An apparatus and method for automatic line trimming by a drone

Abstract

The application discloses an automatic line cutting method for a UAV, comprising the following steps: S1, detecting the total tension value borne by the take-up and pay-off device in real time; S2, judging whether the total tension value is greater than a preset tension value, and executing step S3 if the judgment is yes; S3, starting a line cutting trigger counter to time; S4, judging whether the timing time is greater than a preset time, and executing step S5 if the judgment is yes, or executing step S6 if the judgment is no; S5, driving an electric line breaking module to perform a line cutting operation; S6, continuing timing of the line cutting trigger counter; S7, judging again whether the total tension value is greater than the preset tension value, and executing step S4 if the judgment is yes, or executing step S8 if the judgment is no; S8, driving the line cutting trigger counter to stop timing and reset, and returning to step S2. The application further discloses a device for automatic line cutting of a UAV. The application can realize the automatic line cutting function, guarantee the safety of the UAV and the take-up and pay-off device, and reduce the loss.

Description

Technical Field

[0001] This invention relates to the field of drone mounting equipment technology, and in particular to a device and method for automatically cutting wires on a drone. Background Technology

[0002] With the widespread use of drones in the hydrology and water conservancy industry, especially in areas with harsh environments where personnel and vessels cannot easily reach, various suspended water quality or water body measurement and sampling instruments and equipment need to be launched by drones. After reaching the measurement point, they are placed on the water surface or at a certain depth to complete the flow measurement. After the measurement is completed, the drone's onboard retrieval and deployment equipment pulls the suspended instruments and equipment out of the water and flies them back to their landing position. In current drone-mounted retrieval and deployment equipment, the equipment is connected to the suspended object via a suspension line, and the retrieval and deployment of the suspended object are achieved by retrieving and deploying the suspension line. However, due to the complex underwater environment, overgrown with weeds and various domestic and industrial wastes, and the dense trees and power lines during the flight to or from the measurement point, the suspended instruments and equipment may become entangled with foreign objects, causing the drone to be unable to continue flying. After the drone runs out of power, it may crash into rivers and lakes or become stuck on trees and high-voltage power lines and be destroyed, resulting in high costs.

[0003] To prevent drones from being unable to continue flying due to their suspended instruments becoming entangled in foreign objects, thus leading to power depletion and the entire system crashing, there is an urgent need for a device that can automatically cut the suspension wire when the suspended instruments become entangled in foreign objects. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a device and method for automatic wire cutting for drones, which can realize automatic wire cutting function, ensure the safety of drones and wire laying and winding equipment, and reduce the loss caused by suspended objects being entangled by foreign objects.

[0005] To address the aforementioned technical problems, this invention provides a method for automatic line trimming in unmanned aerial vehicles (UAVs), comprising:

[0006] S1. Real-time detection of the total tensile force borne by the wire take-up and pay-off equipment;

[0007] S2. Determine whether the total tension value is greater than the preset tension value. If the determination is yes, proceed to step S3.

[0008] S3. Start the wire-triggered counter to begin timing;

[0009] S4. Determine whether the timing time is greater than the preset time. If yes, proceed to step S5; if no, proceed to step S6.

[0010] S5 drives the electric wire cutting module to perform the wire cutting operation;

[0011] S6, the wire-triggered counter continues timing;

[0012] S7. Determine again whether the total tension value is greater than the preset tension value. If the determination is yes, proceed to step S4; if the determination is no, proceed to step S8.

[0013] S8. Drive the wire-cutting trigger counter to stop timing and clear it, and return to step S2.

[0014] As an improvement to the above solution, the steps for real-time detection of the total tensile force borne by the wire take-up and release equipment include:

[0015] The tensile force at each of the four corners of the cable take-up and delivery equipment is monitored in real time.

[0016] The total tensile force is obtained by summing the real-time detected tensile force values.

[0017] As an improvement to the above solution, the steps for driving the electric wire cutting module to perform the wire cutting operation include:

[0018] The electric wire disconnection module heats up to melt and disconnect the suspension wire;

[0019] Determine if the total tension value is less than the preset tension value;

[0020] If the determination is correct, the suspension wire has melted, and the drive motorized wire disconnection module will stop working.

[0021] As an improvement to the above solution, it also includes:

[0022] A separation safety device is installed, which is used to connect the suspended object and the line reeling / unloading equipment separately via the suspension line;

[0023] When the tension on the locking structure of the safety release device exceeds the preset locking force, the locking structure is released, separating the wire take-up and release equipment from the suspended object, thereby enabling the wire cutting operation.

