Electroscope grounding unmanned aerial vehicle and control method thereof

Abstract

The application discloses a kind of electric test grounding unmanned plane and its control method, applied to electric power system maintenance technical field, including: unmanned plane and the electric test grounding device being set below the unmanned plane;Electric test grounding device is composed of insulating pole, locking mechanism and clamping mechanism, clamping mechanism is located at one end of insulating pole, and insulating pole is fixed below unmanned plane by locking mechanism.Locking mechanism contains rear locking mechanism, is arranged below belly, is composed of vertical slide rail, rear locking baffle and motor mechanism, and motor can drive baffle to move up and down along slide rail and drive insulating pole.Clamping mechanism uses V-shaped fixed plate, bottom is equipped with electric test grounding module, includes electric test sensor, grounding unit and clamping ratchet wheel;Ratchet wheel can rotate transversely, cable is fixed in V-shaped opening, realizes electric test and grounding operation.The present application solves the technical problems of low efficiency, manual operation safety risk and high cost of existing electric test grounding, and the applicability of unmanned plane hanging and detaching grounding wire is lower.

Description

Technical Field

[0001] This invention relates to the field of power system maintenance technology, and in particular to a grounding tester drone and its control method. Background Technology

[0002] With the continuous expansion of the power grid and the increasing urban cable coverage, the workload of cable line operation and maintenance has increased significantly. In cable fault repair, rapid power restoration is a key indicator for ensuring power supply reliability. However, as a prerequisite for maintenance work, the installation and removal of grounding wires on both sides of the cable terminal towers has become a major bottleneck restricting overall operational efficiency, especially given the tight power outage maintenance window and heavy workload.

[0003] Currently, the traditional manual tower climbing operation mode, which has been used for a long time, has three main problems: First, it poses significant safety risks; second, it has low operational efficiency, with cumbersome manual hanging and dismantling procedures, long operation time per tower, and several hours required to complete the grounding protection layout of a single cable section, directly delaying core maintenance work; and third, it has high labor costs, requiring multiple experienced special operations personnel and multiple support personnel for each operation, resulting in high overall operating costs. Meanwhile, existing drone-based grounding wire hanging and dismantling technology still has significant limitations. Simple drone hooks on the market, lacking adaptive locking mechanisms and integrated voltage detection functions, are only suitable for horizontal overhead lines and are basically unsuitable for vertical and inclined drop lines. When dealing with multi-angle cable terminal drop lines, problems of "not being able to hang or lock tightly" often occur, making it difficult to meet the strict requirements of safety regulations regarding grounding resistance and closed-loop operation. Summary of the Invention

[0004] This invention provides a voltage testing and grounding drone and its control method to solve the technical problems of low voltage testing and grounding efficiency, high safety risks and costs of manual operation, and low applicability of existing drones for attaching and removing grounding wires in the prior art.

[0005] To address the aforementioned technical problems, this invention provides a voltage testing and grounding drone, comprising: a drone and a voltage testing and grounding device disposed below the drone; the voltage testing and grounding device includes: an insulating rod, a locking mechanism, and a clamping mechanism; the clamping mechanism is disposed at one end of the insulating rod, and the insulating rod is fixed to the underside of the drone by the locking mechanism;

[0006] The locking mechanism includes a rear locking mechanism; the rear locking mechanism is located below the fuselage of the UAV and includes a vertical slide rail, a rear locking baffle, and a motor mechanism; the motor mechanism is located above the vertical slide rail, and the rear locking baffle moves up or down on the vertical slide rail under the control of the motor mechanism, and the insulating rod is fixedly installed below the rear locking baffle;

[0007] The clamping mechanism includes a V-shaped fixing plate; a voltage detection and grounding module is provided at the bottom of the V-shaped opening formed by the V-shaped fixing plate, the voltage detection and grounding module includes a voltage detection sensor, a grounding unit and a clamping ratchet disposed on the V-shaped fixing plate; the clamping ratchet rotates laterally at the V-shaped opening of the V-shaped fixing plate to fix the cable under test to the clamping ratchet and the V-shaped opening of the V-shaped fixing plate, and performs voltage detection and grounding operation on the fixed cable under test through the voltage detection sensor and the grounding unit.

[0008] As a preferred embodiment, the locking mechanism further includes: a front locking mechanism; the front locking mechanism is disposed at the front of the drone;

[0009] The front locking mechanism includes a detachable mechanism and a front locking baffle; the insulating rod passes through the front locking baffle and is fixed below the front locking baffle; one end of the detachable mechanism is fixed to the front of the drone, and the other end of the detachable mechanism is fixedly connected to the front locking baffle.

[0010] As a preferred embodiment, the rear locking mechanism further includes a spring mechanism;

[0011] One end of the spring mechanism is fixed to the lower part of the rear locking baffle, and the other end of the spring mechanism is fixed to the insulating rod.

[0012] As a preferred embodiment, the rear locking mechanism further includes: a structural door frame; vertical slide rails are respectively provided on both sides of the structural door frame, and the motor mechanism is located on the structural door frame directly above the vertical slide rails;

[0013] The baffle is provided with a horizontal fixing plate, and both ends of the horizontal fixing plate pass through the vertical slide rail. Both sides of the baffle are fixed with lead screws that are fixedly connected to the motor mechanism, so that when the motor mechanism is running, it drives the lead screws to control the baffle to move up and down along the vertical slide rail, and drives the spring mechanism to move one end of the insulating rod down or up.

[0014] As a preferred embodiment, both the rear locking baffle and the front locking baffle have an inverted V-shaped structure below them.

[0015] As a preferred embodiment, the clamping mechanism includes: two V-shaped fixing plates, upper and lower, fixed together by a support rod; a hollow area is formed between the V-shaped fixing plates at the bottom of the bottom of the V-shaped fixing plates; the voltage detection grounding module is disposed in the hollow area between the layers.

[0016] As a preferred embodiment, the middle area of ​​the clamping ratchet is semi-elliptical; after the cable to be tested enters the semi-elliptical opening of the clamping ratchet, the target cable is propelled by the drone, causing the clamping ratchet to rotate, and the clamping ratchet fixes the target cable to the bottom of the V-shaped opening of the V-shaped fixing plate.

