Spraying mechanism, nozzle adjustment method, nozzle spray speed control method and deicing device

Abstract

The present invention relates to the technical field of antifreeze spraying for overhead ground wires, specifically a spraying mechanism, a nozzle adjustment method, a nozzle spray speed control method, and a deicing device. The present invention includes a rotating ring arranged near the tail end of a ground wire deicing device, a notch for the ground wire to pass through is provided on the ring body of the rotating ring, and a nozzle for spraying antifreeze is installed on the inner side of the rotating ring; the rotating ring is arranged to be coaxially distributed with the ground wire and arranged in sequence along the length direction of the ground wire, and each rotating ring is driven by a rotating drive mechanism and can be independently rotated and adjusted around the axis of the ground wire to adjust the relative position of the nozzle located on the periphery of the ground wire respectively, and when the notches of the three rotating rings are aligned, the three nozzles are evenly distributed circumferentially around the axis of the ground wire. The present invention can achieve uniform spraying of antifreeze on the overhead ground wire, greatly reducing the waste of antifreeze and ensuring a good antifreeze effect on the ground wire.

Description

Technical Field

[0001] The invention relates to the technical field of antifreeze liquid spraying for overhead ground wires, in particular to a spraying mechanism, a nozzle adjustment method, a nozzle spray speed control method and a deicing device. Background Art

[0002] Overhead ground wires are installed above transmission lines to protect them from direct lightning strikes. These wires are also known as lightning arresters or ground wires. In transmission lines, current loss in the conductors generates heat, causing the conductors to heat up higher than the ground wires. Consequently, overhead ground wires are particularly susceptible to icing, especially in extremely cold weather. This can lead to widespread ice buildup on ground wires, resulting in wire breakage, tower collapse, and insulator flashover, causing significant economic and financial losses to the power grid.

[0003] A ground wire deicing device is a device that automatically de-ices overhead ground wires. In the prior art, to prevent the ground wire from re-freezing after de-icing, the de-icing device is often equipped with an antifreeze spraying mechanism, such as that described in Chinese Patent Publication No. CN113964771A, entitled "A High-Voltage Cable De-icer." Most existing antifreeze spraying mechanisms, as described in the cited patent, have nozzles uniformly distributed circumferentially around the cable. This arrangement often only achieves uniform antifreeze spraying in calm conditions. However, high-altitude operations involving overhead ground wires or cables are often accompanied by strong winds, making it difficult to achieve uniform antifreeze spraying using conventional uniform arrangement methods. This not only results in waste of antifreeze, but also fails to provide adequate antifreeze protection for the ground wire. Therefore, a solution is urgently needed. Summary of the Invention

[0004] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides a spraying mechanism, a nozzle adjustment method, a nozzle spray speed control method and a de-icing device, which can achieve uniform spraying of antifreeze liquid on the overhead ground wire, greatly reducing the waste of antifreeze liquid and ensuring a good antifreeze effect on the ground wire.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A spraying mechanism includes a rotating ring arranged near the tail end of the ground wire de-icing device, a notch for the ground wire to pass through is provided on the ring body of the rotating ring, and a nozzle for spraying antifreeze liquid is installed on the inner side of the rotating ring; the rotating ring is arranged to be coaxial with the ground wire and arranged in sequence along the length direction of the ground wire, and each rotating ring is driven by a rotating drive mechanism and can be independently rotated and adjusted around the axis of the ground wire to adjust the relative position of the nozzle on the outer periphery of the ground wire respectively, and when the notches of the three rotating rings are aligned, the three nozzles are evenly distributed circumferentially around the axis of the ground wire.

[0007] As a further solution of the present invention: the spraying mechanism also includes a liquid storage tank connected to the nozzle through a hose, the rotating ring and the liquid storage tank form a rotating fit, a gear ring is fixed to the outer periphery of the rotating ring, and the rotary drive mechanism includes three motors, and gears are fixed on the output shafts of the three motors, and the gears on the three motors are respectively engaged with the gear rings on the three rotating rings for transmission.

[0008] A nozzle adjustment method, which uses the above-mentioned spraying mechanism, includes the following steps:

[0009] S1. Obtain the current wind speed V and ground wire diameter d, and input the current wind speed V and ground wire diameter d into the trained RBF model to obtain the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles;

[0010] S2, compare the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles with the preset polar coordinate angle intervals, and obtain the actual polar coordinate angle θ through the polar coordinate adjustment strategy 1实 ,θ 2实 ,θ 3实 ;

[0011] S3. Get the current polar coordinate angle θ of the three nozzles k1 ,θ k2 ,θ k3 , and calculate the current polar coordinate angle and the actual polar coordinate angle θ 1实 ,θ 2实 ,θ 3实 The angle differences between them are w1, w2, w3;

[0012] S4. Generate position adjustment instructions for the three nozzles 64 based on the angle differences w1, w2, and w3 to achieve position adjustment of the three nozzles.

[0013] As a further solution of the present invention: the training process of the RBF model includes:

[0014] Construct wind speed V according to the training prediction strategy i , ground wire diameter d i and the optimal polar coordinate angle θ of the three nozzles 1i ,θ 2i ,θ 3i The training sample set, where i represents the i-th group of sample set data;

[0015] Construct an RBF model to train the wind speed V of the dataset i , ground wire diameter d i The input layer of the RBF model is the optimal polar coordinate angle θ of the training data set. 1i ,θ 2i ,θ 3iThe constructed RBF model is trained as the output layer to obtain a trained RBF model.

[0016] As a further solution of the present invention: the wind speed V is constructed according to the training prediction strategy i , ground wire diameter d i and the optimal polar coordinate angle θ of the three nozzles 1i ,θ 2i ,θ 3i The training sample set is:

[0017] Set the determined wind speed V1 and ground wire diameter d1;

[0018] Under the conditions of set wind speed V1 and ground wire diameter d1, construct the polar coordinate angle θ of n groups of three nozzles n1 ,θ n2 ,θ n3 With coverage angle α 覆盖 One-to-one mapping relationship between them, where the coverage angle α 覆盖 The angle corresponding to the actual coverage area of ​​the antifreeze liquid around the ground wire;

[0019] The polar coordinate angle θ of the three nozzles n1 ,θ n2 ,θ n3 is the input layer, covering angle α 覆盖 As the output layer, it is input into the neural network model for training and fitting the coverage angle α 覆盖 Polar coordinate angle θ with the three nozzles n1 ,θ n2 ,θ n3 The mapping relationship between them;

[0020] Covering angle α 覆盖 Compare with the set threshold range to obtain the coverage angle α within the set threshold range 覆盖 The corresponding polar coordinate angles θ of the three nozzles n1 ,θ n2 ,θ n3 The polar coordinate angle is the optimal polar coordinate angle θ of the three nozzles under the set wind speed V1 and ground wire diameter d1. 11 ,θ 21 ,θ 31 , thus obtaining the first set of wind speed V1, ground wire diameter d1 and the optimal polar coordinate angle θ of the three nozzles 11 ,θ 21 ,θ 31 Sample set data;

[0021] Reset the determined wind speed V i , ground wire diameter d i, and repeat the above steps to obtain the i-th group of sample data until enough sample set data is obtained, and finally the construction of the training sample set is completed.

