Device for controlling ice and frost damage of cable-stayed cables based on UAV flight and its installation method

Abstract

The present invention relates to a device and installation method for controlling ice and frost damage on a cable-stayed structure based on a drone-assisted flight. The device comprises a drone, a traction cable, and an ice removal device. The ice removal device comprises a left arm, a right arm, a central pin hole, a passive reset rod, and an active telescopic rod. The tops of the left and right arms are hinged via a central pin hole, the middles of the left and right arms are connected via a passive reset rod, and the lowers of the left and right arms are connected via an active telescopic rod. The device is easy to install, easy to disassemble, and retractable, and can comprehensively address emerging problems that may be encountered when removing ice from a cable-stayed structure at high altitude, such as slow deceleration, jamming, excessive deceleration, and excessive impact force.

Description

Technical Field

[0001] The present invention relates to the fields of urban ice and snow disaster prevention, high-altitude operations, and bridge maintenance, and more specifically to a device for controlling ice and frost damage caused by inclined cables based on drone-assisted flight and an installation method thereof. Background Art

[0002] When strong cold air moving south encounters warm, humid air currents, the near-ground temperature plummets below freezing. The moist, warm air is lifted into clouds and causes rain. While falling raindrops remain liquid in the air, they quickly freeze into ice when they land near the ground, easily forming inverted icicles on structures. This icicle differs from the icicles formed by prolonged freezing in northern China. During sudden freezing rain, icicles condense incredibly quickly, reaching tens of centimeters in length overnight. However, these icicles are weak and easily melt and break off due to rising temperatures. When they melt and fall at the cable stays, accompanied by crosswinds, they pose a significant risk, seriously endangering the safety of vehicles and people traveling on the bridge. Preventing and controlling icicle damage to cable stays on large bridges has become another significant challenge facing the operation and maintenance of transportation infrastructure. Currently, technologies for preventing and controlling icicle damage to cable stays have received little attention. Due to the instantaneous formation of icicles on cable stays, icicle monitoring is difficult to detect in advance. Once icicles are detected, measures must be taken to remove them. Currently, most technologies focus on remediating icicle damage.

[0003] Existing methods for dealing with ice and frost damage are generally divided into manual and non-manual remediation methods. Non-manual methods mostly use gravity-type de-icing equipment. However, since the de-icing equipment must be installed at the top of the cable tower, the de-icing efficiency is low, and the gravity-type collision de-icing device uses conventional items such as chains and ropes, which leaves a huge design space. On the other hand, with the continuous improvement of drone carrying capacity and control technology, drones have been widely used in fire prevention and disaster relief, wide-area rescue, high-rise operations and other fields. Their portability and flexible flight capabilities still have broad room for expansion. In summary, short-term instantaneous ice and frost damage are easy to form on the cable-stayed cables of large bridges. Melting and falling will seriously endanger the safety of urban commuters and cause adverse panic. Existing ice removal methods are time-consuming and labor-intensive, accompanied by high-altitude operations with high risks and difficulties, and are not very effective. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a device for controlling ice and frost damage of inclined cables based on drone-assisted flight and its installation method, which can be assisted by drone flight to facilitate installation and disassembly, and can not only remove ice in a short time and efficiently, but also protect the inclined cables from damage to the greatest extent. The ice control technology and de-icing equipment thereof.

[0005] The technical solution adopted by the present invention to solve its technical problems is: constructing a cable-stayed ice and frost damage control device based on drone-associated flight, including a drone, a traction cable and an ice removal device, one end of the traction cable is connected to the drone, and the other end of the traction cable is connected to the ice removal device, the ice removal device includes a left limb, a right limb, a central pin hole, a passive reset rod and an active telescopic rod; the tops of the left limb and the right limb are hinged through the central pin hole, the middle parts of the left limb and the right limb are connected through a passive reset rod, and the lower parts of the left limb and the right limb are connected through an active telescopic rod.

[0006] According to the above scheme, the left limb includes a handle and a clamping part, the clamping part is arc-shaped, the top of the clamping part is provided with staggered bite holes, two assembly holes are provided at the arc of the clamping part, a stiffening rib is provided between the two assembly holes, an anti-slip baffle is provided at the bottom of the clamping part, and two vertical elliptical holes are provided on the handle; the right limb is symmetrically arranged with the left limb.

[0007] According to the above scheme, the passive reset rod includes a first fastening nut, a reset spring, a first long screw and a first wrapping cushion; a first wrapping cushion is arranged in the middle of the first long screw, and reset springs are arranged on both sides of the first wrapping cushion. A first fastening nut is arranged on the outside of the reset spring, and the first fastening nut is located at both ends of the first long screw.

