Unmanned aerial vehicle wire stripping power system

Abstract

The invention relates to a wire stripping power system of an unmanned aerial vehicle. The wire stripping power system comprises a main body bracket, and a wire stripper, a hoisting device, a duct motor, a tilt angle sensor and a control system which are mounted on the main body bracket, the lower contour of the main body support is of an inverted V-shaped structure, and the corner of the V-shaped structure extends upwards along the center line of the V-shaped structure to form a containing groove part. The main body bracket is connected with the unmanned aerial vehicle through a hoisting device; the tilt angle sensor is used for collecting attitude information of the main body support and transmitting the attitude information to the control system, and the control system controls the output rotating speed of the duct motor according to real-time data of the tilt angle sensor; according to the method, a temporary operation platform or tower climbing and pole climbing are not needed, and labor injuries or safety risks caused by operation of workers under harsh conditions are avoided. The acting torque of a cutter of the wire stripper during stripping of a wire insulating layer is overcome, and the reaction torque generated by the ducted motor is used for balancing, so that the whole mechanism is in the most stable state during working.

Description

Technical Field

[0001] The invention relates to the technical field of overhead power distribution lines, and in particular to a wire stripping power system for an unmanned aerial vehicle. Background Art

[0002] In urban overhead distribution lines, wires with polyethylene insulation are usually used to transmit electricity. In order to adapt to urban development, it is usually necessary to lead out branch lines from existing distribution lines. When constructing branch lines, workers need to select a suitable location on the complete wire to strip off a section of insulation to expose the metal core of the wire, and then connect the metal core of the branch line in parallel with the metal core of the existing wire through hardware;

[0003] At present, the main method for stripping a section of insulation on an insulated distribution conductor is for operators to use load-bearing equipment such as an insulated boom truck and rotate a specific tool for mechanical stripping. Mechanical wire strippers have problems such as damaging the metal core surface of the conductor, poor operability, high requirements for workers, and being restricted by terrain.

[0004] Therefore, there is a need for a device for workers to work at high altitudes, such as the "automatic stripper for insulated wires" disclosed in patent publication number CN113949011B. The automatic stripper body is transported to the wire by a drone for stripping operations. At the same time, the connection and installation between the automatic stripper body and the drone are more flexible and stable through the setting of the connecting components, thereby further improving the efficiency of the stripping process.

[0005] However, the structure of the drone equipped with a wire stripper is relatively complex, and another automatic wire stripping device mounted on the drone is required. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a UAV wire stripping power system to solve the above problems.

[0007] The present invention provides the following technical solutions:

[0008] A UAV wire stripping power system, comprising a main body support and a wire stripper, a hoisting device, a ducted motor, a tilt sensor and a control system installed on the main body support;

[0009] The lower profile of the main support is an inverted V-shaped structure, and the corner of the V-shaped structure extends upward along its center line to form a receiving groove;

[0010] The main support is connected to the drone via a hoisting device;

[0011] The wire stripper is used to strip the wires placed in the receiving groove;

[0012] The inclination sensor is used to collect the posture information of the main support and transmit the posture information to the control system, and the control system controls the output speed of the ducted motor according to the real-time data of the inclination sensor;

[0013] The center of gravity of the UAV wire stripping power system is consistent with the center line of the lower contour of the main body bracket.

[0014] Preferably, the hoisting device includes a detachable plug-in block and a positioning seat, the plug-in block is connected to the drone, and the positioning seat is fixed on the main body bracket.

[0015] Preferably, an insertion rod is slidably connected to the positioning seat, and the movement of the insertion rod can achieve penetration or separation of the insertion block.

[0016] Preferably, the lifting device also includes a telescopic device and two groups of second connecting rods, the middle part of the second connecting rods is rotatably connected to the main support, the two ends of the telescopic device are respectively connected to the lower ends of the two groups of second connecting rods, and the upper ends of the two groups of second connecting rods are connected to the corresponding plug rods through the first connecting rod.

[0017] Preferably, a monitoring system is installed on the main body bracket, and the monitoring system is used for video monitoring of the wire stripping process of the wire stripper.

[0018] Preferably, the monitoring system is wirelessly connected to an external controller via a WiFi antenna.

[0019] Preferably, the control system includes a main control chip and a signal receiver electrically connected to the main control chip, the signal receiver is communicatively connected to an external controller via an RC antenna, the inclination sensor is electrically connected to the main control chip, and the main control chip is connected to the ducted motor via an electronic speed regulator.

[0020] Preferably, the main control chip outputs a control signal for controlling the output speed of the ducted motor through a PID control algorithm.

[0021] Preferably, the control signal of the output speed of the ducted motor controlled by the main control chip is PID output (t);

[0022] PID output (t) = P output (t)+I output (t)+D output (t);

[0023] P output (t) = K p ×e(t);

[0024]

[0025] Among them, Kp is the proportional gain coefficient; e(t) is the difference between the real-time reading of the inclination sensor and the preset target angle; K i is the integral gain coefficient; K d is the differential gain coefficient; t is the time.

