Wire hanging device and control method thereof

Abstract

The invention discloses a wire hanging device and a control method thereof. The wire hanging device comprises a hanging hook and a locking assembly. The lifting hook is provided with a lifting hook main body, a top connecting part and a bottom connecting part; the top connecting part is used for connecting an unmanned aerial vehicle; the bottom connecting part is used for connecting a rope; the lifting hook main body is provided with a hanging groove and an opening, and the hanging groove is communicated with the opening; a wire enters the hanging groove through the opening and is hung on the hanging hook. The locking assembly is arranged on one side of the lifting hook; the locking assembly comprises a locking piece, the locking piece is located at the position, opposite to the opening, in the lifting hook, the locking piece is connected to the lifting hook in a lifting mode and opens or closes the opening, at the moment, primary hanging is conducted through the hanging groove and the wire, and further secondary limiting is conducted on the wire through the locking piece. Therefore, according to the suspension groove and the locking sheet, the multi-stage suspension of the lead by the lead suspension device is realized, and the suspension stability of the lead by the lead suspension device is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of wire hanging devices, and in particular to a wire hanging device and a control method thereof. Background Art

[0002] With the development of science and technology, conductor hanging devices are used in life. As a kind of power equipment, conductors are connected by insulating ropes and the conductors are hung. In the existing technology, operators use drones to pass the thin insulating ropes over the conductors, and use the method of "small leading big" to pass the insulating ropes used during work over the conductors, which affects the suspension stability of the conductor hanging device on the conductor. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a wire hanging device and a control method thereof. The hook is provided with a hook body, a top connecting part and a bottom connecting part; the top connecting part is used to connect a drone; the bottom connecting part is used to connect a rope; the hook body is provided with a hanging groove and an opening, the hanging groove is connected to the opening; the wire enters the hanging groove through the opening and is hung with the hook;

[0004] The locking assembly is arranged on one side of the hook; the locking assembly comprises a locking plate, which is located in a position relative to the opening in the hook, and the locking plate can be connected to the hook in a liftable manner to open or close the opening. At this time, primary suspension is performed with the wire through the hanging groove, and the wire is further restricted by the locking plate, so that multi-stage suspension of the wire by the wire hanging device is realized according to the hanging groove and the locking plate, thereby ensuring the suspension stability of the wire by the wire hanging device.

[0005] An embodiment of the present invention provides a wire hanging device, comprising:

[0006] The hook is provided with a hook body, a top connection part and a bottom connection part; the top connection part is used to connect a drone; the bottom connection part is used to connect a rope; the hook body is provided with a hanging groove and an opening, the hanging groove is connected to the opening; the wire enters the hanging groove through the opening and is hung with the hook;

[0007] A locking assembly is arranged on one side of the hook; the locking assembly comprises a locking plate, which is located in a position relative to the opening in the hook, and the locking plate can be lifted and lowered to the hook to open or close the opening.

[0008] Optionally, the locking assembly further comprises a lifting rod, which is lifted and lowered to pass through a hook and is connected to the locking plate;

[0009] The top connection part is located above the hook body and can be close to or away from the hook body; the upper end of the lifting rod is connected to the top connection part, and the lower end of the lifting rod is connected to the locking plate.

[0010] In addition, an embodiment of the present invention provides a control method for a wire hanging device, comprising:

[0011] defining a flight path for the drone based on the relative positions between the wire and the hook, the drone, and the opening of the hook body;

[0012] When the UAV flies along the flight path, a real-time distance between the wire and the opening of the hook body is collected;

[0013] Match the corresponding flight mode according to the real-time distance and the degree of completion of the flight path, and dynamically adjust the flight speed of the drone based on the drone and the corresponding flight mode;

[0014] When the wire is passed through the opening of the hook body, the wire passing path of the drone is defined based on the internal trajectory of the hanging groove, the hanging space of the hanging groove, and the wire diameter of the wire;

[0015] When the UAV flies along the wire threading path, a dynamic diagram of the suspension of the hook body relative to the wire is constructed based on multiple contact positions between the hook body and the wire, the real-time posture of the hook body, and the three-dimensional model of the hook body;

[0016] Abnormal nodes are defined according to the suspension dynamic diagram and the flight status of the UAV, and the dynamic control of the UAV is triggered based on the abnormal nodes and the real-time posture of the hook body until the hook body and the wire are successfully suspended.

