UAV-Assisted Equipment and Method for Installing Sensors on Energized Overhead Conductors

Abstract

The present invention belongs to the technical field of power conductor safety detection, and specifically discloses a drone-assisted device and method for installing a sensor on an overhead conductor while it is energized, including: a drone platform, a robotic arm assembly, and a connection fixture. A sensor to be installed on the overhead conductor is detachably installed inside the connection fixture. The connection fixture is provided with a clamping opening for clamping the overhead conductor, and the surface of the connection fixture for contacting the overhead conductor is made of a non-metallic material; the robotic arm assembly is arranged on the side of the drone platform away from the rotor, and is used to grab the connection fixture and operate the clamping opening of the connection fixture to open or close so as to clamp the overhead conductor while it is energized; an elastic antenna is connected to the drone platform, and a clamping lock is arranged at the end. The clamping lock is used to hold or release the overhead conductor, so that the drone-assisted device and the overhead conductor are at the same electrical potential. The present invention can use a drone to carry a sensor and place it on the overhead conductor while it is energized, improving the working efficiency and accuracy, and being safer and more reliable at the same time.

Description

Technical Field

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

[0002] With the booming development of the power industry, high-voltage transmission lines are developing towards ultra-high voltage, extra-high voltage, large capacity, long distance, and full-field coverage to solve the problem of power energy distribution. Ensuring the safe and stable operation of transmission lines provides a safety guarantee for China's economic development, and building a smart grid is also a key theme in the development of the current power industry. High-voltage transmission lines are the main carriers of power energy transportation, and their working characteristics are: First, they are long-term exposed to the open air environment; Second, there is a coupling effect of complex terrain and micro-meteorology in some areas; In this special case, it is easy to cause phenomena such as icing, galloping, and foreign objects on the transmission lines. The monitoring and safe operation of high-voltage transmission lines also face more severe challenges.

[0003] Currently, most transmission lines still adopt the method of 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 studied and 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 suitable monitoring data, and there are not many types of sensors that can be arranged. It is difficult to comprehensively and real-timely monitor the state parameters such as conductor displacement, speed, tension, surface, and shape. Therefore, the current monitoring of the line mostly stays in static monitoring or the data transmitted by sensors itself. If different types of parameters are required, corresponding sensors must be installed.

[0005] Drones, with their characteristics of high flexibility, strong safety, low cost, strong all-terrain adaptability, and rapid deployability, have emerged in the work of power grid planning, construction, operation, and maintenance in China's power industry, and have also promoted the development and prosperity of China's power industry to a certain extent. For example, drone path planning can effectively reduce operation risks and optimize route efficiency before flight, and is widely studied and applied; drones carry corresponding devices to perform tasks such as inspection, maintenance, and repair of overhead conductors; drones transport relevant 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 fixture includes a first half fixture and a second half fixture. The tops of the first half fixture and the second half fixture are rotatably connected. Elastic washers made of non-metallic materials are provided inside both the first half fixture and the second half fixture. The sensor to be installed is detachably installed inside or at the end of the elastic washer; through holes penetrating through the front and back are provided on the inner side of each elastic washer, and the through holes of the two elastic washers are joined together to form a clamping opening for clamping the overhead wire.

[0013] Preferably, a non-metallic connecting member is further provided inside the elastic washer. The mechanical properties of the non-metallic connecting member are greater than those of the elastic washer. One side of the non-metallic connecting member is embedded inside the elastic washer, and a groove adapted to the surface shape of the overhead wire is provided on the other side; a tail rod is provided at the bottom of the non-metallic connecting member, and the tail rod is inserted into a round hole at the bottom of the first half fixture or the second half fixture.

[0014] Preferably, the first half fixture is provided with an elastic pin shaft for locking the second half fixture; the top of the elastic pin shaft penetrates through the first half fixture, and the bottom of the elastic pin shaft is used to insert into the bottom of the second half fixture when the elastic pin shaft is pressed and elongated, and retract into the inside of the first half fixture when pressed again; the robotic arm assembly is provided with a contact structure, and the contact structure is used to contact and press the top of the elastic pin shaft when the robotic arm assembly moves.

