Laser tree barrier clearing method and device for double-line electric poles

Abstract

The present invention relates to the technical field of power equipment protection, and specifically to a laser tree barrier clearing method and device for double-line electric poles. The present invention includes at least four drones, one detection drone is located between parallel electric poles, detects at different heights, and provides tree barrier clearing coordinates to the accompanying drone; the other three drones take off at the same time, the middle one is the accompanying drone, and the ones on the left and right sides are clearing drones; the accompanying drone is located between the parallel electric poles, flies synchronously with the clearing drone, and provides the direction and height to the two clearing drones on the left and right; the clearing drones are located in the clearing area of ​​their respective electric poles, and clear the tree barriers using a cutter through the clearing coordinates sent in real time by the accompanying drone. The present invention detects double-line electric poles at different heights to ensure that the clearing areas of the two transmission lines are detected in place; it can meet the requirements of starting two clearing drones at the same time, and clearing the tree barriers on the left and right sides at the same time, thereby improving efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of power equipment protection, and in particular to a tree barrier laser clearing method and device for double-line electric poles. Background Art

[0002] The use of drones with hanging cutters to clear obstacles in power facilities belongs to the prior art. For example, Chinese Patent ZL202111255039.4 discloses a shearing device and method for cutting down plants that invade crossed transmission lines. It uses a drone located at the intersection to provide navigation for multiple drones at the same time, thereby clearing obstacles in crossed transmission lines. However, existing utility poles are usually equipped with multiple transmission lines above and below, and the transmission lines are not only of different heights, but also of different horizontal positions. If only one transmission line is detected, on the one hand, the drone will only clear the tree obstacles near one transmission line, but not the other; on the other hand, the drone will only detect the upper transmission line, and the lower transmission line will be damaged if the cutter does not control the height well during the descent. Summary of the invention

[0003] The technical problem to be solved by the present invention is: to overcome the shortcomings of the prior art and provide a laser tree barrier clearing method and device for double-line electric poles, by which a detection drone detects the double-line electric poles at different heights to ensure that the obstacle clearing areas of the two transmission lines are detected in place; by using a companion drone to provide the direction and height for the cleaning drone, the two cleaning drones can be started at the same time, and the tree barriers on the left and right sides can be cleared at the same time, thereby improving efficiency.

[0004] The technical solution of the present invention is:

[0005] A laser tree barrier clearing method for a double-line electric pole comprises the following steps:

[0006] At least four drones work together as follows:

[0007] A detection drone is located between parallel electric poles and detects at different heights. The detection trajectory is from bottom to top. After detecting a certain distance, it provides the clearing coordinates of the tree obstacles to the accompanying drone.

[0008] The other three drones took off at the same time, the one in the middle was a companion drone, and the ones on the left and right were cleaning drones;

[0009] The companion drone is located between parallel electric poles, flying synchronously with the cleaning drone and providing the direction and altitude to the two cleaning drones on the left and right;

[0010] The cleaning drones are located in the obstacle clearance areas of their respective utility poles, and use cutters to clear tree obstacles based on the cleaning coordinates sent in real time by the accompanying drones.

[0011] Preferably, a transmission line I and a transmission line II are installed on the utility pole from bottom to top, and the transmission line I and the transmission line II are at different heights and horizontal positions.

[0012] Preferably, the detection range of the detection drone includes the following five:

[0013] Position A below the transmission line Ⅰ of the two left and right poles;

[0014] The transmission line Ⅰ of the two left and right poles is located at position B;

[0015] Position C between the transmission lines I and II on the left and right poles;

[0016] The transmission line II of the two left and right poles is located at position D;

[0017] Position E above the transmission line II of the two left and right poles;

[0018] Among them, positions A, C and E are obstacle clearance areas, and positions B and D are protection areas;

[0019] The detection range of the obstacle clearance area is greater than that of the protection area, that is, the detection drone uses greater energy intensity and obtains a longer detection distance at positions A, C, and E to ensure that tree obstacles at different heights are cleared.

[0020] Preferably, the detection drone adopts different detection speeds at different heights, the detection speed of the detection drone in the obstacle clearance area is slow, and the detection speed of the detection drone in the protection area is fast; the detection speed at position A = the detection speed at position C > the detection speed at position E.

[0021] Preferably, after the detection drone obtains the cleaning coordinates of a certain distance, the other three drones can take off without waiting for all the cleaning coordinates to be obtained before cleaning.

