An unmanned aerial vehicle based de-icing operation robot

Abstract

The application relates to a UAV-based deicing operation robot, which comprises an integrated UAV module and a deicing robot module; the deicing robot module comprises a control module, a wire clamping module and a wire deicing module; the UAV module comprises a multi-modal sensor and a rotor tilting module, the multi-modal sensor can identify the ice type of the wire to be deiced and can also identify the wire inclination angle or the body inclination angle; the wire deicing module is arranged on the wire clamping module and located on both sides of the wire to be deiced, and can move with the wire clamping module; the control module can instruct the wire clamping module and the wire deicing module to act according to the ice type, and the control module can instruct the rotor tilting module to tilt according to the wire inclination angle or the body inclination angle. The integrated design of the application greatly improves the equipment mobility, can quickly reach various complex operation areas, and improves the deicing efficiency and operation flexibility.

Description

Technical Field

[0001] This invention relates to the field of cable de-icing technology, and more specifically to a de-icing robot based on a drone. Background Technology

[0002] Currently, high-altitude infrastructure such as power systems, communication base stations, and wind turbines often face severe icing problems under extreme weather conditions such as freezing rain and snowstorms. This leads to increased equipment load, decreased mechanical performance, and even structural collapse, seriously threatening power grid safety and energy supply stability. Traditional de-icing methods, such as manual climbing, thermal melting, or mechanical knocking, are not only inefficient but also extremely risky, especially under extreme weather conditions where personnel safety is difficult to guarantee.

[0003] In recent years, the development of robotics and drones has provided new ideas for automated de-icing. However, existing de-icing robots still have many limitations: ground-based mobile robots are limited by terrain and cannot reach complex work areas. Although the de-icing device carried by drones can fly close to the guide wire, the separate structure of the drone and the de-icing device results in insufficient mobility. It is necessary to repeatedly connect and disconnect the drone and the de-icing device, which not only makes it difficult to deal with thick ice, but also makes it difficult to quickly move to the de-icing area.

[0004] Furthermore, existing de-icing technologies mostly employ single mechanical ice-breaking or thermal melting methods, lacking the ability to intelligently identify and adaptively handle different ice types (such as frost, rime, and mixed ice), resulting in low energy efficiency and unstable de-icing effects. In harsh environments such as extreme low temperatures and strong winds, the robot's motion stability, energy supply, and material cold resistance also face severe challenges. Therefore, there is an urgent need to develop a new type of de-icing robot that combines a highly mobile platform, multimodal de-icing technology, and an intelligent environmental perception system to achieve efficient, safe, and adaptive de-icing operations in complex terrain and severe weather conditions. This would improve the winter operation and maintenance capabilities of critical infrastructure, reduce the risk of human intervention, and ensure the needs of social production and people's livelihoods. Summary of the Invention

[0005] The purpose of this invention is to provide a drone-based de-icing robot that solves the problem of adaptive and stable de-icing of icy wires and can adapt to harsh weather environments.

[0006] To achieve the above objectives, the present invention provides a drone-based de-icing robot, comprising a drone module and a de-icing robot module, wherein the drone module and the de-icing robot module are integrated into one unit;

[0007] The drone module includes a multimodal sensor and a rotor tilt module. The multimodal sensor can identify the type of ice accretion on the de-icing wire, as well as the tilt angle of the wire or the tilt angle of the fuselage.

[0008] The de-icing robot module includes a control module, a wire clamping module, and a wire de-icing module;

[0009] The wire de-icing module is mounted on the wire clamping module and located on both sides of the wire to be de-iced, and can move with the wire clamping module.

[0010] The control module connects the wire clamping module, the wire de-icing module, the multi-modal sensor, and the rotor tilting module. The control module can instruct the wire clamping module and the wire de-icing module to operate according to the icing type, and can instruct the rotor tilting module to tilt according to the wire tilting angle or the fuselage tilting angle.

[0011] Preferably, the wire clamping module includes a clamping motor, an upper clamping screw, a lower clamping screw, a left clamping assembly, a right clamping assembly, and an upper and lower synchronization device. Both the left clamping assembly and the right clamping assembly include an upper screw support and a lower screw support.

[0012] The clamping motor is connected to the upper clamping screw or the lower clamping screw, and the upper clamping screw and the lower clamping screw are connected by an upper and lower synchronization device;

[0013] The clamping upper screw has positive and negative threads on the left and right sides, and the two positive and negative threads are respectively threaded to the upper screw support of the left clamping assembly and the right clamping assembly. A lower screw support is correspondingly provided below the upper screw support, and the upper screw support and the lower screw support form the installation position of the wire de-icing module.

[0014] The lower lead screw support is connected to the upper and lower synchronization device via a clamping lower lead screw, and the clamping lower lead screw is arranged parallel to the clamping upper lead screw.

[0015] The clamping motor is connected to the control module.

[0016] Preferably, the wire clamping module further includes a clamping guide shaft, which is connected to the upper lead screw support of the left clamping assembly and the right clamping assembly respectively, and is arranged parallel to the clamping upper lead screw;

[0017] The wire clamping module also includes a ranging device, which can measure the distance the upper lead screw support moves, and the ranging device is connected to the control module;

[0018] The upper and lower synchronization device includes a clamping transmission timing belt and a clamping transmission timing pulley. The upper clamping screw and the lower clamping screw are respectively equipped with clamping transmission timing pulleys and are connected by the clamping transmission timing belt.

[0019] Preferably, the wire de-icing module includes a left de-icing module and a right de-icing module. Both the left and right de-icing modules include a de-icing gear, a de-icing roller, an upper fixing part of the de-icing roller, a lower fixing part of the de-icing roller, a transmission gear, and a de-icing motor.

[0020] The de-icing roller is installed between the upper and lower lead screw support members of the wire clamping module via the de-icing roller shaft. The upper and lower fixing members of the de-icing roller are respectively connected to the upper and lower lead screw support members of the wire clamping module. The de-icing gear is installed between the upper and lower fixing members of the de-icing roller via the de-icing roller shaft.

[0021] The lower ends of the de-icing gear and the de-icing roller are both equipped with transmission gears. The de-icing motor is connected to the transmission gears and transmits the motor torque to the de-icing gear and the de-icing roller through the transmission gears. The de-icing motor is connected to the control module.

[0022] Preferably, the wire de-icing module further includes an upper de-icing support and a lower de-icing support;

[0023] Both the upper and lower de-icing supports are arranged along the clamping direction of the wire clamping module; the lower de-icing support is discontinuous in the middle and is located on both sides of the wire to be de-iced.

[0024] Both the upper and lower de-icing support members are provided with a first waist-shaped hole, a second waist-shaped hole, or a circular hole. The length direction of the first waist-shaped hole is along the clamping direction of the wire clamping module, and the length direction of the second waist-shaped hole is perpendicular to the clamping direction of the wire clamping module.

[0025] The fixing parts on the de-icing wheels of the left and right de-icing modules are respectively connected to the first waist-shaped hole, the second waist-shaped hole, or the round hole on the upper support of the de-icing module; the fixing parts on the lower de-icing wheels of the left and right de-icing modules are respectively connected to the first waist-shaped hole, the second waist-shaped hole, or the round hole on the lower support of the de-icing module.

[0026] The de-icing support is also equipped with a wire ranging radar, which is used to measure the distance between the de-icing gear and / or the de-icing roller and the wire to be de-iced. The wire ranging radar is connected to the control module.

