Self-patrol type hanging rod locking method for electric tower, locking frame and self-locking type anti-falling device

Abstract

The invention discloses a self-patrol type hanging rod locking method for an electric tower, a locking frame and a self-locking type anti-falling device. The method comprises the steps that data collected by an image obtaining unit arranged on an unmanned aerial vehicle and a first capacitor assembly arranged on the inner side of a right-angle swing arm of the locking frame are analyzed and judged; the image acquisition unit is used for acquiring an image of a cross bar on the electric tower; the first capacitor assembly comprises two first capacitor pieces with the induction directions being perpendicular to each other, and each first capacitor piece is used for inducing the position between the locking frame and the target cross rod; when the induction capacitance values of the two first capacitance parts which are in a mutually vertical state both rise and suddenly change, and the capacitance values in a manually set first time period are both in a rising trend, the position of the rising and suddenly change is set as a starting point; according to the locking method, the locking frame and the self-locking type anti-falling device, the problems that a hanging rod is not easy to find due to poor vision when an existing hanging frame works aloft, time is consumed in alignment, and efficiency is low are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid operation equipment, and particularly to a self-inspecting hanging rod locking method, a locking frame and a self-locking anti-falling device for an electric tower. Background Art

[0002] With the rapid development of the power grid, higher requirements are put forward for overhead line operations. The inspection items are more refined and the workload is more massive. It is necessary to optimize and upgrade on the basis of existing anti-falling devices, such as intelligent and convenient operation, safe and reliable protection, etc., to provide comprehensive protection for inspection operations. Especially in terms of the risk of falling from a height during the operation process, the switching climbing operation mode relying only on two safety hooks can no longer be used. Therefore, the following mode improvements are made;

[0003] The guide rail type, the principle of which is: a vertical guide rail is fixedly installed on the high rack of the electric tower. During the process of the operator climbing upward for high-altitude operations, the anti-falling device (brake) connected to the full-body safety belt is installed on the guide rail. Before the falling action is triggered, the anti-falling device can move up and down along the guide rail without hindrance as the operator's body moves; once the falling action is triggered, the anti-falling device forces the cam to squeeze towards the guide rail under the action of the downward gravity of the human body, and the braking effect is achieved through the friction between the cam and the guide rail, preventing the operator from continuing to fall, thereby playing an anti-falling role. However, this method is generally limited to newly built electric towers, and there is no such design for existing electric towers. In addition, the friction between the anti-falling device and the guide rail causes braking, and long-term repeated use has certain wear on both the guide rail and the self-locking device, affecting the service life of the anti-falling device. Moreover, there is a certain lag in friction braking, which prolongs the falling distance during a fall and causes a greater impact on the operator's body; not only that, the guide rail type is easily affected by the external environment. Exposed outdoors for a long time throughout the year, the guide rail is prone to corrosion and rust. Coupled with extremely bad weather such as rain and snow, the guide rail is likely to freeze. During use, the guide rail is prone to jamming, affecting normal use; there is also a risk of others climbing by mistake.

[0004] The speed difference type, including a combination of a safety rope and an anti-falling device. This method is generally used for electric towers with relatively low heights and requires the staff to hang and set up through double hooks, support rods or throw hanging; moreover, the internal structure of such products is complex, and enough space needs to be provided in its cavity for the safety rope to be retracted and released, resulting in an overly large overall volume and excessive self-weight, making it very inconvenient to carry; after use, although the safety rope will automatically retract into the anti-falling device under the action of the elastic piece, the contraction speed of the safety rope during automatic retraction is uncontrollable, which may cause a large impact on the internal parts of the anti-falling device, causing damage to the internal parts and affecting its service life.

