Unmanned aerial vehicle walking power supply system and use method for emergency disposal of power transmission channel

Abstract

The present invention discloses a UAV walking power supply system and a use method for emergency treatment of power transmission channels, comprising a UAV body and a walking power supply device located on the UAV body, through which the UAV body can be driven to walk along the power transmission line while charging, and a wedging force can be generated to lock the power transmission line. The UAV walking power supply system and the use method for emergency treatment of power transmission channels disclosed by the present invention can improve the charging efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a walking unmanned aerial vehicle power collection system and a use method thereof for emergency disposal of power transmission channels. Background Art

[0002] Fire is one of the most common disasters in human production and life. With the hot progress of UHV DC transmission projects, the UHV DC transmission lines pass through large mountainous areas, hills, agricultural production areas, etc., and the vegetation in the line channels is dense, especially in dense channels, there are a large number of flammable vegetation such as forests and grasses, and there are many mobile fire sources such as forest fires and domestic fires. They are scattered, and mountain fires occur frequently, which puts great pressure on fire prevention and control. The best time to extinguish a fire is at the beginning.

[0003] When a mobile fire source such as a fire used for daily life or production is found near a passage, the drone needs to monitor the fire source. However, conventional drones have limited flight time due to battery capacity and cannot stay nearby for a long time for monitoring.

[0004] Prior art, patent application number CN216301513U, a charging device for a distribution network line monitoring drone, including an inductive power collection device and a drone wireless charging platform, the drone wireless charging platform including a device expansion plate, a wireless charging induction coil and a platform cover plate, one side of the device expansion plate is connected and fixed with the inductive power collection device, and the other side of the device expansion plate is provided with a coil groove adapted to the wireless charging induction coil, the wireless charging induction coil is fixed in the coil groove, and the power input end of the wireless charging induction coil is electrically connected to the power output end of the inductive power collection device. One side of the platform cover plate is buckled with the other side of the device expansion plate, and the inductive power collection device can supply power to the distribution network line monitoring drone through the wireless charging induction coil. In the prior art, when the platform cover plate of the drone wireless charging platform is in use, the fixed permanent magnetic ring and the movable permanent magnetic ring that are attracted to each other can make the distribution network line monitoring drone docked on the drone wireless charging platform under many premises with strict requirements on space and angle, so that the distribution network line monitoring drone can remain powered and work. However, if the wireless charging platform of the charging drone is not smooth, such as some branches or pebbles fall on the wireless charging platform of the charging drone, the magnetic suction method will make the wireless charging platform and the drone not tightly closed, the charging efficiency is low, and the drone cannot patrol during charging. Summary of the invention

[0005] The technical problem to be solved by the present invention is to solve the problem that the charging device is not closed tightly, resulting in low charging efficiency and the drone cannot be inspected during charging.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A walking power-collecting system for unmanned aerial vehicles used for emergency treatment of power transmission channels, comprising an unmanned aerial vehicle body (100) and a walking power-collecting device (200) located on the unmanned aerial vehicle body (100); the walking power-collecting device (200) can drive the unmanned aerial vehicle body (100) to charge while walking along a power transmission line, and can generate a wedging force to lock the power transmission line.

[0008] Advantages: The walking power-taking device can drive the drone body to charge while walking along the transmission line, and can generate a wedging force to lock the transmission line, thereby improving the charging efficiency.

[0009] In one embodiment of the present invention, the walking power supply device (200) is located on the back of the drone body (100), and includes a base (210) and a power supply device (2450) located on the base (210), and a clamping and walking device (230) symmetrically arranged with the power supply device (2450) as the center, and the working axes of the clamping and walking device (230) and the power supply device (2450) are coaxial.

[0010] In one embodiment of the present invention, the clamping and walking device (230) includes a bidirectional screw device (232) and a sliding block (233); the bidirectional screw device (232) is connected to the sliding block (233) and can drive the sliding block (233) to slide toward or away from each other.

[0011] In one embodiment of the present invention, the clamping and walking device (230) further includes a roller seat (234) and a rubber-coated anti-skid roller (235); the roller seat (234) is located on the sliding block (233) and is fixedly connected thereto; the rubber-coated anti-skid roller (235) is located on one side of the roller seat (234), is nested in the roller seat (234), and is capable of rotating in the roller seat (234).

[0012] In one embodiment of the present invention, the clamping and walking device (230) further includes a driving device (236), and the driving device (236) is located on the other side of the roller seat (234), driving the rubber-coated anti-slip roller (235) to rotate on the roller seat (234).

[0013] In one embodiment of the present invention, the power supply device (2450) includes a power supply fixed seat (241), a rotating power supply seat (242), a CT power supply device (2434) and a clamping wedge (2421); the rotating power supply seat (242) is located on the power supply fixed seat (241) and rotates with the power supply fixed seat (241); the CT power supply device (2434) is located in the power supply fixed seat (241) and the rotating power supply seat (242), and is communicatively connected with the charging device of the drone body (100); the clamping wedge (2421) is fixed at one end of the rotating power supply seat (242).

[0014] In one embodiment of the present invention, the power taking device (2450) further includes a driven push-pull device (2457), and a pair of the driven push-pull devices (2457) are fixedly located on both sides of the power taking fixed seat (241); the driven push-pull device (2457) includes a limit member (245), a push-pull control plate (246) and a clamping lock hook (247); a waist hole (2461) is provided on the push-pull control plate (246), one end of the limit member (245) is fixedly connected to the power taking fixed seat (241), and the other end is located in the waist hole (2461) and slidably cooperates with the push-pull control plate (246); the clamping lock hook (247) is fixedly located at one end of the push-pull control plate (246), and when the push-pull control plate (246) makes a push-pull movement, the clamping lock hook (247) can slide on the clamping wedge block (2421).

[0015] In one embodiment of the present invention, the power collection device (2450) further includes a gear (251) and a rack (252); the gear (251) is located at the other end of the rotating power collection seat (242) and is coaxial with the rotation axis of the rotating power collection seat (242); the rack (252) is fixedly located at the other end of the push-pull control plate (246); through the engagement of the gear (251) and the rack (252), the rotating power collection seat (242) and the power collection fixed seat (241) can be rotationally attached or rotationally separated.

