Electrified cleaning unmanned aerial vehicle electromagnetic shielding device and method

Abstract

According to the electrified cleaning unmanned aerial vehicle electromagnetic shielding device and method, the periphery of a power distribution network line is divided into areas with different electromagnetic wave intensity levels, and the deformation state of a shielding structure is adjusted according to the fact that an unmanned aerial vehicle is located in the areas with the different electromagnetic wave intensity levels; the electromagnetic wave intensity generated by a power distribution network line is effectively shielded, flexible adjustment is realized in a dynamic environment, the adaptability of electromagnetic shielding is greatly enhanced, the influence of electromagnetic interference on unmanned aerial vehicle operation is effectively reduced, the safety and stability of an unmanned aerial vehicle in a complex electromagnetic environment are ensured, and meanwhile, the unmanned aerial vehicle is effectively protected. The electromagnetic wave intensity around the power distribution network line is divided into a low area, a middle area and a high area, so that the unmanned aerial vehicle can respond to electromagnetic interference of different intensities more accurately, electromagnetic shielding adjustment of the unmanned aerial vehicle is more accurate and efficient, energy consumption can be reduced, and working efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the field of electromagnetic shielding technology, and in particular to an electromagnetic shielding device and method for live cleaning unmanned aerial vehicles. Background Art

[0002] With the rapid development of drone technology, its application areas have gradually expanded to multiple industries such as power inspection and communication base station maintenance. In modern distribution networks, electromagnetic interference has become an important factor affecting line operation and drone operation safety. With the advancement of automation and intelligence in distribution networks, the communication and control systems of power supply equipment and drones are increasingly dependent on high-frequency signals, which makes the problem of electromagnetic interference more prominent. When drones are inspecting distribution network lines or cleaning them live, changes in the surrounding electromagnetic fields may cause the navigation system to fail and even affect the accuracy of data transmission.

[0003] In the existing technology, most electromagnetic shielding technologies are mainly used for static equipment and small-scale electromagnetic protection, while electromagnetic shielding technology for drones in dynamic environments is still insufficient. During the flight, drones encounter complex and changeable electromagnetic environments, including strong electromagnetic fields generated by high-voltage wires and other equipment near substations.

[0004] Therefore, it is necessary to design an electromagnetic shielding device and method for live cleaning drones to solve the above problems. Summary of the invention

[0005] The present invention overcomes the shortcomings of the prior art and provides an electromagnetic shielding device and method for live cleaning of unmanned aerial vehicles.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a method for electromagnetic shielding of a live cleaning drone, comprising the following steps:

[0007] Step S1, arranging multiple electromagnetic field sensors around the UAV to monitor the electric field strength, frequency and direction of the UAV at different positions of the power distribution network in real time, and transmitting the monitored data to the central control unit of the UAV in real time through the wireless communication module;

[0008] Step S2, processing the collected data in real time and calculating the electromagnetic wave intensity received by the drone at different locations;

[0009] Step S3, according to the area where the distribution network line is located, different levels of electromagnetic wave intensity in the surrounding area are set, and corresponding electromagnetic wave intensity thresholds are formulated according to the levels;

[0010] Step S4: The central control unit sends different instructions according to different thresholds, applies different voltage signals, and adjusts the shape of the shielding structure to adapt to the shape adjustment required under this threshold.

[0011] In a preferred embodiment of the present invention, in step S3, a corresponding electromagnetic wave intensity threshold is formulated according to the level, specifically, according to the different electromagnetic wave intensities obtained by the drone at different positions, different electromagnetic wave intensity levels are divided into low electromagnetic wave intensity area, medium electromagnetic wave intensity area, and high electromagnetic wave intensity area, and corresponding thresholds T1, T2, and T3 are formulated for each area;

[0012] Calculate the reference value t of the electromagnetic wave intensity under the standard working environment, and use the reference value as the minimum value of the threshold of the low electromagnetic wave intensity area.