[0024] As an improvement to the above solution, the preset locking force is greater than the preset tension value.

[0025] Accordingly, the present invention also provides a device for automatic wire cutting on a drone, including a wire take-up and release device mounted on the drone. The wire take-up and release device includes a force gauge module, an electric wire cutting module, and a main control module. The main control module is connected to the force gauge module and the electric wire cutting module, respectively. The main control module includes a wire cutting trigger counter. The force gauge module is used to detect the total tensile force value borne by the wire take-up and release device and send it to the main control module. The electric wire cutting module is used to cut the suspension wire. The main control module is used to compare the total tensile force value with a preset tensile force value. When the total tensile force value is greater than the preset tensile force value, the wire cutting trigger counter is started to start timing. When the timing time is greater than the preset time and the total tensile force value is greater than the preset tensile force value within the preset time, the electric wire cutting module is driven to perform the wire cutting operation. When the total tensile force value is less than the preset tensile force value at any moment within the preset time, the wire cutting trigger counter is driven to stop timing and be reset to zero.

[0026] As an improvement to the above solution, the cable reeling and laying device also includes a mounting plate, a device frame, and an electric winch. The device frame houses the electric winch, a main control module, and an electric cable disconnection module. The main control module is connected to the electric winch. The mounting plate is used to mount the drone, and force gauge modules are installed at each of the four corners of the mounting plate. The force measuring ends of the force gauge modules are connected to the corresponding edge corners of the device frame. The electric winch is used to reel in and lay the suspension line, which passes through the bottom of the device frame and connects to the suspended object. The four force gauge modules are used to detect the tension values ​​borne by the four edge corners of the device frame in real time, add the tension values ​​together, and send them to the main control module so that the main control module obtains the total tension value.

[0027] As an improvement to the above solution, the electric wire disconnection module includes a fixed base and a heating module installed in the fixed base; the suspension wire passes through the fixed base, the heating module and the bottom of the equipment frame and is connected to the suspended object; when the timing time is greater than the preset time and the total tensile force value within the preset time is greater than the preset tensile force value, the main control module drives the heating module to heat up and work, so as to melt and disconnect the suspension wire located in the heating module; when the total tensile force value is less than the preset tensile force value, the main control module drives the heating module to stop working.

[0028] As an improvement to the above solution, the equipment frame also includes a high-precision instrument amplifier and an operational amplifier; the output of the force gauge module is connected to the input of the high-precision instrument amplifier, and the output of the high-precision instrument amplifier is connected to the input of the operational amplifier; the operational amplifier is used to add the input tension values ​​and output the total tension value to the main control module.

[0029] As an improvement to the above solution, a separation safety device is also included. The separation safety device is connected to the electric winch and the suspended object respectively via suspension lines. The separation safety device includes a separation buckle assembly and a separation buckle. The separation buckle assembly includes a separation buckle body, which is provided with a movable female buckle and elastic components. The movable female buckle includes a first movable female buckle and a second movable female buckle. The separation buckle is provided with a buckle head. The elastic components located on both sides are used to press the first movable female buckle and the second movable female buckle respectively. Both the first movable female buckle and the second movable female buckle are used to cooperate and abut against the buckle head so that the movable female buckle and the buckle head are locked together.

[0030] Implementing this invention has the following beneficial effects:

[0031] The present invention relates to an equipment and method for automatically cutting wires on unmanned aerial vehicles (UAVs). This device and method can automatically cut wires and separate suspended objects entangled with foreign objects, thereby preventing the UAV from being unable to continue flying due to the entanglement of the suspended objects and avoiding the situation where the entire equipment crashes after the power is exhausted. This ensures the safety of the UAV and the wire retrieval equipment and reduces the losses caused by the entanglement of suspended objects with foreign objects. Attached Figure Description

[0032] Figure 1 This is a flowchart of the first embodiment of the automatic wire cutting method of the present invention;

[0033] Figure 2 This is a flowchart illustrating the total tensile force borne by the real-time detection and take-up / reel-out device of the present invention.