[0016] In one embodiment of the present invention, the power taking device also includes a driving push-pull device (253), which is located at the bottom of the power taking fixed seat (241) and is fixedly connected to the push-pull control plate (246), and can drive the push-pull control plate (246) to push and pull, and can make the gear (251) and the rack (252) engage.

[0017] In one embodiment of the present invention, the present invention also provides a method for using a UAV walking power supply system for emergency handling of power transmission channels, comprising:

[0018] The clamping and walking device clamps the power transmission line, and the power taking device clamps the power transmission line to charge the drone body online;

[0019] When charging is completed, the clamping and traveling device and the power taking device simultaneously release the clamped power line, so that the power line is separated from the traveling power taking device.

[0020] In one embodiment of the present invention, charging the drone body online includes:

[0021] When the power transmission line falls into the clamping and traveling device, the bidirectional screw device simultaneously drives the roller seat to move toward each other, so that the rubber-coated anti-skid roller fits and clamps the power transmission line; and the push-pull device simultaneously drives the push-pull control panel to drive the gear and rack to mesh, so that the rotating power supply seat rotates counterclockwise until the rotating power supply seat and the power supply fixed seat fit together;

[0022] The driving push-pull device continues to push the push-pull control plate, driving the clamping lock hook to contact the clamping wedge block, so that the clamping lock hook slides along the inclined surface of the clamping wedge block, and the rotating power supply seat and the power supply fixed seat are clamped and locked; the power supply device is suspended on the transmission line to charge the drone body.

[0023] In one embodiment of the present invention, when the drone body is fully charged, the method includes:

[0024] When the drone body is fully charged, the driving push-pull device pulls the push-pull control plate to separate the pressing lock hook and the tightening wedge block, thereby releasing the locking state of the rotating power supply seat and the power supply fixing seat;

[0025] The driving push-pull device continues to pull the push-pull control plate, and the gear and the rack are meshed, so that the rotating power supply seat rotates clockwise until the rotating power supply seat and the power supply fixed seat rotate and separate;

[0026] At the same time, the bidirectional screw device drives the movable roller seat to move backward, so that the rubber-coated anti-skid roller loosens the tightened power transmission line, and the power transmission line is separated from the walking power-taking device.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The wire guide fork is used to gather the transmission line, and the power collection device is used to charge the drone body online. Only an electric push rod can realize the rotational fit and rotational separation of the power collection fixed seat and the rotating power collection seat. By pressing the locking hook to slide on the tight wedge, a large clamping force can be maintained, so that the CT power collection device can be reliably fitted and the charging efficiency can be improved. With the power collection device as the center, a pair of clamping and walking devices are symmetrically arranged, and the power collection device is located between the pair of clamping and walking devices, which provides a stable power collection environment for the power collection device.

[0029] Through the equipotential clamp device, the drone body and the power transmission line are instantly formed into the same potential, avoiding the control system of the entire device from receiving electric field interference, and providing the necessary prerequisite for the drone body to be able to charge while walking on the power transmission line. In order to save the power of the drone body, when the drone body is charged, the flight system can be turned off and the flight can be stopped. The drone body is suspended on the power transmission line, and driven by the clamping and walking device to make it walk along the power transmission line, so that some monitoring equipment fixed on the drone body can continue to work. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The present invention is a schematic diagram of a UAV walking power supply system for emergency handling of power transmission channels.

[0031] Figure 2 It is a schematic diagram of the walking power supply device and the drone body of the present invention.

[0032] Figure 3 It is a schematic diagram of the clamping and traveling device of the present invention.

[0033] Figure 4 It is a schematic diagram of the clamping and traveling device in the initial state of the present invention.

[0034] Figure 5 It is a schematic diagram of the clamping and traveling device of the present invention.

[0035] Figure 6 It is a schematic diagram of the power taking device of the present invention.

[0036] Figure 7 This is a schematic diagram of a power extraction device from another angle of the present invention.

[0037] Figure 8 It is a schematic diagram of the power taking device in the initial state of the present invention.

[0038] Fig. 9 The present invention is a flow chart of a method for using a UAV walking power collection system for emergency handling of power transmission channels.

[0039] Fig.10 This is a flow chart of the method for online charging of the drone body of the present invention.

[0040] Fig.11 This is a flow chart of the method after the drone body of the present invention is online charged.

[0041] Fig.12 It is a schematic diagram of the equipotential clamping device and the fire extinguishing device of the present invention.

[0042] Fig.13It is a schematic diagram of the equipotential clamping device at different pitch positions of the present invention.

[0043] Fig.14 It is a schematic diagram of the equipotential clamp of the present invention.

[0044] Fig.15 This is a schematic diagram of the equipotential clamp of the present invention clamping a transmission line.

[0045] Fig.16 This is a schematic diagram of the equipotential clamp clamping the transmission line from another angle of the present invention.

[0046] Fig.17 It is a schematic diagram of the guide clamp of the present invention.

[0047] Fig.18 It is a schematic diagram of the guide clamp in one state of the present invention.

[0048] Fig.19 It is a schematic diagram of the guide clamp in another state of the present invention.

[0049] Fig. 20 The figure is a schematic diagram of the guide clamp in another state of the present invention.

[0050] Fig.21 It is a schematic diagram of the drone body of the present invention flying to an area that will not be affected by the high-voltage electric field of the power transmission line.

[0051] Fig. 22 This is a schematic diagram of the equipotential clamping device of the present invention being launched to clamp a transmission line.

[0052] Fig.23 It is a schematic diagram of the UAV body of the present invention flying along the power transmission line. DETAILED DESCRIPTION

[0053] In order to facilitate those skilled in the art to understand the technical solution of the present invention, the technical solution of the present invention is further described in conjunction with the accompanying drawings of the specification.