[0013] In a preferred embodiment of the present invention, in step S4, the central control unit sends different instructions according to different thresholds, specifically, according to the electromagnetic wave intensity T calculated in real time by the central control unit, it is judged that the drone is in a specific area of ​​the power distribution network line, wherein, when T is less than T1, the drone is outside the low electromagnetic wave intensity area, no adjustment is required, and no instruction is required;

[0014] When T is greater than T1 and less than T2, the drone is in a low electromagnetic wave intensity area and needs to be adjusted and the command L1 needs to be sent;

[0015] When T is greater than T2 and less than T3, the drone is in a medium electromagnetic wave intensity area and needs to be adjusted and the command L2 needs to be sent;

[0016] When T is greater than T3, the drone is in an area of ​​high electromagnetic wave intensity and needs to be adjusted and the command L3 needs to be sent.

[0017] In a preferred embodiment of the present invention, in step S4, the shielding structure is a three-layer shielding layer, each shielding layer is an electroactive polymer composite material, wherein the middle shielding layer is wavy, and the change of the peak height of the wavy shielding layer is controlled by applying different voltage signals.

[0018] In a preferred embodiment of the present invention, in step S4, adjusting the shape of the shielding structure specifically includes the following steps:

[0019] Step S41: sending a corresponding instruction based on the determination that the drone is in a specific electromagnetic wave intensity area;

[0020] Step S42, according to the obtained instruction, the required voltage signal strength is calculated using the formula V=K·Ti, wherein K is a gain factor related to the electromagnetic shielding effect, which is established according to different electromagnetic wave intensity levels, and Ti is the electromagnetic wave intensity at this level;

[0021] Step S43: adjusting the wave crest height of the wave-shaped shielding structure according to the obtained voltage signal strength, specifically, Wherein, E is the Young's modulus of the shielding structure material, and A is the force-bearing area.

[0022] An electromagnetic shielding device for live cleaning drone, comprising: a monitoring component, a shielding component mounted on a drone mainboard, and a central control unit;

[0023] The monitoring components include: a number of electromagnetic field sensors; a number of electromagnetic field sensors are installed around the drone to monitor the electric field strength, frequency and direction, and transmit data to the central control unit;

[0024] The shielding component includes: a guiding layer, an absorbing layer, and a reflecting layer; the absorbing layer is a wavy structure, and a voltage control module is arranged on the absorbing layer, and the deformation degree of the absorbing layer is controlled by the voltage control module;

[0025] The central control unit applies different voltage signals to the voltage control module through the data of the electromagnetic field sensor to adjust the shape of the shielding component.

[0026] In a preferred embodiment of the present invention, the reflective layer is concave in shape, and the guide layer is convex in shape.

[0027] In a preferred embodiment of the present invention, the absorption layer is an electroactive polymer composite material and has a porous structure.

[0028] The present invention solves the defects existing in the background technology and has the following beneficial effects:

[0029] (1) The present invention provides an electromagnetic shielding device and method for a live cleaning drone. The device divides the area around the distribution network into areas with different electromagnetic wave intensity levels, and adjusts the deformation state of the shielding structure according to the different electromagnetic wave intensity areas where the drone is located, so as to effectively shield the electromagnetic wave intensity generated by the distribution network line. Flexible adjustment can be achieved in a dynamic environment, which greatly enhances the adaptability of the electromagnetic shielding, effectively reduces the impact of electromagnetic interference on the drone operation, and ensures the safety and stability of the drone in a complex electromagnetic environment.

[0030] (2) The present invention can dynamically sense changes in the surrounding electromagnetic environment by arranging multiple electromagnetic field sensors around the drone, so that the drone can timely obtain its own electromagnetic wave intensity at different locations of the distribution network line, accurately determine the current electromagnetic wave intensity level area, and thus adjust the shape of the shielding structure to adapt to different electromagnetic interference situations, thereby maximizing the electromagnetic shielding effect.

[0031] (3) The present invention divides the electromagnetic wave intensity around the distribution network into three areas: low, medium and high. This enables the drone to respond to electromagnetic interference of different intensities more accurately, making the electromagnetic shielding adjustment of the drone more precise and efficient, which helps to reduce energy consumption and improve work efficiency.

