Unmanned aerial vehicle lead sag measuring device and method

Abstract

The embodiment of the invention provides an unmanned aerial vehicle lead sag measuring device and method, and belongs to the technical field of ground wire measurement. The sag measuring device comprises a measuring device shell which is arranged on an unmanned aerial vehicle and is driven by the unmanned aerial vehicle to move; the collimator is arranged on the front face of the measuring device shell so as to aim at the wire; the laser radar range finder is arranged on the side surface of the collimator and is used for carrying out range finding on the aimed wire; the base station shell is arranged on the unmanned aerial vehicle and is driven by the unmanned aerial vehicle to move, a base station module is arranged in the base station shell, and the base station module is used for RTK positioning difference; and the integrated circuit main board is arranged in the measuring device shell, and a measuring module is arranged in the integrated circuit main board so as to calculate the measured wire distance and the positioning of the unmanned aerial vehicle. The sag measuring device can be used for quickly and conveniently measuring the wire.

Description

Technical Field

[0001] The present invention relates to the technical field of ground wire measurement, and in particular to a device and method for measuring the sag of a conductor of an unmanned aerial vehicle. Background Art

[0002] The problem of low accuracy and difficulty in measuring the sag of conventional overhead transmission lines in complex environments (such as large spans, foggy days, mountainous areas, etc.) is addressed. The traditional measurement method generally uses the parallelogram method to observe the sag by tying sag plates on the tower; in mountainous areas, the sag is observed on the ground using theodolite angles. Both methods use optical observations and have high visibility requirements. In poor visibility conditions such as dense fog and at night, sag observations cannot be performed, and they are highly dependent on the quality of the environment. Therefore, a drone conductor sag measurement device and method are needed to complete the measurement of the conductor. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a UAV conductor sag measurement device and method, which can quickly and conveniently measure the conductor.

[0004] In order to achieve the above object, an embodiment of the present invention provides a UAV conductor sag measuring device, the sag measuring device comprising:

[0005] A measuring device housing, wherein the measuring device housing is disposed on the drone so as to be moved by the drone;

[0006] A collimator, arranged on the front side of the housing of the measuring device, for aiming at the wire;

[0007] A laser radar rangefinder, arranged on the side of the collimator, to measure the distance of the aimed wire;

[0008] A base station housing is arranged on the drone to be moved by the drone, and a base station module is arranged in the base station housing, and the base station module is used for RTK positioning difference;

[0009] The integrated circuit mainboard is arranged inside the housing of the measuring device, and a measuring module is arranged inside the integrated circuit mainboard to calculate the measured wire distance and the positioning of the drone.

[0010] Optionally, a protrusion is provided on one side of the measuring device housing, and a through hole is provided in the protrusion, and the diameter of the middle part of the through hole is smaller than the diameters of the bottom and top of the through hole. The sag measuring device is provided with an exhaust hole, which passes through the measuring device housing and is connected with the middle part of the through hole, and the diameter of the exhaust hole is smaller than the diameter of the middle part of the through hole.

[0011] Optionally, the exhaust hole is directed obliquely downward.

[0012] Optionally, the front side of the housing of the measuring device is provided with two openings, the collimator and the laser radar rangefinder are respectively arranged in the openings, and the sag measuring device comprises:

[0013] A rolling axis, respectively disposed near the top and bottom of each of the openings;

[0014] A rolling belt, one end of which is connected to the top of the sighting instrument or the laser radar rangefinder, and the other end of which passes around the rolling axis at the top of the opening and the rolling axis at the bottom of the opening to be connected to the bottom of the corresponding sighting instrument or the laser radar rangefinder;

[0015] A motor, arranged inside the housing of the measuring device and between the two rolling belts;

[0016] Two transmission shafts are arranged at both ends of the motor to be driven by the motor, and the two transmission shafts are respectively in two rolling belts to drive the corresponding rolling belts to drive, thereby driving the corresponding aiming device and laser radar rangefinder to move up or down along the opening.

[0017] Optionally, both sides of each opening are provided with limit grooves, and the sag measuring device includes limit columns, which are respectively arranged at the top and bottom of the sight and the laser radar rangefinder and are connected to the corresponding rolling belts.

