Long-endurance power grid high-altitude stringing unmanned aerial vehicle system and control method thereof

Abstract

The invention provides a long-endurance power grid high-altitude stringing unmanned aerial vehicle system for a long-endurance power grid and a control method of the long-endurance power grid high-altitude stringing unmanned aerial vehicle system, which are used for solving the problem that the deployment of a mooring unmanned aerial vehicle is limited due to the fact that a cable is blocked by obstacles such as trees and houses, and comprises a lift device, a power device, a connecting device and a cable clamp, the lifting force device comprises a balloon made of high-elasticity rubber, an inflation valve and a remote control exhaust valve, the power device comprises a ducted propeller, a motor, an electronic speed controller, a battery and the like, and the connecting device comprises a base, a plane roller bearing, a connecting shaft, a cable clamp, a high-friction rubber patch and a lead screw movement type turbine lead screw lifter. When the cable penetrates through the clamp, the clamp can clamp the cable, the balloon is released after being filled with sufficient helium, the device can pull the cable to the position above an obstacle, therefore, the cable of the mooring unmanned aerial vehicle bypasses the obstacle, the use condition of the mooring unmanned aerial vehicle is lowered, and the power device can further adjust the deployment position of the device to meet the position change of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of tethered unmanned aerial vehicles, and more specifically, to a long-flight power grid high-altitude overhead line unmanned aerial vehicle system. Background Art

[0002] The tethered drone system combines the drone with cables to achieve stable flight and continuous operation, providing a flexible and reliable solution, especially in areas where the drone needs to stay in the air for a long time.

[0003] However, for existing tethered drones, when there are trees or buildings between the deployment location of the tethered control box and the deployment location of the drone, the cables are easily stuck or entangled in obstacles, thus limiting the use scenarios of tethered drones. In view of this, we propose a long-flight power grid high-altitude line drone system. Summary of the invention

[0004] The purpose of the present invention is to provide a long-flight power grid high-altitude overhead line drone system to solve the problem of the existing tethered drones proposed in the above background technology, that when there are trees or buildings between the deployment position of the tethered control box and the deployment position of the drone, the cables are easily stuck or entangled on the obstacles, thereby limiting the use scenarios of the tethered drones.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a long-flight power grid high-altitude overhead line UAV system, which is composed of a lifting device, a power device, a connecting device, and a cable clamp. The lifting device includes a balloon, an inflation valve, and an exhaust valve. The balloon 1 is connected to the top of the box body 2, and an inflation valve is installed on the side of the box body 2 and an exhaust valve is installed on the bottom; The power device includes a ducted propeller, a motor, an electric regulator, and a battery. The ducted propeller 3 is installed on both sides of the box body 2, and the motor, battery, and electric regulator that provide power for the propeller are placed inside the box body 2; The connecting device 4 has a top connected to the bottom of the box body 2 and a bottom connected to the top of the cable clamp 5; The cable clamp 5 is located at the lowermost end of the device and is connected to the box body 2 via the connecting device 4 , and the cable 6 passes through the opening 14 of the cable clamp 5 .

[0006] Furthermore, the cable clamp 5 comprises a first ring 10, a second ring 11, a third ring 12, a screw-moving turbine screw lift 13, and a clamp housing 15; wherein the first ring 10, the second ring 11, and the third ring 12 are intertwined with each other, and the position covered by the three rings is an opening 14 for the cable 6 to pass through; The No. 1 ring 10 and two screw-moving worm screw lifters 13 are fixed inside the fixture housing 15. The No. 2 ring 11 is twice as wide as the No. 3 ring 12. The No. 1 ring 10 is twice as wide as the No. 2 ring 11. Strip holes are opened on the No. 1 ring 10 and the No. 2 ring 11. The No. 3 ring 12 is nested in the No. 2 ring 11, and the No. 2 ring 11 is nested in the No. 1 ring 10. The second ring and the third ring are each connected to a screw rod, and the other end of the screw rod is installed in a screw rod motion type turbine screw rod lifter 13 .

[0007] Furthermore, the area of ​​the opening 14 can be changed, and the opening 14 covers various forms between the maximum area and the minimum area of ​​the hole formed between the first, second and third rings.

[0008] Furthermore, the inner surface of the first ring is smooth, and the parts of the second ring and the third ring that contact the cable are covered with high-friction rubber patches 16 .

