Long-endurance unmanned aerial vehicle (UAV) system for high-altitude power grid transmission and its control method

Abstract

This invention provides a long-endurance high-altitude power grid overhead unmanned aerial vehicle (UAV) system and its control method to solve the problem of deployment limitations for tethered UAVs due to cables being obstructed by obstacles such as trees and buildings. The system includes a lift device, a power unit, a connecting device, and a cable clamp. The lift device includes a balloon made of high-elastic rubber, an inflation valve, and a remote-controlled exhaust valve. The power unit includes a ducted propeller, a motor, an ESC, and a battery. The connecting device includes a base, a flat roller bearing, a connecting shaft, a cable clamp, a high-friction rubber patch, and a screw-driven turbine lift mechanism. After the cable passes through the clamp, it is secured. After the balloon is inflated with sufficient helium, it is released. The device pulls the cable above the obstacle, allowing the tethered UAV cable to bypass the obstacle, reducing the operating conditions for the tethered UAV. The power unit can also adjust the deployment position of the device to accommodate changes in the UAV's location.

Description

Technical Field

[0001] This invention relates to the field of tethered unmanned aerial vehicles (UAVs), and more specifically, to a long-endurance UAV system for high-altitude power grid overhead lines. Background Technology

[0002] Tethered drone systems achieve stable flight and continuous operation by combining drones with cables. They offer a flexible and reliable solution, particularly in applications requiring drones to remain airborne for extended periods.

[0003] However, with existing tethered drones, when there are trees or buildings between the tethered control box deployment location and the drone deployment location, the cables are easily caught or tangled in obstacles, thus limiting the application scenarios of tethered drones. In view of this, we propose a long-endurance high-altitude power grid overhead line drone system. Summary of the Invention

[0004] The purpose of this invention is to provide a long-endurance high-altitude power grid overhead unmanned aerial vehicle (UAV) system to solve the problem mentioned in the background art that when there are trees or buildings between the deployment location of the tethered control box and the deployment location of the UAV, the cables of the existing tethered UAVs are easily jammed or tangled on obstacles, thus limiting the application scenarios of the tethered UAVs.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a long-endurance high-altitude power grid overhead unmanned aerial vehicle system, which consists of four parts: 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 is connected to the top of the box, and an inflation valve is installed on the side of the box and an exhaust valve is installed on the bottom.

[0006] The power unit includes a ducted propeller, a motor, an electronic speed controller (ESC), and a battery. The ducted propeller is installed on both sides of the housing, while the motor, battery, and ESC that provide power to the propeller are placed inside the housing.

[0007] The connecting device is connected at the top to the bottom of the box and at the bottom to the top of the cable clamp;

[0008] The cable clamp is connected to the housing via a connecting device, and the cable passes through the opening in the cable clamp.

[0009] Furthermore, the cable clamp includes a first ring, a second ring, a third ring, a screw-driven worm gear screw jack, and a clamp housing; wherein the first, second, and third rings intersect each other, and the area covered by the three rings is an opening for the cable to pass through;

[0010] The No. 1 ring and the two lead screw motion type turbine lead screw jacks are fixed inside the clamp housing. The width of the No. 2 ring is twice that of the No. 3 ring, and the width of the No. 1 ring is twice that of the No. 2 ring. The No. 1 ring and the No. 2 ring have strip-shaped holes. The No. 3 ring is nested inside the No. 2 ring, and the No. 2 ring is nested inside the No. 1 ring.

[0011] Each of the second and third rings is connected to a lead screw, and the other end of the lead screw is installed in the lead screw motion type turbine lead screw jack.

[0012] Furthermore, the area of ​​the opening can be changed, and the opening covers various shapes between the maximum and minimum areas of the hole formed between the first, second, and third rings.

[0013] Furthermore, the inner surface of the first ring is smooth, while the parts of the second and third rings that contact the cable are covered with high-friction rubber patches.

