Electricity testing and grounding wire assembling and disassembling device and method based on unmanned aerial vehicle platform

Abstract

The invention relates to the technical field of high-voltage line power-off maintenance, and discloses an electricity testing and ground wire assembling and disassembling device and method based on an unmanned aerial vehicle platform, the electricity testing and ground wire assembling and disassembling device can achieve electricity testing of a conductor and ground wire erecting work after electricity testing, the device is carried by an unmanned aerial vehicle, the flexibility is high, and the working efficiency is high. The ground wire clamp can replace manual phase-by-phase electricity testing and ground wire assembling (disassembling) during line power-off maintenance or construction operation, the ground wire clamp can be autonomously positioned and fixed on a pole tower cross arm angle iron (or a proper part) and a conductor, personnel do not need to climb to work in the whole process, the safety risk is effectively reduced, the operation efficiency is improved, and the ground wire clamp is suitable for the situation that wires are vertically arranged.

Description

Technical Field

[0001] This invention relates to the field of high-voltage line power outage maintenance technology, and in particular to a device and method for voltage detection and grounding wire installation and removal based on an unmanned aerial vehicle (UAV) platform. Background Technology

[0002] When power transmission and distribution lines are de-energized for maintenance or construction, workers must first use a voltage detector to verify that the line is indeed de-energized, and then install grounding wires at both ends of the work area before commencing work. Voltage detection and grounding effectively prevent accidental switching or sudden power restoration from causing injury. They also discharge induced charges generated by the proximity of live conductors to the ground, preventing electric shocks from power lines and protecting maintenance personnel. Voltage detection and grounding are essential safety measures and must be performed during every power outage maintenance and construction operation.

[0003] Existing technology discloses a power line voltage testing device mounted on a drone, including the drone body and a frame and voltage testing device mounted on the drone body. The voltage testing device mounted on the drone can be used to test the power line without the need for manual climbing. Utility model patent CN218180963U discloses a drone-based voltage testing and auxiliary grounding wire installation / removal device, mainly comprising a rotary-wing drone, a thrower, and voltage tester contacts. This device can not only replace manual voltage testing, but also allows maintenance personnel to operate the drone from the ground, attaching a Dyneema rope to throw the rope over the lightning protection line, simultaneously wrapping the lightning protection line and the phase conductor to be inspected, forming a lifting point. Using this lifting point, the operator on the ground lifts the working grounding wire from the ground to the conductor, clamps the grounding clamp on the conductor end, and inserts the grounding rod at the grounding end of the grounding wire into the ground, completing the grounding wire installation. However, this method is not suitable for vertically arranged conductors, easily causing phase-to-phase short circuits, and has poor versatility.

[0004] The invention patent with publication number CN116865136A discloses a voltage testing and grounding wire hanging mechanism and a high-voltage line maintenance toolbox, which mainly includes a box body, a telescopic component, a voltage testing component, and a wire hanging component. It is hoisted by a drone and placed on a tension insulator string or a suitable position, with the box door facing the cable. The voltage testing component and the wire hanging component are delivered to the cable through the telescopic component to test the cable for voltage and install the grounding wire. However, in this solution, the voltage testing component and the conductor end clamp can only extend and retract in one fixed direction, which has poor versatility and flexibility, and the possibility of practical application is low. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned problems and provide a device and method for voltage testing and grounding wire installation and removal based on a drone platform. The entire process does not require personnel to climb to heights, effectively reducing safety risks and improving work efficiency. It is suitable for situations where the conductors are arranged vertically.

[0006] The technical solution adopted by this invention to solve its technical problem is: A device for voltage detection and grounding wire installation / removal based on an unmanned aerial vehicle (UAV) platform includes: A conductor clamping mechanism includes an outer shell, a first lifting ring connected to the top of the outer shell, a voltage detection sensor on the outer shell, a first fixed clamp and a first movable clamp that slides inside the outer shell, and the first movable clamp can cooperate with the first fixed clamp to clamp the end of the grounding conductor by sliding. The tower clamping mechanism includes a fixed bracket, a second lifting ring connected to the top of the fixed bracket, a second fixed clamp and a second movable clamp sliding on the fixed bracket at the bottom of the fixed bracket, and the second movable clamp can cooperate with the second fixed clamp to clamp the tower end of the grounding wire by sliding. The first and second lifting rings are used to engage with the hooks on the drone boom. The vertical distance from the top of the first lifting ring to the first fixed clamp is greater than the vertical distance from the hook release point to the second fixed clamp.

