Unmanned aerial vehicle auxiliary equipment and method for live-line placement of sensor on overhead conductor

Abstract

The invention belongs to the technical field of power conductor safety detection, and particularly discloses an unmanned aerial vehicle auxiliary device and method for arranging a sensor on an overhead conductor in an electrified mode, the unmanned aerial vehicle auxiliary device comprises an unmanned aerial vehicle platform, a mechanical arm assembly and a connecting clamp, and the sensor to be arranged on the overhead conductor is detachably installed in the connecting clamp; the connecting clamp is provided with a clamping opening used for clamping an overhead conductor, and the surface, used for making contact with the overhead conductor, of the connecting clamp is made of a non-metal material. The mechanical arm assembly is arranged on the side, away from the rotor wings, of the unmanned aerial vehicle platform and used for grabbing the connecting clamp and operating a clamping opening of the connecting clamp to be opened or closed so as to clamp the overhead conductor in an electrified mode. The elastic antenna is connected with the unmanned aerial vehicle platform, and a clamping lock is arranged at the tail end of the elastic antenna and used for clamping or loosening the overhead conductor, so that the unmanned aerial vehicle auxiliary equipment and the overhead conductor are equal in potential. The unmanned aerial vehicle can carry the sensor and place the sensor on the overhead conductor in an electrified mode, work efficiency and accuracy are improved, and meanwhile the device is safer and more reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of power conductor safety detection of smart grids, and in particular to a drone-assisted device and method for placing sensors on live overhead conductors. Background Art

[0002] With the vigorous development of the power industry, high-voltage transmission lines are developing in the direction of ultra-high voltage, extra-high voltage, large capacity, long distance and full-field coverage, so as to solve the problem of power energy distribution. Ensuring the safe and stable operation of transmission lines is to inject security into my country's economic development, and building a smart grid is also a key theme in the development of the power industry today. High-voltage transmission lines are the main carrier of power energy transportation, and their working characteristics are: 1. Long-term exposure to open-air environments; 2. There is a coupling effect of complex terrain and micro-meteorology in some areas; under such special circumstances, it is easy to cause ice, dancing, and foreign objects on the transmission lines. The monitoring and safe operation of high-voltage transmission lines also face more severe challenges.

[0003] At present, most transmission lines still use manual monitoring, which has the disadvantages of low monitoring accuracy, long feedback time and high work intensity. With the continuous development of computer technology, various contact and non-contact measurement technologies are increasingly being applied in monitoring and identification.

[0004] However, due to the particularity of the line, the conductor span is large, the tower structure is complex, there is little data suitable for monitoring, and there are not many types of sensors that can be deployed. It is difficult to conduct real-time dynamic monitoring of the state parameters such as conductor displacement, speed, tension, surface, and morphology. Therefore, the current monitoring of the line is mostly static monitoring or the data transmitted by the sensor itself. If different types of parameters are required, corresponding sensors must be installed.

[0005] With its high flexibility, strong safety, low cost, strong all-terrain adaptability, and rapid deployment, drones have emerged in the planning, construction, operation, and maintenance of power grids in my country's power industry, and to a certain extent have also promoted the development and prosperity of my country's power industry. For example, drone path planning can effectively reduce operational risks and optimize route efficiency before flight, and has been widely studied and applied; drones carry corresponding devices to inspect, maintain, and repair overhead wires; drones transport related equipment to corresponding mountainous areas, etc.; the power industry has introduced drone technology and applied it to many aspects of power operations, achieving remarkable results.

[0006] At present, for the devices and systems for placing detectors to extract data in certain important areas or accident-prone points of overhead lines, the devices were previously installed manually or by high-altitude drones. There are problems such as difficulty in live working, safety hazards caused by long working time, efficiency problems, wear of wires due to contact with metal parts, eddy static electricity, etc. Therefore, there is a need for auxiliary equipment that can realize the live installation of sensors by drones on overhead lines. Summary of the invention

[0007] In order to solve the deficiencies in the prior art, the present invention provides drone auxiliary equipment and a control method for placing sensors on live overhead wires. The drone can carry sensors and place them on live overhead wires, thereby improving operational efficiency and accuracy. At the same time, it reduces the damage to overhead wires, drones and auxiliary equipment caused by metal voltage differences due to electromagnetic induction, making it safer and more reliable.

[0008] The present invention adopts the following technical solution.

[0009] In the first aspect, the present invention provides a drone auxiliary equipment for installing a sensor on an overhead wire under power, comprising: a drone platform, a mechanical arm assembly and a connecting clamp, wherein the sensor to be installed on the overhead wire is detachably installed inside the connecting clamp, the connecting clamp is provided with a clamping opening for clamping the overhead wire, and the surface of the connecting clamp for contacting the overhead wire is made of non-metallic material; the mechanical arm assembly is arranged on the side of the drone platform away from the rotor, for grabbing the connecting clamp and operating the clamping opening of the connecting clamp to open or close so as to clamp the overhead wire under power; the drone auxiliary equipment also comprises: an elastic antenna; the elastic antenna is connected to the drone platform; a clamping lock is provided at the end of the elastic antenna, and the clamping lock is used to clamp or release the overhead wire so that the drone auxiliary equipment and the overhead wire have the same electrical potential.