[0032] (4) The present invention proposes an "active + passive" electromagnetic shielding strategy. By adjusting the deformation state of the shielding structure according to the different electromagnetic wave intensity areas where the drone is located, the electromagnetic interference caused by the high-voltage cable is suppressed, and active shielding of the electromagnetic wave intensity generated by the distribution network line is achieved. Flexible adjustment can be achieved in a dynamic environment, which greatly enhances the adaptability of electromagnetic shielding. The wavy shielding layer in the shielding structure is an electroactive polymer composite material, which is made of a woven nickel-titanium alloy grid and an electroactive polymer. It can effectively absorb, reflect or guide the propagation path of the electromagnetic wave, and achieve passive shielding of the electromagnetic wave intensity generated by the distribution network line, thereby reducing or even eliminating the impact of the surrounding electromagnetic interference generated by the high-voltage cable on the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 It is a flow chart of a method for electromagnetic shielding of a live cleaning drone of the present invention;

[0035] Figure 2 It is a schematic diagram of the overall structure of the shielding assembly of the present invention;

[0036] Figure 3 It is a schematic diagram of the internal structure of the shielding assembly of the present invention;

[0037] In the figure: 1. guiding layer; 2. absorbing layer; 3. reflecting layer. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0040] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, "multiple" means two or more.

[0041] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0042] like Figure 1 As shown, a method for cleaning electromagnetic shielding of a drone with electricity includes the following steps:

[0043] Step S1, arranging multiple electromagnetic field sensors around the UAV to monitor the electric field strength, frequency and direction of the UAV at different positions of the power distribution network in real time, and transmitting the monitored data to the central control unit of the UAV in real time through the wireless communication module;

[0044] Arranging multiple electromagnetic field sensors around the drone can dynamically sense changes in the surrounding electromagnetic environment, so that the drone can timely obtain its own electromagnetic wave intensity at different locations of the distribution network line, accurately determine the current electromagnetic wave intensity level area, and adjust the shape of the shielding structure to adapt to different electromagnetic interference situations, thereby maximizing the electromagnetic shielding effect;

[0045] Step S2, processing the collected data in real time and calculating the electromagnetic wave intensity received by the drone at different locations;

[0046] Step S3, according to the area where the distribution network line is located, different levels of electromagnetic wave intensity in the surrounding area are set, and corresponding electromagnetic wave intensity thresholds are formulated according to the levels;

[0047] Step S4: The central control unit sends different instructions according to different thresholds, applies different voltage signals, and adjusts the shape of the shielding structure to adapt to the shape adjustment required under this threshold.

[0048] When the drone is cleaning the distribution network lines, multiple electromagnetic field sensors distributed on the drone body will monitor the electric field strength information of the drone's location in real time, and transmit the obtained information to the drone's central control unit by wireless communication, calculate the electromagnetic wave intensity received by the drone at this location, and determine the electromagnetic wave intensity threshold range within which the electromagnetic wave intensity is located. In this way, it is determined what level of intensity the drone is in. The central control unit sends corresponding instructions according to the corresponding threshold range, applies corresponding voltage signals to the shielding structure, and adjusts the shape of the shielding structure, so as to adjust the electromagnetic efficiency of the shielding structure to adapt to the electromagnetic wave intensity within this threshold range, improve the electromagnetic shielding capability of the drone, and reduce the impact of electromagnetic waves on the drone.

[0049] Among them, by dividing the area around the distribution network lines into areas with different electromagnetic wave intensity levels, the deformation state of the shielding structure is adjusted according to the different electromagnetic wave intensity areas where the drone is in, so as to achieve effective shielding of the electromagnetic wave intensity generated by the distribution network lines, and achieve flexible adjustment in a dynamic environment, which greatly enhances the adaptability of electromagnetic shielding, effectively reduces the impact of electromagnetic interference on drone operations, and ensures the safety and stability of drones in complex electromagnetic environments.