[0022] As a further solution of the present invention: the coverage angle α 覆盖 The calculation formula is:

[0023]

[0024] Wherein, L1 is the arc length of the antifreeze liquid sprayed by the first nozzle covering the periphery of the ground wire;

[0025] L2 is the arc length of the antifreeze sprayed by the second nozzle covering the periphery of the ground wire;

[0026] L3 is the arc length of the antifreeze sprayed by the third nozzle covering the periphery of the ground wire;

[0027] L 重叠 The arc length of the overlapping part of the antifreeze sprayed by the first nozzle, the second nozzle and the third nozzle covering the outer periphery of the ground line;

[0028] d is the diameter of the ground wire.

[0029] As a further solution of the present invention: the actual polar coordinate angle θ is obtained by the polar coordinate adjustment strategy 1实 ,θ 2实 ,θ 3实 , specifically:

[0030] The optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles are compared one by one with the polar coordinate angle intervals set for the three nozzles;

[0031] When the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles are all within the set polar coordinate angle ranges of the three nozzles, the actual polar coordinate angle θ is generated according to the optimal polar coordinate angles θ1, θ2, and θ3. 1实 ,θ 2实 ,θ 3实 ;

[0032] When any of the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles is not within the respective polar coordinate angle intervals, the order of the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles is arbitrarily adjusted so that the optimal polar coordinate angles of the three nozzles formed are all within the set polar coordinate angle intervals of the three nozzles, and the actual polar coordinate angle θ is generated according to the optimal polar coordinate angles of the three nozzles formed. 1实 ,θ 2实 ,θ 3实 .

[0033] A nozzle spray speed control method, which uses the above-mentioned spraying mechanism, includes the following steps:

[0034] Get the current ambient temperature T and the de-icing device's travel speed V 装置 And the direction of travel of the de-icing device to adjust the spraying speed of the three nozzles; the direction of travel of the de-icing device includes forward and backward movement of the device;

[0035] When the de-icing device is moving forward and the current ambient temperature T is -20℃≤T≤0℃,

[0036] When the de-icing device is moving in the forward direction and the current ambient temperature T is T<-20℃,

[0037] When the de-icing device is moving in the backward direction and the current ambient temperature T is T≤0℃,

[0038] When the de-icing device travels at a speed V 装置 When a sudden change occurs, or the current ambient temperature T is T>0℃, V 喷头 =0;

[0039] Among them, V 装置 is the travel speed of the device, in m / s;

[0040] T is the ambient temperature, unit is °C;

[0041] ε is the temperature influence factor;

[0042] V 喷头 is the spraying speed of the nozzle, in m / s;

[0043] a is the spray thickness of the antifreeze liquid on the ground wire when the de-icing device is moving forward and the current ambient temperature T is -20°C ≤ T ≤ 0°C, in mm;

[0044] B is the spraying width of the nozzle, in mm;

[0045] a1 is the spray thickness of the antifreeze liquid on the ground wire when the deicing device is moving forward and the current ambient temperature T is T<-20°C, in mm, a1=5mm;

[0046] a2 is the spray thickness of the antifreeze liquid on the ground wire when the de-icing device is moving in the backward direction and the current ambient temperature T is T≤0°C, in mm, a2=1mm;

[0047] I is the spray flow rate unit of the nozzle, L / s;

[0048] A is the cross-sectional area of ​​the nozzle, unit: mm 2 .

[0049] A de-icing device, which applies the nozzle adjustment method described above, includes a frame with an open wire-passing channel at the bottom and an ice-breaking mechanism installed on the frame, the upper part of the wire-passing channel forms a walking cavity for only the ground wire to pass through, and the lower part of the wire-passing channel forms an initial de-icing cavity for the ground wire and ice accumulation to enter; a walking mechanism for moving the de-icing device on the ground wire is installed at the walking cavity, and a clamping mechanism and a crawling mechanism are also installed on the frame, the clamping mechanism includes two second clamping plates, and the crawling mechanism includes two first clamping plates, the two second clamping plates and the two first clamping plates are symmetrically distributed on both sides of the channel where the initial de-icing cavity is located, and an open clamping area is formed between the two second clamping plates and between the two first clamping plates, and the two second clamping plates and the two first clamping plates can both perform horizontal reciprocating clamping motion in a direction perpendicular to the wire-passing channel to clamp and remove ice accumulation on the ground wire, and clamp the ground wire after the ice accumulation is removed; a crawling cylinder arranged along the length direction of the wire-passing channel is provided between the clamping mechanism and the crawling mechanism.

[0050] As a further solution of the present invention: it also includes a lock assembly installed on the frame, the lock assembly includes an outer shell, the lower part of the outer shell is provided with a wire feed groove that can be sleeved on the outer periphery of the ground wire, and a U-shaped lock is provided on the side of the wire feed groove. The U-shaped bottom end of the U-shaped lock forms a rotational fit with the outer shell through a horizontal rotating shaft, and the horizontal rotating shaft and the inner cavity length direction of the U-shaped lock are arranged along the groove length direction of the wire feed groove; the U-shaped lock has an initial state in which the inner cavity opening end intersects the wire feed groove cavity, and is locked by entering the U The ground wire in the inner cavity of the U-shaped lock buckle pushes it to rotate to form a locking state in which the inner cavity of the U-shaped lock buckle and the cavity of the wire feed slot cross-intersect, and the inner cavity wall of the U-shaped lock buckle in the locked state and the groove wall of the wire feed slot jointly enclose a locking cavity for locking the ground wire; the outer shell is also provided with a locking member for elastically locking the U-shaped lock buckle after rotating to the locked state, and the locking member is connected to the sling assembly of the lifting part located outside the outer shell, and when the sling assembly is pulled, it generates an elastic locking force against the locking member and unlocks the U-shaped lock buckle.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] 1. Three rotating rings are provided, each independently adjustable around the ground wire axis. This allows the position of the nozzles within the three rotating rings to be adjusted according to wind speed, ensuring that the antifreeze sprayed by the nozzles covers the outer surface of the ground wire. This effectively reduces overlap of antifreeze caused by wind energy, reducing antifreeze waste and downtime for refilling, thereby improving de-icing and antifreeze efficiency throughout the day. Furthermore, when the notches in the three rotating rings are aligned, the nozzles are evenly spaced around the ground wire axis. Once the ground wire passes through the notch and enters the center of the rotating ring, the nozzles are evenly spaced around the ground wire axis, minimizing the distance each nozzle needs to adjust according to wind speed. Furthermore, the uniform offset of the three nozzles around the ground wire axis ensures that at least one nozzle can be adjusted to that position within a 360° radius of the ground wire, preventing blind spots where the nozzles cannot be adjusted and providing technical support for subsequent automated, real-time nozzle adjustment.

[0053] 2. A gear ring is fixed to the outer circumference of the rotating ring. The rotation drive mechanism includes three motors, each with a gear fixed to its output shaft. These gears mesh with the gear rings on the three rotating rings to drive each of the three rings independently. This drive method is stable and facilitates the determination of the rotating ring's rotation angle, providing technical support for subsequent automated, real-time adjustment of the printhead.

[0054] 3. By inputting the current wind speed V and the ground wire diameter d into the trained RBF model, the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles can be obtained, and finally the position adjustment instructions of the three nozzles are generated to achieve the position adjustment of the three nozzles, ensuring that the sprayed antifreeze liquid covers the outer periphery of the ground wire as evenly as possible, effectively reducing the waste of antifreeze liquid and ensuring a good antifreeze effect on the ground wire.

[0055] 4. By obtaining the current ambient temperature T and the travel speed V of the de-icing device 装置 As well as the direction of travel of the de-icing device, the nozzle can spray at different spraying speeds under different working conditions, which can ensure that the antifreeze is evenly sprayed on the ground wire while effectively reducing the waste of antifreeze.