[0008] According to the above scheme, the active telescopic rod includes a second fastening nut, a reset soft spring, a second long screw and a second wrapping cushion; a second wrapping cushion is arranged in the middle of the second long screw, and reset soft springs are arranged on both sides of the second wrapping cushion. A second fastening nut is arranged on the outside of the reset soft spring, and the second fastening nut is located at both ends of the second long screw.

[0009] According to the above solution, the cross section of the inclined cable is circular.

[0010] According to the above solution, the diameter of the inclined cable is 100-200 mm.

[0011] According to the above solution, the inclination angle of the inclined cable is 40°-70°.

[0012] The present invention also provides a method for installing an inclined cable ice and frost damage control device based on a drone accompanying flight, comprising the following steps:

[0013] S1. Align the staggered bite holes of the right limb and the staggered bite holes of the left limb, and then perform pin-hole hinge connection through a central pin hole, so that the right limb and the left limb can rotate around the central pin hole;

[0014] S2. The anti-slip baffle of the right limb and the anti-slip baffle of the left limb are partially overlapped, and the first long screw and the second long screw are inserted into the right limb and the left limb in sequence through the vertical elliptical holes. Return springs are sleeved on both sides of the first long screw, and soft return springs are sleeved on both sides of the second long screw. A first wrapping cushion is added to the outermost periphery of the central area of ​​the first long screw, and a second wrapping cushion is added to the outermost periphery of the central area of ​​the second long screw;

[0015] S3. Set first fastening nuts at both ends of the first long screw rod, and set second fastening nuts at both ends of the second long screw rod.

[0016] The implementation of the UAV-assisted cable-stayed ice and frost damage control device and its installation method of the present invention has the following beneficial effects:

[0017] 1. The present invention uses drones to pull climbing ropes, which can greatly improve the accessibility and turnover efficiency of ice removal equipment, greatly reduce labor costs and the number of operators, and improve the safety of high-altitude operations;

[0018] 2. The ice-removing equipment of the present invention is lightweight, occupies a small area, can be installed and disassembled on the bridge deck, is highly portable, and can change its own weight by assembling multiple units, making it highly adaptable to various application scenarios. It has multiple collision points and two ice-removing procedures: climbing rope and sliding rope, which can ensure high-quality ice removal of the inclined cable. It also has an active (electrically controlled) telescopic device, which can remotely expand the hole for self-rescue in the event of adverse working conditions such as high-altitude jamming, and has strong application scalability.

[0019] 3. The technical means and ice control process of the present invention can completely replace the traditional inefficient, low-quality and high-risk cable-stayed ice removal measures, with rapid response, flexible operation and convenient turnover; it can also be expanded to the treatment of ice and frost damage on other large-span bridges such as suspension bridges, and can also be applied to other infrastructure and building construction frost damage treatment fields, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0021] Figure 1 This is a schematic structural diagram of the device for controlling ice and frost damage caused by inclined cables and accompanied by a UAV according to the present invention;

[0022] Figure 2 2. It is a schematic structural diagram of the passive reset rod of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the active telescopic rod of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the left limb of the present invention;

[0025] Figure 5 This is a schematic diagram of the installation structure of the UAV-accompanied cable-stayed ice and frost damage control device of the present invention;

[0026] In the figure: 1. Right limb, 2. Left limb, 3. Central pin hole, 4. Passive reset rod, 5. Active telescopic rod, 6. Staggered bite holes, 7. Assembly holes, 8. Stiffening ribs, 9. Anti-slip baffle, 10. Vertical elliptical hole, 11. First fastening nut, 12. Reset spring, 13. First long screw, 14. Reset soft spring, 15. First wrapping cushion, 16. Second fastening nut, 17. Second long screw, 18. Second wrapping cushion. DETAILED DESCRIPTION

[0027] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0028] like Figure 1-5 As shown, the present invention's UAV-assisted, cable-stayed ice and frost damage control device comprises a UAV, a traction cable, and an ice removal device. The traction cable is connected to the UAV at one end and to the ice removal device at the other. The ice and frost damage control device includes a left limb 2, a right limb 1, a central pin hole 3, a passive reset rod 4, and an active telescopic rod 5. The tops of the left and right limbs 2 and 1 are hinged via the central pin hole 3, the middles of the left and right limbs 2 and 1 are connected via the passive reset rod 4, and the bottoms of the left and right limbs 2 and 1 are connected via the active telescopic rod 5.

