Power transmission line deicing device based on rocket projectile

Abstract

The invention relates to the technical field of power transmission line maintenance, in particular to a power transmission line deicing device based on a rocket projectile, which comprises a hanging mechanism, a connecting rod and a rocket mounting box, and is characterized in that the hanging mechanism is used for hanging the deicing device on a power transmission cable; the first end of the connecting rod is connected with the hanging and taking mechanism; the rocket mounting box is connected with the second end of the connecting rod, a rocket projectile is placed in the rocket mounting box, and the rocket projectile is connected with a remote triggering system; when the rocket projectile is triggered, vibration acting force is applied to the power transmission cable through the connecting rod and the hanging and taking mechanism. The device is stably hung on the power transmission cable through the hanging and taking mechanism, the power transmission cable is deiced through vibration force generated by a rocket projectile, an operator can remotely control launching of the rocket projectile in a safe area through the remote triggering system, and the operator needs to directly make contact with a high-voltage line or carry out high-altitude operation; the operation risk is obviously reduced, and the rocket projectile has high impact.

Description

Technical Field

[0001] The invention relates to the technical field of power transmission line maintenance, and in particular to a power transmission line deicing device based on a rocket. Background Art

[0002] Transmission line icing is a common problem in winter. In severe cases, it can cause transmission line breakage or tower collapse, etc. Therefore, icing will seriously endanger the safe and stable operation of the power grid. Existing deicing methods include manual deicing, DC deicing, mechanical deicing and chemical deicing. Although manual deicing is economical, it is inefficient and there are safety risks in high-altitude operations. Although the DC deicing method is effective, it has high installation costs, consumes a lot of electricity during operation, and cannot cope with all lines. That is, it is generally only used for conductor deicing, and ground wire deicing is less used. In addition, deicing will change the operation mode of the power grid and cause load loss. Mechanical and chemical deicing methods are effective under specific conditions, but they also have their limitations, such as complex mechanical equipment, high maintenance costs, and chemical deicing may cause environmental pollution. In addition, the existing technologies generally have problems such as slow response speed, complex operation and limited scope of application.

[0003] Therefore, there is an urgent need to develop a new de-icing technology to improve de-icing efficiency and safety and reduce economic costs and environmental impacts. Summary of the invention

[0004] The technical problem to be solved by the present invention is that deicing means cannot meet the goals of high efficiency, safety and economy. The purpose is to provide a rocket-based power transmission line deicing device to achieve mechanical remote deicing of any line.

[0005] The present invention is achieved through the following technical solutions:

[0006] A rocket-based power transmission line deicing device, comprising:

[0007] A hanging mechanism, which is used to hang the deicing device on the power transmission cable;

[0008] A connecting rod, a first end of which is connected to the hanging mechanism;

[0009] A rocket installation box connected to the second end of the connecting rod, wherein a rocket is placed in the rocket installation box, and the rocket is connected to a remote trigger system;

[0010] When the rocket is triggered, a vibration force is applied to the power transmission cable through the connecting rod and the hanging mechanism.

[0011] Specifically, the remote trigger system includes:

[0012] A signal receiving module connected to the ignition module of the rocket;

[0013] A signal transmitting module for wireless communication with the signal receiving module;

[0014] The signal receiving module is arranged in the rocket installation box, and the signal transmitting module is arranged in the remote control terminal;

[0015] The signal receiving module and the signal transmitting module communicate wirelessly via LoRa. The communication method includes:

[0016] Initialize the communication parameters, obtain the transmission distance D between the signal transmitting module and the signal receiving module, and determine the signal transmission frequency is within the preset range, c is the speed of light; if the signal transmission frequency is not within the preset range, the relative positions of the signal transmission module and the signal receiving module are changed;

[0017] Get the signal receiving power P of the signal receiving module r , determine the signal transmission power P of the signal transmission module t =P r +L p , is the path loss;

[0018] Get the communication bandwidth BW = k1 SNR and spreading factor Determine the communication data rate Wherein, SNR is the signal-to-noise ratio, k1 is the bandwidth adjustment coefficient, and k2 is the spreading factor adjustment coefficient;

[0019] The signal transmitting module transmits the detonation signal and the redundant signal to the signal receiving module through an encryption algorithm. After receiving the encrypted signal, the signal receiving module decrypts the detonation signal and the redundant signal, verifies the redundant signal, and verifies the detonation signal after confirming that the redundant signal is transmitted correctly.

[0020] After the signal receiving module completes the verification of the detonation signal, it sends the signal to the signal transmitting module and the ignition module.

[0021] Optionally, the encryption algorithm and the decryption algorithm specifically include:

[0022] Set the symmetric key for AES encryption; Set the shared key for one-time password generation;

[0023] AES encryption is performed on the detonation signal and the redundant signal to be sent; the detonation signal is encrypted using the AES encryption algorithm to obtain a detonation ciphertext; the redundant signal is encrypted using the AES encryption algorithm to obtain a redundant ciphertext;

[0024] Get the one-time password A generated by the time-synchronized OTP generator, and use the shared key and the current timestamp to generate the one-time password B; if the one-time password A matches the one-time password B, the OTP verification is completed; if the one-time password A does not match the one-time password B, the verification fails;

[0025] If the verification is successful, the signal transmitting module will send the detonation ciphertext and redundant ciphertext to the signal receiving module;

[0026] After receiving the encrypted signal, the signal receiving module uses the AES decryption algorithm to decrypt the detonation ciphertext to obtain the detonation plaintext; and uses the AES decryption algorithm to decrypt the redundant ciphertext to obtain the redundant plaintext;

[0027] The signal receiving module verifies the redundant plaintext. If the redundant plaintext verification passes, the signal receiving module verifies the detonation plaintext.

[0028] After the detonation plaintext verification is passed, the signal receiving module sends a detonation signal to the ignition module and sends a confirmation signal to the signal transmitting module at the same time.