[0056] 5. The deicing device of the invention is equipped with a clamping mechanism and a crawling mechanism. The reciprocating clamping of the first and second clamping plates allows the initial section of the ground wire to be cleared of ice. Furthermore, the provision of a crawling cylinder between the clamping mechanism and the crawling mechanism enables the clamping mechanism and the crawling mechanism to crawl and slide along the ground wire. Since the wire-passing channel of the skeleton is sequentially arranged from top to bottom as a running cavity and an initial deicing cavity, and the running cavity is only for the passage of the ground wire, while the power mechanism is located within the running cavity, the clamping areas of the clamping mechanism and the crawling mechanism are located on both sides of the channel where the initial deicing cavity is located. Therefore, until the initial section of the ground wire is completely cleared of ice, the ground wire will always be located in the clamping areas of the clamping mechanism and the crawling mechanism, unable to slide into the running cavity to form dynamic coordination with the power mechanism. At this time, the clamping mechanism and crawling mechanism of the de-icing device can cooperate with each other to crawl and de-ice until the ice covering the initial section of the ground wire is completely removed. After that, the skeleton slides downward under the action of gravity, and the walking cavity is sleeved on the outer periphery of the ground wire, and forms a dynamic coordination with the walking mechanism, so that the initial section of the ground wire can realize the normal movement of the walking mechanism, thereby finally realizing the automated installation of the de-icing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a schematic diagram of the three-dimensional structure of the deicing device in the present invention.

[0058] Figure 2 It is a left side structural schematic diagram of the deicing device in the present invention.

[0059] Figure 3 It is a schematic diagram of the connection structure between the skeleton, the clamping unit and the crawling unit in the present invention.

[0060] Figure 4 It is a structural schematic diagram of the clamping unit in the present invention.

[0061] Figure 5 Schematic diagram of the connection structure between the walking unit and the skeleton in the present invention.

[0062] Figure 6 It is a structural schematic diagram of the spraying mechanism in the present invention.

[0063] Figure 7 It is a structural schematic diagram of the ice-breaking mechanism in the present invention.

[0064] Figure 8 Schematic diagram of the structure of the locking assembly in the present invention.

[0065] Figure 9 Schematic diagram of the working process of the locking assembly in the present invention.

[0066] Figure 10 This is a flowchart of the workflow of the nozzle adjustment method of the present invention.

[0067] In the figure: 10, frame; 11, air supply unit; 12, power supply unit; 13, wire passage; 20, walking mechanism; 21, walking wheel; 22, walking motor; 30, ice breaking mechanism; 31, pedestal; 32, lifting mechanism; 33, lifting seat; 34, reciprocating power mechanism; 35, ice breaking hammer; 351, hammer head; 40, crawling mechanism; 41, first two-way cylinder; 42, first splint; 421, first anti-slip ridge; 43, crawling air Cylinder; 50, clamping mechanism; 51, second two-way cylinder; 52, C-shaped seat; 53, clamping wheel; 54, second clamping plate; 541, second anti-slip ridge; 60, spraying mechanism; 61, liquid storage tank; 62, rotary drive mechanism; 63, rotating ring; 64, nozzle; 70, locking assembly; 71, outer shell; 711, wire feed groove; 72, U-shaped lock; 73, tripping torsion spring; 74, locking hook; 75, locking spring; 76, sling assembly. DETAILED DESCRIPTION

[0068] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0069] For ease of understanding, the specific structure and working mode of the present invention are further described below with reference to the accompanying drawings:

[0070] 1. Spraying mechanism

[0071] Specific structure reference Figure 1 and Figure 6 As shown in FIG, its main structure includes a spraying mechanism 60 arranged near the tail end of the de-icing device. Figure 6 As shown, the spraying mechanism 60 includes a rotating ring 63 with a notch provided on its body for the ground wire to pass through. A nozzle 64 for spraying antifreeze liquid is mounted on the inner side of the rotating ring 63. Furthermore, three rotating rings 63 are arranged coaxially with the ground wire and sequentially along its length. Each rotating ring 63 is driven by a rotary drive mechanism 62 and can be independently rotated and adjusted around the ground wire axis to adjust the relative position of the nozzle 64 to the outer periphery of the ground wire.

[0072] Compared with the traditional method of directly arranging a number of circumferentially evenly distributed nozzles 64 on the periphery of the ground wire, which can only achieve uniform spraying on the surface of the object under windless conditions, if applied to the working conditions of the high-altitude ground wire in the present invention, due to the strong wind in the high-altitude environment, the traditional arrangement of the nozzles 64 often leads to a large amount of antifreeze being sprayed overlappingly and a large amount of antifreeze not being sprayed on the ground wire, resulting in a waste of antifreeze. Figure 6 As shown, in the present invention, three rotating rings 63 are provided, and each of them can be independently rotated and adjusted around the axis of the ground wire, so that the positions of the nozzles 64 inside the three rotating rings 63 can be adjusted according to different wind speeds to ensure that the antifreeze sprayed by the nozzles 64 can cover the outer surface of the ground wire. At the same time, it can effectively reduce the overlapping spraying of antifreeze caused by wind energy, reduce the waste of antifreeze, effectively reduce the number of shutdowns waiting for the addition of antifreeze, and improve the efficiency of deicing and antifreeze throughout the day.

[0073] On the basis of the above, if Figure 6 As shown, when the notches of the three rotating rings 63 are aligned, the three nozzles 64 are evenly distributed circumferentially around the ground wire axis. This allows the ground wire to pass through the notch and enter the center of the rotating ring 63. The three nozzles 64 are then evenly distributed axially around the ground wire. At this point, the distance each nozzle 64 needs to adjust to the wind speed is minimized. Furthermore, the evenly distributed, staggered distribution of the three nozzles 64 around the ground wire axis ensures that at least one nozzle 64 can be adjusted to that position within a 360° radius of the ground wire periphery, preventing the nozzles 64 from having unadjustable blind spots and providing technical support for subsequent automated, real-time adjustment of the nozzles 64.

[0074] Further, such as Figure 6 As shown, the spraying mechanism 60 also includes a liquid storage tank 61 connected to the nozzle 54 via a hose, and the rotating ring 63 forms a rotatable fit with the liquid storage tank 61. Specifically, each nozzle 54 is supplied with liquid by a separate water pump, and the hose can be a spiral tube structure. Regarding the installation structure in which the nozzle 64 is fixed to the inner circumference of the rotating ring 63 in this application, the end of the hose can be connected to the middle of the nozzle 64 or pass through the outer circumference of the rotating ring 63 and connect to the nozzle 64. A gear ring is fixed to the outer circumference of the rotating ring 63. In actual implementation, if the hose is in the form of passing through the outer circumference of the rotating ring 63, the gear ring can also be located on the end surface of the rotating ring 63. The rotary drive mechanism 62 includes three motors, each with a gear fixed to its output shaft. The gears on the three motors mesh with the gear rings on the three rotating rings 63 to achieve separate driving of the three rotating rings 63. This drive method is stable and facilitates the determination of the rotation angle of the rotating ring 63, providing technical support for the subsequent automated real-time adjustment of the nozzle 64. Of course, in actual implementation, other driving methods may also be used, such as a motor-driven friction wheel and the outer periphery of the rotating ring 63 to cause friction driving.

