Method for unmanned aerial vehicle to automatically hang and take a safety rope

Abstract

This invention relates to the field of power construction technology, and particularly to a method for automatically attaching a safety rope using a drone. The method includes the following steps: obtaining the pickup point; mounting a safety fixing device; locating the suspension point; and installing and disassembling the safety fixing device. The safety fixing device includes an arched frame, a sliding rod at the top of the arched frame, a lifting ring at the top of the sliding rod, a crank-slider assembly on one side of the arched frame, a crank mechanism at the bottom of the crank-slider assembly, and a latching locking assembly on one side of the crank-slider assembly. The sliding rod is connected to the crank-slider and the latching locking assembly via connecting ropes. A safety rope installation mechanism is located at the bottom of the arched frame on the side opposite to the sliding groove. The safety fixing device of this invention has a well-integrated overall structure, requiring less assembly of parts, greatly reducing preparation time, improving operational efficiency, and simplifying on-site operation.

Description

Technical Field

[0001] This invention relates to the field of power construction technology, and in particular to a method for automatically attaching and retrieving a safety rope using a drone. Background Technology

[0002] Many existing steel towers were not designed with safety ropes in mind. This means that when workers climb these towers, the first worker must climb alone to the top with a safety rope of varying length, without any fall arrestor system. The rope is then manually secured to the angle iron at the top and lowered down, allowing the remaining workers to climb with fall arrestors. After the work is completed, the last worker descending the tower must retrieve the safety rope and bring it back to the base. The lack of fall arrestors poses a significant danger to both the first climber and the last descender.

[0003] Currently, the existing technologies in the domestic market that rely on drones to automatically attach and detach safety anchors generally involve a hook device suspended from the bottom of the drone, which is then connected to a safety anchor. The safety anchor is connected to a vertical safety rope. Workers at the base of the tower control the drone to fly directly above the angle steel at the top of the tower, then lower it to hook the safety anchor onto the angle steel. Simultaneously, the vertical safety rope at the base is tightened and secured. The drone then detaches the hook device from the safety anchor and returns to the ground, completing the attachment process. Workers can then attach a fall arrestor to the vertical safety rope for safety. When the workers return to the base, the drone can be again operated to fly directly above the safety anchor at the top of the tower. The drone's hook device is then connected to the safety anchor, the vertical safety rope at the base is released, and the drone takes off again to remove the safety anchor from the angle steel and returns to the ground, completing the hook retrieval operation.

[0004] There are still some shortcomings in the existing technology. The safety fixing device has poor integration. The safety fixing device on the market often requires several mechanisms to be composed of, with low integration, troublesome installation, and high operation complexity. The bottom of the drone often needs to be attached to several mechanisms to achieve the attachment action. This is not only cumbersome to operate when connecting on the ground, but also, in some narrow working environments, too many mechanisms hanging on the bottom of the drone will affect the drone's flight and the overall attachment action. Summary of the Invention

[0005] This invention solves the problems in related technologies and proposes a method for automatically attaching and retrieving safety ropes by drones. The safety fixing device has good integration, simplifies the difficulty of on-site operation, and makes it easy, efficient and low-difficulty for drones to attach and retrieve safety ropes.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: a method for automatically attaching a safety rope to a drone, comprising the following steps:

[0007] S1. Obtaining the pick point;

[0008] S2. Mounting of safety fastening devices;

[0009] S3. Positioning of the suspension point;

[0010] S4. Installation of safety fixing devices;

[0011] S5. Removal of safety fastening devices;

[0012] The safety fixing device includes an arched frame with a sliding rod at the top and a lifting ring at the top. The sliding rod is slidably mounted on a mounting base at the top of the arched frame. A groove is provided on one side of the arched frame, and a crank-slider assembly is provided inside the groove. The crank-slider assembly includes a crank-slider and a fixed rod. The fixed rod is mounted on the arched frame, and the crank-slider is slidably connected to the fixed rod. A crank mechanism is provided at the bottom of the crank-slider assembly, and a latch locking assembly is provided on one side of the crank-slider assembly. The sliding rod is connected to the crank-slider and the latch locking assembly respectively via a connecting rope. A safety rope installation mechanism is provided at the bottom of the arched frame on the side opposite to the groove.

