Unmanned aerial vehicle co-frequency resonance deicing device and deicing method

Abstract

The invention discloses an unmanned aerial vehicle co-frequency resonance deicing device and a deicing method, and relates to the field of high-voltage overhead conductor deicing, an unmanned aerial vehicle device is provided with a deicing device, the deicing device comprises a microwave generator and an ultrasonic generator which are oppositely arranged, and a power transmission line is located between the microwave generator and the ultrasonic generator. Microwaves and ultrasonic waves emitted by the microwave generator and the ultrasonic generator face the power transmission line; the deicing device comprises a resonant frequency detection device, the resonant frequency detection device is used for obtaining the resonant frequency of the icing position of the power transmission line, the frequency of ultrasonic waves emitted by the ultrasonic generator is the same as the resonant frequency of the icing position of the power transmission line, and the frequency of microwaves emitted by the microwave generator is the same as the resonant frequency of the icing position of the power transmission line. The ice layer is cracked by utilizing high-frequency vibration heating generated by ultrasonic waves and microwaves, so that the purpose of removing the ice layer is achieved. According to the method, a power grid line does not need to be contacted, and line damage possibly caused by direct impact is avoided.

Description

Technical Field

[0001] The invention relates to the field of deicing of high-voltage overhead wires, and in particular to a same-frequency resonance deicing device and a deicing method for unmanned aerial vehicles. Background Art

[0002] Electric energy is transmitted over long distances and in large capacities, and transmission lines are usually implemented by high-voltage overhead wires. In the harsh cold winter environment, affected by the macroclimate, micro-topography and micro-meteorological conditions, rain, snow and freezing weather in many areas can easily cause icing on overhead transmission lines, increasing the load on the transmission lines and even causing accidents such as tower collapse, line breakage and flashover, resulting in huge economic losses. In response to the icing of overhead transmission lines, research has been carried out at home and abroad on snow accumulation theory, ice thickness, conductor monitoring and tower reinforcement. At present, there are mainly the following de-icing methods for transmission lines at home and abroad;

[0003] Electric thermal deicing usually relies on increasing the current of the transmission line to heat up the transmission line to melt the ice. Common electric thermal deicing methods include overcurrent deicing, short circuit deicing, direct current deicing, etc. These thermal deicing technologies are effective for local power grids and conductors, but they require power outages, have high energy consumption, and are costly.

[0004] Mechanical deicing is to apply mechanical force to the ice to make it fall off. According to the on-site conditions, line operators can use manual knocking, shooting or even helicopters to de-ice. This technology is simple and easy to use, but it is extremely inefficient and unsafe.

[0005] The vibration de-icing method mainly uses coupled resonance or external excitation vibration to remove the ice. During the vibration process, it may cause conductor fatigue and cause accidents, making it difficult to apply to actual engineering.

[0006] Robotic deicing uses a front-end fixed cutter to remove ice by forward push and impact, and is fixed on the line by a mechanical structure during operation. It has the advantages of low energy consumption, safety and no power outage, but due to its complex mechanical and control structure, it is difficult to work in remote mountainous areas and on transmission lines with large spans and large elevation differences across rivers and lakes, and it is difficult to cross obstacles. Passive deicing is a method of removing ice using natural conditions such as wind, gravity, random scattering and temperature changes. This method does not require additional energy and helps limit ice disasters, but it cannot guarantee reliable deicing.

[0007] Therefore, the existing high-voltage overhead wire deicing device cannot meet the requirements. Summary of the invention

[0008] One purpose of the present invention is to provide a UAV same-frequency resonance deicing device and deicing method, which removes ice on power grid lines through same-frequency resonance technology to solve the problems existing in the existing power transmission line deicing technology and ensure the safe and stable operation of the power system.

[0009] This purpose is achieved by adopting the following technical solutions:

[0010] A same-frequency resonance deicing device and deicing method for an unmanned aerial vehicle comprises an unmanned aerial vehicle device, on which a deicing device is arranged, wherein the deicing device comprises a microwave generator and an ultrasonic generator which are arranged relatively.

[0011] When in use, the device is flown by a drone and reaches the frozen power line, and the position of the drone is adjusted so that the power line is located between the microwave generator and the ultrasonic generator, and the microwaves and ultrasonic waves emitted by the microwave generator and the ultrasonic generator are both directed toward the power line;

[0012] The ultrasonic wave of the ultrasonic generator generates vibrations, and the microwave of the microwave generator generates vibration heating. The combination of the two causes the ice layer to crack through vibration heating, thereby achieving the purpose of removing the ice. This method does not require contact with the power grid line, avoiding the damage to the line that may be caused by direct impact.

