Portable automatic stringing device based on drone base

Abstract

The application belongs to the technical field of unmanned aerial vehicle threading, and discloses a portable automatic threading device based on an unmanned aerial vehicle base, which comprises a flight assembly, an identification assembly is connected to one end of the flight assembly, a connecting assembly is further connected to the flight assembly, the connecting assembly and the identification assembly are located on the same end, an adjusting assembly is rotatably arranged on the connecting assembly, and a threading assembly is clamped on the adjusting assembly. High-precision threading is realized through the cooperation of multiple assemblies. Distance data is collected in real time by a laser range finder in the identification assembly, and a camera assembly extracts threading hole coordinates. The data of the angle sensor and the flight attitude sensing unit are fused and denoised through a weighted Kalman filtering algorithm of the control board. Meanwhile, the adjusting assembly adjusts the optimal angle calculated by the path planning module, and the angle sensor feeds back the fine adjustment of the adjusting disc. Before ejection, the control board also adjusts the disc angle in combination with the body attitude.

Description

Technical Field

[0001] This invention belongs to the field of drone tethering technology, specifically a portable automatic tethering device based on a drone base. Background Technology

[0002] When overhauling GIS in a substation, surge arresters and instrument transformers need to be installed separately after the withstand voltage test is completed. This requires hanging slings and hand-operated hoists at the roof sling points. However, the indoor roof height is over 7 meters, making it very difficult to thread ropes through the sling points. Traditional methods of threading ropes involve setting up scaffolding or using a crane, which has a low safety factor and consumes a lot of manpower. Existing telescopic rope threading devices have poor stability and are difficult to thread.

[0003] Patent application CN201710626168.7 discloses a self-constraining device for traction rope deployment based on a drone, including a drone carrier and a constraint mechanism. The drone carrier includes a battery, a control system, and a rear-mounted camera. The constraint mechanism includes a fixed base and at least one set of deployment mechanisms. Each deployment mechanism is disposed in a mounting hole on the fixed base. A threading groove is provided on the fixed base, extending horizontally through the mounting hole. Each deployment mechanism includes a suction cup electromagnet, a buckle, a connecting shaft, and a circular magnet. The suction cup electromagnet, buckle, connecting shaft, and circular magnet are distributed sequentially from top to bottom within the mounting hole. A traction rope fixing ring is provided on the front side wall of the fixed base. The above solution can automatically constrain the traction rope at a designated tower position using a circular magnet, eliminating the need for manual temporary fixing of the traction rope and greatly improving the efficiency of traction rope deployment. However, the guide rope is prone to tangling with the equipment structure, and the rope tension is difficult to control, easily resulting in slackness and detachment or excessive tightness and breakage. Furthermore, manual inspection of the threading results and adjustment of the equipment status are time-consuming, resulting in overall low efficiency.

[0004] Furthermore, traditional rope-threading methods are susceptible to human error, airflow interference, and other factors, making it difficult to accurately locate the rope-threading target. They also lack a real-time monitoring and adjustment mechanism for distance and angle, resulting in a low rope-threading success rate. In particular, in complex work scenarios, target position recognition and trajectory control are even more difficult.

[0005] Therefore, in order to solve the above-mentioned technical problems, the present invention proposes a portable automatic rope threading device based on a drone base. Summary of the Invention

[0006] The purpose of this invention is to address the above-mentioned problems. This invention provides a portable automatic rope threading device based on a drone base, which has the advantages of high threading efficiency and accurate threading.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a portable automatic rope-threading device based on a drone base, comprising a flight component, an identification component connected to one end of the flight component, a connecting component connected to the flight component, the connecting component and the identification component being located at the same end, an adjustment component being rotatably provided on the connecting component, and a rope-threading component being engaged with the adjustment component; The adjustment assembly includes an adjustment disk, which is rotatably connected to the connection assembly. The adjustment disk has an arc-shaped groove, and a rotating rod is connected inside the arc-shaped groove. The adjustment disk also has a snap-fit ​​hole, and an angle sensor is connected to the adjustment disk.

[0008] Preferably, the identification component includes a laser rangefinder and a camera component.

[0009] Preferably, the rope threading assembly includes an upper guard plate, a locking connector is connected to one end of the upper guard plate near the adjusting assembly, the locking connector can be connected into the locking hole, a winding rod is connected to one end of the upper guard plate away from the locking connector, and a lower guard plate is connected to one end of the winding rod away from the locking connector.

[0010] Preferably, a wire guide groove is provided through the upper guard plate, and a wire guide plate is connected to the wire guide groove.