[0050] In a preferred embodiment of the present invention, in step S3, a corresponding electromagnetic wave intensity threshold is formulated according to the level, specifically, according to the different electromagnetic wave intensities obtained by the drone at different positions, different electromagnetic wave intensity levels are divided into low electromagnetic wave intensity area, medium electromagnetic wave intensity area, and high electromagnetic wave intensity area, and corresponding thresholds T1, T2, and T3 are formulated for each area;

[0051] Calculate the electromagnetic wave intensity reference value t under the standard working environment, and use the reference value as the minimum value of the low electromagnetic wave intensity area threshold;

[0052] Among them, the standard working environment refers to the environment in which the UAV operates normally. In the standard working environment, the average electromagnetic wave intensity value is calculated by analyzing and processing the electric field strength, frequency, direction and other information collected by the electromagnetic field sensor. The benchmark value t reflects the electromagnetic wave intensity of the UAV when it is operating normally in a conventional environment, and the benchmark value t provides a reference standard. When the UAV is in operation, the measured electromagnetic wave intensity value is compared with the benchmark value t to determine whether the UAV is in a relatively safe electromagnetic environment.

[0053] The electromagnetic wave intensity around the distribution network lines is divided into different electromagnetic wave intensity levels: low electromagnetic wave intensity area, medium electromagnetic wave intensity area, and high electromagnetic wave intensity area. During the cleaning process of the distribution network lines, the drone detects the electromagnetic wave intensity it receives in real time to determine the level of the area, and actively adjusts its electromagnetic shielding capabilities, so that the drone can respond to electromagnetic interference of different intensities more accurately, making the drone's electromagnetic shielding adjustment more accurate and efficient, which helps to reduce energy consumption and improve work efficiency.

[0054] In a preferred embodiment of the present invention, in step S4, the central control unit sends different instructions according to different thresholds, specifically, according to the electromagnetic wave intensity T calculated in real time by the central control unit, it is judged that the drone is in a specific area of ​​the power distribution network line, wherein, when T is less than T1, the drone is outside the low electromagnetic wave intensity area, no adjustment is required, and no instruction is required;

[0055] When T is greater than T1 and less than T2, the drone is in a low electromagnetic wave intensity area and needs to be adjusted and the command L1 needs to be sent;

[0056] When T is greater than T2 and less than T3, the drone is in a medium electromagnetic wave intensity area and needs to be adjusted and the command L2 needs to be sent;

[0057] When T is greater than T3, the drone is in an area of ​​high electromagnetic wave intensity and needs to be adjusted and the command L3 needs to be sent.

[0058] Based on the above, different thresholds are set according to different electromagnetic wave intensities to ensure that the shielding structure can adjust its shape according to environmental changes. The following are three different levels of electromagnetic wave intensity:

[0059] Low electromagnetic wave intensity area: The electromagnetic interference at this time is weak, which has little impact on the function of the drone, and the shielding structure can maintain its basic form.

[0060] Medium electromagnetic wave intensity area: Electromagnetic interference is enhanced, but still within the controllable range of the drone system, and the shielding layer needs to be slightly adjusted.

[0061] High electromagnetic wave intensity area: The electromagnetic interference is very strong and will interfere with the key electronic equipment of the drone. At this time, the shielding layer must be quickly adjusted to the maximum shielding state.

[0062] Different electromagnetic wave intensity thresholds T1, T2, and T3 are set to correspond to different shielding adjustment requirements.

[0063] Specifically, according to different thresholds, the shape of the shielding structure is adjusted through the instructions of the central control unit by applying different voltage signals. By adjusting the deformation state of the shielding structure to optimize its reflection and absorption functions of electromagnetic waves, it ensures that the drone can maintain stable operation under strong electromagnetic interference.

[0064] In the present invention, in step S4, the shielding structure is a three-layer shielding layer, each shielding layer is an electroactive polymer composite material, specifically a composite material formed by embedding a nickel-titanium alloy grid in the middle of the electroactive polymer, wherein the shielding layer in the middle is wavy, and the change of the crest height of the wavy shielding layer is controlled by applying different voltage signals, specifically, a plurality of voltage control modules are arranged on one side of the shielding layer in the middle;

[0065] The outer shielding layer is convex in shape, and the inner shielding layer is concave in shape.