[0015] Preferably, the robotic arm assembly includes: two arms, a motor for driving the movement of the two arms, and a fixed seat; the fixed seat is arranged on the side of the UAV platform away from the rotor; the motor is installed on the UAV platform; a screw rod is rotatably arranged inside the fixed seat, the screw rod is coaxially connected with the output end of the motor, and a moving seat is sleeved on the screw rod through a threaded connection; the two arms include two symmetrically arranged single robotic arms, the two single robotic arms are respectively rotatably installed on both sides of the fixed seat, and one end of each single robotic arm is rotatably connected to the side of the fixed seat close to the UAV platform, and a transmission rod is rotatably connected between the middle of each single robotic arm and the moving 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 moving seat, the other end is rotatably connected to one end of the second connecting rod, the middle 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 shaft to make it extend or retract.

[0017] Preferably, a gripper for clamping the connecting fixture is provided at the end of the single robotic arm; two-way protrusions extend outwards on both sides of the end of the gripper; two connecting blocks are symmetrically arranged on both sides of the connecting fixture, and a clamping groove for the robotic arm assembly to grab is provided through the connecting block up and down; clamping plates are provided on both the inner side and the outer side of the clamping groove for clamping the two-way protrusions of the gripper.

[0018] Preferably, the tops of the second half-jig and the first half-jig are rotationally connected through a rotating shaft assembly; the rotating shaft assembly includes: a rotating shaft, an intermediate shaft, and an end piece; a through hole penetrating through the front and back is provided inside the intermediate shaft, a step is provided at one end of the rotating shaft, and the other end is inserted into the through hole; the end piece is inserted into the rotating shaft from the side of the intermediate shaft away from the step and is tightly connected to the rotating shaft for fixing and clamping the intermediate shaft.

[0019] Preferably, the rotating shaft assembly further 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 installing a sensor on a live overhead wire, using the aforementioned drone-assisted equipment for installing a sensor on a live overhead wire, including the following steps: pre-placing the sensor to be installed on the overhead wire inside the connection jig; controlling the robotic arm assembly to act to grab the connection jig and open the jaws of the connection jig; controlling the drone to fly, carrying the connection jig to fly above the overhead wire, and clamping the overhead wire into the locking clip of the elastic antenna; when the locking clip tightly clamps the overhead wire, controlling the drone to fly and adjust the position so that the overhead wire is inside the jaws of the connection jig; operating the robotic arm assembly to act to close the connection jig to clamp the overhead wire, so that the connection jig carries the sensor and is installed on the overhead wire; then operating the robotic arm assembly to release the connection jig and fly away from the overhead wire, and during flight, the locking clip automatically disengages from the overhead wire.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: by pre-placing the sensor to be installed on the overhead wire inside the elastic jig, then grabbing the elastic jig through the robotic arm assembly, and operating the connection jig to clamp the overhead wire, the present invention reduces the safety hazards brought by manual operation and improves the operation efficiency and accuracy. At the same time, by setting the surfaces in contact with the overhead wire of the elastic jig to be made of non-metallic materials, the generation of electric arcs on high-voltage and extra-high-voltage wires can be effectively controlled. The present invention also installs an elastic antenna on the drone platform and makes the elastic antenna contact and connect with the overhead wire before the connection jig clamps the overhead wire, which can establish an equipotential between the drone-assisted equipment and the overhead wire, thereby reducing the metal voltage difference caused by electromagnetic induction, preventing accidents and accidents, effectively protecting the drone and auxiliary equipment, and enabling the drone-assisted equipment provided by the present invention to install the drone on the live overhead wire.

[0022] Furthermore, in order to prevent the connection fixture from falling off the overhead wire, the present invention provides an elastic pin shaft inside the connection fixture to lock the first half fixture and the second half fixture in the connection fixture. In addition, a contact mechanism is provided on the robotic arm assembly. The contact mechanism can follow the movement of the robotic arm and press the elastic pin shaft to achieve the elongation or retraction of the elastic pin shaft, thereby automatically operating the locking and releasing of the connection fixture.