[0014] Furthermore, the first ring has four strip-shaped holes, namely the first hole, the second hole, the third hole, and the fourth hole. The width of the first hole and the second hole is the same as the width of the third ring, the width of the third hole and the fourth hole is the same as the width of the second ring, and the second ring has a fifth strip-shaped hole, the width of which is the same as the width of the third ring.

[0015] Furthermore, the connecting shaft is T-shaped, the base is U-shaped, the diameter of the flat roller bearing is the same as the inner diameter of the base, and the diameter of the lower cylindrical part of the connecting shaft is the same as the opening diameter of the flat roller bearing. When the connecting shaft is subjected to tension, the base, the flat roller bearing and the connecting shaft fit together tightly.

[0016] Based on the above-mentioned long-endurance power grid high-altitude power line unmanned aerial vehicle system, this application also provides its control method, which includes the following: the first ring is fixed to the upper surface inside the clamp housing and does not move;

[0017] Rings No. 2 and No. 3 are respectively fixedly connected to the lead screw of a screw-driven worm gear screw jack. The two screw-driven worm gear screw jacks are fixed inside the lower left and lower right corners of the fixture housing, so that the angle between the lead screw axis and the bottom surface of the fixture housing is 60°. The internal worm gear is connected to the lead screw by a thread. When the worm gear rotates, it will drive the lead screw to move linearly along the axial direction. The lead screw only moves linearly along the axial direction, thereby driving rings No. 2 and No. 3 to move linearly along the lead screw axis.

[0018] When the second ring is at the farthest end of the travel, the outer surface of the second ring is in close contact with the upper surface of the third hole of the first ring. When the second ring is at the shortest end of the travel, the inner surface of the second ring is in close contact with the lower surface of the fourth hole of the first ring.

[0019] When ring number three is at the farthest end of the travel, its outer surface is in close contact with the upper surface of the first hole of ring number one. When ring number three is at the shortest end of the travel, its inner surface is in close contact with the lower surface of the second hole of ring number one. Both ring number one and ring number two are made up of two small rings spliced ​​together. These two small rings are symmetrical about the radial symmetry plane of the spliced ​​ring and are fixed by screws after splicing.

[0020] The beneficial effects of this invention are:

[0021] The long-endurance power grid high-altitude overhead unmanned aerial vehicle system of the present invention can raise the cable of the tethered drone to a certain height in the air, so that it can avoid obstacles that may jam or entangle the cable, thereby reducing the operating conditions of the tethered drone and expanding its application scenarios.

[0022] Furthermore, the long-endurance power grid high-altitude overhead unmanned aerial vehicle system of the present invention can also adjust the horizontal position of the long-endurance power grid high-altitude overhead unmanned aerial vehicle system and reduce the torque generated by the cable and the device through the power unit and the connection device. Even if the tethered drone changes its deployment position, the tethered cable can still bypass obstacles and remain hovering smoothly.

[0023] Furthermore, the long-endurance power grid high-altitude overhead unmanned aerial vehicle system of the present invention can also clamp the cable of the tethered drone with a cable clamp to facilitate its movement. When multiple long-endurance power grid high-altitude overhead unmanned aerial vehicle systems work together, the power unit can also apply tension to the cable to straighten it, thereby reducing the waste of cable length. Attached Figure Description

[0024] Figure 1 This is a three-dimensional schematic diagram of a long-endurance high-altitude power grid overhead unmanned aerial vehicle system.

[0025] Figure 2 This is a cross-sectional schematic diagram of a connecting device in a long-endurance UAV system for high-altitude power grid overhead lines;

[0026] Figure 3 This is a three-dimensional schematic diagram of the internal structure of a cable clamp in a long-endurance high-altitude power grid overhead unmanned aerial vehicle system.

[0027] Figure 4 This is a schematic diagram of two working states of a cable clamp in a long-endurance high-altitude power grid overhead unmanned aerial vehicle system. Figure a is a schematic diagram of the cable loosening state, and Figure b is a schematic diagram of the cable clamping state.