[0017] Optionally, defining the flight path of the drone according to the relative positions between the wire and the hook, the drone, and the opening of the hook body includes:

[0018] The location of the collecting wire and the location of the hook;

[0019] Based on the position of the wire and the position of the hook, the relative position between the wire and the hook is defined;

[0020] Collect the relative position between the wire and the hook;

[0021] defining an opening of the hook body based on the traversal of the hook body;

[0022] The relative position of the associated wire to the hook, the drone, and the opening of the hook body;

[0023] The flight path of the drone is defined based on the relative position between the wire and the hook, the drone, and the opening of the hook body.

[0024] Optionally, when the UAV flies along the flight path, collecting the real-time distance between the wire and the opening of the hook body includes:

[0025] Freeze the flight path;

[0026] The drone flies along this flight path;

[0027] Monitor the flight process of the drone relative to the wire in real time;

[0028] When the UAV flies along the flight path, the distance between the wire and the opening of the hook body is controlled;

[0029] Collects the real-time distance between the wire and the opening of the hook body.

[0030] Optionally, matching a corresponding flight mode according to the real-time distance and the degree of completion of the flight path, and dynamically adjusting the flight speed of the drone based on the drone and the corresponding flight mode, includes:

[0031] Freeze the real-time distance;

[0032] Defining the degree of completion of the flight path based on the location of the drone, the relative distance of the drone to the wire, and the flight path;

[0033] Associating the real-time distance with the degree of completion of the flight path;

[0034] Matching a corresponding flight mode according to the real-time distance and the degree of completion of the flight path;

[0035] The drone and the corresponding flight mode are dynamically matched, and the flight speed of the drone is dynamically controlled based on the drone and the corresponding flight mode.

[0036] Optionally, when the wire is passed through the opening of the hook body, the wire passing path of the drone is defined based on the internal trajectory of the hanging groove, the hanging space of the hanging groove, and the wire diameter of the wire, including:

[0037] Real-time monitoring of the relative position between the opening of the hook body and the wire;

[0038] When the relative position between the opening of the hook body and the wire is less than a preset relative position threshold, the wire is passed through the opening of the hook body;

[0039] When the wire is passed through the opening of the hook body, the internal trajectory of the hanging slot is collected;

[0040] Associating the internal track of the suspension groove, the suspension space of the suspension groove and the wire diameter of the conductor;

[0041] The threading path of the drone is defined according to the internal trajectory of the suspension groove, the suspension space of the suspension groove, and the wire diameter of the wire.

[0042] Optionally, when the UAV flies along the threading path, constructing a suspension dynamic diagram of the hook body relative to the wire based on multiple contact positions between the hook body and the wire, the real-time posture of the hook body, and the three-dimensional model of the hook body, includes:

[0043] The drone flies along a threaded path;

[0044] When the UAV flies along the threading path, the real-time posture of the hook body is collected;

[0045] Defining a plurality of contact positions between the hook body and the conductor based on real-time detection of the hook body and the conductor;

[0046] Marking multiple contact locations on the hook body;

[0047] Associating multiple contact positions of the hook body and the wire, the real-time posture of the hook body, and a three-dimensional model of the hook body;

[0048] A suspension dynamic diagram of the hook body relative to the wire is constructed based on multiple contact positions between the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body.

[0049] Optionally, the abnormal node is defined according to the suspension dynamic graph and the flight state of the UAV, and the dynamic regulation of the UAV is triggered based on the abnormal node and the real-time posture of the hook body until the hook body and the wire are successfully suspended, including:

[0050] Freeze-frame hanging dynamic image;

[0051] Associate the suspension dynamic graph with the flight status of the drone.

[0052] Optionally, the abnormal node is defined according to the suspension dynamic graph and the flight state of the UAV, and the dynamic regulation of the UAV is triggered based on the abnormal node and the real-time posture of the hook body until the hook body and the wire are successfully suspended, and further includes:

[0053] Define abnormal nodes based on the suspension dynamic graph and the flight status of the drone;

[0054] Multiple interactions are performed on abnormal nodes and real-time postures of the hook body;

[0055] The dynamic control of the drone is triggered based on the multiple interactions of abnormal nodes and the real-time posture of the hook body until the hook body and the wire are successfully suspended.

