Lifting appliance and lifting system

Abstract

The invention discloses a lifting appliance and a lifting system in the technical field of material lifting. The lifting appliance comprises a machine-mounted end lifting appliance, a mounting end lifting appliance and a lifting belt, the machine-mounted end lifting appliance and the mounting end lifting appliance are provided with rod body parts which are arranged in parallel, and the two ends of the rod body part of the machine-mounted end lifting appliance and the two ends of the rod body part of the mounting end lifting appliance are correspondingly connected with two machine-mounted lifting ropes; lifting belts are symmetrically arranged at the two ends of the rod body part of the hanging end lifting appliance, and the two lifting belts form a containing space used for horizontally placing plate parts. Through the arrangement of the onboard end lifting appliance, the mounting end lifting appliance and the lifting belt, flat placement of the plate parts is achieved, rotation of the mounting end lifting appliance is avoided through the arrangement of the two onboard lifting ropes, the stability in the transportation process is improved, and the plate parts, especially the plate fragile parts such as photovoltaic panels are prevented from being damaged in the transportation process. And the whole structure is simple, the cost is low, and the advantages of transportation stability and low cost can be both considered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material hoisting, in particular to a lifting device and a hoisting system. BACKGROUND

[0002] In the field of new energy (such as photovoltaic power stations) and intelligent construction, large-scale plate materials such as photovoltaic panels are widely used. It is inevitable to transport the photovoltaic panels. In the early stage of technical development, the transportation mainly relies on manual or large machinery (such as tower cranes and forklifts). Manual transportation is low in efficiency, high in labor intensity, and has safety hazards. In particular, in high-altitude areas, ordinary people are difficult to transport, and donkeys and horses can transport, but their behavior is uncontrollable, and the plates are easy to be damaged during transportation. Large machinery is limited by site, poor flexibility, and difficult to operate in complex or narrow terrain, and is high in cost. With the development of unmanned aerial vehicles, their excellent mobility and vertical take-off and landing capability provide a new solution for air logistics.

[0003] At present, the use of unmanned aerial vehicles for hoisting plate components has become a hot research topic in the industry. The existing technical solutions mainly fall into the following categories: 1. Simple hanging device: the most common one is to hang a hook, a claw, a magnetic hanging disc or a flexible net under the unmanned aerial vehicle. This type of solution is simple in structure and low in cost, but has obvious shortcomings: ① poor stability: plate components are easy to swing or even rotate in the air, which seriously threatens the safety of unmanned aerial vehicles, and the precision of delivery is very low; among them, the stability of vertical hoisting of photovoltaic panels is the worst; ② low automation: manual mounting and unhooking are required, and the operator needs to follow the unmanned aerial vehicle, which cannot realize full-process automation, has limited efficiency improvement, and has high personnel safety risk; ③ no protection measures: for fragile materials such as photovoltaic panels, there is no effective buffer and special protection, which is easy to cause damage during hoisting. For example, Chinese patent CN118125289A discloses a photovoltaic panel unmanned aerial vehicle clamping lifting device, a hoisting device and a hoisting method. The clamping lifting device uses two clamping claws to hoist the photovoltaic panel. Although the structure is simple and the weight is light, the photovoltaic panel is vertically hoisted, the windward surface is large, and it is easy to rotate. The time to wait for the rotation to stop is very long, there is no buffer on the ground, and the photovoltaic panel is easy to be damaged. For example, Chinese patent CN120172245A discloses a photovoltaic panel transfer robot suitable for cooperation with an unmanned aerial vehicle for hoisting. The photovoltaic panel transfer robot is used to realize the direct transfer of the photovoltaic panel from the installation rack to the installation rack. However, the device is a single-rope vertical hoisting photovoltaic panel, the transfer robot is easy to rotate in the wind, and the transfer robot is heavy, which is not conducive to the endurance.

[0004] In the above-mentioned disclosed technical solutions, the lifting clamps involved solve some lifting problems, but the actual application effect is unstable, and they can only lift one photovoltaic panel at a time, and human intervention is required, which is dangerous for the personnel under the unmanned aerial vehicle, the operation efficiency is not high enough, and the photovoltaic panel is prone to rotate during transportation, causing instability in the lowering process during transportation.