[0066] Through the setting of the shielding structure, an effective electromagnetic wave coupling mechanism is formed between the shielding layers, so that the electromagnetic waves are reflected, guided and refracted multiple times, thereby further enhancing the shielding effect;

[0067] By setting the outer shielding layer to a convex shape, it is beneficial to disperse and reflect electromagnetic waves from multiple directions. When encountering a convex surface, the electromagnetic waves will scatter in all directions due to different curvatures, which can reduce the electromagnetic radiation concentrated at a certain point, thereby avoiding the concentrated impact of strong electromagnetic waves on internal equipment. Reflection from multiple directions can significantly reduce the interference of external electromagnetic fields on internal equipment of the drone; the concave structure is conducive to focusing and absorbing electromagnetic waves, and the electromagnetic wave energy is concentrated in a specific area, thereby improving the absorption efficiency of electromagnetic waves and further enhancing the ability to handle residual electromagnetic interference; the shielding layer in the middle is wavy, which can control the change in the crest height of the wavy shielding layer and change the incident angle of the electromagnetic wave, thereby optimizing the reflection efficiency and absorption performance. The wavy shielding layer can form multiple reflections and scatterings, so that the electromagnetic waves collide and reflect multiple times inside, thereby reducing transmission and further reducing the impact of electromagnetic waves;

[0068] At the same time, the addition of the nickel-titanium alloy grid can effectively support the electroactive polymer, improve its durability and deformation resistance during use, thereby maintaining the shielding performance; and the presence of the nickel-titanium alloy grid can effectively reflect electromagnetic waves and enhance the overall shielding effect of the material. The conductivity of the nickel-titanium alloy grid can provide an additional current path and improve the overall conductivity. Therefore, through its conductivity and reflection properties, the composite material's shielding ability against high-frequency electromagnetic waves is improved.

[0069] In the present invention, in step S4, adjusting the shape of the shielding structure specifically includes the following steps:

[0070] Step S41: sending a corresponding instruction based on the determination that the drone is in a specific electromagnetic wave intensity area;

[0071] Step S42, according to the obtained instruction, the required voltage signal strength is calculated using the formula V=K·Ti, wherein K is a gain factor related to the electromagnetic shielding effect, which is established according to different electromagnetic wave intensity levels, and Ti is the electromagnetic wave intensity at this level;

[0072] Step S43: adjusting the wave crest height of the wave-shaped shielding structure according to the obtained voltage signal strength, specifically, Wherein, E is the Young's modulus of the shielding structure material, and A is the force-bearing area.

[0073] In summary, under the condition of power on, the electromagnetic shielding effectiveness of the material can be further improved. After power on, the conductive network formed by the carbon nanotubes effectively introduces the current into the material, further enhancing its conductivity, thereby improving the electromagnetic shielding effect. Under the action of the electric field, the conductivity of the carbon nanotubes is enhanced, and the ability to absorb and reflect electromagnetic waves is simultaneously improved. Therefore, in special electromagnetic environments, the material has a dynamic response electromagnetic shielding capability and can adapt to different electromagnetic environment requirements;

[0074] In response to the above, an "active + passive" electromagnetic shielding strategy is developed for live cleaning drones. The deformation state of the shielding structure is adjusted according to the different electromagnetic wave intensity areas where the drone is in order to suppress the electromagnetic interference caused by the high-voltage cable, thereby achieving active shielding of the electromagnetic wave intensity generated by the distribution network line, and achieving flexible adjustment in a dynamic environment, which greatly enhances the adaptability of the electromagnetic shielding. The wavy shielding layer in the shielding structure is an electroactive polymer composite material, which is made of a woven nickel-titanium alloy grid and an electroactive polymer. It can effectively absorb, reflect or guide the propagation path of the electromagnetic wave, and achieve passive shielding of the electromagnetic wave intensity generated by the distribution network line, thereby reducing or even eliminating the impact of the surrounding electromagnetic interference generated by the high-voltage cable on the drone.

