High-altitude grounding system and method based on unmanned aerial vehicle

Abstract

The invention discloses a high-altitude grounding system and method based on an unmanned aerial vehicle. The method comprises the steps that the two ends of a grounding wire are electrically connected with a wire end device and a grounding end device respectively; the wire end device and the grounding end device are hung on the same unmanned aerial vehicle; the unmanned aerial vehicle is operated to fly to a designated position, the unmanned aerial vehicle is controlled to hook and lock the grounding end device and the connecting point b on the iron tower, and the unmanned aerial vehicle is controlled to hook and lock the wire end device and the connecting point a on the wire; after the operation is completed, operating the unmanned aerial vehicle to fly to a designated position, controlling the unmanned aerial vehicle to hoist the grounding end device and separate from the iron tower, and controlling the unmanned aerial vehicle to hoist the wire end device and separate from the wire; the system is used for realizing the aerial grounding method based on the unmanned aerial vehicle. The ground wire lap joint device has the beneficial effects that high-altitude lap joint of the ground wire is carried out by operating the unmanned aerial vehicle without high-altitude operation of workers, the operation is simple and convenient, and meanwhile, the safety is also greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of power systems, and in particular to a high-altitude grounding system and method based on an unmanned aerial vehicle. Background Art

[0002] At present, when a line that is out of service needs to be inspected and constructed, a grounding wire needs to be connected. The grounding wire is known as the lifeline of power workers. For daily power outage inspection and maintenance work, the electrician on the tower needs to carry a transfer rope. Near the appropriate working position, the electrician will pass the test pen to the tower through the transfer rope. The electrician on the tower will test the power phase by phase. After confirming that there is no voltage on the line, the test pen will be lowered to the ground, and the grounding wire will be hoisted to the tower. The ground electrician will install the grounding wire on the power outage line. This traditional operation method requires one person to monitor, one person on the tower to be responsible for power testing and grounding, and one person on the ground to cooperate with the transfer work. The grounding wire is heavy and cumbersome to install.

[0003] Especially when ultra-high voltage transmission lines need to be shut down for maintenance and construction, the grounding wire is generally hung between the transmission line and the tower, and grounded through the tower. The entire process is operated by staff, which is labor-intensive on the one hand and highly dangerous on the other hand, posing a safety hazard. For this reason, a high-altitude grounding system and method based on drones are proposed to solve the above technical problems. Summary of the invention One of the purposes of this application is to provide a high-altitude grounding method based on a drone.

[0004] Another object of the present application is to provide a high-altitude grounding system based on a drone.

[0005] In order to achieve at least one of the above purposes, the technical solution adopted in the present application is: a high-altitude grounding method based on a drone, comprising the following steps: S100: electrically connecting the two ends of the grounding wire to the wire end device and the grounding end device respectively; S200: hanging the wire end device and the grounding end device on the same drone; S300: operating the drone to fly to a designated position, controlling the drone to hang and lock the grounding end device with the connection point b on the tower, and controlling the drone to hang and lock the wire end device with the connection point a on the wire; S400: after the operation is completed, operating the drone to fly to a designated position, controlling the drone to lift the grounding end device and detach it from the tower, and controlling the drone to lift the wire end device and detach it from the wire.

[0006] Preferably, in step S200, the wire end device and the grounding end device are hung on the same drone through a suspension device, the suspension device includes a first suspension ring and a second suspension ring, the wire end device is hung on the first suspension ring, and the grounding end device is hung on the second suspension ring, and the angle between the first suspension ring and the second suspension ring is α, where 60°≤α≤120°.

[0007] Preferably, in step S300, the connection point b is a cross-arm angle steel, and the angle between the cross-arm angle steel and the conductor is β, wherein 60°≤β≤120°.

[0008] Preferably, in step S300, it specifically includes the following steps: first, the drone is controlled to hang and lock the grounding terminal device with the connection point b on the tower, and then the drone is controlled to hang and lock the wire end device with the connection point a on the wire; wherein the height of the connection point b is greater than the height of the connection point a.

[0009] Preferably, in step S400, it specifically includes the following steps: firstly, the drone is controlled to separate the wire end device from the wire, and then the drone is controlled to separate the grounding end device from the tower.

[0010] Preferably, the reference plane of the wire end device is perpendicular to the first suspension ring, and the opening of the wire end device is downward and toward the wire position; the reference plane of the grounding end device is perpendicular to the second suspension ring, and the opening of the grounding end device is downward and toward the tower position; and the diameters of the two openings increase from top to bottom.

[0011] Preferably, in step S200, the wire end device and the grounding wire device are both connected to the drone through their respective lifting hooks; in step S400, the wire end device and the grounding wire device are both connected to the drone through their respective release hooks.

[0012] Preferably, in step S300 and step S400, the drone uses its camera to achieve real-time and accurate operation of the wire end device and the grounding wire device. Preferably, in step S300, it specifically includes the following steps: first, operate the drone to rise to the first designated position, and then operate the drone to descend so that the grounding end device is hooked and locked with the connection point b on the tower; then operate the drone to translate to the second designated position, and finally operate the drone to descend so that the wire end device is hooked and locked with point a on the wire; in step S400, it specifically includes the following steps: first, operate the drone to rise to the third designated position, and then continue to operate the drone to rise so that the wire end device is separated from the wire; then operate the drone to translate to the fourth designated position, and finally operate the drone to rise so that the grounding end device is separated from the tower.

[0013] A high-altitude grounding system based on an unmanned aerial vehicle is used to implement the above-mentioned high-altitude grounding method based on an unmanned aerial vehicle. The wire end device includes a first hook body, a limiting device, a decoupling device, a first lifting hook and a first decoupling hook. The first hook body has a hanging area. The limiting device is arranged on the first hook body and cooperates with the hanging area. The decoupling device is arranged on the first hook body and cooperates with the limiting device. The first lifting hook is arranged on the first hook body, and the first decoupling hook is arranged on the decoupling device. During the hanging process, the unmanned aerial vehicle is suitable for grabbing the first lifting hook to hang the wire end device. The wire end device, the drone makes the first hook body hang on the wire, and the limit device is suitable for driving the hanging area to close with the cooperation of the wire, so that the first hook body is locked to the wire; during the disengagement process, the drone is suitable for grabbing the first disengagement hook and acting on the disengagement device, and then the limit device is driven by the disengagement device to open the hanging area, so that the first hook body is unlocked; the grounding terminal device includes a second hook body, a limit assembly, a locking hook assembly, a disengagement assembly, a second lifting hook and a second disengagement hook, and the second hook body The invention is suitable for hanging on an iron tower, wherein the limit assembly is movably arranged on the second hook body, and the limit assembly has a locked state and an unlocked state, the lock hook assembly is movably arranged on the second hook body, and the lock hook assembly is actuated to make the limit assembly change from the unlocked state to the locked state, the decoupling assembly is movably arranged on the second hook body, and the decoupling assembly is actuated to make the limit assembly change from the locked state to the unlocked state, the second lifting hook is arranged on the second hook body, and the second decoupling hook is arranged on the decoupling assembly; during the hanging process, the drone is suitable for grabbing the second lifting hook to hang the receiving hook The drone is capable of detaching from the tower by grabbing the second release hook and lifting it away from the grounding device. The drone is capable of detaching from the tower by grabbing the second release hook and lifting it away from the grounding device. The drone is capable of detaching from the tower by grabbing the second release hook and lifting it away from the grounding device by grabbing the second release hook and lifting it away from the tower ...