[0022] Preferably, after the detection drone obtains the cleaning coordinates of a certain distance, in order to save time, the detection trajectory is changed to descend from top to bottom, and after traversing the cleaning coordinates, it resumes climbing from bottom to top, and repeats the process over and over again.

[0023] Preferably, when the detection drone passes by a utility pole, the detection range is blocked by the utility pole and interfered, and all cleaning coordinates at the utility pole are abandoned.

[0024] Another technical solution of the present invention is:

[0025] A laser tree barrier clearing device for a double-line electric pole includes a cutter, the cutter is located below a cleaning drone, and the cleaning drone flies along the clearing area of ​​the electric pole to clear the tree barriers that invade the electric pole transmission lines I and II;

[0026] The electric poles, including the upper and lower transmission lines Ⅰ and Ⅱ, have different heights and horizontal positions, and form the clearing coordinates of three positions, namely position A, position C, and position E, with the tree barriers. Position A is located below transmission line Ⅰ, position C is located between transmission lines Ⅰ and Ⅱ, and position E is located above transmission line Ⅱ. The other areas are protection areas.

[0027] There is a cleaning drone installed on each of the left and right utility poles, and a companion drone is installed between the two cleaning drones. The companion drone provides the cleaning drone with direction and altitude.

[0028] Preferably, the companion drone is provided with a communication module and a laser, and the companion drone receives the cleaning coordinates sent by the detection drone through the communication module; the companion drone sends a laser signal to the cleaning drone through the laser to guide the cleaning drone to adjust its direction and altitude.

[0029] Preferably, the cutter always falls within the obstacle clearing area, away from power lines I and II; the cutter has a built-in cutting blade that rolls back and forth, and the cutter contacts the tree obstacle to form a clearing point.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] Compared with the traditional one-to-one cooperation of drones, the present invention adopts a one-to-many approach, with one drone performing detection, one drone accompanying, and the other two drones clearing the double-line utility poles on the left and right sides; by detecting the double-line utility poles at different heights, it is ensured that the obstacle clearance areas of the two transmission lines are detected in place; the two cleaning drones can be started at the same time, and the tree obstacles on the left and right sides can be cleared at the same time, which improves efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 This is a schematic diagram of the detection range of the detection drone.

[0034] Figure 2 It is a schematic diagram of the detection trajectory of the detection drone.

[0035] Figure 3 This is a schematic diagram of the distance between the detection drone and the tree obstacle.

[0036] Figure 4 This is a schematic diagram of the companion drone and the cleanup drone.

[0037] Figure 5 It is a schematic diagram of the cleaning trajectory of the cleaning drone.

[0038] In the figure: 1. Electric pole; 2. Transmission line I; 3. Transmission line II; 4. Tree barrier; 5. Cleaning point; 6. Detection trajectory; 7. Detection drone; 8. Detection range; 9. Companion drone; 10. Cleaning drone. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0040] Example 1

[0041] like Figure 1 As shown, this embodiment provides a laser tree obstacle clearing method for double-line electric poles, comprising the following steps:

[0042] At least four drones work together as follows:

[0043] A detection drone 7 is located between parallel electric poles 1, and detects at different heights. The detection trajectory 6 climbs from bottom to top. After detecting a certain distance, it provides the cleaning coordinates of the tree barrier 4 to the accompanying drone 9, such as Figure 2 As shown;

[0044] The other three drones take off at the same time, the middle one is the companion drone 9, and the ones on the left and right are the cleaning drones 10;

[0045] The accompanying drone 9 is located between the parallel electric poles 1, flies synchronously with the cleaning drone 10, and provides the direction and altitude to the left and right cleaning drones 10;

[0046] The cleaning drone 10 is located in the obstacle removal area of ​​each electric pole 1, and uses a cutter to clean the tree obstacle 4 through the cleaning coordinates sent in real time by the accompanying drone 9.

[0047] The utility pole 1 is a double-line utility pole 1, on which a transmission line Ⅰ2 and a transmission line Ⅱ3 are installed from bottom to top, and the transmission line Ⅰ2 and the transmission line Ⅱ3 are at different heights and horizontal positions, such as Figure 1 shown.