[0027] Preferably, the de-icing roller has a tapered longitudinal section and is covered with rubber. The left de-icing module and the right de-icing module each include one or more de-icing rollers, and the de-icing rollers of the left de-icing module and the right de-icing module are symmetrically arranged on both sides of the wire to be de-iced.

[0028] The de-icing gear includes de-icing teeth, which are either straight or helical. The left de-icing module and the right de-icing module each include one or more de-icing gears, and the de-icing gears of the left de-icing module and the right de-icing module are symmetrically arranged on both sides of the wire to be de-iced.

[0029] Preferably, the de-icing robot module further includes a structural frame;

[0030] The structural frame is used to install the control module, wire clamping module, wire de-icing module, and drone module;

[0031] The structural frame is also equipped with an internal camera and a power supply. The internal camera is connected to the control module, and the power supply is used to power the de-icing robot module and the drone module.

[0032] Preferably, the de-icing robot module further includes a wire guiding module;

[0033] The wire guiding module includes a front guide wheel, a rear guide wheel, and a guide drive motor. The front guide wheel and / or the rear guide wheel are connected to the guide drive motor. The front guide wheel and the rear guide wheel are respectively located at the front end and the rear end of the structural frame of the de-icing robot module. The guide drive motor is connected to the control module.

[0034] The longitudinal section of the front guide wheel and the rear guide wheel is an opposing V-shape with a central concave shape. Guide wheels are provided on the surface of the front guide wheel, and rubber is provided on the surface of the rear guide wheel.

[0035] Preferably, the rotor tilting module includes a rotor, a rotor arm, a rotor motor, and an adjustable linkage module;

[0036] The adjustable linkage module includes a parallel linkage mechanism, a tilting motor, and a tilting synchronization mechanism. The parallel linkage mechanism consists of two sets, symmetrically arranged on both sides of the structural frame of the de-icing robot module, and connected by the tilting synchronization mechanism. The tilting motor is mounted on the structural frame of the de-icing robot module.

[0037] The parallel linkage mechanism includes a transmission link, a first swing rocker and a second swing rocker. The output shaft of the tilt motor is connected to one end of the first swing rocker and can drive the first swing rocker to rotate. The other end of the first swing rocker is connected to one end of the transmission link. The other end of the transmission link is connected to one end of the second swing rocker. The other end of the second swing rocker is connected to the structural frame of the de-icing robot module.

[0038] The rotor arm is mounted on the transmission link and can swing with the transmission link. The rotor arm is equipped with a rotor and a rotor motor.

[0039] An angle sensor is provided on the other end of the second swing rocker arm;

[0040] The rotor motor, tilt motor, and angle sensor are connected to the control module.

[0041] Preferably, the drone module further includes a shell and a power switch, and the multimodal sensors include a lidar, a gimbal camera, and an RTK module;

[0042] The lidar, gimbal camera, RTK module, and power switch are all mounted on the housing.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1. This invention adopts a structure that integrates the drone module and the de-icing robot module into one unit, breaking the limitations of the traditional separate structure of drone and de-icing device. This integrated design greatly improves the mobility of the equipment, enabling it to quickly reach various complex work areas without repeatedly connecting and separating the drone and the de-icing device, effectively saving work time and greatly improving de-icing efficiency and operational flexibility.

[0045] 2. This invention adopts a wire clamping module mechanism with precise clamping motor control. The screw and synchronization device drive the clamping components on both sides to move. It can accurately control the clamping force according to the different sizes of the wires and the ice accumulation. In different environments, it can ensure that the de-icing robot is stably attached to the wire, greatly reducing the risk of falling and ensuring the continuous and stable progress of de-icing operations.

[0046] 3. This invention uses a left-side de-icing module and a right-side de-icing module to clamp and de-ice the wire from both sides. When faced with ice of different thicknesses and types, the de-icing gear can effectively break the hard ice layer through cutting action, and the de-icing roller uses a crushing method to crush and peel off the thicker or softer ice. By combining ice cutting and ice crushing, the de-icing effect and quality are greatly improved.

[0047] 4. The present invention adopts a wire guiding module mechanism with a V-shaped longitudinal section design with a concave middle between the front guide wheel and the rear guide wheel. Combined with the teeth on the surface of the front guide wheel and the rubber on the surface of the rear guide wheel, it can closely fit wires of different sizes. Under the control of the guide drive motor, it moves forward and backward, ensuring stable operation on the wire.

[0048] 5. This invention employs a rotor tilting module. Multimodal sensors detect the tilt angle of the conductor or the fuselage in real time. The control module instructs the tilting motor to operate accordingly. Through a parallel linkage mechanism and a tilting synchronization mechanism, the rotor arm and rotor adjust their angles to compensate for the fuselage tilt angle, ensuring that the rotor always maintains vertical upward lift and remains balanced on the conductor. This guarantees the stability of the de-icing operation and enables the invention to adapt to de-icing operations under complex weather conditions such as conductors with different tilt angles, strong winds, and unstable airflow. Attached Figure Description

[0049] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0050] Figure 2 This is a three-dimensional structural schematic diagram of the present invention from another angle;

[0051] Figure 3 This is a three-dimensional structural diagram of the de-icing robot module of the present invention;

[0052] Figure 4 This is a three-dimensional structural diagram of the structural framework of the present invention;

[0053] Figure 5 This is a three-dimensional structural diagram of the wire clamping module and the wire de-icing module of the present invention;

[0054] Figure 6 This is a partial structural schematic diagram of the wire clamping module of the present invention, mainly showing the upper and lower synchronization device and the clamping motor;

[0055] Figure 7 This is a three-dimensional structural schematic diagram of the wire de-icing module of the present invention;

[0056] Figure 8 This is a bottom view of the de-icing robot module of the present invention. The arrows in the figure indicate the direction of movement during the de-icing operation.

[0057] Figure 9 This is a three-dimensional structural schematic diagram of the wire guiding module of the present invention;

[0058] Figure 10 This is a three-dimensional structural schematic diagram of the rotor tilting module of the present invention;

[0059] Figure 11 This invention describes the process from takeoff to landing to the de-icing of the guide wire.

[0060] In the picture:

[0061] 1. Drone module; 1-1. Drone component shell; 1-2. De-icing robot component shell; 1-2-1. Lower protrusion of the de-icing robot component shell; 1-3. Rotor; 1-4. Rotor arm; 1-5. LiDAR; 1-6. Gimbal camera; 1-7. RTK module; 1-8. Power switch; 1-9. Charging plug; 1-10. Rotor motor; 1-11. Rotor protective frame; 1-12. Transmission link; 1-13. First swing rocker; 1-14. Second swing rocker; 1-15. Third swing rocker; 1-16. Tilting motor; 1-17. Angle sensor; 1-18. Connecting shaft;

[0062] 2. De-icing robot module; 2-1. Outer shell support plate; 2-2. Front and rear baffles; 2-3. Upper side plate; 2-4. Lower side plate; 2-5. Internal camera; 2-6. Side plate support; 2-7. Support rod; 2-8. Fixing rod; 2-9. Power supply fixing rod; 2-10. Control box; 2-11. Front and rear photoelectric switches; 2-12. Power supply;

[0063] 3. Guide wire module; 3-1. Guide front wheel; 3-1-1. Guide front wheel tooth; 3-2. Guide wheel shaft; 3-3. Guide drive motor; 3-4. Guide drive motor fixing component; 3-5. Guide drive large gear; 3-6. Guide drive small gear; 3-7. Guide rear wheel; 3-7-1. Guide rear wheel outer rubber;

