High-voltage transmission line energy-taking unmanned aerial vehicle clamping device and control method thereof

Abstract

The invention discloses a high-voltage power transmission line energy-taking unmanned aerial vehicle clamping device and a control method thereof, and relates to the technical field of high-voltage power transmission line clamping, the high-voltage power transmission line energy-taking unmanned aerial vehicle clamping device comprises a clamping jaw and a base used for fixing the clamping jaw, the opening size of the clamping jaw is adjustable, and the clamping jaw is used for adapting to power transmission cables of different sizes; the high-voltage power transmission line energy-taking unmanned aerial vehicle clamping device further comprises a guiding mechanism which is arranged on the base and used for guiding the cable into the clamping jaw; the clamping jaw is further provided with an automatic closing assembly which is pressed by the cable to drive the clamping jaw to be automatically closed when the cable enters the clamping jaw. According to the high-voltage power transmission line energy-taking unmanned aerial vehicle clamping device and the control method thereof, the clamping requirements of power transmission cables of various sizes can be met, meanwhile, the control difficulty is lower, and the clamping success rate is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of high-voltage transmission line clamping, and in particular to a high-voltage transmission line energy extraction drone clamping device and a control method thereof. Background Art

[0002] In recent years, the rapid development of drone technology has brought great changes and convenience to many industries. Among them, inspection drones, as an important tool, are widely used in equipment inspection and maintenance work in industries such as electricity, petroleum, and chemicals.

[0003] However, due to the limited flight time of inspection drones, long-term work missions may require frequent charging or battery replacement, resulting in reduced efficiency and increased operating costs. In order to solve this problem, a wireless charging system for inspection drones based on high-voltage line energy extraction came into being.

[0004] The wireless charging system for inspection drones uses high-voltage transmission lines as charging infrastructure to achieve wireless charging of inspection drones and provide them with a continuous and stable power supply. The drone is mounted on the high-voltage transmission line through a clamping device, and wireless energy is transmitted to the drone mounted on the line through a current transformer, providing the drone with the required power, realizing on-site power replenishment of the power inspection drone, thereby realizing automation and efficiency of the charging process.

[0005] However, the traditional clamping device has the following limitations, and a new clamping device that meets the inductive power supply requirements of drones is needed to replace it.

[0006] 1. The traditional clamping device structure is only suitable for cylindrical wires of one size, and is not applicable to cylindrical wires of different sizes, which has limitations.

[0007] 2. The traditional clamping structure does not have an effective anti-slip design and cannot effectively prevent sliding.

[0008] 3. The traditional clamping structure cannot be disassembled. When part of the structure is damaged, it can only be replaced as a whole, resulting in an increase in the cost of use.

[0009] 4. Traditional clamps do not have pressure sensors and cannot provide feedback on whether the clamping work is completed effectively.

[0010] 5. Traditional fixtures lack guiding mechanisms and place high demands on the UAV’s flight control system. Summary of the invention

[0011] In order to solve the deficiencies in the prior art, the present invention provides a high-voltage transmission line energy harvesting drone clamping device and a control method thereof, which can adapt to the clamping needs of transmission cables of various sizes. At the same time, the control difficulty is lower and the clamping success rate is higher.

[0012] The present invention adopts the following technical solution.

[0013] In the first aspect, the present invention provides a high-voltage transmission line energy-collecting drone clamping device, comprising a clamping claw and a base for fixing the clamping claw, wherein the opening size of the clamping claw is adjustable to accommodate transmission cables of different sizes; the high-voltage transmission line energy-collecting drone clamping device also includes: a guiding mechanism, which is arranged on the base and is used to guide the cable into the clamping claw; the clamping claw is also provided with an automatic closing component, which is used to drive the clamping claw to automatically close due to the pressure of the cable when the cable enters the clamping claw.

[0014] Preferably, the clamp comprises a first clamp part and a second clamp part which are symmetrically arranged, and the first clamp part and the second clamp part are both provided with mounting grooves adapted to the base, and the base is detachably inserted into the two mounting grooves and rotatably connected to the first clamp part and the second clamp part respectively.

[0015] Preferably, the automatic closing component comprises a flexible connecting belt, which is located inside the clamping jaw and has two ends respectively connected to the first clamping jaw portion and the second clamping jaw portion.

[0016] Preferably, the base is provided with a driving mechanism for adjusting the size of the jaw opening; the first jaw portion and the second jaw portion are rotatably connected to the base via a first rotating shaft and a second rotating shaft respectively, and the output end of the driving mechanism is coaxially connected to the first rotating shaft and drives the first rotating shaft to rotate; a gear mechanism is provided inside the base for driving the first rotating shaft and the second rotating shaft to rotate synchronously in opposite directions.

