Unmanned aerial vehicle-mounted ranging device and measurement method thereof

Abstract

The present application relates to the technical field of wire jumper sag measurement, and particularly relates to a UAV-mounted ranging device and a measurement method thereof, wherein the UAV-mounted ranging device comprises a UAV, a clamp, a ranging sensor, an airborne transmitter and a receiver; the UAV comprises two landing frames and a fuselage; the clamp comprises a top seat, two supports and a transmitter mounting box, the top seat is mounted on the fuselage of the UAV, the two supports are respectively arranged between the top seat and the landing frames of the UAV, and the transmitter mounting box is connected with the top seat; the ranging sensor comprises a first sensor and a second sensor; the airborne transmitter is mounted in the transmitter mounting box, and the ranging sensor and the receiver are electrically connected with the airborne transmitter; the present application is used for overcoming the defects that it is difficult to measure the ground distance of the wire jumper sag in the prior art and the precision is low, the present application can flexibly measure the ground distance of the wire jumper sag at different positions, improve the measurement efficiency and the measurement precision, and ensure the safe operation of the power transmission line.

Description

Technical Field

[0001] This invention relates to the field of conductor jumper sag measurement technology, and in particular to a drone-mounted ranging device and its measurement method. Background Technology

[0002] Because transmission lines carry high voltage, insufficient conductor clearance can cause a large current to break down the air, resulting in short-circuit discharge. This can affect the safe operation of the power system and threaten personal safety. To prevent short-circuit discharge, workers must measure the distance between the conductor jumper sag and the ground and manage situations where the distance is insufficient.

[0003] In the past, when measuring the distance to the ground of the sag of jumper wires, handheld rangefinders, theodolites, and lidar devices were often used for modeling and measurement. However, due to the complex environment in which power transmission lines are laid, or through forests, large construction sites, and densely populated areas, the measuring devices are not only inconvenient to carry and easy to fall off, but the laser path is often blocked during measurement, making it impossible to flexibly adjust the test coordinate position and obtain measurement data. This makes the measurement work difficult to advance and results in low measurement accuracy. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, which is difficult and inaccurate in measuring the distance between the sag of conductor jumpers and the ground, this invention provides a UAV-mounted ranging device and its measurement method, which can flexibly measure the distance between the sag of conductor jumpers and the ground at different locations, improve measurement efficiency and accuracy, and ensure the safe operation of power transmission lines.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a drone-mounted ranging device, including a drone, a clamp, a ranging sensor, an airborne transmitter, and a receiver;

[0006] The drone includes two landing frames and a fuselage, with the two landing frames respectively disposed on both sides of the fuselage;

[0007] The fixture includes a top base, two supports, and a transmitter mounting box. The top base is mounted on the fuselage of the UAV, and the two supports are respectively disposed between the top base and the landing frame of the UAV. The transmitter mounting box is connected to the top base.

[0008] The ranging sensor includes a first sensor and a second sensor, which are respectively mounted on the supports on both sides;

[0009] The airborne transmitter is installed inside the transmitter mounting box, and the ranging sensor and the receiver are electrically connected to the airborne transmitter.

[0010] Furthermore, the support includes a base, a first support seat, and a second support seat. The base is mounted on the landing frame of the drone. The first support seat is connected between the base and the top seat. The second support seat is mounted on the first support seat. The first sensor and the second sensor are respectively mounted on the second support seats on both sides.

[0011] Furthermore, the base includes a support rod, two fixed seats and a support leg. The support rod has a first locking position at both ends. The two first locking positions are respectively connected to the two side arms of the floor frame. The two fixed seats are respectively detachably connected to the first locking positions. The support leg is disposed between the support rod and the bottom arm of the floor frame. The support leg has a second locking position.

[0012] Furthermore, the first support base and the second support base are each three-section bent plates.

[0013] Furthermore, the top mount includes a main connecting plate and two side connecting plates. The main connecting plate is connected to the fuselage of the UAV. The two side connecting plates are disposed opposite to each other at both ends of the main connecting plate. The two first support seats are respectively connected to the two side connecting plates. The transmitter mounting box is connected to the main connecting plate.

[0014] Furthermore, a support structure is provided between the side connecting plate and the main connecting plate.

[0015] Furthermore, the present invention also provides a drone-mounted ranging method for measuring the distance to the ground of a jumper wire sag using the aforementioned drone-mounted ranging device, comprising the following steps:

[0016] S1: Using the jumper insulators on the tension tower, the jumper conductors are divided into the first jumper area and the second jumper area. The jumper sag of the conductor in the first jumper area is recorded as the first sag, and the jumper sag of the conductor in the second jumper area is recorded as the second sag.