[0064] 4. Wire clamping module; 4-1. Clamping motor; 4-2. Clamping motor fixing component; 4-3. Clamping large synchronous pulley; 4-4. Clamping small synchronous pulley; 4-5. Clamping synchronous belt; 4-6. Clamping upper lead screw; 4-6-1. Positive and negative threads; 4-7. Clamping guide shaft; 4-8. Clamping large lead screw nut; 4-9. Clamping guide bearing; 4-10. Upper lead screw support component; 4-11. Lower lead screw support component; 4-12. Clamping transmission synchronous pulley; 4-13. Clamping transmission synchronous belt; 4-14. Clamping lower lead screw; 4-15. Upper lead screw fixing component; 4-16. Lower lead screw fixing component; 4-17. Clamping small lead screw nut; 4-19. Radar receiver board; 4-20. Clamping lidar;

[0065] 5. Wire de-icing module; 5-1. De-icing gear; 5-1-1. De-icing tooth; 5-2. De-icing roller; 5-2-1. Outer rubber of de-icing roller; 5-3. De-icing wheel shaft; 5-4. Transmission gear; 5-5. De-icing motor; 5-6. Upper fixing part of de-icing wheel; 5-7. Lower fixing part of de-icing wheel; 5-8. Upper support part of de-icing; 5-9. Lower support part of de-icing; 5-10. Wire ranging radar. Detailed Implementation

[0066] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0067] Example 1:

[0068] A drone-based de-icing robot, such as Figures 1 to 11As shown, the system includes a drone module 1 and a de-icing robot module 2, which are integrated into one unit. The de-icing robot module 2 includes a control module, a wire clamping module 4, and a wire de-icing module 5. The drone module 1 includes a multimodal sensor and a rotor tilting module. The multimodal sensor can identify the type of ice accretion on the wire and the tilt angle of the wire or the fuselage. The wire de-icing module 5 is mounted on the wire clamping module 4 and located on both sides of the wire to be de-iced, and can move with the wire clamping module 4. The control module connects the wire clamping module 4, the wire de-icing module 5, the multimodal sensor, and the rotor tilting module. The control module can instruct the wire clamping module 4 and the wire de-icing module 5 to operate according to the type of ice accretion, and can instruct the rotor tilting module to tilt according to the tilt angle of the wire or the fuselage. The rotor tilting module includes a rotor arm 1-4 and a rotor 1-3 mounted on the rotor arm 1-4.

[0069] The operation process of this invention is as follows: The de-icing robot (referring to a drone-based de-icing robot) flies to the icy guide wire (the guide wire to be de-iced) with the assistance of the multimodal sensors of the drone module 1, identifies the guide wire, and then begins to land. This invention can directly start de-icing from the end of the guide wire. Due to gravity, the two ends of the guide wire are tilted. After the de-icing robot lands on the guide wire, its body is tilted. In order to maintain balance after landing, the control module will instruct the rotor tilt module to adjust the tilt angle of its own rotor arms 1-4 according to the tilt angle of the de-icing robot's attitude to compensate for the tilt angle of the body, thereby ensuring that the lift generated by the rotors 1-3 is always perpendicular to the ground and vertically upward, maintaining the stability of the body, and thus ensuring the stability of the de-icing operation. Then, according to the type and thickness of the ice on the guide wire and the size of the guide wire (mainly the wire diameter), the guide wire clamping module 4 is activated to clamp the guide wire, ensuring that the guide wire clamping module 4 keeps the icy guide wire clamped. Next, de-icing is performed via the conductor de-icing module 5. First, the robot descends a slope, then, after passing through a relatively stable section in the middle of the icy conductor, it begins its ascent. Under clamping force, the de-icing robot climbs to the end of the conductor, completing the de-icing operation for the entire conductor. After de-icing, the robot must fly away from the conductor. During this process, the control module adjusts the rotor arm angles 1-4 according to the robot's attitude commands to ensure vertical lift. It then commands the conductor clamping module 4 to release the clamp, allowing the robot to fly away from the current conductor and proceed to the next icy conductor for de-icing. Ideally, the drone module 1 remains in a dormant state during the de-icing process.

[0070] The tilting of the rotor tilting module is mainly used to compensate for the tilt of the de-icing robot's body, ensuring that rotors 1-3 are not affected by the body tilt and always maintain vertical upward lift, thus ensuring the balance of the entire body, instead of rotors 1-3 tilting (the lift direction is no longer perpendicular to the ground and upward) as the body tilts. The tilt angle of the body is affected by the tilt angle of the guide wire, so the rotor tilting module can adjust the tilt angle according to the tilt angle of the guide wire (either by adjusting directly according to the tilt angle of the guide wire, or by converting the tilt angle of the guide wire into the tilt angle of the body before adjustment), or it can adjust the tilt angle according to the tilt angle of the body.

[0071] Traditionally, drones carrying de-icing devices land in the middle of the conductor because the conductor is stable and has no tilt angle. This means that only one side (from the middle to one end of the conductor) can be de-iced. Then, the drone docks with the conductor and flies back to the middle of the conductor, repeating the process to de-ic the other side (from the middle to the other end of the conductor). This method is cumbersome, consumes a lot of energy from the drone, and requires highly skilled drone pilots.

[0072] The integrated design of the UAV module 1 and the de-icing robot module 2 in this invention effectively solves the problem of cumbersome and inefficient operation of repeatedly connecting and separating UAVs and de-icing robots in the past. It can also achieve efficient and stable de-icing operations on icy conductors in severe weather. Through the entire automated process, the robot automatically identifies and takes off and lands on the icy conductor. According to the tilt angle of the icy conductor, it adjusts its own posture to maintain the stability of the entire robot on the conductor. It can achieve direct de-icing operations from one end of the conductor to the other. Then, through the cooperation of the conductor clamping module 4 and the conductor de-icing module 5, the de-icing operation on the icy conductor can be completed efficiently, providing a reliable and efficient solution for de-icing in severe weather.

[0073] Example 2:

[0074] This embodiment is an improvement based on Embodiment 1, specifically the following improvements: Figure 3 and Figure 4 As shown, the de-icing robot module 2 also includes a structural frame; the structural frame is used to install the control module, the wire clamping module 4, the wire de-icing module 5, and the drone module 1; the structural frame is also equipped with an internal camera 2-5 and a power supply 2-12, the internal camera 2-5 is connected to the control module, and the power supply 2-12 is used to supply power to the de-icing robot module 2 and the drone module 1.

[0075] For example, the structural frame includes an outer shell support plate 2-1, front and rear baffles 2-2, upper side plate 2-3, lower side plate 2-4, side plate support member 2-6, support rod 2-7, fixing rod 2-8, power supply fixing rod 2-9, and control box 2-10. The outer shell support plate 2-1 is a protruding sheet metal, with one at the front and one at the rear, respectively fixed to the outer side of the front and rear baffles 2-2 to prevent the de-icing robot module 2 from accidentally colliding with the ice-covered wires and causing damage. There is one front and one rear baffle 2-2, which is connected and fixed to four support rods 2-7 respectively. The upper side plate 2-3 and lower side plate 2-4 are fixed to the left and right sides of the support rods 2-7 respectively; the fixing rod 2-8 is fixed to the upper end of the support rod 2-7, forming the structural frame of the entire de-icing robot module 2. Four power supply fixing rods 2-9 are provided below the support rods 2-7, located on the left and right sides respectively, for fixing the power supply 2-12, which provides power to the de-icing robot module 2 and the drone module 1. Between the two upper side plates 2-3, near the front and rear baffles 2-2, is a control box 2-10, which houses the control module. An internal camera 2-5 is mounted on one end of the front and rear baffles 2-2, on the side of the front and rear baffles 2-2 furthest from the control box 2-10. It is used to record the internal conditions of the de-icing robot module 2 and feed them back to the control module, such as the working status of the wire clamping module 4 or the wire de-icing module 5 and their positional relationship with the wires.

