment around the drone 100, such as a digital image or a point cloud / depth view, for implementing machine / computer vision for automatic inspection, navigation guidance, or other robotic applications.

[0072] In some embodiments, the sensor and camera combination of the drone 100 may also include a combination of a set of internal sensors and cameras for detecting the loading operation of the Dyneema rope on the drone 100. The sensor and camera combination of the drone 100 may also include a combination of external sensors and cameras placed on a portion of the exterior of the drone 100 for detecting objects and monitoring activities or capturing images. The sensor is a lidar, ultrasonic, tactile, vision-related or other safety system-related sensor. In addition, the sensor may also include a contact sensor, such as a pressure sensor, a force sensor, a strain gauge, a piezoresistive / piezoelectric sensor, a capacitive sensor, an elastic resistance sensor, a torque sensor, a linear force sensor or other tactile sensor, configured to measure direct contact between multiple physical structures or surfaces. The sensor is configured to receive information from an external source and can send information to other drones 100 with a control network.

[0073] The present invention provides a method for using a UAV to deploy a guide rope system to assist in deploying a guide rope, including the following stages: preliminary preparation, construction site layout, guide rope connection and takeoff, guide rope deployment and end of operation. Figure 3 The specific method flow is as follows:

[0074] 400: Obtain construction site information: Survey the construction site, understand the terrain and crossing conditions of the construction site, and develop a detailed construction plan; the construction plan includes: selecting a suitable guide rope, determining the type of tensioner and drone, and ensuring that each device meets the construction requirements. Determine the take-off, rope throwing and landing locations of the drone, determine the location of the tensioner and auxiliary threading pulley, and determine the flight speed and path of the drone.

[0075] 401: Construction site layout: Arrange the take-off site of the UAV according to the construction plan, set up the guide rope tensioner, and wrap the Dyneema rope around the tension wheel to ensure the equipment is installed firmly. Input the coordinates of the UAV deployment route and flight speed and other parameters into the UAV flight control system for path planning and mission setting.

[0076] 402: Connect the guide rope to the drone: Lead out one end of the Dyneema guide rope wound on the tension machine and connect it to the mounting device of the drone. At the same time, place heavy objects under the drone to increase stability.

[0077] 403: UAV take-off: After the UAV is started, it takes off slowly. At the same time, the tension machine applies tension and releases the guide rope synchronously. The UAV flies according to the route and speed set in the pre-input program to ensure that the guide rope is smoothly extended in the air.

[0078] 404: Flight process monitoring: The flight image, traction, flight speed and coordinate data are transmitted to the ground station system in real time through the camera, dynamometer and sensor equipment carried by the drone;

[0079] 405: Guide rope is placed into the auxiliary threading pulley: When the UAV flies over the pole tower, the operator controls the UAV to hover or adjust its attitude and accurately places the guide rope into the auxiliary threading pulley on the pole tower.

[0080] 406: Repeat the deployment process: Continue to fly along the predetermined path, the UAV flies to the next tower and repeats step 6 until the predetermined guide rope deployment tasks between all towers are completed.

[0081] 407: Drone rope throwing and return: After the guide rope is deployed, the drone flies to the rope throwing location. After confirming that the rope throwing location is safe, the connection between the drone and the guide rope is cut off by remote control. The drone then returns and lands at the landing location, completing the entire guide rope deployment mission.

[0082] 408: Clearance: Complete the evacuation of construction equipment from the site, conduct equipment inspection and maintenance, and ensure that the equipment is in good condition and ready for the next use.

[0083] Compared with the prior art, the method of the present invention has the following advantages:

[0084] Real-time tension monitoring: Through the external dynamometer and the lift calculation of the UAV blades, the tension of the guide rope can be monitored in real time and displayed in the control system.

[0085] Monitoring of the pulley process: Through video monitoring and precise trajectory control, accurate operation of the guide rope passing the pulley is achieved, and the pulley status is fed back.

[0086] Tension and speed control: Through the current control signal, the tension of the tension machine Dyneema rope and the flight speed of the UAV are adjusted to ensure the stability of the guide rope during deployment.

[0087] Emergency unhooking: In an emergency, the guide rope can be quickly unhooked through the remote control unhooking device to ensure construction safety.

[0088] In summary, the present invention provides a guide rope deployment system for unmanned aerial vehicles, and a method for assisting the deployment of guide ropes using the unmanned aerial vehicle deployment guide rope system, which can realize safe real-time monitoring and is particularly suitable for the guide rope deployment stage of power transmission line stringing construction. The present invention realizes the automation of the entire process from deployment mission planning, flight operations to safety monitoring, and has a highly automated and intelligent flight control system with real-time intelligent planning of tasks, real-time control and supervision of terminals, and real-time data transmission monitoring. The system includes flight planning management and human-machine collaborative mode. The unmanned aerial vehicle operation flight planning control center station system performs flight planning management and has the functions of flight mission management, automatic planning, flight command issuance, flight control, and management of unmanned aerial vehicles, service stations (fixed machine nests), guide stations (mobile airports) and related accessories and equipment. In the mission planning stage, the system automatically generates flight missions based on the terrain data and construction requirements of the construction site, including the setting of take-off points, flight paths, operating altitudes, and landing points.

[0089] When performing a mission, the operator brings the drone to the site and starts the drone according to the mission instructions issued by the system. The drone automatically takes off according to the preset flight path and performs the guide rope deployment mission. During the flight, the system monitors the flight status of the drone and the tension of the guide rope in real time to ensure the smooth progress of the mission. After the mission is completed, the drone lands at the predetermined landing point or is guided to land by the guide platform.

