Cross-railway line cable removal traction device and method based on unmanned aerial vehicle

Abstract

The invention discloses a cross-railway line cable removal traction device and method based on an unmanned aerial vehicle, and belongs to the technical field of railway engineering construction.The cable is fixedly connected to a concrete stand column through a temporary fixing mechanism, the unmanned aerial vehicle comprises a suspension mechanism and a bearing support, and the suspension mechanism comprises a suspension propeller and a main body; and each suspension propeller is fixedly mounted on the main body. The bearing support is arranged at the bottom of the body. The connecting and locking mechanism comprises a connecting component and a locking component, one end of the connecting component is fixed to the bearing support, and the other end of the connecting component is provided with the locking component. The controller is in communication connection with the suspension mechanism and used for controlling the flight attitude and the flight path of the unmanned aerial vehicle. The cross-railway line cable dismantling traction device and method based on the unmanned aerial vehicle can adapt to the construction environment in a railway area, stable supporting protection of the free end of the cable can be achieved, the situation that the cable rubs a contact net is avoided, and the setting time of cable supporting protection can be shortened.

Description

Technical Field

[0001] The present invention belongs to the technical field of railway engineering construction, and particularly relates to a cable demolition traction device and method based on an unmanned aerial vehicle (UAV) for crossing railway lines. Background Art

[0002] In the railway cable area of large railways such as high-speed railways, there are high-voltage towers arranged around the railway cable area. The height of the high-voltage iron tower is usually higher than that of the railway cable, and there are cables passing through the railway cable area around the high-voltage tower. At the same time, since the length of the cable between two adjacent high-voltage towers is relatively long, during the process of relocating the cable between two adjacent high-voltage towers, it is necessary to cut the cable in the middle to facilitate the recovery and relocation of the cable.

[0003] The operation process of removing the conductor in the railway line area is relatively complex and has certain risks. Especially during the removal of high-voltage power lines or complex lines, the operator needs to cut and remove the power cable. After the cable is cut, the cable will quickly fall down. This not only may pose a danger to the surrounding operators, operating equipment, and railway facilities, but also the two free ends of the fallen cable will rub against the catenary. Especially in a high-voltage environment, once the conductor falls, it may cause equipment damage, electrical fires, and even casualties.

[0004] In the related art, in view of the above situation, common protective measures include operations such as setting up protective nets, using support rods, and installing temporary barriers. Although the above measures can form a certain degree of safety protection, for the cable cutting operation that can only be carried out during the construction skylight period, the above facilities have problems such as long layout time, complex operation, limited protection, and high cost. Summary of the Invention

[0005] In view of one or more of the above defects or improvement requirements of the prior art, the present invention provides a cable demolition traction device and method based on an unmanned aerial vehicle for crossing railway lines, which can adapt to the construction environment in the railway area, not only can realize the stable support and protection of the free end of the cable, but also can effectively reduce the setting time of the cable support and protection, and thus can significantly improve the cable support efficiency while avoiding the abrasion of the cable on the catenary.

[0006] To achieve the above object, the present invention provides a cable demolition traction device based on an unmanned aerial vehicle for cable traction and demolition when the cable above the catenary of a railway line is cut, including:

[0007] A temporary fixing mechanism, one end of which is detachably fixed to a concrete column in the railway line, and the other end of which is detachably fixed to the cable between the contact network and the concrete column, for fixing the cable located outside the contact network to the concrete column;

[0008] A drone, comprising a suspension mechanism and a connection locking mechanism, wherein the suspension mechanism is used to drive the drone to be set between the cut-off position and the temporary fixing mechanism, the connection locking mechanism is set on the bottom end surface of the suspension mechanism, and a locking member is set at the end of the connection locking mechanism, which is used to carry the cable that exceeds the temporary fixing mechanism after the cable is cut off and bring it away from above the contact network.

[0009] As a further preferred embodiment of the present invention, the locking member is a locking fastener;

[0010] The locking fastener includes a first clamp and a second clamp in a semi-annular shape; the first clamp and the second clamp are arranged opposite to each other, and at least one detachable connecting component is arranged between the first clamp and the second clamp for adjusting the relative distance between the first clamp and the second clamp; the diameter of the first clamp and the second clamp is smaller than the diameter of the cable.

