A UAV anti-collision method for assisting the installation of wire ropes

Abstract

The present invention provides a UAV collision avoidance method for assisting the installation of a guide rope for electric wires, which is applicable to the field of electric wire installation in the electric power industry; the method comprises site preparation, obtaining UAV equipment parameters, obtaining n optional first section guide rope parameters, selecting the optimal first section guide rope, starting the first gear deployment, and completing the work by means of a pulley and UAV landing; the UAV collision avoidance method for assisting the installation of a guide rope for electric wires proposed by the present invention has the advantages of high safety, strong operability, etc., and can be widely used in the field of electric wire installation in the electric power industry.

Description

Technical Field

[0001] The invention relates to an unmanned aerial vehicle (UAV) collision prevention method for assisting in the installation of a guide rope for electric wire erection, and is applicable to the field of electric wire erection in the electric power industry. Background Art

[0002] With the rapid development of science and technology, drone technology has shown great potential and value in many fields, especially in the power industry, where the application of drones is gradually changing the traditional way of laying transmission lines. Traditional methods of laying wires often rely on manual operations or large-scale mechanical assistance, which are not only inefficient but also pose great safety risks, especially in high-altitude operations and complex terrain conditions. In order to solve these problems, drone-assisted wire laying technology has emerged, which can not only improve construction efficiency and reduce construction costs, but also significantly improve the safety of operations. Drone-assisted wire laying technology uses the maneuverability of drones and the high-precision sensors they carry to achieve precise control and monitoring of the wire laying process. Drones can quickly fly over obstacles without being restricted by terrain and accurately place wires in designated locations, especially in areas that are difficult to reach manually, where drones show incomparable advantages. In addition, drones can also carry equipment such as high-definition cameras and lidars to collect real-time data and perceive the environment, providing necessary information support for wire laying.

[0003] After the UAV drags the guide rope and places it on the pulley device, the guide rope generates sliding friction when it moves relative to the pulley, and the sliding friction will increase as the guide rope continues to lengthen. When the sliding friction is greater than the static friction of the pulley axle, the pulley begins to roll. When the pulley begins to roll, the sliding friction between the guide rope and the pulley turns into rolling friction, and the rolling friction is significantly smaller than the sliding friction. Therefore, the load of the UAV that provides the traction of the guide rope suddenly decreases, and the UAV will be temporarily out of control under the action of inertia. When the surrounding operating environment is complex and there are many obstructions (such as buildings, trees, etc.), it is easy to cause the UAV to collide.

[0004] Therefore, it is necessary to solve the problem that the pulley may suddenly roll during the installation of the guide rope, which may easily cause the drone to collide. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the pulley may suddenly roll during the installation of the guide rope by the drone, which may easily cause the drone to collide. A method for preventing the drone from colliding with the guide rope is proposed. The guide rope is selected so that the pulley does not roll during the entire installation process of the drone, thereby solving the problem of the drone colliding due to the temporary loss of control of the drone due to inertia. It is suitable for the field of wire erection in the power industry, has the advantages of high safety and strong operability, and can be widely used in the field of wire erection in the power industry.

[0006] The purpose of the present invention can be achieved by adopting the following technical solutions:

[0007] S101, site preparation;

[0008] The site preparation includes determining the starting point and end point of the electric wire line to be erected, selecting a suitable location as the take-off and landing site of the UAV, the take-off site is provided with a guide rope deployment axis frame, determining the order of the electric poles to be erected, and determining the horizontal spacing L2, L3...L between adjacent electric poles. n and height difference V2, V3...V n , determine the horizontal distance H0 and vertical distance V0 between the position of the guide rope deployment shaft frame and the top of the first electric pole;

[0009] S102, obtaining the parameters of the drone equipment;

[0010] The obtaining of the drone equipment parameters includes determining the drone equipment parameters to be used, wherein the drone equipment parameters are the maximum allowable flight altitude H i , load W i ;

[0011] S103, obtaining n optional first section guide rope parameters;

[0012] The obtaining of n optional first section guide rope parameters includes obtaining the nominal diameter d of the first section guide rope i , linear density ρ i , minimum breaking load F pi wait;

[0013] S104, selecting the best first section of the guide rope;