[0054] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] Embodiment 1

[0056] See also Figure 1 and Figure 2As shown, the present invention provides a UAV walking power supply system for emergency disposal of power transmission channels, including a UAV body 100 and a walking power supply device 200 located on the UAV body 100. The walking power supply device 200 can drive the UAV body 100 to charge while walking along the power transmission line, and can generate a wedging force to lock the power transmission line.

[0057] See also Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the walking power-taking device 200 is located on the back of the drone body 100, including a base 210 and a power-taking device 2450 located on the base 210, and a clamping and walking device 230 symmetrically arranged with the power-taking device 2450 as the center, and the clamping and walking device 230 and the working axis of the power-taking device 2450 are coaxial, and the clamping and walking device 230 clamps the power line and can drive the drone body 100 to walk along the power line. The power-taking device 2450 can generate a wedging force to lock the power line and charge the drone body 100 online.

[0058] See also Figure 1 As shown, in one embodiment of the present invention, the walking power-taking device 200 further includes a wire guide fork 220, and the wire guide fork 220 and the power-taking device 2450 are symmetrically arranged, and the clamping and walking device 230 is located in a pair of wire guide forks 220. The working axes of the wire guide fork 220, the clamping and walking device 230 and the power-taking device 2450 are coaxial, and the wire guide fork 220 is used to gather the transmission line. The wire guide fork 220 includes a U-shaped seat 221, a first guide fork 222 and a detection device 223. Among them, the U-shaped seat 221 is fixedly connected to one side of the base 210. The first guide fork 222 includes a U-shaped member 2221 and a gathering rod 2222, the U-shaped member 2221 is attached to the U-shaped seat 221 and is fixedly connected thereto, and one end of a pair of gathering rods 2222 is respectively fixedly connected to the U-shaped member 2221, so that the first guide fork 222 forms an upward opening, and the opening is larger at the top and smaller at the bottom, so as to gather the transmission line. A pair of detection devices 223 are respectively fixed on the U-shaped member 2221 to detect whether the power transmission line falls into the U-shaped member 2221.

[0059] See also Figures 3 to 5As shown, in one embodiment of the present invention, the clamping and walking device 230 includes a sliding base 231, a bidirectional screw device 232, a sliding block 233, a roller seat 234, a rubber-coated anti-skid roller 235 and a driving device 236. The sliding base 231 is fixedly connected to the base, the bidirectional screw device 232 is located on the sliding base 231, and the bidirectional screw device 232 is connected to the sliding block 233, driving the sliding block 233 to slide toward or away from each other. The roller seat 234 is located on the sliding block 233 and is fixedly connected thereto. The rubber-coated anti-skid roller 235 is located on one side of the roller seat 234, and is nested in the roller seat 234, and can rotate in the roller seat 234. The driving device 236 is located on the other side of the roller seat 234, and the driving device 236 drives the rubber-coated anti-skid roller 235 to rotate on the roller seat 234 in the roller seat 234.

[0060] See also Figures 3 to 5 As shown, in one embodiment of the present invention, the sliding block 233 includes a first sliding block 2331 and a second sliding block 2332, and the roller seat 234 includes a driving roller seat 2341 and a driven roller seat 2342, the driving roller seat 2341 is fixedly connected to the first sliding block 2331, and the driven roller seat 2342 is fixedly connected to the second sliding block 2332. Specifically, the screw of the bidirectional screw device 232 is divided into two halves from the middle, the thread of one half of the screw is right-handed, and the thread of the other half of the screw is left-handed, and the screw with right-handed thread cooperates with the right-handed nut, and the screw with left-handed thread cooperates with the left-handed nut, and the first sliding block 2331 and the second sliding block 2332 are fixedly connected with the right-handed nut and the left-handed nut respectively. When the bidirectional screw device 232 rotates, the right-handed nut and the left-handed nut slide toward or away from each other on the screw, indirectly driving the first sliding block 2331 and the second sliding block 2332 to slide toward or away from each other, and indirectly driving the driving roller seat 2341 and the driven roller seat 2342 to slide toward or away from each other. The roller seat 234 is a rectangular box, and is concave on one side thereof to form a receiving space 2340, and the rubber-coated anti-skid roller 235 is located in the receiving space 2340, and the rubber-coated anti-skid roller 235 partially protrudes from the roller seat 234. The receiving spaces 2340 on the driving roller seat 2341 and the driven roller seat 2341 are arranged opposite to each other. Correspondingly, each roller seat is provided with a rubber-coated anti-skid roller 235. The rubber-coated anti-skid roller 235 can rotate in the receiving space 2340 under the drive of an external force. The rubber-coated anti-skid roller 235 includes an active rubber-coated anti-skid roller 2351 and a driven rubber-coated anti-skid roller 2352. Specifically, the active rubber-coated anti-skid roller 2351 is located in the receiving space 2340 of the driving roller seat 2341, and the driven rubber-coated anti-skid roller 2352 is located in the receiving space 2340 of the driven roller seat 2341. Both rubber-coated anti-skid rollers are cylindrical with a concave middle and a smooth transition to the two ends to fit the transmission line A, see Figure 5The driving device 236 is fixedly connected to the driving roller seat 2341, and the output end of the driving device 236 drives the active rubber-coated anti-skid roller 2351 to rotate. Specifically, the driving device 236 is, for example, a motor.

[0061] See also Figures 3 to 5 As shown, in one embodiment of the present invention, in the initial state, the driving roller seat 2341 and the driven roller seat 2341 are separated to form a clamping area. When charging is required, when the power transmission line A enters the clamping area, the bidirectional screw device 232 drives the first sliding block 2331 and the second sliding block 2332 to slide toward each other, indirectly driving the driving roller seat 2341 and the driven roller seat 2342 to slide toward each other, and finally making the active rubber-coated anti-skid roller 2351 and the driven rubber-coated anti-skid roller 2352 fit and clamp the power transmission line A, and the driving device 236 drives the rubber-coated anti-skid roller 2351 to rotate, so that the active rubber-coated anti-skid roller 2351 and the driven rubber-coated anti-skid roller 2352 can generate a force along the axial direction of the power transmission line A, so that the clamping and walking device 230 can walk along the power transmission line A. After charging is completed, the bidirectional screw device 232 drives the first sliding block 2331 and the second sliding block 2332 to slide in opposite directions, indirectly driving the driving roller seat 2341 and the driven roller seat 2342 to slide in opposite directions, and finally causing the active rubber-coated anti-skid roller 2351 and the driven rubber-coated anti-skid roller 2352 to release the transmission line A, and the transmission line A is separated from the clamping area.

