Unmanned aerial vehicle knocking deicing method and system

Abstract

The invention provides an unmanned aerial vehicle knocking deicing method and system, and relates to the field of unmanned aerial vehicle deicing, and the method comprises the steps: S1, obtaining the icing state of a power transmission line through a monitoring system, if the icing state is that deicing is needed, entering a step S2, and otherwise, repeating the step S1; s2, acquiring icing data of the power transmission line through the monitoring system, and setting deicing parameters, deicing paths and wiring modes of the deicing unmanned aerial vehicle according to the icing data; s3, the control system controls the deicing unmanned aerial vehicle to conduct deicing operation on the power transmission line according to the deicing parameters, the deicing path and the wiring mode, if the deicing operation is completed, the step S1 is executed again, and if not, the step S3 is repeated. The unmanned aerial vehicle is adopted to suspend the impact rod for deicing, so that the deicing efficiency is greatly improved, the safety risk is remarkably reduced, and the applicability is greatly enhanced.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle deicing, and in particular to a method and system for deicing an unmanned aerial vehicle by knocking. Background Art

[0002] The micro-topography and micro-meteorological conditions caused by the complex terrain environment of overhead transmission lines make it impossible for overhead transmission lines to completely avoid ice-covered areas, which can easily cause ice dancing, short circuits, insulator flashovers, and line breaks on transmission lines, which is not conducive to the operation and maintenance of lines, and may even cause major accidents such as tower collapses. On the one hand, ice will increase the static load of the transmission line, resulting in increased gravity loads on the tower body, insulators, and ground wires. When the ice thickness exceeds its own bearing limit, it will cause the stress and deformation of the tower-line system rods to exceed the design value and be damaged. Dynamic loads will be generated when the ice falls off. Under suitable temperature, natural wind or external force conditions, the ice on the conductor (ground) wire will fall off, causing the conductor (ground) wire to vibrate significantly, and then the phenomenon of ice shedding and jumping will occur. Due to the occurrence of ice jump, the distance between each phase conductor of the transmission line and between the conductor and the ground wire is reduced. If it is smaller than the insulation gap, it will cause dangerous electrical accidents such as flashover, tripping or wire burning. At the same time, the tension of the conductor is constantly changing during the vibration process, resulting in unbalanced tension at the connection point between the insulator string and the transmission tower. When the unbalanced tension is too large, it will cause the tower to become unstable, the tower head to break, the conductor to fall or even a tower collapse accident.

[0003] Therefore, timely de-icing during the development of icing can eliminate hidden dangers in the bud and avoid the development of malicious incidents such as tower collapse and line disconnection in the later stage. The current de-icing applications are more DC de-icing and manual de-icing. DC de-icing has many restrictions: the ice thickness of the transmission line reaches 80% of the designed ice thickness, and the temperature is expected to remain around zero degrees Celsius in the next few days, resulting in the ice covering may continue to grow. The operation and maintenance unit will carry out DC de-icing on the transmission line. De-icing also requires a set of expensive de-icing devices, which is difficult to popularize, especially in some areas where icing events do not occur every year. At present, drone technology is developing rapidly and is widely used in the field of line operation and maintenance. Drones are relatively popular in the field of power transmission operation and maintenance, and have become a powerful helper for operation and maintenance operations. However, most drones are currently limited to the observation stage and have not yet entered the disposal stage. Therefore, it is necessary to study de-icing methods and devices based on drone platforms. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a drone knocking deicing method and system to solve the technical problem that the existing deicing methods cannot be automated.

[0005] The present invention provides a method for deicing a drone by knocking, comprising:

[0006] S1: Obtain the icing status of the transmission line through the monitoring system. If the icing status requires deicing, proceed to step S2, otherwise repeat step S1;

[0007] S2: Obtain the icing data of the transmission line through the monitoring system, and set the deicing parameters, deicing path and routing method of the deicing drone according to the icing data;

[0008] S3: The control system controls the deicing drone to de-ice the power transmission line according to the de-icing parameters, de-icing path and routing method. If the de-icing operation is completed, it returns to step S1, otherwise it repeats step S3.

[0009] Preferably, step S2 specifically comprises:

[0010] S21: The icing data of the transmission line obtained by the monitoring system includes: the target position of the transmission line, the deicing range, the icing characteristics and the conductor distance data;

[0011] S22: setting the suspension line length and the impact rod length of the deicing UAV according to the wire distance data, setting the impact posture of the deicing UAV according to the ice covering characteristics, and the suspension line length, the impact rod length and the impact posture constitute the deicing parameters of the deicing UAV;

[0012] S23: Setting the deicing path of the deicing drone includes: an S-shaped path and a zigzag path;

[0013] S24: If the deicing range is smaller than the preset value, the routing mode is set to indirect deicing or line-by-line deicing, otherwise the routing mode is set to multi-circuit simultaneous deicing.

[0014] Preferred:

[0015] The conductor distance data includes: conductor discharge distance a and discharge safety clearance distance b;

[0016] The length of the suspension wire d2 and the length of the impact rod d3 must satisfy the following relationship:

[0017] c=2a+b,d=d1+d2+d3

[0018] cd>=αa

[0019] c-(d1+d2+d3)>=αa

[0020] d=(d1+d2+d3)<=c-αa

[0021] Among them, α is the safety factor and d1 is the height of the drone.

[0022] Preferred:

[0023] The specific method of deicing by knocking is to knock and de-ice along the outside of a conductor without passing over the top of the conductor;

[0024] The specific method of line-by-line deicing is as follows: passing over a conductor and knocking back and forth to de-ice it;

[0025] The specific method of multi-circuit simultaneous deicing is to knock back and forth over two wires to de-ice.

[0026] Preferably, step S3 specifically comprises:

[0027] S31: Obtain the target position of the transmission line, as well as the deicing parameters, deicing path and routing method of the deicing drone, and configure each deicing drone according to the length of the suspension line and the length of the impact rod;

[0028] S32: starting a monitoring and evaluation UAV and one or more de-icing UAVs, and the control system controls each UAV to fly to a target location;

[0029] S33: When each UAV flies to the vicinity of the target position, each UAV is controlled to hover above a predetermined position to ensure that the impact rod is perpendicular to the wire;

[0030] S34: Each deicing UAV controls the impact rod to impact the wire in a vertical direction to de-ice according to the impact posture, deicing path and routing method;

[0031] S35: Real-time adjustment of the impact posture of each de-icing UAV is performed by monitoring and evaluating the UAV;

[0032] S36: If the de-icing operation is completed, return to step S1, otherwise return to step S34.