[0014] The selecting of the optimal first section of the guide rope comprises determining a first section of the guide rope that meets the requirements according to the judgment conditions, and selecting a minimum breaking load F for a plurality of first sections of the guide rope that meet the requirements. p The largest first section of the guide rope, the judgment conditions are:

[0015] ①η(W i -W')≤F p

[0016] ②f1=2μ 滑 (W i -W')sin(θ / 2)≤γm 滑轮 gμ 静 θ=arctan(V0 / H0)

[0017]

[0018] Where W' is the weight of the heavy hammer hoisted by the UAV, η is the safety expansion factor, which ranges from 3.0 to 10.0, μ i is the sliding friction coefficient between the rope and the pulley, μ 静 is the static friction coefficient between the pulley and the axle, m 滑轮 is the mass of the pulley, γ is the reduction safety factor, which is 0.7-0.8, α is the angle between the left and right sides of the pole, which is in the range of (0-π], k is the current passing kth pole, f j is the sliding friction between the guide rope and the jth telegraph pole pulley;

[0019] S105, start the first gear release;

[0020] The first stage deployment includes an operator controlling a drone carrying a heavy hammer and the first section of the lead rope to fly toward the first electric pole, and the lead rope is deployed behind the drone under the traction of the drone;

[0021] S106, through a pulley;

[0022] The passing through the pulley includes the drone carrying a first section of the guide rope, and placing the first section of the guide rope on the pulley of the first electric pole;

[0023] S107, the drone landed to complete the work;

[0024] The UAV landing work is completed, including that after the UAV flies over all the planned electric poles, it lands at the predetermined landing site to complete the auxiliary electric wire erection and installation of the guide rope, and the subsequent guide ropes of each level are laid and deployed step by step through the motorized capstan and the tensioning machine until the deployment of the main guide rope is completed;

[0025] Further, in the above S104, the weight W' of the drone hoisting hammer is related to the wind force level of the site. When the wind force level of the site is 0 or 1, the weight W' of the hammer is 0. When the wind force level of the site is 2 or 3, the weight W' of the drone hammer is 10N. When the wind force level of the site is 4 to 6, for each additional level of wind force, the weight W' of the drone hammer increases by 5N on the basis of the weight corresponding to the previous wind force level. When the wind force level of the site is greater than 6, the drone auxiliary wire erection and installation of the guide rope are not performed.

[0026] Further, in the above S104, when the angles between the guide ropes on both sides of the electric pole and the horizontal plane are both 0, the judgment condition ③ is:

[0027]

[0028] Wherein, j is the jth electric pole, Lj is the length of one span of the lead rope on the left side of the electric pole, and Lj+1 is the length of one span of the lead rope on the right side of the electric pole.

[0029] The beneficial effects of the present invention are:

[0030] The beneficial effects of the present invention are: it solves the problem that the pulley may suddenly roll during the installation of the guide rope by the drone, which may easily cause the drone to collide. It studies the physical nature of sliding friction and rolling friction, applies an appropriate safety factor, proposes a selection standard for the guide rope, and then proposes a drone anti-collision method for assisting the installation of the guide rope for electric wires. The method has the advantages of high safety and strong operability, and can be widely used in the field of electric wire installation in the power industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 : A flow chart of a UAV collision avoidance method for assisting in the installation of wire ropes of the present invention.

[0032] Figure 2 : A schematic diagram of the implementation process of a UAV anti-collision method for assisting the installation of a guide rope for electric wires of the present invention. In the figure: 1. Guide rope deployment shaft frame; 2. Guide rope; 3. Pulley device; 4. UAV; 5. Heavy hammer; 6. Electric pole. DETAILED DESCRIPTION

[0033] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings; it should be understood that the specific embodiments given here are only used to illustrate and explain the present invention and cannot be used to limit the present invention.

[0034] like Figure 1 Shown is a flow chart of a UAV collision avoidance method for assisting in the installation of wire ropes according to the present invention.

[0035] like Figure 2 As shown, it is a schematic diagram of the guide rope deployment process of a UAV collision avoidance method for assisting the installation of guide ropes for electric wires according to the present invention.