[0075] 2. Method of adjusting nozzle 64

[0076] like Figure 10 As shown, based on the above-mentioned spraying mechanism 60, the present invention further discloses a method for adjusting the position of the spray head 64, comprising the following steps:

[0077] S1. Obtain the current wind speed V and the ground wire diameter d, and input them into the trained RBF model to obtain the optimal polar coordinate angles θ1, θ2, and θ3 for the three nozzles 64. The wind speed can be obtained by measuring with a sensor, and the ground wire diameter d can be directly input based on the ground wire parameters or obtained through sensor measurement.

[0078] Specifically, the training process of the RBF model includes:

[0079] (1) First, construct the wind speed V according to the training prediction strategy i , ground wire diameter d i and the optimal polar coordinate angle θ of the three nozzles 64 1i ,θ 2i ,θ 3i The sample set training is performed on , where i represents the i-th group of sample set data.

[0080] The construction of the sample set training is as follows: set a certain wind speed V1 and ground wire diameter r1;

[0081] In the set determined wind speed V1, ground wire diameter d1;

[0082] Under the conditions of set wind speed V1 and ground wire diameter d1, construct the polar coordinate angle θ of n groups of three nozzles 64 n1 ,θ n2 ,θ n3 With coverage angle α 覆盖 One-to-one mapping relationship between them, where the coverage angle α 覆盖 The angle corresponding to the actual coverage area of ​​the antifreeze liquid around the ground wire, specifically, the coverage angle α 覆盖 The calculation formula is:

[0083]

[0084] Wherein, L1 is the arc length of the antifreeze liquid sprayed by the first nozzle 64 covering the periphery of the ground line;

[0085] L2 is the arc length of the antifreeze liquid sprayed by the second nozzle 64 covering the periphery of the ground wire;

[0086] L3 is the arc length of the antifreeze liquid sprayed by the third nozzle 64 covering the periphery of the ground wire;

[0087] L 重叠 is the arc length of the overlapping portion of the antifreeze liquid sprayed by the first nozzle 64, the second nozzle 64 and the third nozzle 64 covering the outer periphery of the ground wire;

[0088] d is the diameter of the ground wire.

[0089] The above L1, L2, L3, L 重叠The unit is the same as d, and the unit can be cm or m.

[0090] The polar coordinate angle θ of the three nozzles 64 is n1 ,θ n2 ,θ n3 is the input layer, covering angle α 覆盖 As the output layer, it is input into the neural network model for training and fitting the coverage angle α 覆盖 Polar coordinate angle θ with the three nozzles 64 n1 ,θ n2 ,θ n3 The mapping relationship between them;

[0091] Covering angle α 覆盖 Compare with the set threshold range, specifically, set the threshold range to 90% to 100% to ensure the coverage angle α 覆盖 It can cover most of the area around the ground wire, ensuring the uniformity of antifreeze spraying around the ground wire; obtain the coverage angle α within the set threshold range 覆盖 The polar coordinate angles θ of the three corresponding nozzles 64 n1 ,θ n2 ,θ n3 The polar coordinate angle is the optimal polar coordinate angle θ of the three nozzles 64 under the set wind speed V1 and ground wire diameter d1. 11 ,θ 21 ,θ 31 , thus obtaining the first set of wind speed V1, ground wire diameter d1 and the optimal polar coordinate angle θ of the three nozzles 64 11 ,θ 21 ,θ 31 Sample set data;

[0092] Reset the determined wind speed V i , ground wire diameter d i , and repeat the above steps to obtain the i-th group of sample data until enough sample set data is obtained, and finally the construction of the training sample set is completed.

[0093] (2) Construct an RBF model to train the wind speed V of the dataset i , ground wire diameter d i The input layer of the RBF model is the optimal polar coordinate angle θ of the training data set. 1i ,θ 2i ,θ 3i The constructed RBF model is trained as the output layer to obtain a trained RBF model.

[0094] More specifically, after the input layer receives data, the hidden layer uses a radial basis function to calculate the distance between the input data and the center point. Finally, the output layer introduces weights and linearly combines the hidden layer data to generate the final output. By selecting the center point and training the output layer weights, the corresponding relationship between input and output values ​​can be fitted.

[0095] S2, compare the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64 with the preset polar coordinate angle intervals, and obtain the actual polar coordinate angle θ through the polar coordinate adjustment strategy 1实 ,θ 2实 ,θ 3实 .

[0096] Specifically, the actual polar coordinate angle θ is obtained through the polar coordinate adjustment strategy 1实 ,θ 2实 ,θ 3实 , specifically:

[0097] The optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64 are compared one by one with the polar coordinate angle intervals set for each of the three nozzles 64; specifically, since a gap for the ground wire to pass through is provided on the ring body of the rotating ring 63 in the spraying mechanism 60, the rotating ring 63 cannot achieve 360° rotation, resulting in each nozzle 64 having a moving polar coordinate angle interval, which is related to the opening size of the gap.

[0098] When the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64 are all within the polar coordinate angle intervals set for the three nozzles 64, the actual polar coordinate angle θ is generated according to the optimal polar coordinate angles θ1, θ2, and θ3. 1实 ,θ 2实 ,θ 3实 ;

[0099] When any of the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64 is not within the respective polar coordinate angle intervals, the order of the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64 is arbitrarily adjusted so that the optimal polar coordinate angles of the three nozzles 64 formed finally are all within the set polar coordinate angle intervals of the three nozzles 64, and the actual polar coordinate angle θ is generated according to the optimal polar coordinate angles of the three nozzles 64 formed finally. 1实 ,θ 2实 ,θ 3实This control method is due to the fact that when the notches of the three rotating rings 63 are aligned, the three nozzles 64 are evenly distributed circumferentially around the ground axis, that is, the three nozzles 64 are in a staggered state of even distribution circumferentially around the ground axis; this ensures that at least one nozzle 64 can be adjusted to any position within the 360° range of the ground periphery. Therefore, when any nozzle 64 has a blind spot in its adjustment, the other nozzles 64 can be used to compensate for the blind spot.

[0100] S3. Obtain the current polar coordinate angle θ of the three nozzles 64 k1 ,θ k2 ,θ k3 , and calculate the current polar coordinate angle and the actual polar coordinate angle θ 1实 ,θ 2实 ,θ 3实 The angle differences between them are w1, w2, and w3.

[0101] S4. Generate position adjustment instructions for the three nozzles 64 based on the angle differences w1, w2, and w3 to adjust the positions of the three nozzles 64. Specifically, in actual implementation, the clockwise direction around the outer circumference of the ground wire can be considered a positive direction, and the counterclockwise direction can be considered a negative direction. The direction of the subsequent adjustment instruction is determined based on the positive or negative status of the calculated difference.

[0102] In the above steps, the neural network model is first used to determine the wind speed V1, ground wire diameter d1 and coverage angle α 覆盖 Perform training to obtain the optimal polar coordinate angle θ corresponding to the determined wind speed V1 and ground wire diameter d1 11 ,θ 21 ,θ 31 By resetting the determined wind speed V1 and ground wire diameter d1, the above steps are repeated to obtain the i-th set of sample data until sufficient sample set data is obtained, ultimately completing the construction of the training sample set. Thereafter, the training sample set is input into the RBF model for training. By obtaining the current wind speed V and ground wire diameter d, and inputting these current wind speed V and ground wire diameter d into the trained RBF model, the optimal polar coordinate angles θ1, θ2, and θ3 of the three nozzles 64 are obtained. Finally, position adjustment instructions for the three nozzles 64 are generated to achieve position adjustment of the three nozzles 64, ensuring that the sprayed antifreeze liquid covers the outer periphery of the ground wire as evenly as possible, effectively reducing antifreeze liquid waste and ensuring a good antifreeze effect on the ground wire.

