Unmanned aerial vehicle deicing device and method for overhead conductors
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- STATE GRID ZHEJIANG ELECTRIC POWER CO LTD JIANGSHAN CITY POWER SUPPLY CO
- Filing Date
- 2022-07-06
- Publication Date
- 2026-06-23
AI Technical Summary
Traditional manual de-icing operations are inconvenient and pose safety hazards. Cable de-icing machines are difficult to perform targeted de-icing and are prone to jamming. They are also cumbersome to operate when encountering utility poles.
Design a drone de-icing device, equipped with a wire clamping device and a vibration device. The drone clamps the wire and uses the vibration device to break and remove the ice. Combined with auxiliary de-icing devices such as de-icing pressure rods, it can achieve fixed-point de-icing.
It achieves safe and convenient fixed-point de-icing, avoids the jamming problem of cable de-icing machines, and simplifies the pole transition operation.
Smart Images
Figure CN115377917B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of de-icing of overhead power distribution lines, specifically to a drone de-icing device and method suitable for overhead power lines. Background Technology
[0002] Traditionally, de-icing of overhead power distribution lines is done manually. This manual method is not only inconvenient and poses safety hazards, but also often makes it difficult to remove ice from overhead power distribution lines that are far from the towers.
[0003] To address the shortcomings of traditional manual methods for removing ice from overhead power lines, some inventors have developed cable de-icing machines. However, current cable de-icing machines generally travel along the overhead power lines to remove ice, which has several drawbacks: First, it is not conducive to targeted de-icing of the overhead power lines; second, the cable de-icing machine is prone to getting stuck at certain points on the overhead power lines, causing it to malfunction and requiring a cumbersome disassembly process; third, when encountering power poles, the cable de-icing machine needs to be disassembled, manually moved over the pole, and then reinstalled on the overhead power lines, which remains inconvenient. Summary of the Invention
[0004] The purpose of this invention is to provide a UAV de-icing device and method for overhead power lines that is not only safe and convenient to operate, but also capable of performing targeted de-icing of overhead power lines according to actual needs.
[0005] The technical solution of this invention is:
[0006] A drone de-icing device suitable for overhead power lines, comprising:
[0007] Drones;
[0008] A wire clamping device is mounted on the frame of the UAV and is used to clamp overhead wires.
[0009] The vibration device is mounted on the frame of the drone.
[0010] The specific use of the drone de-icing device for overhead power lines in this solution is as follows: First, the drone flies to the vicinity of the ice-covered overhead power line, and then adjusts the position and altitude of the drone so that the wire clamping device can clamp the overhead power line; second, the overhead power line is clamped and fixed by the wire clamping device; third, the vibration device works, and the vibration of the vibration device is transmitted to the overhead power line through the wire clamping device, causing the ice on the overhead power line to break and fall off; it is not only safe and convenient to operate, but also can perform targeted de-icing of overhead power lines according to actual needs.
[0011] Preferably, the drone's frame includes several arms, with the wire clamping devices correspondingly installed at the ends of each arm. These wire clamping devices are pneumatic grippers. Thus, the overhead wires can be clamped and fixed using the pneumatic grippers.
[0012] Preferably, the pneumatic gripper includes two gripping fingers distributed vertically. The upper gripping finger is a fixed gripping finger, horizontally distributed and extending outwards from the corresponding arm. The lower gripping finger is a rotating gripping finger, driven by the pneumatic gripping finger to rotate upwards or downwards. The specific operation of using the pneumatic gripping finger to hold a fixed overhead power line is as follows: by adjusting the position and altitude of the UAV, the fixed gripping finger rests against the overhead power line, positioned above it; then, the rotating gripping finger rotates upwards, thereby holding the fixed overhead power line using both the fixed and rotating gripping fingers for convenient operation.
[0013] Preferably, the pneumatic clamping fingers are Y-shaped. The specific operation of using the pneumatic clamping fingers to hold and fix the overhead power line is as follows: by adjusting the position and altitude of the UAV, the overhead power line is located within the clamping range of the two clamping fingers of the pneumatic clamping fingers (the two clamping fingers of the pneumatic clamping fingers are spread out at 180 degrees); then, the two clamping fingers of the pneumatic clamping fingers rotate to close and clamp and fix the overhead power line.