[0013] Moreover, compared with the existing structure, the existing structure makes the entire transmission line vibrate together when generating ultrasonic waves, which easily damages the transmission line. The present device makes the transmission line vibrate locally in the frozen transmission line, and does not require the entire transmission line to vibrate together, which can effectively protect the transmission line from damage.

[0014] At the same time, the de-icing device includes a resonance frequency detection device, which is used to obtain the resonance frequency of the iced part of the transmission line, and make the ultrasonic frequency emitted by the ultrasonic generator the same as the resonance frequency of the iced part of the transmission line, and the microwave frequency emitted by the microwave generator the same as the resonance frequency of the iced part of the transmission line.

[0015] This device generates energy through co-frequency resonance to remove ice on the surface. When the vibration frequency and heating frequency match the natural vibration frequency of the iced part of the transmission line, a co-frequency resonance effect will be generated, allowing the vibration energy to be efficiently transferred to the surface of the object, thereby separating and falling off the ice layer, achieving an efficient and precise de-icing effect.

[0016] The same frequency resonant waves can produce cavitation effects that can destroy the structure of water molecules and form tiny bubbles. The violent oscillation of the bubbles will cause vibration and friction between the molecules in the water, resulting in local high temperature, high pressure and strong impact force. The bubbles will burst in an instant. The bursting of the bubbles will produce powerful shock waves and microjets that can effectively destroy the ice layer structure, thereby achieving the purpose of de-icing.

[0017] Secondly, the waveforms emitted by the microwave generator and the ultrasonic generator of the device are both sinusoidal waves.

[0018] Ultrasonic waves do not interfere with each other at the same frequency, so multiple sound wave signals are superimposed to form a composite sound wave for parallel transmission. When the ultrasonic vibration of the sine wave waveform acts on water molecules, it will produce asymmetric radiation pressure, which will cause the water molecules to vibrate and collide violently.

[0019] At the same time, microwaves are electromagnetic waves and ultrasonic waves are mechanical waves. Two waveforms with the same frequency are emitted at the same time, and the interaction and resonance effect between them are used to enhance the deicing effect. In dual-wave co-frequency resonance deicing, electromagnetic waves can penetrate the ice layer, heat and disturb the molecules inside the ice layer; while mechanical waves transfer energy through vibration, weakening the adhesion between the ice layer and the surface of the object. When the two waveforms are emitted at the same frequency, they will produce a strong resonance effect in the ice layer. This resonance effect can not only destroy the molecular structure inside the ice layer, but also greatly reduce the adhesion between the ice layer and the surface of the object, thereby achieving efficient deicing. During the resonance process, energy is transferred from the waveform to the ice layer and gradually released through the vibration and mutual friction of the molecules inside the ice layer. This energy transfer method not only improves the deicing efficiency, but also reduces the damage to the deiced object.

[0020] Therefore, compared with the existing transmission line deicing devices, the present device can quickly de-ice the local icing area without damaging the transmission line itself, and is safer to use.

[0021] Preferably, the transmission line is located between the microwave generator and the ultrasonic generator, and the microwave generator and the ultrasonic generator are located on a horizontal straight line. When deicing, the two sides of the transmission line are quickly acted on, which can further accelerate the deicing efficiency. Preferably, the device also includes an auxiliary ultrasonic generator. When the transmission line is located between the microwave generator and the ultrasonic generator, the auxiliary ultrasonic generator is located above the transmission line. When the microwave generator and the ultrasonic generator de-ice both sides of the transmission line, the auxiliary ultrasonic generator located above the transmission line further acts on the iced part of the transmission line from top to bottom through the auxiliary ultrasonic generator located above the transmission line, accelerating the shedding of the iced part above the iced part, thereby improving the deicing effect.

[0022] Furthermore, the ice thickness at different iced locations of the transmission line is different. If the distance between the microwave generator and the ultrasonic generator and the transmission line is far, the deicing effect cannot be achieved well. Therefore, the deicing device of the device includes a connecting ring, and the microwave generator and the ultrasonic generator are arranged on the connecting ring; the connecting ring is provided with an adjustment component, and the adjustment component is used to adjust the distance between the microwave generator and the transmission line, and the distance between the ultrasonic generator and the transmission line. Further improve the effect of the microwave generator and the ultrasonic generator on the transmission line.