[0034] Figure 3 This is a flowchart of the electric wire cutting module of the present invention performing the wire cutting operation;

[0035] Figure 4 This is a flowchart of the second embodiment of the automatic wire cutting method of the present invention;

[0036] Figure 5 This is a detailed structural diagram of the first embodiment of the device for automatic wire cutting of a drone according to the present invention;

[0037] Figure 6 yes Figure 5 Principle block diagram;

[0038] Figure 7 yes Figure 5 A magnified structural diagram of part A;

[0039] Figure 8 yes Figure 5 A cross-sectional view of the electric wire disconnection module;

[0040] Figure 9 yes Figure 5 A schematic diagram of the travel limit switch;

[0041] Figure 10 This is a detailed structural diagram of the second embodiment of the device for automatic wire cutting of a drone according to the present invention;

[0042] Figure 11 yes Figure 10 A schematic diagram of the separation safety device;

[0043] Figure 12 yes Figure 10 A schematic diagram of the separation safety device with the cover plate removed. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. It is hereby declared that the directional terms such as up, down, left, right, front, back, inside, and outside used in this text are based solely on the accompanying drawings and are not intended to specifically limit the invention.

[0045] like Figure 1 As shown, Figure 1 A first embodiment of the automatic thread-cutting method of the present invention is shown, comprising:

[0046] S1. Real-time detection of the total tensile force borne by the wire take-up and pay-off equipment;

[0047] S2. Determine whether the total tension value is greater than the preset tension value. If the determination is yes, proceed to step S3.

[0048] S3. Start the wire-triggered counter to begin timing;

[0049] It should be noted that the cable reeling and laying equipment is mounted on the drone. By comparing the detected total tension value with the preset tension value in real time, if the total tension value is greater than the preset tension value, it indicates that the suspended object being pulled by the cable reeling and laying equipment may be entangled by foreign objects. At this time, the timing stage is entered to confirm whether the suspended object is entangled.

[0050] S4. Determine whether the timing time is greater than the preset time. If yes, proceed to step S5; if no, proceed to step S6.

[0051] S5 drives the electric wire cutting module to perform the wire cutting operation;

[0052] S6, the wire-triggered counter continues timing;

[0053] S7. Determine again whether the total tension value is greater than the preset tension value. If the determination is yes, proceed to step S4; if the determination is no, proceed to step S8.

[0054] S8. Drive the wire-cutting trigger counter to stop timing and clear it, and return to step S2.

[0055] It should be noted that after entering the timing phase, if the timing time is longer than the preset time and the total tension value detected within the preset time is greater than the preset tension value, it indicates that the suspended object is indeed entangled with a foreign object. At this time, the electric wire cutting module is driven to cut the wire and separate the suspended object entangled with the foreign object. This is to prevent the drone from being unable to continue flying due to the suspended object being entangled with the foreign object, thereby avoiding the situation where the entire equipment crashes after the power is exhausted. This ensures the safety of the drone and the wire reeling and laying equipment and reduces the losses caused by the suspended object being entangled with the foreign object.

[0056] If the total tension value detected at any point within the preset time is lower than the preset tension value, it indicates that the suspended object is not entangled with a foreign object. At this time, the wire-cutting trigger counter stops working and the timer is reset to zero. When the total tension value detected again is greater than the preset tension value, the timing phase restarts to reconfirm whether the suspended object is entangled. This method avoids wire-cutting operations caused by misjudgment or misoperation, where the suspended object is not actually entangled and the drone can continue flying, resulting in unnecessary losses and affecting the work progress.

[0057] In this embodiment of the invention, the preset time can preferably be 10 seconds, 15 seconds, or 30 seconds, but is not limited to these. The preset time can be increased or decreased according to actual needs.

[0058] like Figure 2 As shown, the steps for real-time detection of the total tensile force borne by the wire take-up and unwinding equipment include:

[0059] S11. Real-time detection of the tension values ​​borne by the four corners of the wire take-up and pay-off equipment;

[0060] S12. Add the real-time detected tension values ​​together to obtain the total tension value.

[0061] It should be noted that by real-time detection of the tension values ​​at the four corners of the wire take-up and release equipment and summing these real-time tension values ​​to obtain the real-time total tension value, the accuracy of measuring the tension borne by the wire take-up and release equipment is improved. By comparing the measured high-precision total tension value with the preset tension value, more accurate control commands are obtained, thereby improving control accuracy and stability, ensuring accurate automatic wire cutting, and further protecting the safety of the drone and the wire take-up and release equipment. This reduces losses caused by suspended objects becoming entangled with foreign objects, and also further avoids unnecessary losses and delays in work progress due to misjudgment or misoperation.

[0062] like Figure 3 As shown, when the determination is yes, the steps for driving the electric wire cutting module to perform the wire cutting operation include:

[0063] S51, drive the electric wire disconnection module to heat up and melt the suspension wire;

[0064] S52. Determine whether the total tension value is less than the preset tension value;

[0065] S53. If the judgment is yes, it means that the suspension wire has melted and the drive electric wire disconnection module stops working.