[0011] As a further preferred embodiment of the present invention, one end of the first clamp and one end of the second clamp are hinged, and a detachable connection group is provided between the other end of the first clamp and the other end of the second clamp for adjusting the relative distance between the first clamp and the second clamp.

[0012] As a further preferred embodiment of the present invention, the diameter of the annular inner wall surface of the first clamp and the second clamp is 0.7 times, 0.75 times, 0.8 times, 0.85 times or 0.9 times the diameter of the cable.

[0013] As a further preferred embodiment of the present invention, the locking member is a locking strap, and a hook is fixedly provided at one end of the locking strap and at one end of the connecting member away from the suspension mechanism, for being hung on the locking strap after the locking strap is wrapped around the cable.

[0014] As a further preferred embodiment of the present invention, the locking member is an arc-shaped spring piece, which includes a thin steel sheet with an arc-shaped cross-section. The thin steel sheet is fixed on the connecting member, the extension direction of the thin steel sheet may intersect with the extension direction of the cable, and the convex surface of the thin steel sheet may face the cable.

[0015] As a further preferred embodiment of the present invention, the angle between the extension direction of the thin steel sheet and the extension direction of the cable is greater than 0 degree and less than 90 degrees.

[0016] As a further preference of the present invention, the drone further includes a carrying bracket, and the carrying bracket is fixedly installed at the bottom of the suspension mechanism.

[0017] The present invention also discloses a method for removing and towing cables across a railway line based on a drone, which uses the above-mentioned device for removing and towing cables across a railway line based on a drone to complete the protection for removing the cables above a railway line with only a single catenary. The method is characterized by including the following steps:

[0018] Loosen the cable between the two high-voltage towers until the cable is lowered to a position close to the catenary;

[0019] Select a cutting position on the cable on the side of the catenary away from the concrete column;

[0020] Control the drone to hover until the drone is located above the cable between the concrete column and the catenary, and fix the connection locking mechanism on the cable between the cutting position and the catenary;

[0021] Connect the cable between the catenary and the concrete column to the concrete column through the temporary fixing mechanism;

[0022] Cut the cable at the cutting position;

[0023] Control the movement of the drone to tow the free end of the cable to bypass the catenary from above until the cables between the temporary fixing mechanism and the cutting position are all located between the column and the catenary;

[0024] Control the movement of the drone until the free end drops above the ground of the railway line.

[0025] The present invention also discloses a method for removing and towing cables across a railway line based on a drone, which uses the above-mentioned device for removing and towing cables across a railway line based on a drone to complete the protection for removing the cables above a railway line with multiple catenaries. The method is characterized by including the following steps:

[0026] Loosen the cable between the two high-voltage towers until the cable is lowered to a position close to the catenary;

[0027] Select a cutting position on the cable between the outer catenary and its adjacent concrete column;

[0028] Control the drone to hover until the drone is located above the cable between the cutting position and the temporary fixing mechanism away from the cutting position, and fix the connection locking mechanism on the cable between the cutting position and the catenary;

[0029] Connecting the cables between the contact network and the adjacent concrete column on the outside to the concrete column through the temporary fixing mechanism;

[0030] Cutting off the cable from the cutting position;

[0031] Controlling the movement of the drone to pull the cable between the free end and the temporary fixing mechanism away from the cut-off position to bypass the contact network from above until the cable is located between the contact network away from the cut-off position and the concrete column;

[0032] The drone is controlled to move until the free end falls onto the ground of the railway line.