[0011] Preferably, the end of the snap-fit ​​hole away from the rope threading assembly is connected to an ejector.

[0012] Preferably, the flight component includes a fuselage, on which multiple connecting rods are connected. A propeller is connected to the end of each connecting rod away from the fuselage. A control board is also connected to the fuselage, with a control port connected to one end. The identification component and the connecting component are both connected to the fuselage. A protective rod is connected to the end of the fuselage closest to the ground.

[0013] Preferably, the connecting assembly includes a fixing plate connected to the machine body, and a bracket is connected to one end of the fixing plate away from the machine body, and the adjusting disc is rotatably connected to the bracket.

[0014] Preferably, the fixed plate has a wire portion connected to one end away from the identification component. The wire portion includes a swing plate, which is rotatably connected to the fixed plate. A rotating wheel is rotatably provided at one end of the swing plate away from the fixed plate.

[0015] Preferably, a protective cavity is provided in the lower guard plate, an elastic part is connected in the protective cavity, and a buffer plate is connected to the end of the elastic part away from the protective cavity.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. High-precision rope threading is achieved through multi-component collaboration. The laser rangefinder in the recognition component collects distance data in real time, and the camera component extracts the coordinates of the threading hole. The data from these two components, along with data from the angle sensor and flight attitude sensing unit, are fused and denoised using a weighted Kalman filter algorithm on the control board. At the same time, the adjustment component fine-tunes the adjustment disk based on the optimal angle calculated by the path planning module and feedback from the angle sensor. Before launch, the control board also adjusts the adjustment disk angle in conjunction with the fuselage attitude to avoid deviation of the launch trajectory. Ultimately, the rope threading component is accurately aligned with the target hole, effectively addressing the problem of positional deviation caused by environmental interference such as airflow.

[0017] 2. By coordinating various components, the efficiency of rope threading is significantly improved and the risk of failure is reduced. The wire section of the connecting component uses a swing plate and a rotating wheel to prevent the guide rope from getting tangled in the flight component. Furthermore, the threading component's guide plate can finely adjust the clamping force, and combined with the rotating wheel's speed feedback, the tension of the guide rope is maintained within a safe range to prevent the rope from slipping or breaking. During ejection, the guide plate briefly clamps the guide rope to prevent it from detaching from the guide groove. After threading, the camera component quickly identifies the result, and the control board simultaneously calculates the remaining rope length, eliminating the need for repeated manual checks and adjustments, reducing downtime, and improving overall process efficiency.

[0018] 3. The protective cavity, elastic part, and buffer plate of the lower guard plate of the rope threading assembly form a buffer structure. Upon landing, the elastic part compresses to offset the impact force, preventing damage to components such as the winding rod from impact. In case of a failure of the ejection part, this structure can also reduce external collision damage. The arc groove of the adjusting component and the rotating rod reduce rope friction, and the guide plate clamps and constrains the rope, reducing its wear. The control board monitors the pressure of the locking hole in real time. If the locking is loose or unstable, it will immediately issue a warning and suspend operation to prevent the rope threading assembly from falling off and being damaged. This comprehensively ensures the safety of the equipment and the rope, and extends its service life. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the overall device of the present invention; Figure 2 This is a three-dimensional structural diagram of the overall device of the present invention from another direction; Figure 3 This is a schematic diagram of the connection structure of the control board of the present invention; Figure 4 This is a schematic diagram of the connection structure between the fuselage and the connecting components of the present invention; Figure 5 This is a schematic diagram of the connection structure between the adjusting component and the connecting component of the present invention; Figure 6 This is a three-dimensional structural schematic diagram of the adjustment component of the present invention; Figure 7 This is a cross-sectional structural diagram of the adjustment component of the present invention; Figure 8 This is a three-dimensional structural schematic diagram of the rope-threading assembly of the present invention; Figure 9 This is a cross-sectional structural diagram of the rope threading assembly of the present invention; Figure Descriptions: 1. Flight Components; 101. Propeller; 102. Connecting Rod; 103. Fuselage; 104. Control Port; 105. Control Board; 2. Identification Components; 201. Laser Rangefinder; 202. Camera Components; 3. Protective Rod; 4. Connecting Components; 401. Fixing Plate; 402. Bracket; 5. Adjustment Components; 501. Adjustment Disc; 502. Arc-shaped Groove; 503. Rotating Rod; 504. Snap-fit ​​Hole; 505. Ejection Section; 6. Rope Threading Components; 601. Snap-fit ​​Connector; 602. Upper Protective Plate; 6021. Cable Guide Groove; 603. Cable Winding Rod; 604. Lower Protective Plate; 6041. Protective Cavity; 6042. Elastic Section; 605. Buffer Plate; 7. Wire Guide Section; 701. Swing Plate; 702. Rotating Wheel; 8. Cable Guide Plate. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figures 1-9 As shown, a portable automatic tethering device based on a drone base includes a flight component 1. One end of the flight component 1 is connected to an identification component 2 for determining the flight position and tethering position of the flight component 1. A connecting component 4 for fixing the tethering device is also connected to the flight component 1. The connecting component 4 and the identification component 2 are located at the same end. An adjustment component 5 for adjusting the tethering angle is rotatably mounted on the connecting component 4. A tethering component 6 is engaged with the adjustment component 5. In use, the flight component 1 drives the tethering component 6 to fly, and the identification component 2 identifies the tethering position and the height of the flight component 1. Simultaneously, when the identification component 2 detects that the flight height meets the tethering requirements, the adjustment component 5 adjusts the movement angle of the tethering component 6 to ensure that the flight angle of the tethering component 6 meets the tethering requirements. Then, the adjustment component 5 applies an impact force to the tethering component 6 to complete the tethering process.