[0005] 2. Full-automatic robotic grabbing system: This is a high-end solution, usually integrating visual sensors, multiple electric servo push rods or mechanical arms on the lifting tool to simulate human hands to achieve automatic grabbing and releasing. For example, Chinese patent CN117484536A discloses a telescopic fishing type mechanical hand for unmanned aerial vehicles. Although this type of solution has a high degree of automation, it has problems such as complex structure, high manufacturing cost, heavy weight, high energy consumption, etc. The precision sensors and actuators are easily affected by reliability in harsh outdoor conditions, and usually require the goods to have standardized grabbing points, with poor universality.

[0006] The closest prior art to the present invention is the semi-automatic lifting tool that has been applied to some unmanned aerial vehicle logistics companies. This type of lifting tool is usually designed as follows: Structure: It has a rigid lifting frame connected to the unmanned aerial vehicle through a universal joint or a buffer device to improve the swing problem. A clamping mechanism driven by an electric push rod powered by the unmanned aerial vehicle is installed on the lifting frame.

[0007] Work flow: The unmanned aerial vehicle lands above the goods, the pilot controls the electric push rod to extend through remote control instructions, so that the clamping arms are located on both sides of the goods, then controls the push rod to retract to clamp the goods. After arriving at the destination, the push rod is controlled to extend to release the goods.

[0008] Advantages: Compared with the simple lifting hook, it clamps more stably and avoids the danger of manual hooking.

[0009] Disadvantages: ① Grabbing reliability problem: The clamping force of the electric push rod is limited, and for large smooth-surfaced panels, there may be a risk of insufficient clamping force, especially under wind interference; ② Energy consumption and weight: To provide sufficient clamping force, a high-power push rod and a larger capacity battery are required, which increases the system weight, reduces the payload and endurance; ③ Control complexity: The grabbing and releasing process completely depends on the precise control of the pilot or complex automatic control algorithms, which requires high pilot skills or algorithms to fail in complex environments; ④ Cost: Its cost is lower than that of the full-automatic robotic system, but still much higher than that of the simple lifting hook.

[0010] In summary, there is an urgent need in the field for an unmanned aerial vehicle carrying lifting tool, lifting system and method that can ensure operation reliability and flight stability, achieve precise automatic release, and have a simple structure and a moderate cost. SUMMARY

[0011] In order to overcome the poor stability and high cost of the existing unmanned aerial vehicle in the transportation of plate components, the present application provides a lifting appliance and a lifting system.

[0012] The technical solution adopted by the present application to solve its technical problems is: The lifting appliance comprises an airborne end lifting appliance, a mounting end lifting appliance and a lifting belt, the airborne end lifting appliance and the mounting end lifting appliance have rod body parts arranged in parallel with each other, and two airborne lifting ropes are connected to the two ends of the rod body part of the airborne end lifting appliance and the two ends of the rod body part of the mounting end lifting appliance correspondingly; the two ends of the rod body part of the mounting end lifting appliance are symmetrically provided with lifting belts, and the two lifting belts form a containing space for laying plate components.

[0013] In the present application, the laying of plate components is realized through the arrangement of the airborne end lifting appliance, the mounting end lifting appliance and the lifting belt, and the arrangement of the two airborne lifting ropes avoids the rotation of the mounting end lifting appliance, improves the stability during transportation, and avoids the damage of plate components, especially photovoltaic panels and other plate fragile components during transportation. The overall structure is simple, the cost is low, and the advantages of transportation stability and low cost can be considered.

[0014] In some embodiments, a telescopic support rod is arranged in the middle of the two airborne lifting ropes, and the two ends of the telescopic support rod are connected to the two airborne lifting ropes respectively.

[0015] In some embodiments, a fan is arranged at the end of the rod body part of the mounting end lifting appliance, and the air outlet direction of the fan is perpendicular to the direction of the rod body part of the mounting end lifting appliance in the same horizontal plane.

[0016] In some embodiments, a crossbar is arranged in the middle of the rod body part of the mounting end lifting appliance, the horizontal projection of the crossbar is perpendicular to the horizontal projection of the rod body part of the mounting end lifting appliance, and a camera and a laser ranging device are arranged at the two ends of the crossbar.

[0017] In some embodiments, an emergency throwing device is arranged at the two ends of the airborne end lifting appliance for throwing the airborne lifting rope.

[0018] In some embodiments, the lifting belt comprises a flat rope and a hanging part, the flat rope part is surrounded to form a loop opening for the plate components to pass through, and the hanging part is used for connecting the flat rope part and the mounting end lifting appliance.

[0019] In some embodiments, each lifting belt further comprises a safety rope, the safety rope is arranged in the middle of the loop opening, and forms a rectangular containing groove facing the opening of the loop opening to fit the plate components.