[0005] In the case of using a drone, the R & D personnel designed to use the drone as a carrier medium to transport the hanger with a safety rope to the crossbar at a high place for hanging. The staff can achieve the effect of safely climbing the tower by cooperating with the anti-falling device through the already hung safety rope, that is, using the drone to solve the problem of difficult hanging of the safety rope hanger at high altitudes. However, although this method can complete the hanging work, there are still many deficiencies: (1) When the ground personnel control the drone to find the crossbar (i.e., the hanging bar), due to the spatial misalignment and a certain distance difference between the drone and the hanger, the visual deviation formed makes it difficult to control the hanging, so it takes a lot of time to hang the hanger; (2) After the hanging, the drone detaches from the hanger, and there is no induction and monitoring of the state of the hanger and the crossbar. During high-altitude operations, due to wind resistance, misoperations, large body movements during climbing, etc., it is easy to cause the risk of detachment; (3) The width of the existing hanger is generally wider than that of the crossbar to facilitate easy hanging during installation; in addition, the ground personnel operating the drone randomly select the crossbar, so it is impossible to accurately match the widths of the hanger and the crossbar. Therefore, the hanging part of the existing hanger needs to be larger than the width of the crossbar, which also makes it easy to shake after hanging, which also leads to easier unhooking. For this reason, an anti-detachment structure needs to be designed; however, the existing anti-detachment structure is too complex and affects the unlocking and detachment after the hanging operation is completed, making it difficult to be compatible or achieved simultaneously between hanging and unlocking. Therefore, the existing R & D personnel generally directly remove the anti-detachment structure;

[0006] In summary, the structure and hanging method of the existing crossbar of the electric tower still need to be further improved and enhanced. Summary of the Invention

[0007] The purpose of the present invention is to overcome the above-mentioned defects or problems existing in the background technology, and provide a self-inspecting crossbar locking method, locking frame and self-locking anti-falling device for an electric tower, which have a simple structure, are easy to manufacture, easy to implement and have a low cost, and solve the problems of difficult to find the crossbar due to visual difference and low efficiency of alignment during high-altitude operation of the existing hanger.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] A self-inspecting crossbar locking method for an electric tower, which analyzes and judges the data collected by the image acquisition unit provided on the drone and the first capacitor assembly provided on the inner side of the right-angle swing arm of the locking frame; the image acquisition unit is used to collect the image of the crossbar on the electric tower and search from the highest point of the electric tower downwards; among them, search for the crossbar near the front or rear side of the shock absorber on the electric tower and mark it as the target crossbar;

[0010] The first capacitor assembly includes two first capacitor elements with perpendicular induction directions, and each first capacitor element is used to sense the position between the locking frame and the target crossbar and generate a capacitance value fluctuation according to the distance change from the crossbar;

[0011] The right-angle swing arm of the locking frame changes the capacitance value as the UAV drives and its position changes relative to the target crossbar. When the induced capacitance values of the two first capacitive elements in a mutually perpendicular state both undergo an upward mutation, and the capacitance values are in an upward trend within the first period set artificially, then set the position of this upward mutation as the starting point, store it, and set the starting point of the upward mutation as the original position where the target crossbar can be hung.

[0012] Judge the change of the capacitance value every first period set artificially. If the capacitance value continues to rise and exceeds the first capacitance value set artificially, then it is determined that the target crossbar is hung into the locking frame.

[0013] Furthermore, take the time point when the first capacitance value set artificially is exceeded as the timing point and store it. And when the capacitance values continuously collected by the two first capacitive elements in a mutually perpendicular state tend to a stable change state, then it is determined that the hanging connection is completed and in a continuous locking state.

[0014] Furthermore, the stable change state is configured as: continuously collect the capacitance value several times, and the absolute value of the difference between the capacitance value collected this time and the capacitance value collected the previous time is less than or equal to the mean range set artificially.

[0015] Furthermore, it also includes the data collected by the second capacitive assembly arranged inside the right-angle swing arm of the locking frame; the second capacitive assembly includes two second capacitive elements arranged perpendicularly to each other and arranged along the length direction of the right-angle swing arm; when the capacitance values of any two mutually perpendicular capacitive elements on the right-angle swing arm generate an upward mutation and continue to rise, then set the position of this upward mutation as the starting point, store it, and set the starting point of the upward mutation as the original position where the target crossbar can be hung.