[0076] Example 3:

[0077] This embodiment is an improvement based on Embodiment 1 or Embodiment 2, specifically the following improvements: Figure 5 and Figure 6As shown, the wire clamping module 4 includes a clamping motor 4-1, an upper clamping screw 4-6, a lower clamping screw 4-14, a left clamping assembly, a right clamping assembly, and an upper and lower synchronization device. Both the left and right clamping assemblies include an upper screw support 4-10 and a lower screw support 4-11. The clamping motor 4-1 is connected to either the upper clamping screw 4-6 or the lower clamping screw 4-14. The upper clamping screw 4-6 and the lower clamping screw 4-14 are connected via the upper and lower synchronization device. The upper clamping screw 4-6 has positive and negative threads 4-6- on its left and right sides. 1. Two positive and negative threads 4-6-1 are respectively threaded to the upper screw support 4-10 of the left clamping assembly and the right clamping assembly. A lower screw support 4-11 is correspondingly arranged below the upper screw support 4-10. The upper screw support 4-10 and the lower screw support 4-11 form the installation position of the wire de-icing module 5. The outer side of the lower screw support 4-11 is connected to the upper and lower synchronization device through the clamping lower screw 4-14. The clamping lower screw 4-14 is arranged parallel to the clamping upper screw 4-6. The clamping motor 4-1 is connected to the control module. The wire clamping module 4 further includes a clamping guide shaft 4-7, which is connected to the upper lead screw support 4-10 of the left clamping assembly and the right clamping assembly respectively, and is arranged parallel to the clamping upper lead screw 4-6; the wire clamping module 4 also includes a distance measuring device, which can measure the distance moved by the upper lead screw support 4-10, and the distance measuring device is connected to the control module; the upper and lower synchronization device includes a clamping transmission synchronous belt 4-13 and a clamping transmission synchronous wheel 4-12, and clamping transmission synchronous wheels 4-12 are respectively provided on the clamping upper lead screw 4-6 and the clamping lower lead screw 4-14, and are connected by the clamping transmission synchronous belt 4-13.

[0078] The clamping motor 4-1 can be connected to either the upper clamping screw 4-6 or the lower clamping screw 4-14. The specific connection should be adjusted according to the internal installation space of the de-icing robot module 2. The output shaft of the clamping motor 4-1 can be directly connected to either the upper clamping screw 4-6 or the lower clamping screw 4-14, or it can be connected to either the upper clamping screw 4-6 or the lower clamping screw 4-14 via the clamping timing belt 4-5. The type of distance measuring device is not limited, as long as it can measure the distance the upper screw support 4-10 moves, i.e., the distance it moves when clamping and releasing.

[0079] For example, the clamping motor 4-1 is fixed to the upper side plate 2-3 of the structural frame by the clamping motor fixing part 4-2. The small clamping synchronous pulley 4-4 is fixed on the output shaft of the clamping motor 4-1. The clamping upper lead screw 4-6 is connected to the clamping large synchronous pulley 4-3. The small clamping synchronous pulley 4-4 and the clamping large synchronous pulley 4-3 are connected by the clamping synchronous belt 4-5. The small clamping synchronous pulley 4-4 and the clamping large synchronous pulley 4-3 have a reduction ratio, which reduces the speed and increases the torque of the clamping motor 4-1. The clamping large synchronous pulley 4-3 is fixed to the clamping upper lead screw 4-6 by a clamping device. The end of the clamping upper lead screw 4-6 is set in the hole of the upper lead screw fixing part 4-15 by a bearing. The upper lead screw fixing parts 4-15 at both ends of the clamping upper lead screw 4-6 are respectively fixed to the inner side of the upper side plate 2-3 on both sides of the structural frame. Both ends of the clamping guide shaft 4-7 are also fixed to the upper lead screw fixing member 4-15, and the clamping guide shaft 4-7 provides guiding support for the wire clamping module 4. The clamping upper lead screw 4-6 and the clamping guide shaft 4-7 pass through the holes of the two upper lead screw support members 4-10 respectively. The clamping upper lead screw 4-6 is connected to the upper lead screw support member 4-10 through the clamping large lead screw nut 4-8, and the clamping guide shaft 4-7 is connected to the upper lead screw support member 4-10 through the clamping guide bearing 4-9. Both the clamping large lead screw nut 4-8 and the clamping guide shaft 4-7 are fixed to the upper lead screw support member 4-10 by set screws. Both ends of the clamping upper lead screw 4-6 are fixed with clamping transmission synchronous pulleys 4-12. The clamping transmission synchronous pulleys 4-12 on the clamping upper lead screw 4-6 are connected to the clamping transmission synchronous pulleys 4-12 fixed on the clamping lower lead screw 4-14 via clamping transmission synchronous belts 4-13. The clamping transmission synchronous pulleys 4-12 on the clamping lower lead screw 4-14 are connected to the clamping lower lead screw 4-14 via clamping nut 4-17. One end of the clamping lower lead screw 4-14 is supported on the lower lead screw fixing member 4-16 by a bearing, and the other end of the clamping lower lead screw 4-14 is fixed on the lower lead screw support member 4-11. A radar receiving plate 4-19 is installed on the upper lead screw support member 4-10, and a clamping lidar 4-20 is installed on the upper lead screw fixing member 4-15. The radar receiving plate 4-19 and the clamping lidar 4-20 constitute a ranging device.

[0080] The upper clamping screw 4-6 has positive and negative threads 4-6-1 on both sides, and the large clamping nuts 4-8 are respectively connected to the positive and negative threads on both sides of the upper clamping screw 4-6. When the clamping motor 4-1 transmits torque to the upper clamping screw 4-6 through the clamping timing belt 4-5, the upper clamping screw 4-6 begins to rotate, and the two large clamping nuts 4-8 move synchronously facing or back to back, respectively driving the upper screw support 4-10 fixed on the large clamping nuts 4-8 to move facing or back to back. Simultaneously, the rotation of the upper clamping screw 4-6 drives the clamping transmission synchronous wheels 4-12 at both ends to rotate. The motion is transmitted to the clamping transmission synchronous wheels 4-12 fixed on the lower clamping screw 4-14 through the clamping transmission synchronous belt 4-13, thereby driving the lower clamping screw 4-14 to rotate. The thread direction of the lower clamping screw 4-14 is consistent with the thread direction of the upper clamping screw 4-6 on the same side. Through this mechanism, the large clamping nut 4-8 and the small clamping nut 4-17 on the same side can move synchronously and in the same direction. This makes the lower screw support 4-11 on the lower clamping screw 4-14 and the upper screw support 4-10 on the upper clamping screw 4-6 on the same side move synchronously and in the same direction. This drives the wire de-icing module 5 installed on the wire clamping module 4 to clamp and release the wire. The distance measuring device can measure the clamping and releasing distance and provide real-time feedback to the control module.