[0020] In some embodiments, a lifting belt throwing device is arranged at the two ends of the mounting end lifting appliance for throwing the lifting belt, and the hanging part of the lifting belt is configured as a round rope.

[0021] The present application also provides a hoisting system, comprising a UAV and a lifting device, the lifting device being the lifting device described in any one of the above embodiments, further comprising a buffer pad, a parking apron and an unloading platform, the buffer pad being used for placing the board to be carried, the parking apron being used for placing the UAV when the UAV is not carrying out the carrying operation, and the unloading platform being used for placing the carried board below, and the on-board end lifting device being fixedly connected to the bottom of the UAV.

[0022] In some embodiments, the upper surface of the unloading platform is provided with a plurality of rows and columns of arrayed collision sensors, so that the signal feedback of the plurality of collision sensors can determine whether the board is placed in the appropriate position.

[0023] The present application has the following beneficial effects: Through the arrangement of the on-board end lifting device, the mounting end lifting device and the lifting belt, the flat placement of the board parts is realized, the rotation of the mounting end lifting device is avoided by the arrangement of the two on-board lifting ropes, the stability in transportation is improved, and the damage of the board parts, especially the photovoltaic board and other fragile board parts, in transportation is avoided. The overall structure is simple, the cost is low, and the advantages of transportation stability and low cost can be considered. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The present application provides a hoisting system structure schematic diagram; Figure 2 The present application provides a hoisting system structure schematic diagram; Figure 1 The present application provides a hoisting system structure schematic diagram; Figure 3 The present application provides a hoisting system structure schematic diagram; Figure 2 The present application provides a hoisting system structure schematic diagram; Figure 4 The present application provides a hoisting system structure schematic diagram; Figure 2 The present application provides a hoisting system structure schematic diagram; Figure 5 The present application provides a hoisting system structure schematic diagram; Figure 4 The present application provides a hoisting system structure schematic diagram; Figure 6 The present application provides a hoisting system structure schematic diagram; Figure 2 The present application provides a hoisting system structure schematic diagram; Figure 7 The present application provides a hoisting system structure schematic diagram; Figure 1 The present application provides a hoisting system structure schematic diagram; Figure 8 The present application provides a hoisting system structure schematic diagram; Figure 7 The present application provides a hoisting system structure schematic diagram; Figure 9 The present application provides a hoisting system structure schematic diagram; Figure 1 The present application provides a hoisting system structure schematic diagram; Figure 10 The present application provides a hoisting system structure schematic diagram; Figure 9 The present application provides a hoisting system structure schematic diagram; Figure 11 The present application provides a hoisting system structure schematic diagram; Figure 1 The present application provides a hoisting system structure schematic diagram; Figure 12 For Figure 1 Network communication architecture diagram of the mid-hoisting system.

[0025] In the figure, the labels are: 1 - unmanned aerial vehicle, 2 - on-board end hoist, 3 - telescopic support rod, 4 - on-board hoisting rope, 5 - mounting end hoist, 6 - hoisting belt, 7 - photovoltaic panel, 8 - buffer pad, 9 - pallet, 10 - ground station, 11 - parking apron, 12 - unloading platform, 13 - connecting plate, 14 - antenna, 15 - on-board box, 16 - emergency thrower, 17 - thrower fixing piece, 18 - quick release pin, 19 - hoisting rope quick clamping mechanism, 20 - fan, 21 - hoisting belt thrower, 22 - hoisting rope hanging point two, 23 - mounting box, 24 - camera one, 25 - rubber pad, 26 - hoisting rope hanging point one, 27 - camera two, 28 - bearing rod, 29 - cross rod, 30 - round rope, 31 - flat rope, 32 - safety rope, 33 - suture point, 34 - detachable lifting lug, 35 - buffer layer, 36 - collision sensor, 37 - electronic fence module, 38 - telescopic support foot, 39 - positioning identification sign. DETAILED DESCRIPTION

[0026] The application will be further described below with reference to the drawings.

[0027] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0028] As Figures 1-12 indicated, the present application provides a hoist and a hoisting system.

[0029] Referring Figure 1 to the drawings, the hoisting system comprises an unmanned aerial vehicle 1 and a hoist, and further comprises a buffer pad 8, a parking apron 11 and an unloading platform 12. The buffer pad 8 is used to place the board to be carried, the parking apron 11 is used to place the unmanned aerial vehicle 1 when it is not performing a carrying operation, and the unloading platform 12 is used to unload the carried board. The on-board end hoist 2 is fixedly connected to the bottom of the unmanned aerial vehicle 1.

