Unmanned aerial vehicle for mounting falling protector and control method thereof

Abstract

The invention discloses an unmanned aerial vehicle for mounting a falling protector and a control method of the unmanned aerial vehicle. The unmanned aerial vehicle comprises a vehicle body, a rotor wing assembly, a falling protector clamping and mounting assembly, a telescopic supporting assembly and a monitoring mechanism. The monitoring mechanism is used for monitoring whether the unmanned aerial vehicle reaches a falling protector mounting area or not, and when the unmanned aerial vehicle reaches the falling protector mounting area, the falling protector clamping and mounting assembly is used for conducting linkage control with the rotor wing assembly and the telescopic supporting assembly, so that the rotor wing assembly shrinks in the direction close to the vehicle body; the falling protector clamping and mounting assembly is used for mounting a pre-clamped falling protector to a preset mounting point according to a preset mode; and after the monitoring mechanism monitors that the unmanned aerial vehicle leaves the falling protector mounting area, the falling protector clamping and mounting assembly is used for performing linkage control with the rotor wing assembly and the telescopic supporting assembly, so that the falling protector clamping and mounting assembly, the telescopic supporting assembly and the rotor wing assembly are reset. The unmanned aerial vehicle can effectively prevent the unmanned aerial vehicle from colliding with the high-voltage transmission tower when the falling protector is hung.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle for mounting a fall arrester and a control method thereof. Background Art

[0002] Working at heights, especially on high-voltage transmission towers, poses great safety risks. When working on towers, workers need to face problems such as wind force, temperature changes, and complex working environments, all of which increase the risk of falling. At present, fall prevention technology mainly relies on personal protective equipment (such as safety belts and safety ropes), collective protective equipment (such as protective nets), and aerial work platforms. In addition, safety training and standardized operating procedures are also important means of preventing falls.

[0003] Drone assistance and lightweight design are the key development directions of high-altitude fall prevention in the future. Drones can transport small tools and materials, reduce the number of times workers frequently go up and down the tower, and thus reduce the risk of falling. For example, patent text CN117902043 A discloses a drone-mounted tower anti-fall device and control method, the device includes a drone, a towing mechanism and an anti-fall mechanism, the anti-fall mechanism includes an anti-fall clamping part and a traction rope and a hanging ring provided on the anti-fall clamping part, and the anti-fall clamping part is provided with a clamping groove; the towing mechanism includes a towing installation box, the towing installation box is provided with a lock guide groove, and a lock hook is provided in the towing installation box; the hanging ring is embedded in the lock guide groove, and one end of the lock hook is embedded in the lock guide groove and hooked on the hanging ring; the towing installation box is provided with a driving component for driving the lock hook to rotate, and the driving component is electrically connected to the drone; the towing installation box and the drone are connected by a connecting rod. For another example, patent text CN 118763556 A discloses a flexible tower-climbing anti-fall device for mounting an unmanned aerial vehicle, comprising a lifting unmanned aerial vehicle body and a fixing component, wherein a suspension component is provided on the lower surface of the lifting unmanned aerial vehicle body, a mechanical arm component is fixedly installed on the upper surface of the fixing component, the mechanical arm component is connected to the suspension component, an anti-fall rope connecting hole is provided on the outer surface of the fixing component, mounting grooves are provided on both sides of the inner wall of the anti-fall rope connecting hole, a receiving groove is provided at the inner bottom of the anti-fall rope connecting hole, an auxiliary component is provided inside the anti-fall rope connecting hole, a plurality of damping rods are fixedly installed on the inner bottom of the anti-fall rope connecting hole, a buzzer controller is provided inside the receiving groove, and an anti-fall rope body is provided inside the anti-fall rope connecting hole.

[0004] In actual operation, using a drone to mount a fall arrester on a high-voltage transmission tower can easily cause collision with the high-voltage transmission tower or the equipment on it, and its reliability is not high. Summary of the invention

[0005] The present invention provides an unmanned aerial vehicle (UAV) for mounting a fall arrester and a control method thereof, which can effectively prevent the UAV from colliding with a high-voltage transmission tower when the fall arrester is mounted on the UAV.

[0006] A drone for mounting a fall arrester comprises a body, a rotor assembly, a fall arrester clamping and mounting assembly, a telescopic support assembly and a monitoring mechanism; the monitoring mechanism, the rotor assembly, the fall arrester clamping and mounting assembly and the telescopic support assembly are mounted on the body, and the telescopic support assembly, the rotor assembly and the fall arrester mounting assembly are arranged in coordination;

[0007] The monitoring mechanism is used to monitor whether the UAV reaches the fall arrester installation area. When the UAV reaches the fall arrester installation area, the fall arrester clamping and mounting assembly is used to perform linkage control with the rotor assembly and the telescopic support assembly, so that the rotor assembly shrinks in the direction close to the fuselage; the fall arrester clamping and mounting assembly is used to mount the pre-clamped fall arrester to a preset installation point in a preset manner; after the monitoring mechanism detects that the UAV leaves the fall arrester installation area, the fall arrester clamping and mounting assembly is used to perform linkage control with the rotor assembly and the telescopic support assembly, so that the fall arrester clamping and mounting assembly, the telescopic support assembly and the rotor assembly are reset.

[0008] Furthermore, the body is a cylindrical structure.