[0007] The top of the outer casing is provided with an electromagnet and a corresponding latching groove, and the top of the fixed bracket is provided with a corresponding latching tongue on one side. The conductor clamping mechanism and the tower clamping mechanism are connected by an electromagnet; the top of the fixed bracket is also provided with an observation camera.

[0008] The outer casing has a tiger's mouth on one side near the top. Inside the outer casing near the tiger's mouth, there is a first fixing clamp and a positioning sensor to determine whether the wire or tension clamp has entered the first fixing clamp inside the tiger's mouth. A guide rod is also provided on the outer casing near the tiger's mouth. The guide rod is inclined outward to guide the wire or tension clamp into the tiger's mouth.

[0009] The first moving clamp is slidably disposed inside the outer shell and located below the first fixed clamp. A clamping telescopic rod is also provided at the bottom of the outer shell. The output end of the clamping telescopic rod is connected to the first moving clamp to drive the first moving clamp to move upward.

[0010] The outer casing is provided with a grounding wire release mechanism on the side near the tower clamping mechanism, and the top of the grounding wire release mechanism is lower than the bottom of the tower clamping mechanism. Both the outer casing and the fixed bracket are provided with mounting holes, and the two ends of the grounding wire pass through the mounting holes and are connected to the corresponding first fixed clamp and second fixed clamp.

[0011] The grounding wire release mechanism includes a fixed base connected to the outer shell, an electric push rod inside the fixed base, a first bracket hinged to the top of the electric push rod, the top of the first bracket hinged to the end of a second bracket, and the middle position of the second bracket rotatably connected to the top of the fixed base.

[0012] A laser sensor is provided on one side of the fixed bracket to detect whether the fixed bracket is close to the target position; The fixed bracket is equipped with a motor, which works with the second moving clamp through a lead screw transmission assembly to drive the second moving clamp to move closer to the second fixed clamp.

[0013] The top of the second fixed clamp is fixedly connected to the bottom of the fixed bracket, and the top of the second moving clamp cooperates with the lead screw transmission assembly to achieve sliding cooperation with the fixed bracket. The lower ends of the second moving clamp and the second fixed clamp form a flared opening.

[0014] The conductor clamping mechanism and the tower clamping mechanism are arranged side by side and cooperate with each other by an electromagnet. The size of the first lifting ring is larger than that of the second lifting ring.

[0015] A method for operating a voltage detection and grounding wire installation / removal device based on an unmanned aerial vehicle (UAV) platform, using the aforementioned device, includes the following steps: Using the hook on the drone boom in conjunction with the first and second lifting rings, the drone drives the conductor clamping mechanism and the tower clamping mechanism to the position of the overhead conductor. The voltage detection sensor first detects whether the conductor is energized. After confirming that it is not energized, the overhead conductor enters the conductor clamping mechanism. The first moving clamp approaches the first fixed clamp to clamp the overhead conductor, thus fixing the conductor end of the grounding wire. Then, the conductor clamping mechanism separates from the tower clamping mechanism, and the hook descends so that the hook release point is lower than the top of the first lifting ring. The grounding wire release mechanism on one side of the outer shell releases the wound grounding wire. The hook continues to drive the tower clamping mechanism to the corresponding position on the tower. The second moving clamp and the second fixed clamp clamp the tower angle iron, completing the fixing of the grounding wire at the tower end.

[0016] The beneficial effects of this invention are: 1. The voltage testing and grounding wire installation and removal device of the present invention can realize voltage testing of conductors and grounding wire installation after voltage testing. The device is equipped with a drone, which is highly flexible and can replace manual phase-by-phase voltage testing and installation (removal) of grounding wires during power outage maintenance or construction work. It enables the grounding wire clamp to be autonomously positioned and fixed on the pole crossarm angle iron (or suitable part) and conductor. The whole process does not require personnel to climb to heights, effectively reducing safety risks and improving work efficiency. It is suitable for situations where conductors are arranged vertically.

