A line engineering tower foundation green recovery unmanned aerial vehicle hoisting system

Abstract

The utility model discloses a kind of unmanned aerial vehicle hoisting systems for line engineering tower base green, it is related to unmanned aerial vehicle field.In power line engineering construction, tower base green operation needs to transport various green materials, currently mainly manual handling, due to the existence of forest land, hillside and various obstacles such as power transmission line, iron tower, even if using unmanned aerial vehicle transportation is also very difficult to land, and great safety risk.The utility model includes unmanned aerial vehicle, electric hoist, sling and basket.By setting the lifting hoisting system on unmanned aerial vehicle, it can be convenient to unload goods directly by remote control electric hoist in complex terrain belt where unmanned aerial vehicle cannot land or hover at low altitude, after goods are disassembled, electric hoist is retracted lifting rope, then it can take off from higher position, and it can conveniently transport and land goods in complex terrain belt such as mountainous forest area and line complex engineering tower area.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicles (UAVs), and in particular to a UAV hoisting system for revegetating tower foundations in power line engineering. Background Technology

[0002] In power line construction, transmission towers serve as the core supporting structure for power grid transmission and are widely distributed in complex terrain areas such as mountainous and hilly regions. With the advancement of ultra-high-voltage power grid projects such as the "West-to-East Power Transmission" project, the construction of transmission towers inevitably causes damage to the surrounding surface vegetation. As a key link in ecological restoration, the revegetation of tower bases is directly related to the environmental protection acceptance of the project and the regional ecological balance, and has become a key task of concern for the national energy sector and power grid companies.

[0003] Currently, in tower base revegetation operations, the transportation of revegetation materials (such as organic fertilizer, seedlings, and small maintenance equipment) is still mainly done manually, with the total demand for a single tower reaching 375kg to 500kg. However, mountainous and hilly terrain is steep, with rugged paths and obstacles such as rocks, trees, and ravines. Manual transportation is not only extremely inefficient—a single trip can take several hours—but also requires workers to carry heavy loads back and forth in complex terrain, which can easily lead to falls due to uneven force and slippery surfaces, or even the risk of falling into valleys. This makes it difficult to meet the needs of large-scale, efficient revegetation operations.

[0004] In existing mechanized transportation solutions, traditional hoisting equipment such as small cranes and cableways are limited by poor terrain adaptability and cannot penetrate into narrow mountain paths; ordinary drone transportation mostly adopts a simple hook design, which has defects such as unstable load center of gravity and no anti-detachment protection, and cannot stably carry various types of revegetation materials (which can easily lead to material spillage). Utility Model Content

[0005] The technical problem to be solved and the technical task proposed by this utility model is to improve and refine existing technical solutions, and to provide a drone hoisting system for revegetation of tower bases in power line engineering projects, with the aim of facilitating the transportation and landing of goods in complex terrain areas such as mountainous forest areas and engineering tower areas with complex power lines. To this end, this utility model adopts the following technical solution.

[0006] A drone-mounted hoisting system for revegetating tower foundations in power line engineering includes a drone, an electric hoist, a hoisting rope, and a basket. The electric hoist is fixed to the drone's base frame and is equipped with a lifting rope. The lower end of the lifting rope has a hook, and the upper end of the basket has four hooks. The upper end of the lifting rope is connected to the hook, and the lower end of the lifting rope is connected to the four hooks of the basket. By mounting a lifting system on the drone, goods can be directly lowered via remote-controlled electric hoist in complex terrain areas where the drone cannot land or hover at low altitudes. After the goods are unloaded, the electric hoist retracts the lifting rope, allowing for a re-flight from a higher position. This system facilitates the transportation and landing of goods in complex terrain areas such as mountainous forest areas and engineering tower areas with complex power lines. Controlling the lifting of the goods via the electric hoist allows the drone to hover above the risk of collision with obstacles, thus avoiding the safety risk of collisions. The basket's four-hook structure ensures a more stable and reliable connection between the lifting rope and the basket, improving stability during hoisting and preventing damage to materials due to basket tilting.