[0028] Figure 5 This is a three-dimensional schematic diagram of the first, second, and third rings in a cable clamp of a long-endurance high-altitude power grid overhead unmanned aerial vehicle system;

[0029] Figure 6 This is a schematic diagram of a standalone working scenario for a long-endurance high-altitude power grid overhead unmanned aerial vehicle system.

[0030] Figure 7 This is a schematic diagram of a collaborative working scenario for a long-endurance aerial power grid overhead line unmanned aerial vehicle (UAV) system.

[0031] The numbers on the map are:

[0032] 1. Balloon, 2. Cylindrical box, 3. Ducted propeller, 4. Connecting device, 5. Cable clamp, 6. Cable, 7. Base, 8. Flat roller bearing, 9. Connecting shaft, 10. Ring 1, 11. Ring 2, 12. Ring 3, 13. Screw-driven turbine screw jack, 14. Opening of clamp housing, 15. Clamp housing, 16. High-friction rubber patch, 17. First hole, 18. Second hole, 19. Third hole, 20. Fourth hole, 21. Upper surface of first hole, 22. Lower surface of second hole, 23. Upper surface of third hole, 24. Lower surface of fourth hole, 25. Fifth hole, 26. Outer surface of ring 2, 27. Inner surface of ring 2, 28. Outer surface of ring 3, 29. Inner surface of ring 3, 30. Tethered power supply box, 31. Tethered drone. Detailed Implementation

[0033] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0034] Existing tethered drones often suffer from cable entanglement or jamming when there are trees or buildings between the tethered control box and the drone's deployment location, thus limiting their usability. To address this, we propose a long-endurance, high-altitude power grid overhead line drone system. This system elevates the tethered drone's cable to a certain height, allowing it to avoid obstacles that could cause entanglement or jamming, thereby reducing the operational requirements of tethered drones and expanding their application scenarios.

[0035] Example 1:

[0036] Please see Figures 1-5This invention provides a long-endurance high-altitude power grid overhead line unmanned aerial vehicle (UAV) system. The system includes a lift device, a power unit, a connecting device 4, and a cable clamp 5. The lift device provides lift to raise the cable 6 into the air; the power unit provides power for horizontal movement of the overhead line device; the connecting device 4 allows the cable clamp 5 and the cylindrical box 2 to rotate relative to each other about the axis of the long-endurance high-altitude power grid overhead line unmanned aerial vehicle (UAV) system, thus preventing the cable 6 from exerting torque on the system; the cable clamp 5 lifts and clamps the cable 6, preventing relative movement between the cable 6 and the clamp 5.

[0037] Specifically, the cable clamp 5 of the long-endurance power grid high-altitude overhead line UAV system includes a first ring 10, a second ring 11, a third ring 12, a lead screw motion type turbine lead screw jack 13, and a clamp housing 15; wherein, the three rings 10, 11, and 12 intersect each other, and the position covered by the three rings is the opening 14 for the cable 6 to pass through;

[0038] The first ring 10 and the two lead screw motion type turbine lead screw jacks 13 are fixed inside the clamp housing 15. The width of the second ring 11 is twice that of the third ring 12, and the width of the first ring 10 is twice that of the second ring 11. The first ring 10 and the second ring 11 have strip-shaped holes. The third ring 12 is nested inside the second ring 11, and the second ring 11 is nested inside the first ring 10.

[0039] Each of the second and third rings is connected to a lead screw, and the other end of the lead screw is installed in the lead screw motion type turbine lead screw jack 13.

[0040] Furthermore, the area of ​​the opening 14 can be changed, and the opening 14 covers various shapes between the maximum and minimum areas of the hole formed between the first, second and third rings.

[0041] Furthermore, the inner surface of the first ring is smooth, while the parts of the second and third rings that contact the cable are covered with high-friction rubber patches 16.