[0023] The adjustment component can be a variety of structures, such as a telescopic rod or other mechanical structures. Preferably, the inventor provides an adjustment component, which includes a first telescopic rod and a second telescopic rod arranged on a connecting ring, one end of the first telescopic rod is connected to the microwave generator, and one end of the second telescopic rod is connected to the ultrasonic generator. The adjustment component also includes two rotating gears, which are connected to the connecting ring and can rotate circumferentially on the connecting ring. The two rotating gears are respectively engaged with the first telescopic rod and the second telescopic rod, and the rotation of the two rotating gears drives the first telescopic rod and the second telescopic rod to move toward or away from the transmission line. The first telescopic rod and the second telescopic rod are located on the same straight line, and the first telescopic rod and the second telescopic rod are driven to move by adjusting the rotation of the two rotating gears.

[0024] Furthermore, a rotating ring is provided on the connecting ring, and the rotating ring can rotate circumferentially on the connecting ring. The two rotating gears are coaxially connected to the shaft rod, and the shaft rod is connected to the working gear. The working gear is meshed with the rotating ring. When the rotating ring rotates circumferentially, it drives the working gear to rotate circumferentially. The working gear drives the rotating gear to rotate circumferentially through the shaft rod.

[0025] Therefore, when the device adjusts the movement of the first telescopic rod and the second telescopic rod, the rotating ring rotates, and the rotating ring acts on the action gear, driving the action gear to rotate circumferentially. When the action gear rotates circumferentially, the rotating gear is driven to rotate circumferentially through the shaft rod. When the rotating gear rotates circumferentially, it acts on the corresponding first telescopic rod or the second telescopic rod, so that the first telescopic rod or the second telescopic rod moves, thereby adjusting the distance between the microwave generator and the transmission line, and the distance between the ultrasonic generator and the transmission line.

[0026] Preferably, the connecting ring is provided with an auxiliary adjustment component, which is used to adjust the distance between the auxiliary ultrasonic generator and the transmission line. The auxiliary adjustment component may have the same structure as the adjustment component, or may have other structures.

[0027] Preferably, the connecting ring is in a semicircular arc shape. The microwave generator and the ultrasonic generator are connected to the two ends of the connecting ring respectively, and the straight line where the microwave generator and the ultrasonic generator are located is the straight line where the diameter of the connecting ring is located.

[0028] When in use, the drone device is moved to where the power line is frozen so that the power line is located between the microwave generator and the ultrasonic generator;

[0029] The resonance frequency detection device obtains the resonance frequency of the iced part of the transmission line, so that the frequency of the ultrasonic wave emitted by the ultrasonic generator is the same as the resonance frequency of the iced part of the transmission line, and the frequency of the microwave emitted by the microwave generator is the same as the resonance frequency of the iced part of the transmission line;

[0030] The drone device obtains image information of the iced area of ​​the transmission line, and determines whether de-icing is completed based on the image information of the iced area. If de-icing is completed, the drone device moves to the next iced area of ​​the transmission line.

[0031] After the transmission line is located between the microwave generator and the ultrasonic generator, the distance between the microwave generator and the transmission line is adjusted so that the distance between the microwave generator and the transmission line is less than a first threshold; the distance between the ultrasonic generator and the transmission line is adjusted so that the distance between the ultrasonic generator and the transmission line is less than a second threshold.

[0032] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0033] The present invention discloses a same-frequency resonance deicing device and deicing method for unmanned aerial vehicles. The device removes ice layers by using same-frequency resonance energy. When the vibration frequency and heating frequency match the natural vibration frequency of the iced part of the transmission line, a same-frequency resonance effect will be generated, so that the vibration energy can be efficiently transferred to the surface of the object, thereby separating and falling off the ice layer, so as to achieve an efficient and accurate deicing effect.

[0034] Secondly, the present invention uses high-frequency vibration heating generated by ultrasound and microwaves to crack the ice layer, thereby achieving the purpose of removing the ice layer. This method does not require contact with the power grid line, avoiding line damage that may be caused by direct impact; and the device causes local vibration at the iced part of the transmission line, and does not cause the entire transmission line to vibrate, which can further avoid damage to the transmission line or poor connection; in particular, when multiple transmission lines are connected at the same time, the existing device is likely to affect other transmission lines when deicing one of the transmission lines, so it cannot be used in the case of multiple transmission lines. When the present device is used, it can process multiple transmission lines in turn. When processing one transmission line, it will not affect the adjacent transmission lines, and the scope of use is wider.

[0035] At the same time, ultrasonic generators and microwave generators are small in size and light in load, making them suitable for being carried on drones for high-altitude operations.