[0017] 2. In this invention, the vertical distance from the top of the first lifting ring to the first fixed clamp is greater than the vertical distance from the hook disengagement point to the second fixed clamp. After the conductor clamping mechanism is installed in place, the drone needs to drive the hook down, and it needs to ensure that the overhead conductor is lower than the screw drive assembly so that the first lifting ring can be disengaged smoothly. The hook will not fail to descend to the disengagement position of the first lifting ring due to interference between the pole clamping mechanism and the overhead conductor. This structure is easy to operate and allows the device to operate according to the normal working process without the conductor clamping mechanism failing to disengage smoothly.

[0018] 3. By setting up an observation camera, a positioning sensor, and a laser sensor, this invention can provide indications for fixing the conductor clamping mechanism and the tower clamping mechanism to a specified position. Attached Figure Description

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a schematic diagram of the overall structure of the voltage detection and grounding wire installation and removal device in an embodiment of the present invention; Figure 2 This is a side view of the voltage detection and grounding wire installation and removal device in an embodiment of the present invention; Figure 3 This is a schematic diagram of the conductor clamping mechanism in an embodiment of the present invention; Figure 4 This is a side view of the conductor clamping mechanism in an embodiment of the present invention; Figure 5 This is a schematic diagram of the tower clamping mechanism in an embodiment of the present invention; Figure 6 This is a side view of the tower clamping mechanism in an embodiment of the present invention; Figure 7 This is a schematic diagram of the working state of the voltage detection and grounding wire installation and removal device in an embodiment of the present invention; Figure 8 This is a front view of the working state of the voltage detection and grounding wire installation and removal device in an embodiment of the present invention; Figure 9 This is a schematic diagram of the working state of the voltage detection and grounding wire installation and removal device in an embodiment of the present invention; Figure 10 This is a schematic diagram of the tower arrangement in an embodiment of the present invention.

[0021] The diagram exaggerates the spacing or dimensions between parts to show their positions; the diagram is for illustrative purposes only.

[0022] Among them: 1. Conductor clamping mechanism, 3. Grounding wire release mechanism, 4. First lifting ring, 6. Observation camera, 11. Guide rod, 12. Positioning sensor, 13. First fixed clamp, 14. Clamping telescopic rod, 15. First moving clamp, 16. Voltage detector, 17. Electromagnet, 18. Clamping tongue groove, 19. Power switch, 110. Battery, 111. Charging port, 112. Control circuit, 113. Housing, 114. Slide groove; 31. Fixed base, 32. Electric push rod, 33. First 34. Second bracket; 2. Pole clamping mechanism; 21. Fixed bracket; 22. Motor; 23. Gearbox; 24. Laser sensor; 25. Screw transmission assembly; 26. Second moving clamp; 27. Second fixed clamp; 28. Clamping tongue; 29. ​​Battery; 210. Charging port; 211. Power switch; 212. Control circuit; 5. Second lifting ring; 7. UAV boom; 71. Hook; 8. Grounding wire; 9. Overhead conductor; 101. First mounting port; 201. Second mounting port. Detailed Implementation

[0023] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0024] refer to Figures 1-10 As shown, a voltage testing and grounding wire installation and removal device based on an unmanned aerial vehicle (UAV) platform includes a conductor clamping mechanism 1, a pole clamping mechanism 2, and a grounding wire release mechanism 3. The conductor clamping mechanism 1 is used to fix the conductor end of the grounding wire, the pole clamping mechanism 2 is used to fix the pole end of the grounding wire, and the grounding pole acts as a grounding copper rod. The grounding wire release mechanism 3 is used to release the wound grounding wire after the conductor clamping mechanism 1 clamps the conductor, so that the pole clamping mechanism 2 can move the released grounding wire to the pole position for fixing the pole end of the grounding wire.

[0025] The conductor clamping mechanism 1 includes an outer shell, a first hanging ring 4 connected to the top of the outer shell, a voltage detection sensor on the outer shell, a first fixed clamp and a first movable clamp that slides inside the outer shell, and the first movable clamp can cooperate with the first fixed clamp to clamp the end of the grounding conductor by sliding. The tower clamping mechanism 2 includes a fixed bracket, a second lifting ring 5 connected to the top of the fixed bracket, a second fixed clamp 27 and a second movable clamp 26 sliding on the fixed bracket at the bottom of the fixed bracket. The second movable clamp 26 can cooperate with the second fixed clamp 27 to clamp the tower end of the grounding wire by sliding. The first lifting ring 4 and the second lifting ring 5 are arranged in parallel, and the plane where the lifting rings are located is parallel to the plane where the conductor clamping mechanism 1 and the tower clamping mechanism 2 are located.

