Tool carrying platform based on unmanned aerial vehicle overhead cable hot-line work and working method

Abstract

The invention relates to the technical field of electric power engineering, in particular to a tool carrying platform based on unmanned aerial vehicle overhead cable hot-line work and a working method.The tool carrying platform comprises a mounting frame and a suspension frame which are connected through an electromagnetic lock, the mounting frame is located on the upper top face of a work tool, and the suspension frame is connected with an unmanned aerial vehicle through an insulating rope; a hanging ring connected with the tail end of the insulating rope extends into a U-shaped groove of the electromagnetic lock; the electromagnetic lock comprises a mounting plate with the surface provided with a positioning column and a limiting rib, the positioning column is sleeved with a torsional spring and a locking plate, the limiting rib is fixedly connected with an electromagnet, and the electromagnet is connected with the limiting column through a spring. The locking plate comprises a rotating part connected to the positioning column in a sleeving mode, and the rotating part is provided with a long spring bolt, a short spring bolt and an arc-shaped protrusion arranged in the circumferential direction, wherein the long spring bolt and the short spring bolt are arranged side by side. When the locking plate rotates to a set angle, locking is achieved, in the locking state, the long spring bolt is located at the groove bottom of the U-shaped groove, and the short spring bolt penetrates through the hanging ring and is located in the space above the long spring bolt; an included angle area formed by the edge of the bulge and the surface of the rotating part is clamped with the limiting column.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power engineering, and specifically to a tool carrying platform and a working method for live working on overhead cables based on an unmanned aerial vehicle (UAV). Background Technique

[0002] The statements in this part merely provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] Live working is a current maintenance method for overhead lines, mainly using insulating rods and insulated boom trucks for operation. If the operation scenario is suitable, robot live working will also be carried out. Some robots need to use insulating rods and insulated boom trucks, and the staff need to directly face live equipment for relevant repair and maintenance operations, resulting in a high safety risk of electric shock to the staff.

[0004] If an unmanned aerial vehicle (UAV) is used to carry operation tools and fly to the operation point, the risk of electric shock to the staff can be reduced. When using this operation method, after the operation tools are fixed on the overhead cable, an unlocking device is used to separate the UAV and the operation tool body to ensure that the operation tools can reliably perform the corresponding live working. However, the structure of the existing unlocking device is too complex, resulting in a large weight and unsatisfactory reliability, and it is easy to have accidents and fail to unlock. Summary of the Invention

[0005] In order to solve the technical problems existing in the above background technique, the present invention provides a tool carrying platform and a working method for live working on overhead cables based on an unmanned aerial vehicle (UAV), simplifies the electromagnetic lock structure connecting the UAV and the operation tools, makes its structure more compact, reduces the weight and improves the reliability during operation.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The first aspect of the present invention provides a tool carrying platform for live working on overhead cables based on an unmanned aerial vehicle (UAV), including a mounting frame and a suspension frame connected by an electromagnetic lock. The mounting frame is located on the upper top surface of the operation tools, the suspension frame is connected to the UAV through an insulating rope, and the hanging ring connected to the end of the insulating rope extends into the U-shaped groove of the electromagnetic lock to achieve the connection;

[0008] The electromagnetic lock includes a mounting plate with positioning posts and limiting ribs on its surface. A torsion spring and a locking plate are sleeved on the positioning posts. The limiting ribs are fixedly connected to an electromagnet, and the electromagnet is connected to a limiting post through a spring. The locking plate includes a rotating part sleeved on the positioning post. The rotating part is provided with a long locking tongue and a short locking tongue arranged in parallel, and an arc-shaped protrusion arranged along the circumferential direction. When the locking plate rotates to a set angle, locking is achieved. In the locked state, the long locking tongue is located at the bottom of the U-shaped groove, and the short locking tongue passes through the hanging ring and is located in the space above the long locking tongue. The included angle area formed by the edge of the protrusion and the surface of the rotating part abuts against the top end of the limiting post.

[0009] Further, a guiding plate is provided on the lower bottom surface of the working tool, which is used to guide the cable into the internal space of the working tool when the working tool driven by the unmanned aerial vehicle descends to the working point of the overhead cable.