[0007] As a preferred technical means, the upper end of the hook is equipped with a counterweight plate. When lifting lighter goods or goods with a shifted center of gravity, the counterweight plate can effectively increase stability and prevent the drone from becoming unstable in flight attitude due to the imbalance of the center of gravity of the lifting components. It is especially suitable for stable flight in complex airflow environments in mountainous areas.

[0008] As a preferred technical means: the hook includes a hook body, an anti-detachment rod, a connecting pin, and a connecting pin seat. The upper end of the hook body, the connecting pin seat, and the counterweight plate are all integral structures. The upper end of the anti-detachment rod is connected to the connecting pin and the connecting pin seat. The lower end face of the anti-detachment rod and the hook end face of the hook body are corresponding inclined structures, with the lower end of the inclined surface located at the center side of the hook body to prevent the anti-detachment rod from detaching outward. The hook body, connecting pin seat, and counterweight plate are integral structures, which improves the overall reliability of the structure. The anti-detachment rod is connected to the connecting pin seat through the connecting pin, which is convenient for disassembly and assembly and provides a firm connection. The anti-detachment structure can prevent the lifting rope from detaching from the lower end of the anti-detachment rod after connection.

[0009] As a preferred technical means, a load sensor is provided at the lower end of the lifting rope. The load sensor can detect the total weight of the basket and materials borne by the lifting rope in real time, avoiding damage to the electric hoist due to overload, breakage of the lifting rope, or loss of flight control of the drone due to the load exceeding the rated load capacity.

[0010] As a preferred technical approach, the suspended platform utilizes a rectangular frame constructed from connected rectangular stainless steel tubing, with a hook at each of the four corners facing downwards. The rectangular stainless steel tubing possesses high strength and corrosion resistance, making it suitable for harsh outdoor environments in mountainous and hilly areas, preventing a decrease in load-bearing capacity due to material corrosion or deformation. The hook design at the four corners of the frame is compatible with the four-point connection method of the lifting ropes, ensuring balanced force distribution in all directions during hoisting and preventing excessive stress at a single point, which could lead to localized deformation or tilting of the platform, thus ensuring the safety of material transportation. Furthermore, the downward-facing hook structure facilitates quick attachment and removal of the lifting ropes, reducing loading and unloading time for operators at the tower base and improving the efficiency of revegetation operations.

[0011] As a preferred technical approach, the rectangular stainless steel tubes on the rectangular frame are connected using a dual connection structure of welding and bolting. This dual connection structure effectively prevents the rectangular frame from loosening or breaking at the joints during heavy loads and vibrations, significantly improving the structural reliability of the suspended platform.

[0012] As a preferred technical approach, the UAV is equipped with a retractable terrain-matching landing gear. The landing gear has four independent electrically operated telescopic mechanisms, and each of the four corners of the landing gear's base is equipped with a pressure sensor. These four independent telescopic mechanisms can flexibly adjust the height of each landing gear foot according to the terrain undulations at the tower base, enabling the UAV to land smoothly even on uneven ground. This prevents the UAV from tipping over or being damaged due to unstable landing. The pressure sensors at the bottom can detect the contact pressure between each landing gear foot and the ground in real time, feeding back to the UAV's flight control system to determine whether the landing is smooth and to adjust the telescopic mechanisms accordingly, further improving landing safety. This is particularly suitable for complex terrain conditions in the tower base area.

[0013] As a preferred technical means, the landing gear is equipped with anti-slip pads at the bottom. The anti-slip pads at the bottom of the landing gear can increase the friction with the ground and prevent the drone from sliding or shifting after landing due to the smooth ground. This is especially suitable for tower base revegetation operations in rainy and humid mountainous environments.