[0010] Preferably, the clamping lock includes: an elastic locking ring, a guide opening is provided at one end of the elastic locking ring away from the elastic antenna, and both ends of the guide opening are open outward to facilitate the entry of the overhead wire into the elastic locking ring; the elastic locking ring is provided with elastic teeth on the inner walls on both sides of the guide opening, and the two elastic teeth are bent inward, which are used to clamp or release the overhead wire under the tension generated when the drone is flying.

[0011] Preferably, a metal shielding box is provided at one end of the elastic antenna for connecting to the UAV platform, and the metal shielding box is coated on the outside of the elastic antenna.

[0012] Preferably, the connecting clamp includes a first half clamp and a second half clamp, the first half clamp and the second half clamp are rotatably connected at the top, and elastic washers made of non-metallic materials are arranged inside the first half clamp and the second half clamp, and the sensor to be placed can be detachably installed inside or at the end of the elastic washers; each elastic washer is provided with a through hole running through the front and back thereof on the inner side, and the through holes of the two elastic washers are spliced ​​together to form a clamp for clamping overhead wires.

[0013] Preferably, a non-metallic connector is also provided inside the elastic washer, and the mechanical properties of the non-metallic connector are greater than those of the elastic washer. One side of the non-metallic connector is embedded in the elastic washer, and the other side is provided with a groove that matches the surface shape of the overhead wire; a tail rod is provided at the bottom of the non-metallic connector, and the tail rod is inserted into the circular hole at the bottom of the first half clamp or the second half clamp.

[0014] Preferably, the first half-clamp is provided with an elastic pin for locking the second half-clamp; the top of the elastic pin passes through the first half-clamp, and the bottom of the elastic pin is used to insert into the bottom of the second half-clamp when the elastic pin is pressed and extended, and to be retracted into the interior of the first half-clamp when pressed again; the robotic arm assembly is provided with a contact structure, and the contact structure is used to contact with the top of the elastic pin and press the elastic pin when the robotic arm assembly is in motion.

[0015] Preferably, the robotic arm assembly comprises: two arms, a motor for driving the movement of the two arms and a fixed seat; the fixed seat is arranged on a side of the UAV platform away from the rotor; the motor is installed on the UAV platform; a screw is rotatably arranged inside the fixed seat, the screw is coaxially connected to the output end of the motor, and a movable seat is provided on the screw through a threaded connection sleeve; the two arms comprise two symmetrically arranged single robotic arms, the two single robotic arms are rotatably mounted on both sides of the fixed seat, and one end of each single robotic arm is rotatably connected to a side of the fixed seat close to the UAV platform, and a transmission rod is rotatably connected between the middle part of each single robotic arm and the movable seat.

[0016] Preferably, the contact structure includes: a first connecting rod, a second connecting rod and a contact; wherein, one end of the first connecting rod is rotatably connected to the movable seat, and the other end is rotatably connected to one end of the second connecting rod, the middle part of the second connecting rod is rotatably connected to the end of the fixed seat away from the UAV platform, and the other end of the second connecting rod is fixedly connected to the contact, and the contact is used to press the elastic pin to extend or retract it.

[0017] Preferably, a gripper for clamping the connecting fixture is provided at the end of the single robotic arm; both sides of the end of the gripper extend outward to form bidirectional protrusions; two connecting blocks are symmetrically provided on both sides of the connecting fixture, and a card slot for the robotic arm assembly to grasp is provided through the connecting blocks from top to bottom; and clamping plates are provided on the inner and outer sides of the card slot to clamp the bidirectional protrusions of the gripper.

[0018] Preferably, the second half-clamp and the top of the first half-clamp are rotatably connected via a rotating shaft assembly; the rotating shaft assembly comprises: a rotating shaft, an intermediate shaft and an end piece; the interior of the intermediate shaft is provided with a through hole running through the front and rear thereof, one end of the rotating shaft is provided with a step, and the other end is inserted into the through hole; the end piece is inserted into the interior of the rotating shaft from the side of the intermediate shaft away from the step, and is tightly connected to the rotating shaft, so as to fix and clamp the intermediate shaft.

[0019] Preferably, the rotating shaft assembly also includes: a first rotating piece and a second rotating piece; the first rotating piece is sleeved on one end of the rotating shaft and is located at the connection between the end piece and the intermediate shaft, and the second rotating piece is sleeved on the other end of one end of the rotating shaft and is located at the connection between the step and the intermediate shaft.

[0020] In a second aspect, the present invention provides a drone-assisted method for placing sensors on live overhead wires, using the aforementioned drone-assisted equipment for placing sensors on live overhead wires, including the following steps: pre-placing the sensor to be placed on the overhead wire inside a connecting clamp; controlling the mechanical arm assembly to grab the connecting clamp and open the clamp of the connecting clamp; controlling the drone to fly, carrying the connecting clamp to fly above the overhead wire, and clamping the overhead wire into the clamping lock of an elastic antenna; after the clamping lock clamps the overhead wire, controlling the drone to fly and adjust the position so that the overhead wire is inside the clamping lock of the elastic antenna; operating the mechanical arm assembly to close the connecting clamp to clamp the overhead wire, so that the connecting clamp carrying the sensor is placed on the overhead wire; then operating the mechanical arm assembly to release the connecting clamp and fly away from the overhead wire, and the clamping lock automatically separates from the overhead wire during flight.

