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CN-121983900-A - Spacer capable of being installed and disassembled by unmanned aerial vehicle

CN121983900ACN 121983900 ACN121983900 ACN 121983900ACN-121983900-A

Abstract

The invention relates to the technical field of live working of power lines, and particularly discloses an intelligent auxiliary positioning and automatic unhooking system and method for an unmanned aerial vehicle to install interphase spacers. The system realizes controllable mounting of the spacing rod through the magnetic lock mounting component, and the magnetic lock is released rapidly through the reverse pulse current applied by the current unhooking component. The system further comprises a negative pressure suction assembly, a tension sensing assembly, a vision auxiliary positioning assembly, a self-adaptive angle adjusting mechanism and a transmission joint (114), wherein the negative pressure suction assembly is used for conducting short-term suction positioning on a wire when the clamping end approaches to an electric wire, the tension sensing assembly is used for monitoring the clamping stress state in real time, the vision auxiliary positioning assembly is used for identifying the space position and the gesture of the wire, the self-adaptive angle adjusting mechanism is used for automatically adjusting the gesture of the clamping end according to the visual identification result, and the transmission joint (114) is used for transmitting an electric signal with an unmanned aerial vehicle to provide signals such as a power supply for the vision auxiliary positioning assembly (113) of the tension sensing assembly (111). The control module is used for cooperatively controlling all the components, so that accurate positioning, controllable stressed clamping, automatic unhooking after installation and secondary maintenance and disassembly of the lead are realized. The invention can obviously improve the success rate of the unmanned aerial vehicle for installing the spacer under complex conditions such as wind disturbance, reduce the risk of wire damage and realize the light-weight, high-reliability and high-automation installation operation.

Inventors

  • HAN HUIFENG
  • LIN YUKUN

Assignees

  • 珠海市精匠智造科技有限公司

Dates

Publication Date
20260505
Application Date
20251226

Claims (13)