[0033] In general, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:

[0034] (1) The cable removal traction device for a cross-railway line based on an unmanned aerial vehicle of the present invention comprises an unmanned aerial vehicle, a connection locking mechanism and a controller. The unmanned aerial vehicle comprises a suspension mechanism and a bearing bracket, the suspension mechanism comprises a plurality of suspension propellers and a main body, each suspension propeller is fixedly mounted on the main body and is used to drive the unmanned aerial vehicle to float in the air. The bearing bracket is arranged at the bottom of the main body and is used to provide a mounting base. The connection locking mechanism comprises a connecting member and a locking member, one end of the connecting member is fixed on the bearing bracket, and the other end of the connecting member is provided with a locking member. The locking member comprises any one of a locking fastener, a locking strap, an arc-shaped spring sheet or an electric gripper, and is used to be detachably fixed on the cable before and after cutting. The controller is connected in communication with the suspension mechanism and is used to control the flight attitude of the unmanned aerial vehicle and the flight trajectory of the unmanned aerial vehicle. The cable removal traction device for a cross-railway line can adapt to the construction environment in the railway area, can not only realize the stable support and protection of the free end of the cable, but also can effectively reduce the setting time of the cable support and protection, thereby significantly improving the cable support efficiency while also avoiding the wear of the cable on the contact network.

[0035] (2) The cable removal and traction device for crossing railway lines based on drones of the present invention adopts an arc-shaped spring sheet with an L-shaped or straight cross-section, so that when the arc-shaped spring sheet contacts the cable, it can form an accurate reverse curling shape, and then accurately curl on the cable to achieve stable fixation of the cable. In addition, the extension direction of the thin steel sheet intersects with the extension direction of the cable, and the extension direction of the thin steel sheet is not perpendicular to the extension direction of the cable, so that the thin steel sheet can curl a longer cable in the horizontal direction during the curling process, further enhancing the clamping force of the thin steel sheet on the cable.

[0036] (3) The cable removal and traction device and method based on an unmanned aerial vehicle (UAV) of the present invention are convenient to operate and have stable protection. By using a UAV including a plurality of hovering propellers and a connection and locking mechanism that can be fastened to the cable, after the cable is cut off, a stable connection between the UAV and the cable can be achieved with the help of the connection and locking mechanism, and then the free end of the cut-off cable can be suspended and fixed. At the same time, by providing an attitude sensor and a position sensor on the UAV and combining with a processing module, the UAV can automatically correct its flight attitude and flight position according to its own attitude and position, thereby ensuring the safety and stability of the UAV during the entire protection process, and having good promotion prospects and application value. Brief Description of the Drawings

[0037] Figure 1 is a schematic diagram of the overall structure of the cable removal and traction device based on a UAV across multiple catenaries in an embodiment of the present invention;

[0038] Figure 2 is a flowchart of the cable removal and traction method based on a UAV across multiple catenaries in an embodiment of the present invention;

[0039] Figure 3 is a schematic diagram of the overall structure of the cable removal and traction device based on a UAV across a single catenary in an embodiment of the present invention;

[0040] Figure 4 is a flowchart of the cable removal and traction method based on a UAV across a single catenary in an embodiment of the present invention.

[0041] In all the drawings, the same reference numerals represent the same technical features, specifically:

[0042] 1, cable; 2, main body; 3, hovering propeller; 4, bearing bracket; 5, connecting member; 6, locking member; 7, temporary fixing mechanism; 8, concrete column; 9, high-voltage tower; 10, catenary. Detailed Description of the Embodiments

[0043] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0045] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0046] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0048] Embodiment:

[0049] Please refer to Figures 1 to 4, in the preferred embodiment of the present invention, the cable removal and traction device and method based on an unmanned aerial vehicle can adapt to the construction environment within the railway area. It can not only achieve stable support and protection for the free end of cable 1, but also effectively reduce the setup time for the support and protection of cable 1, thereby significantly improving the support efficiency of cable 1 while avoiding wear of the cable on the catenary.

[0050] Specifically, as Figure 1 shown in, in the preferred embodiment of the present application, the cross-railway cable removal and traction device includes a temporary fixing mechanism 7, a plurality of unmanned aerial vehicles, a connection and locking mechanism, and a controller.

[0051] One end of the temporary fixing mechanism 7 is detachably fixed to the concrete column 8 in the railway line, and the other end of the temporary fixing mechanism 8 is detachably fixed to the cable 1 between the catenary 10 and the concrete column 8, for fixing the cable 1 outside the catenary 10 to the concrete column 8.