[0033] Preferred:

[0034] Monitor and evaluate the safety strategies implemented by drones and de-icing drones during de-icing operations. The safety strategies include active safety and passive safety. Active safety and passive safety can be implemented simultaneously or one of them can be implemented selectively.

[0035] Active safety specifically includes:

[0036] The overall working data E is obtained by monitoring and evaluating the sensors on the UAV, and the individual working data set is obtained by the sensors on each de-icing UAV;

[0037] If the individual work data e of the i-th de-icing drone i If the de-icing drone i is abnormal, the collision rod of the de-icing drone i is actively released and the de-icing drone i is controlled to fly away from the target position of the power transmission line; otherwise, the de-icing drone i continues to perform the de-icing operation;

[0038] Passive safety is as follows: the monitoring and evaluation drone and each de-icing drone are equipped with a parachute. If the sensor on the drone determines that the drone is flying abnormally, the parachute will be opened to allow the drone to land.

[0039] A drone knocking deicing system, used to implement the drone knocking deicing method, comprising: a plurality of deicing drones, a control system, a monitoring system and a monitoring and evaluation drone;

[0040] The control system is connected to the de-icing drones, monitoring and evaluation drones and the monitoring system, and the monitoring system is used to monitor the icing status of the transmission lines in real time.

[0041] Preferred:

[0042] The de-icing drone includes: a drone, a suspension device, a suspension line, a striker rod and a power supply unit;

[0043] The suspension device is fixed under the UAV, one end of the suspension line is connected to the suspension device, and the other end of the suspension line is connected to the impact rod;

[0044] The energy supply unit is arranged inside the UAV to provide electrical energy to the UAV and the suspension device.

[0045] Preferred:

[0046] The inside of the impact rod is a hard rod, and the outside is an insulating and anti-slip layer;

[0047] Types of impact rods include: solid rods, hollow rods, hollow fluid-filled rods, baseball rods, rods with heavy ends and a light middle, rods with light ends and a heavy middle, and uniform rods.

[0048] Preferred:

[0049] A thrower is provided on the suspension device and is connected to the suspension line. When an abnormality occurs in the deicing UAV, the thrower is disconnected from the suspension line and the impact rod is actively released.

[0050] The present invention has the following beneficial effects:

[0051] 1. The present invention uses a suspended impact rod of a drone for deicing, which is more flexible and efficient than the traditional deicing method. The drone can quickly and accurately locate near the wire, without the need for manual climbing or the use of large equipment, saving manpower and material costs. At the same time, the drone can complete the deicing operation of multiple wires in a relatively short time, improving the deicing efficiency.

[0052] By monitoring and evaluating the de-icing parameters dynamically adjusted by the drone, such as the impact force, frequency and length of the stick, the wires can be accurately de-iced according to the actual situation to ensure that the ice is effectively removed. This personalized de-icing method greatly improves the de-icing efficiency, greatly shortens the de-icing time, and helps to quickly restore the normal operation of the transmission line.

[0053] 2. Using drones for de-icing operations avoids the risks of high-altitude operations in traditional methods. Drone operators can perform remote control operations from a safe ground location without direct contact with the high-altitude working environment, greatly reducing the safety risks of operators.

[0054] In addition, de-icing by using a suspended impact rod can avoid the risk of electric shock caused by direct contact with the wires. The end of the rod is equipped with a protective device that can reduce the impact force when hitting the wires, reduce the risk of damage to the wires and equipment, and ensure the safety of operators and equipment.

[0055] 3. The present invention uses a suspended impact rod on a drone for deicing, which has strong applicability. The drone can be flexibly carried and operated, and is suitable for transmission lines of different types and sizes, including high-voltage, medium-voltage and low-voltage lines, and wires of different materials, such as aluminum alloy, steel, etc. By adjusting the size of the impact rod, it can adapt to different ice thicknesses and types.

[0056] Since drones can fly and operate in complex and changing environments, the present invention is suitable for deicing tasks under various weather conditions, including severe weather, complex terrain, etc. Drones can flexibly respond to deicing needs in different environments and ensure the normal operation of power transmission lines.

[0057] 4. The deicing operation using drones in the present invention greatly reduces the manpower and material costs of the deicing process. The drone operator can remotely control the drone on the ground to complete the deicing task, saving the cost of personnel climbing and the use of large equipment. At the same time, by improving deicing efficiency and reducing deicing risks, the frequency of power outages caused by icing on transmission lines can be reduced, reducing the losses caused by power outages to the social economy, and having significant economic benefits.

[0058] In summary, by using drone suspended impact rods for de-icing, the de-icing efficiency is greatly improved, the safety risks are significantly reduced, and the applicability is greatly enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a flow chart of a method according to an embodiment of the present invention;

[0060] Figure 2 Set up a schematic for the drone's suspension line length and impact bar length;

[0061] Figure 3 It is a schematic diagram of the S-shaped path;

[0062] Figure 4 It is a schematic diagram of a broken line path;

[0063] Figure 5 Schematic diagram of impact posture;

[0064] Figure 6 This is a schematic diagram of simultaneous de-icing for multiple flights;

[0065] Figure 7 Schematic diagram of deicing multi-layer conductors;

[0066] Figure 8 is a structural diagram of the impact rod;

[0067] Fig. 9 A schematic diagram of the types of impact rods;

[0068] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0069] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0070] Reference Figure 1 The present invention provides a method for deicing a drone by knocking, comprising:

[0071] S1: Obtain the icing status of the transmission line through the monitoring system. If the icing status requires deicing, proceed to step S2, otherwise repeat step S1;

[0072] S2: Obtain the icing data of the transmission line through the monitoring system, and set the deicing parameters, deicing path and routing method of the deicing drone according to the icing data;

[0073] Furthermore, step S2 is specifically as follows:

[0074] S21: The icing data of the transmission line obtained by the monitoring system includes: the target position of the transmission line, the deicing range, the icing characteristics and the conductor distance data;

[0075] S22: setting the suspension line length and the impact rod length of the deicing UAV according to the wire distance data, setting the impact posture of the deicing UAV according to the ice covering characteristics, and the suspension line length, the impact rod length and the impact posture constitute the deicing parameters of the deicing UAV;

[0076] Further, such as Figure 2 Set the schematic for length;

[0077] The conductor distance data includes: conductor discharge distance a and discharge safety clearance distance b;

[0078] The length of the suspension wire d2 and the length of the impact rod d3 must satisfy the following relationship:

[0079] c=2a+b,d=d1+d2+d3

[0080] cd>=αa

[0081] c-(d1+d2+d3)>=αa

[0082] d=(d1+d2+d3)<=c-αa

[0083] Among them, α is the safety factor and d1 is the height of the drone.