[0017] Preferably, the guiding mechanism and the driving mechanism are both detachably connected to the base.

[0018] Preferably, two guiding mechanisms are provided, and the two guiding mechanisms are symmetrically arranged on both sides of the clamping jaw.

[0019] Preferably, the guiding mechanism is provided with slots for the cables to pass through, and the slots penetrate the upper surface of the guiding mechanism, and the center points of the slots on both sides of the clamp are in the same straight line as the center point of the clamp; the horizontal plane where the top end of the guiding mechanism is located is higher than the horizontal plane where the highest point of the clamp is located, so as to guide the cables into the interior of the clamp from bottom to top.

[0020] Preferably, the guiding mechanism is provided with a wire slope at an upper position of the two side walls of the slot hole, for guiding the cable into the slot hole.

[0021] Preferably, the guide mechanism is provided with one or more through holes penetrating the front and back and / or the left and right sides thereof.

[0022] Preferably, the base includes a bottom plate and a fixed seat, the fixed seat is arranged on the top of the bottom plate, and the fixed seat is used to install the clamp; a clamping area is formed between the top surface of the fixed seat and the inner wall of the clamp; a pressure sensor is arranged on the top surface of the fixed seat located in the clamping area, and the pressure sensor is connected to the control system carried by the drone.

[0023] Preferably, the top surface of the fixing seat located in the clamping area is provided with anti-slip textures.

[0024] Preferably, the surface of the clamping claw located in the clamping area and the inner wall of the guide mechanism located on both sides of the slot are provided with anti-slip patterns.

[0025] In a second aspect, the present invention provides a control method for a high-voltage transmission line energy-taking human-machine clamping device, which is applied to the aforementioned high-voltage transmission line energy-taking drone clamping device, and comprises the following steps:

[0026] The clamping device is installed on the high-voltage power transmission line energy harvesting drone;

[0027] The drone flies upward from under the cable, so that the guide mechanism contacts the cable, and the cable slides from top to bottom into the guide mechanism and the inside of the clamp through the guiding action of the guide mechanism;

[0028] The cable compresses the automatic closing assembly causing the jaws to close automatically.

[0029] Preferably, the control method further comprises the following steps:

[0030] A driving mechanism for adjusting the size of the jaw opening is mounted on the base;

[0031] When the clamping jaws are closed, the driving mechanism is started to clamp the clamping jaws, thereby locking the cable inside the clamping jaws.

[0032] Preferably, the control method further comprises the following steps:

[0033] Mounting the pressure sensor on the top surface of the base located in the clamping area;

[0034] The drone control system collects data from the pressure sensor and determines whether the clamping device has locked the cable based on the data from the pressure sensor;

[0035] If the cable is locked, the drone charging operation is performed; if the cable is not locked, the drone clamping path is replanned and the cable clamping operation is performed again.

[0036] Preferably, judging whether the clamping device locks the cable by using data from the pressure sensor includes:

[0037] According to the diameter of the high-voltage transmission line and the weight of the clamping drone, the minimum clamping pressure of the clamping device is set;

[0038] When the data of the pressure sensor is greater than or equal to the minimum clamping pressure, it is determined that the cable is locked; otherwise, the cable is not locked.

[0039] Compared with the prior art, the present invention has the following beneficial effects: the present invention can adapt to the clamping requirements of power transmission cables of different sizes by providing a clamping jaw that can adjust the size of the clamping area; and by providing an automatic closing component, the clamping jaw can be automatically closed after the cable enters the inside of the clamping jaw, thereby reducing the control difficulty and energy consumption of manipulating the closing of the clamping jaw. At the same time, the present invention also provides a guiding mechanism on both sides of the clamping jaw, which can facilitate the introduction of the power transmission cable into the inside of the clamping jaw and improve the success rate of clamping.

[0040] In addition, the present invention also has the following beneficial effects:

[0041] Advantage 1:

[0042] The existing drone gripper does not have a gripping guide mechanism. In the present invention, by adding corresponding alignment guide mechanisms on both sides of the gripper, the gripping area of ​​the drone gripper can be expanded, and the high-voltage cable is forced to slide into the gripper through guidance during the upward movement of the drone. This method reduces the difficulty of drone flight control in complex environments such as wind and control errors, thereby increasing the success rate of grabbing after the drone approaches the high-voltage cable.