[0103] 3. Nozzle speed control method

[0104] During the de-icing process, the friction generated by the residual ice and the certain de-icing resistance when removing the ice will affect the travel speed of the device. Different travel speeds of the device will result in different antifreeze spray thicknesses. In addition, due to the residual ice on the ground wire caused by the ambient temperature and humidity, the thickness of the antifreeze required to be sprayed is also different. Therefore, by controlling the spraying speed of the device to adapt to different device travel speeds and different residual ice thicknesses, the thickness of the antifreeze sprayed on the ground wire is consistent, so as to reduce the consumption of antifreeze. Therefore, based on the above-mentioned spraying mechanism, the present invention also discloses a method for controlling the spraying speed. When the travel speed of the device and the ambient temperature change, by controlling the spraying speed of the nozzle, the spraying thickness of the antifreeze on the ground wire is kept in the range of 3-5mm as much as possible, which can reduce the consumption of antifreeze while meeting the spraying requirements. It includes the following steps:

[0105] Get the current ambient temperature T and the de-icing device's travel speed V 装置 and a moving direction of the deicing device to adjust the spraying speed of the three spray heads (64); the moving direction of the deicing device includes forward movement of the device and backward movement of the device;

[0106] When the de-icing device is moving forward and the current ambient temperature T is -20℃≤T≤0℃, In this state, the spray thickness a of the antifreeze liquid on the ground wire is related to the current temperature; specifically, the lower the temperature, the greater the spray thickness, and the higher the temperature, the smaller the spray thickness; specifically, the value range of a is between 3-5mm.

[0107] When the de-icing device is moving in the forward direction and the current ambient temperature T is T<-20℃, In this state, due to the low temperature, the antifreeze requirement is high. The antifreeze liquid is sprayed on the ground wire at a thickness of a1 = 5 mm. The antifreeze liquid is sprayed according to the set maximum spraying thickness to ensure a good antifreeze effect on the ground wire.

[0108] When the de-icing device is moving in the backward direction and the current ambient temperature T is T≤0℃, When the de-icing device retreats due to reciprocating de-icing, it is selected to continue spraying anti-freeze with a thickness of a2 = 1mm on the part that has been sprayed with anti-freeze to prevent the anti-freeze from falling due to vibration during the de-icing process, resulting in insufficient anti-freeze coverage on the ground wire.

[0109] When the de-icing device travels at a speed V 装置 Sudden changes often occur, often accompanied by slippage or a large amount of ice falling off, which causes the ground wire to jump and the de-icing device to operate abnormally. In this process, V 喷头 = 0 can effectively avoid the waste of antifreeze. In addition, when the current ambient temperature T is specifically T>0℃, the ground wire will not be frozen. Therefore, at this temperature, V喷头 =0, which can also effectively avoid the waste of antifreeze.

[0110] In the present invention, by obtaining the current ambient temperature T, the walking speed V of the deicing device 装置 As well as the direction of travel of the de-icing device, the nozzle 64 sprays at different spraying speeds under different working conditions, which can ensure that the antifreeze liquid is evenly sprayed on the ground wire while effectively reducing the waste of the antifreeze liquid.

[0111] Among them, V 装置 is the travel speed of the device, in m / s;

[0112] T is the ambient temperature, unit is °C;

[0113] ε is the temperature influence factor;

[0114] V 喷头 is the spraying speed of nozzle 64, in m / s;

[0115] a is the spray thickness of the antifreeze liquid on the ground wire when the de-icing device is moving forward and the current ambient temperature T is -20°C ≤ T ≤ 0°C, in mm;

[0116] B is the spraying width of nozzle 64, in mm;

[0117] a1 is the spray thickness of the antifreeze liquid on the ground wire when the deicing device is moving forward and the current ambient temperature T is T<-20°C, in mm, a1=5mm;

[0118] a2 is the spray thickness of the antifreeze liquid on the ground wire when the de-icing device is moving in the backward direction and the current ambient temperature T is T≤0°C, in mm, a2=1mm;

[0119] I is the spray flow rate unit of the nozzle 64, L / s;

[0120] A is the cross-sectional area of ​​the nozzle 64, in mm 2 .

[0121] It is worth mentioning that the present invention also discloses the deicing device in which the spraying mechanism 60 is located, so as to further understand the working principle of the spraying mechanism 60 .

[0122] (4) De-icing device

[0123] The specific structure of the de-icing device refers to Figure 1-9As shown, its main structure includes a skeleton 10, which serves as the overall support of the de-icing device; an ice-breaking mechanism 30 installed on the skeleton 10, which is used to break up the ice; a walking mechanism 20 installed on the skeleton 10, which is used for the de-icing device to walk on the ground wire; a crawling mechanism 40 and a clamping mechanism 50 installed on the skeleton 10, which cooperate with each other to realize the removal of ice from the initial section of the ground wire. In addition, the clamping mechanism 50 in the present invention can also be used to clamp the ground wire so that the walking mechanism 20 forms a dynamic coordination with the ground wire; a spraying mechanism 60 installed on the skeleton 10, which is used to spray antifreeze liquid on the ground wire after the de-icing device is completed; and a locking assembly 70 installed on the skeleton 10, which is used to prevent the de-icing device from falling on the ground wire. Specifically:

[0124] (1) Skeleton 10

[0125] like Figure 1 and Figure 2 As shown, the bottom of the frame 10 is formed with an open wire passage 13. The upper portion of the wire passage 13 forms a running cavity for only the ground wire to pass through, and the lower portion of the wire passage 13 forms an initial de-icing cavity for the ground wire and ice to enter. In actual implementation, the running mechanism 20 is installed in the running cavity, and the clamping areas for de-icing on the crawling mechanism 40 and the clamping mechanism 50 are located in the initial de-icing cavity. When the frame 10 is hoisted to the initial section of the ground wire, the crawling mechanism 40 and the clamping mechanism 50 first cooperate with each other (for details on the clamping mechanism 50 and the crawling mechanism 40 below), to remove ice from the initial section of the ground wire. Afterwards, the initial section of the ground wire can slide into the running cavity. At this time, the running mechanism 20 can drive the de-icing device to operate normally on the initial section of the ground wire without ice, so as to enter the subsequent normal de-icing process.

[0126] In addition, if Figure 2 As shown, the skeleton 10 further includes an air supply unit 11 and a power supply unit 12 distributed on both sides thereof to supply air and power to other mechanisms.

[0127] (2) Clamping mechanism 50 and crawling mechanism 40

[0128] like Figure 3 As shown, the clamping mechanism 50 includes two second clamping plates 54, and the crawling mechanism 40 includes two first clamping plates 42. The two second clamping plates 54 and the two first clamping plates 42 are symmetrically located on either side of the channel where the initial de-icing chamber is located. An open clamping area is formed between the two second clamping plates 54 and the two first clamping plates 42. The two second clamping plates 54 and the two first clamping plates 42 can both perform a horizontal reciprocating clamping motion perpendicular to the wire passage 13 to clamp and remove ice from the ground wire. After the ice is removed, the ground wire is clamped to the ground wire. In addition, a crawling cylinder 43 is disposed between the clamping mechanism 50 and the crawling mechanism 40, arranged along the length of the wire passage 13.