[0029] Optionally, setting parameters includes redundant plaintext, detonating plaintext, weight coefficient, redundant plaintext length, detonating plaintext length, hash function, encrypted hash function, chaotic mapping function;

[0030] Methods for verifying redundant plaintext include:

[0031] In the signal transmission module:

[0032] Preprocessing redundant signals through chaotic mapping function;

[0033] Divide the preprocessed redundant signal into segments, determine the weight of each segment of the redundant signal, and calculate the weighted checksum of each segment;

[0034] The weighted checksum of the redundant signal is hashed by a hash function, and the result of the operation is HMAC encrypted by a cryptographic hash function to obtain the checksum of the redundant signal;

[0035] In the signal receiving module:

[0036] Preprocess the redundant plaintext through chaotic mapping function;

[0037] Divide the preprocessed redundant plaintext into segments, determine the weight of each segment of redundant plaintext, and calculate the weighted checksum of each segment;

[0038] The weighted checksum of the redundant plaintext is hashed by a hash function, and the result of the operation is HMAC encrypted by a cryptographic hash function to obtain the checksum of the redundant plaintext;

[0039] Compare the checksum of the redundant plaintext with the checksum of the redundant signal. If the two match, the check passes.

[0040] Methods for verifying the detonation plaintext include:

[0041] In the signal transmission module:

[0042] Preprocessing the detonation signal through the chaotic mapping function;

[0043] Divide the preprocessed detonation signal into segments, determine the weight of each segment of the detonation signal, and calculate the weighted checksum of each segment;

[0044] Performing a hash operation on the weighted checksum of the detonation signal through a hash function, and then performing HMAC encryption on the operation result through a cryptographic hash function to obtain the checksum of the detonation signal;

[0045] In the signal receiving module:

[0046] The detonation plaintext is preprocessed by using the chaos mapping function;

[0047] Divide the preprocessed detonation plaintext into segments, determine the weight of each segment of the detonation plaintext, and calculate the weighted checksum of each segment;

[0048] The weighted checksum of the detonation plaintext is hashed by a hash function, and the result of the operation is HMAC encrypted by a cryptographic hash function to obtain the checksum of the detonation plaintext;

[0049] Compare the checksum of the detonation plaintext with the checksum of the detonation signal, and if the two match, the check is passed. Specifically, the hanging mechanism includes a plate body, the lower end surface of the plate body is connected to the first end of the connecting rod, and the side surface of the plate body is provided with a through cable groove, and the cable groove includes a first groove body and a second groove body, the first groove body is provided in the plate body, the inner end of the second groove body is connected to the outer end of the first groove body, and the outer end of the second groove body is connected to the side end surface of the plate body;

[0050] During installation, the power transmission cable passes through the second slot and is placed at the inner end of the first slot.

[0051] Specifically, the hanging mechanism further includes: a U-shaped hanging rod, the U-shaped hanging rod is connected to the plate body, the U-shaped hanging rod includes: a first vertical rod, a second vertical rod and an arc rod, the upper end of the first vertical rod and the upper end of the second vertical rod are respectively fixedly connected to the two ends of the arc rod;

[0052] The upper end surface of the plate body is provided with a first vertical hole and a second vertical hole, the second vertical hole passes through the second slot body, the first vertical rod is arranged in the first vertical hole and slides up and down along the first vertical hole, and the second vertical rod is arranged in the second vertical hole and slides up and down along the second vertical hole;

[0053] The U-shaped hanging rod has a locked state and an open state:

[0054] When in a locked state, the lower end of the second vertical rod closes the outer end of the second slot body;

[0055] When in the open state, the lower end of the second vertical rod does not close the outer end of the second slot body.

[0056] Furthermore, the hanging and taking mechanism also includes a return spring;

[0057] The first vertical rod and the second vertical rod include: a coaxially arranged thick rod segment and a thin rod segment, the upper end of the thin rod segment is connected to the arc rod, and the upper end of the thick rod segment is connected to the lower end of the thin rod segment;

[0058] The first vertical hole and the second vertical hole are stepped holes, the small diameter section of the stepped hole is arranged at the outlet thereof, and the inner diameter of the small diameter section of the stepped hole is smaller than the outer diameter of the thick rod section;

[0059] The return spring is located in the large diameter section of the stepped hole, and the return spring is sleeved on the thin rod section, and the two ends of the return spring are distributed against the small diameter section and the thick rod section;

[0060] When in the locked state, the return spring is in the original length state;

[0061] When in the open state, the return spring is in a compressed state.

[0062] Optionally, when in a locked state, the thick rod section closes the second slot;

[0063] A long through groove connecting the first vertical hole and the second vertical hole is provided on the side end surface of the plate body.

[0064] Furthermore, the hanging mechanism also includes: a de-icing pulley, which is arranged at the inner end of the first trough body, and the de-icing pulley is rotatably connected to the inner side surface of the first trough body through a rotating shaft, the rotating shaft of the de-icing pulley is perpendicular to the power transmission cable, and the outer circumferential surface of the de-icing pulley is provided with an arc-shaped groove.

[0065] Optionally, the connecting rod is a threaded rod, and the lower end surface of the hanging mechanism is provided with a threaded blind hole adapted to the connecting rod;

[0066] The rocket mounting box includes: a barrel-shaped box body, an upper cover and a mounting tube. The upper cover is provided with a threaded through hole adapted to the connecting rod. Multiple mounting tubes are arranged inside the barrel-shaped box body, and the upper cover is provided with multiple through holes adapted to the mounting tubes. The lower end of the connecting rod is connected to the bottom surface of the barrel-shaped box body.

[0067] Optionally, a mounting screw hole is provided on the bottom surface of the barrel-shaped box body, the lower end of the connecting rod is threadedly connected to the mounting screw hole, and a positioning nut is provided on the connecting rod, the positioning nut is threadedly connected to the connecting rod and fixes the upper cover.