[0043] Advantage 2:

[0044] Ordinary guiding mechanisms are not optimized for practical use in the application scenarios of drones during use. The guiding mechanism in the present invention adopts a carbon fiber reinforced composite material, which has high fracture toughness, fatigue resistance and creep resistance, and has higher tensile strength and elastic modulus than general carbon materials. While ensuring that the structural strength can withstand the impact of high-voltage cables, the weight reduction design of the guiding mechanism is achieved by punching to reduce the load of the drone and improve the effective endurance of the drone.

[0045] Advantage 3:

[0046] The existing UAV clamps require high-voltage cables to enter the inside of the clamps to drive the servo, thereby driving the clamps to actively close. This method requires the UAV to maintain a relatively stable working position during the clamp closing process, and does not take into account the control difficulty of the UAV in complex high-altitude environments. In the present invention, the high-voltage cable is forced to press the flexible connecting belt during the upward flight of the UAV, thereby driving the clamp to close toward the middle, reducing the working time of the clamp servo during the closing operation, improving the clamp closing efficiency, and effectively reducing the control accuracy requirements of the UAV.

[0047] Advantage 4:

[0048] Existing drone grippers usually use visual recognition, infrared or laser methods to determine whether the high-voltage cable has entered the interior of the gripper, each of which has the disadvantages of heavy weight, high cost or inaccurate recognition. The present invention adds a thin film pressure sensor at the closed part below the gripper, and determines whether the high-voltage cable has completely entered the gripper by the size of the pressure value, thereby feeding back a signal to the drone control module to command the gripper servo to start and quickly complete the clamping operation. At the same time, the thin film pressure sensor has the advantages of being waterproof and lightweight, and can effectively adapt to the working environment of the high-voltage cable induction power-taking drone. This design can effectively improve the efficiency and success rate of the clamping operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a three-dimensional structural schematic diagram of the high-voltage transmission line energy-taking drone clamping device provided by the present invention.

[0050] Figure 2 It is a front view of the high-voltage power transmission line energy harvesting drone clamping device provided by the present invention.

[0051] Figure 3 It is a side view of the high-voltage transmission line energy-taking drone clamping device provided by the present invention.

[0052] Figure 4 It is a schematic diagram of the high-voltage transmission line energy harvesting drone clamping device provided by the present invention after grabbing a cylindrical cable.

[0053] Figure 5 It is a control flow chart of the high-voltage transmission line energy-taking drone clamping device provided by the present invention.

[0054] Reference numerals in the figure: 1. guiding mechanism; 2. pressure sensor; 3. coupling; 4. servo; 5. flexible connecting belt; 6. clamping claw; 7. base; 8. rotating gear. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in this application are only part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.

[0056] like Figure 1 , Figure 2 , Figure 3As shown, embodiment 1 of the present invention provides a high-voltage transmission line energy-collecting drone clamping device, comprising a clamping jaw 6 and a base 7 for fixing the clamping jaw 6. The opening size of the clamping jaw 6 is adjustable to accommodate transmission cables of different sizes; the high-voltage transmission line energy-collecting drone clamping device also includes: a guiding mechanism 1, which is arranged on the base 7 and is used to guide the cable into the clamping jaw 6; the clamping jaw 6 is also provided with an automatic closing component, which is used to drive the clamping jaw 6 to automatically close when the cable enters the clamping jaw 6 due to the pressure of the cable.

[0057] The base 7 includes a bottom plate and a fixing seat located on the top of the bottom plate, and the fixing seat and the bottom plate are integrally formed.

[0058] In a preferred but non-restrictive embodiment of the present invention, two guiding mechanisms 1 are provided, and the two guiding mechanisms 1 are symmetrically arranged on both sides of the fixed seat. A clamping jaw 6 is provided on the top of the fixed seat, and the clamping jaw 6 includes a first clamping jaw portion and a second clamping jaw portion which are symmetrically arranged. A clamping area for clamping the power cable is formed between the inner wall of the first clamping jaw portion, the inner wall of the second clamping jaw portion and the top surface of the fixed seat.

[0059] The automatic closing assembly includes a flexible connecting belt 5, which is located inside the clamping jaw 6, and its two ends are respectively connected to the first clamping jaw portion and the second clamping jaw portion. When the cable enters the inside of the clamping jaw 6, the flexible connecting belt 5 is compressed by the cable, driving the first clamping jaw portion and the second clamping jaw portion to automatically close.