[0022] To ensure that the rope threading assembly 6 can successfully complete the rope threading requirements under different flight environments, the adjustment assembly 5 includes an adjustment disk 501 for adjusting the initial angle of the rope threading assembly 6. The adjustment disk 501 is rotatably connected to the connecting assembly 4. When it is necessary to adjust the angle of the rope threading assembly 6, the adjustment disk 501 and the connecting assembly 4 are controlled to rotate relative to each other, thereby adjusting the starting angle of the rope threading assembly 6. In order to reduce the impact of rope swaying on the flight stability of the flight assembly 1, the adjustment disk 501 is provided with an arc-shaped groove 502 for rope position restriction. A rotating rod 503 is connected in the arc-shaped groove 502, thereby reducing the friction between the rope and the arc-shaped groove 502 and ensuring that it can move stably in the arc-shaped groove 502. The adjustment disk 501 is also provided with a locking hole 504 for fixing the position of the rope threading assembly 6. An angle sensor for identifying the angle of the rope threading assembly 6 is connected to the adjustment disk 501.

[0023] Furthermore, in order to improve the success rate of the rope threading device, the identification component 2 includes a laser rangefinder 201 for identifying the position and altitude of the flight component 1 and a camera component 202 for identifying the rope threading position and angle. The laser rangefinder 201 is used to approach the target position, and then the camera component 202 is used to make a secondary adjustment to the target position, thereby improving the success rate of rope threading.

[0024] Furthermore, to ensure that the rope threading assembly 6 can meet the rope threading requirements, the rope threading assembly 6 includes an upper guard plate 602. The end of the upper guard plate 602 near the adjusting assembly 5 is connected to a snap-fit ​​connector 601 for fixing the rope threading assembly 6. The snap-fit ​​connector 601 can be connected into the snap-fit ​​hole 504. The end of the upper guard plate 602 away from the snap-fit ​​connector 601 is connected to a winding rod 603, wherein the guide line is wound on the winding rod 603. The end of the winding rod 603 away from the snap-fit ​​connector 601 is connected to a lower guard plate 604. The upper guard plate 602 and the lower guard plate 604 restrict the winding area of ​​the winding rod 603 to prevent the rope on the winding rod 603 from falling off. When the snap-fit ​​connector 601 is snapped into the snap-fit ​​hole 504, the upper guard plate 602, the winding rod 603 and the lower guard plate 604 are all kept in a stable connection state.

[0025] Furthermore, in order to reduce the large friction between the guide rope and the upper guard plate 602 when the guide rope is connected to the winding rod 603, which would affect the service life of the guide rope, a guide groove 6021 for the guide rope to pass through is provided through the upper guard plate 602. A guide plate 8 for clamping and constraining the guide rope is connected to the guide groove 6021. When the guide rope is wound around the winding rod 603, the guide rope passes through the guide groove 6021 on the upper guard plate 602 and passes between the guide plates 8, and then contacts and connects with the winding rod 603.

[0026] Furthermore, in order to ensure that the power of the threading assembly 6 can meet the threading requirements, a ejector 505 for providing power to the threading assembly 6 is connected to the end of the locking hole 504 away from the threading assembly 6. When the threading assembly 6 reaches the target position and angle, the ejector 505 applies power to the threading assembly 6, thereby causing the locking head 601 to disengage from the locking hole 504 and driving the ejector 505 to move to meet the threading requirements.