[0068] Furthermore, the de-icing device also includes a guide plate, which is arranged between the hanging mechanism and the rocket mounting box, and the guide plate is connected to the connecting rod through a positioning nut, a positioning through hole is provided on the guide plate, the connecting rod is arranged in the positioning through hole, the positioning nut is threadedly connected to the connecting rod, and clamps the guide plate.

[0069] Optionally, the guide plate includes an intermediate plate and an inclined plate, the intermediate plate is connected to the connecting rod, the first end of the inclined plate is fixedly connected to the intermediate plate, and the distance between the second end of the inclined plate and the hanging mechanism is smaller than the distance between the first end of the inclined plate and the hanging mechanism.

[0070] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0071] The present invention uses a hanging mechanism to securely hang the device on the power transmission cable, and uses the vibration force generated by the rocket to de-ice the power transmission cable. The remote trigger system enables the operator to remotely control the launch of the rocket in a safe area, without the need for personnel to directly contact the high-voltage line or perform high-altitude operations, which significantly reduces the operating risk, and the rocket has high impact resistance;

[0072] The present invention can suspend the hanging mechanism on the transmission cable through a drone, so that the complexity of the terrain does not affect the deployment of the de-icing device, and there is no need to shut down the line or manually climb the tower for installation, which reduces the workload and safety risks when deploying the de-icing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, are used to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention, and the accompanying drawings are included in and constitute a part of this specification and do not constitute a limitation of the embodiments of the present invention.

[0074] Figure 1 It is a structural schematic diagram of a rocket-based power transmission line deicing device according to the present invention.

[0075] Figure 2 It is a cross-sectional view of a rocket-based power transmission line deicing device according to the present invention.

[0076] Figure markings: 1-plate body, 11-cable groove, 111-first groove body, 112-second groove body, 2-U-shaped hanging rod, 21-first vertical rod, 22-second vertical rod, 23-arc rod, 24-thick rod section, 25-thin rod section, 3-de-icing pulley, 4-connecting rod, 5-guide plate, 51-middle plate, 52-inclined plate, 6-rocket installation box, 61-barrel-shaped box body, 62-upper cover, 63-installation cylinder, 7-positioning nut. DETAILED DESCRIPTION

[0077] To make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation methods. It is understood that the specific implementation methods described herein are only used to explain the relevant content, rather than to limit the present invention.

[0078] It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings.

[0079] In the absence of conflict, the embodiments and features of the embodiments of the present invention may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0080] Embodiment 1

[0081] like Figure 1 As shown, a rocket-based power transmission line deicing device includes: a hanging mechanism, a connecting rod and a rocket installation box.

[0082] The hanging mechanism is used to hang the deicing device on the power transmission cable; the first end of the connecting rod is connected to the hanging mechanism; the rocket installation box is connected to the second end of the connecting rod, and a rocket is placed in the rocket installation box, and the rocket is connected to a remote trigger system;

[0083] When the rocket is triggered, a vibration force is applied to the power transmission cable through the connecting rod and the hanging mechanism.

[0084] In this embodiment, a drone can be used to hang the hanging mechanism on the power transmission cable. The drone can be remotely operated, avoiding the risk of personnel directly performing high-altitude operations. It is particularly suitable for environments with severe weather or complex terrain.

[0085] In sections where icing is expected to be severe, de-icing equipment can be deployed on a large scale in advance, and the icing conditions of the lines can be inspected in winter. Once the icing on the lines reaches a certain level through on-site inspections or online monitoring systems, the rocket engine can be remotely started to perform de-icing operations in real time, thereby responding quickly and reducing the losses that may be caused by ice damage.

[0086] In addition, in the absence of pre-deployment, drones can also be used to quickly and temporarily deploy de-icing equipment for emergency de-icing. By hanging, the device can be deployed to any required location in a short time, which is particularly suitable for sudden extreme weather conditions.

[0087] The connecting rod is used as a connector between the hanging mechanism and the rocket mounting box, with one end connected to the hanging mechanism and the other end connected to the rocket mounting box. The connecting rod is usually made of high-strength, corrosion-resistant and lightweight materials (such as high-strength steel or alloy) to withstand the force and vibration generated when the rocket is triggered, while keeping the overall structure light and durable.

[0088] The rocket box is the part of the device used to store and secure the rockets, and is usually designed to protect the rockets and ensure their safe storage in harsh environments. There will be appropriate fixing and buffering structures inside the box to prevent the rockets from moving or being damaged when not triggered.

[0089] The rocket is connected to a system that can be remotely controlled and triggered. The remote trigger system is set in the rocket installation box and is mainly composed of a control power supply, a signal receiving and sending device, and a rocket automatic start device. The operator can start the rocket through remote control. According to the required deicing force, the operator can flexibly select a single start or multiple simultaneous start mode for deicing. The start control can send signals through on-site remote control, or through Beidou satellite and other communication systems, using mobile phones, computers and other terminals to send start control signals. Because the remote trigger system allows operators to remotely control the launch of rockets in a safe area, it avoids the risk of high-altitude operations in bad weather or dangerous conditions.

[0090] When the rocket is remotely triggered in the rocket installation box, the kinetic energy generated by the launch is converted into mechanical energy and transmitted to the hanging mechanism through the connecting rod. The hanging mechanism then applies this vibration force directly to the transmission cable. The vibration force is enough to destroy the stress between the ice layer and the cable, break the ice layer or make the ice layer fall off the cable, thereby achieving the effect of rapid deicing. This vibration deicing method is not only fast and efficient, but also avoids the potential damage to the transmission cable that may be caused by traditional physical knocking.

[0091] In addition, the rocket used in this embodiment belongs to a part of the prior art. The basic principle is to use the combustion of internal fuel to generate high-speed exhaust, thereby pushing the rocket forward. It has been widely used in the military and aerospace fields, such as missile launch and satellite delivery. In this power transmission line deicing device, the rocket is used to generate sufficient force to be transmitted to the power transmission cable through the hanging mechanism to achieve the purpose of vibration deicing.