[0081] Example 4:

[0082] This embodiment is an improvement based on Embodiment 1, Embodiment 2, or Embodiment 3, specifically the following improvements: Figure 5 and Figure 7As shown, the wire de-icing module 5 includes a left de-icing module and a right de-icing module. Both the left and right de-icing modules include a de-icing gear 5-1, a de-icing roller 5-2, an upper fixing part 5-6, a lower fixing part 5-7, a transmission gear 5-4, and a de-icing motor 5-5. The de-icing roller 5-2 is mounted between the upper lead screw support 4-10 and the lower lead screw support 4-11 of the wire clamping module 4 via a de-icing roller shaft 5-3. The upper fixing part 5-6 and the lower fixing part 5-7 are... The upper lead screw support 4-10 and the lower lead screw support 4-11 of the wire clamping module 4 are connected separately. The de-icing gear 5-1 is installed between the upper fixing part 5-6 and the lower fixing part 5-7 of the de-icing wheel through the de-icing wheel shaft 5-3. The lower ends of the de-icing gear 5-1 and the de-icing roller 5-2 are both provided with transmission gears 5-4. The de-icing motor 5-5 is connected to the transmission gear 5-4 and transmits the motor torque to the de-icing gear 5-1 and the de-icing roller 5-2 through the transmission gear 5-4. The de-icing motor 5-5 is connected to the control module. The wire de-icing module 5 further includes an upper de-icing support 5-8 and a lower de-icing support 5-9; both the upper and lower de-icing supports 5-8 and 5-9 are arranged along the clamping direction of the wire clamping module 4; the lower de-icing support 5-9 is discontinuous in the middle and is located on both sides of the wire to be de-iced; both the upper and lower de-icing supports 5-8 and 5-9 are provided with a first oblong hole, a second oblong hole, or a circular hole, the length direction of the first oblong hole is along the clamping direction of the wire clamping module 4, and the length direction of the second oblong hole is perpendicular to the clamping direction of the wire clamping module 4. The left and right de-icing modules are respectively connected to the first waist-shaped hole, the second waist-shaped hole, or the circular hole on the upper de-icing support 5-8. The left and right de-icing modules are respectively connected to the first waist-shaped hole, the second waist-shaped hole, or the circular hole on the lower de-icing support 5-9. The upper de-icing support 5-8 is also equipped with a guide wire ranging radar 5-10, which is used to measure the distance between the de-icing gear 5-1 and / or the de-icing roller 5-2 and the guide wire to be de-iced. The guide wire ranging radar 5-10 is connected to the control module.

[0083] Preferably, the de-icing roller 5-2 has a tapered longitudinal section and is covered with rubber to form a de-icing roller outer rubber 5-2-1. The left de-icing module and the right de-icing module each include one or more de-icing rollers 5-2, and the de-icing rollers 5-2 of the left de-icing module and the right de-icing module are symmetrically arranged on both sides of the guide wire to be de-iced. The de-icing gear 5-1 includes de-icing teeth 5-1-1, which are straight teeth or helical teeth. The left de-icing module and the right de-icing module each include one or more de-icing gears 5-1, and the de-icing gears 5-1 of the left de-icing module and the right de-icing module are symmetrically arranged on both sides of the guide wire to be de-iced.

[0084] The de-icing gear 5-1 and the de-icing roller 5-2 are the core components of the conductor de-icing module 5. The de-icing gear 5-1 has de-icing teeth 5-1-1 that can cut ice. The de-icing teeth 5-1-1 have helical teeth and straight teeth. By clamping in opposite directions, multiple de-icing cutting points (horizontal cutting points or inclined cutting points) can be formed on the conductor, thereby removing the ice on the conductor more effectively. The de-icing roller 5-2 is coated with rubber to form the outer rubber 5-2-1. This not only crushes and removes residual ice after the de-icing gear 5-1 breaks the ice, but also increases the friction with the wire. The longitudinal section of the de-icing roller 5-2 is conical. The conical design provides greater tolerance for the wire's dimensions, preventing it from detaching and ensuring a tight clamping grip. This is especially important because the wire's dimensions change before and after de-icing (before de-icing, the wire's dimensions = wire diameter + twice the ice thickness; after de-icing, the wire's dimensions are the wire diameter, and the dimensions also change during de-icing). This design also prevents relative slippage caused by vibration during de-icing, ensuring a tight grip. The de-icing gear 5-1 of the left and right de-icing modules are paired to form a group, and there may be one or more groups. The de-icing roller 5-2 of the left and right de-icing modules are also paired to form a group, and there may be one or more groups.

[0085] Both the upper de-icing support 5-8 and the lower de-icing support 5-9 are provided with a first oblong hole, a second oblong hole, or a circular hole. The length direction of the first oblong hole is along the clamping direction of the wire clamping module 4, and the length direction of the second oblong hole is perpendicular to the clamping direction of the wire clamping module 4. The upper fixing part 5-6 or the lower fixing part 5-7 of the de-icing wheel can slide in the first oblong hole under the drive of the wire clamping module 4, thereby adjusting the clamping distance of a set of de-icing gears 5-1. The upper fixing part 5-6 or the lower fixing part 5-7 of the de-icing wheel can slide in the second oblong hole under the drive of the wire clamping module 4, thereby keeping the angle between the upper fixing part 5-6 and the upper lead screw support 4-10 or the angle between the lower fixing part 5-7 and the lower lead screw support 4-11 unchanged, that is, keeping the relative position of the de-icing gear 5-1 and the de-icing roller 5-2 unchanged. The upper fixing part 5-6 or the lower fixing part 5-7 of the de-icing wheel can rotate around the circular hole under the drive of the wire clamping module 4, thereby changing the angle between the upper fixing part 5-6 and the upper lead screw support 4-10, or the angle between the lower fixing part 5-7 and the lower lead screw support 4-11, thus adjusting the clamping angle of the de-icing gear 5-1, i.e., the angle between the de-icing gear 5-1 and the de-icing roller 5-2. The connection method between the upper fixing part 5-6 and the upper de-icing support 5-8, or the connection method between the lower fixing part 5-7 and the lower de-icing support 5-9, is selected according to the actual ice coverage of the wire to be de-iced.

[0086] For example, there are four de-icing gears 5-1 and four de-icing rollers 5-2, arranged front to back and aligned left to right. Both de-icing gears 5-1 and de-icing rollers 5-2 are connected and supported to the de-icing wheel shaft 5-3 via bearings. The de-icing gear 5-1 is fixed between the upper fixing member 5-6 and the lower fixing member 5-7 of the de-icing wheel via the de-icing wheel shaft 5-3. The de-icing roller 5-2 is fixed between the upper lead screw support member 4-10 and the lower lead screw support member 4-11 via the de-icing wheel shaft 5-3. The upper de-icing support member 5-8 and the lower de-icing support member 5-9 are the front-end support structures of the wire de-icing module 5. A wire ranging radar 5-10 is fixed to the upper de-icing support member 5-8, which is used to measure the distance between the de-icing gear 5-1 and / or the de-icing roller 5-2 and the wire to be de-iced (the distance between the de-icing robot and the wire) and feed it back to the control module. The de-icing drive gear 5-4 is fixed to the de-icing gear 5-1 and the de-icing roller 5-2 by screws. During operation, the de-icing motor 5-5 transmits torque to the de-icing drive gear 5-4, which in turn transmits torque to all the de-icing gears 5-1 and the de-icing roller 5-2. The left and right de-icing modules each have one or more de-icing motors 5-5.