[0014] Preferably, the vibration device includes pneumatic hammers, which are installed one-to-one at the end of the machine arm.
[0015] Preferably, the vibration device also includes a vibrator mounted on the frame of the drone.
[0016] Preferably, an auxiliary de-icing device is also included. The device comprises four arms, including horizontally distributed de-icing rods, a rotary actuator for driving the de-icing rods, and a lifting actuator mounted on the drone's frame for raising and lowering the de-icing rods. The de-icing rods are located below the drone's frame, and two pressure blocks are provided on their upper surface, one near one end of the rod and the other near the other. The four arms are evenly distributed circumferentially around the rotation axis of the de-icing rods. When the vibration device cannot break and remove the ice on the overhead power lines through vibration, the auxiliary de-icing device can be used to break the ice on the overhead power lines, and then, in conjunction with the vibration device, the ice on the overhead power lines can be broken and removed.
[0017] Preferably, the wire clamping device is positioned below the wing of the UAV.
[0018] A de-icing method utilizing a drone de-icing device suitable for overhead power lines, characterized by comprising the following steps in sequence:
[0019] First, the drone flies to the vicinity of the ice-covered overhead power line, and then adjusts the position and altitude of the drone so that the power line clamping device can clamp onto the overhead power line.
[0020] Second, overhead conductors are clamped and fixed using conductor clamping devices;
[0021] Third, the vibration device operates, and the vibration of the vibration device is transmitted to the overhead conductor through the conductor clamping device, causing the ice on the overhead conductor to break and fall off.
[0022] A de-icing method utilizing a drone de-icing device suitable for overhead power lines, characterized by comprising the following steps in sequence:
[0023] First, the drone flies to the vicinity of the ice-covered overhead power line, and then adjusts the position and altitude of the drone so that the fixing finger is against the overhead power line and the fixing finger is above the overhead power line.
[0024] Second, the pneumatic clamping fingers rotate upwards, thereby clamping and fixing the overhead conductor by fixing the clamping fingers and rotating the clamping fingers.
[0025] Third, the vibration device operates, and the vibration of the vibration device is transmitted to the overhead conductor through the conductor clamping device, causing the ice on the overhead conductor to break and fall off.
[0026] A de-icing method utilizing a drone de-icing device suitable for overhead power lines, characterized by comprising the following steps in sequence:
[0027] First, the drone flies over the ice-covered overhead power line. Then, the drone's position is adjusted so that the length of the de-icing rod extends along the length of the overhead power line. Next, the drone's height is adjusted so that the pneumatic gripper can grip the overhead power line. At this point, the height of the de-icing rod is lower than the height of the overhead power line.
[0028] Second, the overhead conductor is held and fixed by the two pneumatic clamping fingers.
[0029] Third, the vibration device works, and the vibration of the vibration device is transmitted to the overhead conductor through the conductor clamping device, causing the ice on the overhead conductor to break and fall off; if the vibration device works for t minutes and the ice on the overhead conductor breaks and falls off, then the two clamping fingers of the pneumatic clamp open, releasing the overhead conductor, and then the drone leaves; if the vibration device works for t minutes and the ice on the overhead conductor does not break and fall off, then the vibration device stops working.
[0030] Fourth, the de-icing rod is driven to rotate 90 degrees by the rotary actuator, so that the de-icing rod is perpendicular to the overhead conductor and the top pressure block is located below the overhead conductor; then, the two fingers of the pneumatic clamp release the overhead conductor and keep the overhead conductor between the two fingers of the pneumatic clamp.
[0031] Next, the lifting actuator moves the de-icing lever upward so that the top pressure block presses against the overhead conductor and pushes the overhead conductor upward, thereby bending the overhead conductor and breaking the ice on it.
[0032] Next, the lifting actuator drives the de-icing rod to move down and reset. Then, the rotating actuator drives the de-icing rod to rotate 90 degrees again, so that the length of the de-icing rod extends along the length of the overhead conductor.