[0052] The unmanned aerial vehicle includes a suspension mechanism, a bearing bracket 4, and a connection and locking mechanism. The suspension mechanism is used to drive the unmanned aerial vehicle to be arranged between the cut-off position and the temporary fixing mechanism 7. The connection and locking mechanism is arranged on the bottom end surface of the suspension mechanism, for carrying the cable 1 exceeding the temporary fixing mechanism 7 after the cable 1 is cut off and taking it away directly above the catenary 10.

[0053] The suspension mechanism includes a plurality of suspension propellers 3 and a main body 2. Each propeller is fixedly installed on the main body 2 for driving the unmanned aerial vehicle to float in the air. Preferably, each suspension propeller 3 is circumferentially and uniformly arranged around the main body 2, and a support cantilever is arranged between the suspension propeller 3 and the main body 2, so that the suspension propeller 3 can drive the main body 2 to float. Further preferably, the suspension mechanism includes four, six, or eight suspension propellers 3. The bearing bracket 4 is arranged at the bottom of the main body 2, for providing an installation basis for the connection and locking mechanism.

[0054] Furthermore, the connection and locking mechanism includes a connection member 5 and a locking member 6. One end of the connection member 5 is fixed to the bearing bracket 4, and the other end of the connection member 5 is provided with the locking member 6. At the same time, the locking member 6 includes any one of a locking fastener, a locking strap, an arc-shaped elastic piece, or an electric clamping gripper, so that the connection and locking mechanism can be detachably fixed to the cable 1 before and after cutting through the locking member 6.

[0055] Furthermore, the controller is communicatively connected to the suspension mechanism, so that the staff can remotely control the flight attitude of the unmanned aerial vehicle and the flight trajectory of the unmanned aerial vehicle through the controller.

[0056] It should be noted that, in the preferred embodiment of the present application, the extending direction of the railway line is longitudinal, the direction perpendicular to the longitudinal direction in the horizontal plane is transverse, and the direction perpendicular or vertical to the horizontal plane is vertical.

[0057] Further, in the preferred embodiment of the present application, a number of drones are provided on the cable 1 on both sides of the truncation position to ensure that there is sufficient upward acting force to drive the cable 1 to move in suspension.

[0058] Further preferably, in the preferred embodiment of the present application, the locking member 6 is a locking buckle, which includes a first clamp and a second clamp that are oppositely arranged and both are semi-circular. At the same time, at least one detachable connection component is provided between the first clamp and the second clamp, so that the first clamp can move relative to the second clamp, thereby ensuring that the circular ring formed by the first clamp and the second clamp can hold the cable 1 tightly or loosen the cable 1.

[0059] More specifically, in the preferred embodiment of the present application, one end of the first clamp is hinged to one end of the second clamp. Correspondingly, a detachable connection component is provided between the other end of the first clamp and the other end of the second clamp for realizing the detachable connection between the first clamp and the second clamp. Preferably, the diameters of the inner circumferential surfaces of the first clamp and the second clamp are smaller than the diameter of the cable 1, so that the first clamp and the second clamp can stably clamp the cable 1 under the action of the detachable connection component. Further preferably, the diameters of the inner circumferential surfaces of the first clamp and the second clamp are 0.7 times, 0.75 times, 0.8 times, 0.85 times or 0.9 times the diameter of the cable 1 to ensure that the first clamp and the second clamp can accurately hold the cable 1 tightly.

[0060] Further, the connection relationship between the first clamp and the second clamp is not limited to the above structural form. In another preferred embodiment of the present application, detachable connection components are provided at both opposite ends of the first clamp and the second clamp. Preferably, the detachable connection component is a connection bolt. During actual use, the separated first clamp and second clamp are respectively held on both sides of the cable 1. Correspondingly, by adjusting the detachable connection component between the two, the first clamp and the second clamp can stably hold the cable tightly.

[0061] Further, in the preferred embodiment of the present application, the locking member 6 is a locking strap. Specifically, one end of the locking strap is fixedly connected to the end of the connecting member 5. Correspondingly, a hook is provided at the other end of the locking strap. During actual use, the end of the locking strap with the hook is wound around the cable 1 for multiple turns. After winding, the hook is hooked on the locking strap between the cable 1 and the connecting member 5, thereby realizing the stable winding and binding of the locking member to the cable 1.