[0014] Beneficial effects: It can solve the problem of transporting materials for revegetation in complex terrains such as mountainous and forested areas. The drone is equipped with an electric hoist to lift and lower the cargo, eliminating the need for the drone to land at low altitude and avoiding the risk of collision with obstacles. The four-point hook-up of the basket and the double connection structure of stainless steel, combined with the anti-detachment design of the hook, ensures the stability of the lifting and prevents damage to the materials. The counterweight plate and load sensor balance the center of gravity and monitor the weight, preventing the drone from becoming unbalanced or overloaded and out of control. The retractable landing gear and anti-slip mat are adapted to uneven ground, improving landing safety. The binocular vision system and front and rear phased array radar enable omnidirectional obstacle avoidance, adapting to complex environments and improving the overall efficiency, safety and adaptability of revegetation operations. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model.

[0016] Figure 2 This is a schematic diagram of the suspended basket structure in this utility model.

[0017] Figure 3 This is a utility model Figure 1 Enlarged schematic diagram of part A in the middle.

[0018] In the diagram: 1. Drone; 2. Electric hoist; 3. Hoisting rope; 4. Suspended basket; 5. Lifting rope; 6. Hook; 7. Counterweight plate; 101. Landing gear; 401. Hook; 402. Rectangular frame; 601. Hook body; 602. Anti-derailment rod; 603. Connecting pin; 604. Connecting pin seat. Detailed Implementation

[0019] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings.

[0020] Example 1 like Figure 1 As shown, a drone hoisting system for revegetating tower foundations in power line engineering includes a drone 1, an electric hoist 2, a hoisting rope 3, and a basket 4. The electric hoist 2 is fixed to the base of the drone 1. The electric hoist 2 is equipped with a lifting rope 5, and the lower end of the lifting rope 5 is equipped with a hook 6. The upper end of the basket 4 is equipped with four hooks 401. The upper end of the hoisting rope 3 is connected to the hook 6, and the lower end of the hoisting rope 3 is connected to the four hooks 401 of the basket 4.

[0021] like Figure 2 As shown, the suspended platform 4 is a rectangular frame 402 made of rectangular stainless steel tubes. Each of the four corners of the frame has a hook 401 with the hook facing downwards. The rectangular stainless steel tubes are made of high-strength and corrosion-resistant materials, which can adapt to the harsh outdoor environment of mountainous and hilly tower base areas. This prevents the suspended platform 4 from losing its load-bearing capacity due to material corrosion and deformation. The design of the hooks 401 at the four corners of the frame matches the four-point connection method of the lifting ropes 3, so that the suspended platform 4 is subjected to balanced forces in all directions during the lifting process. This prevents the suspended platform 4 from being deformed or tilted due to excessive forces at a single point, thus ensuring the safety of transporting materials.

[0022] In this embodiment, the lifting rope 3 adopts a combined structure, including an upper lifting rope 3 and a lower lifting rope 3. The lower lifting rope 3 is divided into two strands, and the lower end of each strand is connected to two hooks 401 to maintain balance. The upper lifting rope 3 passes through the upper ends of the two lower lifting ropes 3 and is connected to the hook 6.

[0023] To prevent overload, a load sensor is installed at the lower end of the lifting rope 5. The load sensor can detect the total weight of the basket 4 and the materials supported by the lifting rope 5 in real time, so as to avoid damage to the electric hoist 2 due to overload, breakage of the lifting rope 5, or loss of flight control of the drone 1 due to the load exceeding the rated load capacity.

[0024] To enhance the structural strength of the connections, the rectangular stainless steel tubes on the rectangular frame 402 employ a dual connection structure of welding and bolting. This dual connection structure strengthens the connection and effectively prevents loosening or breakage at the connections when the rectangular frame 402 is under heavy load or vibration, significantly improving the structural reliability of the suspended platform 4.

[0025] To achieve accurate visual obstacle recognition, the UAV 1 is equipped with an upper binocular vision system for identifying overhead cables and tower crossarms, and a lower binocular vision system for identifying ground protrusions and selecting landing sites. The upper binocular vision system can accurately identify obstacles such as overhead cables and tower crossarms, preventing collisions when the UAV 1 flies close to the tower base, ensuring the safety of the UAV 1 and the hoisting system, and preventing power line failures caused by collisions with cables. The lower binocular vision system can identify ground protrusions such as rocks, tree stumps, and deep pits, helping the UAV 1 select suitable landing sites and preventing the UAV 1 from tipping over or the hoisting basket 4 from colliding with ground protrusions due to improper landing site selection. It is especially suitable for tower base areas with dense vegetation and complex terrain.