[0021] Compared with the prior art, the beneficial effect of the present invention is that the present invention reduces the potential safety hazards caused by manual operation and improves the operation efficiency and accuracy by pre-setting the sensor to be placed on the overhead wire in the elastic clamp, then grabbing the elastic clamp through the mechanical arm assembly, and operating the connecting clamp to clamp the overhead wire. At the same time, by setting the contact surface of the elastic clamp and the overhead wire to non-metallic material, the arc generation of high-voltage and ultra-high-voltage wires can be effectively controlled. The present invention also installs an elastic antenna on the drone platform, and before the connecting clamp clamps the overhead wire, the elastic antenna is first contacted and connected with the overhead wire, which can establish equipotential between the drone auxiliary equipment and the overhead wire, thereby reducing the metal voltage difference caused by electromagnetic induction, preventing accidents and unexpected events, and effectively protecting the drone and the auxiliary equipment, so that the drone auxiliary equipment provided by the present invention can be charged on the overhead wire to place the drone.

[0022] Furthermore, in order to prevent the connection clamp from falling off the overhead wire, the present invention provides an elastic pin inside the connection clamp to lock the first half clamp and the second half clamp in the connection clamp. In addition, a contact mechanism is also provided on the mechanical arm assembly, which can follow the movement of the mechanical arm to press the elastic pin to extend or retract the elastic pin, thereby automatically operating the locking and release of the connection clamp.

[0023] Furthermore, in order to protect the overhead wire, an elastic washer is arranged inside the connection clamp, and the elastic washer wraps the overhead wire to protect the overhead wire. At the same time, in order to prevent the elastic washer from deforming, the present invention also arranges a non-metallic connector inside the elastic washer, thereby supporting the elastic washer and extending the service life of the elastic washer. In addition, the use of non-metallic connectors to clamp the overhead wire can increase the clamping force and improve the execution efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of a top-mounted installation of an intelligent device for placing sensors on live overhead wires assisted by a drone in an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a hanging installation of an intelligent device for placing sensors on live overhead wires assisted by a drone in an embodiment of the present invention; Figure 3 The overall structure of the mechanical arm and the connecting fixture of an intelligent device for placing sensors on live overhead wires with the assistance of a drone in an embodiment of the present invention is shown in FIG. Figure 1 ; Figure 4 The overall structure of the mechanical arm and the connecting fixture of an intelligent device for placing sensors on live overhead wires with the assistance of a drone in an embodiment of the present invention is shown in FIG. Figure 2 ; Figure 5 This is a schematic diagram of the structure of a mechanical arm of an intelligent device for assisting a drone in placing sensors on live overhead wires in an embodiment of the present invention; Figure 6 It is a structural cross-sectional view of a connection fixture of an intelligent device for assisting a drone in placing a sensor on a live overhead wire in an embodiment of the present invention, with the left part hidden; Figure 7 This is a structural schematic diagram of a rotating shaft assembly of an intelligent device for placing sensors on live overhead wires assisted by a drone in an embodiment of the present invention; Reference numerals in the figures: 1. UAV platform; 2. Elastic antenna; 3. Connecting fixture; 301. First half fixture; 302. Second half fixture; 3021. Elastic gasket; 303. Connecting block; 304. Card slot; 305. Card plate; 4. Overhead wires; 5. Robotic arm assembly; 501. Motor; 502. Fixed seat; 503. Single robotic arm; 5031. Gripper; 5032. Bidirectional protrusion; 504. Moving seat; 505. Transmission rod; 6. Contact structure; 601. first connecting rod; 602. second connecting rod; 603. contact; 7. Rotating shaft assembly; 701. End piece; 702. First rotating piece; 703. Rotating shaft; 704. Intermediate shaft; 705. Second rotating piece; 8. Non-metallic connectors; 9. Detector; 10. Elastic pin. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in this application are only embodiments of a part of the present invention, rather than all embodiments. Based on the spirit of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present invention.

[0026] The "first", "second", etc. in the present invention are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0027] The term "include", "comprises" or any other variant thereof in the present invention is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be noted that the scope of the method and device in the embodiment of the present invention is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0028] like Figures 1 to 7 As shown, embodiment 1 of the present invention provides a drone auxiliary equipment for placing sensors on live overhead wires, including: a drone platform 1, a mechanical arm assembly 5, and a connecting clamp 3.

[0029] Specifically, Figure 1 , Figure 2 As shown, the robotic arm assembly 5 is installed on the top of the UAV platform 1 in an overhead manner, or installed on the bottom of the UAV platform 1 in a downward hanging manner, for grabbing the connecting fixture 3.

[0030] A sensor to be installed on the overhead wire 4 is detachably installed inside the connecting clamp 3, and the connecting clamp 3 is provided with a clamping opening for clamping the overhead wire 4, and the surface of the connecting clamp 3 for contacting the overhead wire 4 is made of non-metallic material; the mechanical arm assembly 5 is arranged on the side of the UAV platform 1 away from the rotor, and is used to grab the connecting clamp 3 and operate the clamping opening of the connecting clamp 3 to open or close so as to clamp the overhead wire 4 with power.