[0009] Furthermore, the fall arrester clamping and mounting assembly comprises a device box, two sets of drive discs, two sets of mechanical arms, two sets of mounting discs, two sets of drive members and two sets of fixing clamps;

[0010] The device box is arranged on the top surface of the body, the two groups of driving disks are respectively installed on both sides of the device box, one end of the two groups of mechanical arms are respectively connected to the two groups of driving disks, and the other end is respectively connected to the two groups of mounting disks, the two groups of driving members are respectively connected to the mounting disks, the two groups of fixing clips are respectively installed on the two groups of driving members, the fixing clips are used to clamp the anti-fall device, and the driving member is used to adjust the angle of the fixing clip;

[0011] The device box is used to drive the robotic arm to flip through the driving disk, and the telescopic support assembly and the rotor assembly are reset when the end of the robotic arm connected to the mounting disk flips to the bottom surface of the machine body, and the telescopic support assembly and the rotor assembly are linked and controlled when flipping away from the bottom surface of the machine body, so that the rotor assembly shrinks in the direction close to the machine body.

[0012] Further, the mechanical arm comprises a first flip arm, a second flip arm and a third flip arm, one end of the first flip arm is connected to the driving disk via a first rotating shaft, the other end of the first flip arm is connected to one end of the second flip arm via a second rotating shaft, the other end of the second flip arm is connected to one end of the third flip arm via a third rotating shaft, and the other end of the third flip arm is connected to the mounting disk;

[0013] The lengths of the first flip arm and the third flip arm are adapted to the radius of the machine body, and the length of the second flip arm is adapted to the height of the machine body, so that the third flip arm can be flipped to the bottom surface of the machine body.

[0014] Furthermore, the fall arrester comprises a safety buckle, and a magnetic attraction block is arranged on the safety buckle;

[0015] The driving member comprises a rotating frame and a driving shaft, the rotating frame is rotatably connected to the mounting plate through the driving shaft, a guide groove is provided on the rotating frame, an electric telescopic rod is provided in the guide groove, the fixing clamp is slidably connected to the guide groove, the telescopic end of the electric telescopic rod is fixedly connected to the fixing clamp, and a fixing member for fixing the magnetic suction block is provided on the fixing clamp;

[0016] The fixing member comprises two groups of clamping blocks arranged opposite to each other, a docking groove is provided on the fixing clip, a magnet ring for magnetic attraction with the magnetic attraction block is arranged in the docking groove, and the clamping block is connected to the fixing clip via an elastic clamping member.

[0017] Further, the rotor assembly includes four sets of connecting frames and rotors, and the rotor is arranged at one end of the connecting frame;

[0018] A device cavity is provided at the geometric center of the bottom surface of the machine body;

[0019] The telescopic support assembly includes a control member arranged in the device cavity, two groups of symmetrically arranged support frames and two groups of mounting blocks, the two groups of support frames are respectively connected to the body through the two groups of mounting blocks, the connecting frame can slide in the device cavity, and the control member is cooperatively connected with the connecting frame and the support frame;

[0020] When the end of the robotic arm connected to the mounting plate is flipped to the bottom surface of the machine body, the control component is limited so that the connecting frame and the supporting frame are reset; when the end of the robotic arm connected to the mounting plate is detached from the bottom surface of the machine body, the connecting frame and the supporting frame are controlled to retract through the control component.

[0021] Further, the control member includes a driving block, a lifting plate, an elastic member, a fixing plate, two sets of racks and a telescopic member;

[0022] The driving block can slide along the vertical direction of the inner wall of the device cavity, the lifting plate is fixed on the top of the driving block, the elastic member is arranged on the top of the lifting plate, and the fixing plate is arranged on the top of the elastic member and connected to the device box;

[0023] Racks are respectively arranged on both sides of the driving block, and gears meshing with the racks are arranged on the support frame;

[0024] The driving block is provided with an inclined surface which matches with the end of the connecting frame away from the rotor, and the telescopic member is cooperatively connected with the connecting frame and the device cavity;

[0025] When one end of the mechanical arm connected to the mounting plate is separated from the bottom surface of the machine body, the elastic member pushes the lifting plate and the driving block to slide downward, driving the end of the connecting frame away from the rotor to slide upward along the inclined surface, so that the rotor assembly shrinks in the direction close to the machine body, and at the same time, the driving block drives the gear to rotate through the rack, driving the support frame to shrink;

[0026] When one end of the robotic arm connected to the mounting plate flips to the bottom surface of the machine body, it contacts the driving block and drives the driving block to slide upward, driving the end of the connecting frame away from the rotor to slide downward along the inclined surface, so that the rotor assembly is reset. At the same time, the driving block drives the gear to rotate through the rack, driving the support frame to reset.

[0027] Further, the telescopic member includes a fixed block, a connecting block and a tension spring, the fixed block is fixed to the inner wall of the device cavity, the connecting block is fixed to the connecting frame, and the tension spring is arranged between the fixed block and the connecting block;

[0028] When the driving block slides downward, the tension spring pulls the connecting frame to shrink in a direction close to the machine body.

[0029] Furthermore, the monitoring mechanism includes a first image acquisition device and a second image acquisition device, the first image acquisition device is arranged on the device box, and the second image acquisition device is arranged on the connecting frame.

[0030] A control method applied to the above-mentioned drone includes:

[0031] The monitoring agency monitors whether the drone reaches the area where the fall arrester is installed;

[0032] When the fall arrester reaches the installation area, the fall arrester clamping and mounting assembly is controlled in linkage with the rotor assembly and the telescopic support assembly, so that the rotor assembly is retracted in a direction close to the fuselage;

[0033] The fall arrester clamping and mounting assembly mounts the pre-clamped fall arrester to a preset installation point in a preset manner;

[0034] After the monitoring mechanism detects that the UAV leaves the fall arrester installation area, the fall arrester clamping and mounting assembly is linked with the rotor assembly and the telescopic support assembly to reset the fall arrester clamping and mounting assembly, the telescopic support assembly and the rotor assembly.