[0017] As a preferred embodiment, a grounding wire is provided at the center of the insulating rod, one end of which is connected to the grounding unit, and the other end of which is grounded.

[0018] Accordingly, the present invention also provides a control method for a voltage testing and grounding drone, which controls the voltage testing and grounding drone as described in any of the above claims, comprising:

[0019] Control the drone to perform a self-test;

[0020] After the drone self-test is completed, the drone is controlled to take off to the target position, and video images of the drone are acquired so that the drone can be controlled to move forward according to the video images until the cable under test enters the middle area of ​​the clamping ratchet.

[0021] The voltage sensor is used to detect the cable under test. When the cable under test is not energized, the drone is controlled to continue moving forward until the cable under test enters the V-shaped opening of the clamping ratchet and the V-shaped fixing plate.

[0022] The motor mechanism controls the locking plate to move downwards, which in turn moves one end of the insulating rod downwards and the other end upwards until the insulating rod reaches a preset tilt angle. Then, the motor mechanism is controlled to stop, thus completing the grounding of the cable under test.

[0023] When the motor mechanism stops, the clamping ratchet in the clamping mechanism at the other end of the insulating rod forms a self-locking structure with the cable under test.

[0024] As a preferred embodiment, the cable under test is detected by the voltage detection sensor, specifically including:

[0025] The real-time voltage of the cable under test is collected using the voltage detection sensor.

[0026] Based on the real-time voltage and combined with a preset control mapping table, an LED blinking pattern command is generated to control the LED blinking of the drone.

[0027] The real-time voltage is sent to the user terminal, and the drone's forward movement is executed in response to the user's instructions.

[0028] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0029] The technical solution of this invention involves installing a voltage detection and grounding device below the drone, consisting of an insulating rod, a locking mechanism, and a clamping mechanism. A rear locking mechanism with a vertical slide rail and motor drive achieves stable connection and automatic locking between the insulating rod and the drone. A V-shaped fixing plate, in conjunction with a clamping ratchet, adaptively clamps cables and lead wires of different diameters and angles. A voltage detection sensor and grounding unit are integrated at the bottom of the V-shaped opening, allowing for simultaneous voltage detection and grounding operations on the cable after reliable clamping. This achieves integrated automatic operation of high-altitude voltage detection, grounding, and locking, effectively replacing manual tower climbing operations, significantly reducing the safety risks of high-altitude operations, improving the efficiency and reliability of grounding wire installation and removal, and meeting the stringent requirements of power safety regulations for voltage detection and grounding. Furthermore, the clamping mechanism can perform voltage detection and grounding on vertical, inclined, and even horizontal cables, greatly increasing the applicability of the drone for installing and removing grounding wires.

[0030] Furthermore, the present invention integrates a voltage detection sensor and a grounding unit at the bottom of the V-shaped opening. After the cable is clamped and fixed, voltage detection and grounding operations can be performed directly on it, realizing a closed-loop operation of voltage detection and grounding, ensuring stable and reliable grounding resistance, and meeting the strict specifications of power safety regulations for voltage detection and grounding. Attached Figure Description

[0031] Figure 1 : This is a schematic diagram of the structure of a voltage detection and grounding drone provided in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the operation of the voltage testing and grounding drone provided in an embodiment of the present invention;

[0033] Figure 3 : A partial structural diagram of the voltage detection and grounding device provided in an embodiment of the present invention;

[0034] Figure 4 : A structural diagram of the rear locking mechanism provided in an embodiment of the present invention;

[0035] Figure 5 : A structural diagram of the front locking mechanism provided in an embodiment of the present invention;

[0036] Figure 6 : A flowchart illustrating the steps of a control method for a voltage detection and grounding drone provided in an embodiment of the present invention.

[0037] The reference numerals for the accompanying drawings in the specification are as follows:

[0038] 1. Unmanned aerial vehicle (UAV); 2. Voltage testing grounding device; 3. Cable to be tested;

[0039] Insulating rod 21, locking mechanism 22, rear locking mechanism 221, vertical slide rail 201, rear locking baffle 202, motor mechanism 203, structural door frame 204, spring mechanism 205, front locking mechanism 222, detachable mechanism 206, front locking baffle 207;

[0040] Clamping mechanism 23, V-shaped fixing plate 24, voltage detection grounding module 25, voltage detection sensor 251, grounding unit 253, clamping ratchet 254. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Example 1

[0043] Please refer to Figure 1 An embodiment of the present invention provides a voltage testing and grounding drone 1, comprising: a drone 1 and a voltage testing and grounding device 2 disposed below the drone 1; the voltage testing and grounding device 2 comprises: an insulating rod 21, a locking mechanism 22 and a clamping mechanism 23; the clamping mechanism 23 is disposed at one end of the insulating rod 21, and the insulating rod 21 is fixed below the drone 1 by the locking mechanism 22.

[0044] In this embodiment, the voltage testing and grounding drone 1 adopts an integrated structure of drone 1 platform and modular voltage testing and grounding device 2. The drone 1 serves as a high-altitude mobile carrier, driving the voltage testing and grounding device 2 to achieve high-altitude voltage testing and grounding operations. The drone 1, as the core of the entire aircraft's flight and control, undertakes functions such as aerial positioning, attitude stabilization, remote control, and power supply. The voltage testing and grounding device 2 is a dedicated operation execution module, which is installed below the drone 1. The two form a detachable, highly stable rigid connection through a locking mechanism, constituting a combination mode of flight carrier and operation terminal. This ensures that the flight performance of the drone 1 is not interfered with, while also enabling the reliable execution of the dedicated voltage testing and grounding function.