[0062] See also Figure 6 and Figure 7 As shown, in one embodiment of the present invention, the power taking device 2450 includes a power taking fixed seat 241, a rotating power taking seat 242, a CT power taking device 2434, a driven push-pull device 2457, a gear 251, a rack 252 and a driving push-pull device 253. The power taking fixed seat 241 is fixedly connected to the base, the rotating power taking seat 242 is located on the power taking fixed seat 241 and rotates with the power taking fixed seat 241, and the CT power taking device 2434 is located in the power taking fixed seat 241 and the rotating power taking seat 242. The driven push-pull device 2457 is located on one side of the power taking fixed seat 241, the rack 252 is fixedly connected to the driven push-pull device 2457, and the gear 251 is coaxial with the rotation axis of the rotating power taking seat 242. The driving push-pull device 253 is fixed at the bottom of the power supply fixed seat 241. The driving push-pull device 253 drives the driven push-pull device 2457 to push and pull, so that the gear 251 and the rack 252 are engaged, so that the rotating power supply seat 242 and the power supply fixed seat 241 are rotationally fitted or rotationally separated, and the driving push-pull device 253 drives the driven push-pull device 2457 to lock or unlock the rotating power supply seat 242 and the power supply fixed seat 241 that are rotationally fitted.

[0063] See also Figure 6 and Figure 7As shown, in one embodiment of the present invention, the power supply fixing seat 241 is concave, and is arranged in a C shape rotated 90° counterclockwise with the opening facing upward, forming a lower CT slot. The rotating power supply seat 242 is convex, and is arranged in an inverted C shape with the opening facing downward, forming an upper CT slot. When the power supply fixing seat 241 and the rotating power supply seat 242 are rotated and separated, it is convenient for the power transmission line to fall into the CT slot. The power supply device 2450 also includes a clamping wedge 2421, which is located at one end of the rotating power supply seat 242 opposite to the gear 251, and the clamping wedge 2421 is arranged in a triangular block shape. The CT power supply device 2434 includes an upper CT power supply device 243 and a lower CT power supply device 244. The upper CT power supply device 243 is fixedly located in the rotating power supply seat 242, and the lower CT power supply device 244 is fixedly located in the power supply fixing seat 241. When the rotating power supply seat 242 and the power supply fixing seat 241 are rotated and fitted, the upper CT power supply device 243 and the lower CT power supply device 244 fit together to form a complete CT power supply device 2434. The CT power supply device 2434 is also connected to the charging device of the drone body for charging the drone body.

[0064] See also Figure 6 and Figure 7 As shown, in one embodiment of the present invention, the driven push-pull device 2457 includes a limiter 245, a push-pull control plate 246 and a clamping lock hook 247. A waist hole 2461 is provided on the push-pull control plate 246. One end of the limiter 245 is fixedly connected to the power-taking fixed seat 241, and the other end is located in the waist hole 2461, and slides with the push-pull control plate 246. The push-pull control plate 246 performs push-pull motion relative to the power-taking fixed seat 241. The rack 252 is fixed at one end of the push-pull control plate 246 to facilitate meshing with the gear 251. The clamping lock hook 247 is fixed at the other end of the push-pull control plate 246. When the push-pull control plate 246 performs push-pull motion, the clamping lock hook 247 can slide on the inclined surface of the clamping wedge block 2421. Specifically, a pair of driven push-pull devices 2457 are respectively located on both sides of the power supply fixing seat 241, and gears 251 and racks 152 are provided on both sides of the power supply fixing seat 241. The driving push-pull device 253 includes a fixing seat 2531, a connecting plate 2532 and an electric push rod 2533, and one end of the electric push rod 2533 is fixedly connected to the bottom of the power supply fixing seat 241 through the fixing seat 2531. The connecting plate 2532 is concavely arranged, and its two ends are respectively fixedly connected to the push-pull control board 246 located on both sides of the power supply fixing seat 241. The bottom of the power supply fixing seat 241 is located at the concave part of the connecting plate 2532, and the extended end of the electric push rod 2533 is fixedly connected to the bottom of the connecting plate 2532, providing power for the push-pull control board 246 to make push-pull movements. The power taking device 2450 also includes a support seat 2411 , and two ends of the support seat 2411 are respectively fixedly connected to the base and the power taking fixing seat 241 to provide space for driving the push-pull device 253 .

[0065] See also Figures 6 to 8 As shown, in one embodiment of the present invention, in the initial state of the power taking device 2450, the power taking fixed seat 241 and the rotating power taking seat 242 are in a rotating separation state, the electric push rod 2533 is in a retracted state, and the gear 251 and the rack 252 are engaged. When the power transmission line falls into the lower CT slot, the electric push rod 2533 pushes the push-pull control plate 246 to move rightward, driving the gear 251 and the rack 252 to engage, so that the rotating power taking seat 242 rotates counterclockwise until the rotating power taking seat 242 and the power taking fixed seat 241 are in contact. When the rotating power supply seat 242 and the power supply fixing seat 241 are fitted, the gear 251 and the rack 252 just disengage, at this time, the electric push rod 2533 continues to push the push-pull control plate 246 to move to the right, driving the clamping lock hook 247 to contact the clamping wedge block 2421, and the clamping lock hook 247 slides along the inclined surface of the clamping wedge block 2421. The wedge force clamps and locks the rotating power supply seat 242 and the power supply fixing seat 241, while maintaining a large clamping force, that is, locking the power supply line in the power supply device 2450. The power supply device 2450 is suspended on the power supply line, and the drone body is charged through the power supply line and the CT power supply device 2434.