[0084] S23: Setting the deicing path of the deicing drone includes: an S-shaped path and a zigzag path;

[0085] S24: If the deicing range is smaller than the preset value, the routing mode is set to indirect deicing or line-by-line deicing, otherwise the routing mode is set to multi-circuit simultaneous deicing.

[0086] Furthermore, the indirect deicing is specifically: deicing is performed along the outer side of a conductor without passing over the top of the conductor;

[0087] The specific method of line-by-line deicing is as follows: passing over a conductor and knocking back and forth to de-ice it;

[0088] The specific method of multi-circuit simultaneous deicing is to knock back and forth over two wires to de-ice.

[0089] Specifically, the S-shaped path is as follows Figure 3 As shown, the broken line path is Figure 4 As shown;

[0090] The design of the de-icing path and routing method of the UAV needs to comprehensively consider factors such as ice distribution, safety distance, operating altitude, flight path, operating speed, flight attitude and wire type to ensure the effectiveness of the de-icing operation and the safety of the UAV and the line.

[0091] 1. Ice distribution: When planning the de-icing route, you first need to understand the distribution of ice on the conductors, including coverage, thickness, shape, etc. This can be obtained through data obtained from the monitoring system or manual inspections.

[0092] 2. Safe distance: Ensure that the drone maintains a safe distance from the wires during de-icing operations to avoid the drone colliding with the wires or towers, and prevent the drone from being disturbed by the wires and causing loss of control.

[0093] 3. Operation height: The de-icing operation height needs to be determined according to the height of the wire and the ice coverage. Generally, a certain distance should be maintained to provide a higher movement speed and dive speed to ensure the operation effect.

[0094] 4. Flight path: The de-icing path should be continuous and smooth, avoiding sudden changes in direction or large changes in altitude during the flight of the drone to ensure that the stick can stably hit the ice on the wire.

[0095] 5. Operation speed: The speed of de-icing operation needs to be properly controlled. It should not be too fast to cause poor impact effect of the stick, nor too slow to affect the operation efficiency.

[0096] 6. Flight attitude: The flight attitude of the drone during de-icing operations needs to be stable to avoid shaking or instability to ensure that the stick can accurately hit the ice on the wire.

[0097] 7. Conductor type: Different types of conductors may have different requirements for deicing paths. For example, there may be some differences in the deicing path planning for cable-stayed conductors and suspended conductors.

[0098] The de-icing path and routing method are related to the de-icing capability.

[0099] In scenarios where the deicing range after each collision is relatively small, it is advisable to use routing methods of types (1) and (2) to achieve the best deicing effect in the shortest path and the most energy-saving way. For scenarios where the deicing range is relatively large, it is advisable to use routing method of type (3).

[0100] S3: The control system controls the deicing drone to de-ice the power transmission line according to the de-icing parameters, de-icing path and routing method. If the de-icing operation is completed, it returns to step S1, otherwise it repeats step S3.

[0101] Furthermore, step S3 is specifically as follows:

[0102] S31: Obtain the target position of the transmission line, as well as the deicing parameters, deicing path and routing method of the deicing drone, and configure each deicing drone according to the length of the suspension line and the length of the impact rod;

[0103] Specifically, before implementing the de-icing operation, the de-icing parameters need to be tested to determine the optimal de-icing parameter settings. The parameters include the drone's flight attitude, flight speed, stick shape, stick size, stick mass, impact frequency, impact interval, etc., to determine the optimal impact force, impact frequency, and impact angle, and thus achieve the best impact effect.

[0104] Impact strength test: Before actual operation, the impact strength test can be carried out to evaluate the impact of different strengths on ice. The deicing effect can be optimized by adjusting the impact frequency and strength of the stick.

[0105] Impact frequency test: The impact frequency also needs to be tested to determine the appropriate impact frequency. A frequency that is too high may cause the ice layer to vibrate repeatedly, affecting the de-icing effect; a frequency that is too low may result in a slow de-icing speed. Therefore, it is necessary to find a suitable impact frequency through experiments.

[0106] Impact angle test: In addition, the impact angle is also an important parameter that affects the de-icing effect. You can test the de-icing effect at different angles by adjusting the hovering position of the drone and the impact direction of the stick to find the best impact angle.

[0107] According to the test results, the de-icing parameters need to be adjusted to optimize the de-icing effect. The force, frequency, and angle of ice striking can be adjusted by adjusting the UAV flight attitude, flight speed, stick shape, stick size, impact frequency, impact interval, and impact location.

[0108] Force adjustment: Based on the impact force test results, the impact force of the stick is adjusted so that it can fully destroy the ice cover without damaging the wires or equipment, nor causing serious ice shedding and jumping.

[0109] Frequency Adjustment: Based on the impact frequency test results, adjust the impact frequency of the stick so that it can effectively remove ice without causing excessive vibration.

[0110] Angle adjustment: According to the impact angle test results, adjust the hovering position of the drone and the impact direction of the stick to find the best impact angle to maximize the deicing effect.

[0111] By testing and adjusting the de-icing parameters, the efficiency and safety of the de-icing operation can be ensured, the stability and reliability of the de-icing effect can be improved, and the normal operation of the transmission line can be guaranteed.

[0112] For ice that is more difficult to remove, the size of the impact rod can be increased and a large-load drone can be used to obtain greater impact energy and knock the solid ice off the conductor.

[0113] For scenarios with a smaller deicing range, the above measures can also be taken to achieve a larger deicing effect.

[0114] Before de-icing operations are carried out, the de-icing system needs to be prepared to ensure the normal operation and coordinated cooperation of each component.

[0115] Drone preparation: First, the drone is inspected and prepared, including checking the drone’s battery status, whether the sensors and monitoring systems are functioning properly, and whether the suspension impact bar is securely installed.

[0116] Strike rod preparation: Check the suspended strike rod to ensure that it is structurally sound, the protective devices are effective, and the connections are secure.

[0117] Control system preparation: Start the control system, perform system self-check and connection test, and ensure the normal operation of the remote control or automation program.