[0010] Further, there are at least two groups of guiding plates arranged in parallel. Each group of guiding plates has a "people" - shaped opening. A position detection sensor and a pressure sensor are provided at the top end of the opening of the guiding plate.

[0011] Further, the electromagnetic lock includes a mounting plate and a housing, and the housing is used to connect with the suspension bracket.

[0012] Further, a U-shaped groove is provided on the housing, and the hanging ring at the end of the insulating rope is located in the U-shaped groove.

[0013] Further, the length of the short locking tongue does not exceed that of the long locking tongue.

[0014] Further, when the electromagnetic lock is in the unlocked state, the protrusion abuts against the top end of the limiting post, and the opening formed between the long locking tongue and the short locking tongue is aligned with the notch of the U-shaped groove of the electromagnetic lock. The hanging ring on the insulating rope can pass through the opening formed between the long locking tongue and the short locking tongue and the notch of the U-shaped groove.

[0015] Further, the hanging ring pushes the locking plate to rotate. When the locking plate rotates to the set angle state, the limiting post abuts against the clamping groove formed by the rotating part of the locking plate and the edge of the protrusion to achieve clamping, hindering the reverse rotation trend of the locking plate under the action of the torsion spring.

[0016] Further, when the condition for releasing the insulating rope is met, the electromagnet is energized to generate a magnetic force, attracting the limiting post close to the electromagnet and compressing the spring, so that the limiting post no longer blocks the rotation of the locking plate. The locking plate rotates reversely under the action of the torsion spring, making the opening formed between the long locking tongue and the short locking tongue align with the notch of the U-shaped groove of the electromagnetic lock again, allowing the hanging ring of the insulating rope to be released from the U-shaped groove to achieve unlocking.

[0017] The second aspect of the present invention provides a working method for a tool carrying platform for live working on overhead cables based on an unmanned aerial vehicle, including the following steps:

[0018] The working tool is installed and fixed on the carrying platform. The carrying platform is connected to the drone through an insulating rope. The drone is controlled to carry the working tool through the carrying platform and lift it to the space above the overhead cable.

[0019] Confirm the working position based on the positions of the utility pole and the cable.

[0020] The drone suspends the working tool above the working position and gradually lowers it. When signals are received from both in-place sensors simultaneously, the cable has reliably entered the top of the U-shaped card slot, and the working tool starts to prepare for operation.

[0021] When the signal fluctuations of the two pressure sensors are within the set range, the drone descends by a set height to make the insulating rope not in a taut state and starts the operation.

[0022] After the operation is completed, the drone ascends, tightens the insulating rope until the tension sensor reaches the set value, and the working tool is ready to release its action.

[0023] The tool resets, and the drone hoists the tool to the predetermined position to prepare for the next operation.

[0024] Compared with the prior art, the above one or more technical solutions have the following beneficial effects:

[0025] It is difficult to make lightweight improvements to the weight of the working tool body to ensure the safety and reliability of live working. Therefore, the structure of the electromagnetic lock is simplified, making the structure of the electromagnetic lock more compact, reducing weight, improving reliability during operation, and reducing the probability of accidents. By aligning the opening formed between the long lock tongue and the short lock tongue with the notch of the U-shaped groove of the electromagnetic lock, the hanging ring on the insulating rope is allowed to be inserted. The hanging ring is locked by using the short lock tongue passing through the hanging ring, and at the same time, the limiting post pushed by the spring is engaged with the locking plate to block the rotation of the locking plate to achieve the locking of the hanging ring in the electromagnetic lock. During locking, the elastic force of the torsion spring has a reverse movement tendency on the rotating part of the locking plate, and this movement tendency generates a lateral force on the limiting post. The limiting post itself is engaged by relying on the spring elastic force, and the direction of the spring elastic force is different from the direction of the lateral force received by the limiting post, which can ensure the reliability of the locking action. When unlocking, the electromagnet attracts the limiting post to disengage from the engagement until the locking plate reverses, allowing the hanging ring to disengage from the U-shaped groove. The overall structure is simpler, the movement mode is more reliable, and it is not prone to failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0027] Figure 1It is a schematic structural diagram of the overall drone carrying platform provided by one or more embodiments of the present invention;

