Unmanned aerial vehicle with deicing device

Abstract

The utility model discloses an unmanned aerial vehicle with a deicing device, and relates to the field of deicing of high-voltage overhead conductors, the unmanned aerial vehicle is provided with the deicing device, the deicing device comprises a microwave generator and an ultrasonic generator which are oppositely arranged, and a power transmission line is located between the microwave generator and the ultrasonic generator. Microwaves and ultrasonic waves emitted by the microwave generator and the ultrasonic generator face the power transmission line. According to the utility model, the ice layer is cracked by utilizing high-frequency vibration heating generated by ultrasonic waves and microwaves, so that the purpose of removing the ice layer is achieved. According to the method, a power grid line does not need to be contacted, and line damage possibly caused by direct impact is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to high -tension overhead conductor deicing field, concretely relates to unmanned aerial vehicle with deicing device. BACKGROUND

[0002] Power energy adopts long-distance large capacity transmission mode, and power transmission line is usually realized by high-voltage overhead conductor. In the winter cold harsh environment, affected by the weather, microtopography and microclimate conditions, the rain and snow weather in many areas is prone to cause the overhead power transmission line to appear icing phenomenon, so that the load of the power transmission conductor increases, and even causes tower collapse, wire breakage, flashover and other accidents, causing huge economic losses. For the icing of overhead power transmission line, domestic and foreign have carried out research work on snow accumulation theory, icing thickness, conductor monitoring and tower reinforcement. At present, the following several power transmission line deicing methods are mainly used at home and abroad;

[0003] Electric heating deicing is usually to increase the current of the power transmission line, so that the power transmission line heats up to melt the ice. Common electric heating deicing methods include overcurrent deicing method, short circuit deicing method, direct current deicing method and the like. These thermal deicing technologies are effective for local power grid and conductor, but need to be powered off, and have high energy consumption and large cost.

[0004] Mechanical deicing method is to apply mechanical force to the ice to make the ice on the power transmission line fall off under the action of the mechanical force. Through the line operator, artificial knocking, gun shooting or even using a helicopter to deice according to the site conditions. This technology is simple and easy to operate, but the efficiency is very low and the safety is very poor.

[0005] Vibration deicing method mainly uses coupling resonance or external excitation vibration to make the ice fall off. In the vibration process, the conductor may be fatigued, causing accidents, which is difficult to apply to engineering practice.

[0006] Robot deicing adopts a fixed cutter at the front end, and deices by front pushing and impacting. It is fixed on the line by mechanical structure during operation. It has the advantages of small energy consumption, safety and no need to stop power supply. However, due to the complex mechanical and control structure, it is difficult to work on remote mountainous areas and large span and large height difference power transmission lines across rivers and lakes, and it is difficult to overcome obstacles. Passive deicing method is a method of using wind, earth's gravity, random scattering and temperature change to remove ice. This method does not need additional energy, which helps to limit ice disasters, but cannot guarantee that the ice can be removed.

[0007] Therefore, the existing high-voltage overhead conductor deicing device cannot meet the use. UTILITY MODEL CONTENTS

[0008] The utility model discloses a unmanned vehicle with deicing device, through microwave generator and ultrasonic generator emit microwave and ultrasonic wave to remove the ice layer on the power grid line, to solve the problem of existing transmission line deicing technology, guarantee the safe and stable operation of power system.

[0009] The purpose is realized by the following technical scheme:

[0010] The unmanned vehicle with deicing device, including unmanned vehicle device, be provided with deicing device on unmanned vehicle device, deicing device includes the microwave generator and ultrasonic generator of opposite setting, and the power line is located between microwave generator and ultrasonic generator, and microwave and ultrasonic wave emitted by microwave generator and ultrasonic generator are all towards the power line.

[0011] In use, the device flies to the icing power line by the unmanned vehicle and makes the power line located between the microwave generator and the ultrasonic generator by adjusting the position of the unmanned vehicle, and the microwave and ultrasonic wave emitted by the microwave generator and the ultrasonic generator are all towards the power line.