[0060] Furthermore, the first clamping jaw part and the second clamping jaw part are provided with mounting grooves adapted to the base 7, and the fixing seat is detachably inserted into the two mounting grooves and is rotatably connected to the first clamping jaw part and the second clamping jaw part respectively. A gear mechanism is provided in the fixing seat, and the gear mechanism is used to drive the two rotating shafts to rotate synchronously in the opposite direction, thereby driving the first clamping jaw part and the second clamping jaw part to rotate synchronously inward or synchronously outward, so as to adjust the size of the clamping opening.

[0061] The fixing plate is provided with a driving mechanism for adjusting the opening size of the clamping jaw 6. The first clamping jaw portion and the second clamping jaw portion are rotatably connected to the fixing seat through the first rotating shaft and the second rotating shaft respectively. The driving mechanism is preferably a steering gear 4. The output end of the steering gear 4 is coaxially connected to the first rotating shaft and drives the first rotating shaft to rotate. The two guide mechanisms 1 and the steering gear 4 are detachably fixed to the bottom plate of the base 7 by screws.

[0062] like Figure 2As shown, in a preferred but non-limiting embodiment of the present invention, two guide mechanisms 1 are arranged in parallel, each guide mechanism 1 is designed in a V shape, and the guide mechanism 1 is provided with slots for power transmission cables, the slots penetrate the upper surface of the guide mechanism 1, and the center points of the slots on both sides of the clamping jaw 6 are in the same straight line as the center point of the clamping jaw 6, so that the wires are conveniently located in the two guide mechanisms 1 and the inside of the clamping jaw 6 at the same time. The horizontal plane where the top of the guide mechanism 1 is located is higher than the horizontal plane where the highest point of the clamping area is located, and the line between the two guide mechanisms 1 passes through the clamping area of ​​the clamping jaw 6, which is used to introduce the cable into the clamping area from bottom to top.

[0063] Furthermore, the guiding mechanism 1 is provided with a wire slope at the upper position of the two side walls of the slot, so as to expand the gripping area of ​​the drone gripper, and force the high-voltage cable to slide into the gripper 6 during the upward movement of the drone by means of guidance. This method reduces the difficulty of drone flight control in complex environments such as wind and control errors, thereby increasing the success rate of grabbing the high-voltage cable after the drone approaches it.

[0064] Furthermore, the guide mechanism 1 adopts a hollow design, and is provided with one or more through holes that penetrate the front and back and / or left and right thereof, thereby reducing the weight of the entire device.

[0065] The flexible connecting belt 5 is a flexible belt. By tying a flexible belt at the upper end of the clamp 6, when the UAV flies upward under the cable, the cable will compress the flexible belt and drive the clamp 6 to close autonomously, reducing the working time of the clamp servo during the closing operation, improving the clamp closing efficiency, and effectively reducing the control accuracy requirements of the UAV.

[0066] In a preferred but non-limiting embodiment of the present invention, the surface of the clamping area of ​​the clamping jaw 6 and the clamping area of ​​the fixing seat are provided with anti-slip textures, and the anti-slip textures are preferably serrated textures. When the clamping jaw 6 is closed, the serrated textures can fit into the recess of the wire, thereby increasing the friction between the additional support points and the surface, and can effectively improve the stability of the clamping.

[0067] Furthermore, the tip of the first jaw portion and the tip of the second jaw portion cross and overlap each other, so that the jaw opening of the jaw 6 can be closed, and the size of the jaw opening of the jaw 6 changes with the degree of closure, thereby adapting to wires of different sizes.

[0068] Furthermore, the inner walls of the guiding mechanism 1 on both sides of the slot are provided with anti-slip patterns, and the anti-slip patterns are preferably serrated patterns, so that the wires can be stuck in the slots when grabbing the wires, and the serrations on the slot surface can prevent sliding, so that the wires are firmly locked under the joint action of the clamping claws and the base.

[0069] like Figure 1As shown, in a preferred but non-limiting embodiment of the present invention, a pressure sensor 5 is provided on the top surface of the clamping area of ​​the clamping jaw 6 of the fixing seat, and the pressure sensor 5 is connected to the control system carried by the drone. The pressure sensor 5 is preferably a thin film pressure sensor, which can transmit the clamping force data to the control system for judging whether to clamp.