[0035] The UAV for mounting a fall arrester and the control method thereof provided by the present invention have at least the following beneficial effects:

[0036] (1) Through the coordinated cooperation of the telescopic support assembly, the rotor assembly and the anti-fall device mounting assembly, when the UAV is installed with the anti-fall device, the rotor assembly is retracted in the direction close to the fuselage 1, and the support frame in the telescopic support assembly is also retracted, thereby reducing the overall volume of the UAV and avoiding collision with surrounding power equipment, making the installation process more flexible and efficient. After the anti-fall device is installed, the rotor assembly is reset, that is, it is unfolded in the direction away from the fuselage, thereby ensuring the stability of the flight;

[0037] (2) The structural design of the fall arrester clamping and mounting assembly and the flip design of the robotic arm can achieve mounting at various angles. The design of the fixed clamp can achieve reliable clamping of the safety buckle and adjustment at various angles. After the safety buckle is mounted, the safety buckle can be detached from the fixed clamp, thereby meeting the mounting requirements in different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic structural diagram of an embodiment of a UAV for mounting a fall arrester provided by the present invention.

[0039] Figure 2 This is a schematic structural diagram of the drone provided by the present invention for mounting a fall arrester at another angle.

[0040] Figure 3 for Figure 2 Enlarged view of part A.

[0041] Figure 4 A schematic structural diagram of an embodiment of a local structure of a UAV for mounting a fall arrester provided by the present invention.

[0042] Figure 5 for Figure 4 Enlarged view of part B.

[0043] Figure 6 A schematic structural diagram of an embodiment of a rotor assembly, a fall arrester clamping and mounting assembly, and a telescopic support assembly in a UAV for mounting a fall arrester provided by the present invention.

[0044] Figure 7 for Figure 6 Magnified view of part C.

[0045] Figure 8 A schematic structural diagram of a clamping and mounting assembly of a fall arrester in a drone for mounting a fall arrester provided by the present invention in one state.

[0046] Fig. 9A schematic structural diagram of a clamping and mounting assembly of a fall arrester in another state in a drone for mounting a fall arrester provided by the present invention.

[0047] Fig.10 A flow chart of an embodiment of a control method for a drone equipped with a fall arrester provided by the present invention.

[0048] Reference numerals:

[0049] 1-body; 2-rotor; 3-fall arrester clamping and mounting assembly; 4-fixing clip; 5-fall arrester; 6-safety rope; 7-safety buckle; 9-support frame; 10-first image acquisition device; 11-device box; 12-driving disk; 13-mechanical arm; 13a-first flip arm; 13b-second flip arm; 13b-third flip arm; 13d-first rotating shaft; 13e-second rotating shaft; 13c-third rotating shaft; 14-mounting disk; 15-driving member; 16-fixing buckle; 17-rotating block; 18-connection Rope; 19-magnetic block; 20-rotating frame; 21-driving shaft; 22-guide groove; 23-electric telescopic rod; 24-fixing piece; 25-clamping block; 26-docking groove; 27-magnet ring; 28-elastic clamping piece; 29-connecting frame; 30-device cavity; 31-mounting block; 33-driving block; 34-lifting plate; 35-elastic piece; 36-fixing plate; 37-rack; 38-gear; 40-connecting block; 41-fixing block; 42-tension spring; 43-inclined surface; 44-second image acquisition device. DETAILED DESCRIPTION

[0050] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0051] refer to Figure 1 and Figure 2 In some embodiments, a drone for mounting a fall arrester is provided, comprising a body 1, a rotor assembly, a fall arrester clamping and mounting assembly 3, a telescopic support assembly, and a monitoring mechanism; the monitoring mechanism, the rotor assembly, the fall arrester clamping and mounting assembly, and the telescopic support assembly are mounted on the body 1, and the telescopic support assembly, the rotor assembly, and the fall arrester mounting assembly 3 are arranged in coordination;

[0052] The monitoring mechanism is used to monitor whether the UAV reaches the anti-fall device installation area. When the UAV reaches the anti-fall device installation area, the anti-fall device clamping and mounting assembly 3 is controlled in linkage with the rotor assembly and the telescopic support assembly, so that the rotor assembly shrinks in the direction close to the fuselage 1; the anti-fall device clamping and mounting assembly 3 is used to mount the pre-clamped anti-fall device 5 to a preset installation point in a preset manner; after the monitoring mechanism detects that the UAV leaves the anti-fall device installation area, the anti-fall device clamping and mounting assembly 3 is used to control in linkage with the rotor assembly and the telescopic support assembly, so that the anti-fall device clamping and mounting assembly, the telescopic support assembly and the rotor assembly are reset.

[0053] In some embodiments, the body 1 may be a cylindrical structure.