[0026] Preferably, a torque sensor is installed at the cutter of the wire stripper, and a wind sensor is installed on the main support;

[0027] The torque change ΔT(t) is calculated by using the values ​​collected by the torque sensor twice.

[0028] ΔT(t)=T(t)-T(t-1);

[0029] Among them, T(t) is the torque value at the current moment, and T(t-1) is the torque value at the previous moment;

[0030] ΔF wind (t) = K wind ×V wind (t);

[0031] Among them, K wind is the wind force coefficient, V wind (t) is the wind speed at the current moment;

[0032] K p (t+1)=K p (t)+α p ×(ΔT(t)+ΔF wind (t));

[0033] P output (t) = K p (t+1)×e(t);

[0034] Among them, α p is the proportional gain adjustment factor;

[0035] K i (t+1)=K i (t)+α i ×(ΔT(t)+ΔF wind (t));

[0036]

[0037] Among them, α i is the integral gain adjustment factor;

[0038] K d (t+1)=K d (t)+α d ×(ΔT(t)+ΔF wind(t));

[0039]

[0040] Among them, α d is the differential gain adjustment factor.

[0041] The present invention has the following beneficial technical effects:

[0042] The present invention can realize the autonomous high-altitude wire stripping operation of all-terrain drones. By organically combining drones with wire strippers, ground personnel only need to remotely operate the drone to locate the construction site through a remote control, and the wire stripping device can intelligently strip the wires with one click, without the need to set up a temporary work platform or climb towers and poles, thus avoiding labor injuries or safety risks caused by employees working under harsh conditions.

[0043] The lifting device connecting the UAV and the main bracket has an emergency detachment function. When the insulation is rolled into the stripper mechanism or entangled on the wire, causing the stripper to get stuck, the ground staff can separate the entire device from the UAV through an external controller, thereby ensuring the safety of the equipment and improving the safety level of the operation.

[0044] In order to ensure the normal operation of the wire stripper and overcome the torque of the wire stripper cutter when stripping the insulation layer of the wire, the ducted motor generates a reaction torque for balance, so that the whole mechanism is in the most stable state when working. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the structure of the present invention;

[0046] Figure 2 is a system block diagram of the present invention;

[0047] Figure 3 is a side view of the main support of the present invention;

[0048] Figure 4 It is a structural schematic diagram of the hoisting device of the present invention.

[0049] The reference numerals in the figure are:

[0050] 1. Main frame; 11. Accommodating groove; 2. Wire stripper; 3. Lifting device; 31. Insert block; 32. Positioning seat; 33. Insert rod; 34. First connecting rod; 35. Second connecting rod; 36. Telescopic device; 4. Ducted motor; 5. Power module. DETAILED DESCRIPTION

[0051] 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.

[0052] A UAV stripping power system, such as Figure 1-4 As shown:

[0053] The invention comprises a main frame 1, a wire stripper 2, a hoisting device 3, a ducted motor 4, a power module 5, a tilt sensor, a wind sensor, a monitoring system and a control system installed on the main frame 1. The symmetric center line of the main frame 1 coincides with the center line of gravity of the UAV wire stripping power system.

[0054] The main frame 1 is a hollow frame made of epoxy resin, which has good insulation and structural stability. The hollow structure can be used for laying cables. The left and right sides of the main frame 1 are symmetrically arranged, and the lower contour of the main frame 1 is an inverted V-shaped structure. The corners of the V-shaped structure extend upward along the center line direction to form a receiving groove 11.

[0055] The wire stripper 2 is an existing structure as an actuator of the whole set of equipment, which is used to perform the wire stripping work. The wire stripper 2 is relatively installed at the position corresponding to the receiving groove 11 on the upper part of the main frame 1, and the wire stripper 2 is hoisted at the center of gravity of the main frame 1. When the wire 100 is relatively placed in the receiving groove 11, the wire 100 is just located at the cutting track of the wire stripper 2.

[0056] The hoisting device 3 is arranged on the top of the main support 1, and the hoisting device 3 includes an insert block 31, a positioning seat 32, an insert rod 33, a first connecting rod 34, two sets of second connecting rods 35 and a telescopic device 36;

[0057] The two groups of plug blocks 31 are connected to the drone through connecting ropes, and the two groups of positioning seats 32 are fixed on the left and right sides of the top of the main bracket 1. The top of the positioning seat 32 is provided with a groove that matches the plug block 31 to facilitate the insertion of the plug block 31. The plug rod 33 slides linearly relative to the positioning seat 32, and the lower end of the plug block 31 is provided with a through hole for the plug rod 33 to be inserted; when the lower end of the plug block 31 is inserted into the groove of the positioning seat 32, the plug rod 33 passes through the through hole at the lower end of the plug block 31, thereby realizing the relative fixation of the plug block 31 and the positioning seat 32.