[0009] Furthermore, the No. 1 ring 10 is provided with four strip holes, namely a first hole 17, a second hole 18, a third hole 19, and a fourth hole 20, wherein the width of the first hole 17 and the second hole 18 is the same as the width of the No. 3 ring 12, the third hole 19 and the fourth hole 20 are the same as the width of the No. 2 ring 11, and the No. 2 ring 11 is provided with one strip hole, namely a fifth hole 25, and the width of the fifth hole 25 is the same as the width of the No. 3 ring 12.

[0010] Furthermore, the connecting shaft 9 is T-shaped, the base 7 is concave, the diameter of the plane roller bearing 8 is consistent with the internal diameter of the base 7, and the diameter of the cylinder in the lower half of the connecting shaft 9 is consistent with the opening diameter of the plane roller bearing 8. When the connecting shaft is subjected to tension, the three fit tightly together.

[0011] Based on the above-mentioned long-flight power grid long-flight power grid high-altitude line UAV system, the present application also provides a control method thereof, the method comprising the following contents: the first ring 10 is fixed to the inner upper surface of the fixture housing 15 and does not move; The second ring 11 and the third ring 12 are respectively fixedly connected to the screw of a screw motion type worm screw lift 13. The two screw motion type worm screw lifts 13 are fixed at the lower left corner and the lower right corner inside the fixture housing 15, so that the angle between the screw axis and the bottom surface of the fixture housing 15 is 60°. The internal worm gear is connected to the screw by a thread. When the worm gear rotates, it will drive the screw to move linearly along the axial direction. The screw only moves linearly along the axial direction, thereby driving the second ring 11 and the third ring 12 to move linearly along the axial direction of the screw. When the second ring 11 is at the farthest end of the stroke, the outer surface 26 of the second ring 11 is in close contact with the upper surface 23 of the third hole 19 of the first ring 10. When the second ring 11 is at the closest end of the stroke, the inner surface 27 of the second ring 11 is in close contact with the lower surface 24 of the fourth hole 20 of the first ring 10. When the third ring 12 is located at the farthest end of the stroke, the outer surface 28 of the third ring 12 is tightly attached to the upper surface 21 of the first hole 17 of the first ring 10. When the third ring 12 is located at the closest end of the stroke, the inner surface 29 of the third ring 11 is tightly attached to the lower surface 22 of the second hole 18 of the first ring 10. The first ring 10 and the second ring 11 are both circular rings formed by two symmetrical parts spliced ​​along the radial symmetry plane, and are fixed by screws after splicing.

[0012] The beneficial effects of the present invention are: The long-flight high-altitude power grid overhead line UAV system of the present invention can lift the cable of the tethered UAV to a certain height in the air, so that it can avoid obstacles that may get stuck or entangled in the cable, thereby reducing the use conditions of the tethered UAV and broadening its use scenarios.

[0013] In addition, the long-flight power grid high-altitude wireline drone system of the present invention can also adjust the horizontal position of the long-flight power grid high-altitude wireline drone system and reduce the torque generated by the cables and the device through a power device and a connecting device. Even if the tethered drone changes its deployment position, the tethered cable can still bypass obstacles and maintain a stable hover.

[0014] In addition, the long-flight power grid high-altitude wire-overhead UAV system of the present invention can also clamp the cables of the tethered UAV through cable clamps to facilitate movement, and when multiple long-flight power grid high-altitude wire-overhead UAV systems work together, the power device can also apply tension to the cables to straighten them to reduce the waste of cable length. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional schematic diagram of a long-flight power grid high-altitude line-laying UAV system; Figure 2 It is a cross-sectional schematic diagram of a connection device in a long-flight power grid high-altitude overhead line UAV system; Figure 3 It is a three-dimensional schematic diagram of the internal structure of a cable clamp in a long-flight power grid high-altitude overhead line UAV system; Figure 4 The present invention is a schematic diagram of two working states of a cable clamp in a long-flight power grid high-altitude overhead line UAV system. Figure a is a schematic diagram of a loose cable state, and Figure b is a schematic diagram of a clamped cable state. Figure 5 It is a three-dimensional schematic diagram of the No. 1, 2 and 3 rings in the cable clamp in a long-flight power grid high-altitude overhead line UAV system; Figure 6 It is a schematic diagram of a single working scenario of a long-flight power grid overhead line UAV system; Figure 7 The diagram is a schematic diagram of a collaborative working scenario of a long-flight power grid overhead line UAV system.