[0045] In this embodiment, the voltage detection and grounding device 2 consists of three main functional components: an insulating rod 21, a locking mechanism 22, and a clamping mechanism 23. The insulating rod 21, serving as the main support and electrical isolation component of the device, is made of high-strength insulating material and possesses sufficient mechanical strength and insulation performance. It not only supports and transmits force through the clamping mechanism 23 but also achieves electrical isolation between the UAV 1 and the high-voltage live parts, ensuring the safety of the UAV 1 and its onboard equipment. One end of the rod is connected to the clamping mechanism 23, and the other end is fixed to the UAV 1 through the locking mechanism 22, making it the core load-bearing component connecting the locking mechanism 22 and the clamping mechanism 23. Preferably, a grounding wire is also provided in the center of the insulating rod 21 near the clamping mechanism 23, and the grounding wire is embedded inside the insulating rod 21.

[0046] Preferably, the insulating rod 21, locking mechanism 22 and clamping mechanism 23 are made of aerospace-grade carbon fiber tubing with CNC precision-machined aluminum alloy connectors, replacing the traditional epoxy resin rod. While meeting the requirements for insulation and mechanical strength, the weight of a single set of equipment is reduced by up to 25%, significantly extending the flight time of the UAV 1.

[0047] In this embodiment, the locking mechanism 22 serves as the connecting and fixing component between the drone 1 and the insulating rod 21. It is located between the lower part of the drone 1's fuselage and the upper end of the insulating rod 21, providing functions such as quick assembly, reliable locking, and preventing loosening. It achieves a detachable connection between the insulating rod 21 and the drone 1 through mechanical locking or motor-driven locking, ensuring the device does not shake or fall off during operation, while also meeting the requirements for quick assembly, disassembly, and transportation. Furthermore, the locking mechanism 22 can adjust the angle between the insulating rod 21 and the cable, allowing the clamping mechanism 23 to maintain a completely fixed and connected relationship with the cable.

[0048] In this embodiment, the clamping mechanism 23, as a direct execution component for voltage detection and grounding, is located at the end of the insulating rod 21 away from the UAV 1. It is the working end that can directly contact the cable and the drain line. It integrates voltage detection, grounding, clamping and locking functions. It can adaptively clamp and position cables of different diameters and angles, and complete voltage detection and grounding wiring operations. It is the terminal component that realizes the core operation function.

[0049] Understandably, the drone 1 provides a high-altitude work platform, the locking mechanism 22 ensures a safe and stable connection between the flight platform and the work device, the insulating rod 21 provides mechanical support and electrical isolation, and the clamping mechanism 23 completes cable clamping, voltage testing, and grounding operations. The various components cooperate with each other and complement each other's functions to form a complete technical solution integrating flight positioning, mechanical connection, electrical insulation, voltage testing and grounding, and cable clamping. This replaces manual tower climbing and grounding wire removal operations, ensuring the safety, reliability, and efficiency of high-altitude operations from a structural combination perspective.

[0050] The locking mechanism 22 includes a rear locking mechanism 221; the rear locking mechanism 221 is located below the fuselage of the UAV 1 and includes a vertical slide rail 201, a rear locking baffle 202 and a motor mechanism 203; the motor mechanism 203 is located above the vertical slide rail 201, and the rear locking baffle 202 moves up or down on the vertical slide rail 201 under the control of the motor mechanism 203, and the insulating rod 21 is fixedly installed below the rear locking baffle 202.

[0051] As a preferred embodiment, the locking mechanism 22 further includes a front locking mechanism 222; the front locking mechanism 222 is disposed in front of the drone 1;

[0052] The front locking mechanism 222 includes: a detachable mechanism 206 and a front locking baffle 207; the insulating rod 21 passes through the front locking baffle 207 and is fixed below the front locking baffle 207; one end of the detachable mechanism 206 is fixed to the front of the UAV 1, and the other end of the detachable mechanism 206 is fixedly connected to the front locking baffle 207.

[0053] As a preferred embodiment, the rear locking mechanism 221 further includes: a spring mechanism 205;

[0054] One end of the spring mechanism 205 is fixed to the lower part of the rear locking baffle 202, and the other end of the spring mechanism 205 is fixed to the insulating rod 21.

[0055] As a preferred embodiment, the rear locking mechanism 221 further includes: a structural door frame 204; the vertical slide rails 201 are respectively provided on both sides of the structural door frame 204, and the motor mechanism 203 is provided on the structural door frame 204 directly above the vertical slide rails 201;

[0056] The baffle is provided with a horizontal fixing plate, and the two ends of the horizontal fixing plate pass through the vertical slide rail 201 respectively. The two sides of the baffle are respectively fixed with lead screws that are fixedly connected to the motor mechanism 203, so that when the motor mechanism 203 runs, it drives the lead screws to control the baffle to move up and down along the vertical slide rail 201, and drives the spring mechanism 205 to move one end of the insulating rod 21 down or up.

[0057] In this embodiment, as Figures 2-5As shown, the locking mechanism 22 adopts a composite locking structure with front and rear dual-point locking, electric drive, and elastic buffer, used to achieve a stable, reliable, and automatically adjustable mechanical connection between the UAV 1 and the lower grounding device 2. Preferably, the main body of the locking mechanism 22 is composed of a rear locking mechanism 221 and a front locking mechanism 222, which are respectively set under the fuselage of the UAV 1 and at the front of the UAV 1, forming a double-support, double-locking fixing method, which greatly improves the stability and anti-torsion and anti-sway capabilities of the insulating rod 21 during flight and operation.

[0058] In this embodiment, the rear locking mechanism 221 is located under the belly of the UAV 1, with the structural door frame 204 as the mounting base. Vertical slide rails 201 are provided on both sides of the structural door frame 204, and a motor mechanism 203 is installed on the structural door frame 204 directly above the vertical slide rails 201. The rear locking baffle 202 is provided with a horizontal fixing plate, and the two ends of the horizontal fixing plate pass through the vertical slide rails 201 on both sides to achieve vertical guidance. Screws connected to the motor mechanism 203 are fixed on both sides of the rear locking baffle 202. Driven by the motor mechanism 203, the screws drive the rear locking baffle 202 to move up and down along the vertical slide rails 201 to achieve automatic adjustment of the height position. An insulating rod 21 is fixedly connected below the rear locking baffle 202. A spring mechanism 205 is also provided between the rear locking baffle 202 and the insulating rod 21. One end of the spring mechanism 205 is fixed below the rear locking baffle 202, and the other end is fixed on the insulating rod 21. This allows the insulating rod 21 to have elastic buffering, shock absorption, and self-adaptive clamping functions during the up and down movement of the rear locking baffle 202, avoiding rigid impact and ensuring contact stability during clamping operations.