[0048] The detection range 8 of the detection drone 7 includes the following five: Figure 3 As shown:

[0049] Position A below the transmission line Ⅰ2 of the two left and right electric poles 1;

[0050] The transmission line Ⅰ2 of the two left and right poles 1 is located at position B;

[0051] Position C between the transmission lines Ⅰ2 and Ⅱ3 of the left and right poles 1;

[0052] The transmission line Ⅱ3 of the two left and right poles 1 is located at position D;

[0053] Position E above the transmission line II3 of the two left and right poles 1;

[0054] Among them, positions A, C and E are obstacle clearance areas, and positions B and D are protection areas;

[0055] The detection range of the obstacle clearance area is greater than the detection range of the protection area, that is, the detection drone uses greater intensity energy at positions A, C, and E to obtain a longer detection distance, ensuring that tree barriers 4 at different heights are cleared.

[0056] The detection drone 7 uses different detection speeds at different heights. The detection speed of the detection drone 7 in the obstacle clearance area is slow, and the detection speed of the detection drone 7 in the protection area is fast; the detection speed of position A = the detection speed of position C > the detection speed of position E.

[0057] It should be noted that, in order to improve efficiency, after the detection drone 7 obtains the cleaning coordinates of a certain distance, the other three drones can take off, without waiting for all the cleaning coordinates to be obtained before cleaning. Figure 4 As shown,.

[0058] After the detection drone 7 obtains the cleaning coordinates of a certain distance, in order to save time, the detection track 6 is changed to descend from top to bottom, and after traversing the cleaning coordinates, it resumes climbing from bottom to top, and repeats the process. The direction of the detection track 6 can be changed at any time according to actual needs.

[0059] In addition, it should be noted that when the detection drone 7 passes by the electric pole 1, the detection range 8 is blocked by the electric pole 1 and interferes, and all the cleaning coordinates at the electric pole 1 are abandoned. At other locations, because the transmission lines I2 and II3 are not blocked, the detection drone 7 can obtain the cleaning coordinates without obstacles.

[0060] Example 2

[0061] On the basis of Example 1, this embodiment provides a laser tree barrier clearing device for a double-line electric pole, including a cutter, the cutter is located below a clearing drone 10, and the clearing drone 10 flies along the clearing area of ​​the electric pole 1 to clear the tree barrier 4 invading the transmission lines Ⅰ2 and Ⅱ3 of the electric pole 1;

[0062] The utility pole 1 includes two upper and lower transmission lines Ⅰ2 and Ⅱ3, which have different heights and horizontal positions, and forms three clearing coordinates of position A, position C, and position E with the tree barrier 4, wherein position A is located below the transmission line Ⅰ2, position C is located between the transmission lines Ⅰ2 and Ⅱ3, position E is located above the transmission line Ⅱ3, and the other areas are protection areas;

[0063] A cleaning drone 10 is disposed on each of the left and right electric poles 1 , and a companion drone 9 is disposed between the two cleaning drones 10 . The companion drone 9 provides the cleaning drone 10 with a direction and a height.

[0064] In order to realize the signal transmission and accompanying functions, the accompanying drone 9 is provided with a communication module and a laser. The accompanying drone 9 receives the cleaning coordinates sent by the detection drone 7 through the communication module; the accompanying drone 9 sends a laser signal to the cleaning drone 10 through the laser to guide the cleaning drone 10 to adjust the azimuth and altitude.

[0065] According to actual needs, the accompanying drone 9 can also be cancelled. The purpose of adding the accompanying drone 9 is to avoid the cleaning drones 10 on both sides from being unable to correct after flying for a period of time. Once a signal failure occurs, they will not be able to continue working. It is mainly to ensure the safety of the cleaning drone. Canceling the accompanying drone 9 and using the cleaning drones 10 on both sides to correct each other can also achieve similar functions.

[0066] If time is sufficient, after the detection drone 7 completes the detection, it will fly back to the initial position and can be used as a companion drone for accompanying flight. The reason for separation is to divide it from the perspective of function and save time.

[0067] The cutter always falls within the obstacle clearing area, away from the transmission line I2 and the transmission line II3; the cutter has a built-in cutting blade that rolls back and forth, and the cutter contacts the tree obstacle 4 to form a clearing point 5. The clearing point 5 uses an optimization algorithm to calculate the clearing trajectory in space, saving time, such as Figure 5 As shown in the figure, the UAV suspension cutter belongs to the prior art and will not be described in detail here.