[0056] In an embodiment of the present invention, the hook is provided with a hook body, a top connection part and a bottom connection part; the top connection part is used to connect the drone; the bottom connection part is used to connect the rope; the hook body is provided with a hanging groove and an opening, the hanging groove is connected to the opening; the wire enters the hanging groove through the opening and is hung with the hook;

[0057] The locking assembly is arranged on one side of the hook; the locking assembly comprises a locking plate, which is located in a position relative to the opening in the hook, and the locking plate can be connected to the hook in a liftable manner to open or close the opening. At this time, primary suspension is performed with the wire through the hanging groove, and the wire is further restricted by the locking plate, so that multi-stage suspension of the wire by the wire hanging device is realized according to the hanging groove and the locking plate, thereby ensuring the suspension stability of the wire by the wire hanging device. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 is a partial schematic diagram of a wire hanging device in an embodiment of the present invention;

[0060] Figure 2 is a flow chart of a control method of a wire hanging device in an embodiment of the present invention;

[0061] Figure 3 is a flow chart of S11 in the control method of the wire hanging device in the embodiment of the present invention;

[0062] Figure 4 is a flow chart of S12 in the control method of the wire hanging device in the embodiment of the present invention;

[0063] Figure 5 is a flow chart of S13 in the control method of the wire hanging device in the embodiment of the present invention;

[0064] Figure 6 is a flow chart of S14 in the control method of the wire hanging device in the embodiment of the present invention;

[0065] Figure 7 is a flow chart of S15 in the control method of the wire hanging device in the embodiment of the present invention;

[0066] Figure 8is a flow chart of S16 in the control method of the wire hanging device in the embodiment of the present invention; DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] See also Figures 1 to 8 A wire hanging device includes a hook 10 and a locking assembly 20. The hook 10 is provided with a hook body 11, a top connecting portion 12 and a bottom connecting portion 13. The hook body 11, the top connecting portion 12 and the bottom connecting portion 13 are connected to each other.

[0069] For the hook 10, the top connection part 12 is used to connect the drone 30; the bottom connection part 13 is used to connect the rope; the hook body 11 is provided with a hanging groove and an opening, and the hanging groove is connected to the opening; the wire enters the hanging groove through the opening and is hung with the hook 10; the locking assembly 20 is arranged on one side of the hook 10.

[0070] As for the locking assembly 20 , the locking assembly 20 includes a locking plate 21 . The locking plate 21 is located in a position relative to the opening in the hook 10 . The locking plate 21 is connected to the hook 10 in a liftable manner and opens or closes the opening.

[0071] At the same time, the locking assembly 20 also includes a lifting rod 22, which can be lifted and lowered to pass through the hook 10 and is connected to the locking plate 21; the top connecting part 12 is above the hook body 11 and can be close to or away from the hook body 11; the upper end of the lifting rod 22 is connected to the top connecting part 12, and the lower end of the lifting rod 22 is connected to the locking plate 21.

[0072] In an embodiment of the present invention, the hook is provided with a hook body, a top connection part and a bottom connection part; the top connection part is used to connect the drone; the bottom connection part is used to connect the rope; the hook body is provided with a hanging groove and an opening, the hanging groove is connected to the opening; the wire enters the hanging groove through the opening and is hung with the hook;

[0073] The locking assembly is arranged on one side of the hook; the locking assembly comprises a locking plate, which is located in a position relative to the opening in the hook, and the locking plate can be connected to the hook in a liftable manner to open or close the opening. At this time, primary suspension is performed with the wire through the hanging groove, and the wire is further restricted by the locking plate, so that multi-stage suspension of the wire by the wire hanging device is realized according to the hanging groove and the locking plate, thereby ensuring the suspension stability of the wire by the wire hanging device.

[0074] See also Figures 2 to 8 , a control method for a wire hanging device, applied to a control scenario of a wire hanging device; the control method for a wire hanging device comprises:

[0075] Step S11: defining the flight path of the drone according to the relative position between the wire and the hook, the drone and the opening of the hook body;

[0076] Step S12: when the UAV flies along the flight path, collecting the real-time distance between the wire and the opening of the hook body;

[0077] Step S13: matching a corresponding flight mode according to the real-time distance and the degree of completion of the flight path, and dynamically adjusting the flight speed of the UAV based on the UAV and the corresponding flight mode;

[0078] Step S14: when threading the wire through the opening of the hook body, defining the threading path of the drone based on the internal trajectory of the hanging groove, the hanging space of the hanging groove and the wire diameter of the wire;

[0079] Step S15: when the UAV flies along the wire threading path, a dynamic diagram of the suspension of the hook body relative to the wire is constructed based on multiple contact positions between the hook body and the wire, the real-time posture of the hook body, and the three-dimensional model of the hook body;

[0080] Step S16: define abnormal nodes according to the suspension dynamic diagram and the flight status of the UAV, and trigger the dynamic control of the UAV based on the abnormal nodes and the real-time posture of the hook body until the hook body and the wire are successfully suspended.