[0030] The buffer pad 8 is arranged on one side of the pallet 9. The pallet 9 shown in the figure is composed of a plurality of vertically arranged photovoltaic panels 7, and the photovoltaic panels 7 are placed horizontally and then laid down on the buffer pad 8.

[0031] The hoisting system further comprises a ground station 10. The ground station 10 communicates with the on-board box 15 and the mounting box 23, and is used for a pilot to control the unmanned aerial vehicle 1 to perform a carrying operation.

[0032] In this embodiment, the buffer pad 8, the parking apron 11 and the unloading platform 12 are fixed to the ground by camping pegs.

[0033] Referring Figures 2-8The hoist structure in the embodiment is expanded in detail.

[0034] The hoist comprises an on-board end hoist 2, a hanging end hoist 5, and a hoisting belt 6. The on-board end hoist 2 and the hanging end hoist 5 have rod body portions arranged in parallel with each other. Two on-board hoisting ropes 4 are connected to the two ends of the rod body portion of the on-board end hoist 2 and the rod body portion of the hanging end hoist 5 correspondingly. The two ends of the rod body portion of the hanging end hoist 5 are symmetrically provided with the hoisting belt 6, and the two hoisting belts 6 form a containing space for laying the plate parts.

[0035] In the present application, the on-board end hoist 2, the hanging end hoist 5, and the hoisting belt 6 are provided to realize the laying of the plate parts. The two on-board hoisting ropes 4 are provided to avoid the rotation of the hanging end hoist 5, improve the stability in transportation, and avoid the damage of the plate parts, especially the photovoltaic panel 7 and other plate fragile parts in transportation. The overall structure is simple, the cost is low, and the advantages of transportation stability and low cost can be considered.

[0036] The two on-board hoisting ropes 4 not only facilitate the transportation stability, but also improve the safety in the transportation process. Referring to Figure 11 When the hoisting belt 6 on the hanging end hoist 5 is used to drive the photovoltaic panel 7, the unmanned aerial vehicle 1 is not started and can be parked on the parking apron 11. After the photovoltaic panel 7 is installed on the hoisting belt 6, the unmanned aerial vehicle 1 moves upward to above the buffer pad 8. When the unmanned aerial vehicle 1 flies to the upper end of the unloading platform 12 to unload the photovoltaic panel 7, the presence of the on-board hoisting rope 4 can also make the unmanned aerial vehicle 1 have a long distance from the unloading platform 12 when the photovoltaic panel 7 contacts the unloading platform 12. In this way, the safety in the loading and unloading process is ensured.

[0037] Furthermore, the photovoltaic panel 7 is laid and transported, and the hoisting belt throwing device 21 is provided on the hanging end hoist 5. Referring to Figure 6 The connection positions of the two ends of the hanging end hoist 5 to the hoisting belt 6 are provided with hoisting rope hanging points, which are hoisting rope hanging point one 26 and hoisting rope hanging point two 22, respectively. The hoisting belt 6 can be provided with multiple hoisting belts 6 in practice. When the photovoltaic panel 7 has been transported to the unloading platform 12, the hoisting belt 6 and the photovoltaic panel 7 carried by the hoisting belt 6 can be automatically thrown by the hoisting belt throwing device 21. At this time, the unloading process at the unloading end does not require the staff to stand below the unmanned aerial vehicle 1, further ensuring the transportation safety. When the unmanned aerial vehicle 1 is not nearby, the connection of the hoisting belt 6 and the photovoltaic panel 7 at the buffer pad 8 end and the removal of the hoisting belt 6 and the photovoltaic panel 7 at the unloading platform 12 end can be completed.

[0038] In the present embodiment, the on-board hoisting rope 4 is a high-strength polyester hoisting rope, which is light in weight and has high strength. Compared with a rigid hoisting rod, the load and cost of the unmanned aerial vehicle 1 are reduced, and the required parking space is smaller, and the adaptability to complex terrain is better.

[0039] Referring toFigure 1 , Figure 2 , Figure 4 and Figure 5 As shown, in this embodiment, a telescopic support rod 3 is provided in the middle of the two airborne hoisting ropes 4, and the two ends of the telescopic support rod 3 are respectively connected to the two airborne hoisting ropes 4.

