A self-propelled hanging rod locking method, locking frame and self-locking anti-fall device for electric tower

Abstract

The present invention discloses a self-patrol hanging rod locking method for an electric tower, a locking frame and a self-locking anti-falling device. The method analyzes and judges data collected by an image acquisition unit provided on an unmanned aerial vehicle and a first capacitor component provided on the inner side of a right-angle swing arm of the locking frame; the image acquisition unit is used to collect images of a cross bar on the electric tower; the first capacitor component includes two first capacitor elements with sensing directions vertically arranged, each of the first capacitor elements is used to sense the position between the locking frame and the target cross bar; when the sensing capacitance values ​​of the two first capacitor elements in a mutually perpendicular state both undergo a sudden increase, and the capacitance values ​​within a first artificially set time period are all on an upward trend, the position of the sudden increase is set as the starting point; the locking method, locking frame and self-locking anti-falling device provided by the present invention solve the problems of difficulty in finding the hanging rod due to visual difference, time-consuming alignment and low efficiency during high-altitude operation of existing hanging frames.

Description

Technical Field

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

[0002] The rapid development of power grids has placed higher demands on overhead line operations. Maintenance items are becoming more detailed and the workload is increasing. Existing fall arresters must be optimized and upgraded with features like intelligent and convenient operation, safe and reliable protection, etc. to provide comprehensive protection for maintenance operations. This is especially true with regard to the risk of falling from heights during operations. The climbing operation mode, which relies solely on switching between two safety hooks, can no longer be used. To address this, the following model improvements have been made.

[0003] The principle of the guide rail type is that a vertical guide rail is fixed on the elevated structure of the power tower. When the workers climb up to perform high-altitude work, the fall arrester (brake) connected to the full-body safety belt is installed on the guide rail. Before the fall action is triggered, the fall arrester can move up and down along the guide rail without obstacle as the worker's body moves; once the fall action is triggered, the fall arrester forces the cam to be squeezed toward the guide rail under the action of the downward gravity of the human body, and the friction between the cam and the guide rail achieves a braking effect, preventing the worker from continuing to fall, thereby playing a role in preventing the worker from falling. However, this method is generally only limited to newly built power towers, and the original power towers do not have this design. In addition, the friction between the fall arrester and the guide rail causes braking, and long-term repeated use will cause certain wear and tear on the guide rail and the self-locking device, affecting the service life of the fall arrester. In addition, there is a certain hysteresis in the friction braking, which prolongs the falling distance when a fall occurs, causing greater impact on the workers' bodies. Not only that, the guide rail type is easily affected by the external environment. It is easily corroded and rusted when exposed to the outside for a long time all year round. In addition, once encountering extremely bad weather such as rain and snow, the guide rail is likely to freeze. When in use, the guide rail is prone to jamming, affecting normal use. There is also the risk of others climbing up by mistake.

[0004] The speed difference type, which includes a combination of a safety rope and a fall arrester, is generally used on low-rise power towers and requires workers to climb and hang the rope using double hooks, support poles, or by throwing it. Moreover, the internal structure of this type of product is complex, and its cavity needs to have enough space for the retracted and released safety rope, resulting in an overall large size and heavy weight, which makes it very inconvenient to carry. After use, although the safety rope will automatically retract into the fall arrester under the action of the elastic sheet, the retraction speed of the safety rope during automatic retraction is uncontrollable, which may cause a large impact on the internal parts of the fall arrester, causing damage to the internal parts and shortening its service life.

[0005] Drone type: R&D personnel designed a method to use drones as a carrier to transport the hanger with a safety rope to a high horizontal bar for hanging. The staff can achieve the effect of safe climbing by using the already hung safety rope and the anti-fall device, that is, using drones to solve the problem that it is difficult to hang the safety rope hanger at high altitudes. However, although this method can complete the hanging work, it still has many shortcomings: (1) When the ground personnel control the drone to find the horizontal bar (i.e. hanging bar), due to the spatial dislocation and a certain distance difference between the drone and the hanger, the visual deviation caused by the difference makes it difficult to control the hanging, so a lot of time is spent on hanging the hanger; (2) After hanging, the drone is separated from the hanger, and the status of the hanger and the horizontal bar is not sensed or monitored, and the hanger is not easy to control during high-altitude operations. , due to wind resistance, misoperation, and large body movements during climbing, the risk of detachment may occur; (3) The width of the existing pylon is generally wider than the crossbar, so that it is easy to hang it in during installation; in addition, the ground operators who operate the drone also randomly select the crossbar, so it is impossible to accurately adapt the width of the pylon and the crossbar. Therefore, the attachment part of the existing pylon needs to be larger than the width of the crossbar, which makes it easy to shake after installation, which makes it easier to unhook. For this reason, an anti-detachment structure needs to be designed; however, the existing anti-detachment structure is too complicated and affects the unlocking and detaching after the installation operation is completed, making it difficult to be compatible or realize the installation and unlocking at the same time. Therefore, the existing R&D personnel generally cancel the anti-detachment structure directly;