[0081] In an embodiment of the present invention, through the method in the embodiment of the present invention, the flight path of the UAV is defined according to the relative position between the wire and the hook, the UAV and the opening of the hook body, the relative position between the wire and the hook, the UAV and the opening of the hook body are introduced, and the overall consideration of the relative position between the wire and the hook, the UAV and the opening of the hook body is compatible, and the multi-dimensional control of the relative position between the wire and the hook, the UAV and the opening of the hook body is achieved, thereby ensuring the accuracy of the flight path of the UAV.

[0082] Furthermore, when the UAV flies along the flight path, the real-time distance between the wire and the opening of the hook body is collected; the corresponding flight mode is matched according to the real-time distance and the degree of completion of the flight path, and the flight speed of the UAV is dynamically adjusted based on the UAV and the corresponding flight mode, thereby realizing dynamic regulation of the flight speed of the UAV and ensuring intelligent control of the flight speed of the UAV to facilitate compatibility with various application scenarios.

[0083] Therefore, when threading the wire through the opening of the hook body, the threading path of the drone is defined based on the internal trajectory of the suspension groove, the hanging space of the suspension groove and the wire diameter of the wire; when the drone flies along the threading path, a dynamic diagram of the suspension of the hook body relative to the wire is constructed based on the multiple contact positions of the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body. The multiple contact positions of the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body are introduced, and multiple interactions of the multiple contact positions of the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body are realized, thereby ensuring the accuracy of the dynamic diagram of the suspension of the hook body relative to the wire.

[0084] Furthermore, abnormal nodes are defined according to the suspension dynamic diagram and the flight status of the UAV, and the dynamic control of the UAV is triggered based on the abnormal nodes and the real-time posture of the hook body until the hook body and the wire are successfully suspended, thereby ensuring the suspension effect of the hook body and the wire and improving the suspension accuracy of the hook body and the wire.

[0085] refer to Figure 3 , in step S11, the flight path of the drone is defined according to the relative position between the wire and the hook, the drone and the opening of the hook body;

[0086] In the specific implementation process of the present invention, the specific steps may be:

[0087] S111: collect the location of the wire and the location of the hook;

[0088] S112: defining a relative position between the wire and the hook based on the position of the wire and the position of the hook;

[0089] S113: collecting the relative position between the wire and the hook;

[0090] S114: defining an opening of the hook body based on the traversal of the hook body;

[0091] S115: The relative position between the associated wire and the hook, the drone, and the opening of the hook body;

[0092] S116: Define the flight path of the UAV based on the relative position between the wire and the hook, the UAV, and the opening of the hook body.

[0093] In the embodiment of the present application, the flight path of the drone is defined according to the relative position between the wire and the hook, the drone and the opening of the hook body, the relative position between the wire and the hook, the drone and the opening of the hook body are introduced, and the overall consideration of the relative position between the wire and the hook, the drone and the opening of the hook body is compatible, so that the relative position between the wire and the hook, the drone and the opening of the hook body are realized in a multi-dimensional manner, and the accuracy of the flight path of the drone is ensured;

[0094] At this time, the position of the wire and the hook are collected and introduced to control the position of the wire and the hook as a whole. At the same time, the relative position between the wire and the hook is defined based on the position of the wire and the hook to ensure the accuracy of the relative position between the wire and the hook.

[0095] Furthermore, the relative position between the wire and the hook is collected; the opening of the hook body is defined based on the traversal of the hook body; the relative position between the wire and the hook, the UAV and the opening of the hook body are associated; the flight path of the UAV is defined based on the relative position between the wire and the hook, the UAV and the opening of the hook body, which is compatible with the overall consideration of the relative position between the wire and the hook, the UAV and the opening of the hook body, and realizes multi-dimensional control of the relative position between the wire and the hook, the UAV and the opening of the hook body, thereby ensuring the accuracy of the flight path of the UAV.

[0096] refer to Figure 4 , in step S12, when the UAV flies along the flight path, the real-time distance between the wire and the opening of the hook body is collected;

[0097] In the specific implementation process of the present invention, the specific steps may be:

[0098] S121: freeze the flight path;

[0099] S122: The drone flies along the flight path;

[0100] S123: real-time monitoring of the flight process of the drone relative to the wire;

[0101] S124: When the UAV flies along the flight path, the distance between the wire and the opening of the hook body is controlled;

[0102] S125: Collect the real-time distance between the wire and the opening of the hook body.