[0031] In a preferred but non-restrictive embodiment of the present invention, the various metal elements provided on the UAV platform 1 are connected together by wires, and an elastic antenna 2 is fixedly installed at the end of the wire. A metal shielding box is provided at one end of the elastic antenna 2 connected to the wire, and the metal shielding box is covered on the outside of the elastic antenna 2 to prevent the induced current of high voltage electricity from causing damage to the UAV and its equipment; a circular clamping lock is provided at the other end of the elastic antenna 2, and the clamping lock is used to tighten or loosen the overhead wire 4.

[0032] Before using the connecting clamp 3 to clamp the overhead wire 4, in order to avoid the induced current generated by the connecting clamp contacting the high-voltage overhead wire 4 and damaging the drone auxiliary equipment, the elastic antenna 2 is first contacted and connected to the overhead wire 4, so that an equal potential is formed between the drone auxiliary equipment and the overhead wire 4, thereby avoiding the generation of induced current to damage the drone auxiliary equipment.

[0033] In a preferred but non-limiting embodiment of the present invention, the material of the clamping lock is spring steel. The clamping lock includes: an elastic locking ring, a guide port is provided at one end of the elastic locking ring away from the elastic antenna 2, and both ends of the guide port are open outward to facilitate the entry of the overhead wire 4 into the elastic locking ring. The inner walls of the elastic locking ring on both sides of the guide port are provided with elastic teeth, and both elastic teeth are bent inward to hold the overhead wire 4. When the drone flies and drives the clamping lock close to the overhead wire 4, the two ends of the guide port first contact the overhead wire 4. Under the power of the drone, the overhead wire 4 passes through the elastic teeth along the guide port into the elastic locking ring and is held by the elastic teeth; when the force of the drone pulling the clamping lock is greater than the elastic force of the elastic teeth, the overhead wire 4 can be separated from the clamping lock through the elastic teeth.

[0034] Furthermore, the surfaces of the various metal components on the drone platform 1 are covered with non-metallic materials, thereby reducing the current generated by mutual induction between the metal components. At the same time, the various metal components are interconnected by wires to establish equipotential potentials, and the edges of the drone platform are rounded to avoid sharp corners, thereby reducing the generation of arcs.

[0035] The mechanical arm assembly 5 includes two arms driven by one or more motors 501, such as Figure 3 , Figure 4 As shown, the embodiment of the present invention takes a motor 501 as an example. The motor 501 is installed on the UAV platform 1. A fixed seat 502 is provided on the side of the UAV platform 1 away from the rotor. A cavity is reserved inside the fixed seat 502. A screw is rotatably provided in the cavity. The screw is coaxially connected to the output end of the motor 501. A movable seat 504 is provided on the screw through a threaded connection sleeve. The output end of the motor 501 rotates to drive the screw to rotate, thereby driving the movable seat 504 to move up and down.

[0036] The double arm includes two symmetrically arranged single mechanical arms 503, which are rotatably mounted on both sides of the fixed seat 502, and one end of each single mechanical arm 503 is rotatably connected to the side of the fixed seat 502 close to the UAV platform 1, and a transmission rod 505 is rotatably connected between the middle of each single mechanical arm 503 and the moving seat 504, one end of the transmission rod 505 moves up and down with the moving seat 504, and the other end drives the single mechanical arm 503 to rotate, thereby realizing the relative closing and separation of the mechanical arms. The mechanical arm is not limited to one form, and any opening and closing method is within the technical scope.

[0037] like Figure 5 As shown, the structure of the single robotic arm 503 is not limited to one joint. The end of the single robotic arm 503 is provided with a gripper 5031, and the end of the gripper 5031 is bent inward to facilitate the insertion of the gripper 5031 into the slot 304 of the connecting fixture 3; both sides of the end of the gripper 5031 extend outward to form a two-way protrusion 5032 to prevent the gripper 5031 from loosening from the slot 304 of the connecting fixture 3, thereby making the connection between the gripper and the connecting fixture 3 more stable and secure; in addition, the gripper 5031 is provided with a plurality of openings from bottom to top, which reduces its own gravity while forming a plurality of clamps to facilitate grasping the slot on the connecting fixture 3.

[0038] like Figure 3 As shown, the connection clamp 3 includes: a first half clamp 301 and a second half clamp 302, the tops of the first half clamp 301 and the second half clamp 302 are rotatably connected through a rotating shaft assembly 7, and the inner sides of the first half clamp 301 and the second half clamp 302 are both provided with semicircular notches, and the two semicircular notches have the same size and are symmetrically arranged. When the first half clamp 301 and the second half clamp 302 are assembled, the two semicircular notches are assembled to form a circular clamp for clamping the overhead conductor 4.

[0039] In a preferred but non-limiting embodiment of the present invention, the first half clamp 301 and the second half clamp 302 are both semi-circular rings, and the two semi-circular rings have the same size and are made of non-metallic materials with strong mechanical properties.