[0075] The electroactive polymer composite material mentioned above can effectively shield electromagnetic waves. The electroactive polymer composite material is specifically composed of polyurethane as a matrix and carbon nanotubes. The specific composite preparation method steps are as follows:

[0076] A. Select 90 parts by weight of polyurethane, 3-5 parts by weight of carbon nanotubes, 5-10 parts by weight of isocyanate curing agent, 0.5-1 parts by weight of initiator relative to the weight of carbon nanotubes, and 50 parts by weight of N,N-dimethylformamide solution with a concentration of 70%;

[0077] B. Add the carbon nanotubes to the mixed acid for acid treatment, and continue stirring the reaction at room temperature for 2-4 hours. After the reaction is completed, wash repeatedly with a large amount of deionized water until the TH value of the solution is close to neutral, and dry the functionalized carbon nanotubes in a vacuum oven at 60° C. for 12 hours to obtain carbon nanotubes containing carboxyl groups on the surface;

[0078] C. Disperse the carbon nanotubes with carboxyl groups on the surface in N,N-dimethylformamide solution, use ultrasonic dispersion for 30 minutes to ensure that the carbon nanotubes are evenly dispersed, stir and heat to 70-75°C, continue stirring for 1-2 hours to activate the surface of the carbon nanotubes, add polyurethane, and continue to react at a temperature of 70-75°C for 2.5-4 hours, so that the polyurethane chain segments are grafted to the surface of the carbon nanotubes through chemical reaction to form a stable mixture, and add 10 parts by mass of isocyanate as a cross-linking agent to the mixture, stir evenly, and then degas the mixture to remove bubbles;

[0079] D. Pour the degassed mixture into a mold, embed a nickel-titanium alloy grid in the middle of the mixture, heat to 60° C., and cure for 12 hours to obtain a composite film.

[0080] Wherein, the purity of carbon nanotubes is ≥95%;

[0081] The mixed acid is a mixture of sulfuric acid and nitric acid, wherein the volume ratio of sulfuric acid to nitric acid is 3:1, and the ratio of carbon nanotubes to the mixed acid is 3-5:13. The surface of the carbon nanotubes is functionalized by acid treatment, and functional groups such as carboxyl and hydroxyl groups are introduced to make them reactive with polyurethane chain segments.

[0082] Experimental example:

[0083] 1. Purpose of the experiment

[0084] The shielding effectiveness of electroactive polymer composite materials against electromagnetic waves prepared by changing the ratio between different materials.

[0085] 2. Embodiment

[0086] In Example 1, 3 parts by weight of carbon nanotubes are added to a mixed acid for acid treatment, the reaction is continued with stirring for 2-4 hours, and the functionalized carbon nanotubes are washed and dried to obtain carbon nanotubes containing carboxyl groups on the surface;

[0087] The carbon nanotubes with carboxyl groups on the surface were dispersed in 50 parts by weight of N,N-dimethylformamide solution, and ultrasonically dispersed for 30 minutes, stirred and heated to 70°C, and stirred for 1.5 hours to activate the surface of the carbon nanotubes, and 90 parts by weight of polyurethane were added, and the reaction was continued at 70°C for 2.5 hours, so that the polyurethane segments were grafted onto the surface of the carbon nanotubes through chemical reaction to form a stable mixture;

[0088] 10 parts by weight of isocyanate was added to the mixture as a cross-linking agent, and after being stirred evenly, the mixture was degassed to remove bubbles, the degassed mixture was poured into a mold, and a nickel-titanium alloy grid was embedded, heated to 60° C., and cured for 12 hours to obtain a composite film.

[0089] Example 2 is substantially the same as Example 1, except that 3.5 parts by mass of carbon nanotubes are added to the mixed acid for acid treatment.

[0090] Example 3 is substantially the same as Example 1, except that 4 parts by mass of carbon nanotubes are added to the mixed acid for acid treatment.

[0091] Example 4 is substantially the same as Example 1, except that 4.5 parts by mass of carbon nanotubes are added to the mixed acid for acid treatment.

[0092] Example 5 is substantially the same as Example 1, except that 5 parts by mass of carbon nanotubes are added to the mixed acid for acid treatment.