[0103] In an embodiment of the present application, the flight path is frozen, the flight path is introduced, and the UAV flies along the flight path, thereby achieving directional flight of the UAV.

[0104] Therefore, the flight process of the UAV relative to the wire is monitored in real time; when the UAV flies along the flight path, the distance between the wire and the opening of the hook body is controlled; the real-time distance between the wire and the opening of the hook body is collected, the real-time distance between the wire and the opening of the hook body is introduced, and the real-time distance between the wire and the opening of the hook body is controlled in real time.

[0105] refer to Figure 5 In step S13, the corresponding flight mode is matched according to the real-time distance and the degree of completion of the flight path, and the flight speed of the UAV is dynamically adjusted based on the UAV and the corresponding flight mode;

[0106] In the specific implementation process of the present invention, the specific steps may be:

[0107] S131: freeze the real-time distance;

[0108] S132: defining a degree of completion of the flight path based on the location of the UAV, the relative distance of the UAV to the guide wire, and the flight path;

[0109] S133: Associating the real-time distance with the degree of completion of the flight path;

[0110] S134: matching a corresponding flight mode according to the real-time distance and the degree of completion of the flight path;

[0111] S135: Dynamically match the UAV and the corresponding flight mode, and dynamically adjust the flight speed of the UAV based on the UAV and the corresponding flight mode.

[0112] In the embodiment of the present application, further, when the UAV flies along the flight path, the real-time distance between the wire and the opening of the hook body is collected; the corresponding flight mode is matched according to the real-time distance and the degree of completion of the flight path, and the flight speed of the UAV is dynamically regulated based on the UAV and the corresponding flight mode, thereby realizing dynamic regulation of the flight speed of the UAV and ensuring intelligent control of the flight speed of the UAV so as to be compatible with various application scenarios;

[0113] At this time, the real-time distance is frozen; the degree of completion of the flight path is defined based on the position of the UAV, the relative distance of the UAV to the wire, and the flight path, which is compatible with the overall consideration of the position of the UAV, the relative distance of the UAV to the wire, and the flight path, and realizes multi-dimensional control of the position of the UAV, the relative distance of the UAV to the wire, and the flight path, ensuring the accuracy of the degree of completion of the flight path.

[0114] Therefore, the real-time distance and the degree of completion of the flight path are associated; the corresponding flight mode is matched according to the real-time distance and the degree of completion of the flight path; the UAV and the corresponding flight mode are dynamically matched, and the flight speed of the UAV is dynamically adjusted based on the UAV and the corresponding flight mode, thereby realizing dynamic regulation of the flight speed of the UAV and ensuring intelligent control of the flight speed of the UAV to facilitate compatibility with various application scenarios.

[0115] refer to Figure 6 , S14: when threading the wire through the opening of the hook body, defining the threading path of the drone based on the internal trajectory of the hanging groove, the hanging space of the hanging groove and the wire diameter of the wire;

[0116] In the specific implementation process of the present invention, the specific steps may be:

[0117] S141: real-time monitoring of the relative position between the opening of the hook body and the wire;

[0118] S142: When the relative position between the opening of the hook body and the wire is less than a preset relative position threshold, the wire is passed through the opening of the hook body;

[0119] S143: when the wire is passed through the opening of the hook body, the internal trajectory of the hanging groove is collected;

[0120] S144: Associating the internal track of the suspension groove, the suspension space of the suspension groove and the wire diameter of the wire;

[0121] S145: A threading path of the drone is defined according to the internal track of the suspension groove, the suspension space of the suspension groove, and the wire diameter of the wire.

[0122] In an embodiment of the present application, the relative position of the opening of the hook body and the wire is monitored in real time, and the relative position of the opening of the hook body and the wire is controlled.

[0123] At this time, when the relative position of the opening of the hook body and the wire is less than the preset relative position threshold, the wire is passed through the opening of the hook body; when the wire is passed through the opening of the hook body, the internal trajectory of the suspension groove is collected and introduced, thereby achieving further control of the internal trajectory of the suspension groove.

[0124] Therefore, the internal trajectory of the suspension slot, the hanging space of the suspension slot and the wire diameter of the wire are associated; the threading path of the drone is defined according to the internal trajectory of the suspension slot, the hanging space of the suspension slot and the wire diameter of the wire, which is compatible with the overall consideration of the internal trajectory of the suspension slot, the hanging space of the suspension slot and the wire diameter of the wire, and realizes multi-dimensional control of the internal trajectory of the suspension slot, the hanging space of the suspension slot and the wire diameter of the wire, ensuring the accuracy of the threading path of the drone.