[0017] S2: Preset the initial angle between the jumper insulator and the tension tower, and record it as the critical angle;

[0018] S3: Obtain the actual angle between the jumper insulator and the tension tower, and record it as the working angle;

[0019] S4: Compare the working angle with the critical angle to obtain the angle comparison result;

[0020] S5: Determine the minimum sag based on the angle comparison results;

[0021] S6: Measure the minimum sag, adjust the drone's flight coordinates, and use the Pythagorean theorem to derive the minimum sag distance from the ground based on the drone's measurement data.

[0022] Further, step S5, determining the minimum sag based on the angle comparison result, specifically includes: when the working angle is greater than the critical angle, the first jumper area is the jumper area closest to the tension tower, and the first sag is the minimum sag; at this time, step S6 includes the following steps:

[0023] S6.1: Fly the drone to the first jumper area, so that the drone is located between the first sag and the tension tower;

[0024] S6.2: Fly the UAV to a position level with the crossarm of the tension tower, use the first sensor to measure the horizontal distance d1 between the UAV and the crossarm of the tension tower, and use the second sensor to measure the vertical distance h1 between the UAV and the first sag.

[0025] S6.3: According to the Pythagorean theorem, the minimum sag distance L1 to the ground is obtained, and the calculation formula is as follows:

[0026] Further, step S5, determining the minimum sag based on the angle comparison result, specifically includes: when the working angle is less than the critical angle, the second jumper area is the jumper area closest to the tension tower, and the second sag is the minimum sag; at this time, step S6 includes the following steps:

[0027] S6.1: Fly the UAV to the second jumper area, so that the second sag is located between the UAV and the tension tower;

[0028] S6.2: Fly the UAV to a position level with the crossarm of the tension tower, use the first sensor to measure the horizontal distance d2 between the UAV and the crossarm of the tension tower, and use the second sensor to measure the vertical height h2 of the UAV from the ground at this time.

[0029] S6.3: Fly the drone to a position level with the second sag, use the first sensor to measure the horizontal distance d3 between the drone and the second sag, and use the second sensor to measure the vertical height h3 of the drone from the ground at this time;

[0030] S6.4: According to the Pythagorean theorem, the minimum sag distance L2 relative to the ground is obtained, and the calculation formula is as follows:

[0031] Further, step S5, determining the minimum sag based on the angle comparison result, specifically includes: when the working angle is equal to the critical angle, the critical position between the first jumper area and the second jumper area is the closest point to the tension tower, and the conductor jumper sag at the jumper insulator position is the minimum sag; at this time, step S6 includes the following steps:

[0032] S6.1: Fly the drone between the jumper insulator and the tension tower;

[0033] S6.2: Measure the horizontal distance d4 between the UAV and the tension tower using the first sensor, and measure the horizontal distance d5 between the UAV and the jumper insulator using the second sensor;

[0034] S6.3: The minimum sag distance is the distance L3 between the tower body and the vertical plane point. The calculation formula is L3 = d4 + d5.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] The first aspect of this invention provides a ranging device mounted on a drone, comprising a drone, a clamp, a ranging sensor, an airborne transmitter, and a receiver; the drone includes two landing frames and a fuselage, with the two landing frames respectively disposed on both sides of the fuselage; the clamp includes a top mount, two supports, and a transmitter mounting box, the top mount being mounted on the fuselage of the drone, the two supports being respectively disposed between the top mount and the landing frames of the drone, and the transmitter mounting box being connected to the top mount; the ranging sensor includes a first sensor and a second sensor, the first sensor and the second sensor being respectively mounted on the supports on both sides; the airborne transmitter is mounted inside the transmitter mounting box, and the ranging sensor and the receiver are electrically connected to the airborne transmitter;

[0037] During use, the ranging sensor and airborne transmitter are mounted on the drone. By controlling the drone's flight position, the measurement data of the conductor jumper sag is obtained, and then the measurement data is transmitted to the ground receiver to measure the distance of the conductor jumper sag to the ground. This allows the operators to promptly manage the insufficient distance between the conductor jumper sag and the tension tower, and avoid the occurrence of short-range discharge.

[0038] A second aspect of this invention provides a ranging method mounted on an unmanned aerial vehicle (UAV);

[0039] Compared to existing technologies, this invention mounts the ranging device on a drone. On the one hand, the drone is equipped with a clamp that can flexibly carry the ranging sensor and airborne transmitter, preventing the device from falling off and facilitating testing operations. On the other hand, by mounting the drone, it can fly directly to the work site and conduct observations from the air, avoiding obstruction of the laser path. The flight position can be flexibly adjusted, making it suitable for various working conditions and easy to obtain measurement data. Attached Figure Description

[0040] Appendix Figure 1 The front view of the ranging device in this invention without the UAV is shown.