[0028] Figure 2 It is a schematic structural diagram of the drone carrying platform provided by one or more embodiments of the present invention when cooperating with overhead cables;

[0029] Figure 3 It is a schematic structural diagram of the drone carrying platform provided by one or more embodiments of the present invention from the front view perspective;

[0030] Figure 4 It is a schematic structural diagram of the electromagnetic lock in the drone carrying platform provided by one or more embodiments of the present invention;

[0031] Figure 5 It is a schematic structural diagram of the electromagnetic lock when closed in the drone carrying platform provided by one or more embodiments of the present invention;

[0032] Figure 6 It is a schematic structural diagram of the control unit architecture of the drone carrying platform provided by one or more embodiments of the present invention;

[0033] Figure 7 It is a schematic diagram of the abnormal unlocking control module in the control unit provided by one or more embodiments of the present invention.

[0034] Figures 1-3 In the figure: 1 working tool, 2 mounting rack, 3 insulating rope, 4 suspension rack, 5 electromagnetic lock, 6 tension sensor, 7 laser scanner, 8 camera, 9 guiding plate, 10 overhead cable, 11 in-place detection sensor, 12 pressure sensor;

[0035] Figure 4 In the figure: 51 locking plate, 52 positioning post, 53 torsion spring, 54 electromagnet, 55 limiting rib, 56 spring, 57 limiting post, 58 mounting plate. Detailed implementation manners

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further explanations of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0038] It should be noted that the terms here are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0039] Term Explanation:

[0040] The live working of overhead cables refers to the maintenance, repair, replacement, transformation, etc. carried out under the live state of the distribution line.

[0041] As introduced in the background art, using a drone to carry the working tool and fly to the working point can reduce the risk of electric shock to the staff. After the working tool is fixed on the overhead cable, an unlocking device is used to separate the drone and the working tool body to ensure that the working tool can reliably perform the corresponding live working. However, the structure of the unlocking device is too complex, making it heavy, and its reliability is not ideal, and accidents are likely to occur, resulting in failure to unlock.

[0042] Therefore, the following embodiments provide a tool mounting platform and a working method for live working on overhead cables based on a drone, which simplifies the electromagnetic lock structure between the drone and the working tool, makes its structure more compact, reduces the weight, and improves the reliability during operation.

[0043] Embodiment 1:

[0044] A tool mounting platform for live working on overhead cables based on a drone, comprising:

[0045] A mounting frame and a suspension frame connected by an electromagnetic lock. The mounting frame is located on the upper top surface of the working tool. The suspension frame is connected to the drone through an insulating rope. The hanging ring connected to the end of the insulating rope extends into the U-shaped groove of the electromagnetic lock for connection;

[0046] The electromagnetic lock includes a mounting plate with positioning posts and limiting ribs on its surface. A torsion spring and a locking plate are sleeved on the positioning posts. The limiting ribs are fixedly connected to the electromagnet. The electromagnet is connected to the limiting post through a spring; The locking plate includes a rotating part sleeved on the positioning post. The rotating part is provided with a long locking tongue and a short locking tongue arranged in parallel, and an arc-shaped protrusion arranged along the circumferential direction; When the locking plate rotates to the horizontal state, locking is achieved. In the locked state, the long locking tongue is located at the bottom of the U-shaped groove, and the short locking tongue passes through the hanging ring and is located in the space above the long locking tongue; The included angle area formed by the edge of the protrusion and the surface of the rotating part abuts against the top end of the limiting post.

[0047] In this embodiment, as Figures 1-3As shown, the working tool 1 is used to perform corresponding live working operations, such as live wire stripping, repair of damaged live insulation layers, etc. The specific structural form is not elaborated in detail in this embodiment.

[0048] An installation frame 2 is provided on the upper top surface of the working tool 1. The installation frame 2 is connected to the suspension frame 4 through an electromagnetic lock 5, and the suspension frame 4 is connected to the unmanned aerial vehicle through several insulating ropes 3.

[0049] In this embodiment, the electromagnetic lock 5 is located at the geometric center of the suspension frame 4 to prevent the working tool 1 from tilting during operation.

[0050] A tensile sensor 6 is provided on the electromagnetic lock 5. According to the obtained tensile stress data, it is determined that the unmanned aerial vehicle can be reliably separated from the working tool.