[0016] Furthermore, the range value of the first period set artificially is 0.5 - 1.5 seconds.

[0017] A locking frame, which includes a frame body, a connecting hook, a pulley block, a right-angle swing arm and the first capacitive assembly. The two first capacitive elements of the first capacitive assembly are respectively installed inside the right-angle swing arm, and the two first capacitive elements are arranged perpendicularly to each other; the right-angle end of the right-angle swing arm is hinged to the opening of the frame body and rotates inward to the opening under the action of an external force; the pulley block is used to install a safety rope; the connecting hook is used to connect with the UAV through a rigid body or a flexible body.

[0018] Furthermore, a counterweight part extends outward at the outer corner of the right-angle swing arm, which is used to swing the first arm of the right-angle swing arm inward to the opening, so that the second arm of the right-angle swing arm blocks the opening.

[0019] Further, a magnetic attracting member is also provided on one side of the counterweight portion relative to the outer wall of the frame body, and is used for adsorbing the outer wall of the frame body when the second arm of the right-angle swing arm is in a vertical state.

[0020] Further, the frame body and the right-angle swing arm are made of stainless steel.

[0021] A self-locking anti-falling device includes a drone group, a locking frame, a safety rope, a control component and a brake; the locking frame is configured as the described locking frame, and is driven by the drones of the drone group to fly to the cross bar on the electric tower for hanging; the control component is respectively connected with the drone group and the first capacitor component; the brake is used for connecting a construction worker with the safety rope, and tightly hugs the safety rope in the case of accelerating downward fall.

[0022] As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) The present invention provides a self-patrolling hanging rod locking method, a locking frame and a self-locking anti-falling device for an electric tower, which have simple structures, are easy to manufacture, easy to implement and have low costs. The target cross bar with stable structure is found through the image acquisition unit on the drone, and after finding, two mutually perpendicular first capacitor elements are used to judge whether the cross bar is located in the hanging area. The change of the capacitance value sensed by the capacitor element is used to judge (that is, the sudden rise and continuous rise of the capacitance value are used as the judgment basis) whether the hanging frame below the drone is aligned with the target cross bar, so as to realize the self-searching of the target cross bar by the hanging frame, without being affected by the wind, quickly and accurately judge the hanging point or hanging position; and it is easily hung in by its own weight. After the capacitance value exceeds the artificially set first capacitance value, it is judged that the right-angle swing arm of the locking frame acts on the cross bar and realizes the hanging. During the hanging process, it is not affected by visual misalignment and wind resistance, quickly and efficiently hangs and has high stability. More importantly, after hanging, it can also judge whether it is disengaged by the change of the capacitance value, playing a role of real-time monitoring; on the basis of simple structure and judgment method, the safety and intelligence of the present invention are greatly improved. After the drone hangs the locking frame, it flies to the vicinity of the operator to record and observe whether there are dangerous situations when the operator climbs, without monitoring the locking situation between the locking frame and the cross bar.

[0024] (2) The present invention also realizes the enclosure below the cross bar after the locking frame is hung on the cross bar, and judges whether there is a hook-off phenomenon according to the change of the capacitance value, so as to realize the real-time monitoring of the locking frame end. When the change of the capacitance value fluctuates too much, a warning prompt is given to warn the climbing personnel, and the drone is controlled to confirm whether there is a risk of hook-off; this design is ingenious and can not only be used to determine the accurate position of the cross bar, but also be used for the monitoring after hanging, playing a dual role.

[0025] (3) The present invention also provides a second capacitor assembly, which cooperates with the first capacitor assembly to achieve three effects. First, when the target crossbar has different shapes, through the cooperation and induction of the first capacitor assembly and the second capacitor assembly, as a compensation mechanism, even if there is a deviation between the shape type of the hanging crossbar and the preset shape, the hanging can still be completed. Second, after hanging, it is used as a calibration capacitor. When the locking frame shakes during climbing, it can verify whether it is a shock or a detachment, avoiding false alarm warnings. Finally, to further improve the accuracy and hanging efficiency, the capacitance values of the two capacitor assemblies both suddenly increase and continue to increase, indicating that this area has entered the hanging range, and the hanging can be carried out more quickly, improving the hanging after self-searching.