[0006] In summary, the structure and installation method of the existing tower hanging rods 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 to provide a self-patrol hanging rod locking method, locking frame and self-locking anti-fall device for electric towers, which have a simple structure, simple production, easy implementation and low cost, and solve the problem that the existing hanging rod is difficult to find due to visual differences during high-altitude operations, and the alignment is time-consuming and inefficient.

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

[0009] A self-propelled hanging rod locking method for an electric tower, wherein the method analyzes and determines data collected by an image acquisition unit provided on an unmanned aerial vehicle and a first capacitor component provided inside a right-angle swing arm of a locking frame; the image acquisition unit is used to capture images of a horizontal bar on the electric tower and search downward from the highest point of the tower; the horizontal bar located near the front or rear side of the shock-absorbing hammer on the electric tower is identified as the target horizontal bar;

[0010] The first capacitor assembly includes two first capacitors arranged with sensing directions perpendicular to each other, each first capacitor being used to sense the position between the locking frame and the target crossbar and generate capacitance fluctuations according to the distance between the locking frame and the target crossbar;

[0011] The right-angle swing arm of the locking frame changes its position relative to the target crossbar as the drone drives it, thereby changing its capacitance value. When the induced capacitance values ​​of the two first capacitors in a mutually perpendicular state both experience a sudden increase, and the capacitance values ​​are both on an upward trend within a first manually set time period, the position of the sudden increase is set as the starting point, and the starting point of the sudden increase is stored and set as the origin position of the target crossbar where it can be hung.

[0012] The capacitance value change is determined every manually set first period. If the capacitance value continues to rise and exceeds the manually set first capacitance value, it is determined that the target crossbar is hung in the locking frame.

[0013] Furthermore, the time point when the first capacitance value is exceeded is used as the timing point and stored, and when the capacitance values ​​continuously collected by the two first capacitors in a mutually perpendicular state tend to change steadily, it is determined that the connection is completed and the locking state is maintained.

[0014] Furthermore, the stable change state is configured as: continuously collecting capacitance values ​​for several times, and the absolute value of the difference between the capacitance value collected this time and the capacitance value collected previously falls within a manually set average range.

[0015] Furthermore, it also includes data collected by a second capacitor component arranged on the inner side of the right-angle swing arm of the locking frame; the second capacitor component includes two second capacitor components arranged perpendicular to each other and arranged along the length direction of the right-angle swing arm; if the capacitance values ​​of any two capacitor components arranged perpendicular to each other on the right-angle swing arm produce an upward mutation and continue to rise, the upward mutation position is set as the starting point, and the starting point of the upward mutation is stored and set as the origin position where the target cross bar can be hung.

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

[0017] A locking frame includes a frame body, a connecting hook, a pulley block, a right-angle swing arm, and the first capacitor assembly, wherein the two first capacitor components of the first capacitor assembly are respectively mounted on the inner side of the right-angle swing arm, and the two first capacitor components 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 toward the inside of the opening under the action of an external force; the pulley block is used to install a safety rope; and the connecting hook is used to connect to the drone through a rigid body or a flexible body.

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

[0019] Furthermore, a magnetic component is provided on one side of the counterweight portion opposite to the outer wall of the frame, which is used to absorb the outer wall of the frame when the second arm of the right-angle swing arm is in a vertical state.

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

[0021] A self-locking anti-fall device comprises an unmanned aerial vehicle group, a locking frame, a safety rope, a control component and a brake; the locking frame is configured as the locking frame, which is driven by the unmanned aerial vehicles of the unmanned aerial vehicle group to fly to the crossbar on the power tower for hanging; the control component is respectively connected to the unmanned aerial vehicle group and the first capacitor component; the brake is used for connecting construction personnel to the safety rope and holding the safety rope tightly in the event of an accelerated fall.