[0036] Embodiment 1:

[0037] In a 10kV transmission line project of a certain power grid, the wind force level is level 5, and the tree coverage rate of the wire installation site is very high. It is very unsafe to install the wires manually, and the time and cost are relatively high. At the same time, the power parachute is difficult to use in this scenario, which poses a great safety hazard. Taking into account the cost and safety issues, it is decided to use drones to deploy guide ropes for transmission line construction;

[0038] S101, site preparation;

[0039] The site preparation includes determining the starting point and end point of the power line to be erected, selecting a suitable location as the take-off and landing site for the UAV, the take-off site is provided with a guide rope deployment pedestal, determining the order of the poles to be erected, determining the horizontal spacing between adjacent poles L2=135m, L3=124m, L4=128m, L5=137m and L6=152m, and the height difference V2=45m, V3=18m, V4=-62m, V5=21m and V6=-7m. Among them, when the elevation of the top of the rear pole is greater than the elevation of the top of the previous pole, the elevation difference is positive, and when the elevation of the top of the rear pole is less than the elevation of the top of the previous pole, the elevation difference is negative. Determine the horizontal distance H0=10m and the vertical distance V0=8m between the position of the guide rope deployment pedestal and the top of the first pole;

[0040] S102, obtaining the parameters of the drone equipment;

[0041] The obtaining of the drone equipment parameters includes determining the drone equipment parameters to be used, wherein the drone equipment parameters are the maximum allowable flight altitude H i =500m, load W i =100N;

[0042] S103, obtaining two optional first section guide rope parameters;

[0043] The parameters of the rope are nominal diameter d1 = 3.5 mm, linear density ρ1 = 6.78 g / m, minimum breaking load F p1 =11.6kN, the two parameters of the rope are nominal diameter d2 = 6mm, linear density ρ2 = 6.81g / m, minimum breaking load F p2 =4.73kN;

[0044] S104, selecting the best first section of the guide rope;

[0045] The selecting of the optimal first section of the guide rope comprises determining a first section of the guide rope that meets the requirements according to the judgment conditions, and selecting a minimum breaking load F for a plurality of first sections of the guide rope that meet the requirements. p The largest first section of the guide rope, the judgment conditions are:

[0046] ①η(Wi -W')≤F p

[0047] ②f1=2μ 滑 (W i -W')sin(θ / 2)≤γm 滑轮 gμ 静 θ=arctan(V0 / H0)

[0048]

[0049] The judgment condition ① indicates that the maximum traction force that the drone can provide does not exceed the minimum breaking load to prevent the guide rope from being broken. The safety expansion factor controls the range where the minimum breaking load exceeds the maximum traction force to provide a safety reserve;

[0050] The judgment condition ② indicates that when the guide rope moves relative to the pulley device at the first telegraph pole pulley device, the sliding friction generated does not exceed the static friction between the pulley and the shaft, so as to prevent the motion state of the pulley relative to the shaft from being static to rotating. And the static friction is controlled to exceed the range of the sliding friction by the reduced safety factor, providing a safety reserve;

[0051] The judgment condition ③ indicates that the sliding friction force generated by the guide rope at the pulley device of the jth telegraph pole does not exceed the static friction force between the pulley and the shaft, so as to prevent the motion state of the pulley relative to the shaft from changing from static to rotation. And the reduction safety factor controls the static friction force to exceed the range of the sliding friction force, providing a safety reserve;

[0052] W' is the weight of the weight for hoisting the UAV, and the weight of the weight for hoisting the UAV is determined according to the wind force level. Under normal circumstances, the greater the wind force level, the heavier the weight of the weight required for hoisting the UAV. By increasing the weight of the weight for hoisting the UAV to weaken the proportion of wind force to the flight load of the UAV, the flight stability of the UAV is improved. When the wind force level of the site is level 0 or 1, the UAV can fly steadily without hanging a weight, and the weight W' is 0. When the wind force level of the site is level 2 or 3, the weight W' of the UAV is 10N. When the wind force level of the site is 4 to 6, for each additional level of wind force, the weight W' of the UAV increases by 5N on the basis of the weight corresponding to the previous wind force level. When the wind force level of the site is greater than level 6, the UAV auxiliary wire erection and installation of the guide rope will not be carried out;