[0040] The middle part of the outer side of the first half clamp 301 and the second half clamp 302 both partially protrude to form a connecting block 303, and the connecting block 303 is provided with a slot 304 for the robot arm gripper 5031 to grasp; the inner and outer sides of the slot 304 are provided with a clamping plate 305, and the two-way protrusion 5032 is inserted under the clamping plate 305, thereby increasing the grasping stability and reliability between the gripper 5031 and the connecting clamp 3.

[0041] like Figure 6 As shown, the first half clamp 301 and the second half clamp 302 are both provided with elastic washers 3021 of non-metallic material inside. Furthermore, the elastic washers 3021 are made of soft materials, preferably but not limited to rubber and other acid-resistant, alkali-resistant, anti-aging materials. The inner side of the elastic washers 3021 is provided with semicircular through holes running through the front and back of the elastic washers 3021, so that the elastic washers 3021 are in a semicircular ring shape, and the outer ring surface is fitted with the first half clamp 301 or the second half clamp 302, and the inner ring surface is used to fit with the outer surface of the overhead conductor 4. The washers 3021 use the mechanical arm to force the power to drive the soft elastic material of the washers 3021 to deform and clamp the overhead conductor 4, thereby ensuring the stability of the overall structure.

[0042] The sensor to be installed is embedded in the elastic gasket 3021 or at both ends of the elastic gasket 3021 in a contoured manner. The sensor to be installed can be a detector 9, etc. The detector 9 is used to sense electricity and read related required signals.

[0043] Furthermore, a non-metallic connector 8 is embedded inside the elastic washer 3021, and the non-metallic connector 8 has a mechanical property greater than that of the elastic washer 3021. One side of the non-metallic connector 8 is embedded inside the washer 3021, and the other side is provided with a semicircular groove adapted to the surface shape of the overhead conductor 4. A tail rod is provided at the bottom of the non-metallic connector 8, and the tail rod is inserted into the circular hole at the bottom of the first half clamp 301 or the second half clamp 302, so that the connector 8 does not move axially. The non-metallic connector 8 prevents the washer 3021 from deforming, increases the friction with the overhead conductor 4, and prevents the overhead conductor 4 from shifting.

[0044] Furthermore, the bottom of the second half clamp 302 extends toward the bottom of the first half clamp 301 to form an extension portion, and the first half clamp 301 is provided with an elastic pin 10 for locking the second half clamp; the top of the elastic pin 10 passes through the first half clamp 301, and the bottom of the elastic pin 10 is used to insert into the pin hole of the extension portion of the second half clamp 301 when the elastic pin 10 is pressed and extended, and retract into the interior of the first half clamp 301 when pressed again.

[0045] The number of the elastic shaft pin 10 is at least one, preferably four in the embodiment of the present invention, and is adapted to the number of the grippers.

[0046] The mechanical arm assembly 5 is provided with a contact structure 6, and the contact structure 6 is used to contact with the top of the elastic pin shaft 10 and press the elastic pin shaft 10 when the mechanical arm assembly 5 moves.

[0047] Furthermore, the contact structure can be a connecting rod structure, a direct connecting rod, an elastic control structure, a cam control structure, etc., which can realize the touch return. During the closing process, the mechanical arm can drive the contact structure 6 to move to realize the downward movement of the elastic pin 10 in the connecting fixture 3 to realize the extension and retraction of the elastic pin. When the elastic pin 10 is retracted, the connecting fixture 3 can be opened to clamp the overhead wire 4.

[0048] like Figure 4 , Figure 5As shown, in a preferred but non-limiting embodiment of the present invention, the contact structure 6 includes: a first connecting rod 601, a second connecting rod 602 and a contact 603. Among them, one end of the first connecting rod 601 is rotatably connected to the movable seat 504, and the other end is rotatably connected to one end of the second connecting rod 602. The middle part of the second connecting rod 602 is rotatably connected to the end of the fixed seat 502 away from the UAV platform 1, and the other end of the second connecting rod 602 is fixedly connected to the contact 603. The contact 603 is used to press the elastic pin 10 to extend or retract it. The contact is spherical or semicircular, and it is not easy to generate an arc.

[0049] When the moving seat 504 moves toward the side close to the UAV platform 1, the mechanical arm assembly 5 is closed under the drive of the transmission rod 505, and the contact 603 rotates downward under the action of the first connecting rod 601 and the second connecting rod 603 to press the elastic pin 10. Thus, the two arms can move downward to press the elastic pin 10 when closed, and the contacts move upward and reset when the two arms are opened.

[0050] like Figure 6 As shown, the top of the second half clamp 302 protrudes upward to form a connecting portion, and two fractures are provided in the middle of the connecting portion. The connecting portion is provided with a mounting hole along its axial direction, and the interior of the mounting hole is rotatably mounted with a rotating shaft assembly 7. The top of the first half clamp 302 protrudes upward to form a connecting ring, which is sleeved on the outside of the rotating shaft assembly 7 and inserted into the two fractures. The first half clamp 301 and the second half clamp 302 are rotatably connected through the rotating shaft assembly 7, so that the connecting clamp 3 can be opened and closed freely.