[0129] The specific working principle is as follows: Figure 3 As shown, the initial section of the ground wire is designated as Section A, and the section adjacent to the initial section along the ground wire deicing direction is designated as Section B. During use, the deicing device is first hoisted to Section B of the ground wire. Since the running cavity of the frame 10 is only for the ground wire to pass through, the ground wire is now located in the initial deicing cavity of the frame 10. The clamping mechanism 50 and the two second clamping plates 54 and two first clamping plates 42 of the crawling mechanism 40 all perform a horizontal reciprocating clamping motion perpendicular to the wire passage 13 to clamp and remove ice from Section B of the ground wire. After the ice is removed, since ice still remains at other locations on the ground wire on the frame 10, the ground wire remains in the initial deicing cavity. At this point, the clamping mechanism 50 clamps Section B of the ground wire. Subsequently, the two first clamping plates 42 of the crawling mechanism 40 deploy, and the crawling cylinder 43 drives the crawling mechanism 40 toward Section A. As the crawling cylinder 43 drives the crawling mechanism 40 toward Section A, the two first clamping plates 42 on the crawling mechanism 40 perform a reciprocating clamping motion, thereby removing ice within the travel range. After the crawling cylinder 43 is extended to its limit, i.e., Section A on the ground wire, the crawling mechanism 40 removes ice at this location, and the two first clamping plates 42 of the crawling mechanism 40 clamp against Section A on the ground wire. Thereafter, the clamping mechanism 50 releases from Section B on the ground wire, and the crawling cylinder 43 retracts, causing the entire de-icing device to move toward Section A of the ground wire, where ice has been completely removed. During this movement, the two second clamping plates 54 of the clamping mechanism 50 continue to perform a reciprocating clamping motion to remove any remaining ice from Sections A and B of the ground wire. Since the walking cavity of the skeleton 10 is only for the ground wire to pass through, during the de-icing process of the above-mentioned sections A and B of the ground wire, the skeleton 10 cannot slide downward so that the ground wire is always in the initial de-icing cavity of the skeleton 10. As the continuous ice-breaking operation is achieved through the crawling mechanism 40 and the clamping mechanism 50, and until the ice on sections A and B is cleared, the skeleton 10 slides downward under the action of gravity, and the walking cavity is sleeved on section A of the ground wire. At this time, the walking mechanism 20 forms a power coordination with the ground wire, so that the initial section of the ground wire can realize the normal walking of the walking mechanism 20, and the ice-breaking mechanism 30 realizes subsequent normal walking and ice-breaking operations, thereby realizing the automatic installation of the de-icing device in the initial section of the ground wire.

[0130] On the basis of the above, if Figure 3 As shown, because water on the ground wire flows downward under the action of gravity, the ice accumulation on the ground wire gradually increases from top to bottom. In the present invention, the edges of the clamping area are arranged in an "eight" configuration to maximize the contact area with the ice during the clamping process, thereby improving the ice removal effect. Furthermore, to ensure that the clamping mechanism 50 and the crawling mechanism 40 ultimately form a stable clamp with the ground wire, the upper portion of the clamping area in this embodiment is at the same height as the upper portion of the initial de-icing chamber.

[0131] On the basis of the above, if Figure 3 As shown, the clamping mechanism 50 includes a second bidirectional cylinder 51 mounted on the frame 10. Both telescopic ends of the second bidirectional cylinder 51 can perform horizontal telescopic movement perpendicular to the wire passage 13. Two second clamping plates 54 are respectively connected to the telescopic ends of the two second bidirectional cylinders 51. Using the second bidirectional cylinder 51 as the actuator to drive the second clamping plates 54 for reciprocating clamping eliminates the issue of the driving medium freezing due to low temperatures, as opposed to hydraulic cylinder drive methods. Furthermore, compared to other linear power mechanisms such as screw sliders, the clamping action is more efficient.

[0132] On the basis of the above, if Figure 3 As shown, the crawling mechanism 40 includes a first bidirectional cylinder 41, and the two ends of the crawling cylinder 43 are respectively connected to the fixing seat of the first bidirectional cylinder 41 and the fixing part of the clamping mechanism 50. The fixing part here can be the fixing seat of the second bidirectional cylinder 51 mentioned above, or it can be the connecting part between the clamping mechanism 50 and the skeleton 10. The two telescopic ends of the first bidirectional cylinder 41 can both perform horizontal telescopic movements perpendicular to the wire channel 13, and the two first clamping plates 42 are respectively fixed to the two telescopic ends of the first bidirectional cylinder 41. Similarly, the use of the first bidirectional cylinder 41 as the actuator to drive the first clamping plate 42 to perform reciprocating clamping movements does not have the problem of the driving medium freezing due to low temperatures compared to the hydraulic cylinder drive method, and has the advantage of efficient clamping action execution compared to other linear power mechanisms such as other screw sliders.

[0133] On the basis of the above, if Figure 3 As shown, the first and second anti-slip ridges 421 and 541 are fixed to the inner sides of the first and second clamping plates 42 and 54 respectively, which ensure the stability of the clamping between the first and second clamping plates 42 and 54 and the ground wire.

[0134] It is worth mentioning that Figure 3 and Figure 4 As shown, the clamping mechanism 50 in the present application is further provided with a clamping wheel 53 for use with the traveling mechanism 20 , and the specific cooperation method is further described below in the traveling mechanism 20 .

[0135] (3) Walking mechanism 20

[0136] like Figure 5 As shown, the walking mechanism 20 includes a walking wheel 21 installed on the upper part of the walking cavity. The axis of the walking wheel 21 is arranged horizontally perpendicular to the wire channel 13, so that the wheel surface of the walking wheel 21 is located above the ground line. When the walking wheel 21 is driven by the walking motor 22, the movement of the de-icing device is achieved by the friction between the walking wheel 21 and the ground line.

[0137] Specifically, such as Figure 3-5As shown, the clamping mechanism 50 also includes two clamping wheels 53 mounted above two second clamping plates 54. Specifically, a C-shaped seat 52 and a second clamping plate 54 are fixed to the telescopic end of the second bidirectional cylinder 51 in the clamping mechanism 50 in descending order. The C-shaped seat 52 is an outwardly protruding structure, and the inner cavity of the C-shaped seat 52 is at the same height as the travel cavity. The clamping wheels 53 are mounted within the inner cavity of the C-shaped seat 52. The outer circumferences of the two clamping wheels 53 have wedge surfaces that form an oblique wedge fit with the ground wire. When the two clamping wheels 53 on the clamping mechanism 50 perform a clamping action, the travel wheel 21 and the two clamping wheels 53 jointly clamp the ground wire.

[0138] Compared to the prior art, the running mechanism 20 utilizes two conventional vertically arranged running wheels 21, which are driven by a linear mechanism to clamp the ground wire. In the present invention, a clamping wheel 53 is provided on the clamping mechanism 50 for the initial deicing of the ground wire. After the initial deicing is complete, the clamping wheel 53 on the clamping mechanism 50 and the running wheels 21 jointly clamp the ground wire. This eliminates the need for an additional linear mechanism in the running mechanism 20, reducing the cost and weight of the deicing device.

[0139] It is worth mentioning that in actual implementation, Figure 3 As shown, in order to ensure the stability of the connection between the de-icing device and the ground wire, the clamping mechanism 50 is set as two groups distributed on the sides of the wire channel 13, and the walking wheels 21 can be set as two groups distributed at both ends of the wire channel 13 to ensure stable contact friction with the ground wire and realize stable power output of the de-icing device.