[0027] The ejection unit 505 causes the rope threading assembly 6 to form a parabola in the air and to fall freely to the ground after completing the threading. Then the flight assembly 1 falls back to its original position, severing the connection between the guide rope and the connecting assembly 4 and the wire part 7, so as to facilitate subsequent connection and use.

[0028] The path planning module calculates the optimal launch angle of the rope-threading component 6 based on the target coordinates, gravitational acceleration, and preset environmental parameters. The control board 105 sends an angle adjustment command to the drive unit of the adjustment component 5, which drives the adjustment disk 501 to rotate. The angle sensor provides real-time feedback of the rotation angle data and compares it with the optimal angle. If the deviation is large, the drive unit continues to fine-tune until the angle meets the standard and then locks the adjustment disk 501 to complete the calibration.

[0029] When the control board 105 confirms that the position error and flight tilt angle meet the launch standards, it sends a launch preparation signal to the ejection unit 505 through the control board 105. Based on the real-time distance data from the laser rangefinder 201, the power output of the ejection unit 505 is automatically adjusted. To ensure clarity, an embodiment is proposed here: when the target distance is 2 meters, the ejection force is set to 0.8 kN; when the target distance is 4 meters, the force is increased to 1.2 kN, ensuring that the rope-threading assembly 6 flies along a preset parabolic trajectory and accurately passes through the target hole.

[0030] Furthermore, the flight assembly 1 includes a fuselage 103 for carrying the component. Multiple connecting rods 102 are connected to the fuselage 103. A propeller 101 is connected to the end of each connecting rod 102 away from the fuselage 103. When the flight assembly 1 is not in use, the length of the connecting rod 102 can be retracted, allowing it to rotate relative to the fuselage 103, thereby reducing the size of the flight assembly 1 and facilitating its storage. The fuselage 103 is also connected to a control system for adjusting the flight attitude of the flight assembly 1 and the operation of the adjustment assembly 5 and the tethering assembly 6. The control board 105 has a control port 104 connected to one end. It is connected to the control port 104 through an external program port, so that the data of the rope threading is uploaded to the control board 105 through the control port 104. This allows the control board 105 to regulate the working status of the flight component 1 and the adjustment component 5. The identification component 2 and the connection component 4 are both connected to the fuselage 103. The fuselage 103 is equipped with a protective rod 3 at the end near the ground. In this invention, the protective rod 3 is only used as a landing gear to ensure the stability of the flight component 1 during takeoff and landing.

[0031] Meanwhile, the laser rangefinder 201 collects the straight-line distance and vertical height difference between the fuselage 103 and the rope-threading target in real time, with a data sampling frequency of ≥10Hz and an accuracy of ±2cm; the camera component 202 collects high-definition images of the target area and extracts the contour features and center coordinates of the rope-threading hole through the built-in image recognition algorithm, with a recognition accuracy of ≥95%; the angle sensor detects the rotation angle data of the adjustment disk 501 in real time and provides feedback on the initial ejection angle of the rope-threading component 6; the flight attitude sensing unit detects the tilt angle and horizontal displacement deviation of the fuselage 103 and transmits them synchronously to the control board 105.

[0032] The data fusion module of the control board 105 uses a weighted Kalman filter algorithm to perform spatiotemporal registration and noise suppression on the above multi-source data. That is, when the laser rangefinder 201 experiences data fluctuations due to strong light, the module automatically increases the weight of the coordinate data of the camera component 202, and, combined with the flight attitude deviation, corrects the target position calculation results to ensure that the target positioning error meets the requirements for accurate rope threading.

[0033] Furthermore, the control board 105 transmits key data such as flight altitude, target distance, adjustment angle, and ejection force back to the external terminal in real time through the control port 104. The terminal displays the data in the form of charts, such as flight altitude curves and angle calibration curves. After the rope is threaded, the module automatically stores the threading data for subsequent fault tracing and parameter optimization. For example, if ejection deviation occurs multiple times in a certain area, the preset angle can be adjusted based on historical data.

[0034] Furthermore, to ensure the stability of the adjustment component 5 during connection, the connection component 4 includes a fixing plate 401, which is connected to the body 103 to ensure the stability of the adjustment component 5 and the rope threading component 6 during connection. Two brackets 402 are connected to the end of the fixing plate 401 away from the body 103, and the adjustment disc 501 is rotatably connected between the two brackets 402. It should also be noted that the position of the connection component 4 will not conflict with the position of the identification component 2.