[0054] In some embodiments, reference Figures 1 to 9 The anti-fall device clamping and mounting assembly includes a device box 11, two sets of drive disks 12, two sets of mechanical arms 13, two sets of mounting disks 14, two sets of drive members 15 and two sets of fixing clamps 4;

[0055] The device box 11 is arranged on the top surface of the machine body 1, and two sets of driving disks 12 are respectively installed on both sides of the device box 11, one end of two sets of mechanical arms 13 are respectively connected to the two sets of driving disks 12, and the other end is respectively connected to the two sets of mounting disks 14, two sets of driving members 15 are respectively connected to the mounting disks 14, and two sets of fixing clips 4 are respectively installed on the two sets of driving members 15, the fixing clips 4 are used to clamp the anti-fall device, and the driving member 15 is used to adjust the angle of the fixing clip 4;

[0056] The device box 11 is used to drive the mechanical arm 13 to flip through the driving disk 12. When the end of the mechanical arm 13 connected to the mounting disk 14 flips to the bottom surface of the body 1, the telescopic support assembly and the rotor assembly are reset, and when flipped away from the bottom surface of the body, the telescopic support assembly and the rotor assembly are linked and controlled to make the rotor assembly shrink toward the direction close to the body 1.

[0057] Specifically, the device box 11 is provided with relevant control modules for controlling the driving disk 12 and the mechanical arm 13 , and the mechanical arm 13 can also be provided with wiring and relevant rotating mechanisms.

[0058] Further, the mechanical arm 13 includes a first flip arm 13a, a second flip arm 13b and a third flip arm 13c, one end of the first flip arm 13a is connected to the driving disk 12 through a first rotating shaft 13d, and the other end is connected to one end of the second flip arm 13b through a second rotating shaft 13e, the other end of the second flip arm 13b is connected to one end of the third flip arm 13c through a third rotating shaft 13f, and the other end of the third flip arm 13c is connected to the mounting disk 14;

[0059] The lengths of the first flip arm 13a and the third flip arm 13c are adapted to the radius of the body 1, that is, the lengths of the first flip arm 13a and the third flip arm 13c are slightly larger than the radius of the body 1; the length of the second flip arm 13b is adapted to the height of the body 1, so that the third flip arm 13c can be flipped to the bottom surface of the body 1, that is, the length of the second flip arm 13b is slightly larger than the height of the body 1.

[0060] The first flip arm 13a can flip around the first rotation axis 13d within the range of 0-90°, the second flip arm 13b can flip around the second rotation axis 13e within the range of 0-180°, and the third flip arm 13c can flip around the third rotation axis 13f within the range of 0-180°.

[0061] Specifically, when the first flip arm 13a is parallel to the top surface of the body 1, it is defined as 0°; when the first flip arm 13a is perpendicular to the top surface of the body 1, it is defined as 90°; when the second flip arm 13b is perpendicular to the first flip arm 13a, it is defined as 0°; when the third flip arm 13c is perpendicular to the second flip arm 13b, it is defined as 0°.

[0062] For example, in one application scenario, the first flip arm 13a is at 0°, the second flip arm 13b is at 90° with the first flip arm 13a and is directed downward, and the third flip arm 13c is at 90 degrees with the second flip arm 13b. At this time, the third flip arm 13e is located on the bottom surface of the body 1 to reset the telescopic support assembly and the rotor assembly.

[0063] In the second application scenario, the first flip arm 13a, the second flip arm 13b and the third flip arm 13c are in a straight line, that is, the entire mechanical arm is open, and the fall arrester in the fixing clamp 4 can be mounted to a preset installation point.

[0064] In the third application scenario, the first flip arm 13a is at 0°, the second flip arm 13b is 90° with the first flip arm 13a and is in an upward direction, and the third flip arm 13c is 180 degrees with the second flip arm 13b. At this time, the robotic arm flips upward, and the fall arrester in the fixing clamp 4 can also be mounted to the preset installation point.

[0065] In the fourth application scenario, the first flip arm 13a is 90°, and the second flip arm 13b and the third flip arm are 180° with the first flip arm 13a. At this time, the robotic arm flips upward, and the fall arrester in the fixing clamp 4 can also be mounted to the preset installation point.

[0066] In some embodiments, the fall arrester 5 includes a safety buckle 7 , and a magnetic block 19 is provided on the safety buckle 7 .

[0067] In some embodiments, the fall arrester 5 includes two sets of safety buckles 7, and the fall arrester 5 also includes a safety rope 6, a fixed buckle 16, a rotating block 17 and a connecting rope 18. One end of the connecting rope 18 is fixedly connected to the magnetic block 19, and the other end is connected to the rotating block 17. The rotating block 17 is rotatably set in the fixed buckle 16, and the safety rope 6 is fixedly connected to the fixed buckle 16.

[0068] The driving member 15 includes a rotating frame 20 and a driving shaft 21. The rotating frame 20 is rotatably connected to the mounting plate 14 through the driving shaft 21. A guide groove 22 is provided on the rotating frame 20. An electric telescopic rod 23 is provided in the guide groove 22. A fixing clamp 4 is slidably connected to the guide groove 22. The telescopic end of the electric telescopic rod 23 is fixedly connected to the fixing clamp 4. A fixing member 24 for fixing the magnetic suction block is provided on the fixing clamp 4.

[0069] The fixing part 24 includes two groups of relatively arranged clamping blocks 25, a docking groove 26 is provided on the fixing clamp 4, a magnet ring 27 for magnetic attraction with the magnetic attraction block 19 is provided in the docking groove 26, the clamping block 25 is connected to the fixing clamp 4 through an elastic clamping part 28, the rotating frame 20 can adjust the angle of the fixing clamp 4 by rotating, the electric telescopic rod 23 can control the fixing clamp 4 to move in the vertical direction, and the downward movement of the fixing clamp 4 can make the magnetic attraction block 19 of the fall arrester 5 disengage from the magnet ring 27.