[0033] Fifth, return to step two until the ice on the overhead power line breaks off.
[0034] The advantages of this invention are that it is not only safe and convenient to operate, but also allows for targeted de-icing of overhead power lines according to actual needs. Attached Figure Description
[0035] Figure 1 This is a schematic diagram of a UAV de-icing device for overhead power lines, according to a specific embodiment of the present invention.
[0036] Figure 2 This is a schematic diagram of a drone de-icing device applicable to overhead power lines, which is a specific embodiment four of the present invention.
[0037] Figure 3 This is a schematic diagram of a step in a de-icing method using a drone de-icing device suitable for overhead power lines, according to a specific embodiment five of the present invention.
[0038] Figure 4 This is a schematic diagram of another step in the de-icing method using a drone de-icing device suitable for overhead power lines, which is a specific embodiment five of the present invention.
[0039] In the picture:
[0040] Drone 1, Arm 1.1;
[0041] Pneumatic gripper 2, fixed gripper 2.1, rotating gripper 2.2;
[0042] Vibration device 3, pneumatic hammer 3.1, vibrator 3.2;
[0043] De-icing lever 4.1, rotary lifting cylinder 4.2, top pressure block 4.3. Detailed Implementation
[0044] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:
[0045] Specific Implementation Example 1: As shown in the example Figure 1As shown, a drone de-icing device suitable for overhead power lines includes a drone 1, a power line clamping device, and a vibration device 3. The power line clamping device is mounted on the drone's frame and is used to clamp the overhead power line. The vibration device is also mounted on the drone's frame. The specific use of this drone de-icing device for overhead power lines is as follows: First, the drone flies to the vicinity of the icy overhead power line. Then, the drone's position and altitude are adjusted so that the power line clamping device can clamp the overhead power line. Second, the overhead power line is clamped and fixed by the power line clamping device. Third, the vibration device operates, and the vibration is transmitted to the overhead power line through the power line clamping device, causing the ice on the overhead power line to break and fall off. It is not only safe and convenient to operate, but also allows for targeted de-icing of overhead power lines according to actual needs.
[0046] Specifically, the frame of the UAV 1 includes several arms 1.1; in this embodiment, there are four arms. Corresponding wire clamping devices are installed at the ends of each arm. The wire clamping devices are pneumatic grippers 2. Thus, the overhead wires can be clamped and fixed using the pneumatic grippers.
[0047] The vibration device 3 includes pneumatic hammers 3.1, which are installed one-to-one at the end of the machine arm.
[0048] In this embodiment, the vibration device also includes a vibrator 3.2, which is mounted on the frame of the drone.
[0049] In this embodiment, the wire clamping device is located below the wing of the drone.
[0050] In one embodiment of this example, such as Figure 1 As shown, the pneumatic gripper 2 includes two grippers distributed vertically. The upper gripper is a fixed gripper 2.1, which is horizontally distributed and extends outwards from the corresponding arm. The lower gripper is a rotating gripper 2.2, which is used to drive the rotating gripper to rotate upwards or downwards, thereby opening or closing the two grippers of the pneumatic gripper. In this embodiment, the rotation angle of the rotating gripper is 90 degrees. The specific operation of the pneumatic gripper to hold the fixed overhead wire is as follows: by adjusting the position and height of the UAV, the fixed gripper is positioned against the overhead wire, above the overhead wire; then, the rotating gripper of the pneumatic gripper rotates upwards, thereby holding the fixed overhead wire by the fixed gripper and the rotating gripper, facilitating actual operation.
[0051] In another embodiment of this invention, the pneumatic clamping fingers are Y-shaped (not shown in the figure). The maximum unfolding angle of the two clamping fingers of the pneumatic clamping fingers is 180 degrees. The specific operation of using the pneumatic clamping fingers to hold and fix the overhead power line is as follows: by adjusting the position and altitude of the UAV, the overhead power line is located within the clamping range of the two clamping fingers of the pneumatic clamping fingers (the two clamping fingers of the pneumatic clamping fingers are unfolded to 180 degrees); then, the two clamping fingers of the pneumatic clamping fingers rotate and close, clamping and fixing the overhead power line.
