CN104485606A - A small multi-axis unmanned aerial vehicle traction rope deployment system - Google Patents

Abstract

The invention discloses a small-sized multi-axis unmanned aerial vehicle traction rope unfolding system, which comprises: a multi-axis drone, the multi-axis drone having a control system installed; the lead wire unfolding device comprises a pay-off rack wound with a traction rope and a lead wire unhooking controller, wherein the pay-off rack is arranged on the ground, the lead wire unhooking controller is installed on the multi-axis unmanned aerial vehicle and comprises a power mechanism and a locking mechanism, the power mechanism is connected with a control system of the multi-axis unmanned aerial vehicle and is connected with the locking mechanism to drive the locking mechanism to be locked or unlocked, and one end of the traction rope penetrates through the locking mechanism; the video monitor is installed in the multiaxis unmanned aerial vehicle, including airborne camera and real-time image transmission system, airborne camera and real-time image transmission system are connected with control system respectively. The invention can carry out the paying-off operation of the unmanned aerial vehicle with high precision and high controllability, thereby greatly saving the paying-off time and having obvious construction effect.

Description

A small multi-axis unmanned aerial vehicle traction rope deployment system

technical field

The invention relates to a flight assisting tool, in particular to a traction rope deployment system for a small multi-axis UAV.

Background technique

Power wiring is an important facility to ensure the safety and quality of power supply and to distribute power reasonably. Because it is installed outdoors and in the field, it brings a lot of inconvenience to the installation, especially for non-professional installation teams, the degree of mechanized installation is low, the equipment is simple, the difficulty will be greater, and it will cause damage to the ecological environment. In the past, the power laying-out construction work was usually: 1. Manual laying-out, in mountainous areas, rivers, railways and other construction environments, the operation was extremely difficult and risky, the problem of compensation for young crops on the line was prominent, the intensity of personnel was high, and the cycle was long. 2. The power parachute is released by two people in the air, one is the driver and the other is the releaser. The power parachute flies along the line with the traction rope, and puts down the rope when it reaches the designated tower; this method is costly and is affected by the wind Large; it is controlled by people in the air, and there are hidden dangers to personal safety; the high requirements for flying height lead to poor throwing accuracy.

In order to effectively solve the contradictions between various difficulties in ecological environment protection and engineering construction and stringing construction, there have been technical solutions in the prior art that use drones for traction and stringing, but most of the current technical solutions for drones are not enough. Perfect, there are many disadvantages, resulting in poor construction effect.

Contents of the invention

The invention provides a small multi-axis unmanned aerial vehicle traction rope deployment system, which overcomes the shortcomings of the unmanned aerial vehicle release system in the prior art.

The technical solution adopted by the present invention to solve the technical problem is: a small multi-axis unmanned aerial vehicle traction rope deployment system, including a multi-axis unmanned aerial vehicle, the multi-axis unmanned aerial vehicle is equipped with a remote control that can wirelessly receive the ground station The control system that commands and controls the flight of the multi-axis UAV also includes:

The lead wire unwinding device, the lead wire unwinding device includes a wire release frame wound with a traction rope, a lead wire unhook controller, the wire release frame is arranged on the ground, and the lead wire unhook controller is installed on a multi-axis UAV, which includes a power mechanism and The locking mechanism, the power mechanism is connected with the control system of the multi-axis UAV, and is connected with the locking mechanism to drive the locking mechanism to lock or unlock, and one end of the traction rope passes through the locking mechanism;

Video monitor, the video monitor is installed on a multi-axis UAV, which includes an onboard camera and a real-time image transmission system, and the onboard camera is used to assist the ground station in real-time judging the position of the target tower and the multi-axis UAV and the personnel on the tower The distance between the airborne camera and the real-time image transmission system is respectively connected with the control system, and the output of the airborne camera is connected to the input of the real-time image transmission system, and the real-time image transmission system is connected with the video receiving and playing device arranged on the ground station Wireless communication.

Further, the lock mechanism includes a lock ring with a side opening and a sliding lock, and the lead decoupling controller also includes a fixed base installed on the multi-axis UAV, the lock ring is attached to the fixed base, and slides The lock catch is movably arranged on the fixed base, and is connected to the power mechanism through a transmission mechanism, so as to move axially under the drive of the power mechanism to close or move away from the side opening of the lock ring.