[0087] After guiding and clamping the wire, the rubber 5-2-1 on the de-icing roller 5-2 undergoes elastic deformation to clamp the wire. The de-icing motor 5-5 is activated, transmitting torque synchronously to all de-icing gears 5-1 and the de-icing roller 5-2 via the de-icing transmission gear 5-4. The de-icing gears 5-1 and the de-icing roller 5-2 begin to rotate and move forward. The de-icing gear 5-1 cuts away the ice covering the wire using its de-icing teeth 5-1-1, and the remaining small amount of ice fragments is crushed and removed by the de-icing roller 5-2. The wire clamping module 4, in conjunction with the de-icing motor 5-5, presses the de-icing roller 5-2 firmly onto the cut wire, generating the main forward propulsion for the de-icing robot.

[0088] Example 5:

[0089] This embodiment is an improvement based on Embodiment 1, Embodiment 2, Embodiment 3, or Embodiment 4. The specific improvements are as follows: Figure 8 and Figure 9As shown, the de-icing robot module 2 also includes a wire guiding module 3. The wire guiding module 3 includes a front guide wheel 3-1, a rear guide wheel 3-7, and a guide drive motor 3-3. The front guide wheel 3-1 and / or the rear guide wheel 3-7 are connected to the guide drive motor 3-3. The front guide wheel 3-1 and the rear guide wheel 3-7 are respectively located at the front and rear ends of the structural frame of the de-icing robot module 2. The guide drive motor 3-3 is connected to the control module. The longitudinal section of the front guide wheel 3-1 and the rear guide wheel 3-7 is a concave V-shape. The surface of the front guide wheel 3-1 is provided with guide teeth, namely the front guide wheel teeth 3-1-1. The surface of the rear guide wheel 3-7 is provided with rubber, namely the outer rubber of the rear guide wheel 3-7-1.

[0090] For example, the guide module 3 includes a front guide wheel 3-1, a front guide wheel tooth 3-1-1, a guide wheel shaft 3-2, a guide drive motor 3-3, a guide drive motor fixing component 3-4, a guide drive large gear 3-5, a guide drive small gear 3-6, a rear guide wheel 3-7, and a rear guide wheel outer rubber 3-7-1. The guide wheel shafts 3-2 of the front guide wheel 3-1 and the rear guide wheel 3-7 are respectively fixed to the upper end of the support rod 2-7 of the structural frame, and are located at the front and rear ends of the de-icing robot. The front guide wheel 3-1 and the rear guide wheel 3-7 are connected to the guide wheel shaft 3-2 via bearings. A large guide drive gear 3-5 is fixed to one side of each of the front guide wheel 3-1 and the rear guide wheel 3-7. A guide drive motor 3-3 is fixed next to each of the large guide drive gears 3-5. The guide drive motor 3-3 is connected to the large guide drive gear 3-5 via a small guide drive gear 3-6. These two guide drive motors 3-3 are fixed to the front and rear baffles 2-2 of the structural frame via guide drive motor fixing parts 3-4. A set of front and rear photoelectric switches 2-11 are fixed to the inward contact surfaces of the front and rear baffles 2-2, respectively, to identify whether the icing wire is in contact with the front guide wheel 3-1 and the rear guide wheel 3-7 of the wire guiding module 3. A guide drive pinion 3-6 is connected to the output shaft of the guide drive motor 3-3. The drive motor transmits torque to the guide drive gear 3-5 through the guide drive pinion 3-6, forming a reduction ratio and increasing the torque. This drives the front guide wheel 3-1 and the rear guide wheel 3-7 to rotate, providing part of the power for the de-icing robot to move forward. The longitudinal section of the front guide wheel 3-1 and the rear guide wheel 3-7 is a deep V-shape with a concave center, which can meet the clamping and guiding function for wires of different diameters. The front guide wheel 3-1 is designed with guide front wheel teeth 3-1-1 to improve the friction against ice on the wire. The rear guide wheel 3-7 has rubber wrapped with rubber to form the outer rubber 3-7-1, which improves the friction against the de-iced wire and prevents slippage. The front guide wheel 3-1 and the rear guide wheel 3-7 simultaneously perform the function of guiding the wire for the de-icing robot.

[0091] Because of gravity, the two ends of the guide wire are tilted. In a better scenario, during the process of the de-icing robot landing on the end of the guide wire, the rear guide wheel 3-7 first contacts the guide wire, and then the robot tilts its posture. The head (front end) of the de-icing robot begins to descend and contact the guide wire until the front guide wheel 3-1 contacts the icy guide wire. After both the front guide wheel 3-1 and the rear guide wheel 3-7 have contacted the guide wire, the next de-icing action is then carried out.

[0092] Example 6:

[0093] This embodiment is an improvement based on Embodiment 1, Embodiment 2, Embodiment 3, Embodiment 4, or Embodiment 5. The specific improvements are as follows: Figure 10 As shown, the rotor tilting module includes a rotor 1-3, a rotor arm 1-4, a rotor motor 1-10, and an adjustable linkage module. The adjustable linkage module includes a parallel linkage mechanism, a tilting motor 1-16, and a tilting synchronization mechanism. Two sets of parallel linkage mechanisms are symmetrically arranged on both sides of the structural frame of the de-icing robot module 2 and connected by the tilting synchronization mechanism. The tilting motor 1-16 is mounted on the structural frame of the de-icing robot module 2. The parallel linkage mechanism includes a transmission link 1-12, a first swing rocker arm 1-13, and a second swing rocker arm 1-14. The output shaft of the tilting motor 1-16 is connected to one end of the first swing rocker arm 1-13 and can drive the first swing. The rocker arm 1-13 rotates, and the other end of the first swinging rocker arm 1-13 is connected to one end of the transmission link 1-12. The other end of the transmission link 1-12 is connected to one end of the second swinging rocker arm 1-14, and the other end of the second swinging rocker arm 1-14 is connected to the structural frame of the de-icing robot module 2. The rotor arm 1-4 is mounted on the transmission link 1-12 and can swing with the transmission link 1-12. The rotor arm 1-4 is equipped with a rotor 1-3 and a rotor motor 1-10. An angle sensor 1-17 is mounted on the other end of the second swinging rocker arm 1-14. The rotor motor 1-10, the tilt motor 1-16, and the angle sensor 1-17 are connected to the control module. Figure 1 and Figure 2 As shown, the drone module 1 also includes a housing and a power switch 1-8. The multimodal sensors include a lidar 1-5, a gimbal camera 1-6, and an RTK module 1-7 (Real-Time Kinematic, or RTK for short, refers to real-time dynamic carrier phase differential technology, a high-precision positioning technology). The lidar 1-5, gimbal camera 1-6, RTK module 1-7, and power switch 1-8 are all mounted on the housing, which includes a drone component housing 1-1 and a de-icing robot component housing 1-2.

[0094] For example, the outer shell of the drone module 1 includes a drone component shell 1-1 and a de-icing robot component shell 1-2. The shape of the shell support plate 2-1 is consistent with the front and rear ends of the de-icing robot component shell 1-2, and it plays the role of supporting the de-icing robot component shell 1-2 to prevent the de-icing robot module 2 from accidentally hitting the ice-covered wire and being damaged. The lower end of the de-icing robot component shell 1-2 protrudes as the lower end protrusion of the de-icing robot component shell 1-2-1. The drone module 1 is located above the de-icing robot module 2. Multimodal sensors are installed on the drone component shell 1-1, including a lidar 1-5, a gimbal camera 1-6, and two RTK modules 1-7. The lidar 1-5 is located at the front of the drone component shell 1-1 and is responsible for scanning and modeling complex terrain. The gimbal camera 1-6 is located below the lidar 1-5 and is responsible for scanning the image information in front. The two RTK modules 1-7 are located at the top of the drone component shell 1-1 and are responsible for high-precision positioning of the drone module 1. These high-precision sensors enable the drone module 1 to perform functions such as automatic flight, identification of wire icing type, and identification of wire tilt angle. A power switch 1-8 and a charging plug 1-9 are also located on one side of the drone component shell 1-1 for convenient starting, stopping, and recharging of the de-icing robot. The entire de-icing robot module 2 is located inside the de-icing robot component shell 1-2. The lower end of the de-icing robot component shell 1-2 protrudes to form the lower end protrusion 1-2-1, which is the location for placing the power supply 2-12. Placing the heavy power supply 2-12 at the bottom can effectively lower the center of gravity of the entire de-icing robot.