[0066] It should be noted that during the wire cutting operation, the electric wire-cutting module heats up, melting the suspension wire. Once the suspension wire is melted, the suspended object is separated, and the detected total tension value will be less than the preset tension value. At this point, the electric wire-cutting module stops working to prevent wasted effort, save energy, and avoid overheating that could damage the circuit structure or electronic components, thus extending the service life of the wire reeling and unwinding equipment.

[0067] Furthermore, during normal use of the cable reeling equipment, to prevent collisions and excessive contact between the suspended object and the equipment during the retraction process, a travel limit switch is used to limit the suspended object's movement. When the suspended object reaches the predetermined position, the travel limit switch detects the limit signal, at which point the electric winch stops working, thus limiting the suspended object's movement. This also prevents damage to the cable reeling equipment and other components within it from collisions, as well as damage from a stalled electric winch, thereby greatly improving the stability and practicality of the equipment.

[0068] See Figure 4 , Figure 4 A second embodiment of the automatic thread-cutting method of the present invention is shown, comprising:

[0069] S1. Real-time detection of the total tensile force borne by the wire take-up and pay-off equipment;

[0070] S2. Determine whether the total tension value is greater than the preset tension value. If the determination is yes, proceed to step S3.

[0071] S3. Start the wire-triggered counter to begin timing;

[0072] S4. Determine whether the timing time is greater than the preset time. If yes, proceed to step S5; if no, proceed to step S6.

[0073] S5 drives the electric wire cutting module to perform the wire cutting operation;

[0074] S6, the wire-triggered counter continues timing;

[0075] S7. Determine again whether the total tension value is greater than the preset tension value. If the determination is yes, proceed to step S4; if the determination is no, proceed to step S8.

[0076] S8. Drive the wire-cutting trigger counter to stop timing and clear it, and return to step S2.

[0077] S9. A separation safety device is installed, which is used to connect the suspended object and the line reeling / unloading equipment separately via the suspension line;

[0078] S10. When the tension on the buckle structure of the separation safety device is greater than the preset locking force, the buckle structure is separated, separating the wire take-up and give-down equipment from the suspended object, thereby realizing the wire cutting operation.

[0079] and Figure 1 The difference from the first embodiment is that this embodiment adds steps S9 and S10. It should be noted that there is no necessary order between steps S1-8 and steps S9-10. Steps S9-10 can be performed simultaneously while performing steps S1-8.

[0080] It should be noted that the preset locking force is greater than the preset tension value. When the automatic wire-cutting function of the above-mentioned electronic control method malfunctions and fails to work, the snap-lock structure in the separation safety device can realize the automatic wire-cutting function mechanically. When the tension borne by the snap-lock structure is greater than the preset locking force of the snap-lock structure, the snap-lock structure is separated, separating the wire-reeling equipment from the suspended object, thereby realizing the automatic wire-cutting operation mechanically. Through the above-mentioned electronic and mechanical methods, the drone and the wire-reeling equipment can have a double safety effect, realizing a double automatic wire-cutting operation. When the suspended object is entangled by foreign objects, the double automatic wire-cutting function can further improve the automatic wire-cutting effect, minimizing the possibility that the drone will be unable to continue flying due to the suspended object being entangled by foreign objects, thereby minimizing the possibility of the entire equipment crashing after the power is exhausted, thus maximizing the safety of the drone and the wire-reeling equipment, and minimizing the losses caused by the suspended object being entangled by foreign objects.

[0081] Furthermore, after achieving automated wire cutting via mechanical means, the electric winch is driven to retract the wire, recovering part of the detachment safety device connected to the suspended wire. To prevent collisions and excessive contact between the detachment safety device and the wire retraction equipment during the retraction process, a travel limit switch is used to limit the detachment safety device. When the detachment safety device reaches the predetermined position, the travel limit switch will detect the limit signal, at which point the electric winch will stop working to limit the detachment safety device. This also prevents damage to the wire retraction equipment and other components within it from collisions, as well as damage from a stalled electric winch, thereby greatly improving the stability and practicality of the equipment.