[0051] like Figure 7 As shown, the rotating shaft assembly 7 is composed of a rotating shaft 703, an intermediate shaft 704, a first rotating piece 702, a second rotating piece 705 and an end piece 701. The intermediate shaft 703 is a metal part, which is a multi-stage step type. The interior of the intermediate shaft 704 is provided with a through hole that runs through the front and back of the intermediate shaft. The rotating shaft 703 is made of non-metal, and one end is provided with a step. The end of the rotating shaft 703 without the step is inserted into the through hole and fixed by the end piece 701. The first rotating piece 702 is sleeved at the connection between the end piece 701 and the intermediate shaft 703, and the second rotating piece 705 is sleeved at the connection between the step and the intermediate shaft 703. The first rotating piece 702 and the second rotating piece 705 are both non-metal parts. The end piece 701 is a non-metal part. The end piece 701 is inserted into the interior of the rotating shaft 703 from one side of the intermediate shaft 704, and is tightly connected with the rotating shaft 703, and is used to fix and clamp the intermediate shaft 704.

[0052] The inside of the UAV platform 1 is provided with a wire identification and control system, which has a sensing system and a built-in flight control algorithm. The sensing system is used to sense and locate the overhead wire 4 and identify the left and right slots 304 of the connecting fixture 3 when installing the sensor; the flight control algorithm is used to control the flight of the UAV, so that the elastic antenna 2 contacts the wire, and the overhead wire 4 is clamped into the circular clamp lock at the end of the elastic antenna 2, and then the center point of the connecting fixture 3 is aligned with the overhead wire, and the motor 501 is driven to clamp the two arms, thereby driving the connecting fixture 3 to clamp the overhead wire 4. While the two arms clamp the wire 4, the two arms drive the contact structure 6 to press the elastic pin 10, so that the elastic pin 10 is extended and extends out of the connecting fixture 3, thereby fixing the first half clamp 301 and the second half clamp 302 of the connecting fixture 3, so that the overhead wire 4 will not slide with the connecting fixture 3. After the clamping of the overhead wire 4 is completed, the two arms are controlled to fly away from the overhead wire 4 and the connecting fixture 3.

[0053] When disassembly is required, the sensing system first identifies the left and right slots 304 of the connecting clamp 3, controls the arms to open at a suitable angle and insert into the slots 304, then clamps the connecting clamp 3, triggers the contact structure 6 to press the elastic pin shaft 10 to retract the pin, then opens the arms, clamps the card plates of the left and right slots of the connecting clamp 3, and pulls the connecting clamp 3 to move as a whole to achieve disassembly.

[0054] Embodiment 2 of the present invention provides a drone-assisted method for placing a sensor on an overhead wire under power, using the drone-assisted device for placing a sensor on an overhead wire under power in any of the above embodiments, including the following steps: Step 1: pre-place the sensor to be installed on the overhead wire 4 inside the connection fixture 3; control the mechanical arm assembly 5 to grab the connection fixture 3 and open the clamp of the connection fixture 3.

[0055] In specific implementation, the unmanned drone auxiliary equipment of the present invention is manually operated to fly to the upper part of the high-voltage overhead wire 4. After the intelligent identification of the wire identification and control system, the specific location and geographical location of the overhead wire 4 are determined and the information is sent to the ground for confirmation. After the location is determined manually on the ground operating platform, the drone turns on the intelligent self-control mode through the wire identification and control system. After identification, determination and control, the connection fixture in the overall device is connected to the wire. The drone with the mechanical arm stops in a safe area above, prompting the ground to control the drone to fly back to the ground.

[0056] The robotic arm manipulates the connecting fixture 3 to move, and the gripper 5031 of the robotic arm is inserted into the slots 304 on both sides of the connecting fixture 3 to close or open the connecting fixture 3; the two-way protrusion 5032 at the bottom of the gripper 5031 cooperates with the two side clamps at the top of the slot 304 to ensure that the connecting fixture 3 does not separate from the robotic arm during the movement.

[0057] Step 2, control the drone to fly, carry the connection fixture 3 and fly above the overhead wire 4, and clamp the overhead wire 4 into the clamping lock of the elastic antenna 2; Step 3: After the locking device is locked tightly against the overhead wire 4, the drone is controlled to adjust its position so that the overhead wire 4 is inside the clamping opening of the connecting clamp 3; Step 4: Operate the mechanical arm assembly 5 to close the connection clamp 3 to clamp the overhead wire 4, so that the connection clamp 3 carrying the sensor is placed on the overhead wire 4; when the mechanical arm clamps the clamp, the contact mechanism 6 triggers the elastic pin 10 to pop out the pin, so that the bottom of the multiple elastic pins 10 located in the first half clamp is inserted into the pin hole of the extension of the second half clamp, and the fixed connection is achieved. At the same time, the mechanical arm is released, and the elastic pin 10 connected to the connection clamp 3 connects the first half clamp and the second half clamp together to clamp the wire. Step 5: Then operate the mechanical arm assembly 5 to release the connection clamp 3 and fly away from the overhead wire 4. The clamping lock is automatically separated from the overhead wire 4 during flight.