  1. 1. Spacer (100) mountable and dismountable by unmanned aerial vehicle, characterized by comprising The composite insulator spacer (120) and spacer clamps (110) arranged at two ends of the composite insulator spacer (120), wherein the spacer clamps (110) are used for clamping and connecting with a power wire in an installation state; the spacer clamp (110) is integrally provided with a tension sensing assembly (111), a negative pressure suction assembly (112) and a vision auxiliary positioning assembly (113), and a magnetic suction signal transmission joint (114); the tension sensing assembly (111) is used for detecting wire tension transmitted through the spacer clamp (110); the negative pressure suction assembly (112) is used for applying negative pressure suction to the wire when the spacer device (100) approaches the wire so as to realize temporary positioning of the wire; The vision-aided positioning component (113) is used for providing identifiable visual characteristics for a visual identification system of the unmanned aerial vehicle so that the unmanned aerial vehicle can adjust the spatial posture of the spacer device (100) relative to the lead based on visual identification results; The magnetic signal transmission connector (114) is used for transmitting an electric signal with the unmanned aerial vehicle, and provides signals such as a power supply for the negative pressure suction assembly (112) of the tension sensing assembly (111) and the vision auxiliary positioning assembly (113), so that the unmanned aerial vehicle can be used for secondary maintenance and disassembly.
  2. 2. The unmanned aerial vehicle mountable and dismountable spacer arrangement (100) according to claim 1, wherein the tension sensing assembly (111) is arranged on a force transmission path between the spacer clamp (110) and the composite insulator spacer (120) such that a pulling force exerted by a wire through the spacer clamp (110) is transmitted to the composite insulator spacer (120) via the tension sensing assembly (111), the tension sensing assembly (111) converting the pulling force into an electrical signal output for characterizing a force state of the spacer clamp (110).
  3. 3. The unmanned aerial vehicle mountable and dismountable spacer arrangement (100) according to claim 1 or 2, wherein the tension sensing assembly (111) is one or a combination of several of a strain gauge sensor, a fibre-optic grating sensor or a piezoresistive force sensor.
  4. 4. The unmanned aerial vehicle mounting and dismounting spacer device (100) according to claim 1, wherein the negative pressure suction assembly (112) is arranged on the outer surface of one side of the spacer clamp (110) close to the wire, the negative pressure suction assembly (112) comprises a flexible suction port with an opening facing the wire and a negative pressure cavity communicated with the flexible suction port, and under the driving of a negative pressure source, a negative pressure is formed in the negative pressure cavity, so that the flexible suction port generates a short-time suction force on the wire to inhibit the wire from swinging and guide the wire to the clamping area of the spacer clamp (110).
  5. 5. The unmanned aerial vehicle mountable and dismountable spacer arrangement (100) according to claim 4, wherein the flexible adsorption port is made of silica gel, thermoplastic elastomer or other flexible elastic material, and has an arc-shaped contact surface adapted to the outer diameter of the wire, for being sealed against the outer surface of the wire without damaging the wire when negative pressure is formed.
  6. 6. The unmanned aerial vehicle mountable and dismountable spacer arrangement (100) according to claim 1, wherein the vision-assisted positioning assembly (113) is arranged on the outer surface of the spacer clamp (110) for providing high-contrast, easily identifiable visual features to an unmanned aerial vehicle mounted camera device.
  7. 7. The unmanned aerial vehicle mountable and dismountable spacer arrangement (100) according to any of claims 1 to 6, wherein the signals or states of the tension sensing assembly (111), the negative pressure suction assembly (112) and the vision-aided positioning assembly (113) are connected in a communication manner with the unmanned aerial vehicle or a ground terminal by wire or wirelessly, for realizing monitoring and controlling of the stress state, the negative pressure suction state and the posture of the spacer clamp (110) during the mounting process.
  8. 8. The spacer device (100) capable of being installed and removed by an unmanned aerial vehicle according to any one of claims 1 to 7, wherein a middle or proper position of the composite insulator spacer (120) is provided with a hanging end matched with the unmanned aerial vehicle hanging device, the hanging end is detachably connected with a magnetic lock type hanging mechanism at the bottom of the unmanned aerial vehicle, and after the unmanned aerial vehicle completes the installation of the composite insulator spacer (120), the magnetic attraction is released by controlling the current state of the magnetic lock type hanging mechanism, so that the automatic unhooking of the unmanned aerial vehicle and the spacer device (100) is realized.
  9. 9. The spacer device (100) capable of being installed and removed by an unmanned aerial vehicle according to any one of claims 1 to 7, wherein the magnetic signal transmission connector (114) is capable of being installed on an outer surface of a spacer clamp (110) and is used for transmitting an electric signal with the unmanned aerial vehicle, and providing signals such as a power supply for a vision auxiliary positioning component (113) of a negative pressure suction component (112) of a tension sensing component (111) so as to realize secondary maintenance and removal by the unmanned aerial vehicle.
  10. 10. A method for installing a spacer device (100) capable of being installed and removed by an unmanned aerial vehicle, wherein the spacer device (100) capable of being installed and removed by an unmanned aerial vehicle comprises a composite insulator spacer (120), spacer clamps (110) arranged at two ends of the composite insulator spacer (120), and a tension sensing assembly (111), a negative pressure suction assembly (112) and a vision auxiliary positioning assembly (113) which are installed on the spacer clamps (110), and the method is characterized by comprising the following steps: -connecting the unmanned aerial vehicle-mountable and-dismountable spacer arrangement (100) to the unmanned aerial vehicle bottom via a hitching end; -controlling the unmanned aerial vehicle to fly with the spacer device (100) to a target wire area and acquiring spatial position and attitude information of the spacer clamp (110) relative to the wire by the vision-aided positioning assembly (113) in cooperation with an unmanned aerial vehicle vision recognition system; -adjusting the flying attitude and position of the unmanned aerial vehicle according to the attitude information, so that the spacer clamp (110) gradually approaches the corresponding wire; -after the distance between the spacer clamp (110) and the wire enters a preset range, driving a negative pressure suction assembly (112) arranged on the spacer clamp (110) to work, and forming negative pressure suction on the wire through a flexible suction port so as to temporarily and stably position the wire; -performing a clamping or locking action of the spacer clamps (110) with the wires stably guided by the negative pressure suction assembly (112), with the composite insulator spacers (120) fixedly connected between the wires; -detecting the clamped stress state by means of a tension sensing assembly (111) mounted on the spacer clamp (110), and judging whether the mounting meets a predetermined tension condition or not based on the detection result; -after the installation is judged to be acceptable, controlling the disconnection of the hooking mechanism between the unmanned aerial vehicle and the spacer device (100) so as to enable the unmanned aerial vehicle to safely withdraw from the installed composite insulator spacer (120).
  11. 11. The method according to claim 10, characterized in that the drone is further controlled to fine tune the attitude or repeat the clamping action to increase the pretension of the conductor when the tension value detected by the tension sensor assembly (111) does not reach the set threshold value, and to release the clamping force of the spacer clamp (110) or adjust the conductor position appropriately to avoid the conductor being in an excessively high tensile stress state for a long time when the tension value is detected to exceed the safety upper limit threshold value.
  12. 12. The method according to claim 10 or 11, characterized in that the negative pressure suction action of the negative pressure suction assembly (112) is started before the spacer clamp (110) starts to perform the clamping action, and after the clamping action is completed, the work is stopped, and the negative pressure suction duration is automatically adjusted according to the wire swing amplitude and the ambient wind speed.
  13. 13. The method according to any one of claims 10 to 12, wherein the visual features provided by the visual aid positioning assembly (113) are used to calculate the attitude of the spacer clamp (110) relative to the unmanned aerial vehicle camera, and the unmanned aerial vehicle adjusts its pitch angle, roll angle and yaw angle in real time according to the attitude information to align the spacer clamp (110) with the target conductor.