[0041] Appendix Figure 2 The side view of the drone is removed from the ranging device in this invention;

[0042] Appendix Figure 3 This is a schematic diagram of the top seat structure in this invention;

[0043] Appendix Figure 4 This is a schematic diagram of the base structure in this invention;

[0044] Appendix Figure 5 This is a schematic diagram of the structure of the fixing base in this invention;

[0045] Appendix Figure 6 This is a schematic diagram of the structure of the first support base in this invention;

[0046] Appendix Figure 7 This is a schematic diagram of the structure of the second support base in this invention;

[0047] Appendix Figure 8 This is a schematic diagram of the distance measuring sensor in this invention;

[0048] Appendix Figure 9 This is a structural schematic diagram of the transmitter mounting box from one perspective of the present invention;

[0049] Appendix Figure 10 This is a structural schematic diagram of the transmitter mounting box from another perspective in this invention;

[0050] Appendix Figure 11 This is a schematic diagram of the structure of the cover of the transmitter mounting box in this invention;

[0051] Appendix Figure 12 This is a schematic diagram of the structure for testing under the first working condition in this invention;

[0052] Appendix Figure 13 A schematic diagram of the structure of the first state for testing the second working condition in this invention;

[0053] Appendix Figure 14A schematic diagram of the structure of the second state for conducting the test operation under the second working condition in this invention;

[0054] Appendix Figure 15 This is a schematic diagram of the structure for testing under the third working condition in this invention.

[0055] Reference numerals: 1-Top seat; 110-Main connecting plate; 120-Side connecting plate; 2-Support; 210-Base; 211-Support rod; 212-Feet; 213-Fixed seat; 220-First support seat; 221-First connecting plate; 222-Second connecting plate; 223-Third connecting plate; 230-Second support seat; 231-Fourth connecting plate; 232-Fifth connecting plate; 233-Sixth connecting plate; 3-Transmitter mounting box; 310-Box body; 320-Cover; 4-First sensor; 5-Second sensor; 6-First locking position; 7-Second locking position; 8-Support structure; 9-Irregular hole; 10-Connecting seat; 11-Jumper insulator; 12-First sag; 13-Second sag; 14-Cross arm; 15-Tension tower. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams only, not actual pictures, and should not be construed as limiting this patent. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0057] Example 1

[0058] like Figure 1-2 As shown, this embodiment provides a drone-mounted ranging device, including a drone, a fixture, a ranging sensor, an airborne transmitter, and a receiver. The drone includes two landing frames and a fuselage, with the two landing frames respectively disposed on both sides of the fuselage. The fixture includes a top mount 1, two supports 2, and a transmitter mounting box 3. The top mount 1 is mounted on the fuselage of the drone, and the two supports 2 are respectively disposed between the top mount 1 and the landing frames of the drone. The transmitter mounting box 3 is connected to the top mount 1. The ranging sensor includes a first sensor 4 and a second sensor 5, which are respectively mounted on the supports 2 on both sides. The airborne transmitter is installed inside the transmitter mounting box 3, and the ranging sensor and the receiver are electrically connected to the airborne transmitter.

[0059] It should be noted that the drone is used to carry a ranging sensor and an airborne transmitter to fly and flexibly adjust its flight position to obtain measurement data of the sag of the jumper wire. The clamp is used to install on the drone to improve the connection stability between the ranging sensor and the airborne transmitter and the drone, and to prevent it from falling off. The ranging sensor is used to measure the distance between the drone and the object being measured. The airborne transmitter is used to read the distance data measured by the ranging sensor and remotely transmit the distance data to the receiver. The operator can obtain the distance to the ground of the jumper wire sag by the data displayed on the receiver.

[0060] In this embodiment, the drone is preferably a DJI Phantom 4 drone, and the ranging sensor is preferably an LP40 laser ranging sensor with a wide ranging range, strong light interference resistance, and stable outdoor operation. The laser emission direction is flexibly adjustable. Considering the long flight distance of the drone, a LoRa serial port data transmission module with a transmission distance of up to 3km is selected.

[0061] The airborne transmitter preferably uses the STM32F407 high-performance processor. In addition to a 5V regulated power supply circuit and a microcontroller minimum system circuit, the airborne transmitter's control board also brings out IIC, SPI, ADC, and 5 UART interfaces. The entire PCB board is only 39mm*36mm in size. It communicates with the ranging sensor through multiple standard UART interfaces and transmits the distance data from the ranging sensor to the receiver through the data transmission module via data transmission technology.

[0062] The receiver is preferably a handheld receiver, which can receive data information from the ranging sensor transmitted by the airborne transmitter and display it on the screen. The receiver consists of a wireless data transmission module, a battery power module, and a display module. The left side of the screen displays the direction, the middle displays the values ​​of the ranging sensor in each direction, the right side indicates whether the ranging sensor data is valid, and the bottom displays whether the airborne transmitter signal is good.