[0023] Even further, in order to protect the overhead wire, an elastic washer is provided inside the connection fixture. The elastic washer wraps around and contacts 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 provides a non-metallic connecting piece inside the elastic washer to support the elastic washer, thereby extending the service life of the elastic washer. In addition, by clamping the overhead wire with the non-metallic connecting piece, the clamping force can be increased and the execution efficiency can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of the top-mounted installation of an intelligent device for placing sensors on a live overhead wire assisted by a drone according to an embodiment of the present invention;

[0025] Figure 2 is a schematic structural diagram of the bottom-suspended installation of an intelligent device for placing sensors on a live overhead wire assisted by a drone according to an embodiment of the present invention;

[0026] Figure 3 is a schematic overall structure diagram of the robotic arm and the connection fixture of an intelligent device for placing sensors on a live overhead wire assisted by a drone according to an embodiment of the present invention Figure 1 ;

[0027] Figure 4 is a schematic overall structure diagram of the robotic arm and the connection fixture of an intelligent device for placing sensors on a live overhead wire assisted by a drone according to an embodiment of the present invention Figure 2 ; Figure 5 is a schematic structural diagram of the robotic arm of an intelligent device for placing sensors on a live overhead wire assisted by a drone according to an embodiment of the present invention;

[0028] Figure 6 is a schematic cross-sectional view of the connection fixture of an intelligent device for placing sensors on a live overhead wire assisted by a drone according to an embodiment of the present invention with the left part removed;

[0029] Figure 7 is a schematic structural diagram of the rotating shaft assembly of an intelligent device for placing sensors on a live overhead wire assisted by a drone according to an embodiment of the present invention;

[0030] Reference numerals in the drawings:

[0031] 1. Drone platform;

[0032] 2. Elastic antenna

[0033] 3. Connecting fixture; 301. First half fixture; 302. Second half fixture; 3021. Elastic washer; 303. Connecting block; 304. Card slot; 305. Card board

[0034] 4. Overhead conductor

[0035] 5. Robotic arm assembly; 501. Motor; 502. Fixed seat; 503. Single robotic arm; 5031. Gripper; 5032. Bidirectional protrusion; 504. Moving seat; 505. Transmission rod

[0036] 6. Contact structure; 601. First connecting rod; 602. Second connecting rod; 603. Contact

[0037] 7. Rotating shaft assembly; 701. End piece; 702. First rotating piece; 703. Rotating shaft; 704. Intermediate shaft; 705. Second rotating piece

[0038] 8. Non-metallic connecting piece

[0039] 9. Detector

[0040] 10. Elastic pin shaft Detailed implementation manners

[0041] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described in this application are only a part of the embodiments of the present invention, rather than all embodiments. Based on the spirit of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

[0042] The "first", "second", etc. in the present invention are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. usually belong to the same category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects. The character " / ", generally represents an "or" relationship between the associated objects before and after.

[0043] As used in this invention, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or apparatus that includes a series of elements not only includes those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element. In addition, it should be noted that the scope of the methods and apparatuses in the embodiments 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 a reverse order according to the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0044] As Figures 1 to 7 shown, Embodiment 1 of the present invention provides a drone-assisted device for installing sensors on live overhead conductors, including: a drone platform 1, a robotic arm assembly 5, and a connection fixture 3.

[0045] Specifically, as Figure 1 、 Figure 2 shown, the robotic arm assembly 5 is mounted on the top of the drone platform 1 in an upward-pushing manner or on the bottom of the drone platform 1 in a downward-suspending manner, and is used to grasp the connection fixture 3.

[0046] The connection fixture 3 is internally detachably installed with a sensor to be installed on the overhead conductor 4. The connection fixture 3 is provided with a clamping mouth for clamping the overhead conductor 4. The surface of the connection fixture 3 for contacting the overhead conductor 4 is made of a non-metallic material; the robotic arm assembly 5 is disposed on a side of the drone platform 1 away from the rotor, and is used to grasp the connection fixture 3 and operate the clamping mouth of the connection fixture 3 to open or close so as to clamp the overhead conductor 4 live.

[0047] In a preferred but non-limiting embodiment of the present invention, the various metal elements provided on the drone platform 1 are connected together using wires. An elastic antenna 2 is fixedly installed at the end of the wire. One end of the elastic antenna 2 connected to the wire is provided with a metal shielding box, and the metal shielding box covers the outside of the elastic antenna 2 to prevent the induced current of high-voltage electricity from causing damage to the drone and its equipment; the other end of the elastic antenna 2 is provided with a circular clamping lock, and the clamping lock is used to hold or release the overhead conductor 4.

[0048] Before using the connecting fixture 3 to clamp the overhead wire 4, in order to avoid the induced current generated instantaneously when the connecting fixture contacts the high-voltage overhead wire 4 from damaging the drone auxiliary equipment, the elastic antenna 2 is made to contact and communicate with the overhead wire 4 first, so that an equipotential is formed between the drone auxiliary equipment and the overhead wire 4, thereby avoiding the induced current from damaging the drone auxiliary equipment.