[0082] like Figure 5-9 As shown, Figure 5-9The first embodiment of the device for automatic wire cutting of a drone according to the present invention is shown, which includes a wire take-up and release device 1 mounted on the drone. The wire take-up and release device 1 includes a force gauge module 2, an electric wire cutting module 3, and a main control module 4. The main control module 4 is connected to the force gauge module 2 and the electric wire cutting module 3, respectively. The main control module 4 includes a wire cutting trigger counter 41. The force gauge module 2 is used to detect the total tensile force borne by the wire take-up and release device 1 and send it to the main control module 4. The electric wire cutting module 3 is used to cut the suspension wire 5.

[0083] The main control module 4 is used to compare the total tension value with the preset tension value. When the total tension value is greater than the preset tension value, it indicates that the suspended object 6 pulled by the wire take-up and release device 1 may be entangled by foreign objects. The main control module 4 starts the wire cut trigger counter 41 to confirm whether the suspended object 6 is entangled.

[0084] Once the timing phase begins, if the timing time exceeds the preset time and the total tension value within the preset time exceeds the preset tension value, it indicates that the suspended object 6 is indeed entangled with a foreign object. At this time, the main control module 4 drives the electric wire cutting module 3 to perform a wire cutting operation, separating the suspended object 6 entangled with the foreign object. This prevents the drone from being unable to continue flying due to the suspended object 6 being entangled with the foreign object, thereby avoiding the situation where the entire equipment crashes after the power is exhausted. This ensures the safety of the drone and the wire reeling and laying equipment 1, and reduces the losses caused by the suspended object 6 being entangled with the foreign object.

[0085] If the total tension value is less than the preset tension value at any time within the preset time, it indicates that the suspended object 6 is not entangled with a foreign object. At this time, the wire-cutting trigger counter 41 stops working and the timer is reset to zero. When the total tension value detected again is greater than the preset tension value, the main control module 4 restarts the wire-cutting trigger counter 41 to reconfirm whether the suspended object 6 is entangled. This method can avoid the wire-cutting operation performed due to misjudgment or misoperation, even if the suspended object 6 is not actually entangled with a foreign object and the drone can continue to fly, causing the suspended object 6 to be separated, resulting in unnecessary losses and affecting the work progress.

[0086] It should be noted that the preset time in this embodiment of the invention is preferably 10 seconds, 15 seconds, or 30 seconds, but is not limited thereto, and can be increased or decreased according to actual needs. The suspended object 6 in this embodiment of the invention includes a water bucket or other hydrological and hydraulic instruments and equipment.

[0087] like Figure 5-8As shown, the cable reeling and laying device 1 also includes a mounting plate 11, a device frame 12, and an electric winch 7. The device frame 12 houses the electric winch 7, a main control module 4, and an electric cable disconnection module 3. The main control module 4 is connected to the electric winch 7. The mounting plate 11 is used to mount the drone. Force gauge modules 2 are installed at each of the four corners of the mounting plate 11, and the force measuring ends of the force gauge modules 2 are connected to the corresponding edge corners of the upper part of the device frame 12. The electric winch 7 is used to reel in and lay the suspension line 5. The suspension line 5 passes through the bottom of the device frame 12 and is connected to the suspended object 6. The electric winch 7 enables the reeling in and laying out of the suspended object 6. The electric winch 7 includes a winch body 71 and a DC turbine geared motor 72 for driving the winch body 71 to rotate. The suspension line 5 is wound around the winch body 71.

[0088] Four force gauge modules 2 are used to detect the tensile force values ​​borne by the four edge corners of the equipment frame 12 in real time, and then add the tensile force values ​​and send them to the main control module 4 so that the main control module 4 can obtain the total tensile force value, thereby improving the accuracy of measuring the tensile force borne by the equipment frame 12. The main control module 4 compares the measured high-precision total tensile force value with the preset tensile force value and obtains more accurate control commands to improve control accuracy and stability, ensure accurate automatic wire cutting, and further protect the safety of the UAV and the wire receiving and releasing equipment 1, reduce the losses caused by the suspended object 6 being entangled by foreign objects, and also further avoid unnecessary losses and work progress caused by misjudgment or misoperation.

[0089] like Figure 7-8 As shown, the electric wire disconnection module 3 includes a mounting base 31 and a heating module 32 installed in the mounting base 31. A suspension wire 5 passes through the mounting base 31, the heating module 32, and the bottom of the equipment frame 12, and is connected to a suspension element 6. The heating module 32 has a spiral heating wire, and the suspension wire 5 is positioned in the center of the spiral heating wire to ensure uniform heating of the suspension wire 5. The suspension wire 5 is preferably made of Dyneema wire, a high-strength polyethylene fiber. The mounting base 31 is made of a high-temperature resistant material and will not ignite or spontaneously combust when heated. The mounting base 31 isolates the heat generated by the heating module 32 from the external environment, preventing damage to other structures or electronic components outside the mounting base 31 and improving equipment stability.