[0063] In use, this invention mounts a ranging sensor and an airborne transmitter on a drone. By controlling the drone's flight position, it acquires measurement data of the conductor jumper sag and then transmits the measurement data to a ground receiver. This allows the distance between the conductor jumper sag and the ground to be measured, enabling operators to promptly manage situations where the distance between the conductor jumper sag and the tension tower 15 is insufficient, thus preventing air-to-ground discharge.

[0064] Compared to existing technologies that use handheld rangefinders, theodolites, and lidar devices to model and measure the distance to the ground of jumper wire sag, existing technologies suffer from several drawbacks. First, the relatively lightweight handheld rangefinders have lower measurement accuracy, while the bulky theodolites, although capable of achieving the required accuracy, are difficult to carry. Lidar devices are expensive and difficult to popularize. Second, the laying environment of power transmission lines is complex, often passing through forests, large construction sites, and densely populated areas, which often obstructs the laser path during measurement, making it difficult to flexibly adjust the test coordinate position and obtain measurement data. In contrast, this invention mounts the ranging device on a drone. First, the drone is equipped with a clamp that can flexibly carry the ranging sensor and airborne transmitter, preventing the device from falling off and facilitating testing. Second, by mounting the device on a drone, it can fly directly to the work site for aerial observation, avoiding obstruction of the laser path. The drone can flexibly adjust the flight position, making it suitable for various working conditions and facilitating the acquisition of measurement data.

[0065] Furthermore, such as Figure 1-2 As shown, in order to ensure that the ranging sensor and the airborne transmitter are stably and securely connected to the UAV and to prevent them from falling off, in this embodiment, the support 2 includes a base 210, a first support 220 and a second support 230. The base 210 is installed on the landing frame of the UAV, the first support 220 is connected between the base 210 and the top seat 1, the second support 230 is installed on the first support 220, and the first sensor 4 and the second sensor 5 are respectively installed on the second support 230 on both sides.

[0066] It should be noted that the DJI Phantom 4 drone used in this embodiment has a U-shaped frame structure for its two landing gears. To reduce the impact on the drone's flight attitude, the base 210 in this embodiment is connected between the two arms of the U-shaped frame, and the top mount 1 is connected to the drone's body. To improve the structural strength of the clamp, the first support 220 is connected between the top mount 1 and the base 210. To facilitate the installation of the ranging sensor, the second support 230 is installed on the first support 220, so that the first sensor 4 and the second sensor 5 are located on the two sides of the drone. Preferably, the transmitter mounting box 3 is placed at the front of the drone's body, so that the weight of the first sensor 4, the second sensor 5 and the airborne transmitter are evenly distributed around the drone, which helps to balance the weight carried by the drone, reduce the drone's center of gravity shift, and reduce the impact on the drone's flight attitude.

[0067] Furthermore, such as Figure 4-5As shown, in order to improve the connection stability between the base 210 and the drone landing frame, in this embodiment, the base 210 includes a support rod 211, two fixed seats 213 and a support leg 212. The two ends of the support rod 211 are provided with first locking positions 6, and the two first locking positions 6 are respectively connected to the two side arms of the landing frame. The two fixed seats 213 are respectively detachably connected to the first locking positions 6. The support leg 212 is disposed between the support rod 211 and the bottom arm of the landing frame, and the support leg 212 is provided with a second locking position 7.

[0068] It should be noted that in this embodiment, the first locking positions 6 at both ends of the support rod 211 are arc-shaped grooves, used to fasten to the two side arms of the floor frame. The fixing seat 213 is preferably designed as a U-shaped seat, that is, a groove is designed on the fixing seat 213 so that the groove on the fixing seat 213 and the first locking position 6 on the support rod 211 are engaged to form an accommodating space. The side arms of the floor frame are fixed in the accommodating space, which improves the connection stability between the support rod 211 and the floor frame. At the same time, the support legs 212 are used to support the bottom arm of the floor frame and the support rod 211 to prevent the support rod 211 from bending. In this embodiment, two support legs 212 are preferably designed and the two support legs 212 are spaced apart on the support rod 211. The first locking position 6 is also preferably designed as an arc-shaped groove, used to fasten to the bottom arm of the floor frame.

[0069] Furthermore, such as Figure 6-8 As shown, in order to improve the structural strength of the first support 220 and the second support 230, in this embodiment, the first support 220 and the second support 230 are each three-section bent plates.