[0125] refer to Figure 7 ,S15: When the UAV flies along the wire threading path, a suspension dynamic diagram of the hook body relative to the wire is constructed based on multiple contact positions between the hook body and the wire, the real-time posture of the hook body, and the three-dimensional model of the hook body;

[0126] In the specific implementation process of the present invention, the specific steps may be:

[0127] S151: The drone flies along the threading path;

[0128] S152: When the UAV flies along the threading path, the real-time posture of the hook body is collected;

[0129] S153: defining a plurality of contact positions between the hook body and the wire based on real-time detection of the hook body and the wire;

[0130] S154: marking a plurality of contact positions on the hook body;

[0131] S155: Associating a plurality of contact positions between the hook body and the wire, the real-time posture of the hook body, and the three-dimensional model of the hook body;

[0132] S156: Constructing a suspension dynamic diagram of the hook body relative to the wire based on multiple contact positions between the hook body and the wire, the real-time posture of the hook body, and the three-dimensional model of the hook body.

[0133] In an embodiment of the present application, when the wire is threaded through the opening of the hook body, the threading path of the drone is defined based on the internal trajectory of the suspension groove, the hanging space of the suspension groove and the wire diameter of the wire; when the drone flies along the threading path, a dynamic diagram of the suspension of the hook body relative to the wire is constructed based on multiple contact positions of the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body, and multiple contact positions of the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body are introduced, and multiple interactions of multiple contact positions of the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body are realized, thereby ensuring the accuracy of the dynamic diagram of the suspension of the hook body relative to the wire.

[0134] At this time, the UAV flies along the threading path; when the UAV flies along the threading path, the real-time posture of the hook body is collected, the real-time posture of the hook body is introduced, and the real-time posture of the hook body is controlled.

[0135] Furthermore, multiple contact positions between the hook body and the wire are defined based on real-time detection of the hook body and the wire; the multiple contact positions are marked on the hook body; the multiple contact positions between the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body are associated; based on the multiple contact positions between the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body, a dynamic graph of the suspension of the hook body relative to the wire is constructed, and multiple contact positions between the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body are introduced, and multiple interactions of the multiple contact positions between the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body are realized, thereby ensuring the accuracy of the dynamic graph of the suspension of the hook body relative to the wire.

[0136] refer to Figure 8 ,S16: define abnormal nodes according to the suspension dynamic graph and the flight status of the UAV, and trigger the dynamic control of the UAV based on the abnormal nodes and the real-time posture of the hook body until the hook body and the wire are successfully suspended;

[0137] In the specific implementation process of the present invention, the specific steps may be:

[0138] S161: freeze frame suspension dynamic image;

[0139] S162: Associate the suspension dynamic graph with the flight status of the drone;

[0140] S163: defining abnormal nodes based on the suspension dynamic graph and the flight status of the UAV;

[0141] S164: Multiple interactions on the real-time posture of abnormal nodes and hook bodies;

[0142] S165: The dynamic control of the UAV is triggered according to the multiple interactions of the abnormal nodes and the real-time posture of the hook body until the hook body and the wire are successfully suspended.

[0143] During the specific implementation of the present invention, abnormal nodes are defined according to the suspension dynamic diagram and the flight status of the UAV, and the dynamic control of the UAV is triggered based on the abnormal nodes and the real-time posture of the hook body until the hook body and the wire are successfully suspended, thereby ensuring the suspension effect of the hook body and the wire and improving the suspension accuracy of the hook body and the wire.

[0144] At this time, the suspension dynamic graph is frozen, and the flight status of the suspension dynamic graph and the UAV is controlled. At the same time, the suspension dynamic graph and the flight status of the UAV are associated; abnormal nodes are defined based on the suspension dynamic graph and the flight status of the UAV, realizing multi-dimensional control of the suspension dynamic graph and the flight status of the UAV, and ensuring the accuracy of abnormal nodes.

[0145] Therefore, multiple interactions are performed on the real-time postures of the abnormal nodes and the hook body; the dynamic control of the drone is triggered according to the multiple interactions of the real-time postures of the abnormal nodes and the hook body until the hook body and the wire are successfully suspended, thereby ensuring the suspension effect of the hook body and the wire and improving the suspension accuracy of the hook body and the wire.