[0014] Compared with the prior art, the beneficial effects of this application are: The present invention proposes a high-altitude grounding method based on a drone. The method cooperates with the use of the drone through a wire end device and a grounding end device. That is, the wire end device can be locked and matched with the wire, and the grounding end device can be locked and matched with the iron tower by operating the drone, thereby realizing the automation of high-altitude bonding of the grounding wire. There is no need for workers to perform high-altitude operations, which is simple and convenient, and also greatly improves safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the method of grounding an aerial wire in the prior art of the present invention; Figure 2 It is a schematic diagram of the overall structure of the present invention; Figure 3 This is a schematic diagram of the present invention when the ground wire is matched with the iron tower by using a drone; Figure 4 This is a schematic diagram of the present invention when the ground wire and the conductor are matched by a drone; Figure 5 This is a schematic diagram of the present invention when the ground wire is separated from the conductor by a drone; Figure 6 This is a schematic diagram of the present invention when the ground wire is separated from the iron tower by a drone; Figure 7 It is a schematic diagram of the structure of the suspension device of the present invention; Figure 8 This is a schematic diagram of the UAV lifting wire end device of the present invention; Fig. 9 It is a schematic diagram of the state when the hook body of the present invention moves downward and approaches the wire; Fig.10 It is a schematic diagram of the state when the wire and the limiting structure of the present invention cooperate with each other; Fig.11 It is a schematic diagram of the structure of the hook body of the present invention being clamped on a wire; Fig.12 It is a schematic structural diagram of the movement state of the internal components of the hook body of the present invention after lifting; Fig.13 This is a schematic diagram of the UAV lifting ground terminal device of the present invention; Fig.14 It is a schematic diagram of the grounding terminal device of the present invention being locked on the iron tower; Fig.15 It is a schematic diagram of the actions of the position limiting assembly, the locking hook assembly and the unhooking assembly of the present invention when they are in the unlocking state; Fig.16 For the present invention Fig.15 Schematic diagram of the three-dimensional structure in the state; Fig.17It is a schematic diagram of the actions of the unhooking, unhooking assembly and limiting assembly when the present invention is transformed from the locked state to the unlocked state II; Fig.18 It is a schematic diagram of the action of the limit assembly when the present invention changes from the locked state to the unlocked state II; Fig.19 It is a schematic diagram of the structure of the clamp head of the present invention.

[0016] In the figure: 1, suspension device; 101, first suspension ring; 102, second suspension ring; 2, wire end device; 3, grounding end device; 4, first hook body; 401, suspension area; 402, clamping member; 403, clamping area; 5, grounding wire; 6, unhooking device; 601, connecting rod group; 6011, first unhooking hook; 6012, first rod body; 6013, second rod body; 7, limit device; 701, limit structure; 7011, limit Positioning plate; 7012, limiting pin; 702, limiting rod; 703, elastic component; 8, first lifting hook; 9, supporting rod; 10, first guide plate; 11, guiding opening; 12, protection zone; 13, first slot body; 14, second slot body; 16, second hook body; 1601, mounting seat; 1602, slide; 16021, vertical section; 16022, outer oblique section; 1603, articulated seat; 1604, telescopic seat; 17, limiting assembly ; 1701, clamp head; 17011, positioning rod; 17012, sliding section; 17013, extension section; 17014, oblique hook section; 1702, sliding buckle; 17021, hanging rod; 1703, first elastic member; 18, locking hook assembly; 1801, trigger plate; 1802, multi-link rod; 18021, first connecting rod; 18022, second connecting rod; 18023, third connecting rod; 18024, rod seat; 1803, locking rod; 1804, locking tongue; 19, unhooking assembly; 1901, linkage member; 19011, slider; 19012, fourth connecting rod; 1902, pull hook; 1903, second elastic member; 20, second lifting hook; 21, second unhooking hook; 22, adjusting assembly; 2201, adjusting ring; 22011, guide section; 22012, pressing section; 2202, third elastic member; 23, second guide plate; 24, protective plate; 25, tower angle steel. DETAILED DESCRIPTION

[0017] Below, the present application is further described in conjunction with specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0018] In the description of the present application, it should be noted that directional words, such as the terms "center", "lateral", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of narrating the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and cannot be understood as limiting the specific scope of protection of the present application.

[0019] It should be noted that the terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0020] One of the preferred embodiments of the present application is as follows: Figures 1 to 19 As shown, a high-altitude grounding system based on a drone includes a wire end device 2, a grounding end device 3 and a suspension device 1, such as Figure 2 As shown, the grounding terminal device 3 and the wire end device 2 are respectively connected to the two ends of the grounding wire 5, and a grounding module can be formed between the three, and the first end (top end) of the suspension device 1 is connected to the drone, and the wire end device 2 and the grounding terminal device 3 are respectively hung on both sides of the second end (bottom end) of the suspension device 1.

[0021] For example, Figure 1 As shown, we assume that there is point a on the conductor and point b on the iron tower. The conductor can be grounded by simply connecting points a and b. Therefore, when performing the grounding operation, the drone first takes off to raise the grounding wire 5 to a suitable height, and the two ends of the grounding wire 5 are respectively matched with the conductor and the iron tower. At this time, the conductor end device 2 can be locked on the conductor with the cooperation of the conductor, and the grounding end device 3 can be locked on the iron tower with the cooperation of the iron tower (iron tower angle steel 25), thereby achieving the grounding of points a on the conductor and b on the iron tower.

[0022] Of course, when the grounding wire 5 needs to be removed after the grounding is completed, the drone is operated to cooperate with the grounding terminal device 3 and the wire end device 2 through the suspension device 1. Specifically, when the suspension device 1 lifts the wire end device 2, the wire end device 2 will be unlocked under the action of the lifting force and then separated from the wire. Similarly, when the suspension device 1 lifts the grounding terminal device 3, the grounding terminal device 3 will be unlocked under the action of the lifting force and then separated from the iron tower, completing the entire wire grounding operation process.