[0070] like Figure 3 , Figure 4 In a preferred but non-restrictive embodiment of the present invention, the first clamping claw portion includes: two semi-arc clamping plates and a clamping arm, the two semi-arc clamping plates are arranged in parallel and have the same opening direction. The two semi-arc clamping plates are fixedly connected by a connecting rod, and the connecting rod is used to hang a flexible connecting belt 5. The bottoms of the two semi-arc clamping plates are connected to the two clamping arms, and a mounting groove adapted to the fixing seat is formed between the two clamping arms. The fixing seat is inserted into the mounting groove and is rotatably connected to the clamping arm. The second clamping claw portion has the same structure and function as the first clamping claw portion, and will not be repeated here. In the process of the drone flying upward under the cable to clamp the cable, the guiding mechanism 1 first contacts the cable, expands the gripping area of ​​the drone clamping claw, and forces the high-voltage cable to slide into the inside of the clamping claw by guiding in the process of the drone moving upward. In addition, the cable will contact the belt 5 connected to the upper end of the clamping claw, and compress the belt 5 to drive the clamping claw 6 to close, so as to achieve rapid closure of the clamping claw and improve the success rate of clamping. There is a V-shaped groove on the top of the base 7, and a film pressure sensor 2 is installed in the V-shaped groove. The drone determines whether the clamp is clamped by collecting pressure data, and controls the rotation of the servo 4 to transfer the force to the clamp through the coupling 3 and the transmission gear 8, thereby achieving the clamping closure of the clamp 6.

[0071] The lower edge of the clamping jaw 6 has teeth, and when clamping a high-voltage transmission line, the teeth can be embedded in the gap of the wire, providing more support points and greater friction; the top of the base has a V-shaped groove with teeth, and when the clamps on both sides are closed, the wire is buckled into the V-shaped groove. The groove design is conducive to limiting the position of the wire, ensuring the smooth completion of the clamping process, and preventing position deviation caused by interference from external factors such as wind.

[0072] Figure 2 yes Figure 1 The front view of a specific instance of the unit is millimeters, Figure 3 yes Figure 1 A side view of a specific example of .

[0073] The combined effect of the guide mechanism and the clamping claw enables the device of the present invention to clamp cylindrical cables within a certain size range. Figure 4 is a schematic diagram of the device's grabbing cylindrical cable.

[0074] like Figure 5As shown, embodiment 2 of the present invention provides a control method for a high-voltage transmission line energy-taking drone clamping device, based on the high-voltage transmission line energy-taking drone clamping device provided in embodiment 1, comprising the following steps:

[0075] Step 1. Install the clamping device on the high-voltage power transmission line energy harvesting drone;

[0076] Step 2. The drone detects the location, shape, size and other information of the target object through its own image recognition system.

[0077] Step 3. After acquiring the image data, the drone transmits the data to the industrial computer control system carried by the drone for analysis. The control system will use inference algorithms and machine learning techniques to interpret the sensor data and identify the characteristics and location of the target object. In this way, the control system can perform appropriate processing based on the properties of the target object.

[0078] Step 4. After identifying the target object, the drone determines the best gripping path based on the location and shape of the target object through a path planning algorithm. During this process, the industrial computer system carried by the drone will consider avoiding obstacles and ensuring the stability of gripping.

[0079] Step 5. After the path planning is completed, the drone gripping device controls the gripper and other actuators to perform precise gripping. During the gripping process, the control system will monitor the gripping process in real time based on the pressure sensor in the gripping device, and adjust parameters such as gripping force and gripping angle to ensure the accuracy and safety of gripping.

[0080] Step 6. Gripping completion inspection: After the gripping is completed, the UAV gripping device will inspect the gripping results. The control system can confirm whether the gripping is successful by judging the collected clamping force data through the sensor system. If the gripping fails, the control system can automatically adjust the gripping parameters and re-execute the gripping process.

[0081] Step 7. Gripping and releasing: When the gripping is completed and confirmed, the drone gripping device will wait for the drone to be charged and other operations to be completed before performing the gripping and releasing action. The control system will control the gripper or robotic arm to release the grip of the target object and place it at the target location.

[0082] Further, step 5 comprises:

[0083] Step 5.1, the drone flies upward from below the cable so that the guide mechanism 1 contacts the cable, and the cable slides into the guide mechanism 1 and the clamp 6 through the guiding effect of the guide mechanism 1;

[0084] Step 5.2, the cable presses the flexible connecting belt 5 of the automatic closing component, so that the clamping claw 6 closes automatically;

[0085] Step 5.3: When the clamping jaws 6 are closed, the driving mechanism is started to clamp the clamping jaws 6 and lock the cable inside the clamping jaws 6.

[0086] Step 6 includes:

[0087] Step 6.1, collecting data from the pressure sensor through the drone control system, and judging whether the clamping device has locked the cable based on the data from the pressure sensor;

[0088] Step 6.2: If the cable is locked, charge the drone. If the cable is not locked, return to step 4 and re-plan the route.