[0070] It should be noted that the first support base 220 includes a first connecting plate 221, a second connecting plate 222, and a third connecting plate 223. The first connecting plate 221, the second connecting plate 222, and the third connecting plate 223 are connected sequentially to form three bent plates. The first connecting plate 221 is connected to the top base 1, the third connecting plate 223 is connected to the base 210, and the second connecting plate 222 is disposed between the first connecting plate 221 and the third connecting plate 223. The second support base 230 includes a fourth connecting plate 231, a fifth connecting plate 232, and a sixth connecting plate 233. The fourth connecting plate 231, the fifth connecting plate 232, and the sixth connecting plate 233 are connected in sequence to form three bent plates. The fourth connecting plate 231 is arranged parallel to the first connecting plate 221, the fifth connecting plate 232 is arranged parallel to the second connecting plate 222, and the sixth connecting plate 233 is arranged parallel to the base 210. The first sensor 4 and the second sensor 5 are respectively installed on the sixth connecting plates 233 on both sides. Each connecting plate of the first support base 220 and the second support base 230 is provided with mounting holes. Connecting parts, such as screws, are installed in the mounting holes to achieve connection.

[0071] Furthermore, such as Figure 3As shown, in order to improve the structural strength of the top seat 1, in this embodiment, the top seat 1 includes a main connecting plate 110 and two side connecting plates 120. The main connecting plate 110 is connected to the fuselage of the UAV, and the two side connecting plates 120 are arranged opposite to each other at both ends of the main connecting plate 110. The two first support seats 220 are respectively connected to the two side connecting plates 120, and the transmitter mounting box 3 is connected to the main connecting plate 110.

[0072] It should be noted that in this embodiment, the main connecting plate 110 is used to connect the UAV body and the transmitter mounting box 3, and the side connecting plate 120 is used to connect to the supports 2 on both sides of the UAV respectively. Preferably, the first support 220 is connected to the side connecting plate 120, and the side connecting plate 120 and the first support 220 are respectively provided with a number of positioning holes, and screws can be installed in the positioning holes.

[0073] Furthermore, such as Figure 3 As shown, in order to avoid breakage at the connection between the side connecting plate 120 and the main connecting plate 110 and to improve the structural strength, in this embodiment, a support structure 8 is provided between the side connecting plate 120 and the main connecting plate 110. The support structure 8 is preferably designed as an arc-shaped structure, wherein the arc concave surface of the arc-shaped structure is preferably facing the connection between the main connecting plate 110 and the side connecting plate 120.

[0074] Furthermore, such as Figure 9-11 As shown, in order to improve the structural strength of the transmitter mounting box 3, protect the airborne transmitter, and facilitate the installation and removal of the airborne transmitter, in this embodiment, the transmitter mounting box 3 includes a box body 310 and a cover body 320. The box body 310 and the cover body 320 are respectively provided with irregular holes for positioning and installing the airborne transmitter to prevent the airborne transmitter from falling off. At the same time, the mating surfaces of the box body 310 and the cover body 320 are provided with several connecting seats 10.

[0075] Example 2

[0076] like Figure 12-15 As shown, this embodiment provides a drone-mounted ranging method, which uses the drone-mounted ranging device in Embodiment 1 to measure the distance to the ground of the sag of the jumper wire.

[0077] There are three existing measurement methods. The first uses a handheld rangefinder. First, a laser is emitted towards the object being measured. The round-trip time of the laser is calculated, and the distance between the rangefinder and the object is obtained by multiplying the speed of light by half the round-trip time. Then, the distance to the ground of the sag of the guide wire jumper is calculated using trigonometric functions based on the angle of inclination of the rangefinder relative to the ground. The second uses a theodolite. First, calipers are placed directly below the object being measured. The horizontal distance between the theodolite and the object is calculated using a fixed formula based on the calipers. Then, the distance to the ground of the sag of the guide wire jumper is calculated using trigonometric functions based on the angle of inclination of the theodolite relative to the ground. The third uses a lidar device for modeling and measurement. First, a laser beam is emitted from the lidar device's transmitter towards the target. The received echo signal reflected from the target is compared with the emitted laser beam signal. The time difference and phase difference between the two signals are calculated, and the distance to the ground of the sag of the guide wire jumper is calculated using a spatial coordinate system. These existing measurement methods are complex, involve a large workload, and are difficult to implement, resulting in low efficiency and a high risk of error.

[0078] In this embodiment, to optimize the measurement method, reduce operational difficulty, and improve measurement efficiency and accuracy, the following steps are specifically included:

[0079] S1: Using the jumper insulator 11 on the tension tower 15, the jumper conductor is divided into a first jumper area and a second jumper area. The jumper sag of the conductor in the first jumper area is recorded as the first sag 12, and the jumper sag of the conductor in the second jumper area is recorded as the second sag 13.

[0080] It should be noted that step S1 is used to divide the jumper wires on both sides of the jumper insulator 11 into areas, so that the UAV can fly to the nearest area more accurately to measure and acquire data, accurately locate, and reasonably plan the flight path.