[0040] The telescopic strut 3 here provides tension to the two onboard slings 4, which helps to prevent rotation and further improves transport stability. During takeoff or flight, even if the photovoltaic panel 7 rotates, the telescopic strut 3 can provide counter-torque to facilitate the recovery from abnormal rotation.

[0041] Reference Figure 4 The telescopic strut 3 can be configured to include two interlocking cylindrical sections, each with multiple through holes, which can be inserted into different holes by the quick-release pin 18 to achieve the telescopic function.

[0042] When the support rod is longer, the return torque can be increased, resulting in a faster return speed.

[0043] Reference Figure 5 In this embodiment, both ends of the telescopic support rod 3 are provided with a quick-locking mechanism 20 for the suspension rope. One end of the quick-locking mechanism 20 is hinged, and the other end can be quickly locked, thereby fixing the telescopic support rod 3 to the corresponding position of the airborne suspension rope 4.

[0044] Reference Figure 6 As shown, in this embodiment, a fan 20 is provided at the end of the rod portion of the mounting end lifting device 5, and the air outlet direction of the fan 20 is perpendicular to the rod portion of the mounting end lifting device 5 in the same horizontal plane.

[0045] The boom section of the mounting end spreader 5 here is the component mentioned above that is parallel to the boom section of the airborne end with the spreader. Corresponding to... Figure 6 The supporting rod 28 in the middle.

[0046] By setting up fan 20, the fan 20 can be activated when abnormal rotation occurs, so as to restore the abnormal rotation as soon as possible and further improve the stability of the transportation process.

[0047] Fan 20 here can be replaced with a ducted fan to accommodate larger plate weights.

[0048] In practice, rotation can be monitored using cameras or gyroscopes.

[0049] Reference Figure 11, wherein the T2 point above the buffer pad 8 can be understood as the point where the photovoltaic panel 7 just leaves the buffer pad 8, the B point above the buffer pad 8 can be understood as the point after the swing elimination action is completed; the T2 point above the unloading platform 12 can be understood as the point where the photovoltaic panel 7 just contacts the unloading platform 12, and the C point above the unloading platform 12 can be understood as the point where the swing elimination action is about to start. The T1 points in the two places can be understood as the swing elimination completion points. The moving speed of the unmanned aerial vehicle 1 in the swing elimination process can be adaptively reduced.

[0050] Figure 11 In the loading stage, the unmanned aerial vehicle 1 is parked on the parking apron 11, and the hanging end hoist 5 connected by the on-board hoisting rope 4 can be placed on the photovoltaic panel 7 to be transported. It is shown that in the loading stage, the unmanned aerial vehicle 1 is in a non-starting state to improve the operation safety. After loading is completed, the unmanned aerial vehicle 1 moves to the A point and moves to the T2 point. The A, B, and C points here can be determined by the pilot according to the actual situation in the early operation.

[0051] In this embodiment, a crossbar 29 is arranged in the middle of the rod body part of the hanging end hoist 5, the horizontal projection of the crossbar 29 is perpendicular to the horizontal projection of the rod body part of the hanging end hoist 5, and the crossbar 29 is provided with a camera and a laser ranging device at both ends.

[0052] That is, the crossbar 29 is arranged in the middle of the bearing rod 28, and the two hoisting belts 6 are arranged to fix the photovoltaic panel 7 in the length direction. In order to facilitate the downward observation of the camera and the laser ranging device, the crossbar 29 is arranged as above, that is, the camera and the laser ranging device are arranged in the width direction of the photovoltaic panel 7 to simplify the structure and facilitate the function implementation. In this embodiment, the camera and the laser ranging device are integrally arranged, and a laser ranging camera can be used. Specifically, the laser ranging camera is arranged at both ends of the crossbar 29, that is, the camera one 24 and the camera two 27 in Figure 6 .

[0053] The laser ranging camera here is mainly used to measure the distance between the hanging end hoist 5 and the unloading platform 12, which can assist the hanging box 23 in calculating the swing speed of the photovoltaic panel 7, and can also identify the relative position of the photovoltaic panel 7 and the unloading platform 12. The laser ranging can feedback the distance between the unloading platform 12 and the photovoltaic panel 7 in real time, and the information is transmitted to the on-board box 15 through the hanging box 23, so as to control the unmanned aerial vehicle 1 to match the best landing speed, and prevent the goods or the unloading platform 12 from being damaged due to too fast landing.