[0090] When the wire cutting operation is performed, the main control module 4 drives the heating module 32 to heat up, and the heat melts the suspension wire 5 located in the heating module 32. After the suspension wire 5 is melted, the suspended object 6 is separated. When the total tensile force is less than the preset tensile force value, the main control module 4 drives the heating module 32 to stop working to prevent wasted work, save energy, and avoid damage to the circuit structure or electronic components due to excessive heat, thereby improving the service life of the wire take-up and unwinding device 1.

[0091] like Figure 6 As shown, the device frame 12 also houses a high-precision instrument amplifier 13 and an operational amplifier 14. The output of each force gauge module 2 is connected to the input of the corresponding high-precision instrument amplifier 13, and the outputs of all four high-precision instrument amplifiers 13 are connected to the input of the operational amplifier 14. The measured tensile force signal is amplified by the high-precision instrument amplifier 13 and sent to the operational amplifier 14. The operational amplifier 14 is used to sum the multiple input tensile force signals to obtain a total tensile force signal, and sends the amplified total tensile force signal to the ADC conversion module in the main control module 4. The ADC conversion module converts the analog signal into a digital signal, so that the main control module 4 can compare the high-precision total tensile force signal with the preset tensile force signal to obtain a more accurate judgment result and corresponding judgment processing operation, thereby improving the control accuracy and stability.

[0092] It should be noted that the preferred chip model for the high-precision instrumentation amplifier 13 is AD620, but it is not limited to this. The preferred chip model for the operational amplifier 14 is OPA2188AIDR, but it is not limited to this.

[0093] Furthermore, the operating voltage of the wire take-up and lay-down device 1 in this embodiment of the invention is provided by the power supply of the UAV, and the main control module 4 also receives control signals sent by the UAV. The user can control the flight of the UAV and send wire take-up and lay-down control commands to the UAV via the UAV's remote control terminal. The UAV then sends the wire take-up and lay-down control commands to the main control module 4, causing the main control module 4 to drive the electric winch 7 to operate, thus realizing the wire take-up and lay-down operation. The user can also send wire-cutting control commands to the UAV via the UAV's remote control terminal, causing the UAV to send the wire-cutting control commands to the main control module 4, thereby enabling the main control module 4 to control the electric wire-cutting module 3 to perform the wire-cutting operation.

[0094] It should be noted that the preferred model of force gauge module 2 is DYMH-106, but it is not limited to this; other models of force gauge modules can be selected according to actual needs. The preferred model of the control chip of the main control module 4 is ATMEG328P, which has a counter and ADC conversion module, but it is not limited to this; other control chips with counters and ADC conversion modules, or control chips and their matching peripheral counter circuits and ADC conversion circuits, can also be selected.

[0095] like Figure 5 , Figure 7 and Figure 9As shown, the bottom of the equipment frame 12 is equipped with a travel limit switch 9 and a buffer plate 15. The wiring terminal of the travel limit switch 9 passes through the bottom of the equipment frame 12 and is connected to the main control module 4. One end of the buffer plate 15 is fixedly installed on the bottom of the equipment frame 12, and the other end of the buffer plate 15 is connected to the bottom of the equipment frame 12 by bolts 16 on both sides. A spring 17 is fitted on the bolt 16, and the buffer plate 15 moves relative to the equipment frame 12 along the axial direction of the bolt 16 through the spring 17. The travel limit switch 9 is located above the buffer plate 15 and between the two bolts 16. The suspension line 5 passes through the buffer plate 15 and is connected to the separation safety device 8. The preferred model of the travel limit switch 9 is an Omron micro switch SS-5GL.

[0096] When the suspended object 6 is retracted upwards, it will come into contact with the buffer plate 15. The buffer plate 15 and the spring 17 will cushion the suspended object 6. When the suspended object 6 and the limiting buffer plate 15 overcome the elastic force of the spring 17 and press the travel limit switch 9 upwards, the travel limit switch 9 will be triggered to send a limit signal to the main control module 4. At this time, the main control module 4 will drive the electric winch 7 to stop working to achieve the limiting effect on the suspended object 6. It can also prevent the equipment frame 12 and other components inside the equipment frame 12 from being damaged by collision and the electric winch 7 from being blocked, thereby greatly improving the stability and practicality of the equipment.