[0026] To achieve accurate scanning and obstacle identification within a certain range and allow sufficient reaction time for avoidance, UAV 1 is equipped with a front phased array digital radar for forward scanning and a rear phased array digital radar for rear scanning. The front phased array digital radar can perform long-range, high-precision scanning within a 100-meter range in front, identifying obstacles in front of the tower base in advance and allowing UAV 1 sufficient reaction time for avoidance; the rear phased array digital radar covers a 50-meter range behind, preventing UAV 1 from colliding with obstacles behind it when returning to base or reversing to adjust its position, achieving "two-way" safety protection.

[0027] In this embodiment, the power system of the UAV 1 includes a motor, a propeller, and an electronic speed controller. The UAV 1 generates lift by driving the propeller through the motor, and the electronic speed controller dynamically adjusts the motor speed to control takeoff, hovering, and landing. An indicator light is configured on the left side of the motor. The flight control system of the UAV 1 includes a main control board, an inertial measurement unit, and a satellite navigation terminal. The main control board, as the flight control unit, combines with sensors such as the inertial measurement unit and the satellite navigation terminal to calculate attitude and position data in real time to ensure stable flight. During navigation flight, the UAV 1 uses technologies such as phased array digital radar and binocular vision system to plan flight routes.

[0028] By installing a lifting and lowering hoisting system on the drone 1, goods can be easily lowered directly by remote-controlled electric hoist 2 in complex terrain areas where the drone 1 cannot land or hover at low altitudes. After the goods are unloaded, the electric hoist 2 retracts the lifting rope 5, and then the drone can take off again from a higher position. This system can facilitate the transportation and landing of goods in complex terrain areas such as mountainous forest areas and engineering tower areas with complex lines. By lifting and lowering the goods by the electric hoist 2, the hovering position of the drone 1 is kept higher than the obstacle position where there is a risk of collision, thus avoiding the safety risk of collision for the drone 1. The basket 4 adopts a structure with four hooks 401, which makes the connection between the lifting rope 3 and the basket 4 more stable and reliable, improves the stability during the hoisting process, and prevents the basket 4 from tilting and causing damage to the materials.

[0029] Example 2 Unlike the above embodiment, as Figure 1 , 3 As shown, the upper end of the hook 6 is equipped with a counterweight plate 7. When lifting lighter goods or goods with a shifted center of gravity, the counterweight plate 7 can effectively increase stability and prevent the UAV 1 from becoming unstable in flight attitude due to the imbalance of the center of gravity of the lifting components. It is especially suitable for stable flight in complex airflow environments in mountainous areas.

[0030] like Figure 3 As shown, the hook 6 includes a hook body 601, an anti-detachment rod 602, a connecting pin 603, and a connecting pin seat 604. The upper end of the hook body 601 and the connecting pin seat 604 are integrally formed with the counterweight plate 7. The upper end of the anti-detachment rod 602 is connected to the connecting pin 603 and the connecting pin seat 604. The lower end face of the anti-detachment rod 602 is a corresponding inclined structure to the hook end face of the hook body 601. The lower end of the inclined surface is located on the center side of the hook body 601 to prevent the anti-detachment rod 602 from detaching outward. The hook body 601, the connecting pin seat 604, and the counterweight plate 7 are integrally formed, which improves the overall reliability of the structure. The anti-detachment rod 602 is connected to the connecting pin seat 604 through the connecting pin 603, which is convenient to assemble and disassemble and has a firm connection. The anti-detachment structure can prevent the lifting rope 3 from detaching from the lower end of the anti-detachment rod 602 after connection.