[0058] Step 6: During removal, after the drone carries the mechanical arm into the overhead wire 4 where the connection fixture 3 is placed, it performs automatic control, identifies and first clamps the connection fixture 3 after the mechanical arm is inserted into the card slot 304 of the connection fixture 3, so that the extended elastic pin 10 can be retracted, and the elastic force of the elastic gasket 3021 is released. At the same time, the contact mechanism 6 mechanically triggers the spring button on the top of the elastic pin 10, so that the bottom of the elastic pin 10 is retracted from the pin hole to the inside of the first half of the fixture, thereby realizing the unscrewing of the left and right components; then the arm is driven to open, and the left and right components are opened to separate from the wire; then the drone carries the mechanical arm and the connection fixture 3 to fly away from the overhead wire 4.

[0059] The beneficial effect of the present invention is that, compared with the prior art, the present invention reduces the potential safety hazards caused by manual operation and improves the operation efficiency and accuracy by pre-setting the sensor to be placed on the overhead wire in the elastic clamp, then grabbing the elastic clamp through the mechanical arm assembly, and operating the connecting clamp to clamp the overhead wire. At the same time, by setting the contact surface of the elastic clamp and the overhead wire to non-metallic material, the arc generation of high-voltage and ultra-high-voltage wires can be effectively controlled. The present invention also installs an elastic antenna on the drone platform, and before the connecting clamp clamps the overhead wire, the elastic antenna is first contacted and connected with the overhead wire, which can establish equipotential between the drone auxiliary equipment and the overhead wire, thereby reducing the metal voltage difference caused by electromagnetic induction, preventing accidents and accidents, and effectively protecting the drone and auxiliary equipment, so that the drone auxiliary equipment provided by the present invention can be charged on the overhead wire to place the drone.

[0060] Furthermore, in order to prevent the connection clamp from falling off the overhead wire, the present invention provides an elastic pin inside the connection clamp to lock the first half clamp and the second half clamp in the connection clamp. In addition, a contact mechanism is also provided on the mechanical arm assembly, which can follow the movement of the mechanical arm to press the elastic pin to extend or retract the elastic pin, thereby automatically operating the locking and release of the connection clamp.

[0061] Furthermore, in order to protect the overhead wire, an elastic washer is arranged inside the connection clamp, and the elastic washer wraps the overhead wire to protect the overhead wire. At the same time, in order to prevent the elastic washer from deforming, the present invention also arranges a non-metallic connector inside the elastic washer, thereby supporting the elastic washer and extending the service life of the elastic washer. In addition, the use of non-metallic connectors to clamp the overhead wire can increase the clamping force and improve the execution efficiency.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. UAV auxiliary equipment for placing sensors on live overhead wires, including: The unmanned aerial vehicle platform (1), the mechanical arm assembly (5) and the connecting fixture (3) are characterized by: A sensor to be placed on the overhead wire (4) is detachably mounted inside the connection clamp (3); the connection clamp (3) is provided with a clamping opening for clamping the overhead wire (4); and the surface of the connection clamp (3) for contacting the overhead wire (4) is made of a non-metallic material; The mechanical arm assembly (5) is arranged on a side of the UAV platform (1) away from the rotor, and is used to grab the connection clamp (3) and operate the clamping opening of the connection clamp (3) to open or close so as to clamp the overhead wire (4) under power. The drone auxiliary equipment also includes: an elastic antenna (2); The elastic antenna (2) is connected to the drone platform (1); a clamping lock is provided at the end of the elastic antenna (2), and the clamping lock is used to clamp or loosen the overhead wire (4) to establish an equipotential with the overhead wire (4).

2. The drone-assisted device for placing sensors on live overhead wires according to claim 1, characterized in that: The clamping lock comprises: an elastic locking ring, wherein one end of the elastic locking ring away from the elastic antenna (2) is provided with a guide opening, and both ends of the guide opening are open outwards to facilitate the overhead wire (4) to enter the interior of the elastic locking ring; The inner walls of both sides of the elastic locking ring located at the guide opening are provided with elastic locking teeth, and the two elastic locking teeth are bent inwards and are used to hold or release the overhead wire (4) under the action of the tension generated when the drone is flying.

3. The drone-assisted device for placing sensors on live overhead wires according to claim 1, characterized in that: One end of the elastic antenna (2) used for connecting to the drone platform (1) is provided with a metal shielding box, and the metal shielding box is coated on the outside of the elastic antenna (2).

4. The drone auxiliary equipment for placing sensors on live overhead wires according to claim 1, characterized in that: The connecting fixture (3) comprises a first half fixture (301) and a second half fixture (302); the first half fixture (301) and the second half fixture (302) are rotatably connected at the top; elastic washers (3021) made of non-metallic material are disposed inside the first half fixture (301) and the second half fixture (302); and the sensor to be placed is detachably mounted inside or at the end of the elastic washers (3021); A through hole is provided on the inner side of each elastic washer (3021) and passes through the front and rear of the elastic washer, and the through holes of the two elastic washers (3021) are joined together to form a clamping opening for clamping the overhead conductor (4).

5. The drone-assisted device for placing sensors on live overhead wires according to claim 4, characterized in that: A non-metallic connector (8) is also provided inside the elastic washer (3021); the non-metallic connector (8) has greater mechanical properties than the elastic washer (3021); one side of the non-metallic connector (8) is embedded inside the elastic washer (3021); and the other side is provided with a groove that matches the surface shape of the overhead conductor (4); A tail rod is provided at the bottom of the non-metallic connecting piece (8), and the tail rod is inserted into a circular hole at the bottom of the first half clamp (301) or the second half clamp (302).