[0081] S2: The initial angle between the jumper insulator 11 and the tension tower 15 is preset and recorded as the critical angle;

[0082] It should be noted that the critical angle is a preset critical value, that is, at this time, the distance between the conductor at the jumper insulator 11 and the tension tower 15 is the shortest, and the distance between the conductor and the tension tower 15 at this point can be directly detected.

[0083] S3: Obtain the actual angle between the jumper insulator 11 and the tension tower 15, and record it as the working angle. In this embodiment, the working angle can be analyzed by taking pictures using the camera built into the drone.

[0084] S4: Compare the working angle with the critical angle to obtain the angle comparison result;

[0085] It should be noted that when the working angle is greater than the critical angle, it means that the jumper insulator 11 is deviating away from the tension tower 15. At this time, the two insulators in the second jumper area are far apart, and the conductor between the two insulators is taut, making it difficult for them to sway or contact the tension tower 15. However, the two insulators in the first jumper area are close together, and the conductor between the two insulators is in a relaxed state, producing a drooping arc. This drooping conductor is prone to swaying and contacting the tension tower 15, resulting in a short distance and the phenomenon of air discharge. Therefore, it is necessary to measure the first sag in the first jumper area.

[0086] When the working angle is less than the critical angle, it indicates that the jumper insulator 11 is deviating towards the direction closer to the tension tower 15. At this time, the two insulators in the first jumper area are far apart, and the conductor between the two insulators is taut, making it difficult for them to sway or contact the tension tower 15. However, the two insulators in the second jumper area are close together, and the conductor between the two insulators is in a relaxed state, producing a drooping arc. This drooping conductor is prone to swaying and contacting the tension tower 15, resulting in a short-distance discharge phenomenon. Therefore, it is necessary to measure the first sag in the second jumper area.

[0087] When the working angle is equal to the critical angle, the distance between the conductor at the jumper insulator 11 and the tension tower 15 is the shortest, and the distance between the conductor and the tension tower 15 at this point can be directly detected.

[0088] S5: Determine the minimum sag based on the angle comparison results;

[0089] It should be noted that, based on the angle comparison results, the first jumper area or the second jumper area is determined to be the jumper area closest to the tension tower 15, and thus the first sag 12 or the second sag 13 is determined to be the minimum sag.

[0090] S6: Measure the minimum sag, adjust the drone's flight coordinates, and use the Pythagorean theorem to derive the minimum sag distance from the ground based on the drone's measurement data.

[0091] Furthermore, such as Figure 12 As shown, in step S5, determining the minimum sag based on the angle comparison results specifically includes: when the working angle is greater than the critical angle, the first jumper area is the jumper area closest to the tension tower 15, and the first sag 12 is the minimum sag. This operating state is the first working condition; at this time, step S6 includes the following steps:

[0092] S6.1: Fly the drone to the first jumper area so that the drone is positioned between the first sag 12 and the tension tower 15;

[0093] S6.2: Fly the drone to a position level with the crossarm 14 of the tension tower 15, use the first sensor 4 to measure the horizontal distance d1 between the drone and the crossarm 14 of the tension tower 15, and use the second sensor 5 to measure the vertical distance h1 between the drone and the first sag 12.

[0094] S6.3: According to the Pythagorean theorem, the minimum sag distance L1 to the ground is obtained, and the calculation formula is as follows:

[0095] It should be noted that when the working angle is greater than the critical angle, the crossarm 14 of the angle tension tower 15 and the sag of the conductor jumper are not on the same vertical plane, such as... Figure 12 As shown, the black squares represent the drone equipped with a ranging device. First, fly the drone to the work site and align the drone's camera horizontally at 0° to the crossbeam 14, ensuring the first sensor 4 is horizontally aligned with the crossbeam 14. Then, adjust the drone's camera horizontally downwards by 90° to align with the first sag 12, ensuring the second sensor 5 is vertically aligned directly above the first sag 12. In this position, use the first sensor 4 to measure the horizontal distance d1 between the drone and the crossbeam 14, and use the second sensor 5 to measure the vertical distance h1 between the drone and the first sag 12. Using the Pythagorean theorem, the minimum sag distance to the ground under the first working condition is...

[0096] Furthermore, such as Figure 13-14 As shown, in step S5, determining the minimum sag based on the angle comparison results specifically includes: when the working angle is less than the critical angle, the second jumper area is the jumper area closest to the tension tower 15, and the second sag 13 is the minimum sag. This operating state is the second working condition; at this time, step S6 includes the following steps:

[0097] S6.1: Fly the drone to the second jumper area so that the second sag 13 is located between the drone and the tension tower 15;

[0098] S6.2: Fly the drone to a position level with the crossarm 14 of the tension tower 15, use the first sensor 4 to measure the horizontal distance d2 between the drone and the crossarm 14 of the tension tower 15, and use the second sensor 5 to measure the vertical height h2 of the drone from the ground at this time.