[0052] Specific Embodiment Two: A de-icing method using a drone de-icing device suitable for overhead power lines. The specific structure of the drone de-icing device suitable for overhead power lines is described in Specific Embodiment One. The de-icing method using the drone de-icing device suitable for overhead power lines includes the following steps in sequence:
[0053] First, the drone flew to the vicinity of the ice-covered overhead power lines;
[0054] Next, adjust the position and height of the drone so that the wire clamping device can clamp onto the overhead wire. Specifically, adjust the position and height of the drone so that the overhead wire is within the clamping range of the two clamping fingers.
[0055] Second, the overhead wires are clamped and fixed by the wire clamping device. Specifically, the overhead wires are clamped and fixed by the pneumatic clamping fingers at the ends of the four arms. The pneumatic clamping fingers at the ends of two of the four arms are clamped and fixed to one overhead wire, and the pneumatic clamping fingers at the ends of the other two arms are clamped and fixed to another overhead wire.
[0056] Third, the vibration device operates, and the vibration of the vibration device is transmitted to the overhead conductor through the conductor clamping device, causing the ice on the overhead conductor to break and fall off.
[0057] Fourth, the two grippers of the pneumatic clamp open to release the overhead power line; then the drone leaves.
[0058] Specific Embodiment Three: A de-icing method using a drone de-icing device suitable for overhead power lines. The specific structure of the drone de-icing device suitable for overhead power lines is described in Specific Embodiment One. The de-icing method using the drone de-icing device suitable for overhead power lines includes the following steps in sequence:
[0059] First, such as Figure 1 As shown, the drone flies to the vicinity of the icy overhead power line, and then adjusts the drone's position and altitude so that the fixed clamping fingers are abutting against the overhead power line, with the fixed clamping fingers positioned above the overhead power line; specifically, the fixed clamping fingers of the pneumatic clamping fingers at the ends of two of the four arms abut against one overhead power line, and the fixed clamping fingers of the pneumatic clamping fingers at the ends of the other two arms abut against another overhead power line; each fixed clamping finger is positioned above the overhead power line.
[0060] Second, the pneumatic gripper fingers rotate upwards, thereby clamping and fixing the overhead conductor through the fixed gripper fingers and the rotating gripper fingers; specifically, the pneumatic gripper fingers at the end of each arm rotate upwards, thereby clamping and fixing the overhead conductor through the fixed gripper fingers and the rotating gripper fingers. The pneumatic gripper fingers at the end of two of the four arms clamp and fix to one overhead conductor, and the pneumatic gripper fingers at the end of the other two arms clamp and fix to another overhead conductor.
[0061] Third, the vibration device operates, and the vibration of the vibration device is transmitted to the overhead conductor through the conductor clamping device, causing the ice on the overhead conductor to break and fall off.
[0062] Specific Embodiment Four: The remaining structure of this embodiment is the same as that of Specific Embodiment One, except that,
[0063] like Figure 2 , Figure 3 As shown, the UAV de-icing device suitable for overhead power lines also includes an auxiliary de-icing device. The auxiliary de-icing device includes horizontally distributed de-icing pressure rods 4.1, a rotary actuator for driving the de-icing pressure rods to rotate, and a lifting actuator mounted on the UAV frame for raising and lowering the de-icing pressure rods. The de-icing pressure rods are located below the UAV frame. Two pressure blocks 4.3 are provided on the upper surface of the de-icing pressure rods, one pressure block near one end of the de-icing pressure rod and the other pressure block near the other end. Four arms are evenly distributed circumferentially around the rotation axis of the de-icing pressure rods.
[0064] In one embodiment of this invention, the frame of the drone is provided with a rotary lifting cylinder 4.2, which constitutes the rotary actuator and the lifting actuator.
[0065] In another embodiment of this invention, the rotary actuator is composed of a rotary cylinder, and the de-icing rod is connected to the rotary cylinder's rotating shaft; the lifting actuator is composed of a lifting cylinder, and the piston rod of the lifting cylinder is connected to the rotary cylinder, used to drive the rotary cylinder and the de-icing rod to lift synchronously.