[0118] S32: starting a monitoring and evaluation UAV and one or more de-icing UAVs, and the control system controls each UAV to fly to a target location;

[0119] Specifically, before performing de-icing operations, it is necessary to determine the location of the ice-covered area and accurately locate the flight path of the drone.

[0120] Conductor identification: Through sensors and monitoring systems, the location and ice coverage of transmission lines are monitored to determine the target area for deicing.

[0121] Flight path planning: Plan the flight path of the drone based on the location of the wires and the ice cover. Consider factors such as wind speed and obstacles to select the best flight path and the position where the drone will hover.

[0122] Analysis of ice-covered areas and characteristics: Obtain parameters such as conductor ice thickness, ice type, and ice range through drones or other means to provide support for subsequent deicing parameters.

[0123] S33: When each UAV flies to the vicinity of the target position, each UAV is controlled to hover above a predetermined position to ensure that the impact rod is perpendicular to the wire;

[0124] S34: Each deicing UAV controls the impact rod to impact the wire in a vertical direction to de-ice according to the impact posture, deicing path and routing method;

[0125] Specifically, the impact posture is as follows Figure 5 As shown in the figure, the impact postures include: horizontal pendulum impact and dive-down impact. During the impact, the impact rod must be perpendicular to the wire. Through the dive-down impact, more kinetic energy can be accumulated and as much energy as possible can be transferred to the wire. The deicing drone controls the impact rod to impact the wire in a vertical direction. The impact strength and frequency are adjusted according to the actual situation so that the ice layer falls off after being impacted.

[0126] During de-icing, multiple flights can de-ice at the same time and multiple layers of wires can be de-iced. Figure 6 As shown, multi-layer conductor deicing is Figure 7 As shown;

[0127] During the implementation phase of deicing by multiple flights, multiple drones can take off at the same time to improve efficiency. When deicing by multiple flights at the same time, it is necessary to implement it in intervals to avoid causing serious deicing jumps. In order to avoid excessive deicing jumps caused by the deicing process and excessive force fluctuations, multiple drones should avoid carrying out deicing work at the same or adjacent intervals at the same time, and it is advisable to separate at least one interval to carry out deicing tasks.

[0128] When de-icing multi-layer conductors, de-icing work is carried out layer by layer from top to bottom.

[0129] S35: Real-time adjustment of the impact posture of each de-icing UAV is performed by monitoring and evaluating the UAV;

[0130] Specifically, the monitoring and evaluation drones track the de-icing process in the vicinity and make dynamic adjustments to the drones based on the real-time data of the monitoring system. According to the icing situation and de-icing effect, the flight path and hovering position of the drones, as well as the impact force and frequency of the sticks, are adjusted to maximize the de-icing efficiency and ice removal rate and reduce the workload of ground personnel. In an emergency, the suspension wires and the knocking sticks are released through manual control, the operation is stopped and the drones are returned to protect their safety.

[0131] S36: If the de-icing operation is completed, return to step S1, otherwise return to step S34.

[0132] Furthermore, a comprehensive assessment is conducted after the de-icing operation, mainly carrying out the following tasks:

[0133] De-icing efficiency calculation: Based on the operational data of the drone carrying a stick to hit the wire, the de-icing efficiency is calculated, including indicators such as the de-icing coverage area and the amount of ice shed, in order to evaluate the actual effect of the de-icing operation.

[0134] Risk assessment: Based on information such as the icing of the wires, the flight path of the drone and operating parameters, the system assesses the operational risks, provides safety warnings and suggestions, and helps operators avoid potential safety risks.

[0135] Operation path planning: According to the icing conditions of the wires and operation requirements, the optimal operation path is automatically generated, including flight path, operation altitude, operation speed and other parameters to improve deicing efficiency and operation quality.

[0136] Real-time monitoring and adjustment: Real-time monitoring of drones and suspension devices, timely acquisition of data and feedback information during the operation, and dynamic adjustment of operation paths and parameters to ensure the real-time and effectiveness of de-icing operations.

[0137] Data recording and analysis: Record various data during the de-icing operation, including flight trajectory, operation parameters, ice coverage, etc., conduct data analysis and statistics to provide a basis for effect evaluation and technical improvement.

[0138] Operation planning optimization: Based on historical data and real-time monitoring results, de-icing operations are planned and optimized to provide more intelligent and efficient operation plans to improve de-icing efficiency and operation cost-effectiveness.

[0139] Abnormal handling and alarm: Monitor abnormal situations during the operation, such as abnormal drone status, suspension device failure, etc., issue alarms in time and provide response measures to ensure operation safety and efficiency.

[0140] By adding a computing system, intelligent management and optimization of de-icing operations can be achieved, de-icing efficiency can be improved, risks can be reduced, and support can be provided for data recording, analysis, and improvement of the operation process.

[0141] Furthermore, after the de-icing task is completed, the system needs to be summarized and organized to ensure the safety and integrity of all equipment.

[0142] System Check: Check the drone, stick device and control system to ensure that the drone and equipment are undamaged and in normal condition.

[0143] Data recording: Record the process data of de-icing operation, including ice coverage, de-icing effect and system operation status, so as to facilitate subsequent analysis and optimization of operation methods.

[0144] System Shutdown: Shut down the drone and control system, place the stick device safely in place, and complete the entire de-icing operation process.

[0145] Through the above detailed operation methods, the smooth operation of the UAV-assisted transmission line deicing system can be ensured, the efficiency and safety of the operation can be improved, and the normal operation of the transmission line can be guaranteed.

[0146] Further:

[0147] Monitor and evaluate the safety strategies implemented by drones and de-icing drones during de-icing operations. The safety strategies include active safety and passive safety. Active safety and passive safety can be implemented simultaneously or one of them can be implemented selectively.

[0148] Active safety specifically includes:

[0149] The overall working data E is obtained by monitoring and evaluating the sensors on the UAV, and the individual working data set is obtained by the sensors on each de-icing UAV;

[0150] If the individual work data e of the i-th de-icing drone iIf the de-icing drone i is abnormal, the collision rod of the de-icing drone i is actively released and the de-icing drone i is controlled to fly away from the target position of the power transmission line; otherwise, the de-icing drone i continues to perform the de-icing operation;

[0151] Passive safety is as follows: the monitoring and evaluation drone and each de-icing drone are equipped with a parachute. If the sensor on the drone determines that the drone is flying abnormally, the parachute will be opened to allow the drone to land.