[0092] Rockets usually contain solid or liquid propellants, which are ignited by a remote trigger system. The ignition process quickly converts the propellant into high-temperature and high-pressure gas, which is discharged at high speed through the nozzle to generate thrust.

[0093] Embodiment 2

[0094] This embodiment provides a specific structure and related methods of a remote trigger system.

[0095] The remote trigger system includes: a signal receiving module connected to the ignition module of the rocket, and a signal transmitting module that wirelessly communicates with the signal receiving module; the signal receiving module is arranged in the rocket installation box, and the signal transmitting module is arranged in the remote control terminal; that is, the ignition of the rocket can be controlled at a remote location to avoid the operator directly contacting the high-voltage wires or performing high-altitude operations.

[0096] In order to achieve remote communication, the signal receiving module and the signal transmitting module communicate via LoRa wireless communication, which has good anti-interference performance. The communication methods include:

[0097] Initialize the communication parameters and obtain the transmission distance D between the signal transmitting module and the signal receiving module. It can be determined by GPS, Beidou satellite system, etc. to determine the signal transmission frequency It is within the preset range, c is the speed of light; if the signal transmission frequency is not within the preset range, the relative position of the signal transmission module and the signal receiving module is changed; generally, LoRa wireless communication has a preset frequency. If the transmission frequency does not meet the requirements, the position of the signal transmission module is changed to ensure that the signal frequency is within the optimal range and reduce signal attenuation.

[0098] Get the signal receiving power P of the signal receiving module r , determine the signal transmission power P of the signal transmission module t =P r +L p , is path loss; ensure that the signal strength is sufficient to cover the transmission distance and ensure communication effect.

[0099] Get the communication bandwidth BW = k1 SNR and spreading factor Determine the communication data rate Wherein, SNR is the signal-to-noise ratio, k1 is the bandwidth adjustment coefficient, and k2 is the spreading factor adjustment coefficient;

[0100] The signal transmitting module transmits the detonation signal and the redundant signal to the signal receiving module through an encryption algorithm. After receiving the encrypted signal, the signal receiving module decrypts the detonation signal and the redundant signal, verifies the redundant signal, and verifies the detonation signal after confirming that the redundant signal is transmitted correctly.

[0101] After the signal receiving module completes the verification of the detonation signal, it sends the signal to the signal transmitting module and the ignition module.

[0102] The encryption algorithm and decryption algorithm specifically include:

[0103] Set the symmetric key for AES encryption; set the shared key for one-time password generation; AES encryption algorithm ensures the confidentiality of data during communication to prevent eavesdropping or tampering. One-time password increases the security of communication, and OTP verification ensures the authenticity of the signal.

[0104] AES encryption is performed on the detonation signal and the redundant signal to be sent; the detonation signal is encrypted using the AES encryption algorithm to obtain a detonation ciphertext; the redundant signal is encrypted using the AES encryption algorithm to obtain a redundant ciphertext;

[0105] A one-time password A is generated through a time-synchronized OTP generator and a shared key, and a one-time password B is generated in the signal receiving module using the shared key and the current timestamp; if the one-time password A matches the one-time password B, the verification is successful and passed; if the one-time password A does not match the one-time password B, the verification fails and is rejected; the one-time password ensures the uniqueness and validity of the signal, while ensuring the success of the OTP verification and preventing unauthorized signal transmission.

[0106] If the verification is successful, the signal transmitting module will send the detonation ciphertext and redundant ciphertext to the signal receiving module, ensuring that only the verified signal will be transmitted to prevent unauthorized signal transmission.

[0107] After receiving the encrypted signal, the signal receiving module uses the AES decryption algorithm to decrypt the detonation ciphertext to obtain the detonation plaintext; uses the AES decryption algorithm to decrypt the redundant ciphertext to obtain the redundant plaintext; the signal receiving module uses the pre-shared symmetric key to decrypt the received encrypted signal, restores the original detonation signal and redundant signal, and sets them as the detonation plaintext and redundant plaintext.

[0108] The signal receiving module verifies the redundant plaintext. If the redundant plaintext verification passes, the signal receiving module verifies the detonation plaintext.

[0109] After the detonation plaintext verification is passed, the signal receiving module sends a detonation signal to the ignition module and sends a confirmation signal to the signal transmitting module at the same time.

[0110] Redundant signals refer to signals with redundant information generated in addition to the original signals, which are used to increase the ability of error detection and correction during data transmission. By carrying additional information, redundant signals can provide an extra layer of verification during data transmission and enhance the reliability of signals. At the same time, at the receiving end, by verifying the redundant signals, it is possible to detect whether errors or data loss occur during transmission. Finally, in some cases, redundant signals can be used to correct errors in transmission to ensure that the data finally received is consistent with the original data.

[0111] Redundant plaintext refers to the original redundant signal after decryption, which is used for verification and authentication at the receiving end. By verifying the redundant plaintext, it is ensured that the signal received by the receiving end is consistent with the signal sent by the sending end, preventing the data from being maliciously tampered with.

[0112] In addition, before signal verification, parameters are set, including redundant plaintext, detonating plaintext, weight coefficient, redundant plaintext length, detonating plaintext length, hash function, encrypted hash function, and chaotic mapping function;

[0113] Methods for verifying redundant plaintext include:

[0114] In the signal transmission module:

[0115] The redundant signal is preprocessed by the chaotic mapping function; the chaotic mapping converts the input signal into a complex and unpredictable output, that is, converts the redundant signal into a highly random sequence, which increases the randomness and unpredictability of the signal and increases the difficulty of verification.

[0116] The preprocessed redundant signal is segmented to obtain a number of short signal segments, the weight of each redundant signal segment is determined, and the weighted checksum of each segment is calculated;

[0117] The weighted checksum of the redundant signal is hashed by a hash function, and the result is encrypted by HMAC through a cryptographic hash function to obtain the checksum of the redundant signal; that is, the weighted checksum is calculated by a hash function to generate a hash value of a fixed length. Then, the hash value is encrypted by HMAC to obtain the final checksum of the redundant signal.