[0049] 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 lock ring, a guiding opening is provided at one end of the elastic lock ring away from the elastic antenna 2, and both ends of the guiding opening are open outward to facilitate the overhead wire 4 to enter the inside of the elastic lock ring. Elastic clamping teeth are provided on the inner walls on both sides of the elastic lock ring at the guiding opening, and both elastic clamping teeth are bent inward to hold the overhead wire 4 tightly. When the drone flies and drives the clamping lock close to the overhead wire 4, both ends of the guiding opening first contact the overhead wire 4. Under the action of the drone power, the overhead wire 4 passes through the elastic clamping teeth along the guiding opening and enters the inside of the elastic lock ring, and is held tightly by the elastic clamping teeth; when the pulling force of the drone on the clamping lock is greater than the elastic force of the elastic clamping teeth, the overhead wire 4 can pass through the elastic clamping teeth to disengage from the clamping lock.

[0050] Furthermore, the surfaces of all metal components on the drone platform 1 are covered with non-metallic materials, thereby reducing the current generated by mutual induction between metal components. At the same time, all metal components are connected to each other through wires, so that an equipotential can be established, and the edges of the drone platform are all rounded to avoid generating sharp corners, thereby reducing the generation of electric arcs.

[0051] The robotic arm assembly 5 includes a double arm driven by one or more motors 501, such as Figure 3 、 Figure 4 As shown, in the embodiment of the present invention, one motor 501 is taken as an example. The motor 501 is installed on the drone platform 1. A fixed seat 502 is provided on one side of the drone platform 1 away from the rotor. A cavity is left inside the fixed seat 502. A screw rod is rotatably provided in the cavity. The screw rod is coaxially connected to the output end of the motor 501. A moving seat 504 is sleeved on the screw rod through a threaded connection. When the output end of the motor 501 rotates to drive the screw rod to rotate, the moving seat 504 can be driven to move up and down.

[0052] The double arm includes two symmetrically arranged single robotic arms 503. The two single robotic arms 503 are respectively rotatably installed on both sides of the fixed seat 502, and one end of each single robotic arm 503 is rotatably connected to the side of the fixed seat 502 close to the drone platform 1. A transmission rod 505 is rotatably connected between the middle of each single robotic arm 503 and the moving seat 504. One end of the transmission rod 505 moves up and down following the moving seat 504, and the other end drives the single robotic arm 503 to rotate, thereby realizing the relative closing and separating opening of the robotic arm. The form of the robotic arm is not limited to one type, and any opening and closing method is within the technical scope.

[0053] As Figure 5 shown, the structure of the single robotic arm 503 is not limited to one joint. The end of the single robotic arm 503 has a gripper 5031, and the end of the gripper 5031 bends inward, facilitating 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, preventing 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 reliable; in addition, the gripper 5031 is provided with a plurality of openings from bottom to top, which reduces its own weight while forming a plurality of jaws, facilitating the grasping of the slots on the connecting fixture 3.

[0054] As Figure 3 shown, the connecting fixture 3 includes: a first half-fixture 301 and a second half-fixture 302. The tops of the first half-fixture 301 and the second half-fixture 302 are rotatably connected by a rotating shaft assembly 7. Semi-circular notches are provided on the inner sides of the first half-fixture 301 and the second half-fixture 302, and the two semi-circular notches have the same size and are symmetrically arranged. When the first half-fixture 301 and the second half-fixture 302 are joined together, the two semi-circular notches are joined to form a circular clamping opening for clamping the overhead wire 4.

[0055] In a preferred but non-limiting embodiment of the present invention, both the first half-fixture 301 and the second half-fixture 302 are semi-circular rings, and the two semi-circular rings have the same size and are made of a non-metallic material with strong mechanical properties.

[0056] In the middle of the outer sides of the first half-fixture 301 and the second half-fixture 302, connection blocks 303 are locally protruded. A slot 304 for the robotic arm gripper 5031 to grasp is provided through the connection blocks 303 up and down; clamping plates 305 are provided on both the inner side and the outer side of the slot 304, and the two-way protrusion 5032 is snapped under the clamping plate 305, thereby increasing the grasping stability and reliability between the gripper 5031 and the connecting fixture 3.