[0059] It should be noted that since the insulating rod 21 is fixed to the bottom of the rear locking baffle 202 by the spring mechanism 205 (see figure), when the rear locking baffle 202 moves up and down along the vertical slide rail 201, the spring mechanism 205 will also drive the insulating rod 21 to move up and down, and can also absorb the axial impact force generated during the advancement of the contact cable by the UAV 1.

[0060] In this embodiment, the locking mechanism is a front locking mechanism 222 located in front of the drone 1, consisting of a detachable mechanism 206 and a front locking baffle 207. One end of the detachable mechanism 206 is fixed to the front of the drone 1, and the other end is fixed to the front locking baffle 207, enabling quick installation and removal of the front support point; the insulating rod 21 passes through the front locking baffle 207 and is fixed below it, forming a two-point constraint on the insulating rod 21 together with the rear locking mechanism 221, so that the insulating rod 21 does not shake or deflect during high-altitude operations, ensuring the operating accuracy and safety of the lower clamping mechanism 23.

[0061] In this embodiment, the detachable mechanism 206 ensures that the UAV 1 can reduce its volume during transportation, and the foldable integrated design reduces the volume by 40% after folding compared to the unfolded state, making it more compact when stored and easier for the emergency repair team to carry with them.

[0062] Preferably, the lower part of the rear locking baffle 202 and the front locking baffle 207 has an inverted V-shaped design, which ensures that the insulating rod 21 fixed under the baffle does not shift and is thus fixed in the same position. It can be understood that the locking mechanism drives the rear locking baffle 202 to automatically rise and fall along the vertical slide rail 201 through the motor-driven lead screw, the structural door frame 204 and the double slide rail ensure guiding accuracy, the spring mechanism 205 provides buffering and clamping force, and the front locking mechanism 222 realizes front auxiliary positioning and reinforcement, forming an integrated connection structure that is electrically controllable, has front and rear double locking, and has elastic buffering. It not only meets the functional requirements of reliable fixing and automatic adjustment between the insulating rod 21 and the UAV 1, but also maintains the stability of the device under complex working conditions at high altitude, providing a solid structural guarantee for voltage detection and grounding operations.

[0063] The clamping mechanism 23 includes a V-shaped fixing plate 24; a voltage detection and grounding module 25 is provided at the bottom of the V-shaped opening formed by the V-shaped fixing plate 24. The voltage detection and grounding module 25 includes a voltage detection sensor 251, a grounding unit 253, and a clamping ratchet 254 disposed on the V-shaped fixing plate 24. The clamping ratchet 254 rotates laterally at the V-shaped opening of the V-shaped fixing plate 24 so that the cable under test 3 is fixed at the clamping ratchet 254 and the V-shaped opening of the V-shaped fixing plate 24, and the voltage detection and grounding operation is performed on the fixed cable under test 3 through the voltage detection sensor 251 and the grounding unit 253.

[0064] As a preferred embodiment, the clamping mechanism 23 includes: two V-shaped fixing plates 24, upper and lower, fixed by a support rod; a hollow area is formed between the V-shaped fixing plates 24 at the bottom of the V-shaped fixing plates 24; the voltage detection grounding module 25 is disposed in the hollow area between the layers.

[0065] As a preferred embodiment, the middle area of ​​the clamping ratchet 254 is semi-elliptical; after the cable to be tested 3 enters the semi-elliptical opening of the clamping ratchet 254, the target cable is driven by the propulsion of the UAV 1, causing the clamping ratchet 254 to rotate, and the clamping ratchet 254 fixes the target cable at the bottom of the V-shaped opening of the V-shaped fixing plate 24.

[0066] As a preferred embodiment, a grounding wire is provided at the center of the insulating rod 21, one end of the grounding wire is connected to the grounding unit 253, and the other end of the grounding wire is grounded.

[0067] In this embodiment, as Figures 3-5As shown, the clamping mechanism 23 is the core execution component of the voltage testing and grounding drone 1 to realize cable clamping, voltage testing and grounding operations. Based on the V-shaped fixing plate 24, it integrates the voltage testing and grounding module 25 and the clamping ratchet 254. Combined with the layered structure, ratchet and grounding line, it forms an integrated operation structure for clamping positioning, voltage testing and grounding operation.

[0068] In this embodiment, the clamping mechanism 23 adopts a two-layer V-shaped fixing plate 24 structure. The specifications and V-angles of the two V-shaped fixing plates 24 are completely identical. They are fixedly connected by multiple support rods, which are evenly distributed at the edges of the V-shaped fixing plates 24. This ensures the connection rigidity between the two fixing plates and creates a stable interlayer hollow area between them. This interlayer hollow area is specifically used to house the voltage detection and grounding module 25. Compared to the basic structure where the module is directly placed at the bottom of a single V-shaped fixing plate 24, this layered design provides all-round protection for the voltage detection and grounding module 25, preventing collision damage between the module and the cable or the external environment during operation. At the same time, it makes the installation and maintenance of other modules more convenient without affecting the clamping space of the V-shaped opening. In addition, the two V-shaped fixing plates 24 can form a double clamping assistance, which can further improve the stability of the cable after fixing and prevent the cable from shifting due to slight shaking of the UAV 1, ensuring the reliability of voltage detection and grounding.