[0062] Further, in a preferred embodiment of the present application, the locking member 6 is an arc-shaped spring sheet, specifically, the arc-shaped spring sheet is an L-shaped structure including a first sheet and a second sheet, one end of the first sheet is fixedly connected to the end of the connecting member 5, and the second sheet is vertically fixed to the side of the first sheet facing away from the connecting member 5, and at the same time, a thin steel sheet with an arc-shaped vertical cross section is provided in the second sheet, and preferably, the convex surface of the thin steel sheet faces the cable 1. In actual use, the second sheet approaches the cable 1, and a relative force is generated between the cable 1 and the second sheet, and at the same time, the convex surface of the second sheet destroys the balance of its shape in the relative action, so that the second sheet curls in the opposite direction and curls on the cable 1, thereby achieving stable binding of the cable 1 without human operation.

[0063] Of course, in the preferred embodiment of the present application, a straight arc-shaped spring piece can also be directly used, one end of which is fixedly connected to the connecting member 5. At the same time, the arc-shaped spring piece is an arc-shaped thin steel sheet. In actual use, by controlling the convex surface of the arc-shaped spring piece to be close to the cable 1, the force between the two destroys their morphological balance, causing the second sheet to curl in the opposite direction and then curl around the cable 1.

[0064] Further preferably, in the preferred embodiment of the present application, the extension direction of the thin steel sheet intersects with the extension direction of the cable 1, and the extension direction of the thin steel sheet is not perpendicular to the extension direction of the cable 1, that is, the angle between the extension direction of the thin steel sheet and the extension direction of the cable 1 is greater than degrees and less than degrees, so that the thin steel sheet can be convoluted laterally with a longer cable 1 during the convolution process, ensuring the clamping force of the thin steel sheet on the cable 1. Preferably, the angle between the thin steel sheet and the cable 1 is 30 degrees, 45 degrees or 60 degrees.

[0065] Further, in a preferred embodiment of the present application, the connecting member 5 is a flexible rope or a rigid connecting rod.

[0066] Further preferably, in the preferred embodiment of the present application, the connecting member 5 is a flexible rope, and accordingly, an electric winch is also provided below the supporting bracket 4, one end of the flexible rope is fixedly connected to the locking member 6, and the other end of the flexible rope can be wound on the rotating shaft of the electric winch, so that when the distance between the UAV and the cable 1 needs to be adjusted, the flexible rope can also be pulled up or lowered with the help of the electric winch. In addition, in actual use, after the UAV rises to a specified height, during the process of pulling up and lowering the cable 1, only the electric winch can be controlled to retract and release the flexible rope, so that the lower operation of the end of the cable 1 after cutting off can be accurately achieved, which significantly improves the convenience of operation.

[0067] Further, in the preferred embodiment of the present application, the connecting member 5 is a rigid link. One end of the rigid link is fixed to the bearing bracket 4, and a locking member 6 is fixed to the other end of the rigid link. Preferably, the locking member 6 is an arc-shaped elastic piece. Using a rigid link can more directly provide a force for the collision between the arc-shaped elastic piece and the cable 1, thereby ensuring that the arc-shaped elastic piece can be stably wound around the cable 1.

[0068] Further preferably, in the preferred embodiment of the present application, the drone further includes at least one camera module. Preferably, the camera module is arranged on the main body 2 and is used to capture the image information around the drone. Preferably, a display module is also arranged on the controller. At the same time, the controller is also communicatively connected to the camera module and is used to collect the image information and display it through the camera module.

[0069] More specifically, in the preferred embodiment of the present application, a position sensor and an attitude sensor are also arranged on the drone. Preferably, both the position sensor and the attitude sensor are arranged on the main body 2 and are respectively used to locate the position of the drone in real time and determine the attitude of the drone in real time.

[0070] Further preferably, in the preferred embodiment of the present application, a stress sensor and a distance sensor are further included. The stress sensor is arranged between the bearing bracket 4 and the connecting member 5 and is used to detect the tension on the connecting member 5 of the drone in real time. The distance sensor is also arranged on the bottom end surface of the bearing bracket 4 and is used to judge the distance between the cable 11 and the drone. Preferably, the distance sensor is an ultrasonic rangefinder.