[0016] The numbers in the figure are: 1. Balloon, 2. Cylindrical box, 3. Ducted propeller, 4. Connecting device, 5. Cable clamp, 6. Cable, 7. Base, 8. Plane roller bearing, 9. Connecting shaft, 10. Ring No. 1, 11. Ring No. 2, 12. Ring No. 3, 13. Screw-type screw-type turbine screw lifter, 14. Opening of the fixture housing, 15. Fixture housing, 16. High friction rubber patch, 17. First hole, 18. Second hole, 19 Third hole, 20. Fourth hole, 21. Upper surface of the first hole, 22. Lower surface of the second hole, 23. Upper surface of the third hole, 24. Lower surface of the fourth hole, 25. Fifth hole, 26. Outer surface of the second ring, 27. Inner surface of the second ring, 28. Outer surface of the third ring, 29. Inner surface of the third ring, 30. Tethered power box, 31. Tethered drone. DETAILED DESCRIPTION

[0017] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0018] For existing tethered drones, when there are trees or buildings between the deployment location of the tethered control box and the deployment location of the drone, the cables are easily stuck or entangled in obstacles, thus limiting the use scenarios of tethered drones. In view of this, we propose a long-flight power grid high-altitude overhead line drone system, which can lift the cables of the tethered drone to a certain height in the air, so that it can avoid obstacles that may get stuck or entangled in the cables, thereby reducing the use conditions of the tethered drone and broadening its use scenarios.

[0019] Embodiment 1:

[0020] See also Figure 1-Figure 5The present invention provides a long-flight power grid high-altitude wire-hanging UAV system, which includes a lifting device, a power device, a connecting device 4, and a cable clamp 5. The lifting device can provide the long-flight power grid high-altitude wire-hanging UAV system with a lifting force to lift the cable 6 into the air; the power device can provide the horizontal movement power for the stringing device; the connecting device 4 can make the cable clamp 5 and the cylindrical box body 2 rotate relative to each other with the axis of the long-flight power grid high-altitude wire-hanging UAV system as the rotation axis, so that the cable 6 will not apply torque to the long-flight power grid high-altitude wire-hanging UAV system; the cable clamp 5 can lift the cable 6 and clamp it, so that there will be no relative movement between the cable 6 and the clamp 5.

[0021] Specifically, the cable clamp 5 of the long-flight power grid high-altitude line drone system comprises a first ring 10, a second ring 11, a third ring 12, a screw-moving turbine screw lift 13, and a clamp housing 15; wherein the first ring 10, the second ring 11, and the third ring 12 are intertwined with each other, and the position covered by the three rings is an opening 14 for the cable 6 to pass through; The No. 1 ring 10 and two screw-moving worm screw lifters 13 are fixed inside the fixture housing 15. The No. 2 ring 11 is twice as wide as the No. 3 ring 12. The No. 1 ring 10 is twice as wide as the No. 2 ring 11. Strip holes are opened on the No. 1 ring 10 and the No. 2 ring 11. The No. 3 ring 12 is nested in the No. 2 ring 11, and the No. 2 ring 11 is nested in the No. 1 ring 10. The second ring and the third ring are each connected to a screw rod, and the other end of the screw rod is installed in a screw rod motion type turbine screw rod lifter 13 .

[0022] Furthermore, the area of ​​the opening 14 can be changed, and the opening 14 covers various forms between the maximum area and the minimum area of ​​the hole formed between the first, second and third rings.

[0023] Furthermore, the inner surface of the first ring is smooth, and the parts of the second ring and the third ring that contact the cable are covered with high-friction rubber patches 16 .

[0024] Furthermore, the No. 1 ring 10 is provided with four strip holes, namely a first hole 17, a second hole 18, a third hole 19, and a fourth hole 20, wherein the width of the first hole 17 and the second hole 18 is the same as the width of the No. 3 ring 12, the third hole 19 and the fourth hole 20 are the same as the width of the No. 2 ring 11, and the No. 2 ring 11 is provided with one strip hole, namely a fifth hole 25, and the width of the fifth hole 25 is the same as the width of the No. 3 ring 12.