[0070] Specifically, when the fall arrester is installed on the fixing clip 4, the magnetic block 19 of the fall arrester can be inserted into the docking groove 26 through the clamping block 25, so that the magnetic block 19 is magnetically attracted to the magnet ring 27, thereby realizing the installation of the fall arrester on the drone.

[0071] In some embodiments, the rotor assembly includes four sets of connecting frames 29 and rotors 2, and the rotors 2 are arranged at one end of the connecting frames 29;

[0072] A device cavity 30 is provided at the geometric center of the bottom surface of the body 1;

[0073] The telescopic support assembly includes a control member disposed in the device cavity 30, two groups of symmetrically disposed support frames 9 and two groups of mounting blocks 31, the two groups of support frames 9 are respectively connected to the body 1 through the two groups of mounting blocks 31, the connecting frame 29 can slide in the device cavity 30, and the control member is cooperatively connected with the connecting frame 29 and the support frame 9;

[0074] When the end of the robotic arm 13 connected to the mounting plate 14 flips to the bottom surface of the machine body 1, the control component is limited so that the connecting frame 29 and the supporting frame 9 are reset; when the end of the robotic arm 13 connected to the mounting plate 14 is detached from the bottom surface of the machine body 1, the connecting frame 29 and the supporting frame 9 are controlled to retract through the control component.

[0075] Further, the control member includes a driving block 33, a lifting plate 34, an elastic member 35, a fixing plate 36, two sets of racks 37 and a telescopic member;

[0076] The driving block 33 can slide along the vertical direction of the inner wall of the device cavity 30, the lifting plate 34 is fixed on the top of the driving block 33, the elastic member 35 is arranged on the top of the lifting plate 34, and the fixing plate 36 is arranged on the top of the elastic member 35 and connected to the device box 11;

[0077] Racks 37 are provided on both sides of the driving block 33, and a gear 38 meshing with the racks 37 is provided on the support frame 9;

[0078] The driving block 33 is provided with an inclined surface 43 which fits with the end of the connecting frame 29 away from the rotor 2, and the telescopic member is cooperatively connected with the connecting frame 29 and the device cavity 30;

[0079] When one end of the mechanical arm 13 connected to the mounting plate 14 is separated from the bottom surface of the body 1, the elastic member 35 pushes the lifting plate 34 and the driving block 33 to slide downward, driving the end of the connecting frame 29 away from the rotor 2 to slide upward along the inclined surface 43, so that the rotor assembly shrinks in the direction close to the body 1, and at the same time, the driving block 33 drives the gear 38 to rotate through the rack 37, driving the support frame 29 to shrink;

[0080] When one end of the mechanical arm 13 connected to the mounting plate 14 flips to the bottom surface of the body 1, it contacts the driving block 33 and drives the driving block 33 to slide upward, driving the end of the connecting frame 29 away from the rotor 2 to slide downward along the inclined surface 43, so that the rotor assembly is reset. At the same time, the driving block 33 drives the gear 38 to rotate through the rack 37, driving the support frame 29 to reset.

[0081] The telescopic member includes a fixed block 41, a connecting block 40 and a tension spring 42. The fixed block 41 is fixed to the inner wall of the device cavity 30, the connecting block 40 is fixed to the connecting frame 29, and the tension spring 42 is arranged between the fixed block 41 and the connecting block 40.

[0082] When the driving block 33 slides downward, the tension spring 42 pulls the connecting frame 29 to shrink in a direction close to the machine body 1 .

[0083] Specifically, when the UAV is on the ground, the mechanical arm 13 is in a retracted state, that is, the end of the mechanical arm 13 connected to the mounting plate 14 is flipped to the bottom surface of the fuselage, and contacts with the driving block 33 to limit its position. The fall arrester can be installed in the fixing clamp 4, specifically, the magnetic block 19 of the fall arrester is inserted into the docking groove 26 through the clamping block 25. At this time, the end of the connecting frame 29 away from the rotor 2 is located below the inclined surface, the connecting frame 29 is in an expanded state, and the supporting frame 29 is also in an expanded state to support the fuselage 1. After the fall arrester is installed, the UAV flies with the fall arrester to the fall arrester installation area, and the end of the mechanical arm 13 connected to the installation plate 14 is separated from the bottom surface of the body 1. The elastic member 35 pushes the lifting plate 34 and the driving block 33 to slide downward, driving the end of the connecting frame 29 away from the rotor 2 to slide upward along the inclined surface 43, so that the connecting frame 29 and the rotor 2 shrink toward the body 1. At the same time, the driving block 33 drives the gear 38 to rotate through the rack 37, driving the support frame 29 to shrink, so that the overall size of the UAV becomes smaller, avoiding collision with electrical equipment. At this time, the stability of the body 1 decreases, but the flexibility increases, which can temporarily improve the mounting efficiency of the fall arrester.

[0084] After the robotic arm 13 is unfolded, the state of the robotic arm 13 can be controlled according to actual needs. For example, the first flip arm 13a, the second flip arm 13b and the third flip arm 13c are in a straight line, that is, the entire robotic arm is open; or the first flip arm 13a is 0°, the second flip arm 13b is 90° to the first flip arm 13a and the direction is upward, and the third flip arm 13c is 180 degrees to the second flip arm 13b, that is, the robotic arm is flipped upward; or the first flip arm 13a is 90°, the second flip arm 13b and the third flip arm are both 180° to the first flip arm 13a, that is, the robotic arm is flipped upward.