[0069] In this embodiment, the middle area of ​​the clamping ratchet 254 is designed as a semi-elliptical structure. Unlike traditional circular pressure heads, the semi-elliptical design utilizes the geometric characteristics of its curvature variation, providing superior contact adaptability. The size of the semi-elliptical opening matches the size of the bottom of the V-shaped opening, and its arc contour can conform to the surface of cables of different diameters. Simultaneously, the ratchet can passively lock the cable using the semi-elliptical structure. The opening angle of the semi-elliptical structure is optimized. When the cable to be tested 3 enters the semi-elliptical opening, no additional drive mechanism is needed; the propulsion force of the drone 1 alone is sufficient to generate friction between the cable and the inner wall of the semi-elliptical opening, thereby causing the clamping ratchet 254 to rotate laterally. As the ratchet rotates, the closed end of its semi-elliptical structure gradually approaches the bottom of the V-shaped opening, ultimately firmly pressing the target cable between the bottom of the V-shaped opening and the ratchet, achieving a passive rotation-automatic clamping effect. This simplifies the operation process, improves the clamping firmness, and effectively solves the problem of traditional clamping mechanisms failing to engage or lock securely. Understandably, the rear locking mechanism 221 moves vertically along the vertical guide rail, and in conjunction with the rotation of the ratchet, the elliptical clamping surface can automatically fine-tune the clamping posture according to the actual thickness and tilt angle of the cable. This design produces a wedge-like self-locking effect, meaning that there is a certain angle between the cable and the clamping ratchet 254, which increases the friction between the cable and the clamping ratchet 254, ensuring that the pressure head and the wire always maintain the maximum effective contact area, achieving a stable self-locking state.

[0070] In this embodiment, the grounding wire is a corrosion-resistant conductor with excellent conductivity. One end of the grounding wire passes through the interior of the insulating rod 21 and is firmly electrically connected to the grounding unit 253 in the clamping mechanism 23, ensuring that the grounding unit 253 can quickly conduct current through the grounding wire after it comes into contact with the cable. The other end of the grounding wire extends to the ground and is connected to the ground grounding device to form a complete grounding loop.

[0071] Implementing the above embodiments has the following effects:

[0072] The technical solution of this invention involves installing a voltage testing and grounding device 2 below the drone 1, consisting of an insulating rod 21, a locking mechanism, and a clamping mechanism 23. A rear locking mechanism 221 with a vertical slide rail 201 and a motor drive achieves stable connection and automatic locking between the insulating rod 21 and the drone 1. A V-shaped fixing plate, in conjunction with a clamping ratchet 254, adaptively clamps cables and lead wires of different diameters and angles. A voltage testing sensor 251 and a grounding unit 253 are integrated at the bottom of the V-shaped opening, allowing for simultaneous voltage testing and grounding operations on the cable after reliable clamping. This achieves integrated automatic operation of high-altitude voltage testing, grounding, and locking, effectively replacing manual tower climbing operations, significantly reducing the safety risks of high-altitude operations, improving the efficiency and reliability of grounding wire installation and removal, and meeting the stringent requirements of power safety regulations for voltage testing and grounding. Simultaneously, the clamping mechanism 23 can perform voltage testing and grounding on vertical, inclined, and even horizontal cables, greatly increasing the applicability of the drone 1 for installing and removing grounding wires.

[0073] Example 2

[0074] Please see Figure 6 This invention provides a control method for a voltage testing and grounding drone 1, which controls the voltage testing and grounding drone 1 as described in Embodiment 1, including the following steps S101-S104:

[0075] S101: Control drone 1 to perform self-test.

[0076] In this embodiment, when the drone 1 is powered on, it directly enters a self-test state. By controlling the motor mechanism, the rear locking mechanism moves up and down. Preferably, the highest point of the rear locking mechanism is generally taken as the position where the insulating rod remains horizontal until the limit switch is triggered, at which point all mechanical mechanisms return to the mechanical zero point. If the highest point is not the position where the insulating rod remains horizontal, the rear locking mechanism can be controlled to move downwards a specified distance to keep the insulating rod horizontal, and the current position value is reset to zero, returning to the initial position. At the same time, it is determined whether the front and rear locking mechanisms are still in the locked state. If so, they are unlocked, thus completing the self-test process of the drone 1.

[0077] As a preferred embodiment, after the UAV 1 performs its self-test, the clamping device also needs to be installed, specifically the device in the front locking mechanism area. Preferably, this includes an insulating rod, a front locking mechanism, and a clamping mechanism. After the insulating rod is placed into the front and rear locking mechanisms of the UAV 1, the sensors in both mechanisms can detect whether an object enters the locking slot simultaneously, thus locking the insulating rod in the inverted V-shaped position area reserved by the front and rear locking mechanisms. Simultaneously, after installing the clamping mechanism, the voltage detection sensor needs to be tested to ensure it functions correctly. Furthermore, the ground terminal needs to manually adjust the displacement distance of the rear locking mechanism to ensure that manual operation can be quickly switched in case of abnormalities during adaptive rendezvous missions in the air.

[0078] S102: After the self-test of the UAV 1 is completed, control the UAV 1 to take off to the target position and collect video images of the UAV 1 so as to control the UAV 1 to move forward according to the video images until the cable under test enters the middle area of ​​the clamping ratchet.

[0079] In this embodiment, after the UAV 1 completes a comprehensive self-inspection and is confirmed to be qualified, the operator issues a takeoff command via a ground remote controller, controlling the UAV 1 to slowly ascend from an initial altitude. After takeoff, it completes attitude calibration and activates the positioning system, comparing the coordinates of the preset target cable and adjusting its course to fly at a constant speed towards the target area. Preferably, the flight speed is controlled at 2-3 m / s to avoid high-altitude obstacles. When the UAV 1 flies to a distance of 5-10 meters from the target cable, it activates the onboard high-definition camera to collect video images in real time, which are synchronously fed back to the ground terminal via a wireless transmission module. The ground terminal can fine-tune the position of the UAV 1 based on the images, aligning the V-shaped opening of the clamping mechanism with the target cable to ensure accurate alignment. After alignment, the ground terminal controls the UAV 1 to advance slowly at a low speed of 0.5-1 m / s, continuously observing the alignment of the target cable with the semi-elliptical central area of ​​the clamping ratchet through video images, and fine-tuning the altitude and angle of the UAV 1 to guide the cable smoothly into the central area of ​​the ratchet. Once the cable enters the opening, it will cause the ratchet to rotate passively laterally. After the operator confirms that the cable is completely in the middle area of ​​the ratchet and directly above the V-shaped opening, the operator controls the drone 1 to stop advancing and maintain a stable attitude, in preparation for subsequent clamping, voltage testing and grounding operations.