[0026] The conductor clamping mechanism 1 and the pole clamping mechanism 2 are arranged side by side and cooperate with each other through an electromagnet 17 and corresponding latching grooves 18 and latches 28. The top of the outer shell is provided with an electromagnet 17 and a corresponding latching groove 18, and the top side of the fixed bracket is provided with a corresponding latch 28. The conductor clamping mechanism and the pole clamping mechanism are connected by an electromagnet. The conductor clamping mechanism 1 and the pole clamping mechanism 2 are close to each other, and the latching groove 18 and the latch 28 are engaged. When the electromagnet 17 is energized, the latching groove 18 and the latch 28 are kept engaged. When it is necessary to separate the conductor clamping mechanism 1 and the pole clamping mechanism 2, the electromagnet 17 can be de-energized. This makes it convenient for the drone to be lifted as a whole without much force. If they are not connected, they will collide with each other during lifting and pull on the grounding wire.

[0027] like Figure 3 As shown, the outer shell 113 is hollow inside. A tiger's mouth is provided on one side of the outer shell 113 near the top. Inside the outer shell 113 near the tiger's mouth, there is a first fixing clamp 13 and a positioning sensor 12. The positioning sensor 12 is located near the first fixing clamp 13 and is used to determine whether the wire or tension clamp has entered the first fixing clamp inside the tiger's mouth, providing an indication function.

[0028] The bottom end of the first fixing clamp 13 extends to the tiger's mouth position for clamping the wire or tension clamp.

[0029] A guide rod 11 is also provided on the outer casing 113 near the tiger's mouth. The guide rod 11 is inclined outward to provide guidance for the wire or tension clamp to enter the tiger's mouth. Under the guidance of the guide rod 11, the outer casing 113 can be moved to the overhead wire 9 and make the tiger's mouth cooperate with the overhead wire 9.

[0030] like Figure 3 As shown, the first moving clamp 15 is slidably disposed inside the outer shell and located below the first fixed clamp. A clamping telescopic rod 14 is also provided at the bottom of the inner shell. The top output end of the clamping telescopic rod 14 is connected to the first moving clamp 15 to drive the first moving clamp 15 to move upward. A groove 114 is formed on the outer shell near the tiger's mouth for the first moving clamp 15 to pass through upward.

[0031] by Figure 3Taking the perspective as an example, the right side wall of the first moving clamp 15 and the inner side of the outer shell 113 are engaged by a slide rail. Specifically, the right side wall of the first moving clamp 15 can be provided with a groove, and the inner side of the outer shell 113 can be provided with a protrusion. The groove and the protrusion are used to achieve the sliding engagement between the two.

[0032] The clamping telescopic rod 14 can push the first moving clamp 15 upward. The top of the first moving clamp 15 is provided with a notch that cooperates with the wire. By pushing the first moving clamp 15 upward to the tiger's mouth, the first moving clamp 15 and the first fixed clamp 13 can clamp the wire (overhead wire) or tension clamp that has moved to the tiger's mouth.

[0033] like Figure 3 As shown, a voltage detection sensor 16 is located near the bottom of the outer casing 113. This non-contact voltage detection sensor automatically senses whether the conductor is energized when the UAV-carried device approaches it. It has upper and lower limits and distance requirements. The voltage detection signal can communicate with the ground remote control terminal, allowing ground personnel to read accurate voltage data. If the conductor is not energized, the next step of grounding wire installation can proceed.

[0034] It is understandable that, such as Figure 3 As shown, the housing 113 contains a control circuit 112, a battery 110, a charging port 111, and a power switch 19, which perform functions such as charging, power supply, and logic control, and are existing technologies. The first lifting ring 4 and the second lifting ring 5 are used to cooperate with the hook 71 on the drone boom 7.