[0054] Based on Figure 6 , in this embodiment, a plurality of support components can also be formed by extending downwardly through the arrangement of the crossbar 29, and the lower end of the support component is configured as a rubber pad 25, so that when the hanging end hoist 5 is placed on the photovoltaic panel 7, damage to the photovoltaic panel 7 is avoided.

[0055] Referring to Figure 3In this embodiment, the airborne end lifting device 2 is provided with emergency throwers 16 at both ends for throwing the airborne lifting rope 4, and a corresponding thrower fixing component 17 is provided.

[0056] The above settings facilitate the separation of the drone 1 and the cargo in the event of emergencies (such as drone 1 going out of control or environmental risks), preventing the cargo and drone 1 from being destroyed together and reducing the risk of damaging impacts on external objects.

[0057] Specifically, the two ends of the airborne end spreader 2 are connected to the upper rope buckles of the two airborne lifting ropes 4 via the hooks of the emergency thrower 16, and the lower rope buckles of the airborne lifting ropes 4 are fixed to the two ends of the hanging end spreader 5 by pins and screws.

[0058] like Figure 3 As shown, the airborne end-mounted splice 2 has a connecting plate 13 on its top, which can be specifically designed for different UAVs 1. In this embodiment, the UAV 1 and the connecting plate 13 are connected by bolts. The airborne end-mounted splice 2 is also equipped with an antenna 14.

[0059] Combination Figure 7 and Figure 8 In this embodiment, the lifting sling 6 includes a flat rope 31 and a suspension part. The flat rope 31 is partially enclosed to form an opening for plate-like parts to pass through. The suspension part is used to connect the flat rope 31 and the hanging end lifting device 5.

[0060] The circumference through which the plate-type parts pass is... Figure 8 The rectangular opening shown allows the flat rope 31 to effectively limit the photovoltaic panel 7, improving the safety of the transportation process.

[0061] In practice, the synchronous hoisting of multiple photovoltaic panels 7 can also be achieved by setting the size of the rectangular opening or the deformation of the flat rope 31.

[0062] The suspension part here, namely the round rope 30 in the figure, is connected to both sides of the flat rope 31 along its length and is used for the overall suspension of the flat rope 31 and the photovoltaic panel 7.

[0063] For the purpose of throwing the lifting sling 6 as described above, a round rope 30 is preferred here to facilitate the insertion, engagement and release of the round rope 30 and the lifting sling thrower 21.

[0064] Furthermore, a stitching point 33 is provided in the middle of the round rope 30 to prevent the lifting point from slipping and causing the photovoltaic panel 7 to tilt, thereby further improving the safety of the transportation process.

[0065] Furthermore, each lifting sling 6 also includes a safety rope 32, which is located in the center of the loop and forms a rectangular receiving groove facing the opening of the loop to fit plate-like parts.

[0066] The safety rope 32 is provided as described above to prevent the photovoltaic panel 7 from slipping off from the side.

[0067] Referring to Figure 9 and Figure 10 , the upper surface of the unloading platform 12 is provided with a plurality of rows and columns of arrayed collision sensors 36, so that the signal feedback of the plurality of collision sensors 36 can determine whether the board is placed in the correct position. In practice, if the board is not placed in the correct position when placed on the unloading platform 12, for example, if the number of triggered collision sensors 36 is small, the board can be repositioned by lifting the unmanned aerial vehicle 1.

[0068] In this embodiment, 7 rubber mounting belts are provided, each of which has 2 sensors, and 14 position detection points form a sensor matrix with multiple rows and columns. It is used to detect the relative position of the photovoltaic panel 7 and the platform, and provides a basis for the automatic tripping of the sling thrower 21.

[0069] The unloading platform 12 is provided with detachable lifting lugs 34 at the corners, which facilitates the lifting of the unloading platform 12.

[0070] The unloading platform 12 is provided with positioning identification signs 39 at the corners, which are used for camera shooting and positioning to control the accuracy of the photovoltaic panel 7. Further, individual positioning identification signs 39 can also be provided with directional feature points to assist the unmanned aerial vehicle 1 in confirming the orientation of the head relative to the unloading platform 12.

[0071] The top of the unloading platform 12 is configured as a buffer layer 35 to prevent damage to the photovoltaic panel 7.

[0072] The unloading platform 12 is provided with a control box containing a battery, a GPS, a communication module and other components, which is responsible for communication between signals.

[0073] The unloading platform 12 is provided with an electronic fence module 37 around it, so that it will stop unloading when it detects someone around during the unloading process. The control box can also be linked to issue an audible and visual reminder to ensure personnel safety.