[0080] S103: The test cable is detected by the voltage detection sensor. When the test cable is not energized, the drone 1 is controlled to continue moving forward until the test cable enters the V-shaped opening of the clamping ratchet and the V-shaped fixing plate.

[0081] In this embodiment, after the cable under test enters the middle area of ​​the clamping ratchet, the system uses a voltage detection sensor installed at the bottom of the V-shaped fixing plate to perform real-time live detection on the cable. The voltage detection sensor uploads the collected electrical signals to the flight control system and the ground control terminal in real time to complete the voltage detection judgment and safety confirmation. If the detection result determines that the cable under test is in a non-energized state and meets the safety requirements for grounding operations, the control system outputs an instruction to allow continued advancement. The UAV 1 is then controlled to move forward smoothly at a low speed with small-amplitude attitude fine-tuning. Under real-time guidance from video images, the cable under test is gradually brought closer to the V-shaped opening and finally reliably enters the V-shaped opening formed by the clamping ratchet and the V-shaped fixing plate, achieving precise positioning of the cable at the clamping position and providing stable and reliable operating conditions for subsequent clamping and grounding operations.

[0082] In a preferred embodiment, the voltage detection sensor is used to detect the cable under test, specifically including:

[0083] The voltage of the cable under test is collected by the voltage sensor; based on the real-time voltage and a preset control mapping table, an LED blinking pattern instruction is generated to control the LED blinking of the UAV 1; the real-time voltage is sent to the user terminal, and the UAV 1 performs subsequent forward operations in response to the user's instructions.

[0084] In this embodiment, after the cable under test enters the middle area of ​​the clamping ratchet, the voltage sensor located at the bottom of the V-shaped fixing plate immediately collects the real-time voltage of the cable, converts the detected voltage signal into electrical parameters, and uploads it to the control system of UAV 1. The control system compares the collected real-time voltage with a preset control mapping table and generates an LED flashing pattern command according to the rules corresponding to the voltage level and energized state. This commands the LED lights on the UAV 1 to flash at a specified frequency, color, or combination of on / off states to visually indicate the current energized state of the cable and the voltage detection result. Simultaneously, the control system sends the real-time voltage data collected by the voltage sensor to the user terminal for display, allowing the user to view the voltage value and voltage detection status in real time. After receiving the voltage information and confirming that the cable under test meets the safe operating conditions, the user terminal issues a forward command to UAV 1. UAV 1 responds to this command and performs subsequent forward operations, allowing the cable under test to further enter the V-shaped opening between the clamping ratchet and the V-shaped fixing plate, completing the precise positioning before clamping.

[0085] S104: The motor mechanism controls the rear locking baffle to move downward, which in turn drives one end of the insulating rod to move downward and the other end to move upward until the insulating rod reaches a preset tilt angle. Then, the motor mechanism is controlled to stop, thus completing the grounding of the cable under test. When the motor mechanism stops, the clamping ratchet in the clamping mechanism at the other end of the insulating rod forms a self-locking structure with the cable under test.

[0086] In this embodiment, after the ground control system or automatic control logic issues a grounding operation command, the motor mechanism under the fuselage of the UAV 1 starts operating, driving the rear locking baffle to move downward along the vertical slide rail via the transmission components. Simultaneously, the downward movement of the rear locking baffle causes the upper end of the insulating rod fixed to it to move downward synchronously, causing the insulating rod to deflect using the front locking mechanism as a fulcrum. The lower end of the insulating rod and the clamping mechanism then lift upward until the insulating rod is adjusted to a preset tilt angle, or until the control system detects the position and stops the motor mechanism, thus completing the locking of the insulating rod's attitude.

[0087] In this embodiment, the tilting motion of the insulating rod causes the clamping mechanism at the other end to apply a continuous clamping force towards the cable under test. The clamping ratchet continues to rotate under the reaction force of the cable, further clamping it. When the motor mechanism stops and the insulating rod's posture is fixed, a self-locking structure is formed between the clamping ratchet, the cable under test, and the V-shaped fixing plate, ensuring reliable clamping and stable contact. At this time, the grounding unit is in full contact with the cable, and the grounding wire built into the insulating rod is connected to the grounding circuit, thus completing the reliable grounding of the cable under test.

[0088] In this embodiment, after the target cable under test enters the bottom of the V-shaped opening, it enters the opening of the clamping ratchet. The target cable drives the clamping ratchet to rotate through the propulsion of the UAV 1. The clamping ratchet fixes the target cable to the V-shaped opening of the V-shaped fixing plate. The rear locking plate moves through the motor mechanism, which drives one end of the clamping mechanism of the insulating rod to move upward, so that the clamping ratchet locks with the target cable. The voltage detection sensor and the grounding unit perform voltage detection and grounding operations on the locked target cable.

[0089] Implementing the above embodiments has the following effects:

[0090] The technical solution of this invention involves installing a voltage testing and grounding device composed of an insulating rod, a locking mechanism, and a clamping mechanism below the drone 1. A rear locking mechanism with a vertical slide rail and motor drive achieves stable connection and automatic locking between the insulating rod and the drone 1. A V-shaped fixing plate, in conjunction with a clamping ratchet, adaptively clamps cables and lead wires of different diameters and angles. A voltage testing sensor and grounding unit are integrated at the bottom of the V-shaped opening, allowing for simultaneous voltage testing and grounding operations on the cable after reliable clamping. This achieves integrated automatic operation of high-altitude voltage testing, grounding, and locking, effectively replacing manual tower climbing operations, significantly reducing the safety risks of high-altitude operations, improving the efficiency and reliability of grounding wire installation and removal, and meeting the stringent requirements of power safety regulations for voltage testing and grounding. Furthermore, the clamping mechanism can perform voltage testing and grounding on vertical, inclined, and even horizontal cables, greatly increasing the applicability of the drone 1 for installing and removing grounding wires.

[0091] Example 3

[0092] In this embodiment, the rear locking mechanism is key to achieving multi-angle adaptation. The rear locking mechanism is mounted on a vertically arranged guide rail, and its height is controlled by a precision lead screw.