[0066] See also Figures 6 to 8 As shown, in one embodiment of the present invention, when charging is completed, the electric push rod 2533 retracts, driving the push-pull control plate 246 to move to the left, so that the clamping lock hook 247 is separated from the clamping wedge block 2421, and the locking state of the rotating power supply seat 242 and the power supply fixed seat 241 is released. The electric push rod 2533 continues to drive the push-pull control plate 246 to move to the left, the gear 251 and the rack 252 begin to engage, and the rotating power supply seat 242 rotates clockwise until it is completely separated from the power supply fixed seat 241, so that the transmission line is separated from the CT power supply device 2434.

[0067] See also Figure 2 As shown, in one embodiment of the present invention, the walking power-taking device 200 further includes a rotating device 260, one end of which is fixedly connected to the base 210, and the other end is connected to the back of the drone body, so that the drone body can rotate relative to the driving base 210, the wire guide fork 220, and the clamping and walking device 230 located on its back. When the drone body is suspended on the power transmission line, the drone body and the device located on the back can be rotated.

[0068] See also Figures 1 to 8As shown, in one embodiment of the present invention, the transmission line A is gathered by the first guide fork 222. When the detection device 223 detects that the transmission line A falls into the U-shaped member 2221, the bidirectional screw device 232 drives the first sliding block 2331 and the second sliding block 2332 to slide toward each other, and indirectly drives the driving roller seat 2341 and the driven roller seat 2342 to slide toward each other, and finally makes the active rubber-coated anti-skid roller 2351 and the driven rubber-coated anti-skid roller 2352 fit and clamp the transmission line A. At the same time, the electric push rod 2533 pushes the push-pull control plate 246 to move rightward, drives the gear 251 and the rack 252 to mesh, and makes the rotating power supply seat 242 rotate counterclockwise until the rotating power supply seat 242 fits with the power supply fixed seat 241. When the rotating power supply seat 242 and the power supply fixed seat 241 are in contact, the gear 251 and the rack 252 are just out of mesh. At this time, the electric push rod 2533 continues to push the push-pull control plate 246 to move to the right, driving the clamping lock hook 247 to contact the clamping wedge block 2421. The clamping lock hook 247 slides along the inclined surface of the clamping wedge block 2421, and the wedging force clamps and locks the rotating power supply seat 242 and the power supply fixed seat 241. During charging, if the drone body 100 still needs to move, in order to save power of the drone body 100, the flight system of the drone body 100 can be turned off, so that it can be suspended on the power line A, and the rubber-coated anti-skid roller 2351 is driven to rotate by the driving device 236, so that the active rubber-coated anti-skid roller 2351 and the driven rubber-coated anti-skid roller 2352 can generate an axial force along the power line A. Even if the clamping and walking device 230 can move along the power line A, some monitoring equipment of the fixed drone body 100 can continue to work.

[0069] See also Figures 1 to 8 As shown, in one embodiment of the present invention, when charging is completed, the electric push rod 2533 retracts, driving the push-pull control plate 246 to move to the left, so that the clamping lock hook 247 is separated from the clamping wedge block 2421, and the locking state of the rotating power supply seat 242 and the power supply fixed seat 241 is released. The electric push rod 2533 continues to drive the push-pull control plate 246 to move to the left, the gear 251 and the rack 252 begin to engage, and the rotating power supply seat 242 rotates clockwise until it is completely separated from the power supply fixed seat 241, so that the power supply line is separated from the CT power supply device 2434, and at the same time, the bidirectional screw device 232 drives the first sliding block 2331 and the second sliding block 2332 to slide backwards, indirectly driving the driving roller seat 2341 and the driven roller seat 2342 to slide backwards, so that the power supply line A is separated from the clamping area and the wire guide fork 220.

[0070] See also Fig. 9 As shown, the present invention also provides a method for using a UAV walking power supply system for emergency handling of power transmission channels, comprising:

[0071] S310, the clamping and walking device clamps the power transmission line, and the power taking device clamps the power transmission line to charge the drone body online.

[0072] S320: After charging is completed, the clamping and traveling device and the power taking device simultaneously release the clamped power line, so that the power line is separated from the traveling power taking device.

[0073] See also Fig.10 As shown, in one embodiment of the present invention, in step S310, the online charging of the drone body includes the following steps:

[0074] S311, when the transmission line falls into the clamping and traveling device, the bidirectional screw device simultaneously drives the roller seats to move toward each other, so that the rubber-coated anti-skid rollers adhere to and clamp the transmission line;

[0075] S312, the push-pull device drives the push-pull control panel to engage the gear and rack, so that the rotating power supply seat rotates counterclockwise until the rotating power supply seat and the power supply fixed seat fit together.

[0076] S313, the driving push-pull device continues to push the push-pull control plate, driving the clamping lock hook to contact the clamping wedge block, so that the clamping lock hook slides along the inclined surface of the clamping wedge block, and the rotating power supply seat and the power supply fixed seat are clamped and locked; the power supply device is suspended on the transmission line to charge the drone body.

[0077] See also Fig.11 As shown, in one embodiment of the present invention, in step S320, making the power transmission line disconnected from the walking power taking device includes the following steps:

[0078] S321. When the charging of the drone body is completed, the driving push-pull device pulls the push-pull control plate to separate the clamping lock hook and the tightening wedge block, thereby releasing the locking state of the rotating power supply seat and the power supply fixed seat.

[0079] S322, the driving push-pull device continues to pull the push-pull control plate, the gear and the rack are meshed, and the rotating power supply seat rotates clockwise until the rotating power supply seat and the power supply fixed seat are rotated and separated.

[0080] S323. At the same time, the bidirectional screw device drives the movable roller seat to move backward, so that the rubber-coated anti-skid roller loosens the tightened power transmission line, and the power transmission line is separated from the walking power supply device.