[0029] The drone can tow the de-icing equipment to the designated position at the upper end of the cable. After release, the de-icing equipment will slide down quickly under the guidance of gravity and remove ice from all parts of the cable body, greatly improving the efficiency and safety of high-altitude de-icing operations of the cable.

[0030] The left limb 2 includes a handle and a clamping portion. The clamping portion is arc-shaped, with staggered bite holes 6 provided at the top of the clamping portion. Two assembly holes 7 are provided at the arc of the clamping portion, and a stiffening rib 8 is provided between the two assembly holes 7. An anti-slip baffle 9 is provided at the bottom of the clamping portion, and two vertical elliptical holes 10 are provided on the handle. The right limb 1 is arranged symmetrically with the left limb 2. The passive reset rod 4 includes a first fastening nut 11, a reset spring 12, a first long screw 13, and a first wrapping pad 15. The first wrapping pad 15 is provided in the middle of the first long screw 13, and the reset spring 12 is provided on both sides of the first wrapping pad 15. The first fastening nut 11 is provided on the outside of the reset spring 12, and the first fastening nut 11 is located at both ends of the first long screw 13. The active telescopic rod 5 includes a second fastening nut 16, a return soft spring 14, a second long screw 17 and a second wrapping cushion 18; a second wrapping cushion 18 is arranged in the middle of the second long screw 17, and a return soft spring 14 is arranged on both sides of the second wrapping cushion 18. A second fastening nut 16 is arranged on the outside of the return soft spring 14, and the second fastening nut 16 is located at both ends of the second long screw 17.

[0031] The present invention also provides a method for installing an inclined cable ice and frost damage control device based on a drone accompanying flight, comprising the following steps:

[0032] S1. Align the staggered bite holes 6 of the right limb 1 with the staggered bite holes 6 of the left limb 2, and then perform pin-hole hinge connection through the central pin hole 3. The right limb 1 and the left limb 2 can rotate around the central pin hole 3;

[0033] S2, the anti-slip baffle 9 of the right limb 1 and the anti-slip baffle 9 of the left limb 2 partially overlap, the first long screw 13 and the second long screw 17 of the right limb 1 and the left limb 2 are inserted into the vertical elliptical hole 10 in sequence, the return spring 12 is sleeved on both sides of the first long screw 13, the return soft spring 14 is sleeved on both sides of the second long screw 17, a first wrapping cushion 15 is added to the outermost periphery of the central area of ​​the first long screw 13, and a second wrapping cushion 18 is added to the outermost periphery of the central area of ​​the second long screw 17;

[0034] S3. Set first fastening nuts 11 at both ends of the first long screw 13 and set second fastening nuts 16 at both ends of the second long screw 17.

[0035] Working principle of the present invention:

[0036] The cross section of the cable-stayed cable is circular, with a diameter ranging from 100 to 200 mm, and the cable-stayed cable has a certain inclination angle, ranging from 40° to 70°. The cable-stayed cable ice and frost damage control device can be installed on the bridge deck. During installation, first connect the left limb 2 and the right limb 1 through the central pin hole 3, and rotate the anti-slip baffle 9 of the left limb 2 and the right limb 1 through the central pin hole 3 to open the cable-stayed cable, and then use the opening to embed the cable-stayed cable, and then turn it back until the anti-slip baffle 9 of the left limb 2 and the right limb 1 overlap and close; finally insert the passive reset rod 4 and the active telescopic rod 5 and their components, and finally tighten them with the first fastening nut 11 and the second fastening nut 16. At this time, affected by the center of gravity of the cable-stayed cable ice and frost damage control device, the central pin hole 3 of the equipment hanging on the cable faces upward, and the passive reset rod 4 and the active telescopic rod 5 are inserted facing downward.

[0037] After the equipment is installed, a traction rope is inserted into the hole in the central pin hole 3, and the other side of the traction rope is connected to a drone, which flies upward to perform preliminary ice removal. During the ice removal process, the anti-slip baffle 9, the passive reset rod 4, and the active telescopic rod 5 can all collide with ice at different depths; when the ice removal equipment moves up along the inclined cable to the vicinity of the high-altitude cable head, the traction rope is released, and the ice removal equipment slides down along the inclined cable under its own weight to perform a second fine removal of ice, and a buffer pad is set at the installation location. Finally, the ice removal equipment is dismantled and recovered.