[0093] Among them, the rear locking mechanism is the core component that enables the grounding tester drone 1 to adapt to cables under test at different angles. Its core function is to change the spatial pitch angle of the clamping mechanism by precisely adjusting the height of the rear locking baffle, so as to ensure that the inlet of the execution end is always perpendicular to the target cable, thereby improving the success rate of grounding wire connection.

[0094] The rear locking mechanism, as the actuator of the drive mechanism, is precisely mounted on a vertically arranged guide rail, ensuring that the rear locking device moves without deviation or jamming, providing stable guiding support for height adjustment. The precision lead screw, as the core component, is fixedly connected to the rear locking baffle. One end of the lead screw connects to the motor mechanism, and the other end engages with the limiting component at the bottom of the guide rail. The thread precision of the lead screw has been optimized to allow for fine-tuning of the rear locking device's height, ensuring that the adjustment accuracy meets the angle adaptation requirements, while also guaranteeing a smooth and backlash-free transmission process, avoiding angle adjustment deviations due to transmission errors. Furthermore, the rear locking baffle is fixedly connected to the upper end of the insulating rod, and the other end of the insulating rod connects to the clamping mechanism, forming a transmission chain of lead screw drive, rear locking device movement, insulating rod deflection, and angle adjustment at the actuator end, ensuring that changes in the height of the rear locking baffle are accurately transmitted to the actuator end.

[0095] In this embodiment, when the cable under test has a tilt angle (non-horizontal state, such as vertical or tilted drain line), the operator observes and confirms the tilt angle of the target cable through video images captured by the onboard camera of UAV 1, and inputs the corresponding angle adaptation command at the ground control terminal; the ground control terminal transmits the command to the control system of UAV 1, the control system drives the motor to start, and drives the precision lead screw to rotate in a preset direction; during the rotation of the lead screw, it drives the rear locking baffle to move smoothly along the vertical guide rail, and the height change of the rear locking baffle drives the upper end of the insulating rod to rise and fall synchronously. Since the front end of the insulating rod is fixed by the front locking mechanism, the insulating rod deflects with the front locking mechanism as the fulcrum, and the clamping mechanism at its other end... The pitch angle then changes; the operator observes the relative angle between the cable inlet of the actuator and the target cable through real-time video images, and makes real-time fine-tuning commands until the cable inlet of the clamping mechanism is completely perpendicular to the axis of the target cable. At this point, a stop command is immediately sent, the drive motor stops running, the precision lead screw stops rotating, the rear locking device locks in position on the guide rail, and the insulating rod maintains the current tilt angle unchanged; after confirming that the cable inlet of the clamping mechanism is perpendicularly aligned with the cable, subsequent cable insertion and clamping operations can be performed. This adjustment method can accurately adapt to cables with different tilt angles, effectively solving the problems of difficulty in attaching tilted cables and easy detachment in traditional devices, greatly improving the success rate of attachment and operational reliability.

[0096] Example 4

[0097] In this embodiment, the clamping ratchet includes a ratchet, pawl, matching torsion spring, a small servo motor, a swing arm, and other components that work together to achieve reliable locking and smooth unlocking of the cable.

[0098] In this embodiment, before operation, the ratchet, pawl, and their respective torsion springs are pre-treated to ensure that all components are in a standard ready-to-use state. The ratchet and pawl are respectively installed in the preset mounting positions of the clamping mechanism. The torsion springs of both are in a natural extension and contraction state, without external force. At this time, the ratchet maintains its initial stationary posture, its jaws are open, and the pawl is attached to the edge of the ratchet. The two are not engaged, and the torsion spring stores initial elasticity to reserve power for subsequent locking actions. At the same time, it is confirmed that the torsion spring is not stuck or deformed to ensure stable elasticity and avoid affecting the locking effect due to torsion spring failure.

[0099] In this embodiment, after the UAV 1 completes angle adaptation and the execution end cable inlet is perpendicularly aligned with the target cable, the operator controls the UAV 1 to drive the clamping mechanism forward slowly at a low speed of 0.5-1 m / s. During the advancement process, video monitoring is continuously used to ensure that the cable is accurately aligned with the ratchet bayonet. As the UAV 1 continues to advance, the cable gradually contacts and enters the ratchet bayonet. The cable and the inner wall of the bayonet generate a squeezing force. This squeezing force gradually overcomes the resistance of the ratchet's torsion spring, driving the ratchet to rotate slowly around its own axis. During the rotation, the torsion spring is further compressed, continuously storing elastic force. At the same time, the cable gradually moves towards the bottom of the V-shaped opening of the V-shaped fixing plate as the ratchet rotates, ensuring accurate clamping position.

[0100] In this embodiment, the operator continuously monitors the ratchet rotation angle. When the ratchet rotates to a preset locking point, preferably a preset position where the ratchet groove and the pawl are precisely aligned, which can be pre-calibrated, the torsion spring of the pawl releases its stored elasticity, driving the pawl to quickly pop out towards the ratchet and precisely engage with the groove on the ratchet surface, thus limiting and fixing the pawl to the ratchet. This firmly clamps the cable between the ratchet and the V-shaped fixing plate, completing the physical locking of the cable. After locking, it is confirmed that the ratchet and pawl are tightly engaged, without loosening or offset, and the cable cannot come out on its own, ensuring the stability of subsequent voltage testing and grounding operations. The entire process requires no additional driving components, relying solely on the propulsion of the UAV 1 and the elasticity of the torsion spring, making the operation efficient and reliable.

[0101] In this embodiment, after the operator confirms that the UAV 1 is accurately aligned with the actuator, an unlocking command is sent from the ground control terminal. The command is quickly transmitted to the control system built into the actuator via a wireless transmission module. The control system immediately starts a small servo motor, driving the motor output shaft to rotate the swing arm 360 degrees at a constant speed. During the rotation of the swing arm, its end precisely engages with the preset actuation point of the pawl. As the swing arm continues to rotate, a lateral force is applied to the pawl, pushing it to rotate counterclockwise around its own axis. This rotational force overcomes the elasticity of the pawl's torsion spring, causing the pawl to gradually disengage from the ratchet groove, completely releasing the constraint on the ratchet. After the pawl and ratchet are completely disengaged, the ratchet is no longer constrained by the pawl. Its torsion spring releases the stored rebound force, driving the ratchet to quickly rotate in the opposite direction to reset and return to its initial standby posture. At the same time, the ratchet jaws open, ejecting the clamped cable, achieving complete disconnection of the cable from the actuator.