[0095] The number of rotors 1-3 in the rotor tilting module is not limited. For example, it includes four rotors 1-3, which are mounted on the middle of the de-icing robot component housing 1-2 via four rotor arms 1-4, distributed on the left and right sides. This differs from placing the rotors 1-3 on the drone component housing 1-1. Lowering the position of the rotors 1-3 can effectively lower the center of gravity of the entire de-icing robot. Preferably, the rotors 1-3 are equipped with rotor protection frames 1-11. On the one hand, this can help the rotors 1-3 maintain their flight attitude in severe weather such as strong winds, preventing the fuselage from shaking due to airflow impact. On the other hand, it can prevent ice blocks and debris generated during de-icing from impacting and damaging the rotors 1-3. For example, the tilting synchronization mechanism includes a connecting shaft 1-18 and two third swinging rockers 1-15. The third swinging rockers 1-15 are connected to the parallel linkage mechanisms on both sides of the structural frame of the de-icing robot module 2. The two ends of the connecting shaft 1-18 are connected to one end of the two third swinging rockers 1-15, and the other ends of the two third swinging rockers 1-15 are connected to the transmission linkages 1-12 on both sides of the structural frame of the de-icing robot module 2. The connecting shaft 1-18 is set on the structural frame of the de-icing robot module 2 and is connected to the structural frame of the de-icing robot module 2 through a bushing.

[0096] The working principle of the rotor tilting module is as follows: the control module commands the tilting motor 1-16 to transmit the output torque to the first swinging rocker arm 1-13 according to the tilt angle of the guide wire or the tilt angle of the fuselage. The first swinging rocker arm 1-13 rotates, which in turn drives the transmission link 1-12 to swing and the second swinging rocker arm 1-14 to rotate synchronously. Through the tilting synchronization mechanism, the rotors 1-3 connected to the transmission link 1-12 on both sides of the structural frame of the de-icing robot module 2 swing synchronously and consistently to achieve tilting. Specifically, the other end of the third swinging rocker arm 1-15 receives the transmission link 1-12. The oscillation of the second swing lever 1-14 causes it to rotate around the other end of the third swing lever 1-15, which in turn drives the connecting shaft 1-18 to rotate. This further drives the third swing lever 1-15 on the other side of the structural frame of the de-icing robot module 2 to rotate, which in turn drives the transmission link 1-12 on the other side of the structural frame of the de-icing robot module 2 to oscillate. This transfers motion from one side of the structural frame of the de-icing robot module 2 to the other side. Since the parallel linkage mechanisms on both sides are symmetrically arranged, they can oscillate synchronously, thereby achieving synchronous tilting of the rotors 1-3 on both sides. The angle sensor 1-17 at the end of the second swing lever 1-14 can collect the actual swing angle data of the parallel linkage mechanism in real time and feed it back to the control module to achieve closed-loop correction of the swing angle deviation.

[0097] When the de-icing robot flies near the guide wire, the RTK module 1-7 locates the drone module 1. Combining the guide wire image information collected by the gimbal camera 1-6 and the information collected by the lidar 1-5, it intelligently identifies the icy guide wire (including the identification of ice type, ice thickness, etc.) and keeps the de-icing robot directly above the icy guide wire. At the same time, the lidar 1-5 or the guide wire ranging radar 5-10 starts to calculate the distance between the de-icing robot and the guide wire. With the assistance of the drone module 1, the de-icing robot begins to descend slowly. When the front and rear photoelectric switches 2-11 at the rear end detect the information of the icy guide wire, the rotor arm 1-4 begins to tilt. At this time, the guide rear wheel 3-7 has already contacted the guide wire, and the de-icing robot begins to tilt forward. The tilting of the rotor arm 1-4 can maintain the output of vertical lift to the ground and keep the whole machine stable. When the guide front wheel 3-1 contacts the icy guide wire, the entire de-icing robot is stable on the icy guide wire.

[0098] This invention is designed as an integrated structure of a drone module 1 and a de-icing robot module 2. By integrating advanced drone wire identification technology, tilting wire lifting technology, dual-mode de-icing technology of the de-icing robot, and wire clamping technology, it can automatically fly to the height of the wire. Even in harsh environments with extremely low visibility, it can automatically identify the wire, locate the wire, and land on the tilted wire at one end. It can automatically clamp the wire and stabilize it on the wire to break the ice. Through dual-mode de-icing (ice-cutting or ice-breaking by de-icing gear 5-1 + ice-crushing by de-icing roller 5-2), it can break the thick ice on the entire wire in one go. After breaking the ice, based on the integrated structure of drone module 1 and de-icing robot module 2, it can quickly fly away from the current wire and find the next icy wire to de-ic. This achieves fully automated, efficient, safe, and adaptive de-icing operations.

[0099] This invention, through the integrated design of the drone module 1 and the de-icing robot module 2, overcomes the cumbersome process of repeatedly connecting and separating drones and de-icing robots in traditional methods, greatly improving de-icing efficiency. Even in severe weather with extremely low visibility, the drone module 1, using its multimodal sensors and a self-developed guide wire identification algorithm, can accurately fly above the guide wire, precisely locate and confirm the icy guide wire, and select one of the icy guide wires for landing. Based on the integrated design of the drone module 1 and the de-icing robot module 2, and superimposed with adaptive rotor arms 1-4 tilting technology, this invention can land at both ends of guide wires with tilt angles. Through the tilting of rotor arms 1-4, it can maintain a vertical upward lift force on the entire machine, ensuring the stability of the entire machine on the tilted guide wire. This invention can automatically calculate the ice thickness on the guide wire and clamp the icy guide wire using the guide wire clamping module 4, further ensuring the stability of the entire machine on the icy guide wire. The guide wire de-icing module 5 performs both ice cutting and ice crushing de-icing on the icy guide wire, achieving de-icing capability for different types of ice on the guide wire. Combined with the conductor clamping module 4, de-icing can be performed on icy conductors on sloping inclines and declines, completing the de-icing task of the entire icy conductor in one operation. During the de-icing process, the drone module 1 remains in a dormant state, greatly saving drone energy. After de-icing is completed, the drone module 1 is activated, quickly flying away from the conductor to identify and locate surrounding icy conductors, completing the de-icing operation on the next icy conductor. This de-icing mode greatly improves de-icing efficiency.

[0100] In this invention, when directional terms such as "up," "down," "left," "right," "bottom," and "top" are used, they are defined relative to the directions shown in the accompanying drawings and are used only to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. These or other directional terms should not be construed as restrictive terms.

[0101] In this invention, the use of terms such as "a," "an," "an," "the," etc., does not indicate a quantity limitation and may represent singular or plural. The terms "comprising," "including," "having," and any variations thereof used in this invention are intended to cover non-exclusive inclusion; the terms "first," "second," "third," etc., used in this invention are merely to distinguish similar objects and do not represent a specific ordering of objects.