Further, the video monitor also includes a pitch angle control mechanism, which is installed on the multi-axis UAV, connected with the control system, and connected with the airborne camera in transmission, so as to Control the pitch angle of the onboard camera.

Further, the multi-axis UAV includes a body, and a plurality of arms are evenly arranged around the body, and brushless motors are respectively installed at the tail ends of each arm, and each brushless motor is connected to the control system respectively, and A propeller is installed on the driving shaft of each brushless motor; the control system, the lead wire decoupling controller and the video monitor are respectively installed on the body.

Further, the control system includes a GPS navigator, a receiving antenna, a power supply and a general controller, and the GPS navigator, a receiving antenna, a power supply and the power mechanism, an airborne camera and a real-time image transmission system are respectively connected with the general controller , the general controller receives the remote control command sent by the ground station through the receiving antenna.

Further, the power mechanism is a DC motor or a cylinder.

Further, the lock ring has a U-shaped structure, and its side opening is set downward.

Further, the airborne camera of the video monitor is installed at the front end of the body; the lead wire decoupling controller is installed at the belly of the body.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention sets a lead wire deployment device and a video monitor, and the lead wire deployment device includes a power mechanism and a locking mechanism for pulling the traction rope, the locking mechanism releases the traction rope by unlocking, and the video monitor includes an on-board The camera and the real-time image transmission system, the real-time image transmission system transmits the video taken by the airborne camera to the ground, which is used to assist the ground staff to judge the position of the target tower in real time and the distance between the multi-axis UAV and the personnel on the tower, so that the present invention can The unmanned aerial vehicle is carried out with high precision and high controllability, which greatly saves the time of setting out, and the construction effect is remarkable. In addition, the present invention uses multi-axis UAVs to carry out wire-laying operations, which also has the advantages of long-distance operations, low safety risks, no damage to the ecological environment, greatly reduced manual labor intensity, high safety performance, strong adaptability, and positioning Features such as fast and accurate;

2. The present invention further sets a pitch angle control mechanism to control the pitch angle of the airborne camera, so that the shooting angle of the airborne camera can be controlled, and the operation accuracy and construction effect can be further improved.

The present invention will be described in further detail below with reference to the accompanying drawings and embodiments; however, the traction rope deployment system for a small multi-axis UAV of the present invention is not limited to the embodiments.

Description of drawings

Fig. 1 is the structural representation of multi-axis unmanned aerial vehicle of the present invention;

Fig. 2 is a structural schematic diagram of the wire decoupling controller of the present invention.

Detailed ways

For an embodiment, please refer to Fig. 1, a small multi-axis drone traction rope deployment system of the present invention, including:

Multi-axis UAV, the multi-axis UAV is equipped with a control system 1 that can wirelessly receive remote control commands issued by the ground station and control the flight of the multi-axis UAV. The control system 1 specifically includes a GPS navigator, a receiving antenna, a power supply (The power supply is specifically a battery) and the master controller, the master controller receives the remote control command sent by the ground station through the receiving antenna;

Lead wire unwinding device, the lead wire unwinding device includes a pay-off frame (not shown in the figure), a lead decoupling controller 2, a pay-off wheel is movable on the pay-off frame, and a traction rope is wound on the pay-off wheel. The pay-off frame is arranged on the ground, and the lead wire decoupling controller 2 is installed on the multi-axis UAV, which includes a power mechanism and a locking mechanism, and the power mechanism is connected with the master controller of the control system 1 of the multi-axis UAV, and is connected with The locking mechanism is connected to drive the locking mechanism to lock or unlock, and one end of the traction rope passes through the locking mechanism;

Video monitor, the video monitor is installed on the multi-axis UAV, which includes a high-definition airborne camera 3 and a real-time image transmission system 4, the airborne camera 3 is used to assist the ground station in real-time judgment of the target tower position and the multi-axis UAV With the distance of the personnel on the tower, the airborne camera 3 and the real-time image transmission system 4 are respectively connected with the general controller of the control system 1, and the output of the airborne camera 3 is connected to the input of the real-time image transmission system 4, the real-time image The transmission system 4 communicates wirelessly with the video receiving and playing device installed on the ground station.