[0026] (4) The structure of the locking frame of the present invention is extremely simplified. The power consumption of the capacitor component detection is low, the power supply requirement is low, and the weight is light. More importantly, the right-angle swing arm is used to easily solve the hanging lock and the upward lifting and detachment, without using a complex structure to realize the switching between locking and unlocking. Description of the Drawings

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for description in the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 Schematic diagram of the three-dimensional decomposition structure of the drone and the locking frame in Embodiment 1 of the present invention;

[0029] Figure 2 Schematic diagram of the three-dimensional structure of the locking frame in the original state in Embodiment 1 of the present invention;

[0030] Figure 3 Schematic diagram of the three-dimensional structure of the locking frame in the locked state in Embodiment 1 of the present invention;

[0031] Figure 4 Schematic diagram of the three-dimensional structure of the drone hanging the locking frame on the crossbar in Embodiment 1 of the present invention;

[0032] Figure 5 Flowchart of the first capacitor component detection of the locking frame in Embodiment 1 of the present invention;

[0033] Figure 6 Schematic diagram of the capacitance value change state diagram and the judgment of the stable state in Embodiment 1 of the present invention;

[0034] Figure 7 Schematic diagram of the three-dimensional structure of the locking frame in the locked state in Embodiment 2 of the present invention. Detailed Embodiments

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the preferred embodiments of the present invention and should not be regarded as excluding other embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] In the claims, the specification and the above-mentioned accompanying drawings of the present invention, unless otherwise clearly defined, when using terms such as "first", "second" or "third", etc., are for distinguishing different objects and not for describing a specific order.

[0037] In the claims, the specification and the above-mentioned accompanying drawings of the present invention, unless otherwise clearly defined, for orientation terms, when using terms such as "center", "horizontal", "vertical", "level", "vertical", "top", "bottom", "inner", "outer", "upper", "lower", "front", "rear", "left", "right", "clockwise", "counterclockwise", etc. to indicate the orientation or position relationship, it is based on the orientation and position relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as limiting the specific protection scope of the present invention.

[0038] In the claims, the specification and the above-mentioned accompanying drawings of the present invention, unless otherwise clearly defined, when using terms such as "fixed connection" or "fixedly connected", should be understood in a broad sense, that is, any connection method without displacement relationship and relative rotation relationship between the two, that is, including non-detachable fixed connection, detachable fixed connection, being integrally connected, and being fixedly connected through other devices or elements.

[0039] In the claims, the specification and the above-mentioned accompanying drawings of the present invention, when using terms such as "comprising", "having" and their variants, are intended to mean "including but not limited to".

[0040] See Figure 1-4 , in the self-inspecting hanging rod locking method for an electric tower described in this embodiment, when personnel perform operations such as maintaining the electric tower and installing monitoring equipment, the locking frame 2 with a safety rope 3 can be first hung on the crossbar A of the electric tower, and there can be a safety protection measure when personnel climb up and down the tower and perform high-altitude operations; the method of this embodiment is used to achieve fast, efficient and accurate hanging connection;

[0041] Embodiment 1: Taking a self-locking anti-falling device with a self-inspecting hanging rod locking method as an example for illustration;

[0042] The self-locking anti-falling device includes a drone 1, a locking frame 2, a safety rope 3, a control component 4, and a brake (not shown in the figure).

[0043] The drone 1 is equipped with a binocular visible light camera with a pixel count of over 2 million and a frame rate greater than 30fps, as well as a wavelength infrared thermal imager with a resolution of 384*288, which can be used for night-time environmental perception. It can be controlled by a remote control stick and can fly and operate autonomously after setting a program through the control component 4.

[0044] The safety rope 3 is made of high-strength wire rope or steel cable, etc., and has passed static load and dynamic load tests to ensure quality and reliability.