[0146] In an embodiment of the present invention, a wire hanging device includes a hook and a locking assembly; the hook is provided with a hook body, a top connecting part and a bottom connecting part; the top connecting part is used to connect a drone; the bottom connecting part is used to connect a rope; the hook body is provided with a hanging groove and an opening, the hanging groove is connected to the opening; the wire enters the hanging groove through the opening and is hung with the hook; the locking assembly is arranged on one side of the hook; the locking assembly includes a locking plate, which is located in a position relative to the opening in the hook, and the locking plate can be lifted and connected to the hook and open or close the opening. At this time, primary suspension is performed with the wire through the hanging groove, and the wire is further restricted by the locking plate, so that multi-stage suspension of the wire by the wire hanging device is realized according to the hanging groove and the locking plate, thereby ensuring the suspension stability of the wire by the wire hanging device.

[0147] In an embodiment of the present invention, through the method in the embodiment of the present invention, the flight path of the UAV is defined according to the relative position between the wire and the hook, the UAV and the opening of the hook body, the relative position between the wire and the hook, the UAV and the opening of the hook body are introduced, and the overall consideration of the relative position between the wire and the hook, the UAV and the opening of the hook body is compatible, and the multi-dimensional control of the relative position between the wire and the hook, the UAV and the opening of the hook body is achieved, thereby ensuring the accuracy of the flight path of the UAV.

[0148] Furthermore, when the UAV flies along the flight path, the real-time distance between the wire and the opening of the hook body is collected; the corresponding flight mode is matched according to the real-time distance and the degree of completion of the flight path, and the flight speed of the UAV is dynamically adjusted based on the UAV and the corresponding flight mode, thereby realizing dynamic regulation of the flight speed of the UAV and ensuring intelligent control of the flight speed of the UAV to facilitate compatibility with various application scenarios.

[0149] Therefore, when threading the wire through the opening of the hook body, the threading path of the drone is defined based on the internal trajectory of the suspension groove, the hanging space of the suspension groove and the wire diameter of the wire; when the drone flies along the threading path, a dynamic diagram of the suspension of the hook body relative to the wire is constructed based on the multiple contact positions of the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body. The multiple contact positions of the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body are introduced, and multiple interactions of the multiple contact positions of the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body are realized, thereby ensuring the accuracy of the dynamic diagram of the suspension of the hook body relative to the wire.

[0150] Furthermore, abnormal nodes are defined according to the suspension dynamic diagram and the flight status of the UAV, and the dynamic control of the UAV is triggered based on the abnormal nodes and the real-time posture of the hook body until the hook body and the wire are successfully suspended, thereby ensuring the suspension effect of the hook body and the wire and improving the suspension accuracy of the hook body and the wire.

[0152] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0153] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0154] In addition, the wire hanging device and the control method thereof provided in the embodiment of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and the scope of application. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A wire hanging device, characterized in that: include: The hook is provided with a hook body, a top connection part and a bottom connection part; the top connection part is used to connect a drone; the bottom connection part is used to connect a rope; the hook body is provided with a hanging groove and an opening, the hanging groove is connected to the opening; the wire enters the hanging groove through the opening and is hung with the hook; A locking assembly is arranged on one side of the hook; the locking assembly comprises a locking plate, which is located in a position relative to the opening in the hook, and the locking plate can be lifted and lowered to the hook to open or close the opening.

2. The wire hanging device according to claim 1, characterized in that: The locking assembly further comprises a lifting rod, which is provided with a hook in a liftable manner and is connected to the locking plate; The top connection part is located above the hook body and can be close to or away from the hook body; the upper end of the lifting rod is connected to the top connection part, and the lower end of the lifting rod is connected to the locking plate.

3. A control method for a wire hanging device, based on the wire hanging device according to any one of claims 1 to 2, characterized in that: include: defining a flight path for the drone based on the relative positions between the wire and the hook, the drone, and the opening of the hook body; When the UAV flies along the flight path, a real-time distance between the wire and the opening of the hook body is collected; Match the corresponding flight mode according to the real-time distance and the degree of completion of the flight path, and dynamically adjust the flight speed of the drone based on the drone and the corresponding flight mode; When the wire is passed through the opening of the hook body, the wire passing path of the drone is defined based on the internal trajectory of the hanging groove, the hanging space of the hanging groove, and the wire diameter of the wire; When the UAV flies along the wire threading path, a dynamic diagram of the suspension of the hook body relative to the wire is constructed based on multiple contact positions between the hook body and the wire, the real-time posture of the hook body, and the three-dimensional model of the hook body; Abnormal nodes are defined according to the suspension dynamic diagram and the flight status of the UAV, and the dynamic control of the UAV is triggered based on the abnormal nodes and the real-time posture of the hook body until the hook body and the wire are successfully suspended.