[0152] The present invention provides a drone knocking deicing system, which is used to implement the drone knocking deicing method, comprising: a plurality of deicing drones, a control system, a monitoring system and a monitoring and evaluation drone;

[0153] The control system is connected to the de-icing drones, monitoring and evaluation drones and the monitoring system, and the monitoring system is used to monitor the icing status of the transmission lines in real time.

[0154] Specifically, the control system is used to control the flight, hovering and impact operation of the drone. The control system can use a remote control or an automated program, which can be selected according to actual needs. In remote control mode, the operator can operate the drone through the remote control to adjust the flight path, hovering position and impact timing. Under the automated program, the control system can autonomously complete the de-icing operation according to the preset program, improving the intelligence and automation of the operation. Based on the control system, the drone can be one or multiple drones operating in formation at the same time to improve efficiency.

[0155] The control system has the function of discarding the knocking stick. In an emergency, the suspension line and the knocking stick can be released with one button to ensure the safety of the drone.

[0156] Monitoring system: The monitoring system is used to monitor the status and ice coverage of the transmission line in real time, providing the necessary data support for de-icing operations. It can include high-definition cameras, infrared sensors, radars, monitoring drones and other equipment to monitor ice coverage, conductor positions and surrounding environmental conditions. The accuracy and reliability of the monitoring system are critical to the success of de-icing operations, so it needs to be carefully designed and debugged.

[0157] Monitoring and evaluation drones: On-site real-time calculations provide support for drone flight and data processing.

[0158] Further:

[0159] The de-icing drone includes: a drone, a suspension device, a suspension line, a striker rod and a power supply unit;

[0160] The suspension device is fixed under the UAV, one end of the suspension line is connected to the suspension device, and the other end of the suspension line is connected to the impact rod;

[0161] The energy supply unit is arranged inside the UAV to provide electrical energy to the UAV and the suspension device.

[0162] Specifically, the drone is the core component of the entire system. It is responsible for carrying the deicing device, monitoring, positioning and operational control of the power transmission line. The drone usually adopts a multi-rotor or fixed-wing structure, and has stable flight capabilities and flexible operability. In the present invention, the drone is special in that it has a suspension device, which is connected to the deicing device through an insulated wire to achieve impact deicing of the wire. Drones are divided into deicing drones and monitoring and evaluation drones. Deicing drones are used for deicing, and monitoring and evaluation drones are used for tracking, shooting and evaluation in the surrounding area to evaluate and dynamically adjust deicing parameters in real time.

[0163] Drone requirements:

[0164] Stability: The drone must have good stability and be able to remain stable during flight to ensure that the suspension sticks can accurately contact the wires and perform effective de-icing operations.

[0165] Carrying capacity: The drone needs to have sufficient carrying capacity to carry equipment such as hanging sticks and remain stable during operation. The carrying capacity requirement depends on the weight and size of the hanging stick.

[0166] Precise hovering: The drone must be able to hover accurately, be able to hover stably in the air, and adjust its position and attitude as needed to ensure that the suspension stick can accurately contact the wire.

[0167] Autonomous flight: The drone should be able to fly autonomously according to pre-set paths and instructions to complete de-icing tasks without manual control.

[0168] Remote control: The drone needs to have a remote control function. The operator can remotely control the drone through a ground console or a remote control, adjust the flight path and attitude, and control the operation of the hanging sticks; it can be controlled in batches.

[0169] Safety: It can automatically avoid or return home in case of abnormal situations, and take measures to ensure the safety of the operating area; it is equipped with a parachute device, which can automatically open the parachute in an emergency to ensure a safe landing.

[0170] The energy supply system inside the drone provides the necessary energy support for the drone and stick device to ensure their normal operation. This usually includes batteries or other forms of power supply devices to provide flight power for the drone and drive energy for the stick device. When designing the energy supply system, the stability, durability and safety of the system need to be considered to ensure that the system can continue to operate stably.

[0171] Suspension wire: The suspension wire is made of lightweight, high-strength, insulating material. The length of the suspension wire is moderate and not too long.

[0172] Further:

[0173] The inside of the impact rod is a hard rod, and the outside is an insulating and anti-slip layer;

[0174] Types of impact rods include: solid rods, hollow rods, hollow fluid-filled rods, baseball rods, rods with heavy ends and a light middle, rods with light ends and a heavy middle, and uniform rods.

[0175] Specifically, the structure of the impact rod is as follows: Figure 8 As shown, the type of impact rod is as follows Fig. 9 As shown, the impact rod is a component connected to the bottom of the drone, and its function is to achieve impact de-icing of the transmission line conductors. The stick is usually made of insulating, dense, and strong materials to ensure sufficient kinetic energy during the impact process. To reduce damage to the conductors and the stick itself during the impact. The surface of the stick device has an anti-slip layer to ensure that the contact area with the conductor, the transmission efficiency of the impact force, etc. are optimal to ensure the de-icing effect. The impact rod can have an inner core of steel and an outer insulating layer, and the insulating layer can be anti-slip rubber. The surface insulation layer has two functions. On the one hand, it reduces the damage of the hard rod to the conductor. On the other hand, it plays a certain insulating role to reduce the damage of the conductor electric field to drones, etc.

[0176] The stick device has high density, strength and rigidity so as to reduce volume, reduce wind resistance during flight, facilitate the carrying flight of the UAV, and provide maximum kinetic energy for impact.

[0177] Make sure the contact between the stick and the wire is effective in transmitting the impact force.

[0178] By designing impact rods of different shapes and structures, the best collision effect can be achieved in various scenarios.

[0179] Further:

[0180] A thrower is provided on the suspension device and is connected to the suspension line. When an abnormality occurs in the deicing UAV, the thrower is disconnected from the suspension line and the impact rod is actively released.

[0181] Specifically, the suspension device is tightly connected to the drone, and the other end is connected to the suspension line. The suspension device has a thrower to achieve automatic or remote release mechanism. When an abnormal situation is detected, the thrower is automatically disconnected from the drone through a built-in program or remote operation. The release action can be separated from the drone by an electromagnetic lock after power failure.

[0182] The best embodiments of the specific application of the present invention are as follows:

[0183] For the specific application scenarios of the patent application, we will take urban power supply systems, rural transmission lines and overhead railways as examples to describe in detail the technical applications and effects of the invention in different scenarios to increase the practicality and market competitiveness of the patent right.