[0074] The unloading platform 12 is supported by a plurality of telescopic support legs 38, which can be adjusted in height to adapt to different slope ground or uneven terrain.

[0075] Referring to Figure 3 and Figure 6 , the onboard end sling 2 is provided with an onboard box 15, i.e. an onboard control box, which contains a battery, a flight control board, a communication board and other components, and is responsible for communication between signals; the mounting end sling 5 is provided with a mounting box 23, i.e. a mounting control box, which contains a battery, a communication board and other components, and is responsible for communication between signals. Figure 12 The network communication architecture in this embodiment is shown.

[0076] Corresponding to the aforementioned lifting system, the lifting method is as follows.

[0077] 1. Preparation: On-site determination of stacking 9, buffer pad 8, parking apron 11, unloading point position; Fix the parking apron 11, assemble the unmanned aerial vehicle 1 on the parking apron 11, assemble the unloading platform 12 in the open space, screw on the detachable lifting lug 34, put on the platform special lifting rope, hoist the unloading platform 12 into place, remove the detachable lifting lug 34, adjust the platform height by the unloading point worker, and fix the platform support foot with the camping nail, assemble the mounting end lifting tool 5 and the airborne end lifting tool 2, connect the two lifting tools with the mounting lifting rope, turn on the mounting box 23 of the mounting end lifting tool 5, and turn on the airborne box 15 on the airborne end lifting tool 2; Hang the lifting belt 6 to the lifting belt thrower 21 hook of the mounting end lifting tool 5; 2. Generate route: The pilot unfastens the connection buckle of the airborne lifting rope 4 and the airborne end lifting tool 2, the pilot inputs the relative position information of the parking apron 11 and the loading point to the ground station 10, the pilot remotely controls the unmanned aerial vehicle 1 to fly to the loading point directly above and the unloading point directly above A meters, manually dots (the dot position is the position that the unmanned aerial vehicle 1 route must pass through) with the ground station 10, then returns to the parking apron 11, and the ground station 10 automatically plans the route according to the above position information; Route reference Figure 11 The route planning diagram shown in the figure; 3. Semi-automatic carrying: the worker lays down the photovoltaic panel 7 from the stack 9 on the buffer pad 8, the worker puts the batch of hoisting belts 6 on both ends of the photovoltaic panel 7, and then puts the hanging end hoist 5 above the photovoltaic panel 7, hooks the hoisting belts 6 into the hoisting belt thrower 21 hooks on both ends of the hanging end hoist 5, and then straightens the machine-mounted hoisting rope 4, and presses the one-key take-off button of the ground station 10; the unmanned aerial vehicle 1 automatically flies according to the planned route, hoists the photovoltaic panel 7 to above the unloading platform 12, the downward-looking camera of the unmanned aerial vehicle 1 recognizes the precise positioning identification sign 39 around the unloading platform 12, the identification information is transmitted to the machine-mounted box 15, and at the same time, the two cameras on the hanging end hoist 5 identify the relative position information of the photovoltaic panel 7 and the unloading platform 12, the information is transmitted to the machine-mounted box 15 through the hanging box 23, the machine-mounted box 15 receives the two identification information and controls the unmanned aerial vehicle 1 to make corresponding position adjustment and anti-swing action, and then automatically places the photovoltaic panel 7 on the unloading platform 12; after the sensor matrix on the unloading platform 12 detects that the photovoltaic panel 7 is correctly placed, the unloading platform 12 transmits the information to the ground station 10, and the hanging box 23 transmits the distance information of the distance measuring sensor on the hanging end hoist 5 to the ground station 10, and the machine-mounted box 15 transmits the weight information of the unmanned aerial vehicle 1 to the ground station 10, if the three information meet the tripping condition, the ground station 10 immediately controls the hanging box 23 to open the hoisting belt thrower 21 hook to unload the photovoltaic panel 7; the unmanned aerial vehicle 1 automatically returns according to the original route, and puts the hanging end hoist 5 on the photovoltaic panel 7 on which the hoisting belt 6 has been bound on the buffer pad 8; the downward-looking camera of the unmanned aerial vehicle 1 recognizes the position characteristics of the parking apron 11, and automatically and accurately lands on the parking apron 11, and the pilot replaces the battery of the unmanned aerial vehicle 1 and charges it according to the indication of the ground station 10; the worker hangs the hoisting belt 6 on the hanging end hoist 5, and repeats the previous semi-automatic hoisting process.