[0038] If the de-icing device slows down while ascending or descending along the cable, the active telescopic rod 5 can be remotely extended, expanding the inner diameter of the de-icing device and allowing it to bypass the obstacle. After the active telescopic rod 5 is retracted, the return spring 12 returns the de-icing device to its initial installation state. De-icing devices can also be stacked and assembled through the assembly holes 7 to increase their weight, preventing the de-icing device from getting stuck while remaining within the payload limits of the accompanying drone.

[0039] The cable-stayed deicing equipment for large-span bridges described in the present invention may have component sizes and models that can vary depending on the functional requirements of deicing and the cross-sectional dimensions of the cable-stayed cables. The present invention reserves the right to change its material properties, dimensions, cross-sectional parameters, and other parameters. The present invention includes a technical solution for utilizing drones to implement cable climbing. The cable-stayed deicing equipment described in the present invention can be implemented through other technologies or solutions (except drone accompanying flight technology), and the right to replace, expand, and combine its cable climbing implementation methods is reserved. The cable-stayed deicing equipment described in the present invention can be applied to other types of large-span bridges and other building components that are prone to icing, and the right to expand and develop its application scenarios is reserved.

[0040] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A device for controlling ice and frost damage by using a cable-stayed system with a drone, comprising a drone, a traction cable, and an ice removal device, wherein one end of the traction cable is connected to the drone, and the other end of the traction cable is connected to the ice removal device, characterized in that: The ice removal device includes a left limb, a right limb, a central pin hole, a passive reset rod, and an active telescopic rod; the tops of the left limb and the right limb are hinged through the central pin hole, the middle parts of the left limb and the right limb are connected by the passive reset rod, and the lower parts of the left limb and the right limb are connected by the active telescopic rod; The left limb includes a handle and a clamping part, the clamping part is arc-shaped, and an anti-slip baffle is provided at the bottom of the clamping part. The right limb is symmetrically arranged with the left limb, and the passive reset rod and the active telescopic rod are arranged on the handle.

2. The device for controlling ice and frost damage of cable-stayed cables based on drone flight according to claim 1 is characterized in that: The top of the clamping part is provided with staggered bite holes, the arc-shaped part of the clamping part is provided with two assembly holes, a stiffening rib is provided between the two assembly holes, and two vertical elliptical holes are provided on the handle.

3. The device for controlling ice and frost damage of cable-stayed cables based on drone flight according to claim 2 is characterized in that: The passive reset rod includes a first fastening nut, a reset spring, a first long screw and a first wrapping cushion; a first wrapping cushion is arranged in the middle of the first long screw, reset springs are arranged on both sides of the first wrapping cushion, a first fastening nut is arranged on the outside of the reset spring, and the first fastening nuts are located at both ends of the first long screw.

4. The device for controlling ice and frost damage of a cable-stayed structure based on a drone-assisted flight according to claim 3 is characterized in that: The active telescopic rod includes a second fastening nut, a return soft spring, a second long screw and a second wrapping cushion; a second wrapping cushion is arranged in the middle of the second long screw, and return soft springs are arranged on both sides of the second wrapping cushion. A second fastening nut is arranged on the outside of the return soft spring, and the second fastening nuts are located at both ends of the second long screw.

5. The device for controlling ice and frost damage of cable-stayed cables based on drone flight according to claim 1 is characterized in that: The cross section of the stayed cable is circular.

6. The device for controlling ice and frost damage of cable-stayed cables based on drone flight according to claim 1 is characterized in that: The diameter of the stay cable is 100-200 mm.

7. The device for controlling ice and frost damage of a cable-stayed cable based on the accompanying UAV flight according to claim 1 is characterized in that: The inclination angle of the stay cable is 40°-70°.

8. The method for installing a cable-stayed cable ice and frost damage control device based on drone flight according to claim 4, characterized in that: The following steps are involved: S1. Align the staggered bite holes of the right limb and the staggered bite holes of the left limb, and then perform pin-hole hinge connection through a central pin hole, so that the right limb and the left limb can rotate around the central pin hole; S2. The anti-slip baffle of the right limb and the anti-slip baffle of the left limb are partially overlapped, and the first long screw and the second long screw are inserted into the right limb and the left limb in sequence through the vertical elliptical holes. Return springs are sleeved on both sides of the first long screw, and soft return springs are sleeved on both sides of the second long screw. A first wrapping cushion is added to the outermost periphery of the central area of ​​the first long screw, and a second wrapping cushion is added to the outermost periphery of the central area of ​​the second long screw; S3. Set first fastening nuts at both ends of the first long screw rod, and set second fastening nuts at both ends of the second long screw rod.

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