[0184] Urban power supply system:

[0185] In the urban power supply system, the transmission lines are usually densely arranged, and the icing problem has an important impact on the safe and stable operation of the power supply system. The present invention uses a drone hanging stick to remove ice. In the complex environment of the city, it is necessary to obtain the building conditions and traffic conditions around the deicing area in advance. In areas with large pedestrian flow, broken ice may hit pedestrians, so drone deicing cannot be performed at this time. When the deicing area is determined to be an open area, the drone deicing is performed, and during the deicing process, additional data can be obtained through other monitoring equipment in the city. For example, cameras near the deicing area can be called for image collection, and multiple cameras can be used to shoot drones at multiple angles to obtain additional data, assisting the control center and monitoring and evaluation drones to make timely adjustments to the paths and postures of each drone.

[0186] The application of the present invention in the urban power supply system has the following characteristics and advantages:

[0187] 1. Efficient deicing: Most of the transmission lines in the urban power supply system are high-voltage lines with high line density and long length. Using drones to suspend sticks for deicing is flexible and efficient, and can quickly cover wires in different positions, improving deicing efficiency. At the same time, deicing operations on multiple wires can be completed in a relatively short time, shortening the deicing time and reducing the impact on the power supply system.

[0188] 2. Safe and reliable: The urban environment is complex, and traditional manual deicing has certain safety risks. The use of drones for deicing operations avoids the risk of direct contact with high-voltage lines and ensures the safety of operators. At the same time, drones are used to deicer in the form of suspended sticks and are equipped with protective devices to mitigate impact force, reduce the risk of damage to wires and equipment, and ensure the safe and stable operation of the power supply system.

[0189] 3. Strong applicability: The transmission lines of the urban power supply system cover various complex environments, such as buildings, roads, trees, etc. UAVs can be flexibly carried and operated, and are suitable for urban power supply systems of different types and sizes. Whether in busy urban areas or in traffic congested areas, they can respond flexibly to ensure the normal operation of the urban power supply system.

[0190] Rural power transmission lines:

[0191] In rural areas, power transmission lines cover a wide range, crossing farmland, mountainous areas and remote areas, and are often affected by severe weather. In rural areas, since the infrastructure is not as complete as in cities, the difficulties encountered in traditional manual deicing operations are often greater. Therefore, drone deicing has greater advantages in rural areas. In the specific deicing process, the geographic information of the deicing area can be obtained in advance through satellites, and a three-dimensional model of the deicing area can be pre-constructed through the geographic information. The flight of each drone is trained through the three-dimensional model to ensure the accuracy of the drone's path when performing deicing operations, thereby improving the deicing efficiency of drones in rural power transmission lines.

[0192] The application of the present invention in rural power transmission lines has the following characteristics and advantages:

[0193] 1. Remote operation: The terrain in rural areas is complex, and the lines cross farmland, mountainous areas and other areas. Traditional manual deicing operations are difficult. Using drones for remote operations can prevent personnel from directly contacting high-voltage lines, reducing operational risks. At the same time, deicing operations can be performed in remote areas, ensuring stable power supply for rural power supply systems.

[0194] 2. Adapt to harsh environment: Rural areas are often affected by harsh weather conditions, such as strong winds, ice and snow. The present invention uses drones to suspend sticks for deicing, which can be operated in harsh weather conditions, ensuring the safe operation of rural power supply systems. Drones can flexibly respond to deicing needs under different weather conditions, improving the reliability and stability of rural power supply systems.

[0195] 3. Efficiency improvement: The transmission lines in rural areas cover a wide range, and the traditional manual deicing is inefficient. The use of drones for deicing operations can quickly and accurately cover the wires in different locations, improving the deicing efficiency. At the same time, the deicing operation of multiple wires can be completed in a relatively short time, saving manpower and material costs and improving the operating efficiency of the rural power supply system.

[0196] Railway overhead line deicing

[0197] In the overhead railway system, the transmission lines are responsible for power supply, and the icing problem has an important impact on the safety and stability of railway operation. The working environment of the overhead railway system is relatively dangerous, and there is a possibility of accidents when deicing by manual means. Therefore, it is more advantageous to use drones for deicing in the railway overhead line area. When deicing, it is necessary to pay attention to the fact that there are no high-speed trains passing within a safe distance to avoid ice blocks affecting the normal operation of the high-speed trains. After the drone deicing is completed, the broken ice needs to be cleaned up immediately. At the same time, the railway system's detection equipment can be used to assist in the control of the drone during deicing operations to improve the deicing efficiency and accuracy of the drone.

[0198] The application of the present invention in an overhead railway system has the following characteristics and advantages:

[0199] 1. Rapid restoration of railway operation: The transmission lines of the overhead railway system cover various areas along the railway, and the icing problem has a serious impact on railway operation. The use of drones to suspend sticks for deicing is flexible and efficient, and can quickly cover wires in different positions, improving the deicing efficiency. Deicing operations on multiple wires can be completed in a relatively short time, quickly restoring the normal operation of the railway.

[0200] 2. Safe and reliable: The transmission lines of the overhead railway system are at a high height, and traditional manual deicing has certain safety risks. The use of drones for deicing operations avoids direct contact between personnel and high-voltage lines, reduces operational risks, and ensures the safety of operators. At the same time, drones are used to de-ice in the form of suspended sticks and are equipped with protective devices that can mitigate impact force, reduce the risk of damage to wires and equipment, and ensure the safe operation of the overhead railway system.

[0201] 3. Adapt to complex environments: The transmission lines of the overhead railway system are often affected by different environmental factors, such as high-speed railway lines, mountain railways and other complex terrains. UAVs can be flexibly carried and operated, and are suitable for overhead railway systems of different types and sizes. Whether it is on high-speed railways or mountain railways, they can respond flexibly, ensuring the normal operation of the overhead railway system.

[0202] 4. Environmentally friendly: The present invention adopts drones for de-icing operations, which avoids the pollution and damage to the environment that may exist in traditional methods, reduces the impact on the ecological environment, and complies with the concept of environmental protection.

[0203] De-icing of power transmission lines across rivers

[0204] In power transmission lines that cross rivers, conductors often cross rivers, and ice coverage poses a serious threat to the safe operation of power transmission lines. Traditional de-icing methods are limited by factors such as the wide water area and complex environment, and are inefficient and have certain safety risks. The use of drones with suspended sticks for de-icing can first ensure the safety of workers, and secondly, the de-icing efficiency of drones is much higher than that of manual labor. Due to the complex terrain of power transmission lines that cross rivers, the operating system of each drone can be optimized through neural network training, and the de-icing of drones can be simulated by building a transmission line model. The optimal de-icing path and posture are continuously obtained through iterative algorithms, and the de-icing efficiency and accuracy of drone de-icing are finally improved.