[0057] As Figure 6 shown, elastic washers 3021 made of non-metallic materials are provided inside both the first half-fixture 301 and the second half-fixture 302. Further, the elastic washers 3021 are made of a soft material, preferably but not limited to acid-resistant, alkali-resistant, anti-aging materials such as rubber. A semi-circular through-hole running through its front and back is provided on the inner side of the elastic washer 3021, making it semi-circular ring-shaped. Its outer ring surface fits with the first half-fixture 301 or the second half-fixture 302, and its inner ring surface is used to fit with the outer surface of the overhead wire 4. The washer 3021 uses the forced power of the robotic arm to drive the soft elastic material of the washer 3021 to deform and clamp the overhead wire 4, thereby ensuring the stability of the overall structure.

[0058] The sensor to be installed is embedded inside the elastic washer 3021 or at both ends of the elastic washer 3021 in a profiling manner. The sensor to be installed can be a detector 9 or the like, and the detector 9 is used to sense power taking and read relevant required signals.

[0059] Furthermore, a non-metallic connector 8 is embedded inside the elastic washer 3021. The mechanical property of the non-metallic connector 8 is greater than that of the elastic washer 3021. One side of the non-metallic connector 8 is embedded inside the washer 3021, and a semi-circular groove adapted to the surface shape of the overhead wire 4 is provided on the other side. A tail rod is provided at the bottom of the non-metallic connector 8, and the tail rod is inserted into a round hole at the bottom of the first half-jig 301 or the second half-jig 302, so that the connector 8 will not axially move. The non-metallic connector 8 serves to prevent the washer 3021 from deforming and to increase the friction with the overhead wire 4 to prevent the overhead wire 4 from shifting.

[0060] Furthermore, an extension part is formed by the bottom of the second half-jig 302 extending towards the bottom of the first half-jig 301. The first half-jig 301 is provided with an elastic pin shaft 10 for locking the second half-jig. The top of the elastic pin shaft 10 penetrates through the first half-jig 301, and the bottom of the elastic pin shaft 10 is used to be inserted into a pin hole in the extension part of the second half-jig 301 when the elastic pin shaft 10 is pressed and elongated, and is retracted into the inside of the first half-jig 301 when pressed again.

[0061] The number of the elastic pin shafts 10 is at least one, and preferably four in the embodiment of the present invention, and is adapted to the number of the grippers.

[0062] The robotic arm assembly 5 is provided with a contact structure 6, and the contact structure 6 is used to contact and press the top of the elastic pin shaft 10 when the robotic arm assembly 5 moves.

[0063] Furthermore, the contact structure can be a link structure, a direct link member, an elastic control structure, a cam control structure, etc., which are structures that can achieve touch and return. During the closing process of the robotic arm, the contact structure 6 can be driven to move to realize the downward movement of the elastic pin shaft 10 in the connecting fixture 3 to realize the extension and retraction of the elastic pin shaft. When the elastic pin shaft 10 is retracted, the connecting fixture 3 can be opened to clamp the overhead wire 4.

[0064] Such as 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. One end of the first connecting rod 601 is rotatably connected to the moving seat 504, and the other end is rotatably connected to one end of the second connecting rod 602. The middle of the second connecting rod 602 is rotatably connected to one end of the fixed seat 502 away from the drone 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 10 to make it extend or retract. The contact is spherical or semi-circular and is not prone to generating electric arcs.

[0065] When the moving seat 504 moves towards the side close to the drone platform 1, the robotic arm assembly 5 closes 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, when the two arms close, they can move downward to press the elastic pin 10, and when the two arms open, the contact moves upward and resets.

[0066] As Figure 6 shown, the top of the second half-jig 302 protrudes upward to form a connecting portion, and two breaks are provided in the middle of the connecting portion. An installation hole is provided along the axial direction of the connecting portion, and a rotating shaft assembly 7 is rotatably installed inside the installation hole. The top of the first half-jig 302 protrudes upward to form a connecting ring, and the connecting ring is sleeved outside the rotating shaft assembly 7 and inserted into the two breaks. The first half-jig 301 and the second half-jig 302 are rotationally connected through the rotating shaft assembly 7, so that the connecting jig 3 can be freely opened and closed.