[0093] 2. Experimental Materials and Preparation

[0094] Prepare the frequency range of electromagnetic wave generator: simulate the electromagnetic interference of distribution network lines, and electromagnetic wave detectors such as spectrum analyzers;

[0095] Take the composite film samples obtained in Examples 1 to 5, install an electromagnetic wave generator and a detector in a shielded room, ensure that they are on the same plane, and keep a fixed distance of 1 meter, and set the generator to generate electromagnetic waves simulating a power distribution network;

[0096] Place the composite film between the electromagnetic wave generator and the detector, record the incident electromagnetic wave intensity Ei, measure the electromagnetic wave intensity Et after passing through the sample, record the data, and calculate the shielding effectiveness (SE) according to the method of national standard GB / T 12190-2021;

[0097] Shielding effectiveness:

[0098] As shown in Table 2

[0099]

[0100] In summary, the electroactive polymer composite materials obtained by comparative examples 1 to 5 have excellent electromagnetic shielding performance, mainly because the carbon nanotubes form a through conductive network in the polyurethane matrix, which can effectively conduct electricity and reflect incident electromagnetic waves. When the electromagnetic wave contacts the surface of the composite material, the free electrons in the conductive network can interact with the electric field in the electromagnetic wave, causing the electromagnetic wave to be reflected back to the external space, thereby achieving electromagnetic shielding;

[0101] And because the size of carbon nanotubes is nanometer-scale and they are evenly distributed through grafted polymer technology, when electromagnetic waves penetrate materials, carbon nanotubes, as nanoscale "scattering points", will cause multiple scattering of electromagnetic waves in the material. Each scattering will cause partial dissipation of the energy of the electromagnetic wave, ultimately greatly reducing the intensity of the electromagnetic wave penetrating the material;

[0102] At the same time, through the "grafted polymer" method, polyurethane segments are grafted onto the surface of carbon nanotubes, solving the compatibility problem between them and the polyurethane matrix, making them more evenly dispersed in the matrix and avoiding agglomeration. The evenly dispersed carbon nanotubes not only enhance the continuity of the conductive network, but also improve the multiple reflections and absorption of electromagnetic waves inside the material, further enhancing the shielding effectiveness of the material;

[0103] However, as the carbon nanotube content is too high, agglomerates are formed, which reduces its effective dispersion in the matrix and reduces the interaction with the polymer. Excessive carbon nanotubes will weaken the interface effect and affect the overall shielding effectiveness. Therefore, Example 4 is the optimal solution of the present invention.

[0104] like Figure 2 and Figure 3 As shown, an electromagnetic shielding device for live cleaning drones includes: a monitoring component, a shielding component mounted on a drone mainboard, and a central control unit;

[0105] The monitoring components include: a number of electromagnetic field sensors; a number of electromagnetic field sensors are installed around the drone to monitor the electric field strength, frequency and direction, and transmit data to the central control unit;

[0106] like Figure 2 and Figure 3 As shown, the shielding assembly includes: a guide layer 1, an absorption layer 2, and a reflection layer 3; the absorption layer 2 is a wavy structure, and a voltage control module is arranged on the absorption layer 2, and the deformation degree of the absorption layer 2 is controlled by the voltage control module;

[0107] The central control unit applies different voltage signals to the voltage control module through the data of the electromagnetic field sensor to adjust the shape of the shielding component.

[0108] In the present invention, the reflective layer 1 has a concave shape, and the guide layer 3 has a convex shape.

[0109] In the present invention, the absorption layer 2 is an electroactive polymer composite material and has a porous structure, specifically a composite material formed by embedding a nickel-titanium alloy grid in the middle of an electroactive polymer.