[0099] S6.3: Fly the drone to a position level with the second sag 13, use the first sensor 4 to measure the horizontal distance d3 between the drone and the second sag 13, and use the second sensor 5 to measure the vertical height h3 of the drone from the ground at this time.

[0100] S6.4: According to the Pythagorean theorem, the minimum sag distance L2 relative to the ground is obtained, and the calculation formula is as follows:

[0101] It should be noted that when the working angle is less than the critical angle, the horizontal distance between the crossbeam 14 and the second sag 13 is particularly small, which is less than the minimum distance that the drone can get close to the crossbeam 14. Therefore, the drone cannot fly between the crossbeam 14 and the second sag 13 of the tension tower 15. At this time, it is necessary to measure and calculate the difference between the horizontal and vertical distances.

[0102] First, align the camera on the drone body horizontally at 0° with the crossbeam 14, so that the first sensor 4 is aligned with the crossbeam 14 in the horizontal direction. Then, adjust the drone camera horizontally at 90° downwards to face the ground, so that the second sensor 5 faces the ground. In this position, use the first sensor 4 to measure the horizontal distance d2 between the drone and the crossbeam 14, and use the second sensor 5 to measure the vertical height h2 of the drone from the ground at this time.

[0103] Then lower the drone's flight altitude, align the drone's camera at 0° horizontally with the second sag 13, so that the first sensor 4 is aligned with the second sag 13 horizontally, and adjust the drone's camera to 90° horizontally downwards to align with the ground, so that the second sensor 5 faces the ground. In this position, use the first sensor 4 to measure the horizontal distance d3 between the drone and the second sag 13, and use the second sensor 5 to measure the vertical height h3 of the drone from the ground at this time.

[0104] Finally, using the Pythagorean theorem, the minimum sag distance to the ground is obtained.

[0105] Furthermore, such as Figure 15 As shown, in step S5, determining the minimum sag based on the angle comparison results specifically includes: when the working angle is equal to the critical angle, the critical position between the first jumper area and the second jumper area is the closest point to the tension tower 15, and the conductor jumper sag at the jumper insulator 11 position is the minimum sag. This operating state is the third working condition; at this time, step S6 includes the following steps:

[0106] S6.1: Fly the drone between jumper insulator 11 and tension tower 15;

[0107] S6.2: Use the first sensor 4 to measure the horizontal distance d4 between the drone and the tension tower 15, and use the second sensor 5 to measure the horizontal distance d5 between the drone and the jumper insulator 11;

[0108] S6.3: The minimum sag distance is the distance L3 between the tower body and the vertical plane point. The calculation formula is L3 = d4 + d5.

[0109] It should be noted that in the third working condition, the distance between the conductor jumper sag at the jumper insulator 11 and the tower body of the tension tower 15 is the shortest. It is necessary to directly measure the distance between the conductor jumper sag at this location and the vertical plane point of the tower body. Fly the drone between the conductor jumper sag and the tower body, adjust the drone camera horizontally to 0° and align it with the conductor jumper sag, so that the second sensor 5 is aligned with the conductor jumper sag. Use the second sensor 5 to measure the horizontal distance d5 between the drone and the jumper insulator 11. Rotate the drone 180° so that the drone is facing the tower body, and use the first sensor 4 to measure the horizontal distance d4 between the drone and the tension tower 15. At this time, the distance between the conductor jumper sag at this location and the vertical plane point of the tower body is L3 = d4 + d5.

[0110] In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances. In addition, if the embodiments of this invention involve descriptions of "first," "second," etc., such descriptions are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of those features. Furthermore, the meaning of "and / or" throughout the text is to include three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or a solution that simultaneously satisfies A and B.

[0111] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention, or direct / indirect applications in other related technical fields, should be included within the scope of protection of the claims of the present invention.