[0012] The ultrasonic wave of the ultrasonic generator produces vibration, and the microwave of the microwave generator produces vibration heating, and the combination of the two makes the ice layer crack through vibration heating, thereby achieving the purpose of removing the ice layer. This method does not need to contact the power grid line, avoiding the damage to the line caused by direct impact.

[0013] Moreover, compared with the existing structure, the existing structure makes the whole power line vibrate when generating ultrasonic waves, which is easy to cause damage to the power line. The device makes the power line vibrate locally in the icing power line, without the need for the whole power line to vibrate together, which can effectively protect the power line from damage. Preferably, the frequency of the ultrasonic wave of the ultrasonic generator and the microwave of the microwave generator is the same.

[0014] At the same time, the waveforms emitted by the microwave generator and the ultrasonic generator of the device are both sine waves. The microwave is an electromagnetic wave, and the ultrasonic wave is a mechanical wave. By emitting two waveforms with the same frequency, the interaction between them is utilized to enhance the deicing effect. In deicing, electromagnetic waves can penetrate the ice layer and heat and disturb the molecules inside the ice layer; while mechanical waves transmit energy through vibration, reducing the adhesion between the ice layer and the surface of the object. When the two waveforms are emitted at the same frequency, they will produce a strong resonance effect in the ice layer. This resonance effect not only destroys the molecular structure inside the ice layer, but also greatly reduces the adhesion between the ice layer and the surface of the object, thereby achieving efficient deicing. During the resonance process, energy is transferred from the waveforms to the ice layer and gradually released through the vibration and mutual friction of the molecules inside the ice layer. This energy transfer method not only improves the deicing efficiency, but also reduces the damage to the deiced object.

[0015] Therefore, compared with the existing power line deicing device, the device can quickly deice the local icing part and does not damage the power line itself, and is safer to use.

[0016] Preferably, the power line is located between the microwave generator and the ultrasonic generator, and the microwave generator and the ultrasonic generator are located on a horizontal straight line, and when deicing, the power line is quickly acted on both sides, which can further speed up the deicing efficiency.

[0017] Further, the thickness of the ice at different icing parts of the power line is different, and if the distance between the microwave generator and the ultrasonic generator and the power line is far, the deicing effect cannot be better achieved. Therefore, the deicing device of the device comprises a connecting ring, and the microwave generator and the ultrasonic generator are arranged on the connecting ring; the connecting ring is provided with an adjusting assembly, and the adjusting assembly is used for adjusting the distance between the microwave generator and the power line and the distance between the ultrasonic generator and the power line. Further improve the effect of the microwave generator and the ultrasonic generator acting on the power line.

[0018] The adjusting assembly can be various structures, such as telescopic rods or other mechanical structures, preferably, the utility model provides an adjusting assembly, the adjusting assembly comprises a first telescopic rod and a second telescopic rod arranged on the connecting ring, one end of the first telescopic rod is connected with the microwave generator, one end of the second telescopic rod is connected with the ultrasonic generator, the adjusting assembly further comprises two rotating gears, the two rotating gears are connected on the connecting ring and can rotate circumferentially on the connecting ring, the two rotating gears are respectively engaged with the first telescopic rod and the second telescopic rod, and the two rotating gears rotate to drive the first telescopic rod and the second telescopic rod to move towards the power line or away from the power line. The first telescopic rod and the second telescopic rod are located on the same straight line, and the first telescopic rod and the second telescopic rod are moved by adjusting the rotation of the two rotating gears.

[0019] Further, the connecting ring is provided with a rotating ring, the rotating ring can rotate circumferentially on the connecting ring, the two rotating gears are coaxially connected with shaft rods, the shaft rods are connected with action gears, the action gears are engaged with the rotating ring, and when the rotating ring rotates circumferentially, the action gears rotate circumferentially, and the action gears drive the rotating gears to rotate circumferentially through the shaft rods.