[0071] Further, in the preferred embodiment of the present application, the controller further includes a processing module. The processing module receives the data information of each sensor and automatically generates a flight control instruction for the drone according to the data information, thereby realizing the automatic control of the drone.

[0072] Further, in the preferred embodiment of the present application, the traction device for removing the cross-railway cable further includes a lifting mechanism and a cutting mechanism. The lifting mechanism is arranged in the railway line area and can move vertically up and down, so that the operator can move to the cuttable area of the cable 1 by means of the lifting mechanism. Preferably, the lifting mechanism is a lifting platform or a climbing ladder.

[0073] Further preferably, in the preferred embodiment of the present application, the lifting mechanism is a lifting ladder, and at the same time, a support surface is provided on the top surface of the lifting ladder, and at the same time, a cutting mechanism is provided on the support surface. Preferably, the cutting mechanism includes a movable tool and a fixed tool that are relatively arranged, and a cutting area that can accommodate the cable 1 is formed between the two. In actual use, the movable tool can move relative to the fixed tool, so that the movable tool can gradually abut the cable 1 against the fixed tool until the movable tool can completely cut the cable 1. Preferably, the extension direction of the blades of the movable tool and the fixed tool intersects with the extension direction of the cable 1. Further, the extension direction of the blades of the movable tool and the fixed tool is perpendicular to the extension direction of the cable 1.

[0074] In more detail, in a preferred embodiment of the present application, a driving member is provided on a side of the movable tool facing away from the fixed tool, for driving the movable tool to cut the cable 1 .

[0075] Furthermore, if Figure 3 and Figure 4 As shown in , in a preferred embodiment of the present application, a method for removing and protecting cables across railway lines based on drones is also disclosed, which uses the above-mentioned drone-based cross-railway cable removal and protection device to complete the removal and protection of cables 1 above the railway line where only a single contact network 10 exists, and specifically includes the following steps:

[0076] S11, loosening the cable 1 between the two high-voltage towers 9 until the cable 1 is lowered to the cable 1 cuttable area.

[0077] S12, controlling the UAV to levitate until the UAV is located above the cable 1 between the concrete column 8 and the contact network 10, and fixing the connection locking mechanism on the cable 1.

[0078] S13 . Connect the cable 1 between the contact network 10 and the concrete column 8 to the concrete column 8 through the temporary fixing mechanism 7 .

[0079] S14, selecting a cut-off position on the cable 1 on the side of the contact network 10 facing away from the concrete column 8.

[0080] S15, cutting the cable 1 from the cutting position.

[0081] S16, controlling the movement of the drone, and causing the free end of the traction cable 1 to bypass the contact network 10 from above, until the cable 1 located between the temporary fixing mechanism 7 and the cut-off position is located between the column and the contact network 10.

[0082] S17. Control the movement of the UAV until the free end falls onto the ground of the railway line.

[0083] Further, in the preferred embodiment of the present application, the cuttable area of the cable 1 is located above the cable 1. In the arc-shaped structure formed when the cable 1 is lowered, the entire cable 1 does not contact the catenary 10, and at the same time, the operator can also perform the cutting operation on the cable 1.

[0084] Further, in the preferred embodiment of the present application, S13 includes the following steps:

[0085] S131. Control the drone to lift the height of the cable 1.

[0086] S132. The high-voltage tower 9 on one side of the temporary fixing mechanism 7 pays out the cable 1 until the cable 1 outside the catenary 10 enters the installable range of the temporary fixing mechanism 7, and the cable 1 is spaced above the catenary 10.

[0087] S133. Fix the temporary fixing mechanism 7 on the cable 1 between the catenary 10 and the concrete column 8.

[0088] Further, as Figure 1 and Figure 2 shown, in the preferred embodiment of the present application, a method for protecting the removal of a cable across a railway line based on a drone is also disclosed. It uses the above-mentioned device for protecting the removal of a cable across a railway line based on a drone to complete the protection of the removal of the cable 1 above the railway line of multiple catenaries 10, and specifically includes the following steps:

[0089] S21. Loosen the cable 1 between the two high-voltage towers 9 until the cable 1 is lowered to the cuttable area of the cable 1.