[0089] Further, in step 6, judging whether the clamping device locks the cable by using the data of the pressure sensor 5 includes the following steps:

[0090] According to the diameter of the high-voltage transmission line and the weight of the clamping drone, the minimum clamping pressure of the clamping device is set;

[0091] When the data of the pressure sensor 5 is greater than or equal to the minimum clamping pressure, it is determined that the cable is locked; otherwise, the cable is not locked.

[0092] Among them, image processing uses artificial intelligence image recognition algorithms, such as the Canny operator. The Canny operator is an image edge detection algorithm based on image gradient calculation, which belongs to the method of smoothing first and then derivation. The process of using the Canny operator to implement image edge detection is divided into the following steps:

[0093] 1. Grayscale the images taken by the drone camera.

[0094] 2. Perform Gaussian smoothing filter on the image.

[0095] First generate a two-dimensional Gaussian distribution matrix:

[0096] p(x,y)=p(x)p(y)=frac{1}{2pi}exp(-frac{x 2 +y 2}{2})tag{5}

[0097] To vectorize the formula, use the vector textbf{v}=[xy]^T. Then, convolve it with the grayscale image to achieve image filtering: fs(x,y)=f(x,y)*p(x,y).

[0098] 3. Calculate the gradient magnitude and direction. When calculating the rate of change, for a one-variable function, it is to find the derivative, and for a two-variable function, it is to find the partial derivative. In digital image processing, the gradient magnitude (rate of change) of the gray value is obtained by the first-order finite difference approximation method.

[0099] 4. Perform non-maximum suppression (NMS) on the gradient amplitude. Find the local maximum of the pixel point and compare the gradient amplitudes before and after it along the gradient direction. The area with the largest gradient amplitude along its gradient direction is retained, otherwise it is suppressed. This step mainly excludes non-edge pixels and only retains some thin lines (candidate edges).

[0100] 5. Use the double threshold method to detect and connect edges. Select the gradient amplitude as the high threshold TH and the low threshold TL, and TH:TL is 2:1 or 3:1. If the gradient amplitude of a certain pixel position exceeds TH, the pixel is retained as an edge pixel. If the gradient amplitude of a certain pixel position is less than TL, the pixel is excluded. If the gradient amplitude of a certain pixel position is between TH and TL, the pixel is retained only when it is connected to a higher original pixel.

[0101] After the path planning arrives at the specified position, attitude control is performed before gripping so that the gripping device is aligned with the power line. The inertial coordinate system is usually fixed and is used to represent the global position and velocity of the drone, while the body coordinate system moves and rotates with the drone. To convert a vector in the body coordinate system to the inertial coordinate system, we need to know the attitude of the drone, which is usually represented by Euler angles (Roll, Pitch, Yaw). If there is a three-dimensional vector vb = [xb, yb, zb] in the body coordinate system, it can be converted to the inertial coordinate system vi = [xi, yi, zi] using the following formula:

[0102] vi=Rz(yaw)*Ry(pitch)*Rx(roll)*vb

[0103] Here, Rx, Ry, and Rz are the rotation matrices around the x-axis, y-axis, and z-axis respectively.

[0104] Rx(roll)=[[1,0,0],[0,cos(roll),-sin(roll)],[0,sin(roll),cos(roll)]]

[0105] Ry(pitch)=[[cos(pitch),0,sin(pitch)],[0,1,0],[-sin(pitch),0,cos(pitch)]]

[0106] Rz(yaw)=[[cos(yaw),-sin(yaw),0],[sin(yaw),cos(yaw),0],[0,0,1]]Rz(yaw)=[[cos(yaw),-sin(yaw),0],[sin(yaw),cos(yaw),0],[0,0,1]]

[0107] After alignment, the drone flies upward to perform the clamping operation.

[0108] The basis for judging whether the clamping is completed effectively comes from the feedback data of the pressure sensor. Before application, a judgment test is performed on the diameter of high-voltage transmission lines of various sizes and the weight of the drone to obtain the minimum clamping pressure of the drone in various clamping states, and the relevant stability margin is reserved. During each clamping process, the drone main control chip detects the feedback data of the pressure sensor. If the clamping pressure is greater than the set minimum clamping value, it indicates that the clamping is successful and the drone can start to charge effectively. If the clamping pressure is less than the set minimum clamping value, the drone gripper releases and tries to clamp again. If the drone fails to clamp twice in the same position, a go-around is performed and the clamping operation point is reselected for clamping.