[0035] like Figure 2 and Figure 4 As shown, the outer casing is provided with a grounding wire release mechanism on the side near the tower clamping mechanism, and the top of the grounding wire release mechanism is lower than the bottom of the tower clamping mechanism.

[0036] Specifically, the grounding wire release mechanism 3 includes a fixed base 31 connected to the outer shell. An electric push rod 32 is provided inside the fixed base 31. The top of the electric push rod 32 is hinged to a first bracket 33. The top of the first bracket 33 is hinged to the end of a second bracket 34. The middle position of the second bracket 34 is rotatably connected to the top position of the fixed base 31.

[0037] Both the first support 33 and the second support 34 are rod-shaped structures, such as Figure 4 In the state where the front end of the second bracket 34 is tilted upward, the grounding wire can be wound around the position between the second bracket 34 and the outer shell. When it is necessary to release the grounding wire 8, the remote control terminal controls the electric push rod 32, and the first bracket 33 pushes the end of the second bracket 34 upward, so that the front end of the second bracket 34 tilts downward, thereby releasing the grounding wire 8.

[0038] like Figure 7As shown, both the outer casing 113 and the fixing bracket 21 are provided with mounting ports, namely the first mounting port 101 on the outer casing 113 and the second mounting port 201 on the fixing bracket 21. The two ends of the grounding wire pass through the mounting ports and are connected to the corresponding first fixing clamp and second fixing clamp.

[0039] like Figure 5 and Figure 6 As shown, the fixed bracket 21 is a rectangular frame structure. A laser sensor 24 is provided on the outside of the fixed bracket 21 to detect whether the fixed bracket is close to the target position. After the laser sensor 24 detects that the mechanism is in place (confirmed to be close to the tower angle iron or other appropriate position), the control circuit automatically controls the motor to drive the lead screw transmission assembly to move, pushing the second moving clamp towards the second fixed clamp until the mechanism is securely clamped and fixed on the tower angle iron (or other appropriate position).

[0040] The fixed bracket 21 houses a motor 22, which, through a lead screw transmission assembly 25, engages with the second moving clamp 26 to move the second moving clamp 26 closer to the second fixed clamp 27. Specifically, the fixed bracket has a reduction gearbox 23 on its outer side, which engages with the motor 22. The output of the reduction gearbox 23 drives the lead screw transmission assembly 25 to move.

[0041] like Figure 6 As shown, the lead screw drive assembly 25 includes a lead screw, which is rotatably located at the bottom of the fixed bracket. The top of the second fixed clamp 27 is fixedly connected to the bottom of the fixed bracket 21. The top of the second moving clamp 26 is threadedly engaged with the lead screw drive assembly 25 to achieve sliding engagement with the fixed bracket. The lower ends of the second moving clamp 26 and the second fixed clamp 27 form a flared opening, which facilitates the pole clamping mechanism 2 to move to the designated position on the pole.

[0042] Understandably, the mounting bracket 21 is also equipped with a corresponding battery 29, charging port 210, power switch 211 and control circuit 212.

[0043] like Figure 1 As shown, an observation camera 6 is installed on one side of the top outer edge of the fixed bracket 21. This camera assists the operator in identifying and positioning the conductor side and tower end during the fixing process, clamping the conductor side first and then the tower angle iron, thus improving operational accuracy. The image from the observation camera 6 can be displayed via a remote control terminal. By mounting the observation camera 6 on the fixed bracket 21, it can provide image guidance during the operation of the conductor clamping mechanism and also provide image guidance for the operation of the tower clamping mechanism.

[0044] The main functions of the ground remote control terminal are to control the power supply of electromagnet 17, view the images of the observation camera in real time, verify the voltage information, and, in the event of automatic control failure, manually control the transmission components such as the motor, clamping telescopic rod, and electric push rod.

[0045] like Figure 8 As shown, the size of the first lifting ring 4 is larger than the size of the second lifting ring 5, and the vertical distance from the top of the first lifting ring 4 to the first fixed clamp 13 is greater than the vertical distance from the hook release point to the second fixed clamp 27.