[0118] In the signal receiving module (the principle is the same as that of the signal transmitting module):

[0119] Preprocess the redundant plaintext through chaotic mapping function;

[0120] Divide the preprocessed redundant plaintext into segments, determine the weight of each segment of redundant plaintext, and calculate the weighted checksum of each segment;

[0121] The weighted checksum of the redundant plaintext is hashed by a hash function, and the result of the operation is HMAC encrypted by a cryptographic hash function to obtain the checksum of the redundant plaintext;

[0122] Compare the checksum of the redundant plaintext with the checksum of the redundant signal. If the two match, the check passes.

[0123] The method for verifying the detonation plaintext (the principle is the same as the verification method of the redundant plaintext), including:

[0124] In the signal transmission module:

[0125] Preprocessing the detonation signal through the chaotic mapping function;

[0126] Divide the preprocessed detonation signal into segments, determine the weight of each segment of the detonation signal, and calculate the weighted checksum of each segment;

[0127] Performing a hash operation on the weighted checksum of the detonation signal through a hash function, and then performing HMAC encryption on the operation result through a cryptographic hash function to obtain the checksum of the detonation signal;

[0128] In the signal receiving module:

[0129] The detonation plaintext is preprocessed by using the chaos mapping function;

[0130] Divide the preprocessed detonation plaintext into segments, determine the weight of each segment of the detonation plaintext, and calculate the weighted checksum of each segment;

[0131] The weighted checksum of the detonation plaintext is hashed by a hash function, and the result of the operation is HMAC encrypted by a cryptographic hash function to obtain the checksum of the detonation plaintext;

[0132] Compare the checksum of the detonation plaintext with the checksum of the detonation signal. If the two match, the verification passes.

[0133] Embodiment 3

[0134] like Figure 1 and Figure 2 As shown, the hanging mechanism is a key device in the device and is described in detail.

[0135] The hanging mechanism includes a plate body 1, the lower end surface of the plate body 1 is connected to the first end of the connecting rod 4, and the side surface of the plate body 1 is provided with a through cable groove 11, and the cable groove 11 includes a first groove body 111 and a second groove body 112, the first groove body 111 is provided in the plate body 1, the inner end of the second groove body 112 is connected to the outer end of the first groove body 111, and the outer end of the second groove body 112 is connected to the side end surface of the plate body 1;

[0136] During installation, the power transmission cable passes through the second slot body 112 and is placed at the inner end of the first slot body 111 .

[0137] The plate body 1 is the main structure of the hanging mechanism and is usually made of high-strength, corrosion-resistant materials to ensure stability and durability under various climatic conditions.

[0138] The cable trough 11 is used to fix and guide the structure of the power transmission cable. The cable trough 11 consists of two parts, namely a first trough body 111 and a second trough body 112. The first trough body 111 is used to fix the vertical cable, and the second trough body 112 is used to guide the power transmission cable.

[0139] The whole plate body 1 is divided into a hook-like shape by the cable groove 11. In actual use, the whole plate body 1 is lifted by a drone, and then the power transmission cable is inserted from the outer end of the second groove body 112, and then moved along the second groove body 112 to the inner end of the first groove body 111, thereby completing the hanging of the whole device on the power transmission cable.

[0140] In order to prevent the plate body 1 from being separated from the power transmission cable when a rocket impacts, the hanging mechanism also includes: a U-shaped hanging rod 2 and a return spring, the U-shaped hanging rod 2 is connected to the plate body 1, and the return spring is arranged in the plate body 1.

[0141] The U-shaped hanging rod 2 includes: a first vertical rod 21, a second vertical rod 22 and an arc rod 23, the upper end of the first vertical rod 21 and the upper end of the second vertical rod 22 are fixedly connected to the two ends of the arc rod 23 respectively; the arc rod 23, the first vertical rod 21 and the second vertical rod 22 form a U-shaped structure, and the arc section is mainly used for the drone to be suspended, so as to move the entire device.

[0142] The upper end surface of the plate body 1 is provided with a first vertical hole and a second vertical hole, the second vertical hole passes through the second groove body 112, the first vertical rod 21 is arranged in the first vertical hole and slides up and down along the first vertical hole, and the second vertical rod 22 is arranged in the second vertical hole and slides up and down along the second vertical hole, so that the position of the U-shaped hanging rod 2 relative to the power transmission cable can be adjusted.

[0143] The U-shaped hanging rod 2 has a locked state and an open state:

[0144] When in the locked state, the lower end of the second vertical rod 22 closes the outer end of the second slot body 112 ; the power transmission cable is locked in the cable slot 11 by the second vertical rod 22 , preventing the deicing device from being separated from the cable slot 11 .

[0145] When in the open state, the lower end of the second vertical rod 22 does not close the outer end of the second slot body 112. At this time, the second slot body 112 is not closed, and the transmission cable can be moved out of or into the cable slot 11 to remove or install the deicing device from the transmission cable.

[0146] When the U-shaped hanging rod 2 is suspended by the drone, because the U-shaped hanging rod 2 is slidably connected to the plate body 1 in the vertical direction, under the action of the gravity of the plate body 1 and the rocket mounting box 6, the plate body 1 moves downward relative to the U-shaped hanging rod 2. At this time, the second vertical rod 22 moves upward relative to the second slot body 112, so that the second vertical rod 22 does not close the second slot body 112, and the plate body 1 can be hung on the transmission cable.

[0147] When the de-icing device is installed, the inner end of the first slot 111 of the plate body 1 contacts the power transmission cable, and the drone is separated from the U-shaped hanging rod 2. Under the action of its own gravity, the U-shaped hanging rod 2 slides downward along the first vertical hole and the second vertical hole, so that the second vertical rod 22 passes through the outer end of the second slot 112, closing the second slot 112 and preventing the plate body 1 from being separated from the power transmission cable.