As a preference, as shown in Figure 2, the power mechanism is a DC motor 21 (or, the power mechanism can also use a cylinder), and the lock mechanism includes a lock ring 22 with a side opening and a sliding lock 23, so The lead wire decoupling controller 2 also includes a fixed base 24 installed on the multi-axis UAV, the lock ring 22 is in a U-shaped structure, and its side opening is set downward, and the lock ring 22 and the DC motor 21 are respectively attached to the The base 24 is fixed, and the sliding lock 23 is movably arranged on the base 24, and is connected to the drive shaft of the DC motor 21 through a transmission mechanism, so that it can move axially under the drive of the drive motor to close or move away from it. The side of the locking ring 22 is open. Here, the transmission mechanism specifically includes a turntable 25 and a moment arm shaft 26 , the turntable 25 is attached to the drive shaft of the DC motor 21 , and the two ends of the moment arm shaft 26 are hinged to the turntable 25 and the sliding lock 23 respectively.

As a preference, the video monitor also includes a pitch angle control mechanism (not shown in the figure), which is installed on the multi-axis UAV and communicates with the general controller of the control system 1. connected, and connected with the onboard camera 3 in transmission, so as to control the pitch angle of the onboard camera 3. Here, the pitch angle control mechanism can be realized by using a power mechanism in cooperation with an adjusting rod.

As a preference, the multi-axis UAV includes a body 5, and six arms 6 are evenly arranged around the body 5 (here, the number of arms 6 is not limited to six, and can also be eight or twelve. etc.), specifically, the cross-section of the body 5 is in a hexagonal shape, and the six arms 6 are connected to the six corners of the hexagonal shape. The tail end of each machine arm 6 is respectively equipped with a brushless motor 7, each brushless motor 7 is connected with the control system 1 respectively, and a propeller 8 is respectively installed on the drive shaft of each brushless motor 7; the control system 1. The lead wire decoupling controller 2 and the video monitor are installed on the body 5 respectively. Specifically, the on-board camera 3 of the video monitor is installed on the front end of the body 5 ; the wire unhook controller 2 is installed on the belly of the body 5 .

A small multi-axis unmanned aerial vehicle traction rope deployment system of the present invention, its construction method comprises the following steps:

The ground staff selects the construction site, arranges the pay-off rack wound with the traction rope on the construction site, and passes one end of the traction rope through the locking mechanism of the lead wire decoupling controller 2 (at this time, the locking mechanism is in the locked state). status), and attach heavy objects, such as sandbags; set the flight path of the multi-axis UAV, and initially adjust the pitch angle of the airborne camera 3; start the multi-axis UAV, and turn on the airborne camera 3 and the real-time image Transmission system 4;

The multi-axis UAV flies along the preset path and hovers when it reaches the top of the first designated tower. The construction personnel on the tower quickly grab the traction rope brought by the multi-axis UAV and pass over the tower. The pulley of the sky block; the staff on the tower waved to the staff on the ground, and the staff on the ground sent instructions to the multi-axis UAV to continue the navigation mission, and the multi-axis UAV continued to fly to the next tower , and repeat the above process of grabbing the rope and passing the pulley until the multi-axis UAV reaches the last target tower;

When the multi-axis UAV reaches the last target tower, the ground station staff will issue an instruction to it to start the DC motor 21 of the lead decoupling controller 2, and drive the sliding lock 23 to move axially to open the side opening of the lock ring 22. Then one end of the traction rope will fall together with the heavy object, and the staff on the tower will quickly grab the traction rope, pass it through the pulley on the tower, and tie it firmly to the tower, waiting for the subsequent erection of wires, or carrying out subsequent wire erection operations : Utilize the traction rope to pull the wire;

After completing the task, the multi-axis UAV returns to the take-off point autonomously.