[0013] As a preferred embodiment, the crank mechanism includes a hinge rod, a hinge frame, a rotating shaft, and a clamping plate. One end of the hinge rod is hinged to the bottom of the crank slider, and the other end is hinged to the hinge frame. The rotating shaft is rotatably connected to the bottom of the arched frame. The hinge frame is fixedly connected to the outer wall of the rotating shaft. The clamping plate is fixedly installed on the outer wall of the rotating shaft and is disposed inside the arched frame.

[0014] As a preferred embodiment, the inclined tongue locking assembly includes an L-shaped mounting bracket, an inclined tongue, a spring, a cam rod, and an L-shaped plate. The L-shaped mounting bracket is fixedly mounted on an arched frame. The inclined tongue is positioned on the top of the crank slider. The spring is sleeved on the outer wall of the inclined tongue. The L-shaped plate is fixedly connected to the inner wall of the L-shaped mounting bracket. The L-shaped mounting bracket has a rectangular hole. The inclined tongue passes through the rectangular hole and is movably connected to it. The two ends of the spring are fixedly connected to the inner wall of the L-shaped mounting bracket and the inner wall of the L-shaped plate, respectively. The cam rod is positioned on the inclined tongue and connected to the slide rod via a connecting rope.

[0015] As a preferred embodiment, the safety rope installation mechanism includes a locking groove and a locking rod. The locking groove has locking holes on both sides, and the locking rod is threaded into the locking holes through screws at both ends.

[0016] As a preferred embodiment, the opening width of the arched frame is 150mm.

[0017] As a preferred embodiment, step S1 specifically includes: the operator uses the drone control device on-site to transmit the drone control signal to the drone after passing through the base station, thereby controlling the drone's flight; the operator moves the drone to the set position, i.e. the position of the safety fixing device, so that the drone lands on the ground or hovers in the air.

[0018] As a preferred embodiment, step S2 specifically includes:

[0019] S21. After the drone moves to the set position, it uses the lidar on the bottom of the drone to locate the safety fixing device.

[0020] S22. The drone moves to the top of the safety fixing device and uses lidar to align the self-locking hook with the lifting ring at the top of the safety fixing device.

[0021] S23. The drone continues to descend, moving the self-locking hook to the lifting ring and suspending the safety fixing device on the self-locking hook through the self-locking hook;

[0022] S24. After the drone lifts the safety fixing device through the lifting ring, the slide bar at the bottom of the lifting ring rises synchronously. At the same time, the slide bar pulls the crank slider and cam rod through the connecting rope to rotate, and the clamping plate opens accordingly.

[0023] As a preferred embodiment, step S3 specifically includes an operator using a high-definition camera on the drone to move and fly the drone to the top of the tower, and then using a lidar to locate the installation and suspension point.

[0024] As a preferred embodiment, step S4 specifically includes:

[0025] S41. After the operator aligns the angle steel at the top of the tower with the cavity inside the safety fixing device, the drone continues to descend and moves the angle steel into the safety fixing device.

[0026] S42. As the safety fixing device continues to descend until the angle steel moves to the top of the inside of the safety fixing device, the drone will simultaneously separate the self-locking hook from the lifting ring by adjusting its own attitude.

[0027] S43. The slide bar descends under its own gravity, and the crank slider moves downward along the slide groove after it is no longer restricted by the slide bar. When the crank slider and the inclined tongue are misaligned, the inclined tongue is ejected by the elasticity of the spring and limits the crank slider. At the same time, after the crank slider moves to the bottom, the clamping plate rotates inward and clamps and fixes the angle steel.

[0028] As a preferred embodiment, the specific operations in step S5 include:

[0029] S51. After the drone moves to the set position, it uses the lidar on the bottom of the drone to locate the safety fixing device.

[0030] S52. The drone moves to the top of the safety fixing device and uses lidar to align the self-locking hook with the lifting ring at the top of the safety fixing device.

[0031] S53. The drone continues to descend, moving the self-locking hook to the lifting ring and suspending the safety fixing device on the self-locking hook through the self-locking hook;

[0032] S54. After the UAV lifts the safety fixing device through the lifting ring, the slide bar at the bottom of the lifting ring rises synchronously. At the same time, the slide bar pulls the crank slider and cam rod through the connecting rope to rotate, and the clamping plate opens accordingly.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] (1) The safety fixing device has a good overall structure and does not require the assembly of too many parts during on-site operations, which greatly reduces the preparation time of on-site operators, improves work efficiency, and simplifies the difficulty of on-site operation.