[0090] S22. Control the drone to hover until the drone is above the cable 1 between the cutting position and the temporary fixing mechanism 7 away from the cutting position, and fix the connection locking mechanism on the cable 1.

[0091] S23. Connect the cable 1 between the outer catenary 10 and its adjacent concrete column 8 to the concrete column 8 through the temporary fixing mechanism 7.

[0092] S24. Select a cutting position on the cable 1 between the outer catenary 10 and its adjacent concrete column 8.

[0093] S25. Cut the cable 1 at the cutting position.

[0094] S26. Control the movement of the drone to tow the cable 1 between the free end and the temporary fixing mechanism 7 away from the cutting position to bypass the catenary 10 from above until the cable 1 is located between the catenary 10 and the concrete column 8 away from the cutting position.

[0095] S27. Control the movement of the drone until the free end falls above the ground of the railway line.

[0096] Furthermore, in the preferred embodiment of the present application, the cuttable area of the cable 1 is located above the cable 1. In the arc-shaped structure formed when the cable 1 is lowered, the entire cable 1 does not contact the catenary 10, and at the same time, the operator can also perform the cutting operation on the cable 1.

[0097] Furthermore, in the preferred embodiment of the present application, S23 includes the following steps:

[0098] S231. Control the drone to lift the height of the cable 1.

[0099] S232. The high-voltage tower 9 on the first side pays out the cable until the cable 1 outside the catenary 10 on the first side enters the installable range of the temporary fixing mechanism 7 on the first side, and the cable 1 is spaced above the catenary 10.

[0100] S233. Fix the temporary fixing mechanism 7 on the first side to the cable 1 between the catenary 10 and the concrete column 8.

[0101] S234. The high-voltage tower 9 on the second side pays out the cable until the cable 1 outside the catenary 10 on the second side enters the installable range of the temporary fixing mechanism 7 on the second side, and the cable 1 is spaced above the catenary 10.

[0102] S235. Fix the temporary fixing mechanism 7 on the second side to the cable 1 between the catenary 10 and the concrete column 8.

[0103] Further preferably, in the preferred embodiment of the present application, the regulation of the attitude and flight trajectory of the drone is generated by the processing module through the analysis of image information, position information, and attitude information.

[0104] More specifically, in the preferred embodiment of the present application, after step S8, the following steps are further included:

[0105] Release the connection between the temporary fixing mechanism 7 and the cable 1, and gradually recover the cable 1 from the high-voltage tower 9.

[0106] The drone-based cross-railway cable demolition and traction device and method in the present invention are convenient to operate and have stable protection. By using a drone including a plurality of hovering propellers 3 and a connection locking mechanism that can be fastened to the cable 1, after the cable 1 is cut, a stable connection between the drone and the cable 1 can be achieved by means of the connection locking mechanism, and then the free end of the cut cable 1 can be suspended and fixed. At the same time, by setting an attitude sensor and a position sensor on the drone and combining with the processing module, the drone can automatically correct its flight attitude and flight position according to its own attitude and position, thereby ensuring the safety and stability of the drone during the entire protection process, and having good promotion prospects and application values.

[0107] Those skilled in the art can easily understand that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A cable removal and traction device for crossing railway lines based on drones, used for cable traction and removal when the cables above the railway contact network are cut off, characterized in that: include: A temporary fixing mechanism, one end of which is detachably fixed to a concrete column in the railway line, and the other end of which is detachably fixed to the cable between the contact network and the concrete column, for fixing the cable located outside the contact network to the concrete column; A drone, comprising a suspension mechanism and a connection locking mechanism, wherein the suspension mechanism is used to drive the drone to be set between the cut-off position and the temporary fixing mechanism, the connection locking mechanism is set on the bottom end surface of the suspension mechanism, and a locking member is set at the end of the connection locking mechanism, which is used to carry the cable that exceeds the temporary fixing mechanism after the cable is cut off and bring it away from above the contact network.