[0067] As Figure 7 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 and is in a multi-stage stepped shape. A through hole penetrating its front and back is provided inside the intermediate shaft 704. The rotating shaft 703 is made of non-metal, and a step is provided at one end. The end of the rotating shaft 703 without the step is inserted into the through hole and fixed by the end piece 701. A first rotating piece 702 is sleeved at the connection between the end piece 701 and the intermediate shaft 703, and a second rotating piece 705 is sleeved at the connection between the step and the intermediate shaft 703; both the first rotating piece 702 and the second rotating piece 705 are non-metal parts. The end piece 701 is a non-metal part, and the end piece 701 is inserted into the inside of the rotating shaft 703 from one side of the intermediate shaft 704 and is tightly connected to the rotating shaft 703 for fixedly clamping the intermediate shaft 704.

[0068] Inside the drone platform 1, there is a wire identification and control system. The wire identification and control system has a sensing system and is built-in with a flight control algorithm. The sensing system is used to sense and locate the overhead wire 4 and identify the left and right card slots 304 of the connection fixture 3 when installing the sensor. The flight control algorithm is used to control the flight of the drone, so that the elastic antenna 2 contacts the wire, and the overhead wire 4 is clamped into the circular ring lock at the end of the elastic antenna 2. Then, the center point of the connection fixture 3 is aligned with the overhead wire, and the motor 501 is driven to actuate to achieve double-arm clamping, thereby driving the connection fixture 3 to clamp the overhead wire 4. While the two arms are acting to clamp the wire 4, the double-arm drive contact structure 6 presses the elastic pin 10, so that the elastic pin 10 extends and protrudes outside the connection fixture 3, thereby fixing the first half fixture 301 and the second half fixture 302 of the connection fixture 3, so that the overhead wire 4 will not slide with the connection fixture 3. After the overhead wire 4 is clamped, control the two arms to fly away from the overhead wire 4 and the connection fixture 3.

[0069] When disassembly is required, the sensing system first identifies the left and right card slots 304 of the connection fixture 3, controls the two arms to open at an appropriate angle and aligns them to insert into the card slots 304, then clamps the connection fixture 3, touches the contact structure 6 to press the elastic pin 10 to retract the pin, then opens the two arms, catches the clamping plates of the left and right card slots of the connection fixture 3, and pulls the whole connection fixture 3 to move to achieve disassembly.

[0070] Embodiment 2 of the present invention provides a drone-assisted method for installing a sensor on a live overhead wire. Using the drone-assisted equipment for installing a sensor on a live overhead wire in any of the above embodiments, it includes the following steps:

[0071] Step 1: Pre-place the sensor to be installed on the overhead wire 4 inside the connection fixture 3; control the robotic arm assembly 5 to actuate to grab the connection fixture 3 and open the clamping mouth of the connection fixture 3.

[0072] Specifically, during implementation, an operator manually operates the drone carrying the equipment of the present invention to fly to the upper part of the high-voltage overhead wire 4. After intelligent identification by the wire identification and control system, the position and geographical location of the specific overhead wire 4 are determined and the information is sent to the ground for confirmation. After the operator determines the position on the ground operation platform, the drone activates the intelligent automatic 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 carries the robotic arm and stops in a safe area in the air, and prompts the ground that the drone can be controlled to fly back to the ground.

[0073] The robotic arm manipulates the connection fixture 3 to act. The gripper 5031 of the robotic arm inserts into the card slots 304 on both sides of the connection fixture 3 to close or open the connection fixture 3. The two-way protrusion 5032 at the bottom of the gripper 5031 cooperates with the clamping plates on both sides at the top of the card slot 304 to ensure that the connection fixture 3 does not detach from the robotic arm during the action.

[0074] Step 2: Control the UAV to fly, carry the connection fixture 3 to fly above the overhead conductor 4, and snap the overhead conductor 4 into the locking mechanism inside the elastic antenna 2.

[0075] Step 3: After the locking mechanism clamps the overhead conductor 4, control the UAV to fly and adjust the position so that the overhead conductor 4 is inside the clamping jaws of the connection fixture 3.

[0076] Step 4: Operate the robotic arm assembly 5 to act so that the connection fixture 3 closes to clamp the overhead conductor 4, so that the connection fixture 3 carries the sensor and is placed on the overhead conductor 4. When the robotic arm clamps the fixture, at the same time, the contact mechanism 6 touches the elastic pin 10 to eject the pin, so that the bottom of the multiple elastic pins 10 located inside the first half fixture inserts into the pin holes of the extension part of the second half fixture, realizing the solid connection. At the same time, the robotic arm releases, and the elastic pins 10 connected in the connection fixture 3 connect the first half fixture and the second half fixture together to clamp the wire. Step 5: Subsequently, operate the robotic arm assembly 5 to release the connection fixture 3 and fly away from the overhead conductor 4. During the flight, the locking mechanism automatically detaches from the overhead conductor 4.