[0148] When it is necessary to remove the de-icing device, perform the reverse process.

[0149] It can be seen from the above that the second slot 112 is closed by the gravity of the U-shaped hanging rod 2 itself. Therefore, there may be a situation where the gravity itself cannot offset the friction force and cannot be closed. In order to solve the above problem, a return spring is set between the U-shaped hanging rod 2 and the plate body 1.

[0150] The first vertical rod 21 and the second vertical rod 22 include: a coaxially arranged thick rod segment 24 and a thin rod segment 25, the upper end of the thin rod segment 25 is connected to the arc rod 23, and the upper end of the thick rod segment 24 is connected to the lower end of the thin rod segment 25; the first vertical hole and the second vertical hole are stepped holes, the small diameter segment of the stepped hole is arranged at the exit thereof, and the inner diameter of the small diameter segment of the stepped hole is smaller than the outer diameter of the thick rod segment 24;

[0151] The return spring is located in the large diameter section of the stepped hole, and the return spring is sleeved on the thin rod section 25, and the two ends of the return spring are distributed against the small diameter section and the thick rod section 24;

[0152] When in the locked state, the return spring is in the original length state;

[0153] When in the open position, the return spring is in a compressed state.

[0154] Through the cooperation of the step rod and the step hole, the vertical rod can slide up and down in the vertical hole, but the vertical rod will not slide out of the vertical hole.

[0155] When the first vertical rod 21 and the second vertical rod 22 slide to the uppermost end, the thick rod section 24 abuts against the small diameter section of the stepped hole, thereby preventing the vertical rod from falling out of the vertical hole.

[0156] The return spring is arranged between the small diameter section and the thick rod section 24, so that when the dead weight of the vertical rod is insufficient to keep the slot closed, the presence of the return spring provides necessary auxiliary force, that is, in a compressed state, a downward elastic force is applied to the U-shaped hanging rod 2, and through the cooperation of the elastic force and gravity, the U-shaped hanging rod 2 can slide downward more smoothly.

[0157] Finally, in order to prevent the transmission cable from contacting the compression spring and causing damage to the compression spring, when it is set in the locked state, the thick rod section 24 closes the second slot 112, that is, when it is in the locked state, the return spring on the thin rod section 25 will not be exposed in the second slot 112.

[0158] In order to avoid observation or maintenance of the compression spring and reduce the weight of the entire device, it is assumed that a long through groove connecting the first vertical hole and the second vertical hole is provided on the side end surface of the plate body 1 .

[0159] Embodiment 4

[0160] The hanging mechanism also includes: a de-icing pulley 3, which is arranged at the inner end of the first trough body 111, and the de-icing pulley 3 is rotatably connected to the inner side surface of the first trough body 111 through a rotating shaft, the rotating shaft of the de-icing pulley 3 is perpendicular to the power transmission cable, and the outer circumferential surface of the de-icing pulley 3 is provided with an arc groove.

[0161] The de-icing pulley 3 is arranged at the inner end of the first slot body 111 of the hanging mechanism, and is rotatably connected to the inner side surface of the first slot body 111 through a rotating shaft, so that the de-icing pulley 3 can rotate freely, and its position enables the pulley to directly contact the power transmission cable, which is beneficial to the free rolling of the pulley on the cable, reducing friction and wear. In addition, the arc-shaped groove on the outer circumferential surface can increase the fit between the contact surface of the pulley and the cable, improve the grip, and ensure that the pulley will not slip during the de-icing process.

[0162] The de-icing pulley 3 allows the UAV to hang the de-icing device at any position on the transmission cable, and the de-icing device can be moved along the transmission cable to the bottom of the arc-shaped transmission cable, which is the area with the most severe ice accumulation. At the same time, when the rocket is triggered, the transmission cable will also shake to the maximum extent.

[0163] In addition, when the rocket is triggered, the de-icing pulley 3 will roll on the power transmission cable in a small range, and can also physically crush the ice layer. The crushing effect of the de-icing pulley 3 can also directly destroy the structure of the ice layer and accelerate the ice peeling process.

[0164] Embodiment 5

[0165] In order to facilitate the disassembly and assembly of the entire device, the connecting rod 4 is a threaded rod, and the lower end surface of the hanging mechanism is provided with a threaded blind hole adapted to the connecting rod 4; the connecting rod 4 can be separated from the hanging mechanism by rotating the connecting rod 4.

[0166] The rocket mounting box 6 includes: a barrel-shaped box body 61, an upper cover 62 and a mounting tube 63. The upper cover 62 is provided with a threaded through hole adapted to the connecting rod 4. Multiple mounting tubes 63 are arranged inside the barrel-shaped box body 61, and the upper cover 62 is provided with multiple through holes adapted to the mounting tubes 63. The lower end of the connecting rod 4 is connected to the bottom surface of the barrel-shaped box body 61.

[0167] The bottom surface of the barrel-shaped box body 61 is provided with a mounting screw hole, and the lower end of the connecting rod 4 is threadedly connected to the mounting screw hole. A positioning nut 7 is provided on the connecting rod 4, and the positioning nut 7 is threadedly connected to the connecting rod 4 and fixes the upper cover 62.

[0168] The position of the upper cover 62 on the connecting rod 4 can be changed by positioning the nut 7, so that the upper cover 62 can be separated from the barrel-shaped box 61, and then the rocket can be installed in the installation tube 63. Therefore, the device can be reused many times, and after the loaded rocket is used up, it only needs to remove the box and replace the rocket before it can be put into use again, and the later use cost will be further reduced.

[0169] Embodiment 6

[0170] In order to optimize the airflow dynamics and protect the structural safety, and to prevent the impact force generated by the rocket from directly impacting the hanging mechanism, the deicing device also includes a guide plate 5, which is arranged between the hanging mechanism and the rocket installation box, and the guide plate 5 is connected to the connecting rod 4 through a positioning nut 7. A positioning through hole is arranged on the guide plate 5, and the connecting rod 4 is arranged in the positioning through hole. The positioning nut 7 is threadedly connected to the connecting rod 4 and clamps the guide plate 5. The positioning nut 7 can tighten the guide plate 5 by threading, and the position of the guide plate 5 can be changed by changing the position of the positioning nut 7, thereby ensuring its stability and correct position during operation.