[0051] On one side of the working tool 1 facing the overhead cable 10, a camera 8 and a laser scanner 7 are provided. The camera 8 is used to obtain image information during operation to facilitate controlling the working tool to perform corresponding operations. The laser scanner 7 can perform three-dimensional scanning and modeling on the pole and the overhead cable, automatically confirm the position of the overhead cable that needs to be operated according to the set parameters, and the unmanned aerial vehicle hoists the working tool to the position that needs to be operated according to the positioning.

[0052] A guide plate 9 is provided on the lower bottom surface of the working tool 1, which is used to guide the cable into the internal space of the working tool 1 when the unmanned aerial vehicle drives the working tool to descend to the operation point of the overhead cable.

[0053] In this embodiment, the guide plate 9 has a "person" - shaped opening and is provided with two groups arranged in parallel. In - place detection sensors 11 and pressure sensors 12 are provided at the top ends of the openings of the two groups of guide plates 9. When the cable touches the in - place detection sensors 11 on both sides at the same time, it indicates that the cable has been successfully clamped into the working tool. When the data feedback from the pressure sensors 12 on both sides is stable, it indicates that the working tool has been placed stably.

[0054] In this embodiment, the in - place detection sensor 11 can be a sensor made based on the principle of electromagnetic induction. When the distance from the overhead cable 10 is close enough, the conductor in the overhead cable 10 generates an induction signal for the detection sensor 11, indicating that the sensor has reached the position where the overhead cable 10 is located.

[0055] The structure of the electromagnetic lock 5 is as Figure 4 shown, including a mounting plate 58 and a housing. The housing is used to connect to the suspension frame 4. Positioning posts 52 and limiting ribs 55 are provided on the surface of the mounting plate 58. A torsion spring 53 and a locking plate 51 are sleeved on the positioning posts 52. The limiting ribs 55 are fixedly connected to the electromagnet 54, and the electromagnet 54 is connected to the limiting post 57 through a spring 56.

[0056] The outer shell is provided with a U-shaped groove. After multiple insulating ropes 3 are connected to the suspension bracket 4, they are gathered onto the hanging ring, and the hanging ring is located within the U-shaped groove of the electromagnetic lock 5.

[0057] The locking plate 51 includes a rotating part, and the rotating part is sleeved on the positioning column 52, enabling the locking plate 51 to rotate around the positioning column 52 under the action of the torsion spring 53.

[0058] In this embodiment, the torsion spring 52 uses its own elastic deformation to make the locking plate 51 rotate counterclockwise around the positioning column 52.

[0059] The rotating part is provided with a long locking tongue and a short locking tongue arranged in parallel. The distance between the two locking tongues allows the hanging ring to pass through. When the locking plate 51 rotates to the horizontal state, the long locking tongue is located at the bottom of the U-shaped groove, and the short locking tongue is located in the space above the long locking tongue and forms a structure that blocks the hanging ring.

[0060] In this embodiment, when the hanging ring is placed into the U-shaped groove of the electromagnetic lock 5, the hanging ring descends and presses the long locking tongue, pushing the locking plate 51 to rotate clockwise. When the locking plate 51 rotates to the horizontal state, the long locking tongue is located in the space below the hanging ring, while the short locking tongue passes through the hanging ring to form a structure that blocks the hanging ring from rising. During this period, the torsion spring 52 is compressed.

[0061] The rotating part is provided with an arc-shaped protrusion. When the electromagnetic lock 5 is in the unlocked state, the protrusion abuts against the top end of the limit post 57. The structure of the electromagnetic lock 5 in this state is as Figure 4 shown; when the locking plate 51 rotates to the horizontal state, the electromagnetic lock 5 is in the locked state, as Figure 5 shown; at this time, the included angle area formed by the edge of the protrusion and the surface of the rotating part abuts against the top end of the limit post 57. The abutting force of the limit post 57 comes from the elasticity of the torsion spring 52. By using the blocking effect of the limit post 57 on the protrusion, the rotation of the locking plate 51 (in this embodiment, preventing it from rotating counterclockwise) is prevented, thereby achieving locking.