[0020] Therefore, when the first telescopic rod and the second telescopic rod move, the rotating ring rotates, the rotating ring acts on the action gear, drives the action gear to rotate circumferentially, when the action gear rotates circumferentially, the rotating gear rotates circumferentially through the shaft, when the rotating gear rotates circumferentially, the corresponding first telescopic rod or the second telescopic rod is acted on, so that the first telescopic rod or the second telescopic rod moves, the distance between the microwave generator and the power transmission line is adjusted, and the distance between the ultrasonic generator and the power transmission line is adjusted.

[0021] Preferably, an auxiliary adjusting assembly is arranged on the connecting ring, and the auxiliary adjusting assembly is used for adjusting the distance between the auxiliary ultrasonic generator and the power transmission line.

[0022] Preferably, the connecting ring is in a semicircular arc shape, the microwave generator and the ultrasonic generator are respectively connected to two ends of the connecting ring, and a straight line where the microwave generator and the ultrasonic generator are located is a straight line where a diameter of the connecting ring is located.

[0023] In use, the unmanned aerial vehicle device moves to the icing position of the power transmission line, so that the power transmission line is located between the microwave generator and the ultrasonic generator.

[0024] Compared with the prior art, the unmanned aerial vehicle device has the following advantages and beneficial effects:

[0025] The unmanned aerial vehicle device has the following advantages and beneficial effects:

[0026] Meanwhile, the ultrasonic generator and the microwave generator are small in size and light in load, and are suitable for being carried on the unmanned aerial vehicle to perform high-altitude operation.

[0027] And, the same frequency resonance heating and ultrasonic vibration of the utility model do not need to use chemical reagent, will not cause pollution to the power transmission line material and environment, compared with the traditional deicing method, the method energy consumption is lower, more in line with the requirements of environmental protection and energy saving. Compared with the traditional hot gas anti- / deicing technology, the same frequency resonance power grid deicing does not need artificial climbing operation, reduces the risk of personnel casualty. The ultrasonic vibration deicing process is relatively mild, will not cause damage to the power transmission line, guarantees the safe and stable operation of the power system. By adjusting the frequency, the ice layer of specific thickness can be accurately deiced, reducing the damage to the power transmission line.

[0028] The utility model is suitable for various types of power transmission line, including high voltage and super high voltage power transmission line, can solve the icing problem under different regions, different climate conditions. Through unmanned aerial vehicle and rotating disc and other equipment realize automation operation, reduce the manual intervention, improve the work efficiency. Although the initial investment can be higher, but in the long run, due to the reduction of artificial maintenance and repair frequency, the overall maintenance cost is lower. BRIEF DESCRIPTION OF DRAWINGS

[0029] The drawings described herein are used to provide further understanding of the embodiments of the utility model, constitute a part of this application, and do not constitute the limitation to the embodiments of the utility model. In the drawings:

[0030] Figure 1 It is the structural schematic diagram of the device;

[0031] Figure 2 It is the structural schematic diagram of the first telescopic rod and the second telescopic rod on the connecting ring;

[0032] Figure 3 It is the structural schematic diagram of the rotating ring, rotating gear and acting gear on the connecting ring;

[0033] Figure 4 It is the structural schematic diagram of the shaft, rotating gear and acting gear.

[0034] The marks in the drawings and the corresponding part names are as follows:

[0035] 1-connecting ring, 2-first telescopic rod, 3-second telescopic rod, 4-microwave generator, 5-ultrasonic generator, 6-rotating ring, 7-acting gear, 8-rotating gear, 9-assistant ultrasonic generator, 10-third telescopic rod, 11-shaft, 12-unmanned aerial vehicle device, 13-ice removing device. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the utility model is further described in detail below by combining with examples and drawings. The schematic implementation mode and the description thereof of the utility model are only used for explaining the utility model, and cannot be used as the limitation of the utility model.

[0037] In the description of the utility model, it should be understood that the directions or position relations indicated by the terms "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", "outer" and the like are based on the directions or position relations shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as the limitation of the utility model protection scope.