[0046] Specifically, the vertical distance from the top of the first lifting ring 4 to the first fixed clamp is H1, the vertical distance from the disengagement point of the hook 71 to the position where the hook supports the lifting ring is H3, and the vertical distance from the position where the hook supports the lifting ring to the top of the second fixed clamp is H2. In this embodiment, H1 > H2 + H3. The purpose of this arrangement is to... Figure 8 In this state, after the conductor clamping mechanism is installed in place, the drone needs to drive the hook down, and it needs to ensure that the overhead conductor 9 is lower than the screw drive assembly so that the first lifting ring 4 can be unhooked smoothly. The hook will not be unable to descend to the position where the first lifting ring 4 is unhooked due to interference between the tower clamping mechanism and the overhead conductor 9.

[0047] like Figure 10 As shown, based on the "drone+" design concept, this device, in conjunction with drones, can replace manual labor for voltage testing and grounding wire installation on transmission towers (including tension towers and straight-line towers). For example, during power outages, if maintenance or construction work is being carried out on straight-line towers Z1 and Z2, this device can be used to test for voltage and install grounding wires on tension towers N1 and N2 at both ends of the work area. This prevents sudden power restoration within the work area and protects the safety of maintenance personnel. Therefore, during power outage maintenance, this device, in conjunction with drones, can be used to test for voltage and install grounding wires on towers at both ends of the maintenance area to ensure the safety of workers. Simultaneously, the "drone+" voltage testing and grounding wire installation / removal operations effectively reduce the risks associated with personnel working at heights.

[0048] The operational procedure for voltage testing and grounding wire installation is as follows: A drone carrying the device is used to test the voltage of the power outage line conductors; after verifying that there is no voltage on the overhead conductor line, the conductor end of the grounding wire is immediately installed, and the conductor end clamp of the grounding wire is tightened to the conductor or tension clamp; to prepare for the installation of the grounding wire at the tower end, the drone is carried and moved to the vicinity of the tower crossarm angle iron (or a suitable location). The device uses laser sensor 24 to determine whether the grounding end clamp of the grounding wire has reached the installation position. After it is in place, the grounding end clamp of the grounding wire is tightened to the crossarm angle iron (or a suitable location); the device completes the grounding wire installation operation, and the drone lands on the ground.

[0049] The procedure for removing the grounding wire using this device is as follows: For tension towers, the drone is first used to move the device to the vicinity of the conductor or tension clamp, and then removes the conductor end clamp of the grounding wire. Specifically, the hook 71 on the drone's boom engages with the first lifting ring 4, and then the telescopic rod is clamped to retract the first moving clamp 15, lifting the conductor clamping mechanism 1. The drone is then moved to the vicinity of the tower's crossarm angle iron (or a suitable location), where the hook engages with the second lifting ring 5, and the motor moves to separate the second moving clamp 26 from the second fixed clamp 27, removing the grounding end clamp of the grounding wire, thus completing the removal of the grounding wire 8, and then the device lands on the ground.

[0050] For straight-line towers, the drone first carries the device to the vicinity of the tower crossarm angle iron (or a suitable location) to remove the grounding end clamp of the grounding wire, preventing the drone's wings from being affected by the grounding wire during the removal process; then the drone moves to the vicinity of the conductor or tension clamp to remove the conductor end clamp of the grounding wire (conductor clamping mechanism 1), completing the grounding wire removal operation, and lands on the ground.

[0051] A method for operating a voltage detection and grounding wire installation / removal device based on an unmanned aerial vehicle (UAV) platform, using the aforementioned device, includes the following steps: Using the hook 71 on the drone boom 7 in conjunction with the first lifting ring 4 and the second lifting ring 5, the drone drives the conductor clamping mechanism 1 and the tower clamping mechanism 2 to the position of the overhead conductor 9. The voltage detection sensor 16 first detects whether the conductor is energized and transmits the voltage information on the line to the ground remote controller. After confirming that it is not energized, the drone is controlled to move so that the overhead conductor enters the conductor clamping mechanism 1. Based on the positioning sensor 12 for the overhead conductor and the image obtained by the observation camera 6, after determining that the overhead conductor 9 has entered the clamping mechanism, the clamping telescopic rod 14 is extended through the remote control terminal, and the first moving clamp 15 approaches the first fixed clamp 13 to clamp the overhead conductor, thereby fixing the grounding conductor end.