[0081] Embodiment 2

[0082] See also Figure 2As shown, in one embodiment of the present invention, there is a high-voltage electric field near the transmission line. In order to prevent the high-voltage electric field from affecting the control system of the drone body, the drone walking power supply system for emergency disposal of the power transmission channel also includes an equipotential clamping device 300. The equipotential clamping device 300 is fixed on the abdomen of the drone body 100. The equipotential clamping device 300 is used to make the drone body and the transmission line form an equipotential, thereby protecting the control system of the drone body.

[0083] See also Fig.12 As shown, in one embodiment of the present invention, the equipotential clamping device 300 includes a first elevation seat 310, a first elevation driving device 320, a launching barrel 330, a wire collection device 340, an equipotential clamping device 3557, a first high-pressure gas storage device 380 and a conductive pull rope 390, see Fig.16 As shown. The first pitch seat 310 is fixedly located at one end of the abdomen of the drone body 100, the first pitch drive device 320 is connected to the first pitch seat 310, and one end of the launch barrel 330 is fixedly connected to the first pitch seat 310. The first pitch drive device 320 provides power to enable the launch barrel 330 to perform pitch motion around its axis. The equipotential clamp 3557 is located at the other end of the launch barrel 330, and is coaxially matched with the launch barrel 330 with a certain friction force. The first high-pressure gas storage device 380 is located on the frame on one side of the drone body 100, and its gas output end is connected to the launch barrel 330. The high-pressure driving force provided by the first high-pressure gas storage device 380 enables the equipotential clamp 3557 to be ejected from the launch barrel 330. The conductive pull rope 390 is located in the launch barrel 330, the take-up device 340 is fixedly connected to the launch barrel 330, and the two ends of the conductive pull rope 390 are respectively fixedly connected to the take-up device 340 and the equipotential clamp 3557. The equipotential clamp 3557 that is ejected can be recovered through the take-up device 340 and the conductive pull rope 390.

[0084] See also Fig.12 and Fig.13 As shown, in one embodiment of the present invention, the first elevation drive device 320 provides power, so that the launch barrel 330 can perform a ±90° elevation movement around the first elevation seat 310 .

[0085] See also Fig.14As shown, in one embodiment of the present invention, the equipotential clamp 3557 includes a clamp seat 350, a second guide fork 360, a guide fork limiter 361 and a guide clamp 370. One ends of a plurality of second guide forks 360 are evenly fixed on the clamp seat 350, and a pair of guide fork limiters 361 are fixed on the diagonally distributed second guide forks 360. The guide clamp 370 is located in the clamp seat 350 and is rotatably matched with the clamp seat 350. When the guide clamp 370 is in the initial state, the second guide fork 360 is engaged with the guide clamp 370 through the guide fork limiter 361. When the transmission line A falls into the guide clamp 370 and the guide clamp 370 clamps the transmission line A, the second guide fork 360 is disengaged from the guide clamp 370, and the guide clamp 370 is free to rotate relative to the second guide fork 360, which can adapt to clamping the transmission line A. After clamping, the guide clamp 370 is parallel to the cross section of the transmission line A, see Fig.12 and Fig.13 shown.

[0086] See also Fig.15 and Fig.16 As shown, in one embodiment of the present invention, the number of the second guide forks 360 is, for example, 4, to prevent the two second guide forks 360 from rotating during the flight and causing the inability to touch and gather the transmission line A. When rotating to be parallel to the transmission line A, the two second guide forks 360 cannot touch and gather the transmission line A.

[0087] See also Fig.17 As shown, in one embodiment of the present invention, the guide clamp 370 includes a rotating seat 371, a first clamp swing rod 372, a second clamp swing rod 373, a first equipotential clamp ring 374, a second equipotential clamp ring 375, a first support rod 376, a second support rod 377, a limit guide column 378 and a wire guide tube 379. The rotating seat 371 is located in the clamp seat 350 and is rotatably matched with the clamp seat 350. One end of the first clamp swing rod 372 and the second clamp swing rod 373 are respectively hinged to the rotating seat 371, so that the first clamp swing rod 372 and the second clamp swing rod 373 can rotate around the hinge axis, and a torsion spring is arranged at the hinge axis, so that the first clamp swing rod 372 and the second clamp swing rod 373 swing relative to each other. One end of the first equipotential clamp ring 374 is fixedly connected to the other end of the first clamp swing rod 372, and one end of the second equipotential clamp ring 375 is fixedly connected to the other end of the second clamp swing rod 373. One end of the first support rod 376 is hinged to the other end of the first clamping jaw swing rod 372, one end of the second support rod 377 is hinged to the other end of the second clamping jaw swing rod 373, and the other end of the first support rod 376 and the other end of the second support rod 377 are hinged to one end of the limiting guide column 378 to form a three-point hinge point B. Fig.15As shown, the limiting guide column 378 is coaxially slidably matched with the rotating seat 371. A pair of wire guide tubes 379 are fixed on the rotating seat 371 side by side with the first clamping jaw swing rod 372 and the second clamping jaw swing rod 373, respectively. The pair of wire guide tubes 379 are fixed on the rotating seat 371 in a V shape. A conductive pull rope 390 is respectively arranged in the pair of wire guide tubes 379. Fig.16 , one end of a pair of conductive pull ropes 390 is fixedly connected to the first clamping jaw swing rod 372 and the second clamping jaw swing rod 373 respectively, and the other end of a pair of stretching ropes 390 is fixedly connected to the wire taking-up device. The second guide fork is engaged with the wire pulling guide tube and the first clamping jaw swing rod 372 or the second clamping jaw swing rod 373 in sequence through the guide fork limiter. The guide clamp 370 also includes a transmission line limit plate 3791, a pair of transmission line limit plates 3791 is parallel to the plane of the first equipotential clamp ring 374 and the second equipotential clamp ring 375, and is arranged front and back and fixedly connected to the rotating seat 371. Among them, the first equipotential clamp ring 374 and the second equipotential clamp ring 375 can conduct electricity. The first clamping jaw swing rod 372 and the first equipotential clamp ring 374 are, for example, integrally formed, and the first clamping jaw swing rod 372 can also conduct electricity. The second equipotential clamp ring 375 and the second clamping jaw swing rod 373 are, for example, also integrally formed, and the second clamping jaw swing rod 373 can also conduct electricity.