Claims

1. A ranging method for use on a drone, characterized in that, A method for measuring the distance to the ground of a jumper wire sag using a drone equipped with a ranging device includes the drone, a fixture, a ranging sensor, an airborne transmitter, and a receiver. The drone comprises two landing frames and a fuselage, with the two landing frames respectively positioned on both sides of the fuselage. The fixture includes a top mount, two supports, and a transmitter mounting box. The top mount is mounted on the fuselage of the drone, and the two supports are respectively positioned between the top mount and the landing frames of the drone. The transmitter mounting box is connected to the top mount. The ranging sensor includes a first sensor and a second sensor, which are respectively mounted on the supports on both sides. The airborne transmitter is installed inside the transmitter mounting box, and the ranging sensor and the receiver are electrically connected to the airborne transmitter. The method includes the following steps: S1: Using the jumper insulator on the tension tower, the jumper conductor is divided into a first jumper area and a second jumper area. The jumper sag of the conductor in the first jumper area is recorded as the first sag, and the jumper sag of the conductor in the second jumper area is recorded as the second sag. S2: Preset the initial angle between the jumper insulator and the tension tower, and record it as the critical angle. The critical angle is the angle at which the distance between the conductor at the jumper insulator position and the tension tower is closest. S3: Obtain the actual angle between the jumper insulator and the tension tower, and record it as the working angle; S4: Compare the working angle with the critical angle to obtain the angle comparison result; S5: Determine the minimum sag based on the angle comparison result; wherein, when the working angle is greater than the critical angle, the first sag is determined as the minimum sag; when the working angle is less than the critical angle, the second sag is determined as the minimum sag. S6: Measure the minimum sag, adjust the drone's flight coordinates, and use the Pythagorean theorem to derive the minimum sag distance from the ground based on the drone's measurement data.

2. The unmanned aerial vehicle (UAV) ranging method according to claim 1, characterized in that, The support includes a base, a first support seat, and a second support seat. The base is mounted on the landing frame of the UAV. The first support seat is connected between the base and the top seat. The second support seat is mounted on the first support seat. The first sensor and the second sensor are respectively mounted on the second support seats on both sides.

3. The unmanned aerial vehicle (UAV) ranging method according to claim 2, characterized in that, The base includes a support rod, two fixed seats and a support leg. The support rod has a first locking position at both ends. The two first locking positions are respectively connected to the two side arms of the floor frame. The two fixed seats are respectively detachably connected to the first locking positions. The support leg is located between the support rod and the bottom arm of the floor frame. The support leg has a second locking position.

4. The unmanned aerial vehicle (UAV) ranging method according to claim 3, characterized in that, The first support and the second support are each three-section bent plates.

5. The unmanned aerial vehicle (UAV) ranging method according to claim 4, characterized in that, The top mount includes a main connecting plate and two side connecting plates. The main connecting plate is connected to the fuselage of the UAV. The two side connecting plates are disposed opposite to each other at both ends of the main connecting plate. The two first support seats are respectively connected to the two side connecting plates. The transmitter mounting box is connected to the main connecting plate.

6. The unmanned aerial vehicle (UAV) ranging method according to claim 5, characterized in that, A support structure is provided between the side connecting plate and the main connecting plate.

7. The unmanned aerial vehicle (UAV) ranging method according to claim 1, characterized in that, Step S5, determining the minimum sag based on the angle comparison result, specifically includes: when the working angle is greater than the critical angle, the first jumper area is the jumper area closest to the tension tower, and the first sag is the minimum sag; at this time, step S6 includes the following steps: S6.1: Fly the drone to the first jumper area, so that the drone is located between the first sag and the tension tower; S6.2: Fly the UAV to a position level with the crossarm of the tension tower, and use the first sensor to measure the horizontal distance between the UAV and the crossarm of the tension tower. The second sensor is used to measure the vertical distance between the drone and the first sag. ; S6.3: According to the Pythagorean theorem, the minimum sag distance to the ground is obtained. The calculation formula is: .

8. The unmanned aerial vehicle (UAV) ranging method according to claim 1, characterized in that, Step S5, determining the minimum sag based on the angle comparison result, specifically includes: when the working angle is less than the critical angle, the second jumper area is the jumper area closest to the tension tower, and the second sag is the minimum sag; at this time, step S6 includes the following steps: S6.1: Fly the UAV to the second jumper area, so that the second sag is located between the UAV and the tension tower; S6.2: Fly the UAV to a position level with the crossarm of the tension tower, and use the first sensor to measure the horizontal distance between the UAV and the crossarm of the tension tower. The second sensor is used to measure the vertical height of the drone above the ground at this time. ; S6.3: Fly the drone to a position level with the second sag, and use the first sensor to measure the horizontal distance between the drone and the second sag. The second sensor is used to measure the vertical height of the drone above the ground at this time. ; S6.4: According to the Pythagorean theorem, the minimum sag distance to the ground is obtained. The calculation formula is: .

9. A UAV-mounted ranging method according to claim 1, characterized in that... In step S5, determining the minimum sag based on the angle comparison result specifically includes: when the working angle is equal to the critical angle, the critical position between the first jumper area and the second jumper area is the closest point to the tension tower, and the conductor jumper sag at the jumper insulator position is the minimum sag; at this time, step S6 includes the following steps: S6.1: Fly the drone between the jumper insulator and the tension tower; S6.2: Measure the horizontal distance between the UAV and the tension tower using the first sensor. The second sensor is used to measure the horizontal distance between the drone and the jumper insulator. ; S6.3: Calculate the minimum sag distance and the distance between the tower body and the vertical plane point. The calculation formula is: .

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