[0066] When the vibration device cannot break and remove the ice on the overhead conductor through vibration, an auxiliary de-icing device can be used to break the ice on the overhead conductor, and then the vibration device can be used to break and remove the ice on the overhead conductor. See Specific Embodiment 5 for details.
[0067] Specific Embodiment Five: A de-icing method using a drone de-icing device suitable for overhead power lines. The specific structure of the drone de-icing device for overhead power lines is described in Specific Embodiment Four. The de-icing method using the drone de-icing device for overhead power lines includes the following steps in sequence:
[0068] First, the drone flew over the ice-covered overhead power lines;
[0069] Next, as Figure 3 As shown, adjust the position of the drone so that the length of the de-icing lever extends along the length of the overhead power line;
[0070] Next, adjust the position and height of the drone so that the wire clamping device can clamp onto the overhead wire. Specifically, adjust the position and height of the drone so that the overhead wire is within the clamping range of the two clamping fingers; at this time, the height of the de-icing lever is lower than the height of the overhead wire.
[0071] Second, the overhead wire is clamped and fixed by two pneumatic clamping fingers; specifically, the overhead wire is clamped and fixed by the pneumatic clamping fingers at the end of the arm. The pneumatic clamping fingers at the end of two of the four arms are clamped and fixed to one overhead wire, and the pneumatic clamping fingers at the end of the other two arms are clamped and fixed to another overhead wire.
[0072] Third, the vibration device operates, and the vibration of the vibration device is transmitted to the overhead conductor through the conductor clamping device, causing the ice on the overhead conductor to break and fall off; if the vibration device operates for t minutes (e.g., 10-20 minutes) and the ice on the overhead conductor breaks and falls off, then the two clamping fingers of the pneumatic clamp open, releasing the overhead conductor, and then the drone leaves; if the vibration device operates for t minutes (e.g., 10-20 minutes) and the ice on the overhead conductor does not break and fall off, then the vibration device stops working and continues to the fourth step of the operation;
[0073] Fourth, such as Figure 4 As shown, the de-icing lever is driven to rotate 90 degrees by a rotary actuator, making the de-icing lever perpendicular to the overhead conductor and positioning the top pressure block below the overhead conductor. In this embodiment, one of the two top pressure blocks is positioned below one overhead conductor, and the other top pressure block is positioned below the other overhead conductor. Then, the two gripping fingers of the pneumatic clamp release the overhead conductor, keeping the overhead conductor between the two gripping fingers.
[0074] Next, the lifting actuator drives the de-icing rod to move upward so that the top pressure block presses against the corresponding overhead conductor, and the top pressure block is located between the two pneumatic clamping fingers corresponding to the overhead conductor. Then the overhead conductor is pushed upward so that the overhead conductor bends (the overhead conductor between the two pneumatic clamping fingers bends) so that the ice on the overhead conductor breaks.
[0075] Next, the lifting actuator drives the de-icing rod to move down and reset. Then, the rotating actuator drives the de-icing rod to rotate 90 degrees again, so that the length of the de-icing rod extends along the length of the overhead conductor.
[0076] Fifth, return to step two until the ice on the overhead power line breaks and falls off. In this way, the ice on the overhead power line is broken by using an auxiliary de-icing device, and then the ice is broken and falls off by using a vibration device.
[0077] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, alterations, and equivalent transformations made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.
Claims
1. A drone de-icing device suitable for overhead power lines, characterized in that, include: Drones; A wire clamping device is installed on the frame of the drone and is used to clamp overhead wires; A vibration device is mounted on the frame of the drone; The auxiliary de-icing device includes horizontally distributed de-icing rods, a rotary actuator for driving the de-icing rods to rotate, and a lifting actuator mounted on the frame of the drone for raising and lowering the de-icing rods. The de-icing rods are located below the frame of the drone. Two pressure blocks are provided on the upper surface of the de-icing rods, one of which is close to one end of the de-icing rods and the other is close to the other end of the de-icing rods. The rotary actuator consists of a rotary cylinder, with the de-icing rod connected to the rotary cylinder's rotating shaft; the lifting actuator consists of a lifting cylinder, with the lifting cylinder's piston rod connected to the rotary cylinder, driving the rotary cylinder and the de-icing rod to lift synchronously.