[0018] Optionally, the sag measuring device includes a support column, which is arranged in the housing of the measuring device and between the sight and the laser radar rangefinder. Sliding grooves are provided on both sides of the support column. Connecting columns are provided in the sliding grooves. The connecting columns are respectively connected to the sight and the laser radar rangefinder. The connecting columns can move along the sliding grooves, and there is a damping effect between the connecting columns and the sliding grooves.

[0019] Optionally, the sag measuring device comprises:

[0020] An integrated circuit mainboard housing is arranged in the housing of the measuring device, and the integrated circuit mainboard is arranged in the integrated circuit mainboard housing;

[0021] A damper is arranged at the bottom of the integrated circuit mainboard housing and connected to the bottom of the measuring device housing;

[0022] The first spring is arranged outside each of the dampers, and the top of the first spring is connected to the bottom of the integrated circuit mainboard housing, and the bottom of the first spring is connected to the bottom of the measuring device housing.

[0023] Optionally, a T-slot is provided on a side of the integrated circuit mainboard housing, and the sag measuring device comprises:

[0024] A sliding bracket, wherein the bottom of the sliding bracket is arranged at the bottom of the housing of the measuring device, the top of the sliding bracket is arranged in the T-slot, and the T-slot and the sliding bracket can move relative to each other;

[0025] A second spring, wherein the top of the second spring is connected to the top of the sliding bracket, and the bottom of the second spring is connected to the bottom of the T-slot.

[0026] Optionally, a communication antenna and an RTK antenna connector are provided on the back of the measuring device housing. The communication antenna is used to upload the data of the wire distance and the positioning of the UAV calculated by the integrated circuit main board to a ground workstation, so as to complete the calculation of the sag of the wire based on the measurement of the wire. The RTK antenna connector is used to transmit the RTK positioning differential data to the integrated circuit main board, so as to complete the positioning of the UAV.

[0027] On the other hand, the present invention also provides a method for measuring the sag of a UAV conductor, the sag measuring method comprising:

[0028] Turning on the power of the sag measuring device, and moving the sag measuring device to the vicinity of the conductor by the drone;

[0029] Adjusting the sag measuring device to a horizontal state;

[0030] The sag measurement device obtains the spatial point position and reference RTK data, and performs positioning solution;

[0031] Constructing, based on the data obtained by the positioning solution, a first virtual data set for representing the spatial point data set and the coordinates of the measuring point in the plane coordinate system where the corresponding measuring point spatial point is located, and a second virtual data set for representing the two-dimensional data of the distance and angle between the measuring point and the measuring point;

[0032] According to the acquired first virtual data set and second virtual data set, coordinate transformation of the center point of the plane where the observation point is located is completed to obtain the measurement point of the wire;

[0033] The UAV moves the sag measuring device to other positions of the conductor and obtains the corresponding first virtual data set and the second virtual data set, and performs calculations according to the corresponding first virtual data set and the second virtual data set to obtain corresponding measuring points;

[0034] Curve fitting is performed based on the acquired measuring points and the sag calculation of the conductor is completed.

[0035] Through the above technical scheme, a drone conductor sag measuring device and method provided by the present invention can be provided with a measuring device housing, and the measuring device housing can be provided on the drone, so that it can be driven by the drone to move to the vicinity of the conductor. The sight can be provided on the front of the measuring device housing, so that the drone can be adjusted to aim at the conductor. The laser radar rangefinder can be provided on the side of the sight, so that the aimed conductor can be measured. The base station housing can be provided on the drone, so that it can be driven to move by the drone, and a base station module can be provided in the base station housing, and the base station module can be positioned differentially by RTK. The integrated circuit mainboard can be provided inside the measuring device housing, and a measuring module can be provided inside the integrated circuit mainboard, so that the measured conductor distance and the positioning of the drone can be solved, so that the measuring point information of the conductor can be obtained. According to the obtained measuring point information of the conductor, the sag measurement of the conductor can be completed later. The sag measuring device can quickly and conveniently measure the conductor with high accuracy.