[0058] The middle part of the second connecting rod 35 is rotatably connected to the main support 1 , and the two ends of the telescopic device 36 are respectively connected to the lower ends of the two groups of second connecting rods 35 , and the upper ends of the two groups of second connecting rods 35 are connected to the corresponding insertion rods 33 through the first connecting rod 34 .

[0059] Two sets of ducted motors 4 are installed on the left side of the main frame 1; the power module 5 is installed on the right side of the main frame 1 and is used for power supply.

[0060] The monitoring system includes a camera, an image transmission module and a WiFi antenna. The camera sends the image it captures to the display screen on the external controller through the image transmission module and the WiFi antenna, so that the ground staff can observe in real time the wire stripper 2 cutting the outer insulation layer of the wire.

[0061] The control system includes a main control chip, a signal receiver and an RC antenna. The signal receiver is wirelessly connected to an external controller via the RC antenna, so that the main control chip can receive command signals from the external controller through the signal receiver and the RC antenna.

[0062] The main control chip is electrically connected to the inclination sensor, the wind force sensor, and the torque sensor, and the ducted motor 4 is electrically connected to the main control chip through a one-to-one corresponding electronic speed regulator.

[0063] Working principle:

[0064] The drone is controlled by an external controller to drive the entire device to move onto the wire to be stripped, so that the wire is relatively placed in the accommodating groove 11, and then the wire stripper is controlled to strip the insulation layer of the wire 100.

[0065] When the wire stripper 2 removes the insulation layer of the wire 100, the cutter will apply a torque to the wire 100. Due to the reaction of the force, a reaction torque will be formed. To ensure the normal operation of the wire stripper 2, an external force is required to overcome this torque, otherwise the wire stripper will spin and fail to work normally.

[0066] The reaction torque is generated by the ducted motor 4. By adjusting the rotation speed of the ducted motor 4 through the electronic speed regulator, the size of the balancing torque can be accurately controlled to achieve dynamic adaptive compensation, so that the whole mechanism is in the most stable state when working.

[0067] When separation is required, the telescopic device 36 is shortened through an external controller, driving the two sets of second connecting rods 35 to rotate synchronously. The rotation of the second connecting rod 35 drives the insertion rod 33 to move linearly relative to the positioning seat 32 through the first connecting rod 34, so that the insertion rod 33 is pulled out of the through hole at the lower end of the insertion block 31, thereby realizing the separation of the drone and the main bracket 1.

[0068] The main control chip is used to receive and process the angle information output by the inclination sensor, and output a control signal through a PID control algorithm. The control signal adjusts the speed of the ducted motor 4 through an electronic speed regulator.

[0069] Furthermore, the control signal of the output speed of the ducted motor 4 controlled by the main control chip is PID output (t);

[0070] PID output (t) = P output (t)+I output (t)+D output (t);

[0071] P output (t) = K p ×e(t); proportional term P output (t) Based on the current error (i.e., the difference between the actual value and the set value), it immediately generates a control output proportional to the error; it accumulates past errors and generates a control output proportional to the accumulated error; it can quickly respond to changes in the error, allowing the system to quickly approach the target value in a short period of time.

[0072] Integral Term I output (t) is used to eliminate steady-state errors. When the system enters steady state, although the output of the proportional term may be zero, the integral term will still produce output according to the accumulated error until the error is completely eliminated.

[0073] Differential term D output (t) Based on the rate of change of the error, a control output proportional to the speed of error change is generated to predict the future trend of the error and prevent the system from overshooting or oscillation. It can stabilize the system faster, especially when the error changes dramatically.

[0074] Among them, K p is the proportional gain coefficient; e(t) is the difference between the real-time reading of the inclination sensor and the preset target angle; K i is the integral gain coefficient; K d is the differential gain coefficient; t is the time.

[0075] A torque sensor is installed at the cutter of the wire stripper 2 to collect the torque data of the cutter of the wire stripper 2 applied to the wire 100 in real time; a wind sensor is installed on the main support 1, and the main control chip calculates the component force in the horizontal direction and perpendicular to the length direction of the wire 100;

[0076] The main control chip compares the reading of the inclination sensor with the preset target angle, calculates the current error value (i.e. the difference between the actual angle and the target angle), and calculates the change in torque ΔT(t);

[0077] ΔT(t)=T(t)-T(t-1);

[0078] Among them, T(t) is the torque value at the current moment, and T(t-1) is the torque value at the previous moment;

[0079] ΔF wind (t) = K wind ×V wind (t);

[0080] Among them, K wind is the wind force coefficient, V wind (t) is the wind speed at the current moment;

[0081] K p (t+1)=K p (t)+α p ×(ΔT(t)+ΔF wind (t));

[0082] P output (t) = K p (t+1)×e(t);

[0083] Among them, α p is the proportional gain adjustment factor;

[0084] K i (t+1)=K i (t)+α i ×(ΔT(t)+ΔF wind (t));

[0085]

[0086] Among them, α i is the integral gain adjustment factor;

[0087] K d (t+1)=K d (t)+α d ×(ΔT(t)+ΔF wind (t));

[0088]

[0089] Among them, α d is the differential gain adjustment factor.