4. The control method of the wire hanging device according to claim 3, characterized in that: Defining the flight path of the drone according to the relative position between the wire and the hook, the drone, and the opening of the hook body includes: The location of the collecting wire and the location of the hook; Based on the position of the wire and the position of the hook, the relative position between the wire and the hook is defined; Collect the relative position between the wire and the hook; defining an opening of the hook body based on the traversal of the hook body; The relative position of the associated wire to the hook, the drone, and the opening of the hook body; The flight path of the drone is defined based on the relative position between the wire and the hook, the drone, and the opening of the hook body.

5. The control method of the wire hanging device according to claim 4, characterized in that: The collecting of the real-time distance between the wire and the opening of the hook body when the UAV flies along the flight path includes: Freeze the flight path; The drone flies along this flight path; Monitor the flight process of the drone relative to the wire in real time; When the UAV flies along the flight path, the distance between the wire and the opening of the hook body is controlled; Collects the real-time distance between the wire and the opening of the hook body.

6. The control method of the wire hanging device according to claim 5, characterized in that: The method of matching the corresponding flight mode according to the real-time distance and the degree of completion of the flight path, and dynamically adjusting the flight speed of the UAV based on the UAV and the corresponding flight mode, includes: Freeze the real-time distance; Defining the degree of completion of the flight path based on the location of the drone, the relative distance of the drone to the wire, and the flight path; Associating the real-time distance with the degree of completion of the flight path; Matching a corresponding flight mode according to the real-time distance and the degree of completion of the flight path; The drone and the corresponding flight mode are dynamically matched, and the flight speed of the drone is dynamically controlled based on the drone and the corresponding flight mode.

7. The control method of the wire hanging device according to claim 6, characterized in that: When the wire is passed through the opening of the hook body, the wire passing path of the drone is defined based on the internal trajectory of the hanging groove, the hanging space of the hanging groove and the wire diameter of the wire, including: Real-time monitoring of the relative position between the opening of the hook body and the wire; When the relative position between the opening of the hook body and the wire is less than a preset relative position threshold, the wire is passed through the opening of the hook body; When the wire is passed through the opening of the hook body, the internal trajectory of the hanging slot is collected; Associating the internal track of the suspension groove, the suspension space of the suspension groove and the wire diameter of the conductor; The threading path of the drone is defined according to the internal trajectory of the suspension groove, the suspension space of the suspension groove, and the wire diameter of the wire.

8. The control method of the wire hanging device according to claim 7, characterized in that: When the UAV flies along the wire threading path, a suspension dynamic diagram of the hook body relative to the wire is constructed based on multiple contact positions between the hook body and the wire, the real-time posture of the hook body, and the three-dimensional model of the hook body, including: The drone flies along a threaded path; When the UAV flies along the threading path, the real-time posture of the hook body is collected; Defining a plurality of contact positions between the hook body and the conductor based on real-time detection of the hook body and the conductor; Marking multiple contact locations on the hook body; Associating multiple contact positions of the hook body and the wire, the real-time posture of the hook body, and a three-dimensional model of the hook body; A suspension dynamic diagram of the hook body relative to the wire is constructed based on multiple contact positions between the hook body and the wire, the real-time posture of the hook body and the three-dimensional model of the hook body.

9. The control method of the wire hanging device according to claim 8, characterized in that: The abnormal nodes are defined according to the suspension dynamic graph and the flight status of the UAV, and the dynamic control of the UAV is triggered based on the abnormal nodes and the real-time posture of the hook body until the hook body and the wire are successfully suspended, including: Freeze-frame hanging dynamic image; Associate the suspension dynamic graph with the flight status of the drone.

10. The control method of the wire hanging device according to claim 9, characterized in that: The method further includes defining abnormal nodes according to the suspension dynamic graph and the flight status of the UAV, triggering dynamic control of the UAV based on the abnormal nodes and the real-time posture of the hook body, until the hook body and the wire are successfully suspended, and: Define abnormal nodes based on the suspension dynamic graph and the flight status of the drone; Multiple interactions are performed on abnormal nodes and real-time postures of the hook body; The dynamic control of the drone is triggered based on the multiple interactions of abnormal nodes and the real-time posture of the hook body until the hook body and the wire are successfully suspended.

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