[0097] like Figure 10-12 As shown, Figure 10-12 This invention illustrates a second embodiment of a device for automatically cutting wires on a drone, and... Figure 5-9 Unlike the first embodiment, this embodiment also includes a separation safety device 8.

[0098] The separation safety device 8 is connected to the electric winch 7 and the suspended object 6 respectively via suspension lines 5 on both sides. The separation safety device 8 includes a separation buckle assembly 81 and a separation buckle 82. The separation buckle assembly 81 includes a separation buckle body 811 and a cover plate 812 covering the separation buckle body 811. The separation buckle body 811 is provided with a movable female buckle 813 and an elastic component 814. The movable female buckle 813 includes a first movable female buckle 8131 and a second movable female buckle 8132. The separation buckle 82 is provided with a buckle head 821. The elastic components 814 located on both sides are used to press the first movable female buckle 8131 and the second movable female buckle 8132 respectively, so that both the first movable female buckle 8131 and the second movable female buckle 8132 are used to cooperate and abut against the buckle head 821, thereby making the movable female buckle 813 and the buckle head 821 snap together.

[0099] It should be noted that the elastic force of the elastic components 814 on both sides acts on the movable female buckle 813, causing the movable female buckle 813 to engage with the buckle head 821 and form a preset locking force. The preset locking force is greater than a preset tension value. The elastic component 814 is preferably a spring, but is not limited to this.

[0100] When the automatic wire-cutting function of the aforementioned electronic control method malfunctions and fails to operate, the snap-lock structure in the separation safety device 8 enables a mechanical automatic wire-cutting function. When the tensile force on the snap-lock structure exceeds the preset locking force, the snap-lock structure separates, i.e., the movable female snap 813 separates from the snap-lock head 821, separating the wire-reeling device 1 from the suspended object 6, thus achieving a mechanical automatic wire-cutting operation. This method provides a double safety measure for the drone and the wire-reeling device 1, enabling dual automatic wire-cutting operations. When the suspended object 6 is entangled by a foreign object, the dual automatic wire-cutting function further enhances the automatic wire-cutting effect, minimizing the risk of the drone being unable to continue flying due to the object's entanglement, thereby minimizing the risk of the entire device crashing after power depletion, and ultimately maximizing the safety of the drone and the wire-reeling device 1, while minimizing losses caused by the object's entanglement.

[0101] After the automatic wire cutting operation is completed using the aforementioned mechanical method, the electric winch 7 is driven to perform the wire take-up operation, retracting part of the separation safety device 8 connected to the suspension wire 5. When the separation buckle assembly 81 comes into contact with the buffer plate 15, the buffer plate 15 first acts as a buffer, effectively reducing the collision effect between the separation buckle assembly 81 and the equipment frame 12; then the buffer plate 15 overcomes the elastic force of the spring 17 and presses upward against the travel limit switch 9, triggering the travel limit switch 9 to send a limit signal to the main control module 4. At this time, the main control module 4 drives the electric winch 7 to stop working to achieve the limiting effect on the separation safety device 8, and can also prevent the equipment frame 12 and other components inside the equipment frame 12 from being damaged by collision and the electric winch 7 from being stalled, thereby greatly improving the stability and practicality of the equipment. Similarly, when the take-up and release equipment 1 is taking up wire normally (i.e., without wire cutting), the working principle of the take-up limit of the take-up and release equipment 1 is the same as described above, and will not be repeated here.

[0102] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A device for automatic wire cutting by a drone, characterized in that, The device includes a wire retrieval and release device mounted on a drone. The wire retrieval and release device includes a force gauge module, an electric wire cutting module, and a main control module. The main control module is connected to the force gauge module and the electric wire cutting module, respectively. The main control module includes a wire cutting trigger counter. The force gauge module is used to detect the total tensile force borne by the wire take-up and release device and send it to the main control module; The electric wire-cutting module is used to cut the suspension wire; The main control module is used to compare the total tensile force value with the preset tensile force value. When the total tensile force value is greater than the preset tensile force value, the wire-cutting trigger counter is started to start timing. When the timing time is greater than the preset time and the total tensile force value is greater than the preset tensile force value within the preset time, the electric wire-cutting module is driven to perform the wire-cutting operation. When the total tensile force value is less than the preset tensile force value at any moment within the preset time, the wire-cutting trigger counter is driven to stop timing and be reset to zero. It also includes a separation safety device, which is connected to the electric winch and the suspended object respectively via the suspension line; When the tension on the buckle structure of the separation safety device exceeds the preset locking force, the buckle structure is separated, causing the wire take-up and release equipment to separate from the suspended object, thereby realizing the wire cutting operation.