[0023] It can be seen that by providing the suspension device 1, the wire end device 2 and the grounding end device 3, the grounding process of the entire high-altitude wire can be completed. The entire process does not require staff to perform manual operations at high altitudes, that is, only one ground operator is needed, thereby saving time and effort, and at the same time greatly improving safety and work efficiency, making high-altitude grounding operations more convenient and flexible.

[0024] One of the embodiments of the present application is as follows: Figure 8 As shown, the wire end device 2 includes a first hook body 4 , a limiting device 7 and a dehooking device 6 . The first hook body 4 has a hanging area 401 . The limiting device 7 is arranged on the first hook body 4 and cooperates with the hanging area 401 .

[0025] Specifically, the grounding wire 5 is connected to the first hook body 4, and then the first hook body 4 is hooked and matched with the suspension device 1, and then the first hook body 4 is raised by the drone, and then the first hook body 4 is hung on the wire. At this time, the limit device 7 will close the suspension area 401 under the squeezing action of the wire, and then the first hook body 4 is locked on the wire, so that one end of the grounding wire 5 is installed on the wire. Similarly, if it is necessary to disengage the first hook body 4 from the wire, the drone can be used to suspend the unhooking device 6 on the first hook body 4. The unhooking device 6 will act on the limit device 7 under the lifting action of the drone, and the limit device 7 will act on the suspension area 401, so that the suspension area 401 is opened, and the first hook body 4 will be unlocked and locked, and finally the drone can be lifted to disengage from the wire.

[0026] One of the embodiments of the present application is as follows: Fig. 9 As shown, a clamping member 402 is rotatably mounted on the outer side of the first hook body 4, and the clamping member 402 is connected to the limit device 7. A corresponding clamping area 403 is provided between the first hook body 4 and the clamping member 402 (on the opposite side), and the two clamping areas 403 cooperate to form a hanging area 401. Of course, since the wire is cylindrical, the clamping area 403 preferably adopts a semicircular structure, and since the clamping member 402 can rotate, the shape of the hanging area 401 is not fixed, but for the hanging area 401 in the closed state, its shape structure is adapted to the wire, and can be regarded as an approximately circular structure.

[0027] It should be noted that, since the clamping member 402 is rotatably mounted, when the clamping member 402 rotates and approaches the first hook body 4, the hanging area 401 is in a closed state, that is, the wire is abutted between the two clamping areas 403, thereby achieving the first hook body 4 being clamped and fixed (locked) at the outer position of the wire, such as Figure 5Similarly, when the clamping member 402 is reversed and moves away from the first hook body 4, the hanging area 401 is in an open state, that is, the wire is separated from the two clamping areas 403, that is, the first hook body 4 is disengaged from the wire (unlocked).

[0028] like Fig. 9 As shown, the limiting device 7 includes a limiting structure 701, a limiting rod 702 and an elastic component 703. The limiting rod 702 is rotatably installed on the first hook body 4 and connected to the clamping member 402 through the elastic component 703. The limiting structure 701 is arranged between the clamping member 402 and the first hook body 4.

[0029] Specifically, before hanging, we can set this time as the initial state, such as Fig. 9 As shown, the clamping member 402 is locked to the first hook body 4 under the action of the limiting structure 701, that is, the clamping member 402 cannot rotate relative to the first hook body 4. At the same time, the limiting rod 702 is locked to the first hook body 4 under the action of the unhooking device 6 and the elastic component 703, that is, the limiting rod 702 cannot rotate relative to the first hook body 4. Therefore, the first hook body 4, the clamping member 402 and the limiting rod 702 are all in a relatively static state.

[0030] When hanging, if Fig.10 As shown, at this time, the wire will enter the hanging area 401 and act on the limiting structure 701. The limiting structure 701 will release the lock of the clamping member 402 under the extrusion of the wire. Therefore, at this time, the clamping member 402 rotates and approaches the first hook body 4 under the elastic force of the elastic component 703, so that the first hook body 4 and the clamping member 402 cooperate to clamp the wire. Of course, at this time, the limiting rod 702 remains stationary under the cooperation of the elastic component 703 and the unhooking device 6.

[0031] As a further description of the above embodiment: Fig.10 As shown, the limiting structure 701 includes a limiting pin 7012 and a limiting plate 7011. The limiting pin 7012 is installed on the clamping member 402. The limiting plate 7011 is rotatably installed on the first hook body 4. The limiting plate 7011 is respectively provided with a first groove body 13 and a second groove body 14 that are connected.

[0032] It is understandable that in the initial state, the limit pin 7012 cooperates with the first slot 13, the clamping member 402 is away from the first hook body 4 and is locked and limited, and the hanging area 401 is in an open state. When hanging, the wire will squeeze the limit plate 7011, and the limit plate 7011 will rotate under the squeezing effect, so that the limit pin 7012 cooperates with the second slot 14, so the limit pin 7012 can move in the second slot 14, and then the clamping member 402 is in a free state, so the limit pin 7012 will move along the second slot 14 under the action of the elastic component 703, that is, the clamping member 402 rotates and approaches the first hook body 4.

[0033] One of the embodiments of the present application is as follows: Fig. 9 As shown, the unhooking device 6 includes a connecting rod group 601, and the connecting rod group 601 is movably arranged on the first hook body 4. It can be understood that in a normal state, that is, the connecting rod group 601 moves downward along the first hook body 4 under the action of gravity, and the position when it moves downward to the limit position is called the lowest position of the connecting rod group 601. The bottom end of the connecting rod group 601 at the lowest position is matched with the limit rod 702, and the limit rod 702 is in a limit locking state when it cooperates with the elastic component 703.

[0034] When the first hook body 4 is separated from the wire, we suspend the drone and the top of the connecting rod group 601. At this time, the connecting rod group 601 will move up along the first hook body 4 under the lifting of the drone, and the upper limit position is called the uppermost position of the connecting rod group 601. At this time, the upwardly moved connecting rod group 601 will be disengaged from the limit rod 702, and then the clamping member 402 and the limit rod 702 will rotate under the elastic force of the elastic component 703, that is, the clamping member 402 will rotate and move away from the first hook body 4, thereby releasing the clamping fixation of the wire. Finally, the drone will move synchronously with the first hook body 4 through the connecting rod group 601 and realize the removal of the ground wire 5.