[0035] (2) The arched frame of the installation and fixing device of the present invention has a large opening, which can be used for all types of angle steel on the market. There is no need to adjust the size of the angle steel before operation, which can provide great convenience for on-site workers. In addition, the arched frame can reduce stress concentration when subjected to impact load.

[0036] (3) The safety fixing device has a large opening and the drone has high positioning accuracy and a wide camera rotation angle. When operating the drone, the contact status between the safety fixing device and the angle steel can be monitored in real time through the high-definition camera, which makes it easier for the operator to control the drone to carry out the hooking action. After the safety fixing device is fully hooked on the angle steel, no other special operation is required. The unhooking action between the drone and the safety fixing device can be completed simply by controlling the drone to fly. The operation is integrated and the operation process of the operator is simplified. When taking off the safety fixing device after the operation is completed, the docking action can also be completed simply by controlling the drone to fly. No manual assistance from personnel is required for installation. The operation is highly efficient and easy.

[0037] (4) The overall manufacturing cost of the present invention is low. Except for the UAV which is an electronic control device, all other mechanisms are purely mechanical structures and do not require other electronic control systems to assist in operation. This not only improves the reliability of the device, but also greatly reduces the cost of the entire set of equipment. Attached Figure Description

[0038] Figure 1 This is a flowchart of the present invention;

[0039] Figure 2 This is a structural schematic diagram of the safety fixing device of the present invention;

[0040] Figure 3 This is a structural schematic diagram of the safety fixing device of the present invention;

[0041] Figure 4 This is a schematic diagram of the structure of the tongue locking assembly of the present invention;

[0042] Figure 5 This is a schematic diagram of the locking rod of the present invention.

[0043] In the picture:

[0044] 1. Arched frame; 2. Slide rod; 3. Lifting ring; 4. Slide groove; 5. Crank-slider assembly; 501. Crank-slider; 502. Fixed rod; 6. Crank mechanism; 601. Hinge rod; 602. Hinge frame; 603. Rotating shaft; 604. Clamping plate; 7. Slanted tongue locking assembly; 701. L-shaped mounting bracket; 702. Slanted tongue; 703. Spring; 704. Cam rod; 705. L-shaped plate; 8. Connecting rope; 9. Safety rope installation mechanism; 901. Locking groove; 902. Locking rod; 903. Screw; 904. Locking hole; 10. Weight reduction groove. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0047] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0048] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0049] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0050] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0051] like Figures 1 to 5As shown, a method for automatically attaching a safety rope to a drone includes a safety fixing device comprising an arched frame 1, which can mitigate stress concentration under impact loads; a slide rod 2 is provided at the top of the arched frame 1, which is slidably mounted on a mounting seat at the top of the arched frame 1; a lifting ring 3 is provided at the top of the slide rod 2; a groove 4 is provided on one side of the arched frame 1, and a crank-slider assembly 5 is provided inside the groove 4; the crank-slider assembly 5 includes a crank-slider 501 and a fixed rod 502; the fixed rod 502 is disposed on the arched frame 1, and the crank-slider 501 is slidably connected to the fixed rod 502; the crank-slider assembly 5... A crank mechanism 6 is provided at the bottom, and a tongue locking assembly 7 is provided on one side of the crank slider assembly 5. The slide rod 2 is connected to the crank slider 501 and the tongue locking assembly 7 respectively through connecting ropes 8. Specifically, two rings are provided on the slide rod 2. One end of the two connecting ropes 8 is fixed to the two rings respectively, and the other end is fixed to the ring at the top of the crank slider 501 and the tongue locking assembly 7. When the slide rod 2 moves up and down, it can drive the crank slider 501 to move up and down on the fixed rod 502 through the connecting ropes 8. A safety rope installation mechanism 9 is provided at the bottom of the arched frame 1 on the side opposite to the slide groove 4.

[0052] Among them, repeated simulation calculations were performed on angle steel of different models, sizes and orientations. When the opening width of the arch frame 1 is 150mm, it can be applied to all models of angle steel on the market, making the installation adaptability of the safety fixing device high. Therefore, there is no need to adjust the size of the angle steel before operation, which can provide great convenience for on-site workers.