[0077] Step 6: During disassembly, after the UAV carries the robotic arm into the overhead conductor 4 where the connection fixture 3 is placed, perform automatic control, identify and first clamp the connection fixture 3 after the robotic arm inserts into the card slot 304 of the connection fixture 3, so that the protruding elastic pins 10 can retract, explaining the elastic force of the elastic deformation of the soft material of the elastic washer 3021. At the same time, the contact mechanism 6 mechanically touches the spring button at the top of the elastic pin 10, so that the bottom of the elastic pin 10 retracts from the pin hole into the first half fixture, thus realizing the rotatability of the left and right components; then drive the arm to open, and the open left and right components detach from the wire; then the UAV carries the robotic arm and the connection fixture 3 etc. and flies away from the overhead conductor 4.

[0078] The beneficial effects of the present invention are as follows. Compared with the prior art, in the present invention, the sensor to be placed on the overhead conductor is pre-set in the elastic clamp, and then the elastic clamp is grasped by the robotic arm assembly, and the connecting clamp is operated to clamp the overhead conductor, reducing the safety hazards brought by manual operation and improving the operation efficiency and accuracy. At the same time, by setting the surfaces in contact with the overhead conductor of the elastic clamp to be made of non-metallic materials, the generation of electric arcs in high-voltage and extra-high-voltage conductors can be effectively controlled. The present invention also installs an elastic antenna on the UAV platform, and before the connecting clamp clamps the overhead conductor, the elastic antenna is first brought into contact connection with the overhead conductor, which can establish an equipotential between the UAV auxiliary equipment and the overhead conductor, thereby reducing the metal voltage difference caused by electromagnetic induction, preventing accidents and accidents, effectively protecting the UAV and auxiliary equipment, and enabling the UAV auxiliary equipment provided by the present invention to be charged and placed on the overhead conductor with a UAV.

[0079] Further, in order to prevent the connecting clamp from falling off the overhead conductor, the present invention provides an elastic pin shaft inside the connecting clamp to lock the first half clamp and the second half clamp in the connecting clamp. In addition, a contact mechanism is also provided on the robotic arm assembly. The contact mechanism can follow the movement of the robotic arm and press the elastic pin shaft to realize the elongation or retraction of the elastic pin shaft, thereby automatically operating the locking and releasing of the connecting clamp.

[0080] Furthermore, in order to protect the overhead conductor, an elastic washer is provided inside the connecting clamp. The elastic washer wraps around the overhead conductor in contact to protect the overhead conductor. At the same time, in order to prevent the elastic washer from deforming, the present invention also provides a non-metallic connecting piece inside the elastic washer to support the elastic washer, thereby extending the service life of the elastic washer. In addition, clamping the overhead conductor with the non-metallic connecting piece can increase the clamping force and improve the execution efficiency.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific embodiments of the present invention, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered by the protection scope 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 connecting clamp (3) comprises a first half clamp (301) and a second half clamp (302); 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 with the top of the elastic pin (10) and press the elastic pin (10) when the mechanical arm assembly (5) is in motion. 0); the mechanical arm assembly (5) comprises a fixed seat (502) and a movable seat (504) which are rotatably connected to one end and the middle of the mechanical arm respectively; 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); the contact (603) is used to press the elastic pin shaft (10) to extend or retract it; 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 first half clamp (301) and the second half clamp (302) are rotatably connected at the top, and elastic washers (3021) made of non-metallic material are arranged inside the first half clamp (301) and the second half clamp (302), and the sensor to be placed is detachably installed 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 1, characterized in that: The mechanical arm assembly (5) further comprises: two arms, and a motor (501) for driving the two arms to move; 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).

7. The drone-assisted device for placing sensors on live overhead wires according to claim 6, 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).

8. The drone-assisted device for placing sensors on live overhead wires according to any one of claims 4 to 7, 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).

9. The drone-assisted device for placing sensors on live overhead wires according to claim 8, 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).

10. 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 9, 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.

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