[0035] The present application does not specifically limit the structure of the connecting rod set 601, and a specific embodiment is provided below for reference: Fig.11As shown, the connecting rod group 601 includes a first disengagement hook 6011, a first rod body 6012 and a second rod body 6013. The first disengagement hook 6011 is vertically slidably installed on the first hook body 4. The second rod body 6013 is rotatably installed on the first hook body 4 through the first end and cooperates with the limiting rod 702. The first end of the first rod body 6012 is hinged to the bottom end of the first disengagement hook 6011, and the second end of the first rod body 6012 is cooperated and connected with the second end of the second rod body 6013. Specifically: a pin is provided at the second end of the first rod body 6012, and a waist hole is provided at the upper part of the second end of the second rod body 6013, and the pin and the waist hole cooperate with each other.

[0036] It can be understood that when the first hook body 4 is disengaged from the wire, the drone will pull the first disengagement hook 6011 upward, the first disengagement hook 6011 acts on the first rod 6012, and the first rod 6012 will pull the second rod 6013 to rotate upward, thereby causing the second rod 6013 to disengage from the limiting rod 702.

[0037] like Fig.12 As shown, when the second rod body 6013 is disengaged from the limiting rod 702, the limiting rod 702 will be located below the second rod body 6013. Therefore, when the connecting rod group 601 moves downward under the action of gravity, it cannot move to the lowest position. Therefore, it is necessary to reverse the limiting rod 702 and move it away from the second rod body 6013, and make the limiting rod 702 abut against the second rod body 6013 at the lowest position, so as to make the first hook body 4 be in the initial state when the hanging area 401 is opened, so as to facilitate the next installation of the grounding wire 5.

[0038] In one embodiment of the present application, when the drone is towing the first hook body 4, the first hook body 4 will easily shake, making it difficult for the hanging area 401 to cooperate with the wire. Figure 8 As shown, a first guide plate 10 may be installed at the bottom end of the clamping member 402 , and a guide opening 11 (an opening of the wire end device 2 ) is formed between the first guide plate 10 and the first hook body 4 , and the diameter of the guide opening 11 increases from top to bottom.

[0039] It can be understood that a trumpet-shaped structure is formed between the first guide plate 10 installed on the clamping member 402 and the first hook body 4, that is, the bottom end of the guide opening 11 is at its largest and then shrinks in diameter toward the hanging area 401, so that when hanging the first hook body 4, it is only necessary to cooperate with the guide opening 11 and the wire, and then under the guiding action of the first guide plate 10, the hanging area 401 can cooperate with the wire more smoothly and accurately, thereby improving the efficiency during installation.

[0040] In this embodiment, Figure 8 As shown, a first lifting hook 8 is installed at the top end of the first hook body 4. The first lifting hook 8 can adopt a "冂"-shaped structure, with its opening facing downward and being inclined. The support rod 9 is installed at the bottom end of the first disengaging hook 6011, and the bottom end of the support rod 9 is connected to the first hook body 4. A triangular structure is formed among the first lifting hook 8, the support rod 9, and the first hook body 4, which can greatly improve the stability of the entire first hook body 4. Of course, this triangular structure can also form a protection area 12 for protecting the limiting device 7 and the unhooking device 6.

[0041] It should be known that since the limiting rod 702 is limited by the cooperation of the second rod body 6013 and the elastic component 703, and the second rod body 6013 remains stationary by gravity. For example, during the process of hoisting the first hook body 4 and cooperating with the wire, if the second rod body 6013 touches the iron tower, it is very easy for the second rod body 6013 to rotate upward and disengage from the limiting rod 702, which will interfere with the installation of the first hook body 4. Through the protection of the first lifting hook 8 and the support rod 9, the above problems can be avoided, further ensuring the safety and efficiency during installation.

[0042] In one embodiment of the present application, as Fig.13 shown, the grounding end device 3 includes a second hook body 16, and the second hook body 16 can be hung on the iron tower angle steel 25; the second hook body 16 of this embodiment is in a "冂" shape, and a mounting seat 1601 is formed on one side of the second hook body 16. A limiting component 17 is movably arranged on the mounting seat 1601, and the limiting component 17 has a locking state and an unlocking state. A locking hook component 18 is movably arranged on the mounting seat 1601, and the action of the locking hook component 18 causes the limiting component 17 to change from the unlocking state to the locking state. A disengaging component 19 is movably arranged on the mounting seat 1601, and the action of the disengaging component 19 causes the limiting component 17 to change from the locking state to the unlocking state. A second lifting hook 20 is fixedly arranged on the mounting seat 1601. A second disengaging hook 21 is arranged on the disengaging component 19. An adjusting component 22 is movably arranged on the other side of the second hook body 16, playing a role of guiding, positioning, and auxiliary clamping. A second guiding plate 23 is fixedly arranged at the lower end of the other side of the second hook body 16, and the iron tower angle steel 25 is adapted to enter the second hook body 16 along the second guiding plate 23, playing a guiding role. A protection plate 24 is arranged between the lower end of one side of the second hook body 16 and the lower end of the second lifting hook 20. The second hook body 16, the second lifting hook 20, and the protection plate 24 form a closed frame; the limiting component 17, the locking hook component 18, and the disengaging component 19 are located inside the closed frame, playing a protective role to avoid accidental triggering.

[0043] Its basic working principle is as follows: during the hanging process, the drone can grab the second lifting hook 20 through the hanging device 1, and then hang the grounding terminal device 3. The flight of the drone makes the second hook body 16 hang on the tower angle steel 25. At the same time, the tower angle steel 25 triggers the locking hook assembly 18 to move, so that the limit assembly 17 changes from the unlocked state to the locked state, thereby limiting the second hook body 16 from being separated from the tower angle steel 25; during the separation process, the drone can grab the second disengagement hook 21 through the hanging device 1 to be lifted away from the grounding terminal device 3. The flight of the drone makes the second disengagement hook 21 active. At the same time, the second disengagement hook 21 triggers the disengagement assembly 19 to move, so that the limit assembly 17 changes from the locked state to the unlocked state, and then the drone continues to fly so that the second hook body 16 is hung and separated from the tower angle steel 25.

[0044] It should be noted that the hanging process of the present application refers to the process in which the UAV hooks the grounding terminal device 3 and lifts it from the ground to the air and then hangs it on the tower angle steel 25; the detachment process of the present application refers to the process in which the UAV hooks the grounding terminal device 3 in the air and lifts it from the tower angle steel 25 and then returns to the ground.