[0038] Example 1

[0039] As shown in the figure, the device comprises a UAV device 12, and an ice removing device 13 is arranged on the UAV device 12. The ice removing device 13 comprises a microwave generator 4 and an ultrasonic generator 5 arranged oppositely. Figure 1 When removing ice, the power transmission line is located between the microwave generator 4 and the ultrasonic generator 5, and the microwaves and ultrasonic waves emitted by the microwave generator 4 and the ultrasonic generator 5 are both directed towards the power transmission line.

[0040] In some examples, the ice removing device 13 comprises a connecting ring 1, and the microwave generator 4 and the ultrasonic generator 5 are arranged on the connecting ring 1. The connecting ring 1 is in the shape of a semicircle. The straight line on which the microwave generator 4 and the ultrasonic generator 5 are located is collinear with the straight line on which the diameter of the connecting ring 1 is located.

[0041] In some examples, the waveforms of the microwaves and the ultrasonic waves are both sine waves. Two waveforms with the same frequency are emitted at the same time, and the interaction between them is used to enhance the ice removing effect. In ice removing, electromagnetic waves can penetrate the ice layer and heat and disturb the molecules inside the ice layer; and mechanical waves transmit energy through vibration, so as to weaken the adhesion between the ice layer and the surface of the object. When the two waveforms are emitted at the same frequency, they will produce a strong resonance effect in the ice layer.

[0042] In use, the UAV device 12 moves to the place where the power transmission line is iced, so that the power transmission line is located between the microwave generator 4 and the ultrasonic generator 5, and the ice at the iced place of the power transmission line is removed.

[0043] In some examples, the frequency of the ultrasonic waves of the ultrasonic generator and the microwaves of the microwave generator is the same.

[0044] Example 2

[0045]

[0046] ​On the basis of the above-mentioned embodiments, the connecting ring 1 is provided with an adjusting assembly, which is used to adjust the distance between the microwave generator 4 and the power transmission line and the distance between the ultrasonic generator 5 and the power transmission line.

[0047] In some embodiments, the connecting ring 1 is further provided with an auxiliary ultrasonic generator 9, which is located above the power transmission line when the power transmission line is located between the microwave generator 4 and the ultrasonic generator 5. The connecting ring 1 is provided with an auxiliary adjusting assembly, which is used to adjust the distance between the auxiliary ultrasonic generator 9 and the power transmission line.

[0048] In some embodiments, the adjusting assembly and the auxiliary adjusting assembly can be telescopic rods or other mechanical structures.

[0049] In some embodiments, as shown in Figure 2 , the adjusting assembly includes a first telescopic rod 2 and a second telescopic rod 3 arranged on the connecting ring 1, the straight line where the first telescopic rod 2 and the second telescopic rod 3 are located is the straight line where the diameter of the connecting ring 1 is located, one end of the first telescopic rod 2 and the second telescopic rod 3 penetrates through the connecting ring 1 and is connected to the connecting ring 1, the other end of the first telescopic rod 2 is connected to the microwave generator 4, and the other end of the second telescopic rod 3 is connected to the ultrasonic generator 5.

[0050] As shown in Figure 3 , the connecting ring 1 is provided with a rotating ring 6, the rotating ring 6 is a semicircular ring, the rotating ring 6 can rotate circumferentially on the connecting ring 1, and the rotating ring 6 rotates circumferentially with the center of the connecting ring as the axis. The rotating ring 6 is connected to the connecting ring 1, and the rotating ring will not slide off the connecting ring when it rotates.

[0051] As shown in Figure 4 , the rotating gear 8 is coaxially connected with a shaft 11, the shaft 11 is connected with an acting gear 7, the acting gear 7 is engaged with the rotating ring 6, the rotating ring 6 rotates circumferentially to drive the acting gear 7 to rotate circumferentially, and the acting gear 7 drives the rotating gear 8 to rotate circumferentially through the shaft 11. The rotating gear 8 is connected to the connecting ring 1 and can rotate circumferentially on the connecting ring 1.