[0045] The brake (not shown in the figure) includes a base shell, a spring, a brake wheel, and a connection structure. The base shell is connected to the staff through the connection structure and is provided for installing the spring and the brake wheel. The safety rope 3 passes through the base shell and abuts against the brake wheel. When an accidental fall occurs, the brake wheel is pushed into the safety rope 3 by the elastic force of the spring and instantly clamps and locks with the safety rope 3. The brake in this embodiment adopts existing technology and will not be elaborated in detail.

[0046] The control component 4 is signal-connected to the drone 1, an image acquisition unit 41, a first capacitor component 42, and a second capacitor component 43, and is used for storing and comparing the collected data, comparing it with a manually set value, and sending commands to the drone 1 for execution.

[0047] The locking frame 2 is made of stainless steel or alloy stainless steel to ensure sufficient hardness and rigidity so that it can be stably hung on the crossbar without easy detachment.

[0048] The locking frame 2 in the first embodiment includes a frame body 21, a connecting hook 22, a pulley group 23, a right-angle swing arm 24, and the first capacitor component 42.

[0049] The frame body 21 is made of stainless steel in an n or m shape, that is, it has an opening 211 at the bottom, and the pulley group 23 is installed on one side of the n-shaped frame body 21 or on both sides of the m-shaped frame body 21. It should be noted that the pulley group 23 is used for installing the safety rope 3. If the distance between two crossbars A is small, the m-shaped frame body can be used to straddle the two crossbars A for hanging.

[0050] In this embodiment, the n-shaped shape is used as an example. The right-angle swing arm 24 is also made of stainless steel and is hinged at the opening 211 of the frame body 21 at the right-angle end and can rotate inward into the opening 211 under the action of an external force. It should be noted that the right-angle swing arm 24 includes a first arm 241 and a second arm 242 that are perpendicular to each other, and a shaft hole is provided at the connection position of the first arm 241 and the second arm 242, and it is hinged to the frame body 21 through a hinge shaft.

[0051] The two first capacitors 42A of the first capacitor assembly 42 are respectively mounted on the inner side surfaces of the first arm 241 and the second arm 242 of the right-angle swing arm 24 which are perpendicular to each other. It should be noted that the power consumption of the first capacitor assembly 42 and the second capacitor assembly 43 is low, and a battery box 6 with dry batteries built in the right-angle swing arm is sufficient, and the operating voltage range is 1.8V-5.0V.

[0052] The connecting hook 22 is fixed to a side of the frame 21 away from the right-angle swing arm 24 by welding, and forms a hooking portion 220 connected to the drone 1 through a rigid body or a flexible body.

[0053] Moreover, in order to lock the right-angle swing arm 24 after hanging, so that it is not easy to be unhooked, a counterweight 25 is extended outward at the outer corner of the right-angle swing arm 24, which is used for the second arm 242 to block the opening 211 after the first arm 241 of the right-angle swing arm 24 swings inwardly of the opening 211, that is, the second arm 242 keeps blocking the opening 211 by using the lever principle. Moreover, a magnetic attraction part 26 is also provided on the side of the counterweight part 25 opposite to the outer wall of the frame, which is used to absorb the outer wall of the frame 21 when the second arm 242 of the right-angle swing arm 24 is in a vertical state, so as to ensure that in the original state, the right-angle swing arm 24 is not affected by the counterweight part 25 and flips inward;

[0054] Of course, in this embodiment, the counterweight part 25 and the magnetic attraction part 26 are used as examples, and the right-angle swing arm 24 can also maintain a drooping state by its own weight.

[0055] The locking frame 2 is driven by the drone 1 to fly to the crossbar A on the power tower and is hung thereon; the brake is used for the construction personnel to connect with the safety rope 3 and hold the safety rope 3 tightly in the case of accelerated falling.