[0042] Furthermore, the first ring 10 has four strip-shaped holes, namely the first hole 17, the second hole 18, the third hole 19, and the fourth hole 20. The width of the first hole 17 and the second hole 18 is the same as the width of the third ring 12, the width of the third hole 19 and the fourth hole 20 is the same as the width of the second ring 11, and the second ring 11 has one strip-shaped hole, the fifth hole 25, the width of which is the same as the width of the third ring 12.

[0043] Furthermore, the connecting shaft 9 is T-shaped, the base 7 is U-shaped, the diameter of the flat roller bearing 8 is the same as the inner diameter of the base 7, and the diameter of the lower cylindrical part of the connecting shaft 9 is the same as the opening diameter of the flat roller bearing 8. When the connecting shaft is subjected to tension, the three fit together tightly.

[0044] Example 2:

[0045] The present invention provides a long-endurance high-altitude power grid overhead unmanned aerial vehicle system. The working process is as follows: the first ring 10 is fixed on the upper surface inside the clamp housing 15 and does not move;

[0046] Ring 11 and ring 12 are respectively fixedly connected to the lead screw of a screw-driven worm gear screw jack 13. The two screw-driven worm gear screw jacks 13 are fixed inside the lower left and lower right corners of the fixture housing 15, so that the angle between the lead screw axis and the bottom surface of the fixture housing 15 is 60°. The internal worm gear is connected to the lead screw by a thread. When the worm gear rotates, it will drive the lead screw to move linearly along the axial direction. The lead screw only moves linearly along the axial direction, thereby driving rings 11 and 12 to move linearly along the lead screw axis.

[0047] When the second ring 11 is at the farthest end of the travel, 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 shortest end of the travel, 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.

[0048] When the third ring 12 is at the farthest end of the travel, 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 at the shortest end of the travel, 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 radially symmetrical plane. After splicing, they are fixed by screws.

[0049] Choose an open area to deploy the long-endurance power grid high-altitude overhead drone system and other equipment. On the ground, first thread the cable 6 through the cable clamp 5, then use a gas cylinder to fill the balloon 1 with a certain amount of helium through the inflation valve to generate lift and raise the cable 6 to the designated height. A single ducted propeller 3 can be used to generate torque to steer the device, or two ducted propellers 3 can be used simultaneously to generate the same thrust to move the device. When the long-endurance power grid high-altitude overhead drone system raises the cable 6 to the designated height above the obstacle, the tethered drone 31 takes off, crosses the obstacle, and reaches the deployment position. Furthermore, when the tethered drone 31 moves, the long-endurance power grid high-altitude overhead drone system can maintain its movement via a power unit.

[0050] When the obstacle between the location of the tethered power supply box 30 and the deployment location of the tethered drone 31 is wide, two or more long-endurance power grid high-altitude overhead drone systems can be used simultaneously for collaborative operation. The screw-driven turbine screw jack 13 in the cable clamp 5 retracts rings 11 and 12, which, together with ring 10, clamp the cable 6 to prevent relative movement between it and the device. The power units in the long-endurance power grid high-altitude overhead drone systems on both sides of a section of cable 6 generate a counterforce, causing the section of cable 6 to be stretched and taut, thereby preventing the cable 6 from contacting the obstacle and saving cable 6 length. After the tethered drone 31 completes its work, returns, and lands, the long-endurance power grid high-altitude overhead drone system also returns to the open airspace. Using the remote control switch, the exhaust valve is opened to release the gas from balloon 1, reducing its lift and gradually descending to the ground.