[0062] In this embodiment, the distance between the long locking tongue and the short locking tongue allows the hanging ring to pass through. In the unlocked state, as Figure 4 shown, the opening formed between the long locking tongue and the short locking tongue is aligned with the notch of the U-shaped groove of the electromagnetic lock 5, allowing the hanging ring on the insulating rope 3 to be placed. The hanging ring presses the locking plate 51 to make it rotate clockwise. When the locking plate 41 rotates clockwise by a set angle (in this embodiment, rotating to the horizontal state), the limit post 55 is stuck in the card slot formed by the rotating part of the locking plate 41 and the protrusion, hindering the locking plate 51 from rotating counterclockwise. As a result, the U-shaped groove and the gap between the long locking tongue and the short locking tongue form a closed empty slot, and the hanging ring is reliably sleeved in this empty slot to achieve locking. The structure in the locked state is as Figure 5 shown.

[0063] When the condition for releasing the insulating rope 3 is met, the electromagnet 54 is energized to generate a magnetic force, attracting the limit post 57 to approach the electromagnet 54 in the vertical direction and compressing the spring 56, so that the limit post 57 no longer blocks the rotation of the locking plate 51. The locking plate 51 rotates counterclockwise under the action of the torsion spring 53, so that the insulating rope 3 can be released from the U-shaped groove of the electromagnetic lock 5, realizing unlocking.

[0064] During this period, the tension sensor 6 continuously detects the magnitude of the tension on the drone during the operation, and controls the action of the electromagnetic lock 5 according to the change of the tension, so as to prevent the drone from falling due to accidental force on the operating tool during the operation, causing a safety accident.

[0065] In this embodiment, the drone carrying platform improves the structure of the electromagnetic lock. The opening formed between the long lock tongue and the short lock tongue is aligned with the notch of the U-shaped groove of the electromagnetic lock, allowing the suspension ring on the insulating rope to be placed. The limit post pushed by the spring is used to block the rotation of the locking plate by engaging with the locking plate. When unlocking, the electromagnet attracts the limit post to disengage from the engagement, so that the locking plate reverses, allowing the suspension ring to disengage from the U-shaped groove. The overall structure is simpler, the movement mode is more reliable, and it is not easy to fail.

[0066] The carrying platform is also provided with a control unit, as Figure 6 shown. The control unit includes a main control module, in-place detection sensors on both sides (left in-place detection sensor and right in-place detection sensor), a pressure acquisition module connected to the pressure sensors on both sides, a tension acquisition module connected to the tension sensor, and a data preprocessing module connected to the laser scanner, which are respectively connected to the main control module. The main control module is also connected to an abnormal unlocking control module and a dual-backup communication module. The dual-backup communication module includes a Zigbee communication module and a WiFi Halow communication module. The camera, the remote controller and the drone are respectively connected to the main control module through the corresponding communication modules.

[0067] It also has a power module, which provides power for each module in the tool, and at the same time has functions such as reverse connection protection, short circuit protection, voltage monitoring, and low voltage protection.

[0068] The main control module is the core control module, which is used to detect the states of sensors such as tension, pressure, and position, and control the flight state of the drone according to the sensor states and scanning data, so as to complete the tool hoisting task. It communicates with the remote controller through the Zigbee and WiFi Halow dual-backup communication modules, so as to realize the remote control of the tool, as well as the feedback and display of the tool state.

[0069] The camera can be a network camera, which is installed at the center above the tool and is used to observe the position of the overhead cable when the drone is hoisting and hanging, so as to facilitate the staff to detect the hoisting situation of the tool in real time. The data of the network camera is transmitted to the remote controller through the WiFi Halow video transmission module, and the real-time picture of the network camera can be displayed on the controller. WiFi Halow is a long-distance and high-speed data transmission protocol with a working frequency band of 900 MHz. Its advantages are long transmission distance and small data delay, which are conducive to the observation of the operation process of this system.

[0070] There are 2 in-place detection sensors, which are respectively installed on the left and right sides of the tool. When the cable approaches the sensor, the sensor outputs a high-level signal, which is used to detect whether the cable enters the tool reliably. When there are stable signals from both sensors at the same time, it is considered that the cable is in place, and the operation tool can perform operation preparations such as clamping the cable; if there is no signal from one of the sensors, it may be placed obliquely along the direction of the wire, and the drone needs to lift the tool again and place it until there are signals from both sensors at the same time. The in-place sensor can adopt methods such as photoelectric switch, proximity switch, laser pair sensor, lifting encoder, etc.