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

[0023] (1) The present invention provides a self-patrol hanging rod locking method, a locking frame and a self-locking anti-falling device for an electric tower, which are simple in structure, easy to manufacture, easy to implement and low in cost. The image acquisition unit on the drone searches for a stable horizontal bar as the target horizontal bar, and after the search, two mutually perpendicular first capacitors are used to judge whether the horizontal bar is located in the hanging area. The capacitors sense the change in capacitance value to judge (i.e., the sudden increase and continuous increase of the capacitance value are used as the basis for judgment) whether the hanging bracket below the drone is aligned with the target horizontal bar, thereby realizing the self-searching target horizontal bar by the hanging bracket, which is not affected by wind and can 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 hanging. The hanging process is not affected by visual dislocation and wind resistance. It is fast and efficient to hang with high stability. More importantly, after hanging, it can also rely on the change of capacitance value to judge whether it is detached, and play a real-time monitoring role. Based on the simple structure and judgment method, the present invention greatly improves the safety and intelligence. After the drone hangs the locking frame, it flies near the operator to record and observe whether the operator encounters any dangerous situation when climbing. There is no need to monitor the locking status of the locking frame and the cross bar.

[0024] (2) The present invention also realizes that after the locking frame is hung on the cross bar, the bottom of the cross bar is closed, and whether the decoupling phenomenon occurs is judged according to the change of the capacitance value, so as to realize real-time monitoring of the locking frame end. When the capacitance value fluctuates too much, an early warning prompt is given to warn the climbing personnel, and the drone is controlled to confirm whether there is a risk of decoupling. This design is ingenious and can be used not only to determine the precise position of the cross bar, but also for monitoring after hanging, playing a dual role.

[0025] (3) The present invention also has a second capacitor component, which cooperates with the first capacitor component to achieve a triple effect. First, when the target crossbar is in a different shape, the first capacitor component cooperates with the second capacitor component to sense and act as a compensation mechanism so that even if the shape of the hanging crossbar deviates from the preset shape, the hanging can still be completed; secondly, after hanging, it is used as a calibration capacitor. When the locking frame shakes during climbing, it can be verified whether it is shaking or detachment, avoiding false alarms; finally, the accuracy and hanging efficiency are further improved. The capacitance values ​​of the two sets of capacitor components suddenly increase and continue to increase, indicating that the area has entered the hanging range, and the hanging can be carried out more quickly, thereby improving the hanging after self-searching.

[0026] (4) The locking frame structure described in the present invention is extremely simplified, the power consumption of the capacitor 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 problems of hanging locking and lifting and unhooking, without the need to adopt a complex structure to achieve the switching between locking and unlocking. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is a schematic diagram of the exploded structure of the drone and the locking frame in the first embodiment of the present invention;

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

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

[0031] Figure 4 This is a schematic diagram of the three-dimensional structure of the UAV in the first embodiment of the present invention, in which the locking frame is hung on the crossbar;

[0032] Figure 5 This is a flow chart of detecting the first capacitor of the locking frame in the first embodiment of the present invention;

[0033] Figure 6 A diagram showing a state of capacitance change and a schematic diagram showing a stable state in the first embodiment of the present invention;

[0034] Figure 7 It is a schematic diagram of the three-dimensional structure of the locking frame in the locked state in the second embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are 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 ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] In the claims, description and drawings of the present invention, unless otherwise clearly defined, the use of terms such as "first", "second" or "third" is for distinguishing different objects rather than for describing a specific order.

[0037] In the claims, specification and the above-mentioned drawings of the present invention, unless otherwise expressly defined, directional words, such as the terms "center", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise" and the like, indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are 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 direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the specific scope of protection of the present invention.

[0038] In the claims, specification and the above-mentioned drawings of the present invention, unless otherwise expressly defined, the terms "fixed connection" or "fixed connection" should be understood in a broad sense, that is, any connection method without any displacement relationship or relative rotation relationship between the two parties, that is, including non-detachable fixed connection, detachable fixed connection, integral connection and fixed connection through other devices or elements.

[0039] In the claims, description and drawings of the present invention, if the terms "include", "have" and their variations are used, they are intended to mean "including but not limited to".