[0109] After successful clamping, the drone slowly stops and then starts inductive energy charging.

[0110] Compared with the prior art, the beneficial effect of the present invention is that the present invention can adapt to the clamping requirements of power transmission cables of different sizes by providing a clamping jaw that can adjust the size of the clamping area; by providing an automatic closing component, the clamping jaw can be automatically closed after the cable enters the inside of the clamping jaw, thereby reducing the control difficulty and energy consumption of manipulating the closing of the clamping jaw. At the same time, the present invention also provides a guiding mechanism on both sides of the clamping jaw, which can facilitate the introduction of the power transmission cable into the inside of the clamping jaw and improve the success rate of clamping.

[0111] In addition, the present invention also has the following beneficial effects:

[0112] Advantage 1:

[0113] The existing drone gripper does not have a gripping guide mechanism. The patent of this invention adds corresponding alignment guide mechanisms on both sides of the gripper to expand the gripping area of ​​the drone gripper, and guides the high-voltage cable to slide into the gripper during the upward movement of the drone. This method reduces the difficulty of drone flight control in complex environments such as wind and control errors, thereby increasing the success rate of grabbing after the drone approaches the high-voltage cable.

[0114] Advantage 2:

[0115] Ordinary guiding mechanisms are not optimized for practical use in the application scenarios of drones during use. The guiding mechanism in the present invention adopts a carbon fiber reinforced composite material, which has high fracture toughness, fatigue resistance and creep resistance, and has higher tensile strength and elastic modulus than general carbon materials. While ensuring that the structural strength can withstand the impact of high-voltage cables, the weight reduction design of the guiding mechanism is achieved by punching to reduce the load of the drone and improve the effective endurance of the drone.

[0116] Advantage 3:

[0117] The existing UAV grippers require high-voltage cables to enter the grippers to drive the servos, thereby driving the grippers to actively close. This method requires the UAV to maintain a relatively stable working position during the gripper closing process, and does not take into account the control difficulty of the UAV in complex high-altitude environments. In the patented invention, the high-voltage cables are forced to press the flexible connecting belt during the upward flight of the UAV, thereby driving the grippers to close toward the middle, reducing the working time of the gripper servos during the closing operation, improving the gripper closing efficiency, and effectively reducing the control accuracy requirements of the UAV.

[0118] Advantage 4:

[0119] Existing drone grippers usually use visual recognition, infrared or laser methods to determine whether the high-voltage cable has entered the interior of the gripper, each of which has the disadvantages of heavy weight, high cost or inaccurate recognition. The present invention adds a thin film pressure sensor at the closed part below the gripper, and determines whether the high-voltage cable has completely entered the gripper by the size of the pressure value, thereby feeding back a signal to the drone control module to command the gripper servo to start and quickly complete the clamping operation. At the same time, the thin film pressure sensor has the advantages of being waterproof and lightweight, and can effectively adapt to the working environment of the high-voltage cable induction power-taking drone. This design can effectively improve the efficiency and success rate of the clamping operation.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A high-voltage transmission line energy-collecting drone clamping device, comprising a clamping claw (6) and a base (7) for fixing the clamping claw (6), characterized in that: The opening size of the clamping jaw (6) is adjustable to accommodate power transmission cables of different sizes; The high-voltage power transmission line energy extraction drone clamping device further comprises: a guiding mechanism (1), the guiding mechanism (1) being arranged on a base (7) and being used for guiding the cable to enter the clamping claw (6); The clamping jaw (6) is also provided with an automatic closing component, which is used to drive the clamping jaw (6) to close automatically when the cable enters the clamping jaw (6) due to the pressure of the cable.

2. The high-voltage power transmission line energy extraction drone clamping device according to claim 1 is characterized by: The clamping jaw (6) comprises a first clamping jaw portion and a second clamping jaw portion which are symmetrically arranged, and the first clamping jaw portion and the second clamping jaw portion are both provided with mounting grooves adapted to the base (7), and the base (7) is detachably inserted into the two mounting grooves and is rotatably connected to the first clamping jaw portion and the second clamping jaw portion respectively.

3. The high-voltage power transmission line energy extraction drone clamping device according to claim 2 is characterized in that: The automatic closing assembly comprises a flexible connecting belt (5), which is located inside the clamping jaw (6) and has two ends respectively connected to the first clamping jaw portion and the second clamping jaw portion.