[0068] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, and all of these shall be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A laser tree clearing method for double-line electric poles, characterized in that: The steps include: At least four drones work together as follows: A detection drone (7) is located between parallel electric poles (1) and detects at different heights. The detection trajectory (6) climbs from bottom to top. After detecting a certain distance, it provides the clearing coordinates of the tree obstacle (4) to the accompanying drone (9); The other three drones take off at the same time, the middle one is the companion drone (9), and the ones on the left and right are the cleaning drones (10); The accompanying drone (9) is located between the parallel electric poles (1), flies synchronously with the cleaning drone (10), and provides the direction and altitude to the left and right cleaning drones (10); The cleaning drone (10) is located in the obstacle removal area of ​​each electric pole (1), and uses a cutter to clear the tree obstacle (4) according to the cleaning coordinates sent in real time by the accompanying drone (9); The utility pole (1) is provided with a transmission line I (2) and a transmission line II (3) installed from bottom to top, and the transmission line I (2) and the transmission line II (3) are at different heights and horizontal positions; The detection range (8) of the detection drone (7) includes the following five: Position A below the transmission line I (2) of the two left and right electric poles (1); The transmission line Ⅰ(2) between the two left and right poles (1) is located at position B; Position C between the transmission line I (2) and the transmission line II (3) of the left and right electric poles (1); The transmission line II (3) between the two left and right poles (1) is located at position D; The upper position E of the transmission line II (3) of the two left and right electric poles (1); Among them, positions A, C and E are obstacle clearance areas, and positions B and D are protection areas; The detection range of the obstacle clearance area is greater than the detection range of the protection area, that is, the detection drone uses greater intensity energy at positions A, C and E to obtain a longer detection distance, ensuring that tree obstacles (4) at different heights are cleared.

2. The tree obstacle laser clearing method for double-line electric poles according to claim 1, characterized in that: The detection drone (7) uses different detection speeds at different altitudes. The detection speed of the detection drone in the obstacle clearance area is slow, while the detection speed of the detection drone in the protection area is fast. The detection speed at position A = the detection speed at position C > the detection speed at position E.

3. The tree obstacle laser clearing method for double-line electric poles according to claim 1, characterized in that: After the detection drone (7) obtains the cleaning coordinates of a certain distance, the other three drones can take off without waiting for all the cleaning coordinates to be obtained before cleaning.

4. The tree obstacle laser clearing method for double-line electric poles as claimed in claim 3, characterized in that: After the detection drone (7) obtains the cleaning coordinates of a certain distance, in order to save time, the detection trajectory (6) is changed to descend from top to bottom, and after traversing the cleaning coordinates, it resumes climbing from bottom to top, and repeats the process.

5. The tree obstacle laser clearing method for double-line electric poles according to claim 1, characterized in that: When the detection drone (7) passes by the electric pole (1), the detection range (8) is blocked by the electric pole (1) and is disturbed, so all the clearing coordinates at the electric pole (1) are abandoned.

6. A laser tree barrier clearing device for double-line electric poles, characterized in that: The cleaning drone (10) flies along the obstacle-clearing area of ​​the electric pole (1) to clear the tree obstacles (4) that invade the electric pole transmission lines I (2) and II (3); The electric pole (1) includes two upper and lower transmission lines I (2) and II (3), which have different heights and horizontal positions, and form three clearing coordinates of positions A, C, and E with the tree barrier (4), wherein position A is located below transmission line I (2), position C is located between transmission line I (2) and transmission line II (3), position E is located above transmission line II (3), and the other areas are protection areas; A cleaning drone (10) is arranged on each of the left and right electric poles (1), and a companion drone (9) is arranged between the two cleaning drones (10). The companion drone (9) provides the cleaning drone (10) with a direction and a height.

7. The tree obstacle laser clearing device for double-line electric poles as claimed in claim 6, characterized in that: The accompanying drone (9) is provided with a communication module and a laser. The accompanying drone (9) receives the cleaning coordinates sent by the detection drone (7) through the communication module. The accompanying drone (9) sends a laser signal to the cleaning drone (10) through the laser to guide the cleaning drone (10) to adjust its position and altitude.

8. The tree obstacle laser clearing device for double-line electric poles as claimed in claim 6, characterized in that: The cutter always falls within the obstacle clearing area, away from the transmission line I (2) and the transmission line II (3); the cutter has a built-in cutting blade that rolls back and forth, and the cutter contacts the tree obstacle (4) to form a clearing point (5).

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