[0035] Furthermore, to ensure that the guide rope does not become entangled on the flight component 1 and cause damage due to airflow when connected to the winding rod 603, a guide wire portion 7 is connected to the end of the fixing plate 401 away from the identification component 2. The end that needs to be threaded is located on the winding rod 603, and the end that has been threaded rests on the guide wire portion 7, thereby ensuring a safe distance between the guide rope and the flight component 1. The guide wire portion 7 includes a swing plate 701, which is rotatably connected to the fixing plate 401, and the fixing plate 401 and the swing plate 701 are connected to the swing plate 701. A torsion spring is connected between the moving plates 701, and a rotating wheel 702 is provided at the end of the swing plate 701 away from the fixed plate 401 for the guide rope to abut. When the guide rope is wound, the length of the guide rope required for the flight height of the flight component 1 is first left, and then the end of the guide rope is passed through the rotating wheel 702, the arc groove 502, the wire groove 6021, and the wire plate 8 in sequence before being wound on the winding rod 603. This achieves the connection between the guide rope and the rope threading assembly 6, ensuring that the guide rope will not detach from the rope threading assembly 6 as the flight component 1 moves.

[0036] Furthermore, to reduce the risk of damage to the rope threading assembly 6 upon contact with the ground during free fall, a protective cavity 6041 is provided inside the lower guard plate 604. An elastic part 6042 is connected inside the protective cavity 6041, and a buffer plate 605 is connected to the end of the elastic part 6042 away from the protective cavity 6041. The buffer plate 605 is movably connected inside the elastic part 6042. Thus, when the rope threading assembly 6 is in free fall, the guide rope on the winding rod 603 is gradually released. At the same time, under the action of gravity, the buffer plate 605 faces the ground, and thus the buffer plate 605 contacts the ground first, causing the elastic part 6042 to compress, thereby counteracting the gravitational potential energy of the rope threading assembly 6 and ensuring the safety of the rope threading assembly 6.

[0037] Meanwhile, if the launch of the catapult 505 fails, the buffer plate 605 of the rope threading assembly 6 will come into contact with an external object, and the elastic part 6042 will be compressed, thereby improving the safety of the rope threading assembly 6.

[0038] Using the pressure feedback signal at the snap-fit ​​hole 504 of the adjustment component 5, the snap-fit ​​tightness between the snap-fit ​​connector 601 and the snap-fit ​​hole 504 is monitored in real time. When the pressure value is lower than the preset threshold, it is determined that the snap-fit ​​is loose; when the pressure value fluctuates greatly, it is determined that the snap-fit ​​is unstable.

[0039] The control board 105 transmits the snap-fit ​​status to the external terminal in real time. The snap-fit ​​status is divided into three states: normal, loose, and unstable. If a loose or unstable state occurs, the terminal will immediately pop up a warning window and suspend the subsequent ejection action until the operator confirms that the snap-fit ​​has been reset or the control board 105 corrects the snap-fit ​​position by adjusting the micro-drive of the adjustment component 5 and restores the normal pressure value.

[0040] Through the indirect linkage logic between the rotation speed of the wheel 702 in the conductor section 7 and the winding rod 603, the control board 105 detects the speed difference of the wheel 702 and infers the tension state of the guide rope. When the rotation speed of the wheel 702 is too fast, it is determined that the tension is too small, which means that the guide rope is slack and the rope on the winding rod 603 is likely to fall off.

[0041] When the rotation speed difference wheel 702 rotates too slowly, it is determined that the tension is too high, which may cause the guide rope to be too tight, leading to rope wear or breakage. The control board 105 drives the fine adjustment of the guide plate 8 according to the tension status. When the tension is too low, the guide plate 8 is controlled to move slightly inward to reduce the distance between the two guide plates 8, increase the clamping force on the guide rope, and increase the tension. When the tension is too high, the guide plate 8 is controlled to move slightly outward to reduce the clamping force and reduce the tension, ensuring that the tension is always maintained within the preset safe range.

[0042] Based on the target distance of the laser rangefinder 201 and the ejection angle fed back by the angle sensor of the adjustment component 5, the control board 105 calculates the initial release length of the guide rope after the rope threading component 6 is ejected by the parabolic trajectory algorithm, and drives the coordinated action of the guide plate 8 and the winding rod 603: controlling the guide plate 8 to pre-fix the guide rope at the designated position of the guide groove 6021.

[0043] If the target distance or ejection angle changes during flight, the control board 105 updates in real time and adjusts the fixed position of the guide plate 8 synchronously to ensure that the guide rope is always in a state where it can be accurately released upon ejection.