[0036] Furthermore, the same-frequency resonant heating and ultrasonic vibration of the present invention do not require the use of chemical agents, and will not pollute the transmission line materials and the environment. Compared with traditional deicing methods, this method has lower energy consumption and is more in line with the requirements of environmental protection and energy conservation. Compared with traditional hot air anti-icing / deicing technology, same-frequency resonant power grid deicing does not require manual high-altitude operations, reducing the risk of casualties. The ultrasonic vibration deicing process is relatively gentle and will not cause damage to the transmission lines, ensuring the safe and stable operation of the power system. By adjusting the frequency, precise deicing can be performed on ice layers of a specific thickness to reduce damage to the transmission lines.

[0037] The invention is applicable to various types of transmission lines, including high-voltage and ultra-high-voltage transmission lines, and can solve the problem of icing in different regions and under different climatic conditions. The automated operation is achieved through equipment such as drones and rotating disks, which reduces manual intervention and improves work efficiency. Although the initial investment may be high, in the long run, the overall maintenance cost is low due to the reduced frequency of manual maintenance and repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0039] Figure 1 It is a structural schematic diagram of the device;

[0040] Figure 2 It is a schematic diagram of the structure of the first telescopic rod and the second telescopic rod on the connecting ring;

[0041] Figure 3 It is a structural schematic diagram of the rotating ring, rotating gear and working gear on the connecting ring;

[0042] Figure 4 It is a schematic diagram of the structure of the shaft, rotating gear and working gear.

[0043] Marks and corresponding parts names in the attached drawings:

[0044] 1-connecting ring, 2-first telescopic rod, 3-second telescopic rod, 4-microwave generator, 5-ultrasonic generator, 6-rotating ring, 7-acting gear, 8-rotating gear, 9-auxiliary ultrasonic generator, 10-third telescopic rod, 11-axle rod, 12-UAV device, 13-deicing device. DETAILED DESCRIPTION

[0045] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0046] In the description of the present invention, it should be understood that the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inside", "outside", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the scope of protection of the present invention.

[0047] Example 1

[0048] like Figure 1 As shown, the device includes a drone device 12, on which a deicing device 13 is provided. The deicing device 13 includes a microwave generator 4 and an ultrasonic generator 5 which are arranged opposite to each other.

[0049] During deicing, the transmission line is located between the microwave generator 4 and the ultrasonic generator 5, and the microwaves and ultrasonic waves emitted by the microwave generator 4 and the ultrasonic generator 5 are directed toward the transmission line;

[0050] In some embodiments, the de-icing device 13 includes a resonance frequency detection device, which is used to obtain the resonance frequency of the iced part of the transmission line, and make the ultrasonic frequency emitted by the ultrasonic generator 5 the same as the resonance frequency of the iced part of the transmission line, and the microwave frequency emitted by the microwave generator 4 the same as the resonance frequency of the iced part of the transmission line.

[0051] In some embodiments, the deicing device 13 includes a connecting ring 1, on which a microwave generator 4 and an ultrasonic generator 5 are arranged; the connecting ring 1 is in a semicircular shape, and the straight line where the microwave generator 4 and the ultrasonic generator 5 are located is collinear with the straight line where the diameter of the connecting ring 1 is located.

[0052] In some embodiments, the waveforms of microwaves and ultrasonic waves are both sinusoidal waves. Two waveforms with the same frequency are emitted simultaneously, and the interaction and resonance effect between them are utilized to enhance the deicing effect. In dual-wave same-frequency resonance deicing, electromagnetic waves can penetrate the ice layer, heat and disturb the molecules inside the ice layer; while mechanical waves transmit energy through vibration, weakening the adhesion between the ice layer and the surface of the object. When the two waveforms are emitted at the same frequency, they will produce a strong resonance effect in the ice layer.

[0053] When in use, the drone device 12 is moved to the location where the power line is frozen so that the power line is located between the microwave generator 4 and the ultrasonic generator 5;

[0054] The resonance frequency detection device obtains the resonance frequency of the iced part of the transmission line, and adjusts the frequencies of the ultrasonic generator 5 and the microwave generator 4 so that the frequency of the ultrasonic wave emitted by the ultrasonic generator 5 is the same as the resonance frequency of the iced part of the transmission line, and the frequency of the microwave emitted by the microwave generator 4 is the same as the resonance frequency of the iced part of the transmission line;

[0055] The drone device 12 obtains the image information of the iced part of the transmission line, and determines whether de-icing is completed according to the image information of the iced part. If de-icing is completed, the drone device 12 moves to the next iced part of the transmission line. When a section of the transmission line is frozen, the drone device moves on the iced section of the transmission line in sequence to de-ice the iced part of the transmission line.