[0090] The human-machine collaborative mode is suitable for areas with relatively sparse transmission lines or special operations that require human participation. In this mode, the operator brings the drone to the site, the system issues a flight mission, the drone takes off at point A, and lands at a fixed point B after completing the mission, or is guided to land at point B by a guide platform. The whole process is completed automatically without manual operation. The generated work data is automatically transmitted back to the server for classification and processing, and the relevant processing results are automatically classified and stored. The information that needs to be paid attention to and processed by the team and relevant personnel is distributed to the relevant personnel.

[0091] The present invention realizes the fully automatic planning, execution and monitoring of the Dyneema rope extension task of the high-altitude tower without manual intervention, and has intelligent task planning and real-time control functions, which improves the construction efficiency and safety. At the same time, the system can monitor the flight status and the tension of the guide rope in real time to ensure the safety and stability during the construction process, which can significantly improve the construction efficiency, reduce the construction risk, and realize the automation and intelligent management of the whole process.

[0092] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0093] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A method for using a UAV to deploy a guide rope system to assist in deploying a guide rope, characterized in that: The following steps are involved: S1. Develop a construction plan, including: selecting the guide rope, determining the type of tensioner and drone, determining the take-off, rope throwing and landing locations of the drone, determining the location of the tensioner and auxiliary threading pulley, and determining the flight speed and path of the drone; S2. Arrange the take-off site of the UAV according to the construction plan, set up the guide rope tension machine, and input the coordinates of the UAV deployment route and flight speed parameters into the UAV flight control system; S3, lead out one end of the guide rope wound on the tension machine and connect it to the drone, and place a heavy object under the drone; S4, the UAV takes off, and the tension machine applies tension, and the guide rope is released synchronously, and the UAV performs flight operations according to the route and speed set in the pre-input program; S5, monitor the flight process through the camera, dynamometer and sensor equipment carried by the drone, and transmit the flight data to the ground station system in real time; S6. When the UAV flies over the tower, control the UAV to hover or adjust its attitude, and place the guide rope into the auxiliary threading pulley on the tower; S7, the UAV flies to the next tower and repeats step S6 until the predetermined guide rope deployment task is completed; S8, the drone flies to the rope throwing location, and after confirming that the rope throwing location is safe, the connection between the drone and the guide rope is cut off, and then the drone returns and completes the landing at the landing location; S9. After completing the construction, remove the equipment from the site.

2. The method for deploying a guide rope using a drone deploying guide rope system according to claim 1, characterized in that: The body material of the UAV is high-strength carbon fiber, and the guide rope is a Dyneema guide rope.

3. The method for deploying a guide rope using a drone deploying guide rope system according to claim 1, characterized in that: The method also includes real-time safety control of the UAV auxiliary deployment guide rope, and the control method includes: Real-time monitoring of the tension of the UAV towing and releasing guide rope: through the external dynamometer and the lift calculation of the UAV blade, the real-time monitoring of the tension of the guide rope can be achieved; Monitoring and communication feedback of the guide rope passing through the auxiliary threading pulley: through precise trajectory control, the pulley passing action is realized; through video monitoring of the pulley passing process, a closing window signal is given to the pulley; Control the tension and speed of the guide rope of the tension machine: by giving the current control signal, the tension of the guide rope is controlled; by controlling the flight speed of the UAV, the moving speed of the guide rope is controlled; Remote controlled unhooking device to achieve unhooking: In an emergency, remote unhooking is achieved and the drone throws away the guide rope head.

4. The method for deploying a guide rope using a drone deploying guide rope system according to claim 1, characterized in that: In S3, during the connection between the guide rope and the drone, the tension of the guide rope is adjusted by using a magnetic powder brake to ensure that the guide rope maintains appropriate tension during the deployment process.

5. The method for deploying a guide rope using a drone deploying guide rope system according to claim 1, characterized in that: In S3, before the drone takes off, a heavy object is placed under it to stabilize its flight, and the high accuracy of the flight path is ensured by the RTK real-time differential positioning module.

6. The method for deploying a guide rope using a drone deploying guide rope system according to claim 1, characterized in that: In S5, during the flight process monitoring, the data transmitted in real time include flight images, traction, flight speed and coordinates, which facilitates comprehensive monitoring of the flight status of the drone.

7. The method for deploying a guide rope using a drone deploying guide rope system according to claim 1, characterized in that: In S6, when the UAV flies over the tower, the UAV is controlled to hover or adjust its posture through the ground station system to ensure that the guide rope is accurately placed in the pulley.

8. The method for deploying a guide rope using a drone deploying guide rope system according to claim 1, characterized in that: In S8, when the UAV completes the predetermined guide rope deployment task, it flies to the rope throwing location, cuts off the guide rope connection after confirming safety, and then returns to the landing location.

9. The method for deploying a guide rope using a drone deploying guide rope system according to claim 1, characterized in that: In S8, during the return process, if the drone detects that the battery is insufficient, it will automatically return to the predetermined location for landing.

10. A UAV deployment guide rope system, characterized in that: include: A drone, comprising a body, a foldable arm and a flight control system, wherein the flight control system comprises an RTK real-time differential positioning module; A ground station system, which is matched with the UAV and monitors the flight status and flight data of the UAV in real time; The UAV guide rope deployment center station system includes a control device for the transmission line UAV continuous guide rope deployment operation system; A rope-releasing machine, comprising a tension machine, a rope drum and a guide rope, wherein the guide rope is wound around a tension wheel of the tension machine, and the rotation speed of the tension wheel is controlled by connecting a shaft sleeve with a magnetic powder brake, thereby generating tension; Magnetic powder brake, which adjusts the braking force by adjusting the current of the magnetic powder brake to achieve tension control of the guide rope; The auxiliary threading pulley is installed on the cross arm of the tower and is used to guide the guide rope to pass through.

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