[0052] The connecting ring 1 is provided with the first telescopic rod 2, the second telescopic rod 3 and a third telescopic rod 10, the third telescopic rod 10 is located at the upper end of the connecting ring, the straight line where the third telescopic rod 10 is located is perpendicular to the straight line where the first telescopic rod and the second telescopic rod are located, and the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10 are respectively connected with the microwave generator 4, the ultrasonic generator 5 and the auxiliary ultrasonic generator 9.

[0053] The connecting ring 1 is provided with three rotating gears 8, which are respectively engaged with the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10. When the rotating ring 6 rotates, the rotating ring 6 acts on the three rotating gears 7, driving the three rotating gears 7 to rotate. The rotating gears 7 drive the rotating gears 8 to rotate through the shaft, and the rotating gears 8 rotate on the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10, so that the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10 move, and in turn drive the microwave generator 4, the ultrasonic generator 5 and the auxiliary ultrasonic generator 9 to move towards the power line or away from the power line.

[0054] The structure can simultaneously adjust the movement of the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10 by rotating the rotating ring, and the distance of movement is the same. Only one power source is needed to simultaneously adjust the movement of the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10, which is more convenient to operate and use. At the same time, when adjusting the movement of the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10, the structure simultaneously drives the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10 to move towards the power line by the same distance, or simultaneously drives the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10 to move away from the power line by the same distance, which is more conducive to rapid adjustment.

[0055] Embodiment 3

[0056] On the basis of the above-mentioned embodiments, the frequency of the ultrasonic wave of the ultrasonic generator and the microwave of the microwave generator is the same.

[0057] In some embodiments, the frequency of the ultrasonic wave of the ultrasonic generator, the microwave of the microwave generator and the resonance frequency of the icing part of the power line are the same.

[0058] The deicing device 13 comprises a resonance frequency detection device, which is used to obtain the resonance frequency of the icing part of the power line, and make the frequency of the ultrasonic wave emitted by the ultrasonic generator 5 the same as the resonance frequency of the icing part of the power line, and the frequency of the microwave emitted by the microwave generator 4 the same as the resonance frequency of the icing part of the power line.

[0059] The resonance frequency detection device obtains the resonance frequency of the icing part of the power line, and adjusts the frequency of the ultrasonic generator 5 and the microwave generator 4, so that the frequency of the ultrasonic wave emitted by the ultrasonic generator 5 is the same as the resonance frequency of the icing part of the power line, and the frequency of the microwave emitted by the microwave generator 4 is the same as the resonance frequency of the icing part of the power line.

[0060] The resonance frequency detection device comprises a power line icing thickness detection sensor. The power line icing thickness detection sensor can be a radar sensor, a laser sensor or an unmanned aerial vehicle device 12 that obtains the icing thickness of the power line by obtaining image information of the icing part of the power line. The outer diameter of the power line is preset information.

[0061] The resonance frequency detection device obtains the resonance frequency of the icing part of the power transmission line, wherein

[0062] The resonance frequency f:

[0063]

[0064]

[0065] Wherein, m is the mass of the power transmission line before icing, k is the stiffness of the power transmission line before icing,

[0066] Δm is the mass change of the power transmission line after icing, Δk is the stiffness change of the power transmission line after icing,

[0067] E is the elastic modulus of the power transmission line;

[0068] I is the cross-sectional moment of inertia of the power transmission line;

[0069] L is the length of the icing part of the power transmission line, which is preset to 5 cm;

[0070] D is the outer diameter of the power transmission line before icing, and d is the icing thickness;

[0071] After the resonance frequency detection device obtains the resonance frequency of the icing part of the power transmission line, the frequencies of the microwave generator 4, the ultrasonic generator 5 and the auxiliary ultrasonic generator 9 are adjusted to be the same as the resonance frequency of the icing part of the power transmission line. After the icing at the first icing part of the power transmission line is removed, the device is moved to the next icing part of the power transmission line by the unmanned aerial vehicle device until all the icing parts of the power transmission line are processed.