2. The UAV-based cross-railway cable removal and traction device according to claim 1, wherein: The locking member is a locking fastener; The locking fastener includes a first clamp and a second clamp in a semi-annular shape; the first clamp and the second clamp are arranged opposite to each other, and at least one detachable connecting component is arranged between the first clamp and the second clamp for adjusting the relative distance between the first clamp and the second clamp; the diameter of the first clamp and the second clamp is smaller than the diameter of the cable.

3. The UAV-based cross-railway cable removal and traction device according to claim 2, wherein: One end of the first clamp is hinged to one end of the second clamp, and a detachable connection group is provided between the other end of the first clamp and the other end of the second clamp for adjusting the relative distance between the first clamp and the second clamp.

4. The UAV-based cross-railway cable removal and traction device according to claim 2, wherein: The diameters of the annular inner walls of the first clamp and the second clamp are 0.7 times, 0.75 times, 0.8 times, 0.85 times or 0.9 times the diameter of the cable.

5. The UAV-based cross-railway cable removal and traction device according to claim 1, wherein: The locking member is a locking strap, and a hook is fixedly provided on one end of the locking strap and one end of the connecting member away from the suspension mechanism, for being hung on the locking strap after the locking strap is wound around the cable.

6. The UAV-based cross-railway cable removal and traction device according to claim 1, wherein: The locking member is an arc-shaped spring sheet, which includes a thin steel sheet with an arc-shaped cross-section. The thin steel sheet is fixed on the connecting member, the extension direction of the thin steel sheet can intersect with the extension direction of the cable, and the convex surface of the thin steel sheet can face the cable.

7. The UAV-based cross-railway cable removal and traction device according to claim 6, wherein: The angle between the extending direction of the thin steel sheet and the extending direction of the cable is greater than 0 degree and less than 90 degrees.

8. The cross-railway cable removal and traction device based on a drone according to any one of claims 1 to 7, wherein: The UAV further comprises a load-bearing bracket, and the load-bearing bracket is fixedly mounted on the bottom of the suspension mechanism.

9. A method for removing and traction cables across railway lines based on drones, characterized in that: The cross-railway cable removal traction device based on a drone as described in any one of claims 1 to 8 is used to complete the protection of cable removal above a railway line where only a single contact network exists, and is characterized in that it includes the following steps: Loosening the cable between the two high-voltage towers until the cable is lowered to a position close to the contact network; Selecting a cut-off position on the cable on the side of the contact network facing away from the concrete column; Controlling the UAV to levitate until the UAV is located above the cable between the concrete column and the contact network, and fixing the connection locking mechanism on the cable between the cut-off position and the contact network; Connecting the cable between the contact network and the concrete column to the concrete column through the temporary fixing mechanism; Cutting off the cable from the cutting position; Controlling the movement of the drone to pull the free end of the cable to bypass the contact network from above until the cables located between the temporary fixing mechanism and the cut-off position are all located between the column and the contact network; The drone is controlled to move until the free end falls onto the ground of the railway line.

10. A method for removing and traction cables from a cross-railway line based on an unmanned aerial vehicle, characterized in that: The cross-railway cable removal and traction device based on a drone as described in any one of claims 1 to 8 is used to complete the protection of cable removal above a railway line with multiple contact networks, and is characterized in that it includes the following steps: Loosening the cable between the two high-voltage towers until the cable is lowered to a position close to the contact network; Selecting a cut-off position on the cable between the outer contact network and the adjacent concrete column; Controlling the UAV to levitate until the UAV is located above the cable between the cut-off position and the temporary fixing mechanism away from the cut-off position, and fixing the connection locking mechanism on the cable between the cut-off position and the contact network; Connecting the cables between the contact network and the adjacent concrete column on the outside to the concrete column through the temporary fixing mechanism; Cutting off the cable from the cutting position; Controlling the movement of the drone to pull the cable between the free end and the temporary fixing mechanism away from the cut-off position to bypass the contact network from above until the cable is located between the contact network away from the cut-off position and the concrete column; The drone is controlled to move until the free end falls onto the ground of the railway line.

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