[0205] The present invention has the following advantages in the scenario of crossing a river:

[0206] 1. Remote operation capability: Transmission lines across rivers are often located in the center of waters, with complex operating environments, and traditional manual de-icing operations are very difficult. Drones can be remotely controlled to fly over rivers for de-icing operations without being restricted by terrain, greatly improving the flexibility and efficiency of operations.

[0207] 2. Safe and efficient: Traditional manual de-icing has the problem of high risk of workers coming into contact with high-voltage lines and water. Using drones for de-icing avoids the risk of people directly coming into contact with high-voltage lines and water, ensuring the safety of workers. At the same time, drones use hanging sticks to de-icer, which can accurately cover the wires and improve de-icing efficiency.

[0208] 3. Height adjustable: Transmission lines across rivers often have different heights, and the height of the de-icing equipment needs to be adjusted according to the actual situation. The height of the drone's hanging stick can be flexibly adjusted to adapt to transmission lines of different heights, ensuring full coverage of the de-icing effect.

[0209] De-icing in high mountains and difficult-to-reach areas

[0210] In areas that are difficult for people to reach, such as high mountains and steep hills, power transmission lines are often located in high mountains and steep hills, and the operating environment is complex and difficult for people to reach. In high mountains and steep hills, neural network training can also be used to optimize the operating system of each drone and optimize the control of the drone. In the process of optimizing the control of the drone, the topographic map obtained by micro remote sensing data and the topographic data of the de-icing area collected by geological staff can be used. At the same time, in order to ensure the accuracy of the drone control, satellites can be used for data sharing, and the flight attitude of the drone can be controlled together with the monitoring and evaluation drone.

[0211] The present invention has the following advantages in such a scenario:

[0212] 1. Remote operation capability: The terrain in mountainous areas is complex and difficult for personnel to reach. Drones can be remotely controlled to fly over mountains and ridges for de-icing operations without being restricted by the terrain, greatly improving the flexibility and efficiency of operations.

[0213] 2. Safe and efficient: The operating environment in mountainous areas is harsh, and traditional manual deicing operations are very dangerous. Using drones for deicing avoids the danger of direct contact with high-voltage lines and complex terrain, ensuring the safety of operators.

[0214] 3. Strong environmental adaptability: The climate in mountainous areas is changeable and the operating environment is complex. The de-icing of drones in the form of suspended sticks can adapt to different climatic conditions and terrain environments, ensuring the normal power supply of transmission lines.

[0215] Rapid deicing of the entire line

[0216] In some cases, the entire transmission line may be affected by ice at the same time, posing a major safety hazard. Traditional deicing methods may not be able to meet the needs of rapid deicing of the entire line, so large-scale drone joint operations can be used to de-ice multiple drones at the same time to quickly reduce the risk of ice disasters. The specific process is as follows:

[0217] 1. Early warning and dispatch: The monitoring system monitors the icing situation of the entire transmission line in real time. Once the icing situation is found to be serious, an early warning signal is immediately issued. At the same time, multiple drones are dispatched for rapid response and prepared for joint deicing operations. Before the drones are dispatched, it is necessary to select appropriate equipment parameters, flight paths and postures according to the specific conditions of the region, and conduct self-checks on each drone system to ensure that each drone is in good condition.

[0218] 2. Multiple drones dispatched simultaneously: According to the early warning signal, multiple drones are dispatched simultaneously. These drones are distributed throughout the transmission line to cover the entire route. Each drone carries a hanging stick device, ready for deicing operations. Each drone hovers in a prepared position to obtain current environmental data, such as wind speed, temperature, etc. The environmental data allows each drone to be prepared for deicing operations at the same time.

[0219] 3. Collaborative work: Multiple drones work together to perform de-icing operations in sections according to the pre-established de-icing routes and strategies. Since each drone works together, it can ensure that the entire route is fully covered and the de-icing effect is more thorough. Through the preset flight path and posture, the de-icing work is carried out layer by layer from top to bottom with at least one gear spacing.

[0220] 4. Dynamic adjustment and monitoring: The monitoring and evaluation drone fully tracks the de-icing process and actively adjusts the drone dynamically. According to the icing situation and de-icing effect, the flight path and hovering position of the drone, as well as the impact force and frequency of the stick, are adjusted to maximize the de-icing efficiency and ice removal rate. If necessary, the path and attitude of the drone can be manually adjusted.

[0221] 5. Effect evaluation and follow-up measures: After completing the de-icing operation of the entire line, calculate the data of the de-icing operation to evaluate the de-icing effect and ensure the safety of the line. Take follow-up measures according to the actual situation, such as strengthening monitoring and regular inspections, to ensure the safe operation of the transmission line. At the same time, by adding a computing system, the intelligent management and optimization of de-icing operations can be achieved, the de-icing efficiency can be improved, the risk can be reduced, and support can be provided for data recording, analysis and improvement of the operation process.

[0222] De-icing of overhead communication lines

[0223] Overhead communication lines undertake the important task of transmitting communication signals. However, in severe weather conditions, such as ice and snow, communication interruption or signal attenuation may occur, seriously affecting communication quality and network stability. Therefore, deicing is crucial to ensure the normal operation of communication lines. The present invention can be applied to deicing of overhead communication lines, and the specific process is as follows:

[0224] 1. Line identification and monitoring: The monitoring system monitors the icing of overhead communication lines in real time. The monitoring system can use various sensors and monitoring equipment, such as infrared cameras, temperature sensors, etc., to ensure timely detection of icing on the lines. Specifically, sensors are installed in each line of a preset length, and the control center will issue an alarm when a sensor is abnormal to ensure that each line is monitored.

[0225] 2. Drone dispatch: Once ice is found on the communication line, the drone will be dispatched immediately for de-icing. The drone is equipped with a hanging stick device and is ready for de-icing. Before the drone is dispatched, it is necessary to select appropriate equipment parameters, flight paths and attitudes according to the specific conditions of the region, and perform self-checks on each drone system to ensure that each drone is in good condition.

[0226] 3. De-icing operation by drones: drones carry hanging sticks and fly near ice-covered communication lines. Each drone hovers in a prepared position to obtain current environmental data, such as wind speed, temperature, etc. The environmental data allows each drone to perform de-icing operations at the same time. The hanging sticks can remove the ice on the line by impact or vibration, and restore the normal state of the communication line.