[0045] More specifically, Figures 15 to 19 As shown, the limit assembly 17 includes a clamp head 1701, a slide buckle 1702 and a first elastic member 1703. The mounting seat 1601 is provided with a slide groove 1602, and the slide groove 1602 has a vertical section 16021 and an outer inclined section 16022. The two ends of the first elastic member 1703 are respectively connected to the clamp head 1701 and the slide buckle 1702, and the clamp head 1701 and the slide buckle 1702 are slidably arranged in the slide groove 1602. Fig.17 , Fig.19 As shown, a hanging rod 17021 is arranged at the upper end of the slide buckle 1702, the unhooking assembly 19 comprises a linkage member 1901, a pull hook 1902 and a second elastic member 1903, the second unhooking hook 21 is slidably arranged on the mounting seat 1601 along the vertical direction, the lower end of the second unhooking hook 21 is connected to the linkage member 1901, the upper end of the pull hook 1902 is connected to the linkage member 1901, the second elastic member 1903 forces the second unhooking hook 21 to slide downward, at which time the lower end of the pull hook 1902 is connected to the hanging rod 17021 and restricts the slide buckle 1702 from sliding downward. Its specific working principle is as follows: Installation process: The drone can grab the second lifting hook 20 to hang the grounding terminal device 3, such as Fig.13 As shown, at this time, the limit assembly 17 is first in the unlocking state 1, the lock hook assembly 18 limits the sliding of the clamp head 1701 and makes the clamp head 1701 located at the outer inclined section 16022, the unhooking assembly 19 limits the sliding of the slide buckle 1702 and makes the slide buckle 1702 located at the upper end of the vertical section 16021, and the first elastic member 1703 is in a stretched state. When the drone is flying, the second hook body 16 is hung on the iron tower angle steel 25, as shown in FIG. Fig.14As shown, when the tower angle steel 25 triggers the locking hook assembly 18 to move and releases the restriction on the clamping head 1701, the clamping head 1701 slides upward under the action of the first elastic member 1703 and enters the vertical section 16021 from the outer inclined section 16022, so that the limiting assembly 17 is in a locked state, thereby restricting the second hook body 16 from detaching from the tower angle steel 25.

[0046] Disengagement process: The UAV can grab the second release hook 21 and lift it away from the ground terminal device 3, such as Fig.14 As shown, at this time, the limit assembly 17 is first in a locked state, such as Fig.17 As shown, when the drone flies, the second release hook 21 moves and forces the second release hook 21 to overcome the elastic force of the second elastic member 1903 and slide upward. The second release hook 21 drives the pull hook 1902 to move through the linkage member 1901, thereby disengaging from the hanging rod 17021, and then the release hook assembly 19 releases the restriction on the slide buckle 1702. Fig.18 As shown, the limit assembly 17 slides downward under the action of gravity until the clamping head 1701 enters the outer inclined section 16022, so that the limit assembly 17 is in the unlocked state 2, and then the drone continues to fly so that the second hook body 16 is detached from the tower angle steel 25.

[0047] In this embodiment, the lock hook assembly 18 adopts a multi-link lock structure, such as Fig.16As shown, the clamping head 1701 extends out of the positioning rod 17011, and the locking hook assembly 18 includes a trigger plate 1801, a multi-link rod 1802, a locking rod 1803 and a locking tongue 1804 which are respectively movably arranged on the second hook body 16 and connected in sequence; when the limiting assembly 17 is in a locked state, the locking tongue 1804 abuts against the positioning rod 17011 and restricts the clamping head 1701 from sliding upward, and the locking rod 1803 abuts against the locking tongue 1804 and restricts the movement of the locking tongue 1804; when the second hook body 16 is hung on the iron tower angle steel 25, the iron tower angle steel 25 triggers the trigger plate 1801 to move, and the trigger plate 1801 drives the locking rod 1803 to move through the multi-link rod 1802, thereby releasing the restriction on the locking tongue 1804, and then the locking tongue 1804 releases the restriction on the clamping head 1701. More specifically, the middle section of the trigger plate 1801 is hinged on the second hook body 16, the front section of the trigger plate 1801 extends into the second hook body 16, the multi-link rod 1802 includes a first link 18021, a second link 18022, a third link 18023 and a rod seat 18024, the lock rod 1803 is fixedly arranged on the rod seat 18024, the middle section of the lock tongue 1804 is hinged on the mounting seat 1601, the front section of the lock tongue 1804 is suitable for contacting the positioning rod 17011, and the lock rod 180 3 is suitable for entering and exiting the rear section of the lock tongue 1804, the mounting seat 1601 is provided with a hinge seat 1603 and a telescopic seat 1604, the middle section of the second connecting rod 18022 is hinged on the hinge seat 1603, the lock rod 1803 is slidably arranged on the telescopic seat 1604 along the vertical direction, the two ends of the first connecting rod 18021 are respectively hinged to the rear end of the trigger plate 1801 and the upper end of the second connecting rod 18022, and the two ends of the third connecting rod 18023 are respectively hinged to the lower end of the second connecting rod 18022 and the upper end of the rod seat 18024.

[0048] Further, such as Fig.17 As shown, the linkage member 1901 of this embodiment includes a slider 19011 and a fourth connecting rod 19012. The slider 19011 is slidably arranged on the mounting seat 1601 along the vertical direction. The second disengagement hook 21 is connected to the upper end of the slider 19011. The middle section of the pull hook 1902 is hinged to the mounting seat 1601. Both ends of the fourth connecting rod 19012 are respectively hinged to the lower end of the slider 19011 and the upper end of the pull hook 1902. The lower end of the pull hook 1902 is suitable for connecting to the hanging rod 17021. The second elastic member 1903 is sleeved on the second disengagement hook 21 and is located between the slider 19011 and the mounting seat 1601.

[0049] Further, such as Fig.19As shown, in order to ensure reliable locking, the clamping head 1701 includes a sliding section 17012, an extension section 17013 and an oblique hook section 17014. The sliding section 17012 is suitable for being slidably set in the slide groove 1602, and the extension section 17013 passes through the second hook body 16 and extends toward the inner side of the second hook body 16. In the locked state, the oblique hook section 17014 extends obliquely upward and is suitable for cooperating with the second hook body 16 to limit the detachment of the tower angle steel 25.