[0044] Before the ejection unit 505 triggers the ejection, the control board 105 uses the angle sensor of the adjustment component 5 to confirm that the deviation between the initial ejection angle of the rope threading component 6 and the preset angle is within the error range. At the moment of ejection, the control board 105, in conjunction with the flight attitude sensing unit of the fuselage 103, sends an attitude holding signal to the rope threading component 6. Through the final micro-adjustment before the snap connector 601 disengages from the snap connector hole 504, the instantaneous rotation angle of the adjustment disk 501 is corrected to ensure that the attitude of the rope threading component 6 during ejection is completely aligned with the target rope threading hole, thus avoiding the deviation of the ejection trajectory caused by the tilt of the fuselage 103.

[0045] At the moment of ejection, the control board 105 drives the guide plate 8 to move rapidly and slightly inward, briefly increasing the clamping force on the guide rope until the rope threading assembly 6 disengages from the snap-fit ​​hole 504. Then the guide plate 8 returns to its original position to prevent the guide rope from falling off the guide groove 6021 due to the impact of ejection.

[0046] After the rope threading assembly 6 lands, the control board 105 uses the camera assembly 202 of the original device to capture the hooking status of the guide rope at the rope threading hole. If the image recognizes that the guide rope has successfully passed through the rope threading hole without falling off, it is determined that the rope threading is successful. The control board 105 immediately instructs the rotating wheel 702 of the guide wire section 7 to stop rotating to avoid the rope becoming too tight due to continued traction. The control board 105 also displays on the external terminal: "Rope threading successful, subsequent traction can proceed." If the hooking is not recognized, the control board 105 determines that the rope threading has failed and displays the reason for the failure and the fault.

[0047] After the rope is successfully threaded, the control board 105 calculates the remaining retrievable length of the guide rope based on the landing distance data of the laser rangefinder 201, i.e. the distance between the machine body 103 and the rope threading assembly 6, and displays the guide rope on the external terminal; at the same time, through the status feedback of the buffer plate 605, it prompts the operator whether it is necessary to retrieve the rope threading assembly 6 on site.

[0048] When using the device, the snap-fit ​​connector 601 of the rope threading assembly 6 is snapped into the snap-fit ​​hole 504 of the adjustment disc 501 of the adjustment assembly 5, thereby achieving detachable fixation between the rope threading assembly 6 and the adjustment assembly 5. Then, one end of the guide rope is reserved to accommodate the flight altitude of the flight assembly 1, and the other end is sequentially passed around the rotating wheel 702 of the guide wire section 7, the arc groove 502 of the adjustment disc 501, and the wire passage groove 6021 of the upper guard plate 602 of the rope threading assembly 6. After being clamped and constrained by the wire passage plate 8, it is wound around the winding rod 603 of the rope threading assembly 6. During this process, the swing plate 701 of the guide wire section 7 remains in a naturally drooping state under the action of the torsion spring, and the rotating wheel 702 is in contact with the surface of the guide rope. This not only prevents the guide rope from getting tangled with the connecting rod 102, the spiral blade 101, and other structures of the flight assembly 1, but also reduces the friction of the guide rope when it moves due to the rolling characteristics of the rotating wheel 702. The guide plate 8 clamps the guide rope to ensure its stable winding position on the winding rod 603, preventing it from falling off the guide rope from the guide groove 6021 due to airflow disturbance. Simultaneously, it connects to the control port 104 of the flight component 1 fuselage 1 via an external terminal, presets the target coordinates for rope threading, and uploads the corresponding parameters of ejection force and distance to the control board 105 of the fuselage 103, providing a control reference for subsequent operations.

[0049] After the operation is started, the fuselage 103 drives the propeller 101 at the end of the connecting rod 102 to rotate through the control board 105, generating lift to take off the entire device. The protective rod 3 at the bottom of the fuselage 103 serves as the landing gear to ensure stability during takeoff and subsequent landing.

[0050] During flight, the identification component 2 is activated simultaneously, and the laser rangefinder 201 collects the straight-line distance and vertical height difference between the fuselage 103 and the rope-threading target in real time; the camera component 202 collects high-definition images of the target area and extracts the contour features and center coordinates of the rope-threading hole through the built-in image recognition algorithm.