[0025] Furthermore, the connecting shaft 9 is T-shaped, the base 7 is concave, the diameter of the plane roller bearing 8 is consistent with the internal diameter of the base 7, and the diameter of the cylinder in the lower half of the connecting shaft 9 is consistent with the opening diameter of the plane roller bearing 8. When the connecting shaft is subjected to tension, the three fit tightly together.

[0026] Embodiment 2:

[0027] The present invention provides a long-flight power grid high-altitude line-hanging UAV system, and the working process is as follows: the first ring 10 is fixed to the inner upper surface of the fixture housing 15 and does not move; The second ring 11 and the third ring 12 are respectively fixedly connected to the screw of a screw motion type worm screw lift 13. The two screw motion type worm screw lifts 13 are fixed at the lower left corner and the lower right corner inside the fixture housing 15, so that the angle between the screw axis and the bottom surface of the fixture housing 15 is 60°. The internal worm gear is connected to the screw by a thread. When the worm gear rotates, it will drive the screw to move linearly along the axial direction. The screw only moves linearly along the axial direction, thereby driving the second ring 11 and the third ring 12 to move linearly along the axial direction of the screw. When the second ring 11 is at the farthest end of the stroke, the outer surface 26 of the second ring 11 is in close contact with the upper surface 23 of the third hole 19 of the first ring 10. When the second ring 11 is at the closest end of the stroke, the inner surface 27 of the second ring 11 is in close contact with the lower surface 24 of the fourth hole 20 of the first ring 10. When the third ring 12 is located at the farthest end of the stroke, the outer surface 28 of the third ring 12 is tightly attached to the upper surface 21 of the first hole 17 of the first ring 10. When the third ring 12 is located at the closest end of the stroke, the inner surface 29 of the third ring 11 is tightly attached to the lower surface 22 of the second hole 18 of the first ring 10. The first ring 10 and the second ring 11 are both circular rings formed by two symmetrical parts spliced ​​along the radial symmetry plane, and are fixed by screws after splicing.

[0028] Choose an open area to place various equipment including the long-flight power grid overhead line UAV system. When on the ground, first pass the cable 6 through the cable clamp 5, and then use a gas cylinder to fill a certain amount of helium into the balloon 1 through the inflation valve to generate lift and pull the cable 6 to a specified height. Only one ducted propeller 3 can be used to generate torque to turn the device, or two ducted propellers 3 can be used at the same time to generate the same thrust to move the device. When the long-flight power grid overhead line UAV system lifts the cable 6 to a specified height above the obstacle, the tethered drone 31 takes off, crosses the obstacle and reaches the deployment position. In addition, when the tethered drone 31 moves, the long-flight power grid overhead line UAV system can keep following the movement through the power device.

[0029] When the width of the obstacle between the location of the tethered power box 30 and the deployment location of the tethered drone 31 is large, two or more long-flight power grid overhead line drone systems can be used simultaneously for collaborative operations. The screw-motion turbine screw lifter 13 in the cable clamp 5 shrinks the second ring 11 and the third ring 12, so that it cooperates with the first ring 10 to clamp the cable 6 so that it will not move relative to the device. The power device in the long-flight power grid overhead line drone system on both sides of a section of cable 6 generates a reverse force, so that the section of cable 6 is pulled and straightened, thereby avoiding the cable 6 from contacting obstacles and saving the length of the cable 6. When the tethered drone 31 completes its work and returns and lands, the long-flight power grid overhead line drone system also returns to the air in the open field, and uses the remote control switch to open the exhaust valve to discharge the gas in the balloon 1, so that its lift is reduced and it gradually lands on the ground.

[0030] The above embodiment only expresses one implementation mode of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. The long-flight power grid high-altitude line-hanging UAV system consists of four parts: a lifting device, a power device, a connecting device, and a cable clamp. It is characterized by: The lifting device comprises a balloon, an inflation valve and an exhaust valve, wherein the balloon (1) is connected to the top of the box body (2), an inflation valve is installed on the side of the box body (2) and an exhaust valve is installed on the bottom; The power device comprises a ducted propeller, a motor, an electric regulator, and a battery. The ducted propeller (3) is mounted on both sides of the box body (2), and the motor, battery, and electric regulator that provide power to the propeller are placed inside the box body (2); The connecting device (4) has a top connected to the bottom of the box body (2) and a bottom connected to the top of the cable clamp (5); The cable clamp (5) is located at the lowermost end of the device and is connected to the box body (2) via a connecting device (4). The cable (6) passes through an opening (14) of the cable clamp (5).