[0050] like Fig.14 As shown, the adjustment component 22 includes an adjustment ring 2201 and a third elastic member 2202. The adjustment ring 2201 is rotatably set on the second hook body 16. The third elastic member 2202 is set between the adjustment ring 2201 and the second hook body 16 and forces the adjustment ring 2201 to approach the second hook body 16. When the second hook body 16 is hung on the tower angle steel 25, the adjustment ring 2201 is suitable for pressing against the tower angle steel 25 through the deformation of the third elastic member 2202. Furthermore, the adjustment ring 2201 includes a guide section 22011 and a tightening section 22012, the lower end of the guide section 22011 is rotatably set on the other side of the second hook body 16, the upper end of the guide section 22011 is connected to the lower end of the tightening section 22012, the upper end of the tightening section 22012 is connected to one end of the third elastic member 2202, and the other end of the third elastic member 2202 is connected to the other side of the second hook body 16; the guide section 22011 is inclined from one side of the second hook body 16 to the other side from top to bottom, and the tightening section 22012 is inclined from the other side of the second hook body 16 to one side from top to bottom. When the second hook body 16 is hung on the tower angle steel 25, the tower angle steel 25 passes over the guide section 22011 and is tightened by the tightening section 22012. Through the above structure, a corner protruding toward the side of the second hook body 16 is formed between the guide section 22011 and the tightening section 22012, and the corner has a restrictive effect on the tower angle steel 25, further ensuring the reliability of clamping.

[0051] It can be seen from the accompanying drawings that the elastic (components) of this embodiment are all springs, but other structures or components that can achieve the same function are not excluded.

[0052] A high-altitude grounding method based on a drone, using the above-mentioned high-altitude grounding system based on a drone, comprises the following steps: S100: Figure 2 As shown, firstly, the two ends of the grounding wire 5 are electrically connected to the conductor end device 2 and the grounding end device 3 respectively, and a grounding module can be formed between the three, that is, the grounding module only needs to be overlapped between the conductor and the iron tower.

[0053] S200: Figure 2 As shown, the wire terminal device 2 and the ground terminal device 3 are hung on the same drone.

[0054] Specifically, the wire end device 2 and the grounding end device 3 can be hung on the same drone through the suspension device 1, and the suspension device 1 includes a first suspension ring 101 and a second suspension ring 102 connected to each other. The top of the connection between the first suspension ring 101 and the second suspension ring 102 is connected to the drone, the first lifting hook 8 on the wire end device 2 is hung on the first suspension ring 101 of the suspension device 1, and the second lifting hook 20 on the grounding end device 3 is also hung on the second suspension ring 102 of the suspension device 1, and then the drone can be controlled to take off.

[0055] As a further description of the above embodiment: Figure 7 As shown in (a) in the figure, we set the angle between the two suspension rings to be α, where 60°≤α≤120°.

[0056] It should be noted why the angle range of α is set between 60° and 120°. We assume that the angle of α is 30° (less than 60°), that is, the angle between the first suspension ring 101 and the second suspension ring 102 is very small, which means that the wire end device 2 and the grounding end device 3 are suspended very close to each other. In this way, the following problems are likely to occur when the grounding wire 5 is hung: (1) The two vertical parts of the grounding wire 5 are very close. Since the drone will shake during flight, the grounding wire 5 is prone to knotting and entanglement. (2) The center of gravity between the wire end device 2 and the grounding end device 3 will be very close, so at this time, one side of the drone will be subjected to greater bearing force, thereby affecting the stability of the drone. (3) When one of the wire end device 2 and the grounding end device 3 is being hung, the other one may affect the hanging. At the same time, since the two are too close to each other, it is difficult to align the openings and directions of the wire end device 2 and the grounding end device 3 with the positions of the wire and the tower at the same time during the hanging process. Therefore, during the hanging process, the drone needs to be rotated, which is relatively cumbersome.

[0057] Assuming that the angle α is 150° (greater than 120°), it means that the angle between the first suspension ring 101 and the second suspension ring 102 is too large. In this case, the distance between the wire end device 2 and the grounding end device 3 is too far, which will cause the following problems: (1) Similar to the above-mentioned small angle, it is difficult for the openings and directions of the two to align with the positions of the wire and the tower at the same time. (2) The center of gravity distance between the two is too far, which will cause the drone to require more adjustment and balancing operations when hanging the grounding wire 5. This not only increases the energy consumption of the drone, but may also lead to longer operation time, affecting the overall operation efficiency.

[0058] In summary, setting the angle range of α between 60° and 120° can effectively avoid the above problems. Within this angle range, the distance between the wire end device 2 and the grounding end device 3 is moderate, and neither knotting and entanglement will be caused due to the close distance, nor will the stability and operating efficiency of the drone be affected due to the long distance. Of course, the angle of α is preferably set at 90°, that is, the first suspension ring 101 and the second suspension ring 102 are perpendicular to each other.

[0059] Further, when the suspension device 1 is not in use, or is being packaged, as Figure 7 As shown in (b), the two suspension rings can be folded to save space and facilitate carrying. Of course, when used in practice, the two suspension rings can be adjusted in angle by bolts, so as to be suitable for different high-altitude (left and right) wires (transmission lines), which has good flexibility.

[0060] S300: Operate the drone to take off to a designated location, control the drone to hook and lock the grounding terminal device 3 with the connection point b on the tower, and control the drone to hook and lock the wire end device 2 with the connection point a on the wire.

[0061] In this process, for the sake of safety and convenience, it specifically includes the following steps: here, when operating the grounding wire 5, there is a sequence, that is, first control the drone to match one end of the grounding wire 5 with point b on the tower, that is, the drone flies so that the second hook body 16 is hung on the tower angle steel 25, and at the same time the tower angle steel 25 triggers the locking hook assembly 18 to move, so that the limit assembly 17 changes from the unlocked state to the locked state, thereby limiting the second hook body 16 from being separated from the tower angle steel 25, thereby completing the connection between the grounding wire 5 and point b; then control the drone to move downward so that the second suspension ring 102 is separated from the second lifting hook 20, as shown in FIG. Figure 3 shown.

[0062] Afterwards, continue to control the drone to make the wire end device 2 move downward to the direction of a, so that the opened hanging area 401 moves downward and cooperates with the wire. After the wire enters the hanging area 401, it will squeeze the limit plate 7011, and the limit plate 7011 will rotate under the squeezing action, so that the limit pin 7012 enters the second groove body 14 relative to the first groove body 13, thereby releasing the lock on the clamping member 402. At this time, the clamping member 402 will rotate under the action of the elastic component 703 and approach the first hook body 4, thereby clamping and fixing the wire, that is, the first hook body 4 will be locked on the wire, thereby completing the connection between the grounding wire 5 and point a, and finally control the drone to move downward so that the first hanging ring 101 is separated from the first lifting hook 8. Figure 4That is to say, when the grounding wire 5 is overlapped, one end of the grounding wire 5 is first overlapped with the iron tower at the grounding end, and then matched with the (live) conductor, which greatly improves safety.