[0171] The guide plate 5 includes a middle plate 51 and an inclined plate 52. The middle plate 51 is connected to the connecting rod 4. The first end of the inclined plate 52 is fixedly connected to the middle plate 51. The distance between the second end of the inclined plate 52 and the hanging mechanism is smaller than the distance between the first end of the inclined plate 52 and the hanging mechanism. That is, after installation, the guide plate 5 is in an upward tilted state. The inclined plate 52 helps to reduce the impact and potential damage of the airflow on the device itself. By adjusting the direction of the airflow, the guide plate 5 can also effectively prevent the high-speed airflow from directly acting on the hanging mechanism or the transmission cable.

[0172] The number of the inclined plates 52 in this embodiment can be two or more. Two inclined plates 52 form a V-shaped structure, four inclined plates 52 form an inverted quadrangular pyramid structure, and five inclined plates 52 can form a pentagonal pyramid structure.

[0173] In addition, in order to extend the battery life of the remote trigger system of the rocket, a solar panel can be set on the upper side of the guide plate 5. The solar panel can generate current under the sunlight to charge the remote trigger system, thereby extending its battery life.

[0174] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0175] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0176] It should be understood by those skilled in the art that the above embodiments are only for the purpose of clearly illustrating the present invention, and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications may be made based on the above invention, and these changes or modifications are still within the scope of the present invention.

Claims

1. A rocket-based power transmission line deicing device, characterized in that: include: A hanging mechanism, which is used to hang the deicing device on the power transmission cable; A connecting rod, a first end of which is connected to the hanging mechanism; A rocket installation box connected to the second end of the connecting rod, wherein a rocket is placed in the rocket installation box, and the rocket is connected to a remote trigger system; When the rocket is triggered, a vibration force is applied to the power transmission cable through the connecting rod and the hanging mechanism.

2. A rocket-based power transmission line deicing device according to claim 1, characterized in that: The remote trigger system comprises: A signal receiving module connected to the ignition module of the rocket; A signal transmitting module for wireless communication with the signal receiving module; The signal receiving module is arranged in the rocket installation box, and the signal transmitting module is arranged in the remote control terminal; The signal receiving module and the signal transmitting module communicate wirelessly via LoRa. The communication method includes: Initialize the communication parameters, obtain the transmission distance between the signal transmitting module and the signal receiving module, and determine whether the signal transmitting frequency is within the preset range; if the signal transmitting frequency is not within the preset range, change the relative position of the signal transmitting module and the signal receiving module; Acquire the signal receiving power of the signal receiving module, and determine the signal transmitting power of the signal transmitting module according to the path loss; Obtain the communication bandwidth and spreading factor, and determine the communication data rate; The signal transmitting module transmits the detonation signal and the redundant signal to the signal receiving module through an encryption algorithm. After receiving the encrypted signal, the signal receiving module decrypts the detonation signal and the redundant signal, verifies the redundant signal, and verifies the detonation signal after confirming that the redundant signal is transmitted correctly. After the signal receiving module completes the verification of the detonation signal, it sends the signal to the signal transmitting module and the ignition module.

3. A rocket-based power transmission line deicing device according to claim 2, characterized in that: The encryption algorithm and decryption algorithm specifically include: Set the symmetric key for AES encryption; Set the shared key for one-time password generation; AES encryption is performed on the detonation signal and the redundant signal to be sent; the detonation signal is encrypted using the AES encryption algorithm to obtain a detonation ciphertext; the redundant signal is encrypted using the AES encryption algorithm to obtain a redundant ciphertext; Get the one-time password A generated by the time-synchronized OTP generator, and use the shared key and the current timestamp to generate the one-time password B; if the one-time password A matches the one-time password B, the OTP verification is completed; if the one-time password A does not match the one-time password B, the verification fails; If the verification is successful, the signal transmitting module will send the detonation ciphertext and redundant ciphertext to the signal receiving module; After receiving the encrypted signal, the signal receiving module uses the AES decryption algorithm to decrypt the detonation ciphertext to obtain the detonation plaintext; and uses the AES decryption algorithm to decrypt the redundant ciphertext to obtain the redundant plaintext; The signal receiving module verifies the redundant plaintext. If the redundant plaintext verification passes, the signal receiving module verifies the detonation plaintext. After the detonation plaintext verification is passed, the signal receiving module sends a detonation signal to the ignition module and sends a confirmation signal to the signal transmitting module at the same time.

4. A rocket-based power transmission line deicing device according to claim 3, characterized in that: Setting parameters, including redundant plaintext, detonating plaintext, weight coefficient, redundant plaintext length, detonating plaintext length, hash function, encrypted hash function, and chaotic mapping function; Methods for verifying redundant plaintext include: In the signal transmission module: Preprocessing redundant signals through chaotic mapping function; Divide the preprocessed redundant signal into segments, determine the weight of each segment of the redundant signal, and calculate the weighted checksum of each segment; The weighted checksum of the redundant signal is hashed by a hash function, and the result of the operation is HMAC encrypted by a cryptographic hash function to obtain the checksum of the redundant signal; In the signal receiving module: Preprocess the redundant plaintext through chaotic mapping function; Divide the preprocessed redundant plaintext into segments, determine the weight of each segment of redundant plaintext, and calculate the weighted checksum of each segment; The weighted checksum of the redundant plaintext is hashed by a hash function, and the result of the operation is HMAC encrypted by a cryptographic hash function to obtain the checksum of the redundant plaintext; Compare the checksum of the redundant plaintext with the checksum of the redundant signal. If the two match, the check passes. Methods for verifying the detonation plaintext include: In the signal transmission module: Preprocessing the detonation signal through the chaotic mapping function; Divide the preprocessed detonation signal into segments, determine the weight of each segment of the detonation signal, and calculate the weighted checksum of each segment; Performing a hash operation on the weighted checksum of the detonation signal through a hash function, and then performing HMAC encryption on the operation result through a cryptographic hash function to obtain the checksum of the detonation signal; In the signal receiving module: The detonation plaintext is preprocessed by using the chaos mapping function; Divide the preprocessed detonation plaintext into segments, determine the weight of each segment of the detonation plaintext, and calculate the weighted checksum of each segment; The weighted checksum of the detonation plaintext is hashed by a hash function, and the result of the operation is HMAC encrypted by a cryptographic hash function to obtain the checksum of the detonation plaintext; Compare the checksum of the detonation plaintext with the checksum of the detonation signal. If the two match, the verification passes.