[0056] Actual assembly and hanging: Figures 1 to 4 As shown,

[0057] (1) After the frame body 21 of the locking frame 2 is formed, the first arm 241 of the right-angle swing arm 24 is in a horizontal state and can be turned inwardly toward the opening 211, that is, it can be turned inwardly when the cross bar A is carried downwardly; under the deadweight state or under the action of the magnetic attraction member 26, the first arm 241 is in a horizontal state and the second arm 242 is in a vertical state;

[0058] (2) Wrap the safety rope 3 around the pulley block 23 so that the two free ends face downward and are connected to the brake;

[0059] (3) Connect the connecting hook 22 to the drone 1 through a rigid or flexible body sleeve. Then, operate the drone 1 to fly upward to the highest point of the electric tower. During the upward flight, first directly locate the crossbar A at the shock absorber through the image acquisition unit 41. It should be noted here that the shock absorber (not shown in the figure) is generally installed at the end of the wire. Therefore, various interference items (i.e., other crossbars) can be quickly excluded. Moreover, the crossbar A on the front and rear sides of the shock absorber has better rigidity and strength than other crossbars A, which further improves the efficiency of the locating operation by clarifying the target. The locating in this embodiment can be understood as the meaning of finding the target position or destination.

[0060] Of course, for some electric towers without shock absorbers, the drone and the locking frame of this embodiment can also be hung. It is preferably on the front or rear side of the shock absorber (most electric tower wires are equipped with shock absorbers).

[0061] (4) As Figures 5 to 6 shown, after the image acquisition unit 41 collects the shock absorber, it hovers and performs image acquisition on the nearby (front and rear) crossbars A, and sends them to the cloud (cloud server). The control component 4 analyzes the characteristics of the images of multiple crossbars A, extracts the characteristics of the crossbar A and the hanging points, such as shape, texture, etc., and then matches them with the predefined characteristics to calibrate the matched crossbar as the target crossbar A. For example, when actually selecting, it is preferably the crossbar A with a square shape, and the second choice is the crossbar A with a "ㄇ" shape.

[0062] (5) Drive the locking frame 2 above the target crossbar A through the drone 1. At this time, due to environmental factors (such as wind blowing, sundries on the surface of the crossbar, etc.), image acquisition information deviation or positioning deviation, etc., the locking frame 2 will deflect. During the descent of the drone 1, the capacitance value of the first capacitance component 42A on the first arm 241 and the first capacitance component 42 on the second arm 242 will sense the crossbar A. After sensing, a capacitance value fluctuation will occur, that is, a situation of capacitance value mutation will occur. Of course, with the influence of factors such as wind blowing, the capacitance value may rise and then fall. Of course, the closer the first capacitance component 42A is to the crossbar A, the stronger the capacitance value fluctuation.

[0063] In this embodiment, it is necessary to ensure that the capacitance values generated by the first capacitance components 42 on the first arm 241 and the second arm 242 both undergo an upward mutation, and the capacitance value R is in an upward trend within the artificially set first time period T1. Then, set the position of this upward mutation as the starting point H1, store and set the starting point H1 of the upward mutation as the original position W where the target crossbar A can be hung. According to the original position W, the drone 1 can determine that the crossbar A is within the hanging range of the right-angle swing arm 24 according to the artificially set parameter compensation.

[0064] And the two first capacitors 42A continuously sense (i.e., the capacitance value changes every artificially set first period K. In this embodiment, the range of the artificially set first period K is 0.5-2 seconds, for example), and the capacitance value R also rises and exceeds the artificially set first capacitance value R0, then it is determined that the target crossbar A is hung in the locking frame 2, which means that the first arm 241 of the right-angle swing arm 24 contacts the crossbar A, and with the gravity of the frame 21, the first arm 241 of the right-angle swing arm 24 is pushed by the crossbar A to flip inward, and the second arm 242 is also flipped from vertical to horizontal, that is, the crossbar A is locked; after locking, the anti-slip effect is improved by the counterweight part 25;