[0040] See also Figure 1-4 The present embodiment describes a self-propelled hanging rod locking method for an electric tower. This method allows personnel to hang a locking frame 2 with a safety rope 3 on a horizontal bar A of the electric tower when performing maintenance or installing monitoring equipment on the tower. This provides a safety measure for personnel climbing up or down the tower or performing high-altitude operations. The method of this embodiment enables fast, efficient, and precise hanging.

[0041] This embodiment 1: a self-locking anti-falling device with a self-patrol hanging rod locking method is used as an example;

[0042] The self-locking anti-fall 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 resolution of more than 2 million pixels and a frame rate of more than 30 fps, and a wavelength infrared thermal imager with a resolution of 384*288, which can be used for nighttime environment perception; it can be controlled by a remote control stick and can be programmed to fly autonomously through the control unit 4;

[0044] Safety rope 3, made of high-strength wire rope or steel cable, has been subjected to static 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 connecting structure. The base shell is connected to the staff through the connecting structure, and the spring and the brake wheel are installed. The safety rope 3 is passed 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 locks with the safety rope 3. The brake of this embodiment adopts the existing technology and will not be described in detail.

[0046] The control component 4 is connected to the drone 1, the image acquisition unit 41, the first capacitor component 42, and the second capacitor component 43, and is used to store and compare the collected data, compare it with the manually set value, and send it to the drone 1 for execution;

[0047] The locking frame 2 is made of stainless steel or stainless steel alloy to ensure sufficient hardness and rigidity so that it can be stably mounted on the crossbar and not easily detached;

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

[0049] The frame 21 is made of stainless steel and is formed in an n- or m-shape, i.e., has an opening 211 at the bottom. Upper pulleys 23 are mounted on one side of the n-shaped frame 21 or on both sides of the m-shaped frame 21. It should be noted that the pulleys 23 are used to mount the safety rope 3. If the distance between the two crossbars A is small, an m-shaped frame can be used to hang the rope across the two crossbars A.

[0050] In this embodiment, the n-type is used as an example. The right-angle swing arm 24 is also made of stainless steel, and its right-angle end is hinged to the opening 211 of the frame 21. It can rotate toward the inside of 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 arranged perpendicular to each other, and an axis hole is provided at the junction of the first arm 241 and the second arm 242, and is hinged to the frame 21 via a hinge axis.

[0051] The two first capacitor elements 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 arranged perpendicular to each other. It should be noted that the first capacitor assembly 42 and the second capacitor assembly 43 have low power consumption and can be achieved by integrating a battery box 6 containing dry cells in the right-angle swing arm. The operating voltage range is 1.8V-5.0V.

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

[0053] Furthermore, in order to lock the right-angle swing arm 24 after it is hung and prevent it from becoming unhooked, a counterweight 25 extends outward from the outer corner of the right-angle swing arm 24. This counterweight 25 is used to allow 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. This means that the second arm 242 maintains its blockage of the opening 211 by utilizing the principle of leverage. Furthermore, a magnetic attraction 26 is provided on the side of the counterweight 25 facing the outer wall of the frame. This magnetic attraction 26 is used to attract the outer wall of the frame 21 when the second arm 242 of the right-angle swing arm 24 is in a vertical position. This ensures that in its original position, the right-angle swing arm 24 is not affected by the counterweight 25 and does not flip inward.

[0054] Of course, in this embodiment, the counterweight portion 25 and the magnetic member 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 workers 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 flipped toward the inside of the opening 211, that is, it can be flipped inward when the cross bar A is placed downward; under its own weight or under the action of the magnetic 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 connect to the brake;

[0059] (3) The connecting hook 22 is docked with the drone 1 through a rigid or flexible body hook, and then the drone 1 is controlled to fly upward to the highest point of the power tower. During the upward flight, the image acquisition unit 41 is used to directly find the crossbar A at the shock-absorbing hammer. It should be noted that the shock-absorbing hammer (not shown in the figure) is generally installed at the end of the wire, so various interference items (i.e., other crossbars) can be quickly eliminated, and the crossbars A on the front and rear sides of the shock-absorbing cone are more rigid and strong than other crossbars A. Clearly defining the target also further improves the efficiency of the finding operation. Finding in this embodiment can be understood as finding the target position or destination.