[0051] The above embodiments illustrate only one implementation of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A long-endurance high-altitude power grid overhead unmanned aerial vehicle (UAV) system, comprising four parts: a lift device, a power unit, a connecting device, and a cable clamp, characterized in that: The lifting device includes a balloon, an inflation valve, and an exhaust valve. The balloon is connected to the top of the box, and an inflation valve is installed on the side of the box and an exhaust valve is installed on the bottom. The power unit includes a ducted propeller, a motor, an electronic speed controller (ESC), and a battery. The ducted propeller is installed on both sides of the housing, while the motor, battery, and ESC that provide power to the propeller are placed inside the housing. The connecting device is connected at the top to the bottom of the housing and at the bottom to the top of the cable clamp; The cable clamp is connected to the housing via a connecting device, and the cable passes through the opening in the cable clamp; The cable clamp includes a first ring, a second ring, a third ring, a screw-driven worm gear screw jack, and a clamp housing; wherein the first, second, and third rings intersect each other, and the area covered by the three rings is an opening for the cable to pass through; The No. 1 ring and the two lead screw motion type turbine lead screw jacks are fixed inside the clamp housing. The width of the No. 2 ring is twice that of the No. 3 ring, and the width of the No. 1 ring is twice that of the No. 2 ring. The No. 1 ring and the No. 2 ring have strip-shaped holes. The No. 3 ring is nested inside the No. 2 ring, and the No. 2 ring is nested inside the No. 1 ring. Each of the second and third rings is connected to a lead screw, and the other end of the lead screw is installed in the lead screw motion type turbine lead screw jack.

2. The long-endurance high-altitude power grid overhead unmanned aerial vehicle system according to claim 1, characterized in that: The area of ​​the opening can be changed, and the opening covers various shapes between the maximum and minimum areas of the holes formed between ring 1, ring 2, and ring 3.

3. The long-endurance high-altitude power grid overhead unmanned aerial vehicle system according to claim 2, characterized in that: The inner surface of the first ring is smooth, while the parts of the second and third rings that come into contact with the cable are covered with high-friction rubber patches.

4. The long-endurance high-altitude power grid overhead unmanned aerial vehicle system according to claim 3, characterized in that: The first ring has four strip-shaped holes, namely the first hole, the second hole, the third hole, and the fourth hole. The width of the first hole and the second hole is the same as the width of the third ring, and the width of the third hole and the fourth hole is the same as the width of the second ring. The second ring has one fifth hole, and the width of the fifth hole is the same as the width of the third ring.

5. The long-endurance high-altitude power grid overhead unmanned aerial vehicle system according to claim 4, characterized in that: The connecting device consists of a base, a flat roller bearing, and a connecting shaft; The connecting shaft is T-shaped, the base is U-shaped, the diameter of the flat roller bearing is the same as the inner diameter of the base, and the diameter of the lower half of the cylindrical part of the connecting shaft is the same as the opening diameter of the flat roller bearing. When the connecting shaft is subjected to tension, the base, the flat roller bearing and the connecting shaft fit together tightly.

6. A control method for a long-endurance high-altitude power grid overhead unmanned aerial vehicle system based on claim 5, characterized in that: Ring number one is fixed to the upper surface inside the fixture housing and does not move; Rings No. 2 and No. 3 are respectively fixedly connected to the lead screw of a screw-driven worm gear screw jack. The two screw-driven worm gear screw jacks are fixed inside the lower left and lower right corners of the fixture housing, so that the angle between the lead screw axis and the bottom surface of the fixture housing is 60°. The internal worm gear is connected to the lead screw by a thread. When the worm gear rotates, it will drive the lead screw to move linearly along the axial direction. The lead screw only moves linearly along the axial direction, thereby driving rings No. 2 and No. 3 to move linearly along the lead screw axis. When the second ring is at the farthest end of the travel, the outer surface of the second ring is in close contact with the upper surface of the third hole of the first ring. When the second ring is at the shortest end of the travel, the inner surface of the second ring is in close contact with the lower surface of the fourth hole of the first ring. When ring number three is at the farthest end of the travel, its outer surface is in close contact with the upper surface of the first hole of ring number one. When ring number three is at the shortest end of the travel, its inner surface is in close contact with the lower surface of the second hole of ring number one. Both ring number one and ring number two are made up of two small rings spliced ​​together. These two small rings are symmetrical about the radial symmetry plane of the spliced ​​ring and are fixed by screws after splicing.

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