4. The high-voltage power transmission line energy extraction drone clamping device according to claim 2 is characterized in that: The base (7) is provided with a driving mechanism for adjusting the opening size of the clamping jaws (6); the first clamping jaw portion and the second clamping jaw portion are rotationally connected to the base (7) via a first rotating shaft and a second rotating shaft respectively, and the output end of the driving mechanism is coaxially connected to the first rotating shaft and drives the first rotating shaft to rotate; the base (1) is internally provided with a gear mechanism for driving the first rotating shaft and the second rotating shaft to rotate synchronously in opposite directions.

5. The high-voltage power transmission line energy extraction drone clamping device according to claim 4 is characterized in that: The guiding mechanism and the driving mechanism are both detachably connected to the base (7).

6. The high-voltage power transmission line energy harvesting drone clamping device according to any one of claims 1 to 5, characterized in that: The guide mechanisms (1) are provided with two, and the two guide mechanisms (1) are symmetrically arranged on both sides of the clamping jaw (6).

7. The high-voltage power transmission line energy harvesting drone gripping device according to claim 6 is characterized by: The guide mechanism (1) is provided with slots for the cables to pass through, and the slots penetrate the upper surface of the guide mechanism, and the center points of the slots located on both sides of the clamp (6) are in the same straight line as the center point of the clamp (6); the horizontal plane where the top end of the guide mechanism is located is higher than the horizontal plane where the highest point of the clamp (6) is located, and is used to guide the cable into the interior of the clamp (6) from top to bottom.

8. The high-voltage power transmission line energy extraction drone clamping device according to claim 7 is characterized in that: The guide mechanism (1) is provided with a conductor inclined surface at the upper part of the two side walls of the slot hole, which is used to guide the cable into the slot hole.

9. The high-voltage power transmission line energy harvesting drone clamping device according to claim 6 is characterized by: The guide mechanism (1) is provided with one or more through holes penetrating the front and back and / or left and right sides thereof.

10. The high-voltage power transmission line energy extraction drone clamping device according to any one of claims 1 to 5, characterized in that: The base (7) comprises a bottom plate and a fixing seat, wherein the fixing seat is arranged on the top of the bottom plate and is used to install the clamping claw (6); a clamping area is formed between the top surface of the fixing seat and the inner wall of the clamping claw (6); A pressure sensor (5) is provided on the top surface of the fixing seat located in the clamping area, and the pressure sensor (5) is connected to a control system carried by the drone.

11. The high-voltage power transmission line energy harvesting drone gripping device according to claim 10, characterized in that: The top surface of the fixing seat in the clamping area is provided with anti-slip patterns.

12. The high-voltage power transmission line energy harvesting drone gripping device according to claim 10, characterized in that: The surface of the clamping claw (6) located in the clamping area and the inner wall of the guide mechanism (1) located on both sides of the slot are both provided with anti-slip patterns.

13. A control method for a high-voltage transmission line energy-taking drone gripping device, applied to the high-voltage transmission line energy-taking drone gripping device according to any one of claims 1 to 12, characterized in that: The following steps are involved: The clamping device is installed on the high-voltage power transmission line energy harvesting drone; The drone flies upward from below the cable, so that the guide mechanism (1) contacts the cable, and the cable slides from top to bottom into the guide mechanism (1) and the clamp (6) through the guiding action of the guide mechanism (1); The cable presses the automatic closing assembly so that the clamping jaws (6) close automatically.

14. The control method of the high-voltage power transmission line energy harvesting drone gripping device according to claim 13, characterized in that: The control method further comprises the following steps: A driving mechanism for adjusting the opening size of the clamping jaw (6) is mounted on the base (7); When the clamping jaw (6) is closed, the driving mechanism is started to clamp the clamping jaw (6) and lock the cable inside the clamping jaw (6).

15. The control method of the high-voltage power transmission line energy harvesting drone clamping device according to claim 13, characterized in that: The control method further comprises the following steps: Mounting the pressure sensor (5) on the top surface of the base (7) located in the clamping area; The drone control system collects data from the pressure sensor (5), and determines whether the clamping device has locked the cable based on the data from the pressure sensor (5); If the cable is locked, the drone charging operation is performed; if the cable is not locked, the drone clamping path is replanned and the cable clamping operation is performed again.

16. The control method of the high-voltage power transmission line energy harvesting drone gripping device according to claim 15, characterized in that: Judging whether the clamping device has locked the cable by using data from the pressure sensor (5) includes: According to the diameter of the high-voltage transmission line and the weight of the clamping drone, the minimum clamping pressure of the clamping device is set; When the data of the pressure sensor (5) is greater than or equal to the minimum clamping pressure, it is determined that the cable is locked; otherwise, the cable is not locked.

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