2. The device for automatic wire cutting of a drone according to claim 1, characterized in that, The wire take-up and release equipment also includes a mounting plate, an equipment frame, and an electric winch. The equipment frame is equipped with the electric winch, the main control module, and an electric wire disconnection module. The main control module is connected to the electric winch. The mounting plate is used to mount the drone. The force gauge module is installed at each of the four corners of the mounting plate. The force measuring end of the force gauge module is connected to the corresponding edge corner of the upper part of the equipment frame. The electric winch is used to wind up and unwind the suspension line, which passes through the bottom of the equipment frame and is connected to the suspended object. The four force gauge modules are used to detect the tensile force values ​​borne by the four edge corners of the equipment frame in real time, and add the tensile force values ​​together and send them to the main control module so that the main control module can obtain the total tensile force value.

3. The device for automatic wire cutting of a drone according to claim 2, characterized in that, The electric wire disconnection module includes a fixed base and a heating module installed in the fixed base; The suspension line passes through the bottom of the fixed base, the heating module, and the equipment frame and is connected to the suspension object; When the timing time is greater than the preset time and the total tension value is greater than the preset tension value within the preset time, the main control module drives the heating module to heat up and work, so as to melt the suspension wire located in the heating module; When the total tensile force is less than the preset tensile force, the main control module drives the heating module to stop working.

4. The device for automatic wire cutting of a drone according to claim 2, characterized in that, The device frame also contains a high-precision instrumentation amplifier and an operational amplifier. The output terminal of the force gauge module is connected to the input terminal of the high-precision instrument amplifier, and the output terminal of the high-precision instrument amplifier is connected to the input terminal of the operational amplifier. The operational amplifier is used to add the input tensile force values ​​and output the total tensile force value to the main control module.

5. The device for automatic wire cutting of a drone according to claim 1, characterized in that, The separation safety device includes a separation buckle assembly and a separation buckle; The detachable fastener assembly includes a detachable fastener body, which is provided with a movable female fastener and an elastic component. The movable female fastener includes a first movable female fastener and a second movable female fastener. The detachable fastener is provided with a fastener head. The elastic components located on both sides are used to press against the first movable female buckle and the second movable female buckle respectively. The first movable female buckle and the second movable female buckle are both used to cooperate with the buckle head to abut against each other so that the movable female buckle is snapped into place with the buckle head.

6. A method for automatic wire trimming in unmanned aerial vehicles, characterized in that, The method, applied to the device for automatic wire cutting of a drone as described in any one of claims 1 to 5, comprises: S1. Real-time detection of the total tensile force borne by the wire take-up and pay-off equipment; S2. Determine whether the total tensile force is greater than the preset tensile force. If the determination is yes, proceed to step S3. S3. Start the wire-triggered counter to begin timing; S4. Determine whether the timing time is greater than the preset time. If yes, proceed to step S5; if no, proceed to step S6. S5 drives the electric wire cutting module to perform the wire cutting operation; S6. The wire-triggered counter continues to count down; S7. Determine again whether the total tensile force is greater than the preset tensile force. If the determination is yes, execute step S4; if the determination is no, execute step S8. S8. Drive the wire-cutting trigger counter to stop timing and clear it, and return to step S2; This also includes: A separation safety device is provided, which is used to connect the suspended object and the line take-up and release equipment respectively via suspension lines; When the tension on the buckle structure of the separation safety device exceeds the preset locking force, the buckle structure is separated, causing the wire take-up and release equipment to separate from the suspended object, thereby realizing the wire cutting operation.

7. The method for automatic wire cutting for unmanned aerial vehicles according to claim 6, characterized in that, The steps for real-time detection of the total tensile force borne by the wire take-up and release equipment include: The tensile force values ​​borne by the four corners of the take-up and unwinding device are detected in real time. The total tensile force value is obtained by summing the real-time detected tensile force values.

8. The method for automatic wire cutting for unmanned aerial vehicles according to claim 6, characterized in that, The steps for the drive-electric wire-cutting module to perform the wire-cutting operation include: The electric wire disconnection module is driven to heat up and melt the suspension wire; Determine whether the total tensile force is less than the preset tensile force value. If the determination is yes, it indicates that the suspension wire has melted, and the electric wire disconnection module is driven to stop working.

9. The method for automatic wire cutting for unmanned aerial vehicles according to claim 6, characterized in that, The preset locking force is greater than the preset tension value.

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