[0072] The device removes the ice layer by using the same frequency resonance energy. When the vibration frequency and the heating frequency match the natural vibration frequency of the icing part of the power transmission line, the same frequency resonance effect is generated, so that the vibration energy can be efficiently transmitted to the surface of the object, thereby separating and falling off the ice layer to achieve efficient and precise ice removal effect.

[0073] The "first", "second", "third", etc. used in the present text are only for the sake of clear description to distinguish the corresponding parts, and are not intended to limit any order or emphasize importance. In addition, the term "connection" used in the present text can be directly connected or indirectly connected via other components without special description.

[0074] The above specific embodiments explain the purpose, technical scheme and beneficial effects of the present application in further detail. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A drone having a de-icing device, characterized in that, The unmanned aerial vehicle device (12) is provided with an ice removing device (13), the ice removing device (13) comprises oppositely arranged microwave generators (4) and ultrasonic generators (5), a power transmission line is located between the microwave generators (4) and the ultrasonic generators (5), and the microwaves and ultrasonic waves emitted by the microwave generators (4) and the ultrasonic generators (5) are both directed towards the power transmission line.

2. The drone having an ice removing device according to claim 1, wherein, The ice removing device (13) comprises a connecting ring (1), and the microwave generators (4) and the ultrasonic generators (5) are arranged on the connecting ring (1). 3.The drone with de-icing device of claim 1, wherein, The connecting ring (1) is in the shape of a semicircle, and the microwave generators (4) and the ultrasonic generators (5) are connected to the two ends of the connecting ring (1) respectively.

4. The drone having a de-icing device according to claim 3, wherein, The straight line on which the microwave generators (4) and the ultrasonic generators (5) are located is collinear with the straight line on which the diameter of the connecting ring (1) is located. 5.The drone with de-icing device of claim 2, wherein, An adjusting assembly is arranged on the connecting ring (1), and the adjusting assembly is used for adjusting the distance between the microwave generators (4) and the power transmission line and the distance between the ultrasonic generators (5) and the power transmission line. 6.The drone with de-icing device of claim 1, wherein, The ice removing device (13) further comprises an auxiliary ultrasonic generator (9), when the power transmission line is located between the microwave generators (4) and the ultrasonic generators (5), the auxiliary ultrasonic generator (9) is located above the power transmission line, and the ultrasonic waves emitted by the auxiliary ultrasonic generator (9) are directed towards the power transmission line.

7. The drone having de-icing device according to claim 5, wherein, The adjusting assembly comprises a first telescopic rod (2) and a second telescopic rod (3) arranged on the connecting ring (1), one end of the first telescopic rod (2) is connected to the microwave generators (4), one end of the second telescopic rod (3) is connected to the ultrasonic generators (5), and the first telescopic rod (2) and the second telescopic rod (3) drive the microwave generators (4) and the ultrasonic generators (5) to move respectively.

8. The drone with de-icing device according to claim 7, characterized in that, The adjusting assembly further comprises two rotating gears (8) connected to the connecting ring (1) and capable of rotating circumferentially on the connecting ring (1), the two rotating gears (8) are meshed with the first telescopic rod (2) and the second telescopic rod (3) respectively, and the two rotating gears (8) rotate to drive the first telescopic rod (2) and the second telescopic rod (3) to move towards the power transmission line or away from the power transmission line respectively.

9. The drone with de-icing device according to claim 8, characterized in that, A rotating ring (6) is arranged on the connecting ring (1) and rotates circumferentially on the connecting ring (1), shaft rods (11) are coaxially connected to the two rotating gears (8) respectively, action gears (7) are connected to the shaft rods (11) respectively, the action gears (7) are meshed with the rotating ring (6), when the rotating ring (6) rotates circumferentially, the action gears (7) rotate circumferentially, and the action gears (7) drive the rotating gears (8) to rotate circumferentially through the shaft rods (11). 10.The drone with de-icing device of claim 1, wherein, A rubber layer is arranged on the connecting ring (1).

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