5. The rocket-based power transmission line deicing device according to claim 1, characterized in that: The hanging mechanism comprises a plate body (1), the lower end surface of the plate body (1) is connected to the first end of the connecting rod (4), the side surface of the plate body (1) is provided with a penetrating cable groove (11), the cable groove (11) comprises a first groove body (111) and a second groove body (112), the first groove body (111) is arranged in the plate body (1), the inner end of the second groove body (112) is connected to the outer end of the first groove body (111), and the outer end of the second groove body (112) is connected to the side end surface of the plate body (1); During installation, the power transmission cable passes through the second slot body (112) and is placed at the inner end of the first slot body (111).

6. A rocket-based power transmission line deicing device according to claim 5, characterized in that: The hanging mechanism further comprises: a U-shaped hanging rod (2), the U-shaped hanging rod (2) being connected to the plate body (1), the U-shaped hanging rod (2) comprising: a first vertical rod (21), a second vertical rod (22) and an arc-shaped rod (23), the upper end of the first vertical rod (21) and the upper end of the second vertical rod (22) being fixedly connected to two ends of the arc-shaped rod (23) respectively; The upper end surface of the plate body (1) is provided with a first vertical hole and a second vertical hole, the second vertical hole passes through the second slot body (112), the first vertical rod (21) is arranged in the first vertical hole and slides up and down along the first vertical hole, and the second vertical rod (22) is arranged in the second vertical hole and slides up and down along the second vertical hole; The U-shaped hanging rod (2) has a locked state and an open state: When in a locked state, the lower end of the second vertical rod (22) closes the outer end of the second slot body (112); When in an open state, the lower end of the second vertical rod (22) does not close the outer end of the second slot body (112).

7. A rocket-based power transmission line deicing device according to claim 6, characterized in that: The hanging and taking mechanism also includes a return spring; The first vertical rod (21) and the second vertical rod (22) comprise: a coaxially arranged thick rod segment (24) and a thin rod segment (25), the upper end of the thin rod segment (25) being connected to the arc rod (23), and the upper end of the thick rod segment (24) being connected to the lower end of the thin rod segment (25); The first vertical hole and the second vertical hole are stepped holes, the small diameter section of the stepped hole is arranged at the outlet thereof, and the inner diameter of the small diameter section of the stepped hole is smaller than the outer diameter of the thick rod section (24); The return spring is located in the large diameter section of the stepped hole, and the return spring is sleeved on the thin rod section (25), and the two ends of the return spring are distributed and abut against the small diameter section and the thick rod section (24); When in a locked state, the return spring is in an original length state, the thick rod section (24) closes the second slot (112), and a long through slot connecting the first vertical hole and the second vertical hole is provided on the side end surface of the plate body (1); When in the open state, the return spring is in a compressed state.

8. The rocket-based power transmission line deicing device according to claim 5, characterized in that: The hanging mechanism further comprises: a deicing pulley (3), the deicing pulley (3) being arranged at the inner end of the first trough body (111), and the deicing pulley (3) being rotatably connected to the inner side surface of the first trough body (111) via a rotating shaft, the rotating shaft of the deicing pulley (3) being perpendicular to the power transmission cable, and an arc-shaped groove being arranged on the outer circumferential surface of the deicing pulley (3).

9. A rocket-based power transmission line deicing device according to claim 1, characterized in that: The connecting rod (4) is a threaded rod, and the lower end surface of the hanging mechanism is provided with a threaded blind hole adapted to the connecting rod (4); The rocket installation box (6) comprises: a barrel-shaped box body (61), an upper cover (62) and an installation tube (63), wherein the upper cover (62) is provided with a threaded through hole adapted to the connecting rod (4), a plurality of the installation tubes (63) are arranged inside the barrel-shaped box body (61), and the upper cover (62) is provided with a plurality of through holes adapted to the installation tubes (63), and the lower end of the connecting rod (4) is connected to the bottom surface of the barrel-shaped box body (61); The bottom surface of the barrel-shaped box body (61) is provided with a mounting screw hole, the lower end of the connecting rod (4) is threadedly connected to the mounting screw hole, and a positioning nut (7) is provided on the connecting rod (4), the positioning nut (7) is threadedly connected to the connecting rod (4) and fixes the upper cover (62).

10. A rocket-based power transmission line deicing device according to claim 9, characterized in that: It also comprises a guide plate (5), the guide plate (5) being arranged between the hanging mechanism and the rocket installation box, and the guide plate (5) being connected to the connecting rod (4) via a positioning nut (7), the guide plate (5) being provided with a positioning through hole, the connecting rod (4) being arranged in the positioning through hole, the positioning nut (7) being threadedly connected to the connecting rod (4) and clamping the guide plate (5); The guide plate (5) comprises an intermediate plate (51) and an inclined plate (52); the intermediate plate (51) is connected to the connecting rod (4); the first end of the inclined plate (52) is fixedly connected to the intermediate plate (51); and the distance between the second end of the inclined plate (52) and the hanging mechanism is smaller than the distance between the first end of the inclined plate (52) and the hanging mechanism.

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