[0052] Then, the electromagnet is de-energized, separating the conductor clamping mechanism from the tower clamping mechanism. The hook descends, causing the hook release point to be lower than the top of the first lifting ring, thus detaching from the first lifting ring 4. Then, the grounding wire release mechanism on one side of the outer shell is activated, controlling the electric push rod to push upward, causing the second bracket 34 to tilt downward, thus lowering the wound grounding wire. The UAV continues to drive the tower clamping mechanism 2 to the corresponding position on the tower via the hook. When the clamping position is determined based on the positioning of the observation camera 6 and the laser sensor 24, the motor is activated to clamp the tower angle iron using the second moving clamp 26 and the second fixed clamp 27, thus fixing the grounding wire at the tower end.

[0053] The specific workflow of the above method can be summarized as follows: For tension towers, the process is as follows: ground preparation — voltage testing (conductor clamping mechanism) — fixing the conductor end of the grounding wire (conductor clamping mechanism) — fixing the tower end of the grounding wire (tower clamping mechanism) — installing the grounding wires of the remaining phases — maintenance work — removing the conductor clamping mechanism — removing the tower clamping mechanism — removing the grounding wires of the remaining phases.

[0054] For tension towers, the process is as follows: ground preparation—voltage testing (conductor clamping mechanism)—fixing the conductor end of the grounding wire (conductor clamping mechanism)—fixing the tower end of the grounding wire (tower clamping mechanism)—installing the grounding wires for the remaining phases—maintenance work—removing the tower clamping mechanism—removing the conductor clamping mechanism—removing the grounding wires for the remaining phases.

[0055] The use of machinery to replace manual labor significantly improves work efficiency. Manually climbing towers to perform voltage testing, installation, and removal of grounding wires (two groups, six wires) takes approximately 50 minutes if two groups (two high-altitude workers and four ground workers) work simultaneously. If only one group checks, installs, and removes grounding wires at both ends of the work area, it takes approximately 100 minutes, resulting in low efficiency and high physical exertion. Using the "drone + dedicated device" in this embodiment for voltage testing and grounding wire installation / removal, if both devices work simultaneously, the total time required is approximately 20 minutes (voltage testing + installation of the first phase grounding wire approximately 5 minutes, installation of the remaining two phase grounding wires approximately 6 minutes, and removal of the three phase grounding wires approximately 9 minutes). If only one device checks, installs, and removes grounding wires at both ends of the work area, it takes approximately 40 minutes. Compared to manual tower climbing, this device can save approximately 3 / 5 of the work time.

[0056] For example, a city conducted 73 power outage maintenance operations throughout the year. Using this device, each power outage maintenance operation could save approximately 30-60 minutes of time spent on voltage testing and grounding wire installation / removal, reducing the annual power outage maintenance time by approximately 30 * 73 = 2190 minutes to 60 * 73 = 4380 minutes. Based on a 220kV line, this device transmits approximately 300,000 kWh of electricity per hour. With an electricity price of approximately 0.54 yuan per kWh in Jinan, the city could reduce economic losses by approximately 30 * 0.54 * 36.5 = 5.913 million yuan to 30 * 0.54 * 73 = 11.826 million yuan.

[0057] In the description of the present invention, it should be noted that the terms "left", "right", "up", "down", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0058] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A device for voltage detection and grounding wire installation / removal based on an unmanned aerial vehicle (UAV) platform, characterized in that, include: A conductor clamping mechanism includes an outer shell, a first lifting ring connected to the top of the outer shell, a voltage detection sensor on the outer shell, a first fixed clamp and a first movable clamp that slides inside the outer shell, and the first movable clamp can cooperate with the first fixed clamp to clamp the end of the grounding conductor by sliding. The tower clamping mechanism includes a fixed bracket, a second lifting ring connected to the top of the fixed bracket, a second fixed clamp and a second movable clamp sliding on the fixed bracket at the bottom of the fixed bracket, and the second movable clamp can cooperate with the second fixed clamp to clamp the tower end of the grounding wire by sliding. The first and second lifting rings are used to engage with the hooks on the drone boom. The vertical distance from the top of the first lifting ring to the first fixed clamp is greater than the vertical distance from the hook release point to the second fixed clamp.