[0036] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0038] Figure 1 is an overall schematic diagram of a UAV conductor sag measurement device according to an embodiment of the present invention;

[0039] Figure 2 is a front view of a measuring device housing of a UAV conductor sag measuring device according to one embodiment of the present invention;

[0040] Figure 3 is a cross-sectional view of a protrusion of a UAV conductor sag measuring device according to one embodiment of the present invention;

[0041] Figure 4 is a first view of a measuring device housing of a UAV conductor sag measuring device according to one embodiment of the present invention with the top removed;

[0042] Figure 5 is a second view of a measuring device housing of a UAV conductor sag measuring device according to one embodiment of the present invention with the top removed;

[0043] Figure 6is a third view of a measuring device housing of a conductor sag measuring device for a drone according to one embodiment of the present invention with the top removed;

[0044] Figure 7 is a fourth view of a UAV conductor sag measuring device with the top removed according to one embodiment of the present invention;

[0045] Figure 8 is a schematic diagram of a measuring wire according to one embodiment of the present invention;

[0046] Fig. 9 It is a flow chart of a method for measuring sag of a conductor using a drone according to one embodiment of the present invention.

[0047] Description of Reference Numerals

[0048] 1. Measuring device housing 2. Base station housing

[0049] 3. LiDAR rangefinder 4. Bump

[0050] 5. Through hole 6. Exhaust hole

[0051] 7. Sight 8. Opening

[0052] 9. Rolling shaft 10. Rolling belt

[0053] 11. Motor 12. Drive shaft

[0054] 13. Limiting groove 14. Limiting column

[0055] 15. Support column 16. Sliding groove

[0056] 17. Connecting column 18. Integrated circuit motherboard housing

[0057] 19. Damper 20. First spring

[0058] 21. T-slot 22. Sliding bracket

[0059] 23. Second spring 24. Communication antenna DETAILED DESCRIPTION

[0060] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0061] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0062] Figure 1 It is an overall schematic diagram of a UAV conductor sag measurement device according to an embodiment of the present invention. Figure 2 The front view of the measuring device housing of a drone conductor sag measuring device according to one embodiment of the present invention. In the present invention, the sag measuring device may include: a measuring device housing 1, a collimator 7, a laser radar rangefinder 3, a base station housing 2, and an integrated circuit mainboard. The measuring device housing 1 may be arranged on the drone, so that it can be driven by the drone to move near the conductor. The collimator 7 may be arranged on the front of the measuring device housing 1, so that the drone can be adjusted to aim at the conductor. The laser radar rangefinder 3 may be arranged on the side of the collimator 7, so that after the collimator 7 aims at the conductor, the aimed conductor may be measured. The base station housing 2 may be arranged on the drone, so that it can be driven by the drone to move, and a base station module may be arranged in the base station housing 2, and the base station module may be positioned differentially by RTK. The integrated circuit mainboard may be arranged inside the measuring device housing 1, and a measuring module may be arranged inside the integrated circuit mainboard, so that the measured conductor distance and the positioning of the drone may be solved, so that the measuring point information of the conductor may be obtained. The sag measurement of the conductor may be completed later according to the obtained measuring point information of the conductor. The sag measuring device can measure the conductor quickly and conveniently with high accuracy.

[0063] The sag measuring device may include a buffer rubber support, which may be arranged at the bottom of the measuring device housing 1 to cope with the impact of the drone landing and prevent the sag measuring device from being damaged by impact when the drone lands.

[0064] The sag measuring device may include a level meter. The level meter may be arranged on the base station housing 2, so that it can be used to adjust the base station housing 2 to level the base station housing 2, and then the drone can be leveled.