[0065] (6) After the hanging is completed, the time point S when the first capacitance value R0 exceeds the artificial setting is used as the timing point and stored, which indicates that it has been in the hanging state; when the capacitance values ​​R1, R2, R3, R4, R5...RN continuously collected by the two first capacitance elements 42A at right angles tend to a stable change state, it is determined that the hanging is completed and the locking state is maintained, that is, the first capacitance element 42A not only plays the role of accurate and fast hanging, but also plays the role of monitoring whether the hanging rack is continuously and stably hung; after the right-angle swing arm 24 is flipped, the two first capacitance elements 42A also face the cross bar A, so that real-time monitoring can be carried out, and the change of capacitance value can be used to determine whether towing occurs; it should be noted here that the stable change state is configured as: collecting a number of capacitance values ​​R1-R5 in sequence, and the absolute value Rh of the difference between the capacitance value R5 collected this time and the capacitance value R4 collected previously is less than or equal to 0. =Equal to the artificially set mean range; for example, the capacitance values ​​R1-R5 are collected 5 times every 2.5 seconds. For example, the absolute value Rh of the difference between the capacitance value R5 collected this time and the capacitance value R4 collected last time is 3.6, and the artificially set mean range is 3.5-5.5. The absolute value 3.6 falls within the artificially set mean range of 3.5-5.5, and it is determined that the capacitance value R5 collected this time does not fluctuate much; by analogy, the capacitance value change is continuously monitored to see if it tends to be stable, indicating that the locking frame 2 is stably hung; of course, when the staff is climbing or falling, the shaking of the human body will cause the locking frame 2 to shake greatly, or the ground will vibrate, or there will be sudden strong winds, etc., and the capacitance value R will change dramatically. The control component 4 will send a signal in time to inform the operating personnel to take emergency precautions, hold the tower support tightly, wait for stability before working, or wait for rescue personnel to rescue;

[0066] After the staff have completed their work, the drone 1 ascends again. By means of the image acquisition unit 41 and the coordinates recorded at the original point W formed by the first capacitance value, it can quickly connect to the frame body 21 of the locking frame 2. Subsequently, it flies upward. At this time, the drone 1 lifts the frame body 21 and ascends away from the crossbar A, and the right-angle swing arm 24 also reversely flips to the vertical state. Finally, it is hoisted back to the ground. The total time for hanging and retrieving in the whole process is 1 / 6 of that of the existing drone 1 for hanging, and the total time can be shortened to 3 - 6 minutes, greatly improving the efficiency of accurate hanging. More importantly, it can be mechanically self-locked after hanging, and real-time monitoring can be carried out after self-locking. The drone 1 can be detached from tracking the staff, ensuring the safety of the staff.

[0067] Embodiment 2: As Figure 7 shown,

[0068] The parts of this Embodiment 2 that are the same as those of Embodiment 1 will not be repeated. The difference lies in that a first capacitance assembly 42 and a second capacitance assembly 43 are arranged inside the right-angle swing arm 24 of the locking frame 2, and the data collected by the second capacitance assembly 43;

[0069] Similarly, the second capacitance assembly 43 includes two second capacitance elements 43A arranged perpendicular to each other and arranged along the length direction of the right-angle swing arm 24; such that a first capacitance element 42A and a second capacitance element 43A are respectively arranged on the first arm 241 and the second arm 242;

[0070] When there is a situation where the width of the crossbar A is smaller than that of the locking frame 2, resulting in a deviation in the capacitance value sensed by the first capacitance element 42A and causing misjudgment, this problem is solved by the combined sensing of the first capacitance element 42A and the second capacitance element 43A. During hanging, when the capacitance values of any two mutually perpendicular capacitance elements on the right-angle swing arm 24 show an upward mutation and continue to rise, then the position of this upward mutation is set as the starting point H1, and the starting point H1 of the upward mutation is stored and set as the original point W where the target crossbar A can be hung.

[0071] The above description of the specification and embodiments is used to explain the protection scope of the present invention, but does not constitute a limitation on the protection scope of the present invention.