[0051] Meanwhile, the angle sensor on the adjustment disk 501 detects the current rotation angle of the adjustment disk 501 in real time, and the flight attitude sensing unit collects the tilt angle and horizontal displacement deviation of the fuselage 103 simultaneously. All of the above multi-source data are transmitted to the control board 105 in real time. The control board 105 combines the flight attitude deviation to correct the target position calculation results, ensuring that the target positioning error meets the requirements for accurate rope threading, and providing a reliable position reference for subsequent angle adjustment and ejection.

[0052] When the flight component 1 arrives near the target area under the drive of the control board 105, and the position data fed back by the identification component 2 meets the preset preparation, the device enters the angle adjustment stage. The path planning module of the control board 105 calculates the optimal ejection angle of the rope-threading component 6 through a parabolic trajectory algorithm based on the target coordinates, gravitational acceleration, and real-time environmental parameters; then the control board 105 sends an angle adjustment command to the drive unit of the adjustment component 5, driving the adjustment disk 501 to rotate on the bracket 402 connecting the component 4.

[0053] During this process, the angle sensor feeds back the rotation angle data of the adjustment disk 501 to the control board 105 in real time. The control board 105 compares the actual rotation angle with the optimal angle. If the deviation exceeds the threshold of ±0.5°, the drive unit continues to fine-tune the angle of the adjustment disk 501 until the rotation angle reaches the standard and then locks the adjustment disk 501, completing the precise calibration of the initial ejection angle of the rope threading assembly 6. At the same time, the control board 105 monitors the tightness of the engagement between the snap-fit ​​connector 601 and the snap-fit ​​hole 504 in real time through the pressure detection unit built into the snap-fit ​​hole 504. When the engagement becomes loose or unstable, the control board 105 immediately transmits a warning signal to the external terminal. The terminal pops up a prompt and pauses the subsequent actions. Only after the operator confirms that the engagement is reset or the control board 105 corrects the engagement position and restores the normal pressure value through the micro-drive of the adjustment disk 501 can the next stage be entered, so as to avoid ejection failure due to engagement problems.

[0054] After the angle adjustment is completed, the control board 105 detects the rotation speed of the rotating wheel 702 of the conductor section 7 to infer the tension of the guide rope. If the rotating wheel 702 rotates too fast, it means that the tension of the guide rope is too small, which may cause the rope on the winding rod 603 to loosen and fall off. If the rotation speed is too slow, it means that the tension is too large, which may cause the rope to wear or break.

[0055] For different tension states, the control board 105 drives the guide plate 8 to make fine adjustments. When the tension is too low, the guide plate 8 moves inward to reduce the gap and increase the clamping force on the guide rope to increase the tension. When the tension is too high, the guide plate 8 moves outward to increase the gap and reduce the clamping force to reduce the tension, ensuring that the guide rope is always maintained within the preset safe tension range.

[0056] Meanwhile, based on the real-time target distance from the laser rangefinder 201 and the ejection angle from the angle sensor, the control board 105 calculates the initial release length of the guide rope after the rope assembly 6 is ejected using a parabolic trajectory algorithm, and drives the guide plate 8 to pre-fix the guide rope at the designated position of the guide groove 6021. If the target distance or ejection angle changes due to factors such as airflow during flight, the control board 105 updates the calculation results in real time and adjusts the fixed position of the guide plate 8 synchronously to ensure that the guide rope is always in a state of precise release upon ejection.

[0057] When all parameters meet the preset requirements, the control board 105 sends an ejection command to the ejection unit 505, and the device enters the ejection and rope-threading stage. The ejection unit 505 releases power instantaneously, pushing the locking connector 601 to disengage from the locking hole 504, and the rope-threading assembly 6 flies towards the rope-threading target along a preset parabolic trajectory under the action of the ejection force.

[0058] At the moment of ejection, the control board 105 simultaneously executes two coordinated actions. First, based on the tilt data of the fuselage 103 fed back by the flight attitude sensor unit, it makes a slight correction to the instantaneous angle of the adjustment disk 501 to ensure that the attitude of the tethering assembly 6 during ejection is perfectly aligned with the tethering hole, preventing the ejection trajectory from deviating due to the instantaneous tilt of the fuselage 103. Second, it drives the guide plate 8 to move rapidly and slightly inward, briefly increasing the clamping force on the guide rope until the tethering assembly 6 is completely disengaged from the locking hole 504. Then, the guide plate 8 returns to its original position to prevent the guide rope from falling off the guide groove 6021 due to the ejection impact. During the flight of the tethering assembly 6, the guide rope on the winding rod 603 is gradually released along the parabolic trajectory, and the lower guard plate 604 always faces the ground to prepare for subsequent landing cushioning.