[0065] In one embodiment of the present invention, Figure 1 and Figure 3As shown, a protrusion 4 may be provided on one side of the measuring device housing 1. The protrusion 4 may be flush with the measuring device housing 1, and a through hole 5 may be provided in the protrusion 4. The diameter of the middle portion of the through hole 5 may be smaller than the diameter of the bottom and top of the through hole 5, and the sag measuring device may also be provided with an exhaust hole 6. The exhaust hole 6 may pass through the measuring device housing 1 and may be connected to the middle portion of the through hole 5. The diameter of the exhaust hole 6 may be smaller than the diameter of the middle portion of the through hole 5. Because the middle diameter of the through hole 5 is smaller than the diameters of the top and bottom thereof, when the sag measuring device is driven by the drone, the airflow can pass through the through hole 5. According to the Bernoulli principle, when an exhaust hole 6 is passed through the middle of the through hole 5, the airflow in the measuring device housing 1 can be driven to be discharged from the exhaust hole 6, so that the components in the measuring device housing 1 can be cooled. Moreover, because the exhaust hole 6 is not directly exposed to the outside of the measuring device housing 1, even on rainy days, external rainwater will not enter the inside of the measuring device housing 1 through the exhaust hole 6, so that it can be waterproof while exhausting and dissipating heat.

[0066] In one embodiment of the present invention, the exhaust hole 6 may be oriented obliquely downward, which facilitates heat dissipation and exhaust, and can further prevent external rainwater from entering the interior of the measuring device housing 1 through the exhaust hole 6.

[0067] In one embodiment of the present invention, two openings 8 may be provided on the front of the housing 1 of the measuring device. The sight 7 and the radar laser rangefinder 3 may be respectively arranged in the openings 8. The sag measuring device may include: a rolling shaft 9, a rolling belt 10, a motor 11, and a transmission shaft 12. The number of the rolling shafts 9 may be multiple, and they may be respectively arranged near the top and bottom of each opening 8. One end of the rolling belt 10 may be connected to the top of the sight 7 or the laser radar rangefinder 3, and the other end may bypass the rolling shaft 9 at the top of the opening 8 and may bypass the rolling shaft 9 at the top of the opening 8 and be connected to the bottom of the corresponding sight 7 or laser radar rangefinder 3. The motor 11 may be arranged inside the housing 1 of the measuring device and may be arranged between the two rolling belts 10. The number of the transmission shaft 12 may be two, and they may be arranged at both ends of the motor 11, so that they may be driven to rotate by the motor 11. The two transmission shafts 12 may be respectively in the two rolling belts 10, so that the corresponding rolling belts 10 may be driven to transmit, and then the corresponding sight 7 and laser radar rangefinder 3 may be driven to move up and down along the opening 8. Because the sighting instrument 7 and the laser radar rangefinder 3 are both driven to move by the rolling belt 10, and the rolling belt 10 has a certain width, it can cover the opening 8. While the rolling belt 10 drives the sighting instrument 7 and the laser radar rangefinder 3 to move, the opening 8 can be covered, so that the opening 8 can always be in a covered state to prevent external rainwater and other debris from entering the interior of the measuring device housing 1 through the opening 8.

[0068] In one embodiment of the present invention, Figure 6 As shown, a limit groove 13 may be provided on both sides of the opening 8. The sag measuring device may include a limit column 14. The limit column 14 may be plural in number and may be respectively provided at the top and bottom of the sight 7 and the laser radar rangefinder 3, and may be connected to the corresponding rolling belt 10. The cooperation of the limit groove 13 and the limit column 14 can ensure that the sight 7 and the laser radar rangefinder 3 can only move in a straight line direction when moving up and down along the opening 8, and will not deviate, so as to ensure the stability of the movement of the sight 7 and the laser radar rangefinder 3.

[0069] In one embodiment of the present invention, Figure 4As shown, the sag measuring device may include a support column 15. The support column 15 may be arranged inside the measuring device housing 1, and may be arranged between the collimator 7 and the laser radar rangefinder 3. Sliding grooves 16 may be provided on both sides of the support column 15. A connecting column 17 may be provided in the sliding groove 16. The number of the connecting columns 17 may be two, and they may be connected to the collimator 7 and the laser radar rangefinder 3 respectively. The connecting column 17 may move along the sliding groove 16, and there may be a damping effect between the connecting column 17 and the sliding groove 16. The cooperation between the connecting column 17 and the sliding groove 16 can make the collimator 7 and the laser radar rangefinder 3 move only along the direction of the sliding groove 16, so as to ensure the stability of the movement of the collimator 7 and the laser radar rangefinder 3. Because there is a damping effect between the connecting column 17 and the sliding groove 16, when the collimator 7 and the laser radar rangefinder 3 move to a certain distance, the stability of the collimator 7 and the laser radar rangefinder 3 can be maintained.