[0227] 4. Dynamic adjustment and monitoring: During the de-icing process, the monitoring and evaluation drone fully tracks the de-icing process and actively makes dynamic adjustments to the drone. According to the icing conditions and de-icing effect, the flight path and hovering position of the drone, as well as the impact force and frequency of the stick, are adjusted to maximize the de-icing efficiency and ice removal rate. If necessary, the path and attitude of the drone can be manually adjusted.

[0228] 5. Effect evaluation and follow-up measures: After completing the de-icing operation of the communication line, the de-icing effect is evaluated to ensure the normal operation of the communication line. Follow-up measures are taken according to the actual situation, such as strengthening monitoring and regular inspections, to ensure stable communication of the communication line. At the same time, by adding a computing system, the intelligent management and optimization of de-icing operations can be achieved, the de-icing efficiency can be improved, the risk can be reduced, and support can be provided for data recording, analysis and improvement of the operation process.

[0229] Through the above process, the overhead communication lines can be quickly de-iced to ensure the normal operation of the communication lines. This solution of de-icing with drone hanging sticks is fast, efficient and safe, and can effectively deal with the icing problem of overhead communication lines in bad weather and ensure the stability and reliability of the communication network.

[0230] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0231] The serial numbers of the embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. In a unit claim that lists several means, several of these means may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order and these words may be interpreted as identifiers.

[0232] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for deicing by knocking a drone, characterized in that: include: S1: Obtain the icing status of the transmission line through the monitoring system. If the icing status requires deicing, proceed to step S2, otherwise repeat step S1; S2: Obtain the icing data of the transmission line through the monitoring system, and set the deicing parameters, deicing path and routing method of the deicing drone according to the icing data; S3: The control system controls the deicing drone to de-ice the power transmission line according to the de-icing parameters, de-icing path and routing method. If the de-icing operation is completed, it returns to step S1, otherwise it repeats step S3.

2. The drone knocking deicing method according to claim 1, characterized in that: Step S2 is specifically as follows: S21: The icing data of the transmission line obtained by the monitoring system includes: the target position of the transmission line, the deicing range, the icing characteristics and the conductor distance data; S22: setting the suspension line length and the impact rod length of the deicing UAV according to the wire distance data, setting the impact posture of the deicing UAV according to the ice covering characteristics, and the suspension line length, the impact rod length and the impact posture constitute the deicing parameters of the deicing UAV; S23: Setting the deicing path of the deicing drone includes: an S-shaped path and a zigzag path; S24: If the deicing range is smaller than the preset value, the routing mode is set to indirect deicing or line-by-line deicing, otherwise the routing mode is set to multi-circuit simultaneous deicing.

3. The drone knocking deicing method according to claim 2, characterized in that: The conductor distance data includes: conductor discharge distance a and discharge safety clearance distance b; The length of the suspension wire d2 and the length of the impact rod d3 must satisfy the following relationship: c=2a+b,d=d1+d2+d3 cd>=αa c-(d1+d2+d3)>=αa d=(d1+d2+d3)<=c-αa Among them, α is the safety factor and d1 is the height of the drone.

4. The drone knocking deicing method according to claim 2, characterized in that: The specific method of deicing by knocking is to knock and de-ice along the outside of a conductor without passing over the top of the conductor; The specific method of line-by-line deicing is as follows: passing over a conductor and knocking back and forth to de-ice it; The specific method of multi-circuit simultaneous deicing is to knock back and forth over two wires to de-ice.

5. The drone knocking deicing method according to claim 1, characterized in that: Step S3 is specifically as follows: S31: Obtain the target position of the transmission line, as well as the deicing parameters, deicing path and routing method of the deicing drone, and configure each deicing drone according to the length of the suspension line and the length of the impact rod; S32: starting a monitoring and evaluation UAV and one or more de-icing UAVs, and the control system controls each UAV to fly to a target location; S33: When each UAV flies to the vicinity of the target position, each UAV is controlled to hover above a predetermined position to ensure that the impact rod is perpendicular to the wire; S34: Each deicing UAV controls the impact rod to impact the wire in a vertical direction to de-ice according to the impact posture, deicing path and routing method; S35: Real-time adjustment of the impact posture of each de-icing UAV is performed by monitoring and evaluating the UAV; S36: If the de-icing operation is completed, return to step S1, otherwise return to step S34.

6. The drone knocking deicing method according to claim 1, characterized in that: Monitor and evaluate the safety strategies implemented by drones and de-icing drones during de-icing operations. The safety strategies include active safety and passive safety. Active safety and passive safety can be implemented simultaneously or one of them can be implemented selectively. Active safety specifically includes: The overall working data E is obtained by monitoring and evaluating the sensors on the UAV, and the individual working data set is obtained by the sensors on each de-icing UAV; If the individual work data e of the i-th de-icing drone i If the de-icing drone i is abnormal, the collision rod of the de-icing drone i is actively released and the de-icing drone i is controlled to fly away from the target position of the power transmission line; otherwise, the de-icing drone i continues to perform the de-icing operation; Passive safety is as follows: the monitoring and evaluation drone and each de-icing drone are equipped with a parachute. If the sensor on the drone determines that the drone is flying abnormally, the parachute will be opened to allow the drone to land.

7. A drone knocking deicing system, used to implement the drone knocking deicing method according to any one of claims 1 to 6, characterized in that: include: Several de-icing drones, control systems, monitoring systems and a monitoring and assessment drone; The control system is connected in communication with each de-icing drone, monitoring and evaluation drone and the monitoring system, and the monitoring system is used to monitor the icing status of the transmission line in real time.

8. The drone knocking deicing system according to claim 7, characterized in that: The de-icing drone includes: a drone, a suspension device, a suspension line, a striker rod and a power supply unit; The suspension device is fixed under the UAV, one end of the suspension line is connected to the suspension device, and the other end of the suspension line is connected to the impact rod; The energy supply unit is arranged inside the UAV to provide electrical energy to the UAV and the suspension device.

9. The drone knocking deicing system according to claim 8, characterized in that: The inside of the impact rod is a hard rod, and the outside is an insulating and anti-slip layer; Types of impact rods include: solid rods, hollow rods, hollow fluid-filled rods, baseball rods, rods with heavy ends and a light middle, rods with light ends and a heavy middle, and uniform rods.

10. The drone knocking deicing system according to claim 8, characterized in that: A thrower is provided on the suspension device and is connected to the suspension line. When an abnormality occurs in the deicing UAV, the thrower is disconnected from the suspension line and the impact rod is actively released.

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