[0059] The buffer plate 605 of the rope threading assembly 6 first contacts the ground. After being compressed, the buffer plate 605 moves into the protective cavity 6041, compressing the elastic part 6042 in the protective cavity 6041. The elastic deformation offsets the gravitational potential energy of the rope threading assembly 6, preventing the winding rod 603, the upper guard plate 602 and other structures from being damaged by impact.

[0060] Simultaneously, the flight component 1 gradually descends to its initial position under the drive of the control board 105, while the camera component 202 continuously captures images of the tether hole area and transmits the image data to the control board 105. The control board 105 uses an image recognition algorithm to determine whether the guide rope has successfully passed through the tether hole without falling off: if the rope is successfully threaded, the control board 105 immediately instructs the wheel 702 of the guide wire section 7 to stop rotating to avoid the guide rope becoming too tight due to continued traction, and displays "threading successful" on the external terminal, allowing for subsequent traction. At the same time, based on the landing distance between the fuselage 103 and the tether component 6 collected by the laser rangefinder 201, the remaining retrievable length of the guide rope is calculated and displayed synchronously; if the guide rope is not detected to be hooked up, the rope threading is deemed to have failed, and the terminal displays the reason for the failure.

[0061] After the rope is successfully threaded, the operator can disconnect the guide rope from the conductor section 7 and the adjustment component 5 to carry out subsequent traction operations; the control board 105 will automatically store the key data of this rope threading, which will facilitate subsequent fault tracing and parameter optimization.

[0062] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0063] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A portable automatic rope-threading device based on a drone base, comprising a flight component (1), characterized in that: The flight component (1) is connected to an identification component (2) at one end, and a connecting component (4) is also connected to the flight component (1). The connecting component (4) and the identification component (2) are located at the same end. An adjustment component (5) is rotatably provided on the connecting component (4), and a rope threading component (6) is snapped onto the adjustment component (5). The identification component (2) includes a laser rangefinder (201) and a camera component (202); The adjustment component (5) includes an adjustment disk (501), which is rotatably connected to the connection component (4). The adjustment disk (501) has an arc-shaped groove (502) and a rotating rod (503) is connected inside the arc-shaped groove (502). The adjustment disk (501) also has a snap-fit ​​hole (504) and an angle sensor is connected to the adjustment disk (501). The rope threading assembly (6) includes an upper guard plate (602), and a snap-fit ​​connector (601) is connected to one end of the upper guard plate (602) near the adjusting assembly (5). The snap-fit ​​connector (601) can be connected into the snap-fit ​​hole (504). A winding rod (603) is connected to one end of the upper guard plate (602) away from the snap-fit ​​connector (601), and a lower guard plate (604) is connected to one end of the winding rod (603) away from the snap-fit ​​connector (601). The flight component (1) includes a fuselage (103), on which a plurality of connecting rods (102) are connected. A propeller (101) is connected to one end of the connecting rod (102) away from the fuselage (103). A control board (105) is also connected to the fuselage (103). A control port (104) is connected to one end of the control board (105). The identification component (2) and the connecting component (4) are both connected to the fuselage (103). A protective rod (3) is connected to one end of the fuselage (103) near the ground.

2. The portable automatic rope-threading device based on a drone base according to claim 1, characterized in that: The upper guard plate (602) is provided with a through groove (6021), and a through plate (8) is connected to the through groove (6021).

3. The portable automatic rope-threading device based on a drone base according to claim 1, characterized in that: The end of the snap-fit ​​hole (504) away from the rope threading assembly (6) is connected to an ejector part (505).

4. The portable automatic rope-threading device based on a drone base according to claim 1, characterized in that: The connecting assembly (4) includes a fixing plate (401), which is connected to the body (103), and a bracket (402) is connected to one end of the fixing plate (401) away from the body (103), and the adjusting plate (501) is rotatably connected to the bracket (402).

5. The portable automatic rope-threading device based on a drone base according to claim 4, characterized in that: The fixed plate (401) is connected to a wire part (7) at one end away from the identification component (2). The wire part (7) includes a swing plate (701). The swing plate (701) is rotatably connected to the fixed plate (401), and a rotating wheel (702) is rotatably provided at one end of the swing plate (701) away from the fixed plate (401).

6. The portable automatic rope-threading device based on a drone base according to claim 2, characterized in that: The lower guard plate (604) has a protective cavity (6041) inside, and an elastic part (6042) is connected inside the protective cavity (6041). A buffer plate (605) is connected to one end of the elastic part (6042) away from the protective cavity (6041).

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