[0070] In one embodiment of the present invention, Figure 6 As shown, the sag measuring device may include: an integrated circuit mainboard housing 18, a damper 19 and a first spring 20. The integrated circuit mainboard housing 18 may be arranged inside the measuring device housing 1, and the integrated circuit mainboard may be arranged inside the integrated circuit mainboard housing 18. The damper 19 may be arranged at the bottom of the integrated circuit mainboard housing 18, and may be connected to the bottom of the measuring device housing 1. The first spring 20 may be arranged outside each damper 19, and the top of the first spring 20 may be connected to the bottom of the integrated circuit mainboard housing 18. The bottom of the first spring 20 may be connected to the bottom of the measuring device housing 1. Because of the cooperation of the damper 19 and the first spring 20, when the sag measuring device is impacted, the integrated circuit mainboard in the integrated circuit mainboard housing 18 may also be protected by the buffering of the damper 19 and the first spring 20, and is not affected by the impact.

[0071] In one embodiment of the present invention, Figure 7As shown, the side of the integrated circuit mainboard housing 18 may be provided with a T-slot. The sag measuring device may include: a sliding bracket 22 and a second spring 23. The bottom of the sliding bracket 22 may be arranged at the bottom of the measuring device housing 1. The top of the sliding bracket 22 may be arranged in the T-slot, and the T-slot 21 and the sliding bracket 22 may move relative to each other. The top of the second spring 23 may be connected to the top of the sliding bracket 22. The bottom of the second spring 23 may be connected to the bottom of the T-slot 21. The cooperation of the second spring 23 and the sliding bracket 22 may buffer the integrated circuit mainboard housing 18 when the sag measuring device is impacted, thereby cooperating with the first spring 20 and the damper 19 to protect the integrated circuit mainboard from impact.

[0072] In one embodiment of the present invention, Figure 7 As shown, the back of the measuring device housing 1 may be provided with a communication antenna 24 and an RTK antenna connector. The communication antenna 24 may be used to upload the wire distance and the positioning data of the UAV solved by the integrated circuit mainboard to the ground workstation, so that the sag of the wire can be calculated based on the measurement of the wire. The RTK antenna connector may be used to transmit the RTK positioning differential data to the integrated circuit mainboard, so that the positioning of the UAV can be solved, and then the conversion of the measuring point of the wire can be further completed to obtain the positioning of the measuring point of the wire.

[0073] On the other hand, the present invention can also provide a method for measuring the sag of a UAV conductor. Fig. 9 As shown, the process of the sag measurement method may include:

[0074] In step S1, the power of the sag measuring device is turned on, and the drone moves the sag measuring device near the conductor.

[0075] In step S2, the sag measuring device is adjusted to a horizontal state.

[0076] In step S3, the sag measurement device obtains the spatial point position and reference RTK data, and performs positioning solution.

[0077] In step S4, a first virtual dataset for representing the spatial point dataset and the coordinates of the measured points in the plane coordinate system corresponding to the spatial point of the measuring point is constructed based on the data obtained by the positioning solution, and a second virtual dataset for representing the two-dimensional data of the distance and angle between the measuring point and the measuring point is constructed.

[0078] In step S5, the coordinate transformation of the center point of the plane where the observation point is located is completed according to the acquired first virtual data set and second virtual data set to obtain the measurement point of the wire.

[0079] In step S6, the drone moves the sag measuring device to the remaining positions of the conductor and obtains the corresponding first virtual data set and the second virtual data set, and performs calculations according to the corresponding first virtual data set and the second virtual data set to obtain corresponding measuring points.

[0080] In step S7, curve fitting is performed according to the acquired measuring points and the sag calculation of the conductor is completed.