2. The long-flight power grid high-altitude line UAV system according to claim 1 is characterized by: The cable clamp (5) comprises a first ring (10), a second ring (11), a third ring (12), a screw-moving turbine screw lifter (13), and a clamp housing (15); wherein the first ring (10), the second ring (11), and the third ring (12) intersect with each other, and the position covered by the three rings is an opening (14) for the cable (6) to pass through; The first ring (10) and two screw-motion-type worm screw lifters (13) are fixed inside the fixture housing (15); the width of the second ring (11) is twice that of the third ring (12); the width of the first ring (10) is twice that of the second ring (11); strip holes are opened on the first ring (10) and the second ring (11); the third ring (12) is nested in the second ring (11); and the second ring (11) is nested in the first ring (10); The second ring and the third ring are each connected to a screw rod, and the other end of the screw rod is installed in a screw rod motion type turbine screw rod lifter (13).

3. The long-flight power grid high-altitude line UAV system according to claim 2 is characterized by: The area of ​​the opening (14) can be changed, and the opening (14) covers various forms between the maximum area and the minimum area of ​​the hole formed between the first, second and third rings.

4. The long-flight power grid overhead line UAV system according to claim 2 is characterized by: The inner surface of the first ring is smooth, and the parts of the second ring and the third ring that contact the cable are affixed with high-friction rubber patches (16).

5. The long-flight power grid high-altitude line UAV system according to claim 3 is characterized by: The first ring (10) is provided with four strip-shaped holes, namely a first hole (17), a second hole (18), a third hole (19), and a fourth hole (20), wherein the widths of the first hole (17) and the second hole (18) are the same as the widths of the third ring (12), the third hole (19) and the fourth hole (20) are the same as the widths of the second ring (11), and the second ring (11) is provided with one strip-shaped hole, namely a fifth hole (25), and the width of the fifth hole (25) is the same as the width of the third ring (12).

6. The long-flight power grid high-altitude line UAV system according to claim 1 is characterized by: The connecting device (4) is composed of a base (7), a plane roller bearing (8), and a connecting shaft (9); The connecting shaft (9) is T-shaped, the base (7) is concave-shaped, the diameter of the plane roller bearing (8) is consistent with the inner diameter of the base (7), and the diameter of the cylinder in the lower half of the connecting shaft (9) is consistent with the opening diameter of the plane roller bearing (8). When the connecting shaft is subjected to tension, the three are tightly fitted together.

7. The control method of the long-flight power grid long-flight power grid high-altitude overhead line UAV system according to claim 1 is characterized by: The first ring (10) is fixed to the inner upper surface of the fixture housing (15) and does not move; The second ring (11) and the third ring (12) are respectively fixedly connected to the screw of a screw motion type worm screw lift (13). The two screw motion type worm screw lifts (13) are fixed at the lower left corner and the lower right corner inside the fixture housing (15), so that the angle between the screw axis and the bottom surface of the fixture housing (15) is 60°. The internal worm wheel is connected to the screw by a thread. When the worm wheel rotates, it will drive the screw to move linearly along the axial direction. The screw only moves linearly along the axial direction, thereby driving the second (11) and third (12) rings to move linearly along the axial direction of the screw. When the second ring (11) is located at the farthest end of the stroke, the outer surface (26) of the second ring (11) is in close contact with the upper surface (23) of the third hole (19) of the first ring (10); when the second ring (11) is located at the closest end of the stroke, the inner surface (27) of the second ring (11) is in close contact with the lower surface (24) of the fourth hole (20) of the first ring (10); When the third ring (12) is located at the farthest end of the stroke, the outer surface (28) of the third ring (12) is in close contact with the upper surface (21) of the first hole (17) of the first ring (10); when the third ring (12) is located at the closest end of the stroke, the inner surface (29) of the third ring (11) is in close contact with the lower surface (22) of the second hole (18) of the first ring (10); the first ring (10) and the second ring (11) are both circular rings formed by splicing two symmetrical parts along a radial symmetrical plane, and are fixed by screws after splicing.

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