[0063] It should be noted that the height of the above-mentioned connection point b is preferably greater than the height of the connection point a. Because when the grounding wire 5 is hung, the grounding wire 5 will first cooperate with the iron tower, so after the suspension device 1 and the grounding terminal device 3 are disengaged, the height of the wire end device 2 must be greater than the height of a, so at this time, you only need to translate the drone to make the wire end device 2 correspond to the point a of the wire, and the operation is convenient and fast. If the height of the overlapping connection point b is less than the height of the connection point a, then at this time, after the suspension device 1 and the grounding terminal device 3 are disengaged, the height of the wire end device 2 may be less than the height of a, so at this time, you need to first raise the drone, and finally translate it to make the wire end device 2 correspond to the point a of the wire; and at this time, there will be an additional operation process of the drone rising, which makes the operation more cumbersome and affects work efficiency.

[0064] Of course, in the above steps, if Figure 1 As shown, we assume that the connection point b is the cross arm angle steel (on the tower angle steel 25), and the angle between the cross arm angle steel and the conductor is β, where 60°≤β≤120°. It should be known that since the angle range of α in the above is set between 60° and 120°, the angle β here corresponds to the angle α, that is, when the grounding wire 5 is overlapped, the guide end device 1 is facing the direction of the conductor, and the grounding end device 3 is facing the position of the cross arm angle steel, which facilitates the subsequent overlap and improves the efficiency of the overlap.

[0065] Furthermore, in order to improve the fault tolerance during the overlap, Figure 2 As shown, the reference surface of the wire end device 2 (i.e., the side of the first hook body 4) is perpendicular to the first suspension ring 101, and the opening of the wire end device 2 is downward and toward the wire position. The reference surface of the grounding terminal device 3 (i.e., the side of the second hook body 16) is perpendicular to the second suspension ring 102, and the opening of the grounding terminal device 3 is downward and toward the tower position.

[0066] It is understandable that if Figure 2 As shown, under the action of the first guide plate 10, the first hook body 4 has its opening facing downward and one side tilted toward the position of the wire, while the other side of the opening is in a vertical state. Figure 8As shown, the first hook body 4 (right bottom end) of this vertical part can be connected to one end of the grounding wire 5 through a copper nose. Of course, under the action of the second guide plate 23, the second hook body 16 has its opening facing downward and one side tilted toward the position of the iron tower (cross arm angle steel), while the other side of the opening is in a vertical state, as shown in FIG. Fig.13 As shown, the second hook body 16 (right bottom end) of this vertical part can also be connected to the other end of the grounding wire 5 through a copper nose. Of course, the diameters of the two openings gradually increase from top to bottom, that is, the two openings are in a trumpet-shaped structure, so that when the grounding wire 5 is overlapped, the wire end device 2 can cooperate with the wire more smoothly and accurately, and the grounding end device 3 can also cooperate with the cross arm angle steel more smoothly and accurately, which greatly improves the convenience of overlap.

[0067] S400: After the operation of the grounding wire 5 is completed, the grounding wire 5 needs to be removed. At this time, the drone is operated to fly to the specified position, the drone is controlled to lift the grounding end device 3 and separate it from the tower, and the drone is controlled to lift the wire end device 2 and separate it from the wire.

[0068] In this process, for the sake of safety and convenience, it specifically includes the following steps: The removal of the grounding wire 5 here also has a sequence. That is, first control the drone to rise to the position above point a, move the first suspension ring 101 downward and suspend it with the curved hook part of the first release hook 6011 on the wire end device 2, and then move the drone upward and drive the first release hook 6011 to slide upward. When the first release hook 6011 moves from the lowest position to the highest position, the first release hook 6011 acts on the first rod body 6012, and the first rod body 6012 will pull the second rod body 6013 to rotate upward, thereby causing the second rod body 6013 to disengage from the limit rod 702, and then the clamping member 402 and the limit rod 702 will both rotate under the elastic force of the elastic member 703, that is, the clamping member 402 will rotate and move away from the first hook body 4, thereby releasing the clamping fixation of the wire, such as Fig.11 Then, the drone is operated to continue to move upward, so that the first hook body 4 moves upward and away from the wire, that is, the wire end device 2 is separated from point a.

[0069] Subsequently, the drone is controlled to approach the ground terminal device 3, so that the second suspension ring 102 cooperates with the second release hook 21. The flight of the drone causes the second release hook 21 to move, and forces the second release hook 21 to overcome the elastic force of the second elastic member 1903 and slide upward. The second release hook 21 drives the pull hook 1902 to move through the linkage member 1901, thereby disengaging from the hanging rod 17021, and then the release assembly 19 releases the restriction on the slide buckle 1702. Fig.18As shown, the limit assembly 17 slides downward under the action of gravity until the clamp head 1701 enters the outer inclined section 16022, so that the limit assembly 17 is in unlocked state 2, and then the drone continues to fly so that the hook body is disconnected from the iron tower angle steel 25, that is, the grounding terminal device 3 is disconnected from point b. In other words, when the grounding wire 5 is removed, one end of the grounding wire 5 is first disconnected from the wire, and then from the iron tower at the grounding end, which greatly improves safety.

[0070] Furthermore, since the height of point a is less than the height of point b, after the drone drives the first suspension ring 101 to rise so that the wire end device 2 is separated from the wire, the height of the second suspension ring 102 and the second disengagement hook 21 just corresponds. At this time, the second suspension ring 102 and the second disengagement hook 21 can be matched with each other only by the translation of the drone, that is, there is no need to lower the drone, which greatly improves work efficiency.

[0071] In summary, it should be known that during the entire operation of connecting and removing the grounding wire 5, we only need to control the ascent, descent and translation of the drone without rotating the drone. The whole process is simple and convenient, which greatly improves work efficiency.

[0072] Specifically, in step S300 (i.e., the bonding process of the grounding wire 5), the route of the drone is: first, the drone is operated to rise to the first designated position (above point b), and then the drone is operated to descend so that the grounding terminal device 3 is hooked and locked with the connection point b on the tower; then the drone is operated to move horizontally to the second designated position (above point a), and finally the drone is operated to descend so that the wire end device 2 is hooked and locked with point a on the wire.

[0073] In step S400 (i.e., the removal process of the grounding wire 5), the route of the drone is: first, operate the drone to rise to the third designated position (the matching position of the first suspension ring 101 and the first disengagement hook 6011), and then continue to operate the drone to rise so that the wire end device 2 is separated from the wire; then operate the drone to translate to the fourth designated position (the matching position of the second suspension ring 102 and the second disengagement hook 21), and finally operate the drone to rise so that the grounding end device 3 is separated from the tower.