[0085] For example, when the position of the fixed safety buckle 7 is a thinner strip structure, the safety buckle 7 can be directly inserted into the required position. At this time, the mechanical arms 13 on both sides are directly controlled to open to both sides, driving the installation plate 14 and the rotating frame 20 to move to the required position. After the safety buckle 7 on one side is inserted into the required position, the mechanical arms 13 on both sides are controlled to partially retract. After maintaining the stability of the machine body 1, the position of the machine body 1 is rotated so that the other set of safety buckles 7 to be installed are aligned with the required fixed position. At the same time, the mechanical arms 13 on both sides are controlled to open again. After the safety buckle 7 is inserted into the required position, the electric telescopic rod 23 pushes the fixing clamp 4 to move downward, so that the magnetic block 19 can be disengaged from the clamping groove, and the magnetic state of the magnet ring 27 and the magnetic block 19 is released, completing the installation operation of the two sets of safety buckles 7. At this time, the safety rope 6 can be stably fixed in the required stable position in the air, thereby improving the safety of maintenance workers climbing construction.

[0086] When the position of the fixed safety buckle 7 is a thicker bracket, the structure of the fall arrester is as follows Figure 1 and Figure 2 As shown, it includes two safety buckles 7, controls the body 1 to fly to the bottom of the bracket, controls the mechanical arms 13 on both sides to flip and open to both sides and then bend upward, respectively driving the two safety buckles 7 to move from both sides of the bracket to the upper position of the bracket, controls the driving shaft 21 on one side to drive the rotating frame 20 and the safety buckles 7 to rotate 90° together, so that the two groups of safety buckles 7 are perpendicular to each other, and then the mechanical arms 13 can be controlled to bring the safety buckles 7 on both sides closer and clamped to each other, at this time, the upper end of the safety rope 6 can be stably fixed on the bracket, and then the driving disk 12 is controlled to make the mechanical arm 13 rotate sideways, and the electric telescopic rod 23 is used to control the magnet ring 27 and the magnetic suction block 19 to release the adsorption, and the clamping block 25 makes the connecting rope 18 always slide in the docking groove 26, and the body 1 is controlled to fly sideways for a distance until the connecting rope 18 is on the side of the driving leaf 2, and then the flight can continue to detach the connecting rope 18 from the gap between the clamping blocks 25. This fixing method can be applicable to a variety of thicker rod-shaped brackets, and the fixation is safer and more stable.

[0087] After the anti-fall device is mounted, when the end of the mechanical arm 13 connected to the mounting plate 14 flips to the bottom surface of the body 1, it contacts the drive block 33 and drives the drive block 33 to slide upward, driving the end of the connecting frame 29 away from the rotor 2 to slide downward along the inclined surface 43, so that the rotor assembly is reset. At the same time, the drive block 33 drives the gear 38 to rotate through the rack 37, driving the support frame 29 to reset.

[0088] In some embodiments, the monitoring mechanism includes a first image acquisition device 10 and a second image acquisition device 44 . The first image acquisition device 10 is disposed on the device box 11 , and the second image acquisition device 44 is disposed on the rotor 2 .

[0089] refer to Fig.10 In some embodiments, a control method for the above-mentioned drone is provided, comprising:

[0090] S1. The monitoring agency monitors whether the drone reaches the fall arrester installation area;

[0091] S2, when the fall arrester reaches the installation area, the fall arrester clamping and mounting assembly is controlled in linkage with the rotor assembly and the telescopic support assembly, so that the rotor assembly is retracted in a direction close to the fuselage;

[0092] S3, the fall arrester clamping and mounting assembly mounts the pre-clamped fall arrester to a preset installation point in a preset manner;

[0093] S4. After the monitoring mechanism detects that the UAV leaves the fall arrester installation area, the fall arrester clamping and mounting assembly is linked with the rotor assembly and the telescopic support assembly to reset the fall arrester clamping and mounting assembly, the telescopic support assembly and the rotor assembly.

[0094] Specifically, before step S1, when the UAV is on the ground, the mechanical arm 13 is in a retracted state, that is, the end of the mechanical arm 13 connected to the mounting plate 14 is flipped to the bottom surface of the fuselage, and contacts with the driving block 33 to limit it. The fall arrester can be installed in the fixing clamp 4, specifically, the magnetic block 19 of the fall arrester is inserted into the docking groove 26 through the clamping block 25. At this time, the end of the connecting frame 29 away from the rotor 2 is located below the inclined surface, the connecting frame 29 is in an expanded state, and the supporting frame 29 is also in an expanded state to support the fuselage 1.

[0095] In step S1, the drone flies with the fall arrester, and the monitoring mechanism monitors whether the drone reaches the fall arrester installation area.

[0096] In step S2, when the anti-fall device installation area is reached, the end of the mechanical arm 13 connected to the installation plate 14 is separated from the bottom surface of the body 1, and the elastic member 35 pushes the lifting plate 34 and the driving block 33 to slide downward, driving the end of the connecting frame 29 away from the rotor 2 to slide upward along the inclined surface 43, so that the connecting frame 29 and the rotor 2 shrink in the direction close to the body 1, and at the same time, the driving block 33 drives the gear 38 to rotate through the rack 37, driving the support frame 29 to shrink, so that the overall volume of the UAV becomes smaller.