[0071] There are 2 pressure sensors, which are respectively installed on the left and right sides of the tool. When there are stable signals from both sensors at the same time, it is considered that the operation tool has been placed or fixed in place, and the operation tool can perform operations according to the settings; if there is no signal or the signal is unstable from one of the sensors, it means that the operation tool has not been placed stably, and the operator needs to check whether the operation tool has the conditions for operation to eliminate potential safety hazards.

[0072] There is 1 tension sensor, which real-time detects the magnitude of the tension on the drone during the operation process, and controls the opening and closing of the electromagnetic lock according to the change of the tension, so as to prevent the drone from falling due to the accidental force on the operation tool during the operation process, resulting in a safety accident. At the same time, combined with the feedback of the 2 pressure sensors, it realizes the refined operation of the drone, and the tool hoisting is more accurate.

[0073] The laser scanner can perform 3D scanning and modeling on the pole and overhead cable, and then automatically confirm the position where the overhead cable needs to be operated according to the set parameters. The drone automatically hoists the operation tool to the position where the operation is required according to the positioning.

[0074] The abnormal unlocking control module is specifically: when an abnormality occurs during the operation process, the electromagnetic lock is controlled to open through this module to release the drone, avoiding the occurrence of a drone crash accident. The abnormal unlocking control module is realized through two-way backup control circuits, one of which is controlled by the main control module, and the other is directly controlled by the WiFi Halow communication module, preventing the drone from being unable to unlock due to an abnormality in one of the communication paths. The control principle is as follows:

[0075] Such asFigure 7 As shown in the figure, the main control module control circuit is connected to the resistor R1 through the diode D1, and at the same time, the standby control circuit is connected to the resistor R1 through the diode D2. The other end of the resistor R1 is connected to the triode Q2. The triode Q2 is grounded. The other end of the triode Q2 is connected to the power supply VCC terminal after sequentially connecting the resistor R3 and the resistor R2 in series. The triode Q1 is connected to the power supply VCC terminal, the electromagnetic lock, and between the resistor R3 and the resistor R2 respectively.

[0076] Embodiment 2:

[0077] A working method of a tool carrying platform for live operation of overhead cables by an unmanned aerial vehicle includes the following steps:

[0078] The working tool is installed and fixed on the carrying platform. The carrying platform is connected to the unmanned aerial vehicle through an insulating rope. The unmanned aerial vehicle is controlled to lift the working tool through the carrying platform to the space above the overhead cable.

[0079] Confirm the working position through the positions of the utility pole and the cable.

[0080] The unmanned aerial vehicle suspends the working tool to the space above the working position and gradually descends. When signals are simultaneously received from both in-place sensors, the cable has reliably entered the top of the U-shaped card slot, and the working tool starts to prepare for operation, such as clamping the cable.

[0081] When the signal fluctuations of the two pressure sensors are within the set range, the tool has been placed reliably and stably. The unmanned aerial vehicle descends a certain height so that the insulating rope is no longer in a taut state and starts the operation.

[0082] After the operation is completed, the unmanned aerial vehicle ascends and tightens the insulating rope until the tension sensor reaches the set value, and the working tool is ready to release its action; such as opening the clamp.

[0083] After the tool is reset, the unmanned aerial vehicle hoists the tool to the predetermined position to prepare for the next operation.

[0084] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A tool-carrying platform for live-line operation of overhead cables based on drones, characterized in that: It includes a mounting frame and a suspension frame connected by an electromagnetic lock, the mounting frame is located on the upper top surface of the working tool, the suspension frame is connected to the drone by an insulating rope, and the lifting ring connected to the end of the insulating rope extends into the U-shaped groove of the electromagnetic lock to achieve connection; The electromagnetic lock includes a mounting plate with a positioning column and a limiting rib on the surface, the positioning column is sleeved with a torsion spring and a locking plate, the limiting rib is fixedly connected to the electromagnet, and the electromagnet is connected to the limiting column through a spring; the locking plate includes a rotating part sleeved on the positioning column, the rotating part is provided with a long lock tongue and a short lock tongue arranged in parallel, and an arc-shaped protrusion arranged along the circumferential direction; locking is achieved when the locking plate is rotated to a set angle, and in the locked state, the long lock tongue is located at the bottom of the U-shaped groove, and the short lock tongue passes through the ring and is located in the space above the long lock tongue; the angle area formed by the edge of the protrusion and the surface of the rotating part abuts against the top of the limiting column.