[0053] In one embodiment, the crank mechanism 6 includes a hinge rod 601, a hinge frame 602, a rotating shaft 603, and a clamping plate 604. One end of the hinge rod 601 is hinged to the bottom of the crank slider 501, and the other end is hinged to the hinge frame 602. The rotating shaft 603 is rotatably connected to the bottom of the arched frame 1. The hinge frame 602 is fixedly connected to the outer wall of the rotating shaft 603. The clamping plate 604 is fixedly installed on the outer wall of the rotating shaft 603 and is disposed inside the arched frame 1.

[0054] In one embodiment, the latch locking assembly 7 includes an L-shaped mounting bracket 701, a latch 702, a spring 703, a cam rod 704, and an L-shaped plate 705. The L-shaped mounting bracket 701 is fixedly mounted on the arched frame 1. The latch 702 is disposed on the top of the crank slider 501. The spring 703 is sleeved on the outer wall of the latch 702. The L-shaped plate 705 is fixedly connected to the inner wall of the L-shaped mounting bracket 701. A rectangular hole is provided on the L-shaped mounting bracket 701, and the latch 702 passes through the rectangular hole and engages with the rectangular plate 705. The hole is movable, and the two ends of the spring 703 are fixedly connected to the inner wall of the L-shaped mounting bracket 701 and the inner wall of the L-shaped plate 705, respectively. The cam rod 704 is set on the inclined tongue 702 and connected to the slide rod 2 through the connecting rope 8. By designing the length of the two connecting ropes 8, it can be realized that when taking the hook, the cam rod 704 is first subjected to force to rotate, and then the crank slider 501 is subjected to force to move upward (generally, the length of the connecting rope 8 connecting the cam rod 704 is shorter than the length of the connecting rope 8 connecting the crank slider 501).

[0055] Furthermore, the up-and-down movement of the crank slider 501 causes the crank mechanism 6 to rotate the clamping plate 604 by 90 degrees, thus changing an open-loop hook into a closed-loop hook, improving the safety and reliability of the device. After the crank slider 501 moves to the bottom limit position, the spring 703 inside the latch locking assembly 7 will pop out the latch 702, locking the crank slider 501 and preventing it from moving up and down, thereby fixing the clamping plate 604 and further improving the overall safety of the equipment. The crank slider 501 and the latch locking assembly... The cam rod 704 of 7 is connected to the top slide rod 2 by a flexible connecting rope 8. The slide rod 2 moves up and down, which drives the crank slider 501 to move on the fixed rod 502 via the connecting rope 8. The tongue 702 is opened by the elastic force of the internal spring 703. It is closed by the cam rod 704 connected to the slide rod 2 moving up, pulling the rope and rotating the cam rod 704. The cam device inside the cam rod 704 drives the spring 703 to compress, thereby realizing the automatic closing action of the tongue 702.

[0056] In one embodiment, the safety rope installation mechanism 9 includes a locking groove 901 and a locking rod 902. Locking holes 904 are provided on both sides of the locking groove 901, and the locking rod 902 is threaded into the locking holes 904 by screws 903 at both ends.

[0057] In addition, a weight-reducing groove 10 is provided on the arched frame 1 on the opposite side of the slide 4 to reduce the weight of the overall structure as much as possible.

[0058] The specific steps are as follows:

[0059] Preliminary preparations: The staff rigidly attached the self-locking hook (with the opening in the horizontal direction) to the bottom of the drone, and put the safety rope through the ring of the opening onto the locking rod 902. They also checked the drone's status and whether the connections between the various components were secure.

[0060] S1. Acquisition of the pickup point: The operator uses the drone control device on site to transmit the drone's control signal to the drone after passing through the base station, thereby controlling the drone's flight. After the operator moves the drone to the set position, i.e. the position of the safety fixing device, the drone will land on the ground or hover in the air.

[0061] S2. Mounting of safety fastening devices:

[0062] S21. After the drone moves to the set position, it uses the lidar on the bottom of the drone to locate the safety fixing device.

[0063] S22. The drone moves to the top of the safety fixing device and uses lidar to align the self-locking hook with the hanging ring 3 at the top of the safety fixing device.

[0064] S23. The drone continues to descend, moving the self-locking hook to position 3 and suspending the safety fixing device on the self-locking hook through the self-locking hook;

[0065] S24. After the UAV lifts the safety fixing device through the lifting ring 3, the slide bar 2 at the bottom of the lifting ring 3 rises synchronously, which first drives the cam rod 704 to rotate, thereby compressing the spring 703 and driving the inclined tongue 702 to retract into the device, realizing the limit of the crank slider 501. Then, under the tension of the connecting rope 8, the crank slider 501 slides upward along the fixing rod 502, causing the clamping plate 604 to rotate outward, and the clamping plate 604 opens accordingly.