[0140] (4) Ice breaking mechanism 30

[0141] like Figure 7 As shown, the ice-breaking mechanism 30 includes a pedestal 31 mounted at the forward end of the frame 10. A reciprocating power mechanism 34 is mounted on the pedestal 31, which drives an ice-breaking hammer 35 to perform a reciprocating impact motion. This mechanism has the advantages of low cost, high power, and low radial force on the ground line. Of course, in actual implementation, other ice-breaking methods known in the prior art can also be used, such as providing a swing arm rotating shaft parallel to and above the ground line axis, and providing a swing arm hammer connected to the swing arm rotating shaft. By having the swing arm hammer swing back and forth around the swing arm rotating shaft, stable de-icing of the ground line can also be achieved. However, this method has the disadvantage of exerting a large radial force on the ground line. Furthermore, laser de-icing can also be used. Although this method has good de-icing effects, it has the disadvantages of high cost and high energy consumption.

[0142] On the basis of the above, if Figure 7As shown, the hammer head 351 of the ice-breaking hammer 35 is an inverted U-shaped structure, and the inner cavity of the hammer head 351 is arranged to fit around the outer periphery of the ground wire, so that the hammer head 351 can effectively cover most of the outer periphery of the ground wire, ensuring the de-icing effect on the ice covering the outer periphery of the ground wire. In addition, the ice-breaking mechanism 30 is also equipped with a lifting mechanism 32. The ice-breaking hammer 35 and the reciprocating power mechanism 34 are mounted on the lifting seat 33 of the lifting mechanism 32. The position of the hammer head 351 can be adjusted to ensure that the inner cavity of the hammer head 351 can be stably fitted around the outer periphery of the ground wire.

[0143] (5) Locking assembly 70

[0144] like Figure 8 and Figure 9 As shown, the lock assembly 70 includes an outer shell 71, the lower part of the outer shell 71 is provided with a wire feed groove 711 that can be sleeved on the outer periphery of the ground wire, and a U-shaped lock 72 is provided on the side of the wire feed groove 711. The U-shaped bottom end of the U-shaped lock 72 forms a swivel fit with the outer shell 71 through a horizontal rotating shaft, and the inner cavity length direction of the horizontal rotating shaft and the U-shaped lock 72 are arranged along the length direction of the wire feed groove 711. Specifically, as shown in FIG. Figure 9 As shown in the state A, the U-shaped lock buckle 72 has an initial state in which the inner cavity and the inlet groove 711 share the same opening. Figure 9 As shown in states B and C, the ground wire entering the inner cavity of the U-shaped lock buckle 72 pushes it to rotate, forming a locked state in which the inner cavity of the U-shaped lock buckle 72 and the groove cavity of the wire inlet groove 711 intersect crosswise. The inner cavity wall of the U-shaped lock buckle 72 in the locked state and the groove wall of the wire inlet groove 711 together enclose a locked cavity for locking the ground wire. In addition, the outer shell 71 is also provided with a locking member that elastically locks the U-shaped lock buckle 72 in the locked state. The locking member is connected to the sling assembly 76 arranged on the outside of the outer shell 71. When the lifting portion of the sling assembly 76 is pulled, it generates a resisting elastic locking force on the locking member and unlocks the U-shaped lock buckle 72.

[0145] During installation, the U-shaped lock 72 is initially positioned as shown in FIG. Figure 9 As shown in the state A, the initial state is that the inner cavity opening end of the U-shaped lock buckle 72 intersects with the groove cavity of the wire feed groove 711. The de-icing device with the lock buckle assembly 70 is suspended directly above the ground wire by hoisting the de-icing device with the hook ear by a drone or a crane, and the groove length direction of the wire feed groove 711 in the lock buckle assembly 70 is aligned with the length direction of the ground wire. Thereafter, the drone or crane drives the de-icing device to move downward as a whole, so that the ground wire slides into the groove cavity of the wire feed groove 711. Afterwards, the de-icing device continues to move downward, so that the ground wire will enter the inner cavity of the U-shaped lock buckle 72 through the inner cavity opening end of the U-shaped lock buckle 72 aligned with the groove cavity of the wire feed groove 711. Then, the de-icing device continues to move downward, as shown in FIG. Figure 9 As shown in the B state, the ground wire will push the lock assembly 70 to rotate until it rotates to the position shown in FIG. Figure 9The inner cavity of the U-shaped lock buckle 72 shown in the middle C state crosses with the groove cavity of the wire inlet groove 711 and is locked by a locking member to form a locked state in which the ground wire is locked in the locking cavity.

[0146] During disassembly, the drone or crane no longer directly lifts the de-icing device's lugs, but instead lifts the lifting portion of the sling assembly 76. By applying a lifting pull to the lifting portion, the locking member generates a force against the elastic locking force, unlocking the U-shaped lock buckle 72. When the locking member moves to its limit position against the elastic locking force, the sling assembly 76 drives the lock buckle assembly 70 to move upward as a whole. At this time, the ground wire tends to move downward relative to the lock buckle assembly 70, thereby driving the U-shaped lock buckle 72 to rotate back to its initial state. As the lock buckle assembly 70 continues to move upward, the ground wire is released from the inner cavity of the U-shaped lock buckle 72 and the groove cavity of the wire inlet groove 711, completing the automated disassembly of the lock buckle assembly 70.

[0147] The locking of the above-mentioned locking assembly 70 is stable and does not require power support from the power supply unit 12, so it is more reliable. The installation and disassembly processes can be completed by drones or cranes, without the need for manual high-altitude operations. It is not only more efficient, but also effectively reduces the safety hazards of high-altitude operations.

[0148] Specifically, such as Figure 8As shown, the locking member includes a locking hook 74, which is respectively arranged on both sides of the wire feed slot 711 and a U-shaped lock catch 72. The base of the locking hook 74 forms a swivel fit with the outer shell 71 via an unlocking shaft, and the unlocking shaft is parallel to the horizontal shaft. One end of a sling assembly 76 is fixed to the locking hook 74, away from the outer side of the wire feed slot 711. The outer side of the hook portion of the locking hook 74 is connected to the outer shell 71 via a locking spring 75. That is, the sling assembly 76 can pull the locking hook 74 to move outward against the elastic extrusion force of the locking spring 75 to unlock the U-shaped lock catch 72. In addition, a wedge surface is provided on the outer wall of the hook, adjacent to one side of the U-shaped lock catch 72. This wedge surface forms an oblique wedge engagement with the U-shaped lock catch 72 during the rotation process of the U-shaped lock catch 72 switching from its initial state to its locked state, driving the hook to rotate outward. Thereafter, the hook is elastically driven by the locking spring 75 on the outer shell 71 and rotates around the sidewall of the open end of the U-shaped lock catch 72 in the locked state to form an elastic lock. In this embodiment, the locking hook 74 uses a rotational unlocking method, effectively reducing the resistance when the sling assembly 76 pulls the locking hook 74 to unlock it. Furthermore, the wedge surface of the locking hook 74 forms an oblique wedge engagement with the U-shaped lock catch 72 during the rotation process of the U-shaped lock catch 72 switching from its initial state to its locked state. During the installation of the de-icing device, the drone can use the form of a lifting lug for the de-icing device. With respect to the hoisting portion of the lifting sling assembly 76, the locking member needs to be elastically reset to lock after the locking assembly 70 is placed on the ground wire and the lifting force on the lifting portion is relaxed. In this embodiment, the lifting lugs enable the U-shaped lock 72 to automatically and smoothly switch from an initial state to a locked state during the locking assembly 70's placement. At this time, the locking member automatically resets to lock under the action of the locking spring 75. In this embodiment, the locking method of the locking assembly 70 before the lifting force is released further enhances the safety of the locking process of the locking assembly 70.