2. The tool-carrying platform for live-line operation of overhead cables based on unmanned aerial vehicles according to claim 1, characterized in that: A guide plate is provided on the lower bottom surface of the working tool, which is used to guide the cable into the internal space of the working tool when the drone drives the working tool to descend to the working point of the overhead cable.

3. The tool-carrying platform for live-line operation of overhead cables based on unmanned aerial vehicles according to claim 1, characterized in that: The guide plates have at least two groups arranged in parallel, each group of guide plates has a "human" shaped opening, and the top of the opening of the guide plate is provided with an in-position detection sensor and a pressure sensor.

4. The tool-carrying platform for live-line operation of overhead cables based on unmanned aerial vehicles according to claim 1, characterized in that: The electromagnetic lock comprises a mounting plate and a shell, and the shell is used to be connected with the suspension bracket.

5. The tool-carrying platform for live-line operation of overhead cables based on unmanned aerial vehicles according to claim 4, characterized in that: The shell is provided with a U-shaped groove, and the lifting ring at the end of the insulating rope is located in the U-shaped groove.

6. The tool-carrying platform for live-line operation of overhead cables based on unmanned aerial vehicles according to claim 1, characterized in that: The length of the short lock tongue is no longer than the long lock tongue.

7. The tool-carrying platform for live-line operation of overhead cables based on unmanned aerial vehicles according to claim 1, characterized in that: When the electromagnetic lock is in an unlocked state, the protrusion abuts against the top of the limit column, and the opening formed between the long lock tongue and the short lock tongue is aligned with the notch of the U-shaped groove of the electromagnetic lock, and the ring on the insulating rope can pass through the opening formed between the long lock tongue and the short lock tongue and the notch of the U-shaped groove.

8. The tool-carrying platform for live-line operation of overhead cables based on unmanned aerial vehicles according to claim 1, characterized in that: The lifting ring pushes the locking plate to rotate. When the locking plate rotates to a set angle, the limiting column abuts against the slot formed by the rotating part of the locking plate and the raised edge to achieve locking, thereby preventing the locking plate from rotating in the opposite direction under the action of the torsion spring.

9. The tool-carrying platform for live-line operation of overhead cables based on unmanned aerial vehicles according to claim 1, characterized in that: When the conditions for releasing the insulating rope are met, the electromagnet is energized to generate magnetic force, which attracts the limit post to the electromagnet and compresses the spring, so that the limit post no longer blocks the rotation of the locking plate. The locking plate is reversed by the torsion spring, so that the opening formed between the long lock tongue and the short lock tongue is realigned with the notch of the U-shaped groove of the electromagnetic lock, allowing the lifting eye of the insulating rope to be released from the U-shaped groove to achieve unlocking.

10. A working method based on the tool-carrying platform for live-line operation of overhead cables by unmanned aerial vehicles according to any one of claims 1 to 9, characterized in that: The following steps are involved: The working tool is fixed to the carrying platform, and the carrying platform is connected to the drone through an insulating rope. The drone is controlled to carry the working tool through the carrying platform and lift it to the space above the overhead cables; Confirm the work location by the location of the poles and cables; The drone suspends the working tool to the space above the working position and gradually drops it. When the two in-place sensors send signals at the same time, the cable has reliably entered the top of the U-shaped slot, and the working tool begins to prepare for the operation. When the signal fluctuations of the two pressure sensors are within the set range, the drone descends to the set height so that the insulating rope is no longer in a tight state and begins operation; After the operation is completed, the drone rises, tightens the insulating rope until the tension sensor reaches the set value, and the operating tool is ready to be released; The tool is reset and the drone hoists the tool to the predetermined location, ready for the next operation.

Images