[0053] In this embodiment, the wind force level is level 5, and the weight W' of the weight hammer is 20N. The other parameters are: η = 10.0, μ 静 =0.25, m 滑轮=8kg, γ=0.7, the sliding friction coefficient between the first rope and the pulley μ1=0.15, the sliding friction coefficient between the second rope and the pulley μ2=0.5, substituting the judgment conditions ①, ②, ③ into the following results:

[0054] The first guide rope meets the judgment conditions ①, ②, and ③, and the second guide rope meets the judgment conditions ① and ③, but does not meet the judgment condition ②. Therefore, the first guide rope is selected.

[0055] S105, start the first gear release;

[0056] The first stage deployment includes an operator controlling a drone carrying a heavy hammer and the first section of the guide rope to fly toward the first electric pole, and the guide rope is deployed behind the drone under the traction of the drone;

[0057] S106, through a pulley;

[0058] The passing through the pulley includes the drone carrying a first section of the guide rope, and placing the first section of the guide rope on the pulley of the first electric pole;

[0059] S107, the drone landed to complete the work;

[0060] The UAV landing completes the work, including the UAV flying over all the planned electric poles and landing at the predetermined landing site to complete the auxiliary electric wire erection and installation of the guide rope. The subsequent levels of guide ropes are laid and deployed step by step through motorized capstans and tensioning machines until the main guide rope is deployed.

[0061] In this embodiment, the wind force level is level 5, the weight W' of the weight hammer is 20N, the height difference between adjacent poles makes the angle between the guide ropes on both sides of the poles and the horizontal plane not 0, and the guide rope 1 is selected for installation. During the process of the drone towing the guide rope and completing the installation, the pulley does not rotate.

[0062] Embodiment 2:

[0063] In a 35kV transmission line project of a certain power grid, the wind force level is level 1. Considering the cost and safety issues comprehensively, it is decided to use drones to deploy guide ropes for transmission line construction. Because the site has a weak wind force, the drone does not need to be equipped with a heavy hammer;

[0064] The guide rope is still selected from the guide rope 1 and the guide rope 2, the weight W' of the weight hammer is 0, and the other parameters remain unchanged. Substituting the judgment conditions ①, ②, and ③, the following results are obtained:

[0065] The first guide rope meets the judgment conditions ①, ②, and ③, and the second guide rope meets the judgment conditions ① and ③, but does not meet the judgment condition ②. Therefore, the first guide rope is selected.

[0066] In this embodiment, the guide rope 1 is selected for installation, and during the process of the drone towing the guide rope and completing the installation, the pulley does not rotate.

[0067] Embodiment three:

[0068] In a 35kV transmission line project of a certain power grid, the wind force level is level 3, and the terrain on which the line is erected is flat. The horizontal spacing between adjacent poles is L2=154m, L3=155m, L4=150m, L5=152m, and L6=155m. The height difference directly affects the angle between the guide ropes on both sides of the poles and the horizontal plane, and the angle is almost 0, that is, compared with the horizontal spacing, the height difference can be ignored. Taking into account the cost and safety issues, it is determined to use drones to deploy guide ropes for transmission line construction;

[0069] The guide rope is still selected from the guide rope 1 and the guide rope 2, the weight W' of the weight hammer is 10N, and the angles between the guide ropes on both sides of the utility pole and the horizontal plane are both 0, and the judgment condition ③ is:

[0070]

[0071] When the left side of the judgment condition ③ inequality j=2, the maximum value is obtained. If the inequality holds true at the maximum value, then it also holds true when j is other values;

[0072] The remaining parameters remain unchanged, and the following results are obtained by substituting the judgment conditions ①, ②, and ③:

[0073] The first guide rope meets the judgment conditions ①, ②, and ③, and the second guide rope meets the judgment conditions ① and ③, but does not meet the judgment condition ②. Therefore, the first guide rope is selected.

[0074] In this embodiment, the guide rope 1 is selected for installation, and during the process of the drone towing the guide rope and completing the installation, the pulley does not rotate.