[0110] The above is based on the ideal embodiment of the present invention. Through the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A method for electromagnetic shielding of a live cleaning drone, characterized in that: The following steps are involved: Step S1, arranging multiple electromagnetic field sensors around the UAV to monitor the electric field strength, frequency and direction of the UAV at different positions of the power distribution network in real time, and transmitting the monitored data to the central control unit of the UAV in real time through the wireless communication module; Step S2, processing the collected data in real time and calculating the electromagnetic wave intensity received by the drone at different locations; Step S3, according to the area where the distribution network line is located, different levels of electromagnetic wave intensity in the surrounding area are set, and corresponding electromagnetic wave intensity thresholds are formulated according to the levels; Step S4: The central control unit sends different instructions according to different thresholds, applies different voltage signals, and adjusts the shape of the shielding structure to adapt to the shape adjustment required under this threshold.

2. The electromagnetic shielding method for live cleaning drone according to claim 1 is characterized by: In step S3, the corresponding electromagnetic wave intensity threshold is formulated according to the level. Specifically, according to the different electromagnetic wave intensities obtained by the drone at different positions, different electromagnetic wave intensity levels are divided into low electromagnetic wave intensity area, medium electromagnetic wave intensity area, and high electromagnetic wave intensity area, and corresponding thresholds T1, T2, and T3 are formulated for each area; Calculate the reference value t of the electromagnetic wave intensity under the standard working environment, and use the reference value as the minimum value of the threshold of the low electromagnetic wave intensity area.

3. The electromagnetic shielding method for live cleaning drone according to claims 1 and 2 is characterized in that: In step S4, the central control unit sends different instructions according to different thresholds. Specifically, according to the electromagnetic wave intensity T calculated in real time by the central control unit, it is judged that the drone is in a specific area of ​​the power distribution network line. When T is less than T1, the drone is outside the low electromagnetic wave intensity area and no adjustment is required, so no instruction needs to be sent. When T is greater than T1 and less than T2, the drone is in a low electromagnetic wave intensity area and needs to be adjusted and the command L1 needs to be sent; When T is greater than T2 and less than T3, the drone is in a medium electromagnetic wave intensity area and needs to be adjusted and the command L2 needs to be sent; When T is greater than T3, the drone is in an area of ​​high electromagnetic wave intensity and needs to be adjusted and the command L3 needs to be sent.

4. The electromagnetic shielding method for live cleaning drone according to claim 1 is characterized by: In step S4, the shielding structure is a three-layer shielding layer, each of which is an electroactive polymer composite material. The shielding layer in the middle is wavy, and the change of the crest height of the wavy shielding layer is controlled by applying different voltage signals.

5. The electromagnetic shielding method for live cleaning drone according to claim 1 is characterized by: In step S4, the shape of the shielding structure is adjusted, which specifically includes the following steps: Step S41: Send corresponding instructions according to the determination that the drone is in a specific electromagnetic wave intensity area; Step S42, according to the obtained instruction, the required voltage signal strength is calculated using the formula V=K·Ti, wherein K is a gain factor related to the electromagnetic shielding effect, which is established according to different electromagnetic wave intensity levels, and Ti is the electromagnetic wave intensity at this level; Step S43: adjusting the wave crest height of the wave in the shielding structure according to the obtained voltage signal strength, specifically, Wherein, E is the Young's modulus of the shielding structure material, and A is the force-bearing area.

6. The electromagnetic shielding device for a powered cleaning drone according to claim 1, comprising: A monitoring component, a shielding component mounted on the mainboard of the drone, and a central control unit; characterized in that: The monitoring component includes: a plurality of electromagnetic field sensors; the plurality of electromagnetic field sensors are installed around the drone to monitor the electric field strength, frequency and direction, and transmit the data to the central control unit; The shielding assembly comprises: a guiding layer, an absorbing layer, and a reflecting layer; the absorbing layer is a wavy structure, and a voltage control module is arranged on the absorbing layer, and the deformation degree of the absorbing layer is controlled by the voltage control module; The central control unit applies different voltage signals to the voltage control module based on the data of the electromagnetic field sensor to adjust the shape of the shielding component.

7. The electromagnetic shielding device and method for live cleaning drone according to claim 1, characterized in that: The reflective layer has a concave shape, and the guide layer has a convex shape.

8. The electromagnetic shielding device and method for live cleaning drone according to claim 1, characterized in that: The absorption layer is an electroactive polymer composite material and has a porous structure.

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