[0102] In this invention, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0103] Furthermore, this invention does not discuss in detail the technologies and equipment known to those skilled in the art, but where appropriate, such technologies and equipment should be considered part of the specification.

[0104] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A drone-based de-icing robot, characterized in that, It includes a drone module and a de-icing robot module, which are integrated into one unit; The drone module includes a multimodal sensor and a rotor tilt module. The multimodal sensor can identify the type of ice accretion on the de-icing wire, as well as the tilt angle of the wire or the tilt angle of the fuselage. The de-icing robot module includes a control module, a wire clamping module, and a wire de-icing module; The wire de-icing module is mounted on the wire clamping module and located on both sides of the wire to be de-iced, and can move with the wire clamping module. The control module is connected to the wire clamping module, the wire de-icing module, the multimodal sensor, and the rotor tilting module. The control module can instruct the wire clamping module and the wire de-icing module to operate according to the icing type, and can instruct the rotor tilting module to tilt according to the wire tilting angle or the fuselage tilting angle. The wire de-icing module includes a left de-icing module and a right de-icing module. Both the left and right de-icing modules include a de-icing gear, a de-icing roller, an upper fixing part of the de-icing roller, a lower fixing part of the de-icing roller, a transmission gear, and a de-icing motor. The de-icing roller is installed between the upper and lower lead screw support members of the wire clamping module via the de-icing roller shaft. The upper and lower fixing members of the de-icing roller are respectively connected to the upper and lower lead screw support members of the wire clamping module. The de-icing gear is installed between the upper and lower fixing members of the de-icing roller via the de-icing roller shaft. The lower ends of the de-icing gear and the de-icing roller are both equipped with transmission gears. The de-icing motor is connected to the transmission gears and transmits the motor torque to the de-icing gear and the de-icing roller through the transmission gears. The de-icing motor is connected to the control module. The wire de-icing module also includes an upper de-icing support and a lower de-icing support; Both the upper and lower de-icing supports are arranged along the clamping direction of the wire clamping module; the lower de-icing support is discontinuous in the middle and is located on both sides of the wire to be de-iced. Both the upper and lower de-icing support members are provided with a first waist-shaped hole, a second waist-shaped hole, or a circular hole. The length direction of the first waist-shaped hole is along the clamping direction of the wire clamping module, and the length direction of the second waist-shaped hole is perpendicular to the clamping direction of the wire clamping module. The fixing parts on the de-icing wheels of the left and right de-icing modules are respectively connected to the first waist-shaped hole, the second waist-shaped hole, or the round hole on the upper support of the de-icing module; the fixing parts on the lower de-icing wheels of the left and right de-icing modules are respectively connected to the first waist-shaped hole, the second waist-shaped hole, or the round hole on the lower support of the de-icing module. The de-icing support is also equipped with a wire ranging radar, which is used to measure the distance between the de-icing gear and / or the de-icing roller and the wire to be de-iced. The wire ranging radar is connected to the control module.

2. The UAV-based de-icing robot according to claim 1, characterized in that, The wire clamping module includes a clamping motor, an upper clamping screw, a lower clamping screw, a left clamping assembly, a right clamping assembly, and an upper and lower synchronization device. Both the left clamping assembly and the right clamping assembly include an upper screw support and a lower screw support. The clamping motor is connected to the upper clamping screw or the lower clamping screw, and the upper clamping screw and the lower clamping screw are connected by an upper and lower synchronization device; The clamping upper screw has positive and negative threads on the left and right sides, and the two positive and negative threads are respectively threaded to the upper screw support of the left clamping assembly and the right clamping assembly. A lower screw support is correspondingly provided below the upper screw support, and the upper screw support and the lower screw support form the installation position of the wire de-icing module. The lower lead screw support is connected to the upper and lower synchronization device via a clamping lower lead screw, and the clamping lower lead screw is arranged parallel to the clamping upper lead screw. The clamping motor is connected to the control module.

3. The drone-based de-icing robot according to claim 2, characterized in that, The wire clamping module also includes a clamping guide shaft, which is connected to the upper lead screw support of the left clamping assembly and the right clamping assembly respectively, and is arranged parallel to the clamping upper lead screw; The wire clamping module also includes a ranging device, which can measure the distance the upper lead screw support moves, and the ranging device is connected to the control module; The upper and lower synchronization device includes a clamping transmission timing belt and a clamping transmission timing pulley. The upper clamping screw and the lower clamping screw are respectively equipped with clamping transmission timing pulleys and are connected by the clamping transmission timing belt.

4. The drone-based de-icing robot according to claim 1, characterized in that, The de-icing roller has a tapered longitudinal section and is covered with rubber. The left and right de-icing modules each include one or more de-icing rollers, and the de-icing rollers of the left and right de-icing modules are symmetrically arranged on both sides of the wire to be de-iced. The de-icing gear includes de-icing teeth, which are either straight or helical. The left de-icing module and the right de-icing module each include one or more de-icing gears, and the de-icing gears of the left de-icing module and the right de-icing module are symmetrically arranged on both sides of the wire to be de-iced.

5. The drone-based de-icing robot according to claim 1, characterized in that, The de-icing robot module also includes a structural frame; The structural frame is used to install the control module, wire clamping module, wire de-icing module, and drone module; The structural frame is also equipped with an internal camera and a power supply. The internal camera is connected to the control module, and the power supply is used to power the de-icing robot module and the drone module.

6. The drone-based de-icing robot according to claim 1, characterized in that, The de-icing robot module also includes a wire guiding module; The wire guiding module includes a front guide wheel, a rear guide wheel, and a guide drive motor. The front guide wheel and / or the rear guide wheel are connected to the guide drive motor. The front guide wheel and the rear guide wheel are respectively located at the front end and the rear end of the structural frame of the de-icing robot module. The guide drive motor is connected to the control module. The longitudinal section of the front guide wheel and the rear guide wheel is an opposing V-shape with a central concave shape. Guide wheels are provided on the surface of the front guide wheel, and rubber is provided on the surface of the rear guide wheel.

7. The drone-based de-icing robot according to claim 1, characterized in that, The rotor tilting module includes a rotor, a rotor arm, a rotor motor, and an adjustable linkage module; The adjustable linkage module includes a parallel linkage mechanism, a tilting motor, and a tilting synchronization mechanism. The parallel linkage mechanism consists of two sets, symmetrically arranged on both sides of the structural frame of the de-icing robot module, and connected by the tilting synchronization mechanism. The tilting motor is mounted on the structural frame of the de-icing robot module. The parallel linkage mechanism includes a transmission link, a first swing rocker and a second swing rocker. The output shaft of the tilt motor is connected to one end of the first swing rocker and can drive the first swing rocker to rotate. The other end of the first swing rocker is connected to one end of the transmission link. The other end of the transmission link is connected to one end of the second swing rocker. The other end of the second swing rocker is connected to the structural frame of the de-icing robot module. The rotor arm is mounted on the transmission link and can swing with the transmission link. The rotor arm is equipped with a rotor and a rotor motor. An angle sensor is provided on the other end of the second swing rocker arm; The rotor motor, tilt motor, and angle sensor are connected to the control module.

8. The drone-based de-icing robot according to claim 1, characterized in that, The drone module also includes a shell and a power switch, and the multimodal sensors include a lidar, a gimbal camera, and an RTK module; The lidar, gimbal camera, RTK module, and power switch are all mounted on the housing.

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