2. The voltage detection and grounding wire installation and removal device based on an unmanned aerial vehicle platform according to claim 1, characterized in that, The top of the outer casing is provided with an electromagnet and a corresponding latching groove, and the top of the fixed bracket is provided with a corresponding latching tongue on one side. The conductor clamping mechanism and the tower clamping mechanism are connected by an electromagnet; the top of the fixed bracket is also provided with an observation camera.

3. The voltage detection and grounding wire installation / removal device based on an unmanned aerial vehicle platform according to claim 1, characterized in that, The outer casing has a tiger's mouth on one side near the top. Inside the outer casing near the tiger's mouth, there is a first fixing clamp and a positioning sensor to determine whether the wire or tension clamp has entered the first fixing clamp inside the tiger's mouth. A guide rod is also provided on the outer casing near the tiger's mouth. The guide rod is inclined outward to guide the wire or tension clamp into the tiger's mouth.

4. The voltage detection and grounding wire installation and removal device based on an unmanned aerial vehicle platform according to claim 3, characterized in that, The first moving clamp is slidably disposed inside the outer shell and located below the first fixed clamp. A clamping telescopic rod is also provided at the bottom of the outer shell. The output end of the clamping telescopic rod is connected to the first moving clamp to drive the first moving clamp to move upward.

5. A voltage detection and grounding wire installation / removal device based on an unmanned aerial vehicle (UAV) platform according to claim 1 or 4, characterized in that, The outer casing is provided with a grounding wire release mechanism on the side near the tower clamping mechanism, and the top of the grounding wire release mechanism is lower than the bottom of the tower clamping mechanism. Both the outer casing and the fixed bracket are provided with mounting holes, and the two ends of the grounding wire pass through the mounting holes and are connected to the corresponding first fixed clamp and second fixed clamp.

6. The voltage detection and grounding wire installation / removal device based on an unmanned aerial vehicle platform according to claim 5, characterized in that, The grounding wire release mechanism includes a fixed base connected to the outer shell, an electric push rod inside the fixed base, a first bracket hinged to the top of the electric push rod, the top of the first bracket hinged to the end of a second bracket, and the middle position of the second bracket rotatably connected to the top of the fixed base.

7. The voltage detection and grounding wire installation and removal device based on an unmanned aerial vehicle platform according to claim 1, characterized in that, A laser sensor is provided on one side of the fixed bracket to detect whether the fixed bracket is close to the target position; The fixed bracket is equipped with a motor, which works with the second moving clamp through a lead screw transmission assembly to drive the second moving clamp to move closer to the second fixed clamp.

8. The voltage detection and grounding wire installation and removal device based on an unmanned aerial vehicle platform according to claim 7, characterized in that, The top of the second fixed clamp is fixedly connected to the bottom of the fixed bracket, and the top of the second moving clamp cooperates with the lead screw transmission assembly to achieve sliding cooperation with the fixed bracket. The lower ends of the second moving clamp and the second fixed clamp form a flared opening.

9. A voltage detection and grounding wire installation / removal device based on an unmanned aerial vehicle (UAV) platform according to claim 2, characterized in that, The conductor clamping mechanism and the tower clamping mechanism are arranged side by side and cooperate with each other by an electromagnet. The size of the first lifting ring is larger than that of the second lifting ring.

10. A working method for a voltage detection and grounding wire installation / removal device based on an unmanned aerial vehicle (UAV) platform, characterized in that, The voltage testing and grounding wire installation and removal device as described in any one of claims 1 to 9 includes the following steps: Using the hook on the drone boom in conjunction with the first and second lifting rings, the drone drives the conductor clamping mechanism and the tower clamping mechanism to the position of the overhead conductor. The voltage detection sensor first detects whether the conductor is energized. After confirming that it is not energized, the overhead conductor enters the conductor clamping mechanism. The first moving clamp approaches the first fixed clamp to clamp the overhead conductor, thus fixing the conductor end of the grounding wire. Then, the conductor clamping mechanism separates from the tower clamping mechanism, and the hook descends so that the hook release point is lower than the top of the first lifting ring. The grounding wire release mechanism on one side of the outer shell releases the wound grounding wire. The hook continues to drive the tower clamping mechanism to the corresponding position on the tower. The second moving clamp and the second fixed clamp clamp the tower angle iron, completing the fixing of the grounding wire at the tower end.

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