2. The UAV de-icing device for overhead power lines according to claim 1, characterized in that, The drone's frame includes several arms, and the wire clamping devices are correspondingly installed at the ends of the arms. The wire clamping devices are pneumatic finger clamps.
3. The UAV de-icing device for overhead power lines according to claim 2, characterized in that, The pneumatic gripper includes two grippers distributed vertically. The upper gripper is a fixed gripper, which is horizontally distributed and extends outward to the corresponding arm. The lower gripper is a rotating gripper, which is used to drive the rotating gripper to rotate upward or downward.
4. The UAV de-icing device for overhead power lines according to claim 2, characterized in that, The pneumatic gripper is a Y-shaped gripper.
5. The UAV de-icing device for overhead power lines according to claim 2, 3, or 4, characterized in that, The vibration device includes pneumatic hammers, which are installed one-to-one at the end of the machine arm.
6. The UAV de-icing device for overhead power lines according to claim 5, characterized in that, The vibration device also includes a vibrator, which is mounted on the frame of the drone.
7. A de-icing method using the UAV de-icing device for overhead power lines as described in any one of claims 1-3, characterized in that, The steps are as follows: First, the drone flies to the vicinity of the ice-covered overhead power line, and then adjusts the position and altitude of the drone so that the power line clamping device can clamp onto the overhead power line. Second, overhead conductors are clamped and fixed using conductor clamping devices; Third, the vibration device operates, and the vibration of the vibration device is transmitted to the overhead conductor through the conductor clamping device, causing the ice on the overhead conductor to break and fall off.
8. A de-icing method using the UAV de-icing device for overhead power lines as described in claim 4, characterized in that, The steps are as follows: First, the drone flies to the vicinity of the ice-covered overhead power line, and then adjusts the position and altitude of the drone so that the fixing finger is against the overhead power line and the fixing finger is above the overhead power line. Second, the pneumatic clamping fingers rotate upwards, thereby clamping and fixing the overhead conductor by fixing the clamping fingers and rotating the clamping fingers. Third, the vibration device operates, and the vibration of the vibration device is transmitted to the overhead conductor through the conductor clamping device, causing the ice on the overhead conductor to break and fall off.
9. A de-icing method using the UAV de-icing device for overhead power lines as described in claim 1, characterized in that, The steps are as follows: First, the drone flies over the ice-covered overhead power line. Then, the drone's position is adjusted so that the length of the de-icing rod extends along the length of the overhead power line. Next, the drone's height is adjusted so that the pneumatic gripper can grip the overhead power line. At this point, the height of the de-icing rod is lower than the height of the overhead power line. Second, the overhead conductor is held and fixed by the two pneumatic clamping fingers. Third, the vibration device works, and the vibration of the vibration device is transmitted to the overhead conductor through the conductor clamping device, causing the ice on the overhead conductor to break and fall off. If the vibration device operates for t minutes, the ice on the overhead power line will break and fall off. Then the two fingers of the pneumatic clamp will open, releasing the overhead power line, and the drone will leave. If the ice on the overhead power line does not break and fall off after the vibration device has been working for t minutes, the vibration device shall stop working. Fourth, the de-icing rod is driven to rotate 90 degrees by the rotary actuator, so that the de-icing rod is perpendicular to the overhead conductor and the top pressure block is located below the overhead conductor; then, the two clamping fingers of the pneumatic clamp release the overhead conductor and keep the overhead conductor between the two clamping fingers. Next, the lifting actuator moves the de-icing lever upward so that the top pressure block presses against the overhead conductor and pushes the overhead conductor upward, thereby bending the overhead conductor and breaking the ice on it. Next, the lifting actuator drives the de-icing rod to move down and reset. Then, the rotating actuator drives the de-icing rod to rotate 90 degrees again, so that the length of the de-icing rod extends along the length of the overhead conductor. Fifth, return to step two until the ice on the overhead power line breaks off.