[0081] In the present invention, when measuring the sag of the conductor, the power supply of the sag measuring device can be turned on first, and the sag measuring device can be moved to the vicinity of the conductor by the drone. When reaching the vicinity of the conductor, the sag measuring device can be adjusted to a horizontal state, so that the drone can also be adjusted to a horizontal state. When the drone is in a horizontal state, the sag measuring device can obtain the spatial point position and reference RTK data of the conductor, and can perform positioning and solving on these data. After performing positioning and solving, the data is obtained, and according to the data obtained after positioning and solving, a first virtual data set for representing the coordinates of the measured point position in the plane coordinate system where the spatial point position of the corresponding measuring point is located and a second virtual data set for representing the two-dimensional data of the distance and angle between the measuring point and the measuring point can be constructed. After obtaining the first virtual data set and the second virtual data set, the coordinate conversion of the center point position of the plane where the observation point is located can be completed according to the obtained first virtual data set and the second virtual data set, so that the measuring point of the conductor can be obtained. After obtaining a measuring point of a conductor, the drone can move the sag measuring device to other positions of the conductor and obtain the corresponding first virtual data set and the second virtual data set, and can perform calculations based on the corresponding first virtual data set and the second virtual data set to obtain the corresponding measuring point, such as Figure 8 After obtaining the measuring points, curve fitting can be performed based on the obtained measuring points, and the sag calculation of the conductor can be completed.

[0082] Through the above technical scheme, a drone conductor sag measuring device and method provided by the present invention can be provided with a measuring device housing, and the measuring device housing can be provided on the drone, so that it can be driven by the drone to move to the vicinity of the conductor. The sight can be provided on the front of the measuring device housing, so that the drone can be adjusted to aim at the conductor. The laser radar rangefinder can be provided on the side of the sight, so that the aimed conductor can be measured. The base station housing can be provided on the drone, so that it can be driven to move by the drone, and a base station module can be provided in the base station housing, and the base station module can be positioned differentially by RTK. The integrated circuit mainboard can be provided inside the measuring device housing, and a measuring module can be provided inside the integrated circuit mainboard, so that the measured conductor distance and the positioning of the drone can be solved, so that the measuring point information of the conductor can be obtained. According to the obtained measuring point information of the conductor, the sag measurement of the conductor can be completed later. The sag measuring device can quickly and conveniently measure the conductor with high accuracy.

[0083] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0084] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A UAV conductor sag measurement device, characterized in that: The sag measuring device comprises: A measuring device housing (1), the measuring device housing being arranged on a drone so as to be moved by the drone; A collimator (7) arranged on the front side of the measuring device housing (1) to collimate the wire; A laser radar rangefinder (3) is arranged on the side of the collimator to measure the distance of the aimed wire; A base station housing (2) is arranged on the drone so as to be moved by the drone, and a base station module is arranged inside the base station housing, and the base station module is used for RTK positioning difference; An integrated circuit mainboard is arranged inside the housing (1) of the measuring device, and a measuring module is arranged inside the integrated circuit mainboard to calculate the measured wire distance and the positioning of the drone.

2. The sag measuring device according to claim 1, characterized in that: A protrusion (4) is provided on one side of the measuring device housing (1), a through hole (5) is provided in the protrusion (4), the diameter of the middle portion of the through hole (5) is smaller than the diameters of the bottom and top of the through hole (5), and the sag measuring device is provided with an exhaust hole (6), the exhaust hole (6) passes through the measuring device housing (1) and is connected to the middle portion of the through hole (5), and the diameter of the exhaust hole (6) is smaller than the diameter of the middle portion of the through hole (5).

3. The sag measuring device according to claim 2, characterized in that: The direction of the exhaust hole (6) is obliquely downward.

4. The sag measuring device according to claim 1, characterized in that: The front side of the measuring device housing (1) is provided with two openings (8), the collimator (7) and the laser radar rangefinder (3) are respectively arranged in the openings (8), and the sag measuring device comprises: A rolling shaft (9) is respectively arranged near the top and bottom of each of the openings (8); A rolling belt (10), one end of which is connected to the top of the sighting instrument (7) or the laser radar rangefinder (3), and the other end of which passes around the rolling shaft (9) at the top of the opening (8) and the rolling shaft (9) at the bottom of the opening (8) to be connected to the bottom of the corresponding sighting instrument (7) or the laser radar rangefinder (3); A motor (11) arranged inside the measuring device housing (1) and between the two rolling belts (10); Two transmission shafts (12) are arranged at both ends of the motor (11) to be driven to rotate by the motor (11), and the two transmission shafts (12) are respectively in two rolling belts (10) to drive the corresponding rolling belts (10) to transmit, thereby driving the corresponding sighting device (7) and laser radar rangefinder (3) to move up or down along the opening (8).