6. The drone-assisted device for placing sensors on live overhead wires according to claim 4, characterized in that: The first half clamp (301) is provided with an elastic pin (10) for locking the second half clamp (302); the top of the elastic pin (10) passes through the first half clamp (301), and the bottom of the elastic pin (10) is used to insert into the bottom of the second half clamp (302) when the elastic pin (10) is pressed and extended, and to be retracted into the interior of the first half clamp (301) when pressed again; The mechanical arm assembly (5) is provided with a contact structure (6), and the contact structure (6) is used to contact the top of the elastic pin shaft (10) and press the elastic pin shaft (10) when the mechanical arm assembly (5) is in motion.

7. The drone-assisted device for placing sensors on live overhead wires according to claim 6, characterized in that: The mechanical arm assembly (5) comprises: two arms, a motor (501) for driving the two arms to move, and a fixing seat (502); The fixing seat (502) is arranged on a side of the UAV platform (1) away from the rotor; the motor (501) is mounted on the UAV platform (1); a screw is rotatably arranged inside the fixing seat (502), the screw is coaxially connected to the output end of the motor (501), and a movable seat (504) is arranged on the screw via a threaded connection sleeve; The double arms include two symmetrically arranged single mechanical arms (503), the two single mechanical arms (503) being rotatably mounted on both sides of a fixed seat (502), and one end of each single mechanical arm (503) being rotatably connected to a side of the fixed seat (502) close to the UAV platform (1), and a transmission rod (505) being rotatably connected between the middle part of each single mechanical arm (503) and the movable seat (504).

8. The drone-assisted device for placing sensors on live overhead wires according to claim 7, characterized in that: The contact structure (6) comprises: a first connecting rod (601), a second connecting rod (602) and a contact (603); wherein one end of the first connecting rod (601) is rotatably connected to the movable seat (504), and the other end is rotatably connected to one end of the second connecting rod (602); the middle part of the second connecting rod (602) is rotatably connected to one end of the fixed seat (502) away from the UAV platform (1); the other end of the second connecting rod (602) is fixedly connected to the contact (603); and the contact (603) is used to press the elastic pin shaft (10) to extend or retract it.

9. The drone-assisted device for placing sensors on live overhead wires according to claim 7, characterized in that: The end of the single mechanical arm (503) is provided with a gripper (5031) for clamping the connecting fixture (3); both sides of the end of the gripper (5031) extend outwards to form bidirectional protrusions (5032); Two connecting blocks (303) are symmetrically arranged on both sides of the connecting clamp (3); a clamping slot (304) for the mechanical arm assembly (5) to grasp is arranged through the connecting block (303) from top to bottom; and clamping plates (305) are arranged on the inner and outer sides of the clamping slot (304) for clamping the bidirectional protrusion (5032) of the gripper (5031).

10. The drone-assisted device for placing sensors on live overhead wires according to any one of claims 4 to 9, characterized in that: The second half clamp (302) and the top of the first half clamp (301) are rotatably connected via a rotating shaft assembly (7); the rotating shaft assembly (7) comprises: a rotating shaft (703), an intermediate shaft (704) and an end piece (701); The interior of the intermediate shaft (704) is provided with a through hole penetrating the front and rear thereof, one end of the rotating shaft (703) is provided with a step, and the other end is inserted into the through hole; The end piece (701) is inserted into the interior of the rotating shaft (703) from the side of the intermediate shaft (704) away from the step, and is tightly connected to the rotating shaft (703) to fix and clamp the intermediate shaft (704).

11. The drone-assisted device for placing sensors on live overhead wires according to claim 10, characterized in that: The rotating shaft assembly (7) further comprises: a first rotating piece (702) and a second rotating piece (705); The first rotating piece (702) is sleeved on one end of the rotating shaft (703) and is located at the connection between the end piece (701) and the intermediate shaft (704); the second rotating piece (705) is sleeved on the other end of one end of the rotating shaft (703) and is located at the connection between the step and the intermediate shaft (704).

12. A drone-assisted method for placing a sensor on a live overhead wire, using the drone-assisted device for placing a sensor on a live overhead wire as claimed in any one of claims 1 to 11, characterized in that: The following steps are involved: Pre-placing a sensor to be installed on an overhead conductor (4) inside a connection fixture (3); controlling a mechanical arm assembly (5) to grasp the connection fixture (3) and open a clamping opening of the connection fixture (3); Control the drone to fly, carry the connection clamp (3) and fly above the overhead wire (4), and insert the overhead wire (4) into the clamping lock of the elastic antenna (2); After the locking lock has clamped the overhead wire (4), the drone is controlled to adjust its position so that the overhead wire (4) is located inside the clamping opening of the connecting clamp (3); The mechanical arm assembly (5) is operated to close the connection clamp (3) to clamp the overhead wire (4), so that the connection clamp (3) carrying the sensor is placed on the overhead wire (4); The robot arm assembly (5) is then operated to release the connection clamp (3) and fly away from the overhead wire (4), and the clamping lock and the overhead wire (4) are automatically separated during flight.

Images