A small multi-axis unmanned aerial vehicle traction rope deployment system of the present invention, the multi-axis unmanned aerial vehicle is made of high-strength carbon fiber material, the material is light and wind-resistant, and can meet the requirements of safe flight in complex environments . The wire decoupling controller 2 on the multi-axis UAV implements the rope release operation by unlocking the locking mechanism, which is more superior than cutting with a cutter or other methods: the structure is simpler and the operation is more convenient. The multi-axis UAV is also equipped with an on-board camera 3 and a real-time image transmission system 4, which can assist the ground station staff to judge the position of the target tower in real time and the distance between the multi-axis UAV and the personnel on the tower. During the flight, the staff on the ground can send instructions to it to adjust the pitch angle of the airborne camera 3 through the pitch angle control mechanism, so that the shooting angle of the airborne camera 3 can reach the best state.

The above-mentioned embodiments are only used to further illustrate a small multi-axis UAV traction rope deployment system of the present invention, but the present invention is not limited to the embodiments. Modifications, equivalent changes and modifications all fall within the protection scope of the technical solution of the present invention.

Claims (8)

1. A small multi-axis unmanned aerial vehicle traction rope deployment system, including a multi-axis unmanned aerial vehicle, the multi-axis unmanned aerial vehicle is equipped with a remote control command that can wirelessly receive the remote control command sent by the ground station and control the flight of the multi-axis unmanned aerial vehicle The system is characterized in that it also includes: The lead wire unwinding device, the lead wire unwinding device includes a wire release frame wound with a traction rope, a lead wire unhook controller, the wire release frame is arranged on the ground, and the lead wire unhook controller is installed on a multi-axis UAV, which includes a power mechanism and The locking mechanism, the power mechanism is connected with the control system of the multi-axis UAV, and is connected with the locking mechanism to drive the locking mechanism to lock or unlock, and one end of the traction rope passes through the locking mechanism; Video monitor, the video monitor is installed on a multi-axis UAV, which includes an onboard camera and a real-time image transmission system, and the onboard camera is used to assist the ground station in real-time judging the position of the target tower and the multi-axis UAV and the personnel on the tower The distance between the airborne camera and the real-time image transmission system is respectively connected with the control system, and the output of the airborne camera is connected to the input of the real-time image transmission system, and the real-time image transmission system is connected with the video receiving and playing device arranged on the ground station Wireless communication. 2. The small multi-axis drone traction rope deployment system according to claim 1, characterized in that: the locking mechanism includes a side-opening locking ring and a sliding lock, and the lead decoupling controller also includes a mounting On the fixed base of the multi-axis UAV, the lock ring is attached to the fixed base, the sliding lock is movably arranged on the fixed base, and is connected to the power mechanism through a transmission mechanism, so as to be able to operate on the fixed base. Driven by the power mechanism, it moves axially to close or move away from the side opening of the lock ring. 3. The small multi-axis UAV traction rope deployment system according to claim 1, characterized in that: the video monitor also includes a pitch angle control mechanism, and the pitch angle control mechanism is installed on the multi-axis unmanned aerial vehicle. machine, and is connected with the control system, and is connected with the transmission of the airborne camera to control the pitch angle of the airborne camera. 4. The small multi-axis UAV traction rope deployment system according to claim 1, characterized in that: the multi-axis UAV includes a body, and a plurality of arms are evenly arranged around the body, and the tail of each arm is Brushless motors are respectively installed at each end, and each brushless motor is connected with the control system respectively, and a propeller is installed on the drive shaft of each brushless motor; the control system, lead wire decoupling controller, and video monitor are respectively installed body. 5. The small-sized multi-axis unmanned aerial vehicle traction rope deployment system according to claim 1 is characterized in that: the control system includes a GPS navigator, a receiving antenna, a power supply and a general controller, a GPS navigator, a receiving antenna, The power supply, the power mechanism, the on-board camera and the real-time image transmission system are respectively connected with the general controller, and the general controller receives the remote control command sent by the ground station through the receiving antenna. 6. The small multi-axis drone traction rope deployment system according to claim 1 or 2, characterized in that: the power mechanism is a DC motor or a cylinder. 7. The traction rope deployment system for small multi-axis drones according to claim 2, wherein the locking ring is in a U-shaped structure with its side opening facing downwards. 8. The small multi-axis unmanned aerial vehicle traction rope deployment system according to claim 4, characterized in that: the airborne camera of the video monitor is installed on the front end of the body; the lead decoupling controller is installed on The belly of the body.