5. The sag measuring device according to claim 4, characterized in that: Limiting grooves (13) are provided on both sides of each opening (8), and the sag measuring device comprises limiting columns (14) which are respectively arranged at the top and bottom of the sight (7) and the laser radar rangefinder (3), and are connected to the corresponding rolling belt (10).

6. The sag measuring device according to claim 4, characterized in that: The sag measuring device comprises a support column (15) which is arranged in the measuring device housing (1) and between the collimator (7) and the laser radar rangefinder (3); sliding grooves (16) are arranged on both sides of the support column (15); connecting columns (17) are arranged in the sliding grooves (16); the connecting columns (17) are respectively connected to the collimator (7) and the laser radar rangefinder (3); the connecting columns (17) can move along the sliding grooves (16); and a damping effect is provided between the connecting columns (17) and the sliding grooves (16).

7. The sag measuring device according to claim 1, characterized in that: The sag measuring device comprises: An integrated circuit mainboard housing (18) is arranged in the measuring device housing (1), and the integrated circuit mainboard is arranged in the integrated circuit mainboard housing (18); A damper (19) is arranged at the bottom of the integrated circuit mainboard housing (18) and connected to the bottom of the measuring device housing (1); A first spring (20) is arranged outside each of the dampers (19), and the top of the first spring (20) is connected to the bottom of the integrated circuit mainboard housing (18), and the bottom of the first spring (20) is connected to the bottom of the measuring device housing (1).

8. The sag measuring device according to claim 7, characterized in that: The side of the integrated circuit mainboard housing (18) is provided with a T-shaped slot (21), and the sag measuring device comprises: A sliding bracket (22), wherein the bottom of the sliding bracket (22) is arranged at the bottom of the measuring device housing (1), the top of the sliding bracket (22) is arranged in the T-shaped slot (21), and the T-shaped slot (21) and the sliding bracket (22) are capable of relative movement; A second spring (23), wherein the top of the second spring (23) is connected to the top of the sliding bracket (22), and the bottom of the second spring (23) is connected to the bottom of the T-shaped slot (21).

9. The sag measuring device according to claim 1, characterized in that: A communication antenna (24) and an RTK antenna connector are provided on the back of the measuring device housing (1); the communication antenna (24) is used to upload the data of the wire distance and the positioning of the unmanned aerial vehicle calculated by the integrated circuit mainboard to a ground workstation, so as to complete the calculation of the sag of the wire based on the measurement of the wire; and the RTK antenna connector is used to transmit the data of the RTK positioning difference to the integrated circuit mainboard, so as to complete the calculation of the positioning of the unmanned aerial vehicle.

10. A method for measuring the sag of a conductor using an unmanned aerial vehicle, characterized in that: The sag measurement method comprises: Turning on the power of the sag measuring device, and moving the sag measuring device to the vicinity of the conductor by the drone; Adjusting the sag measuring device to a horizontal state; The sag measurement device obtains the spatial point position and reference RTK data, and performs positioning solution; Constructing, based on the data obtained by the positioning solution, a first virtual data set for representing the spatial point data set and the coordinates of the measuring point in the plane coordinate system where the corresponding measuring point spatial point is located, and a second virtual data set for representing the two-dimensional data of the distance and angle between the measuring point and the measuring point; According to the acquired first virtual data set and second virtual data set, coordinate transformation of the center point of the plane where the observation point is located is completed to obtain the measurement point of the wire; The UAV moves the sag measuring device to other positions of the conductor and obtains the corresponding first virtual data set and the second virtual data set, and performs calculations according to the corresponding first virtual data set and the second virtual data set to obtain corresponding measuring points; The curve is fitted based on the acquired measuring points and the sag calculation of the conductor is completed.

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