[0149] In practice, the locking member may also employ other embodiments, such as a horizontal latch perpendicular to the length of the cable entry slot 711. The horizontal latch is axially slidably engaged with the outer shell 71, and the inner end of the horizontal latch can be inserted into the inner side of the U-shaped lock catch 72 in the locked state, thereby forming a rotational lock for the U-shaped lock catch 72. In addition, a spring is provided on the horizontal latch to drive the horizontal latch to slide inward. The sling assembly 76 is connected to the outer end of the horizontal latch and can drive the horizontal latch to slide and unlock. Furthermore, the inner end of the horizontal latch can form an oblique wedge engagement with the U-shaped lock catch 72, allowing the U-shaped lock catch 72 to automatically and smoothly switch from the initial state to the locked state.

[0150] On the basis of the above, if Figure 8As shown, a tripping torsion spring 73 is also installed on the outer shell 71. The tripping torsion spring 73 generates a driving action to drive the U-shaped lock buckle 72 to switch to the initial state when the U-shaped lock buckle 72 is unlocked. It not only facilitates the maintenance of the initial state during the installation of the lock buckle assembly 70, but also assists the U-shaped lock buckle 72 to reset to the initial state after unlocking.

[0151] It is worth mentioning that Figure 1 As shown, the outer shell 71 of the lock assembly 70 is fixed to the frame 10, and the lock assembly 70 is provided in two groups distributed on both sides of the running mechanism 20, so that both the running mechanism 20 and the lock assembly 70 can be stably installed around the periphery of the ground wire. The provision of two groups of lock assemblies 70 ensures stable locking of both sides of the running mechanism 20. Furthermore, the lifting parts of the sling assemblies 76 of the two groups of lock assemblies 70 are fixed to each other, ensuring that the two lock assemblies 70 can be unlocked synchronously.

[0152] Of course, it will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, but also encompasses the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and it is intended that all variations that fall within the meaning and range of equivalents of the claims be encompassed within the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0153] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0154] The technology, shape, and structure not described in detail in the present invention are all well-known technologies.

Claims

1. A nozzle adjustment method for a spraying mechanism, characterized in that: The spraying mechanism (60) includes a rotating ring (63) arranged near the tail end of the ground wire deicing device, a notch for the ground wire to pass through is provided on the ring body of the rotating ring (63), and a nozzle (64) for spraying antifreeze liquid is installed on the inner side of the rotating ring (63); the rotating rings (63) are arranged to be coaxial with the ground wire and arranged in sequence along the length direction of the ground wire, and each rotating ring (63) is driven by a rotating driving mechanism (62) and can be independently rotated and adjusted around the ground wire axis to respectively adjust the relative position of the nozzle (64) located on the periphery of the ground wire, and when the notches of the three rotating rings (63) are aligned, the three nozzles (64) are evenly distributed circumferentially around the ground wire axis; The nozzle adjustment method of the spraying mechanism comprises the following steps: S1. Get the current wind speed and ground wire diameter and the current wind speed and ground wire diameter Input into the trained RBF model to obtain the optimal polar coordinate angles of the three nozzles (64) ; S2, the optimal polar coordinate angles of the three nozzles (64) Compare with the preset polar coordinate angle range and obtain the actual polar coordinate angle through the polar coordinate adjustment strategy ; S3. Get the current polar coordinate angles of the three nozzles (64) , and calculate the current polar coordinate angle and the actual polar coordinate angle The angle difference between ; S4, based on angle difference Position adjustment instructions for the three nozzles (64) are generated to achieve position adjustment of the three nozzles (64).

2. A nozzle adjustment method for a spraying mechanism according to claim 1, characterized in that: The spraying mechanism (60) further comprises a liquid storage tank (61) connected to the spray head (64) via a hose, a rotating ring (63) and the liquid storage tank (61) forming a rotational fit, a gear ring being fixed to the outer periphery of the rotating ring (63), and a rotary drive mechanism (62) comprising three motors, gears being fixed to the output shafts of the three motors, and the gears on the three motors respectively meshing with the gear rings on the three rotating rings (63) for transmission.

3. The nozzle adjustment method for a spraying mechanism according to claim 1, characterized in that: The training process of the RBF model includes: Construct wind speed according to the training prediction strategy , ground wire diameter and the optimal polar coordinate angles of the three nozzles (64) The training sample set, where Indicates the Group sample set data; Construct an RBF model to train the wind speed of the dataset , ground wire diameter The input layer of the RBF model is the optimal polar coordinate angle of the training data set. The constructed RBF model is trained as the output layer to obtain a trained RBF model.

4. A nozzle adjustment method for a spraying mechanism according to claim 3, characterized in that: The wind speed is constructed according to the training prediction strategy , ground wire diameter and the optimal polar coordinate angles of the three nozzles (64) The training sample set is: Set a certain wind speed , ground wire diameter ; At the set wind speed , ground wire diameter Under the conditions, construct Polar coordinate angles of the three nozzles (64) With coverage angle One-to-one mapping relationship between them, where the coverage angle The angle corresponding to the actual coverage area of ​​the antifreeze liquid around the ground wire; The polar coordinate angles of the three nozzles (64) is the input layer, covering angle As the output layer, it is input into the neural network model for training and fitting the coverage angle Polar coordinate angles with the three nozzles (64) The mapping relationship between them; Covering Angle Compare with the set threshold range to obtain the coverage angle within the set threshold range The polar coordinate angles of the three corresponding nozzles (64) The polar coordinate angle is used as the set wind speed , ground wire diameter The optimal polar coordinate angles of the three nozzles (64) under , thus obtaining the first set of wind speed , ground wire diameter Optimal polar coordinate angles with the three nozzles (64) Sample set data; Reset the determined wind speed , ground wire diameter , and repeat the above steps to obtain the The training sample set is constructed by adding more sample data until enough sample data is obtained.

5. A nozzle adjustment method for a spraying mechanism according to claim 4, characterized in that: The coverage angle The calculation formula is: ； in, is the arc length of the antifreeze liquid sprayed by the first nozzle (64) covering the outer periphery of the ground line; is the arc length of the antifreeze liquid sprayed by the second nozzle (64) covering the outer periphery of the ground line; is the arc length of the antifreeze liquid sprayed by the third nozzle (64) covering the outer periphery of the ground line; The arc length of the overlapping portion of the antifreeze liquid sprayed by the first nozzle (64), the second nozzle (64) and the third nozzle (64) covering the outer periphery of the ground wire; is the diameter of the ground wire.

6. A nozzle adjustment method for a spraying mechanism according to claim 1, characterized in that: The actual polar coordinate angle is obtained by the polar coordinate adjustment strategy , specifically: Optimal polar coordinate angles of the three nozzles (64) Compare the polar coordinate angle intervals with the respective polar coordinate angle intervals of the three nozzles (64); When the optimal polar coordinate angles of the three nozzles (64) When the three nozzles (64) are set within their respective polar coordinate angle intervals, the optimal polar coordinate angle is Generates actual polar angles ; When the optimal polar coordinate angles of the three nozzles (64) When any polar coordinate angle is not within the respective polar coordinate angle range, the optimal polar coordinate angles of the three nozzles (64) are adjusted arbitrarily. The order between them is such that the optimal polar coordinate angles of the three nozzles (64) formed finally are all within the polar coordinate angle intervals of the three nozzles (64), and the actual polar coordinate angles are generated according to the optimal polar coordinate angles of the three nozzles (64) formed finally. .

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