[0088] See also Figures 17 to 20 As shown, in one embodiment of the present invention, in the initial state of the guide clamp 370, the limit guide column 378 is pulled up to the limit position, and the three-point hinge point B protrudes upward. Under the action of the torsion spring, the first equipotential clamp ring 374 and the second equipotential clamp ring 375 remain in the open state. The point in the middle of the horizontal distance between the hinge point of the first clamp swing rod 372 and the first support rod 376 and the hinge point of the second clamp swing rod 373 and the second support rod 377 is called the dead point position C. In the initial state of the guide clamp 370, the three-point hinge point B is located above the dead point position C. When the guide clamp 370 is ejected and collides with the transmission line A, the transmission line A hits the three-point hinge point B, causing the three-point hinge point B to move downward and be located below the dead point position C. At this time, the first equipotential clamp ring 374 and the second equipotential clamp ring 375, under the action of the torsion spring, instantly clamp the transmission line A. At this time, the second guide fork 360 is separated from the first clamping jaw swing rod 372 and the second clamping jaw swing rod 373, and the first equipotential clamp ring 374 and the second equipotential clamp ring 375 rotate freely relative to the second guide fork 360, adaptively clamping the transmission line A, and after clamping, the first equipotential clamp ring 374 and the second equipotential clamp ring 375 are parallel to the cross section of the transmission line A. When the drone body is fully charged, the wire collection device 340 pulls the conductive pull rope 390, and the first clamping jaw swing rod 372 and the second clamping jaw swing rod 373 are pulled apart by the conductive pull rope 390, so that the first equipotential clamp ring 374 and the second equipotential clamp ring 375 that are clamped and closed are opened, and the transmission line A is separated from the guide clamp 370.

[0089] See also Figure 2 As shown, in one embodiment of the present invention, the UAV walking power supply system for emergency disposal of power transmission channels also includes a power transmission line positioning device 2300, which is located on the side of the UAV body 100 and is used to locate the power transmission line.

[0090] See also Fig.12 As shown, in one embodiment of the present invention, the UAV walking power supply system for emergency disposal of power transmission channel also includes a fire extinguishing device, which is located at the abdomen of the UAV body 100, and the equipotential clamping device 300 and the fire extinguishing device are respectively on both sides of the abdomen of the UAV body 100. The fire extinguishing device includes a second pitch seat 410, a second pitch driving device 420, a fire extinguishing gun barrel 430, a fire identification device 440, a second high-pressure gas storage device 450 and a speaker 460. The second pitch seat 410 is located at the other end of the abdomen of the UAV body 100, the second pitch driving device 420 is connected to the second pitch seat 410, the fire extinguishing gun barrel 430 is fixedly connected to the second pitch seat 410, and the second pitch driving device 420 drives the second pitch seat 410 and the fire extinguishing gun barrel 430 to pitch and rotate. Specifically, it can pitch and rotate 0 to -90°. The gas transmission end of the second high-pressure gas storage device 450 is connected to the fire extinguishing gun barrel 430 to provide high-pressure gas power for the fire extinguishing gun barrel 430. The fire identification device 440 is fixed on one side of the fire extinguishing gun barrel 430 for fire identification, fire location location and fire monitoring. The speaker 460 is fixed on the other side of the fire extinguishing gun barrel 430 for shouting warnings.

[0091] See also Figures 1 to 20 As shown, in one embodiment of the present invention, the unmanned aerial vehicle walking power supply system for emergency treatment of power transmission channels also includes a remote master controller (not shown in the figure), which is connected to the unmanned aerial vehicle body 100, the walking power supply device 200, the equipotential clamping device 300, the fire extinguishing device 400 and the power transmission line positioning device 2300. When the staff discovers the fire through the fire identification device 440, the nearby residents are notified through the loudspeaker 460, and the pitch position of the fire extinguishing gun barrel 430 is adjusted to drive the fire extinguishing. When the unmanned aerial vehicle body 100 has no electricity, the position of the power transmission line A is identified through the power transmission line positioning device 2300, and the equipotential clamping device 300 is driven to send the equipotential clamping device 3557, so that the unmanned aerial vehicle body 100 and the power transmission line are at the same point, and the walking power supply device 200 is controlled to charge the unmanned aerial vehicle body 100. When the unmanned aerial vehicle body 100 is charging and a fire is discovered, the walking power supply device 200 can also be moved along the high-voltage power transmission, the position of the fire extinguishing device 400 is adjusted, and the fire extinguishing gun barrel 430 is fired to extinguish the fire.

[0092] See also Figure 21 to Figure 23As shown, in one embodiment of the present invention, when the fire extinguishing device 400 detects a fire, that is, the fire identification device 440 detects a fire, and the drone body 100 is confirmed to be low on power, it is ensured that the drone body 100 is online charging while being able to move to the vicinity of the fire to drive the fire extinguishing device 400 to extinguish the fire.

[0093] See also Figure 21 to Figure 23 As shown, in one embodiment of the present invention, the transmission line positioning device 2300 locates the position of the transmission line A, and the drone body 100 flies toward the position of the transmission line A, flies to the vicinity of the area that will not be affected by the high-voltage electric field of the transmission line A, and stops approaching.

[0094] See also Figure 21 to Figure 23 As shown, in one embodiment of the present invention, after the equipotential clamping device 300 clamps the power line A, the drone body 100 starts to fly in the direction close to the power line A, and the power line A falls into the walking power taking device 200. The walking power taking device 200 clamps the power line A. During this process, the wire-retracting device on the equipotential clamping device 300 works synchronously, so that the conductive pull rope generates a certain tension force to avoid entanglement. After the fire is extinguished and the charging is completed, the walking power taking device 200 releases the power line A, relaxes the conductive pull rope through the wire-retracting device, and flies in the direction away from the power line A. After reaching the safe area, the conductive pull rope is tightened again through the wire-retracting device, so that the guide clamp is opened to release the power line A, and finally the guide clamp is recovered through the wire-retracting device.