[0060] Of course, for some power towers without anti-vibration hammers, the drone and the locking frame of this embodiment can also be hung, preferably with an anti-vibration hammer on the front or back (most power towers are equipped with anti-vibration hammers);

[0061] (4) Figures 5 and 6 As shown, the image acquisition unit 41 captures the image of the shockproof hammer and hovers, and collects images of the nearby (front and rear) crossbars A, and sends them to the cloud (cloud server). The control component 4 analyzes the features of the images of multiple crossbars A, extracts the features of the crossbar A and the hanging point, such as shape, texture, etc., and then matches them with pre-defined features. The crossbar that is calibrated and matched is the target crossbar A. For example, when actually selecting, a square crossbar A is preferred, and a " " crossbar A is second. "-shaped crossbar A;

[0062] (5) The locking frame 2 is driven by the drone 1 to the top of the target crossbar A. At this time, the locking frame 2 may swing due to environmental factors (such as wind, debris on the crossbar surface, etc.), image acquisition information deviation or positioning deviation, etc. During the descent of the drone 1, the capacitance value of the first capacitor 42A on the first arm 241 and the first capacitor component 42 of the second arm 242 will sense the crossbar A. After the induction, the capacitance value will fluctuate, that is, the capacitance value will suddenly change. Of course, with the influence of wind, the capacitance value may rise and then fall. Of course, the closer the first capacitor 42A is to the crossbar A, the stronger the capacitance value fluctuation will be.

[0063] In this embodiment, it is necessary to ensure that the capacitance values ​​generated by the first capacitor components 42 on the first arm 241 and the second arm 242 both undergo a sudden increase, and that the capacitance value R is on an upward trend within the manually set first time period T1. The position of the sudden increase is set as the starting point H1, and the starting point H1 of the sudden increase is stored and set as the target crossbar A at the original position W for hanging. Based on the original position W, the drone 1 can then compensate according to the manually set parameters to determine that the crossbar A is within the hanging range of the right-angle swing arm 24.

[0064] The two first capacitors 42A continuously sense (i.e., the capacitance value changes every manually set first period K. In this embodiment, the range of the manually set first period K is 0.5-2 seconds, for example). The capacitance value R also rises and exceeds the manually set first capacitance value R0. Then, it is determined that the target crossbar A is hung on the locking frame 2. This means that the first arm 241 of the right-angle swing arm 24 contacts the crossbar A. As the gravity of the frame 21 acts, the first arm 241 of the right-angle swing arm 24 is pushed inward by the crossbar A, and the second arm 242 is also flipped from vertical to horizontal, thus locking the crossbar A. After locking, the counterweight portion 25 enhances the anti-slip effect.

[0065] (6) After the hanging is completed, the time point S when the first capacitance value R0 is exceeded is used as the timing point and stored, indicating that the hanging state has been reached. 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 crossbar A, so that real-time monitoring can be carried out, and the change in capacitance value can be used to determine whether towing occurs. It should be noted that the stable change state is configured as follows: a number of capacitance values ​​R1-R5 are collected 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 Falls within the manually 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 previously is 3.6, and the manually set mean range is 3.5-5.5. The absolute value 3.6 falls within the manually 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 promptly send a signal to inform the operating personnel to take emergency shelter, hold the tower support tightly, wait for it to stabilize before working again, or wait for rescue personnel to rescue;

[0066] (7) After the staff is finished, the drone 1 rises again, and the coordinates of the origin position W formed by the image acquisition unit 41 and the first capacitance value can be quickly connected with the frame 21 of the locking frame 2, and then fly upward. At this time, the drone 1 lifts the frame 21 and rises to separate from the crossbar A, and the right-angle swing arm 24 also flips back to a vertical state; finally, it is hoisted back to the ground. The total time for the entire process of hanging and retrieving is 1 / 6 of the existing drone 1 hanging, and the total time can be shortened to 3-6 minutes, which greatly improves the efficiency of accurate hanging. More importantly, it can be mechanically self-locked after hanging, and can also be monitored in real time after self-locking. The drone 1 can be separated from the tracking staff to ensure the safety of the staff.

[0067] Example 2: Figure 7 As shown,

[0068] The same parts of the second embodiment as those of the first embodiment are not repeated here, except that: a first capacitor component 42 and a second capacitor component 43 are provided inside the right-angle swing arm 24 of the locking frame 2, and data collected by the second capacitor component 43;

[0069] Similarly, the second capacitor assembly 43 includes two second capacitors 43A disposed perpendicularly to each other and arranged in the length direction of the right-angle swing arm 24; so that the first capacitor 42A and the second capacitor 43A are respectively disposed on the first arm 241 and the second arm 242;

[0070] When the width of the crossbar A is smaller than the locking frame 2, the capacitance value sensed by the first capacitor 42A deviates and causes misjudgment. To solve this problem, the first capacitor 42A and the second capacitor 43A are used for combined sensing. When hanging, the capacitance values ​​of any two capacitors perpendicular to each other on the right-angle swing arm 24 produce an upward mutation and continue to rise. The upward mutation position is set as the starting point H1, and the starting point H1 of the upward mutation is stored and set as the target crossbar A at the origin position W where it can be hung.