[0078] In summary, the hoisting system in the present application has at least the following advantages over the prior art.

[0079] 1. High safety, workers do not need to load and unload the panel under the unmanned aerial vehicle 1, which can improve personal safety.

[0080] 2. The setting of the double machine-mounted hoisting ropes 4, the hanging end hoist 5, the fans 20 and the telescopic supporting rods 3 can quickly adjust the rotation or swing of the panel, avoid long unloading hovering time of the unmanned aerial vehicle 1, and improve the endurance and hoisting efficiency of the unmanned aerial vehicle 1.

[0081] 3. Through the setting of the downward-looking camera of the unmanned aerial vehicle 1, the camera of the hanging end hoist 5 and the positioning identification sign 39, the panel can be accurately positioned and assisted to be lowered, and the panel can be prevented from being damaged. The buffer pad 8 and the buffer layer 35 on the unloading platform 12 can also prevent the panel from being damaged.

[0082] 4. Through the loop adjustment on the hoisting belt 6, one or more panels can be hoisted, and the hoist has strong adaptability. Moreover, the overall structure of the hoist is simple, the quality is light, and the cost is relatively low.

[0083] 5. Through the setting of the emergency thrower 16, the risk of loss is reduced when the unmanned aerial vehicle 1 cannot quickly separate from the goods in an emergency.

[0084] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A sling, characterised in that The lifting device comprises an airborne end lifting device (2), a hanging end lifting device (5) and a lifting belt (6), the airborne end lifting device (2) and the hanging end lifting device (5) have rod body parts arranged in parallel with each other, and two airborne lifting ropes (4) are correspondingly connected to both ends of the rod body part of the airborne end lifting device (2) and both ends of the rod body part of the hanging end lifting device (5); The rod body part of the hanging end lifting device (5) is symmetrically provided with the lifting belt (6) at both ends, and the two lifting belts (6) form a containing space for laying a plate part.

2. The spreader of claim 1, characterized in that A telescopic supporting rod (3) is arranged at the middle of the two airborne lifting ropes (4), and the telescopic supporting rod (3) is connected to the two airborne lifting ropes (4) at both ends.

3. The spreader of claim 1, wherein A fan (20) is arranged at the end of the rod body part of the hanging end lifting device (5), and the air outlet direction of the fan (20) is perpendicular to the direction of the rod body part of the hanging end lifting device (5) in the same horizontal plane.

4. The spreader of claim 1, wherein A cross rod (29) is arranged at the middle of the rod body part of the hanging end lifting device (5), the horizontal projection of the cross rod (29) is perpendicular to the horizontal projection of the rod body part of the hanging end lifting device (5), and the cross rod (29) is provided with a camera and a laser ranging device at both ends.

5. The spreader of claim 1, wherein Emergency throwers (16) are arranged at both ends of the airborne end lifting device (2) for throwing the airborne lifting rope (4).

6. The spreader according to any one of claims 1-5, characterized in that The lifting belt (6) comprises a flat rope (31) and a hanging part, the flat rope (31) is partially enclosed to form a loop opening for the plate part to pass through, and the hanging part is used for connecting the flat rope (31) and the hanging end lifting device (5).

7. The spreader of claim 6, wherein Each lifting belt (6) further comprises a safety rope (32), which is arranged in the middle of the loop opening and forms a rectangular accommodating groove facing the opening of the loop opening to fit the plate part.

8. The spreader of claim 6, wherein, Lifting belt throwers (21) are arranged at both ends of the hanging end lifting device (5) for throwing the lifting belt (6), and the hanging part of the lifting belt (6) is configured as a round rope (30).

9. A load handling system comprising a drone (1) and a spreader, characterized in that, The lifting device is the lifting device according to any one of claims 1-8, further comprising a buffer pad (8), a parking apron (11) and an unloading platform (12), the buffer pad (8) is used for placing the plate to be carried, the parking apron (11) is used for placing the unmanned aerial vehicle (1) when the unmanned aerial vehicle (1) is not carrying out the carrying operation, the unloading platform (12) is used for lowering the carried plate, and the airborne end lifting device (2) is fixedly connected to the bottom of the unmanned aerial vehicle (1).

10. The hoisting system of claim 9, wherein, A plurality of rows and columns of collision sensors (36) are arranged on the upper surface of the unloading platform (12), so that whether the plate is lowered to the appropriate position can be judged according to the signal feedback of the plurality of collision sensors (36).

Images