[0095] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0096] The above-described embodiments merely represent implementation methods of the invention. The protection scope of the present invention is not limited to the above-described embodiments. For those skilled in the art, several modifications and improvements may be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A UAV walking power supply system for emergency handling of power transmission channels, characterized in that: It comprises an unmanned aerial vehicle body (100) and a walking power collection device (200) located on the unmanned aerial vehicle body (100); the walking power collection device (200) can drive the unmanned aerial vehicle body (100) to charge while walking along a power transmission line, and can generate a wedging force to lock the power transmission line; The walking power-collecting device (200) is located on the back of the drone body (100), and comprises a base (210), a power-collecting device (2450) located on the base (210), and a clamping and walking device (230) symmetrically arranged around the power-collecting device (2450), and the working axes of the clamping and walking device (230) and the power-collecting device (2450) are coaxial; The power supply device (2450) comprises a power supply fixing seat (241), a rotating power supply seat (242), a CT power supply device (2434) and a pressing wedge (2421); the rotating power supply seat (242) is located on the power supply fixing seat (241) and is rotatably matched with the power supply fixing seat (241); the CT power supply device (2434) is located in the power supply fixing seat (241) and the rotating power supply seat (242), and is communicatively connected with the charging device of the drone body (100); the pressing wedge (2421) is fixedly located at one end of the rotating power supply seat (242); The power taking device (2450) also includes a driven push-pull device (2457), a pair of the driven push-pull devices (2457) are fixedly located on both sides of the power taking fixed seat (241); the driven push-pull device (2457) includes a limiter (245), a push-pull control plate (246) and a clamping lock hook (247); a waist hole (2461) is provided on the push-pull control plate (246), one end of the limiter (245) is fixedly connected to the power taking fixed seat (241), and the other end is located in the waist hole (2461) and slidably cooperates with the push-pull control plate (246); the clamping lock hook (247) is fixedly located at one end of the push-pull control plate (246), and when the push-pull control plate (246) makes a push-pull movement, the clamping lock hook (247) can slide on the clamping wedge block (2421).

2. The UAV walking power supply system for emergency handling of power transmission channels according to claim 1 is characterized in that: The clamping and traveling device (230) comprises a bidirectional screw device (232) and a sliding block (233); the bidirectional screw device (232) is connected to the sliding block (233) and can drive the sliding block (233) to slide towards or away from each other.

3. The UAV walking power supply system for emergency handling of power transmission channels according to claim 2 is characterized in that: The clamping and walking device (230) further comprises a roller seat (234) and a rubber-coated anti-skid roller (235); the roller seat (234) is located on the sliding block (233) and is fixedly connected thereto; the rubber-coated anti-skid roller (235) is located on one side of the roller seat (234), is nested in the roller seat (234), and is capable of rotating in the roller seat (234).

4. The UAV walking power supply system for emergency handling of power transmission channels according to claim 3 is characterized in that: The clamping and walking device (230) further comprises a driving device (236), wherein the driving device (236) is located on the other side of the roller seat (234) and drives the rubber-coated anti-skid roller (235) to rotate on the roller seat (234).

5. The UAV walking power supply system for emergency handling of power transmission channels according to claim 1 is characterized in that: The power collection device (2450) further comprises a gear (251) and a rack (252); the gear (251) is located at the other end of the rotating power collection seat (242) and is coaxial with the rotation axis of the rotating power collection seat (242); the rack (252) is fixedly located at the other end of the push-pull control plate (246); and the rotating power collection seat (242) and the power collection fixed seat (241) can be rotationally fitted or rotationally separated by meshing the gear (251) and the rack (252).

6. The UAV walking power supply system for emergency handling of power transmission channels according to claim 5 is characterized in that: The power taking device also includes a driving push-pull device (253), which is located at the bottom of the power taking fixed seat (241) and is fixedly connected to the push-pull control plate (246), and can drive the push-pull control plate (246) to push and pull, and can make the gear (251) and the rack (252) mesh.

7. A method for using the UAV walking power supply system for emergency handling of power transmission channels according to any one of claims 1 to 6, characterized in that: include: The clamping and walking device clamps the power transmission line, and the power taking device clamps the power transmission line to charge the drone body online; When charging is completed, the clamping and traveling device and the power taking device simultaneously release the clamped power line, so that the power line is separated from the traveling power taking device.

8. The method of use according to claim 7, characterized in that: When charging the drone body online, it includes: When the power transmission line falls into the clamping and traveling device, the bidirectional screw device simultaneously drives the roller seat to move toward each other, so that the rubber-coated anti-skid roller fits and clamps the power transmission line; and the push-pull device simultaneously drives the push-pull control panel to drive the gear and rack to mesh, so that the rotating power supply seat rotates counterclockwise until the rotating power supply seat and the power supply fixed seat fit together; The driving push-pull device continues to push the push-pull control plate, driving the clamping lock hook to contact the clamping wedge block, so that the clamping lock hook slides along the inclined surface of the clamping wedge block, and the rotating power supply seat and the power supply fixed seat are clamped and locked; the power supply device is suspended on the transmission line to charge the drone body.

9. The method of use according to claim 8, characterized in that: When the drone body is fully charged, it includes: When the drone body is fully charged, the driving push-pull device pulls the push-pull control plate to separate the pressing lock hook and the tightening wedge block, thereby releasing the locking state of the rotating power supply seat and the power supply fixing seat; The driving push-pull device continues to pull the push-pull control plate, and the gear and the rack are meshed, so that the rotating power supply seat rotates clockwise until the rotating power supply seat and the power supply fixed seat rotate and separate; At the same time, the bidirectional screw device drives the movable roller seat to move backward, so that the rubber-coated anti-skid roller loosens the tightened power transmission line, and the power transmission line is separated from the walking power-taking device.

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