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

Claims

1. A self-propelled hanging rod locking method for an electric tower, characterized in that: The method analyzes and judges data collected by an image acquisition unit provided on a drone and a first capacitor component provided inside a right-angle swing arm of a locking frame. The image acquisition unit is used to acquire images of crossbars on a power tower and search downward from the highest point of the power tower. The crossbar located near the front or rear side of a shock-absorbing hammer on the power tower is identified as a target crossbar. The right-angle end of the right-angle swing arm is hinged to an opening of a frame body of the locking frame, and the right-angle swing arm is rotated inward of the opening under the action of an external force. The first capacitor assembly includes two first capacitors arranged with sensing directions perpendicular to each other, each first capacitor being used to sense the position between the locking frame and the target crossbar and generate capacitance fluctuations according to the distance between the locking frame and the target crossbar; The right-angle swing arm of the locking frame changes its position relative to the target crossbar as the drone drives it, thereby changing its capacitance value. When the induced capacitance values ​​of the two first capacitors in a mutually perpendicular state both experience a sudden increase, and the capacitance values ​​are both on an upward trend within a first manually set time period, the position of the sudden increase is set as the starting point, and the starting point of the sudden increase is stored and set as the origin position of the target crossbar where it can be hung. The capacitance value change is determined every manually set first period. If the capacitance value continues to rise and exceeds the manually set first capacitance value, it is determined that the target crossbar is hung in the locking frame.

2. A self-propelled hanging rod locking method for an electric tower according to claim 1, characterized in that: The time point when the first capacitance value is exceeded is used as the timing point and stored. When the capacitance values ​​continuously collected by the two first capacitance elements in a mutually perpendicular state tend to change steadily, it is determined that the connection is completed and the locking state is maintained.

3. The self-propelled hanging rod locking method for an electric tower according to claim 2, characterized in that: The stable change state is configured as follows: the capacitance values ​​are collected several times continuously, and the absolute value of the difference between the capacitance value collected this time and the capacitance value collected previously falls within a manually set average range.

4. A self-propelled hanging rod locking method for an electric tower according to claim 2 or 3, characterized in that: It also includes data collected by a second capacitor assembly arranged on the inner side of the right-angle swing arm of the locking frame; the second capacitor assembly includes two second capacitor elements arranged perpendicular to each other and arranged along the length direction of the right-angle swing arm; if the capacitance values ​​of any two capacitor elements arranged perpendicular to each other on the right-angle swing arm produce an upward mutation and continue to rise, the upward mutation position is set as the starting point, and the starting point of the upward mutation is stored and set as the origin position where the target cross bar is located where it can be hung.

5. A self-propelled 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 frame, characterized in that: The locking frame includes a frame body, a connecting hook, a pulley set, a right-angle swing arm and the first capacitor assembly according to any one of claims 1 to 5, wherein the two first capacitor components of the first capacitor assembly are respectively installed on the inner side of the right-angle swing arm, and the two first capacitor components are arranged perpendicular to each other; the right-angle end of the right-angle swing arm is hinged to the opening portion of the frame body, and rotates toward the inside of the opening portion under the action of external force; the pulley set is used to install a safety rope; the connecting hook is used to connect to the drone through a rigid body or a flexible body.

7. The locking frame according to claim 6, wherein: A counterweight portion is further extended outwardly from the outer corner of the right-angle swing arm, which is used to swing the first arm of the right-angle swing arm toward the inside of the opening portion so that the second arm of the right-angle swing arm blocks the opening portion.

8. The locking frame according to claim 7, wherein: The counterweight portion is further provided with a magnetic component on one side opposite to the outer wall of the frame, which is used to absorb the outer wall of the frame when the second arm of the right-angle swing arm is in a vertical state.

9. The locking frame according to claim 6, wherein: The frame and the right-angle swing arm are made of stainless steel.

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

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