Claims

1. A self-inspecting hanging rod locking method for an electric tower, characterized in that: This method analyzes and judges the data collected by the image acquisition unit set on the UAV and the first capacitance component set on the inner side of the right-angle swing arm of the locking frame; the image acquisition unit is used to collect images of the crossbars on the electric tower and search downward from the highest point of the electric tower; among them, search for the crossbar close to the front or rear side of the shock absorber on the electric tower and mark it as the target crossbar. The first capacitance component includes two first capacitance elements with perpendicular induction directions, and each first capacitance element is used to sense the position between the locking frame and the target crossbar and generate capacitance value fluctuations according to the change in the distance from the crossbar. The right-angle swing arm of the locking frame changes the capacitance value as it moves relative to the target crossbar driven by the UAV. When the induced capacitance values of the two first capacitance elements in a perpendicular state both have an upward mutation and the capacitance values are in an upward trend within the artificially set first time period, then set the position of this upward mutation as the starting point, store it and set the starting point of the upward mutation as the original position where the target crossbar can be hung. Judge the change of the capacitance value every artificially set first period. If the capacitance value continues to rise and exceeds the artificially set first capacitance value, it is determined that the target crossbar is hung into the locking frame.

2. The self-inspecting hanging rod locking method for an electric tower according to claim 1, characterized in that: Take the time point when the first capacitance value is exceeded as the timing point and store it. And when the capacitance values continuously collected by the two first capacitance elements in a perpendicular state tend to be in a stable change state, it is determined that the hanging connection is completed and the locking state continues.

3. The self-inspecting hanging rod locking method for an electric tower according to claim 2, characterized in that: The stable change state is configured as: continuously collect the capacitance value several times, and the absolute value of the difference between the capacitance value collected this time and the capacitance value collected last time is less than or equal to the artificially set average range.

4. A self-inspecting hanging rod locking method for an electric tower according to claim 2 or 3, characterized in that: It also includes the data collected by the second capacitance component set on the inner side of the right-angle swing arm of the locking frame; the second capacitance component includes two second capacitance elements arranged perpendicular to each other and arranged along the length direction of the right-angle swing arm; when the capacitance values of any two mutually perpendicular capacitance elements on the right-angle swing arm have an upward mutation and continue to rise, then set the position of this upward mutation as the starting point, store it and set the starting point of the upward mutation as the original position where the target crossbar can be hung.

5. A self-inspecting hanging rod locking method for an electric tower according to claim 2 or 3, characterized in that: The range value of the artificially set first period is 0.5 - 1.5 seconds.

6. A locking bracket, characterized in that: This locking frame includes a frame body, a connecting hook, a pulley block, a right-angle swing arm and the first capacitance component according to any one of claims 1 to 5. The two first capacitance elements of the first capacitance component are respectively installed on the inner side of the right-angle swing arm, and the two first capacitance elements are arranged perpendicular to each other; the right-angle end of the right-angle swing arm is hinged to the opening of the frame body and rotates inward to the opening under the action of an external force; the pulley block is used to install a safety rope; the connecting hook is used to connect with the UAV through a rigid body or a flexible body.

7. The locking bracket according to claim 6, characterized in that: A counterweight part also extends outward at the outer corner of the right-angle swing arm, which is used to swing the first arm of the right-angle swing arm inward to the opening so that the second arm of the right-angle swing arm blocks the opening.

8. A locking bracket as claimed in claim 7, wherein: A magnetic attraction part is also arranged on one side of the counterweight part relative to the outer wall of the frame body, which is used to adsorb the outer wall of the frame body when the second arm of the right-angle swing arm is in a vertical state.

9. A locking bracket as claimed in claim 6, characterized in that: The frame and the right-angle swing arm are made of stainless steel.

10. A self-locking anti-falling device, which comprises an unmanned aerial vehicle group, a locking frame, a safety rope, a control component and a brake; characterized in that: The locking frame is configured as the locking frame according to any one of claims 6-9, and is driven by a drone of the drone group to fly to the crossbar on the electric tower for hanging; the control assembly is respectively connected to the drone group and the first capacitor assembly; the brake is used for connecting the construction personnel with the safety rope and tightly hugs the safety rope in the case of accelerated falling.

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