[0075] In the above embodiment, the present invention discloses a UAV collision avoidance method for assisting the installation of wire ropes, including site preparation, obtaining UAV equipment parameters, obtaining two optional first rope section parameters, selecting the optimal first rope section, starting the first gear deployment, and completing the work through pulleys and UAV landing; the UAV collision avoidance method for assisting the installation of wire ropes proposed by the present invention has the advantages of high safety and strong operability, and can be widely used in the field of wire installation in the power industry.

[0076] The above description is a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for preventing unmanned aerial vehicles from collisions when assisting in the installation of wire ropes, characterized in that: The method comprises the following steps: 1) Site preparation; The site preparation includes determining the starting point and end point of the electric wire line to be erected, selecting a suitable location as the take-off and landing site of the UAV, the take-off site is provided with a guide rope deployment axis frame, determining the order of the electric poles to be erected, and determining the horizontal spacing L2, L3...L between adjacent electric poles. m and height difference V2, V3...V m , determine the horizontal distance H0 and vertical distance V0 between the position of the guide rope deployment shaft frame and the top of the first electric pole; 2) Obtain UAV equipment parameters; The obtaining of the drone equipment parameters includes determining the drone equipment parameters to be used, wherein the drone equipment parameters are the maximum allowable flight altitude H i , load W i ; 3) Obtain n optional first section guide rope parameters; The obtaining of n optional first section guide rope parameters includes obtaining the nominal diameter d of the first section guide rope i , linear density ρ i , minimum breaking load F pi ; 4) Select the best first section of lead rope; The selecting of the optimal first section of the guide rope comprises determining a first section of the guide rope that meets the requirements according to the judgment conditions, and selecting a minimum breaking load F for a plurality of first sections of the guide rope that meet the requirements. p The largest first section of the guide rope, the judgment conditions are: ①η(W i -W')≤F p ②f1=2μ 滑 (W i -W')sin(θ / 2)≤γm 滑轮 gμ 静 θ=arctan(V0 / H0) ③ Where W' is the weight of the heavy hammer hoisted by the UAV, η is the safety expansion factor, which ranges from 3.0 to 10.0, μ 滑 is the sliding friction coefficient between the rope and the pulley, μ 静 is the static friction coefficient between the pulley and the axle, m 滑轮 is the mass of the pulley, γ is the reduction safety factor, which is 0.7 to 0.8, α is the angle between the left and right sides of the pole, which is in the range of (0 to π), k is the current passing kth pole, f j is the sliding friction between the guide rope and the jth telegraph pole pulley; 5) Start the first batch of exhibition; The first stage deployment includes an operator controlling a drone carrying a heavy hammer and the first section of the guide rope to fly toward the first electric pole, and the guide rope is deployed behind the drone under the traction of the drone; 6) Through a pulley; The passing through the pulley includes the drone carrying a first section of the lead rope and placing the first section of the lead rope on the pulley of the first electric pole; 7) The drone lands to complete the work; The landing of the UAV completes the work, including the UAV placing the first section of the guide rope on the pulleys on the other erected poles except the first pole, and then landing on the landing site to complete the auxiliary electric wire erection and installation of the guide rope. The subsequent levels of guide ropes are laid and deployed step by step through the motorized capstan and the tensioning machine until the deployment of the main guide rope is completed.

2. The method for preventing collision of unmanned aerial vehicles used to assist in the installation of wire ropes according to claim 1, characterized in that: The weight W' of the drone hoisting hammer is related to the wind level of the site. When the wind level of the site is 0 or 1, the weight W' of the hammer is 0. When the wind level of the site is 2 or 3, the weight W' of the drone hammer is 10N. When the wind level of the site is 4 to 6, for each additional level of wind, the weight W' of the drone hammer increases by 5N on the basis of the weight of the hammer corresponding to the previous wind level. When the wind level of the site is greater than 6, the drone will not be used to assist in the installation of the wire rope.

3. The method for preventing collision of unmanned aerial vehicles used to assist in the installation of wire ropes according to claim 1, characterized in that: When the angles between the guide ropes on both sides of the pole and the horizontal plane are both 0, α is π, and the calculation formula for the sliding friction between the guide rope and the pulley is: Where, j is the jth electric pole, L j is the length of the lead rope on the left side of the pole, L j+1 It is the length of the guide rope on the right side of the pole.

Images