[0074] It can be seen that the entire UAV's route is also simple and clear. It is the best route for the connection and removal of the entire grounding wire 5. The entire process only requires simple operations of up, down, left and right, without the need for difficult rotation operations, which greatly reduces the difficulty of connecting the grounding wire 5. In actual operation, the operator only needs simple training to master the control skills of the UAV, making the connection operation of the grounding wire 5 easier to use.

[0075] Furthermore, during the entire operation of the above-mentioned drone, in order to improve the accuracy and clarity of the connection of the grounding wire 5, a camera can be installed on the drone, that is, the camera can transmit the monitoring image to the control panel on the ground in real time, so that the operator can observe the relative position of the grounding wire 5 more intuitively and improve the accuracy of the operation.

[0076] The above describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments, and the above embodiments and the specification only describe the principles of the present application. The present application may have various changes and improvements without departing from the spirit and scope of the present application, and these changes and improvements fall within the scope of the present application for which protection is sought. The scope of protection claimed by the present application is defined by the attached claims and their equivalents.

Claims

1. A high-altitude grounding method based on an unmanned aerial vehicle, characterized in that: The following steps are involved: S100: electrically connecting two ends of the grounding wire to the wire terminal device and the grounding terminal device respectively; S200: Hang the wire end device and the grounding end device on the same drone; S300: operate the drone to fly to a designated location, control the drone to hook and lock the grounding terminal device to the connection point b on the tower, and control the drone to hook and lock the wire end device to the connection point a on the wire; S400: After the operation is completed, the drone is operated to fly to the designated location, the drone is controlled to lift the grounding terminal device and detach it from the tower, and the drone is controlled to lift the wire end device and detach it from the wire.

2. The high-altitude grounding method based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step S200, the wire end device and the grounding end device are hung on the same drone through a suspension device, and the suspension device includes a first suspension ring and a second suspension ring. The wire end device is hung on the first suspension ring, and the grounding end device is hung on the second suspension ring. The angle between the first suspension ring and the second suspension ring is α, where 60°≤α≤120°.

3. The high-altitude grounding method based on an unmanned aerial vehicle as claimed in claim 2, characterized in that: In step S300, the connection point b is a cross-arm angle steel, and the angle between the cross-arm angle steel and the conductor is β, wherein 60°≤β≤120°.

4. The high-altitude grounding method based on an unmanned aerial vehicle as claimed in claim 3, characterized in that: In step S300, it specifically includes the following steps: first, control the drone to hang and lock the grounding terminal device with the connection point b on the tower, and then control the drone to hang and lock the wire end device with the connection point a on the wire; wherein the height of the connection point b is greater than the height of the connection point a.

5. The high-altitude grounding method based on an unmanned aerial vehicle as claimed in claim 4, characterized in that: In step S400, it specifically includes the following steps: firstly, the drone is controlled to separate the wire end device from the wire, and then the drone is controlled to separate the grounding end device from the tower.

6. The high-altitude grounding method based on an unmanned aerial vehicle as claimed in claim 3, characterized in that: The reference plane of the conductor end device is perpendicular to the first suspension ring, and the opening of the conductor end device is downward and toward the conductor position; the reference plane of the grounding end device is perpendicular to the second suspension ring, and the opening of the grounding end device is downward and toward the tower position; and the diameters of the two openings increase from top to bottom.

7. The high-altitude grounding method based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step S200, the wire end device and the grounding wire device are both connected to the drone through their respective lifting hooks; in step S400, the wire end device and the grounding wire device are both connected to the drone through their respective release hooks.

8. The high-altitude grounding method based on an unmanned aerial vehicle as claimed in claim 1, characterized in that: In step S300 and step S400, the drone uses its camera to achieve real-time and accurate operation of the wire end device and the grounding wire device.

9. The high-altitude grounding method based on an unmanned aerial vehicle as claimed in claim 5, characterized in that: In step S300, it specifically includes the following steps: firstly, the drone is operated to rise to a first designated position, and then the drone is operated to descend so that the grounding end device is hooked and locked with the connection point b on the tower; then the drone is operated to translate to a second designated position, and finally the drone is operated to descend so that the wire end device is hooked and locked with the point a on the wire; In step S400, it specifically includes the following steps: first, operate the drone to rise to the third designated position, and then continue to operate the drone to rise so that the wire end device is separated from the wire; then operate the drone to move horizontally to the fourth designated position, and finally operate the drone to rise so that the grounding end device is separated from the tower.

10. A high-altitude grounding system based on a drone, used to implement the high-altitude grounding method based on a drone as claimed in any one of claims 1 to 9, characterized in that: The wire end device comprises a first hook body, a limiting device, a decoupling device, a first lifting hook and a first decoupling hook, wherein the first hook body has a hanging area, the limiting device is arranged on the first hook body and cooperates with the hanging area, the decoupling device is arranged on the first hook body and cooperates with the limiting device, the first lifting hook is arranged on the first hook body, and the first decoupling hook is arranged on the decoupling device; During the hanging process, the drone is suitable for grabbing the first lifting hook to hang the wire end device, and the drone makes the first hook body hang on the wire, and the limit device is suitable for driving the hanging area to close under the cooperation of the wire, so that the first hook body is locked to the wire; during the disengagement process, the drone is suitable for grabbing the first disengagement hook and acting on the disengagement device, and then the limit device is driven by the disengagement device to open the hanging area, so that the first hook body is unlocked; The grounding terminal device comprises a second hook body, a limiting assembly, a locking hook assembly, a decoupling assembly, a second lifting hook and a second decoupling hook, wherein the second hook body is suitable for being hung on an iron tower, the limiting assembly is movably arranged on the second hook body, the limiting assembly has a locked state and an unlocked state, the locking hook assembly is movably arranged on the second hook body, the locking hook assembly is actuated to make the limiting assembly change from the unlocked state to the locked state, the decoupling assembly is movably arranged on the second hook body, the decoupling assembly is actuated to make the limiting assembly change from the locked state to the unlocked state, the second lifting hook is arranged on the second hook body, and the second decoupling hook is arranged on the decoupling assembly; During the hanging process, the drone is suitable for grabbing the second lifting hook to hang the grounding terminal device. The flight of the drone makes the second hook body hung on the iron tower. At the same time, the iron tower triggers the action of the locking hook assembly, so that the limiting assembly changes from an unlocked state to a locked state, thereby limiting the second hook body from being separated from the iron tower; during the disengagement process, the drone is suitable for grabbing the second disengagement hook to lift it away from the grounding terminal device. The flight of the drone makes the second disengagement hook active. At the same time, the second disengagement hook triggers the action of the disengagement assembly, so that the limiting assembly changes from a locked state to an unlocked state, and then the drone continues to fly so that the second hook body is hung and separated from the iron tower.

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