[0031] In this embodiment, the lower end of the anti-detachment rod 602 and the corresponding end of the hook 601 are provided with a magnetic attraction structure to prevent the anti-detachment rod 602 from rotating during flight. Alternatively, an elastic element such as a torsion spring can be used to prevent the anti-detachment rod 602 from rotating instead of a magnetic attraction structure.

[0032] Example 3 Unlike embodiments one or two above, the UAV 1 is equipped with a retractable terrain-matching landing gear 101. The landing gear 101 has four independent electrically operated telescopic mechanisms, and each of the four corners of the bottom of the landing gear 101 is equipped with a pressure sensor. The four independent telescopic mechanisms can flexibly adjust the height of each foot of the landing gear 101 according to the terrain undulations at the tower base site, enabling the UAV 1 to land smoothly even on uneven ground, avoiding the UAV 1 from tipping over and equipment damage due to unstable landing. The pressure sensors at the bottom can detect the contact pressure between each foot of the landing gear 101 and the ground in real time, and feed the feedback to the flight control system of the UAV 1 to determine whether the landing is smooth and adjust the telescopic mechanisms in time, further improving landing safety, especially suitable for complex terrain conditions in the tower base area.

[0033] The landing gear 101 is equipped with anti-slip pads at the bottom. The anti-slip pads at the bottom of the landing gear 101 can increase the friction with the ground and prevent the UAV 1 from sliding or shifting after landing due to the smooth ground. It is especially suitable for tower base revegetation operations in rainy and humid mountainous environments.

[0034] The above figure shows a drone hoisting system for revegetating tower foundations in power line engineering. This is a specific embodiment of the present invention, which demonstrates the substantial features and progress of the present invention. Based on actual usage needs, equivalent modifications in shape, structure, etc., can be made to it under the guidance of the present invention, all of which are within the scope of protection of this solution.

Claims

1. A drone hoisting system for revegetating tower foundations in power line engineering, characterized in that: The device includes a drone, an electric hoist, a lifting rope, and a suspended basket. The electric hoist is connected and fixed to the drone's base frame. The electric hoist is equipped with a lifting rope, the lower end of which is equipped with a hook. The upper end of the suspended basket is equipped with four hooks. The upper end of the lifting rope is connected to the hooks, and the lower end of the lifting rope is connected to the four hooks of the suspended basket.

2. The UAV hoisting system for revegetation of tower foundations in power line engineering according to claim 1, characterized in that: The upper end of the hook is equipped with a counterweight plate.

3. The UAV hoisting system for revegetation of tower foundations in power line engineering according to claim 2, characterized in that: The hook includes a hook body, an anti-detachment rod, a connecting pin, and a connecting pin seat. The upper end of the hook body and the connecting pin seat are integral with the counterweight plate. The upper end of the anti-detachment rod is connected by the connecting pin and the connecting pin seat. The lower end face of the anti-detachment rod and the hook end face of the hook body are corresponding inclined structures. The lower end of the inclined surface is located on the center side of the hook body to prevent the anti-detachment rod from detaching outward.

4. The UAV hoisting system for revegetation of tower foundations in power line engineering according to claim 1, characterized in that: The lower end of the lifting rope is equipped with a load sensor.

5. The UAV hoisting system for revegetation of tower foundations in power line engineering according to claim 1, characterized in that: The suspended basket is made of a rectangular frame connected by rectangular stainless steel tubes, and each of the four corners of the frame is provided with a hook with the hook opening facing downwards.

6. The UAV hoisting system for revegetation of tower foundations in power line engineering according to claim 5, characterized in that: The rectangular stainless steel tubes on the rectangular frame are connected using a dual connection structure of welding and bolting.

7. The UAV hoisting system for revegetation of tower foundations in power line engineering according to claim 1, characterized in that: The drone is equipped with a retractable terrain-matching landing gear, which has four independent electrically operated telescopic mechanisms, and a pressure sensor is installed at each of the four corners of the bottom of the landing gear.

8. The UAV hoisting system for revegetation of tower foundations in power line engineering according to claim 7, characterized in that: The landing gear is equipped with anti-slip pads at the bottom.

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