[0066] S3. Location of the suspension point: The operator moves the drone to the top of the tower using the high-definition camera on the drone, and then uses a lidar to locate the installation suspension point.

[0067] S4. Installation of safety fixing devices:

[0068] S41. The operator takes off the drone and flies it to the top of the tower angle steel. The high-definition camera at the bottom of the drone provides real-time feedback so that the opening of the arch frame 1 faces the angle steel. After the operator aligns the angle steel at the top of the tower with the cavity inside the safety fixing device, the operator continues to descend the drone and moves the angle steel into the safety fixing device.

[0069] S42. As the safety fixing device continues to descend until the angle steel moves to the top of the inside of the safety fixing device, the drone will simultaneously separate the self-locking hook from the lifting ring 3 by adjusting its own attitude.

[0070] S43, the slide bar 2 descends under its own gravity, and the crank slider 501 moves downward along the slide groove 4 after it is no longer restricted by the slide bar 2. When the crank slider 501 and the inclined tongue 702 are misaligned, the inclined tongue 702 is ejected by the elasticity of the spring 703 and the crank slider 501 is limited. At the same time, after the crank slider 501 moves to the bottom, the clamping plate 604 rotates inward and clamps and fixes the angle steel. When the slide bar 2 moves to the bottom, as the drone descends, the self-locking hook device tilts until the spring 703 opens the hook and controls the drone to move horizontally to perform the unhooking action.

[0071] In addition, after the drone returns to the ground, the operators will tighten the safety rope at the bottom of the tower. The operation of attaching the safety fixing device to the drone is then completed. The operators can then tie the fall arrestor to the safety rope and begin climbing the tower. After all the operators have completed their work and descended the tower, the drone hook retrieval operation can begin.

[0072] S5. Removal of safety fastening devices:

[0073] S51. After the drone moves to the set position, it uses the lidar on the bottom of the drone to locate the safety fixing device.

[0074] S52. The drone moves to the top of the safety fixing device and uses lidar to align the self-locking hook with the hanging ring 3 at the top of the safety fixing device.

[0075] S53. The drone continues to descend, and moves the self-locking hook to the lifting ring 3. The safety fixing device is then suspended on the self-locking hook, so that the safety fixing device is in a natural hanging state.

[0076] S54. At this time, the drone is slowly ascended. After the self-locking hook is subjected to force at the bottom, the tilting device will be straightened, causing the hook to close automatically. The drone continues to fly upward. After the drone lifts the safety fixing device through the lifting ring 3, the slide bar 2 at the bottom of the lifting ring 3 rises synchronously, which first drives the cam rod 704 to rotate, thereby compressing the spring 703 and driving the inclined tongue 702 to retract into the device, realizing the limit of the crank slider 501. Then, under the tension of the connecting rope 8, the crank slider 501 slides upward along the fixed rod 502, causing the clamping plate 604 to rotate outward and open accordingly. When the slide bar 2 moves to the top, the drone continues to fly upward, which can make the safety fixing device detach from the angle iron. Afterward, simply operate the drone to return to the ground, remove the safety rope, safety fixing device, and self-locking hook from the bottom of the drone and put them away for future use.

[0077] The above are preferred embodiments of the present invention. Those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments described above. Any obvious improvements, substitutions or modifications made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims

1. A method for automatically attaching a safety rope to a drone, characterized in that, Includes the following steps: S1. Obtaining the pick point; S2. Mounting of safety fastening devices; S3. Positioning of the suspension point; S4. Installation of safety fixing devices; S5. Removal of safety fastening devices; The safety fixing device includes an arched frame with a slide rod at its top and a lifting ring at its top. The slide rod is slidably mounted on a mounting base at the top of the arched frame. A groove is provided on one side of the arched frame, and a crank-slider assembly is located inside the groove. The crank-slider assembly includes a crank-slider and a fixed rod. The fixed rod is mounted on the arched frame, and the crank-slider is slidably connected to the fixed rod. A crank mechanism is located at the bottom of the crank-slider assembly, and a latching locking assembly is located on one side of the crank-slider assembly. The slide rod is connected to the crank-slider and the latching locking assembly via connecting ropes. A safety rope mounting mechanism is located at the bottom of the arched frame on the side opposite to the groove. The crank mechanism includes a hinge rod, a hinge frame, a rotating shaft, and a clamping plate. One end is hinged to the bottom of the crank slider, and the other end is hinged to the hinge frame. The rotating shaft is rotatably connected to the bottom of the arched frame. The hinge frame is fixedly connected to the outer wall of the rotating shaft. The clamping plate is fixedly installed on the outer wall of the rotating shaft and located inside the arched frame. The latch locking assembly includes an L-shaped mounting bracket, a latch, a spring, a cam rod, and an L-shaped plate. The L-shaped mounting bracket is fixedly installed on the arched frame. The latch is located at the top of the crank slider. The spring is sleeved on the outer wall of the latch. The L-shaped plate is fixedly connected to the inner wall of the L-shaped mounting bracket. The L-shaped mounting bracket has a rectangular hole. The latch passes through the rectangular hole and is movably connected to the rectangular hole. The two ends of the spring are fixedly connected to the inner wall of the L-shaped mounting bracket and the inner wall of the L-shaped plate, respectively. The cam rod is located on the latch and is connected to the slide rod through a connecting rope.

2. The method for automatically attaching a safety rope to a drone according to claim 1, characterized in that: The safety rope installation mechanism includes a locking groove and a locking rod. The locking groove has locking holes on both sides, and the locking rod is threaded into the locking holes through screws at both ends.

3. The method for automatically attaching a safety rope to a drone according to claim 1, characterized in that: The opening width of the arched frame is 150mm.

4. The method for automatically attaching a safety rope to a drone according to claim 1, characterized in that: Step S1 specifically includes the following steps: the operator uses the drone control device on-site to transmit the drone control signal to the drone after passing through the base station, thereby controlling the drone's flight. After the operator moves the drone to the set position, i.e. the position of the safety fixing device, the drone lands on the ground or hovers in the air.

5. The method for automatically attaching a safety rope to a drone according to claim 1, characterized in that: Step S2 specifically includes: S21. After the drone moves to the set position, it uses the lidar on the bottom of the drone to locate the safety fixing device. S22. The drone moves to the top of the safety fixing device and uses lidar to align the self-locking hook with the lifting ring at the top of the safety fixing device. S23. The drone continues to descend, moving the self-locking hook to the lifting ring and suspending the safety fixing device on the self-locking hook through the self-locking hook; S24. After the drone lifts the safety fixing device through the lifting ring, the slide bar at the bottom of the lifting ring rises synchronously. At the same time, the slide bar pulls the crank slider and cam rod through the connecting rope to rotate, and the clamping plate opens accordingly.

6. The method for automatically attaching a safety rope to a drone according to claim 1, characterized in that: Step S3 specifically includes the operator using a high-definition camera on the drone to move and fly the drone to the top of the tower, and then using a lidar to locate the installation and suspension point.

7. The method for automatically attaching a safety rope to a drone according to claim 1, characterized in that: Step S4 specifically includes: S41. After the operator aligns the angle steel at the top of the tower with the cavity inside the safety fixing device, the drone continues to descend and moves the angle steel into the safety fixing device. S42. As the safety fixing device continues to descend until the angle steel moves to the top of the inside of the safety fixing device, the drone will simultaneously separate the self-locking hook from the lifting ring by adjusting its own attitude. S43. The slide bar descends under its own gravity, and the crank slider moves downward along the slide groove after it is no longer restricted by the slide bar. When the crank slider and the inclined tongue are misaligned, the inclined tongue is ejected by the elasticity of the spring and limits the crank slider. At the same time, after the crank slider moves to the bottom, the clamping plate rotates inward and clamps and fixes the angle steel.

8. The method for automatically attaching a safety rope to a drone according to claim 1, characterized in that: The specific operations in step S5 include: S51. After the drone moves to the set position, it uses the lidar on the bottom of the drone to locate the safety fixing device. S52. The drone moves to the top of the safety fixing device and uses lidar to align the self-locking hook with the lifting ring at the top of the safety fixing device. S53. The drone continues to descend, moving the self-locking hook to the lifting ring and suspending the safety fixing device on the self-locking hook through the self-locking hook; S54. After the UAV lifts the safety fixing device through the lifting ring, the slide bar at the bottom of the lifting ring rises synchronously. At the same time, the slide bar pulls the crank slider and cam rod through the connecting rope to rotate, and the clamping plate opens accordingly.

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