[0102] Example 5

[0103] In this embodiment, a highly sensitive elastic metal wire is provided on the left side of the guide opening (i.e., the flared opening) of the clamping ratchet. The wire contacts the cable along the path it must take to slide into the locking mechanism. If the cable is energized, the induced current triggers a high-decibel alarm on the ground terminal via the detection module.

[0104] In this embodiment, the communication of the UAV 1 adopts a master-slave communication architecture, with the ground control terminal as the master device, sending data packets to the UAV 1 platform and the clamping mechanism in a polling manner. Each execution terminal (UAV 1 and clamping mechanism) is equipped with an NRF24L01+ module, which utilizes its ACKPAYLOAD feature to immediately send back the device status information (such as whether it is locked, whether it is powered, battery voltage, etc.) pre-stored in the buffer upon receiving the polling message, effectively ensuring low-latency and high-reliability data transmission in complex electromagnetic environments.

[0105] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A voltage testing and grounding drone, characterized in that, include: The drone and the voltage detection and grounding device installed below the drone; The voltage testing and grounding device includes: an insulating rod, a locking mechanism, and a clamping mechanism; the clamping mechanism is disposed at one end of the insulating rod, and the insulating rod is fixed to the underside of the drone by the locking mechanism; The locking mechanism includes a rear locking mechanism and a front locking mechanism; the rear locking mechanism is located under the fuselage of the UAV and includes a vertical slide rail, a rear locking baffle, a motor mechanism, and a spring mechanism; the motor mechanism is located above the vertical slide rail, and the rear locking baffle moves up or down on the vertical slide rail under the control of the motor mechanism; the insulating rod is fixedly installed below the rear locking baffle; one end of the spring mechanism is fixed below the rear locking baffle, and the other end of the spring mechanism is fixed to the insulating rod; The front locking mechanism is located at the front of the drone; the front locking mechanism includes: a detachable mechanism and a front locking baffle; the insulating rod passes through the front locking baffle and is fixed below the front locking baffle; one end of the detachable mechanism is fixed at the front of the drone, and the other end of the detachable mechanism is fixedly connected to the front locking baffle; Both the rear lock baffle and the front lock baffle have an inverted V-shaped structure at the bottom; The clamping mechanism includes: two V-shaped fixing plates, upper and lower, fixed together by a support rod; a hollow area is formed between the V-shaped fixing plates at the bottom of the bottom of the V-shaped fixing plates; a voltage detection and grounding module is provided in the hollow area between the layers, and a voltage detection and grounding module is provided at the bottom of the V-shaped opening formed by the V-shaped fixing plates. The voltage detection and grounding module includes: a voltage detection sensor, a grounding unit, and a clamping ratchet on the V-shaped fixing plates; the clamping ratchet rotates laterally at the V-shaped opening of the V-shaped fixing plates to fix the cable under test to the clamping ratchet and the V-shaped opening of the V-shaped fixing plates, and performs voltage detection and grounding operations on the fixed cable under test through the voltage detection sensor and the grounding unit; the middle area of ​​the clamping ratchet is semi-elliptical; after the cable under test enters the semi-elliptical opening of the clamping ratchet, the target cable drives the clamping ratchet to rotate through the propulsion of the UAV, and the clamping ratchet fixes the target cable to the bottom of the V-shaped opening of the V-shaped fixing plates.

2. The voltage testing and grounding drone as described in claim 1, characterized in that, The rear locking mechanism further includes: a structural door frame; vertical slide rails are respectively provided on both sides of the structural door frame, and the motor mechanism is located on the structural door frame directly above the vertical slide rails; The baffle is provided with a horizontal fixing plate, and both ends of the horizontal fixing plate pass through the vertical slide rail. Both sides of the baffle are fixed with lead screws that are fixedly connected to the motor mechanism, so that when the motor mechanism is running, it drives the lead screws to control the baffle to move up and down along the vertical slide rail, and drives the spring mechanism to move one end of the insulating rod down or up.

3. A voltage detection and grounding drone as described in any one of claims 1-2, characterized in that, A grounding wire is provided at the center of the insulating rod. One end of the grounding wire is connected to the grounding unit, and the other end of the grounding wire is grounded.

4. A control method for a voltage detection and grounding unmanned aerial vehicle, characterized in that, Controlling the voltage testing and grounding drone as described in any one of claims 1-3, comprising: Control the drone to perform a self-test; After the drone self-test is completed, the drone is controlled to take off to the target position, and video images of the drone are acquired so that the drone can be controlled to move forward according to the video images until the cable under test enters the middle area of ​​the clamping ratchet. The voltage sensor is used to detect the cable under test. When the cable under test is not energized, the drone is controlled to continue moving forward until the cable under test enters the V-shaped opening of the clamping ratchet and the V-shaped fixing plate. The motor mechanism controls the locking plate to move downwards, which in turn moves one end of the insulating rod downwards and the other end upwards until the insulating rod reaches a preset tilt angle. Then, the motor mechanism is controlled to stop, thus completing the grounding of the cable under test. When the motor mechanism stops, the clamping ratchet in the clamping mechanism at the other end of the insulating rod forms a self-locking structure with the cable under test.

5. The control method for a voltage detection and grounding UAV as described in claim 4, characterized in that, The test cable is inspected using the voltage detection sensor, specifically including: The real-time voltage of the cable under test is collected using the voltage detection sensor. Based on the real-time voltage and combined with a preset control mapping table, an LED blinking pattern command is generated to control the LED blinking of the drone. The real-time voltage is sent to the user terminal, and the drone's forward movement is executed in response to the user's instructions.

Images