[0097] Further, in step S3, the fall arrester clamping and mounting assembly mounts the pre-clamped fall arrester to the preset installation point in a preset manner. For example, when the position of the fixed safety buckle 7 is a thinner strip structure, the safety buckle 7 can be directly inserted into the required position. At this time, the mechanical arms 13 on both sides are directly controlled to open to both sides, driving the installation plate 14 and the rotating frame 20 to move to the required position. After the safety buckle 7 on one side is inserted into the required position, the mechanical arms 13 on both sides are controlled to be partially retracted. After maintaining the stability of the machine body 1, the position of the machine body 1 is rotated so that the other set of safety buckles 7 to be installed are aligned with the required fixed position. At the same time, the mechanical arms 13 on both sides are controlled to open again. After the safety buckle 7 is inserted into the required position, the electric telescopic rod 23 pushes the fixing clamp 4 to move downward, so that the magnetic block 19 can be detached from the clamping groove, and the magnetic attraction state of the magnet ring 27 and the magnetic block 19 is released, completing the installation operation of the two sets of safety buckles 7. At this time, the safety rope 6 can be stably fixed at the required stable position in the air, thereby improving the safety of maintenance workers climbing construction.

[0098] When the position of the fixed safety buckle 7 is a thicker bracket, the structure of the fall arrester is as follows Figure 1 and Figure 2As shown, it includes two safety buckles 7, controls the body 1 to fly to the bottom of the bracket, controls the mechanical arms 13 on both sides to flip and open to both sides and then bend upward, respectively driving the two safety buckles 7 to move from both sides of the bracket to the upper position of the bracket, controls the driving shaft 21 on one side to drive the rotating frame 20 and the safety buckles 7 to rotate 90° together, so that the two groups of safety buckles 7 are perpendicular to each other, and then the mechanical arms 13 can be controlled to bring the safety buckles 7 on both sides closer and clamped to each other, at this time, the upper end of the safety rope 6 can be stably fixed on the bracket, and then the driving disk 12 is controlled to make the mechanical arm 13 rotate sideways, and the magnet ring 27 and the magnetic suction block 19 are controlled to release adsorption through the electric telescopic rod 23, and the connecting rope 18 is always slid in the docking groove 26 through the clamping block 25, and the body 1 is controlled to fly sideways for a distance until the connecting rope 18 is on the side of the driving leaf 2, and then the flight can continue to detach the connecting rope 18 from the gap between the clamping blocks 25. This fixing method can be applicable to a variety of thicker rod-shaped brackets, and the fixation is safer and more stable.

[0099] In step S4, after the anti-fall device is mounted, when the end of the mechanical arm 13 connected to the mounting plate 14 flips to the bottom surface of the body 1, it contacts the drive block 33 and drives the drive block 33 to slide upward, driving the end of the connecting frame 29 away from the rotor 2 to slide downward along the inclined surface 43, so that the rotor assembly is reset. At the same time, the drive block 33 drives the gear 38 to rotate through the rack 37, driving the support frame 29 to reset.

[0100] The above-mentioned embodiments provide a UAV for mounting a fall arrester and a control method thereof, which have at least the following beneficial effects:

[0101] (1) Through the coordinated cooperation of the telescopic support assembly, the rotor assembly and the anti-fall device mounting assembly, when the UAV is installed with the anti-fall device, the rotor assembly is retracted in the direction close to the fuselage 1, and the support frame in the telescopic support assembly is also retracted, thereby reducing the overall volume of the UAV and avoiding collision with surrounding power equipment, making the installation process more flexible and efficient. After the anti-fall device is installed, the rotor assembly is reset, that is, it is unfolded in the direction away from the fuselage, thereby ensuring the stability of the flight;

[0102] (2) The structural design of the fall arrester clamping and mounting assembly and the flip design of the robotic arm can achieve mounting at various angles. The design of the fixed clamp can achieve reliable clamping of the safety buckle and adjustment at various angles. After the safety buckle is mounted, the safety buckle can be detached from the fixed clamp, thereby meeting the mounting requirements in different scenarios.

[0103] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A drone for mounting a fall arrester, characterized in that: It comprises a machine body, a rotor assembly, a fall arrester clamping and mounting assembly, a telescopic support assembly and a monitoring mechanism; the monitoring mechanism, the rotor assembly, the fall arrester clamping and mounting assembly and the telescopic support assembly are installed on the machine body, and the telescopic support assembly, the rotor assembly and the fall arrester mounting assembly are arranged in coordination; The monitoring mechanism is used to monitor whether the UAV reaches the fall arrester installation area. When the UAV reaches the fall arrester installation area, the fall arrester clamping and mounting assembly is used to perform linkage control with the rotor assembly and the telescopic support assembly, so that the rotor assembly shrinks in the direction close to the fuselage; the fall arrester clamping and mounting assembly is used to mount the pre-clamped fall arrester to a preset installation point in a preset manner; after the monitoring mechanism detects that the UAV leaves the fall arrester installation area, the fall arrester clamping and mounting assembly is used to perform linkage control with the rotor assembly and the telescopic support assembly, so that the fall arrester clamping and mounting assembly, the telescopic support assembly and the rotor assembly are reset.

2. The drone according to claim 1, characterized in that: The machine body is a cylindrical structure.

3. The drone according to claim 1 or 2, characterized in that: The anti-fall device clamping and mounting assembly includes a device box, two sets of drive discs, two sets of mechanical arms, two sets of mounting discs, two sets of drive members and two sets of fixing clamps; The device box is arranged on the top surface of the body, the two groups of driving disks are respectively installed on both sides of the device box, one end of the two groups of mechanical arms are respectively connected to the two groups of driving disks, and the other end is respectively connected to the two groups of mounting disks, the two groups of driving members are respectively connected to the mounting disks, the two groups of fixing clips are respectively installed on the two groups of driving members, the fixing clips are used to clamp the anti-fall device, and the driving member is used to adjust the angle of the fixing clip; The device box is used to drive the robotic arm to flip through the driving disk, and the telescopic support assembly and the rotor assembly are reset when the end of the robotic arm connected to the mounting disk flips to the bottom surface of the machine body, and the telescopic support assembly and the rotor assembly are linked and controlled when flipping away from the bottom surface of the machine body, so that the rotor assembly shrinks in the direction close to the machine body.