Description

Spacer capable of being installed and disassembled by unmanned aerial vehicle Technical Field The invention relates to the technical field of live working equipment of power lines, in particular to an intelligent auxiliary positioning and automatic unhooking device and method for an unmanned aerial vehicle to install a spacer. Background The inter-phase spacer is a key component in the overhead transmission line, and can effectively reduce the swing and friction between the wires and the discharge accidents caused by the swing and friction between the wires by limiting and fixing the adjacent wires. In the traditional installation mode, operators generally need to climb, insulate lifting equipment or pole climbing tools by means of towers, and directly carry out wire hanging and locking operation on wires at high altitude, so that the outstanding problems of high labor intensity, high safety risk, complex operation environment and the like are solved. In recent years, unmanned aerial vehicle auxiliary operation is gradually promoted in a power system, but the existing unmanned aerial vehicle device for installing a spacer still has various defects. Most of the existing unmanned aerial vehicle mounting mechanisms rely on mechanical driving modes to complete clamping, positioning or tripping actions, such as miniature motors, gear transmission, thread bush movement or spring energy storage structures. Although the structure can complete basic actions, the problems of heavy weight, complex mechanism and high maintenance requirement generally exist, and the structure is not suitable for being used on small and medium unmanned aerial vehicles with limited load capacity. In addition, because the overhead conductor frequently swings transversely and longitudinally under the action of wind force, the unmanned aerial vehicle is difficult to stably align the conductor, and the difficulty of installation operation is greatly increased. The prior art mainly relies on mechanical alignment, manual visual inspection and experience judgment of a flying hand, lacks an effective auxiliary positioning means, and is difficult to ensure high-precision installation. Meanwhile, the existing unmanned aerial vehicle device generally lacks a real-time stress monitoring function on the wire, and the clamping action cannot sense the pressure born by the wire, so that the risk of mounting failure caused by damage to the wire surface skin or insufficient clamping due to over-tightening clamping exists. In the unhooking aspect, the problems of mechanical abrasion, clamping stagnation or unreliable actions and the like easily occur in the traditional mechanical clamping buckle or spring type structure, and the requirements of high-altitude operation on stability and reliability are difficult to meet. In addition, for secondary maintenance and overhaul, the prior art cannot be disassembled after being installed by using an inorganic machine, cannot be maintained and cannot be reused. Therefore, there is a need for an unmanned aerial vehicle mounting system that can have a lightweight structure, high-precision positioning capability, wire stress monitoring capability, and a safe and reliable automatic unhooking function. Disclosure of Invention The invention aims to solve the problems that in the prior art, the installation and the disassembly of a composite insulator spacer are seriously dependent on manual high-altitude operation, an unmanned aerial vehicle only bears a simple conveying function and lacks the capability of being matched with the spacer in a cooperative manner, a spacer body lacks the sensing and guiding capabilities of an installation state, a wire is easy to swing under the action of a wind field to cause difficult positioning and the like, and provides a spacer device (100) capable of being installed and disassembled by the unmanned aerial vehicle and a matched installation method thereof. Through integrating tension sensing assembly (111), negative pressure actuation subassembly (112) and vision assistance positioning subassembly (113), magnetism inhale signal transmission joint (114) on conductor spacer clamp (110), make composite insulator conductor spacer (120) possess to the perception of installation status, to the auxiliary stability of wire position and to unmanned aerial vehicle attitude control's coordination ability when being as the interval component to show security, precision and the degree of automation that improves unmanned aerial vehicle live installation conductor spacer operation. In order to achieve the above purpose, the spacer device (100) capable of being assembled and disassembled by an unmanned aerial vehicle provided by the invention uses a composite insulator spacer (120) as a bearing and insulating framework, and spacer clamps (110) for connecting with wires are arranged at two ends or at proper positions along the length direction of the composite insulator spacer (120). The spacer clamp (