[0090] Through the above arrangement, the unstable torque applied by the cutter of the wire stripper 2 to the wire 100 and the influence of the external randomly changing wind force can be adapted, so that the whole mechanism is in the most stable state when working.

[0091] The above-mentioned embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A UAV wire stripping power system, characterized in that: It comprises a main frame (1), a wire stripper (2) installed on the main frame (1), a lifting device (3), a ducted motor (4), an inclination sensor and a control system; The lower profile of the main frame (1) is an inverted V-shaped structure, and the corner of the V-shaped structure extends upward along its center line to form a receiving groove (11); The main frame (1) is connected to the drone via a lifting device (3); The wire stripper (2) is used to strip the wire (100) placed in the receiving groove (11); The inclination sensor is used to collect posture information of the main support (1) and transmit the posture information to the control system, and the control system controls the output speed of the ducted motor (4) according to the real-time data of the inclination sensor; The center of gravity of the UAV wire stripping power system is consistent with the center line of the lower contour of the main body support (1).

2. The UAV wire stripping power system according to claim 1, characterized in that: The hoisting device (3) comprises a detachable plug-in block (31) and a positioning seat (32), wherein the plug-in block (31) is connected to the drone, and the positioning seat (32) is fixed on the main support (1).

3. The UAV wire stripping power system according to claim 2, characterized in that: The positioning seat (32) is slidably connected with an insertion rod (33), and the movement of the insertion rod (33) can achieve penetration of the insertion block (31) or separation.

4. The UAV wire stripping power system according to claim 3, characterized in that: The lifting device (3) also includes a telescopic device (36) and two groups of second connecting rods (35), the middle part of the second connecting rod (35) is rotatably connected to the main support (1), the two ends of the telescopic device (36) are respectively connected to the lower ends of the two groups of second connecting rods (35), and the upper ends of the two groups of second connecting rods (35) are connected to the corresponding insertion rods (33) through the first connecting rod (34).

5. The UAV wire stripping power system according to claim 1, characterized in that: A monitoring system is installed on the main support (1), and the monitoring system is used for video monitoring of the wire stripping process of the wire stripper (2) on the wire (100).

6. The UAV wire stripping power system according to claim 5, characterized in that: The monitoring system is wirelessly connected to an external controller via a WiFi antenna.

7. The UAV wire stripping power system according to claim 1, characterized in that: The control system comprises a main control chip and a signal receiver electrically connected to the main control chip, the signal receiver is communicatively connected to an external controller via an RC antenna, the inclination sensor is electrically connected to the main control chip, and the main control chip is connected to a ducted motor (4) via an electronic speed regulator.

8. The UAV wire stripping power system according to claim 7, characterized in that: The main control chip outputs a control signal for controlling the output speed of the ducted motor (4) through a PID control algorithm.

9. The UAV wire stripping power system according to claim 8, characterized in that: The control signal of the output speed of the ducted motor (4) controlled by the main control chip is PID output (t); PID output (t)=P output (t)+I output (t)+D output (t); P output (t)=K P ×e(t); Among them, K p is the proportional gain coefficient; e(t) is the difference between the real-time reading of the inclination sensor and the preset target angle; K i is the integral gain coefficient; K d is the differential gain coefficient; t is the time.

10. The UAV wire stripping power system according to claim 9, characterized in that: A torque sensor is installed at the cutting blade of the wire stripper (2), and a wind sensor is installed on the main body bracket (1); The torque change ΔT(t) is calculated by using the values ​​collected by the torque sensor twice. ΔT(t)=T(t)-T(t-1); Among them, T(t) is the torque value at the current moment, and T(t-1) is the torque value at the previous moment; ΔF wind (t)=K wind ×V wind (t); Among them, K wind is the wind force coefficient, V wind (t) is the wind speed at the current moment; K p (t+1)=K p (t)+α p ×(ΔT(t)+ΔF wind (t)); P output (t)=K P ×e(t); Among them, α p is the proportional gain adjustment factor; K i (t+1)=K i (t)+α i ×(ΔT(t)+ΔF wind (t)); Among them, α i is the integral gain adjustment factor; K d (t+1)=K d (t)+α d ×(ΔT(t)+ΔF wind (t)); Among them, α d is the differential gain adjustment factor.

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