4. The drone according to claim 3, characterized in that: The mechanical arm comprises a first flip arm, a second flip arm and a third flip arm, one end of the first flip arm is connected to the driving disk via a first rotating shaft, the other end of the first flip arm is connected to one end of the second flip arm via a second rotating shaft, the other end of the second flip arm is connected to one end of the third flip arm via a third rotating shaft, and the other end of the third flip arm is connected to the mounting disk; The lengths of the first flip arm and the third flip arm are adapted to the radius of the machine body, and the length of the second flip arm is adapted to the height of the machine body, so that the third flip arm can be flipped to the bottom surface of the machine body.

5. The drone according to claim 3, characterized in that: The fall arrester comprises a safety buckle, and a magnetic attraction block is arranged on the safety buckle; The driving member comprises a rotating frame and a driving shaft, the rotating frame is rotatably connected to the mounting plate through the driving shaft, a guide groove is provided on the rotating frame, an electric telescopic rod is provided in the guide groove, the fixing clamp is slidably connected to the guide groove, the telescopic end of the electric telescopic rod is fixedly connected to the fixing clamp, and a fixing member for fixing the magnetic suction block is provided on the fixing clamp; The fixing member comprises two groups of clamping blocks arranged opposite to each other, a docking groove is provided on the fixing clip, a magnet ring for magnetic attraction with the magnetic attraction block is arranged in the docking groove, and the clamping block is connected to the fixing clip via an elastic clamping member.

6. The drone according to claim 3, characterized in that: The rotor assembly includes four sets of connecting frames and rotors, and the rotor is arranged at one end of the connecting frame; A device cavity is provided at the geometric center of the bottom surface of the machine body; The telescopic support assembly includes a control member arranged in the device cavity, two groups of symmetrically arranged support frames and two groups of mounting blocks, the two groups of support frames are respectively connected to the body through the two groups of mounting blocks, the connecting frame can slide in the device cavity, and the control member is cooperatively connected with the connecting frame and the support frame; When the end of the robotic arm connected to the mounting plate is flipped to the bottom surface of the machine body, the control component is limited so that the connecting frame and the supporting frame are reset; when the end of the robotic arm connected to the mounting plate is detached from the bottom surface of the machine body, the connecting frame and the supporting frame are controlled to retract through the control component.

7. The drone according to claim 6, characterized in that: The control member includes a driving block, a lifting plate, an elastic member, a fixing plate, two sets of racks and a telescopic member; The driving block can slide along the vertical direction of the inner wall of the device cavity, the lifting plate is fixed on the top of the driving block, the elastic member is arranged on the top of the lifting plate, and the fixing plate is arranged on the top of the elastic member and connected to the device box; Racks are respectively arranged on both sides of the driving block, and gears meshing with the racks are arranged on the support frame; The driving block is provided with an inclined surface which matches with the end of the connecting frame away from the rotor, and the telescopic member is cooperatively connected with the connecting frame and the device cavity; When one end of the mechanical arm connected to the mounting plate is separated from the bottom surface of the machine body, the elastic member pushes the lifting plate and the driving block to slide downward, driving the end of the connecting frame away from the rotor to slide upward along the inclined surface, so that the rotor assembly shrinks in the direction close to the machine body, and at the same time, the driving block drives the gear to rotate through the rack, driving the support frame to shrink; When one end of the robotic arm connected to the mounting plate flips to the bottom surface of the machine body, it contacts the driving block and drives the driving block to slide upward, driving the end of the connecting frame away from the rotor to slide downward along the inclined surface, so that the rotor assembly is reset. At the same time, the driving block drives the gear to rotate through the rack, driving the support frame to reset.

8. The drone according to claim 7, characterized in that: The telescopic member comprises a fixed block, a connecting block and a tension spring, wherein the fixed block is fixed to the inner wall of the device cavity, the connecting block is fixed to the connecting frame, and the tension spring is arranged between the fixed block and the connecting block; When the driving block slides downward, the tension spring pulls the connecting frame to shrink in a direction close to the machine body.

9. The drone according to claim 6, characterized in that: The monitoring mechanism comprises a first image acquisition device and a second image acquisition device, wherein the first image acquisition device is arranged on the device box, and the second image acquisition device is arranged on the connecting frame.

10. A control method for a drone as claimed in any one of claims 1 to 9, characterized in that: include: The monitoring agency monitors whether the drone reaches the area where the fall arrester is installed; When the fall arrester reaches the installation area, the fall arrester clamping and mounting assembly is controlled in linkage with the rotor assembly and the telescopic support assembly, so that the rotor assembly is retracted in a direction close to the fuselage; The fall arrester clamping and mounting assembly mounts the pre-clamped fall arrester to a preset installation point in a preset manner; After the monitoring mechanism detects that the UAV leaves the fall arrester installation area, the fall arrester clamping and mounting assembly is linked with the rotor assembly and the telescopic support assembly to reset the fall arrester clamping and mounting assembly, the telescopic support assembly and the rotor assembly.

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