[0056] Example 2

[0057] On the basis of the above-mentioned embodiment, an adjusting component is provided on the connecting ring 1, and the adjusting component is used to adjust the distance between the microwave generator 4 and the transmission line, and the distance between the ultrasonic generator 5 and the transmission line.

[0058] In some embodiments, an auxiliary ultrasonic generator 9 is further provided on the connecting ring 1. When the transmission line is located between the microwave generator 4 and the ultrasonic generator 5, the auxiliary ultrasonic generator 9 is located above the transmission line. An auxiliary adjustment component is provided on the connecting ring 1, and the auxiliary adjustment component is used to adjust the distance between the auxiliary ultrasonic generator 9 and the transmission line.

[0059] In some embodiments, the adjustment component and the auxiliary adjustment component may be telescopic rods or other mechanical structures.

[0060] In some embodiments, Figure 2 As shown, the adjustment assembly includes a first telescopic rod 2 and a second telescopic rod 3 arranged on a connecting ring 1, the straight line where the first telescopic rod 2 and the second telescopic rod 3 are located is on the straight line where the diameter of the connecting ring 1 is located, one end of the first telescopic rod 2 and the second telescopic rod 3 passes through the connecting ring 1 and is connected to the connecting ring 1, the other end of the first telescopic rod 2 is connected to the microwave generator 4, and the other end of the second telescopic rod 3 is connected to the ultrasonic generator 5.

[0061] like Figure 3 As shown, a rotating ring 6 is provided on the connecting ring 1. The rotating ring 6 is a semicircular ring. The rotating ring 6 can rotate circumferentially on the connecting ring 1. When the rotating ring 6 rotates circumferentially, it rotates with the center of the connecting ring as the axis. The rotating ring 6 is connected to the connecting ring mountain. When the rotating ring rotates, it will not slip out of the connecting ring.

[0062] like Figure 4 As shown, the rotating gear 8 is coaxially connected to the shaft 11, and the shaft 11 is connected to the working gear 7, which meshes with the rotating ring 6. When the rotating ring 6 rotates circumferentially, it drives the working gear 7 to rotate circumferentially, and the working gear 7 drives the rotating gear 8 to rotate circumferentially through the shaft 11. The rotating gear 8 is connected to the connecting ring 1 and can rotate circumferentially on the connecting ring 1.

[0063] A first telescopic rod 2, a second telescopic rod 3 and a third telescopic rod 10 are provided on the connecting ring 1. The third telescopic rod 10 is located at the upper end of the connecting ring. The straight line where the third telescopic rod 10 is located is perpendicular to the straight line where the first telescopic rod and the second telescopic rod are located. The first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10 are respectively connected to the microwave generator 4, the ultrasonic generator 5 and the auxiliary ultrasonic generator 9.

[0064] Three rotating gears 8 are provided on the connecting ring 1, and the three rotating gears 8 are respectively engaged with the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10. When the rotating ring 6 rotates, the rotating ring 6 acts on the three action gears 7, driving the three action gears 7 to rotate. The action gears 7 drive the rotating gears 8 to rotate through the shaft rod. The rotating gears 8 rotate and act on the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10, so that the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10 move, thereby driving the microwave generator 4, the ultrasonic generator 5 and the auxiliary ultrasonic generator 9 to move toward or away from the transmission line.

[0065] The present structure can simultaneously adjust the movement of the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10 by rotating the rotating ring, and the movement distances are the same. Only one power source is used to simultaneously adjust the movement of the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10, which is more convenient for operation and use. At the same time, when adjusting the movement of the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10, the present structure simultaneously drives the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10 to move the same distance in the direction close to the power transmission line, or simultaneously drives the first telescopic rod 2, the second telescopic rod 3 and the third telescopic rod 10 to move the same distance in the direction away from the power transmission line, which is more conducive to rapid adjustment.

[0066] Example 3

[0067] On the basis of the above embodiment, the resonant frequency detection device includes a transmission line ice thickness detection sensor. The transmission line ice thickness detection sensor can be a radar sensor, a laser sensor, or obtain the ice thickness of the transmission line by obtaining image information of the iced part of the transmission line through the drone device 12. The outer diameter of the transmission line is preset information.

[0068] The resonance frequency detection device obtains the resonance frequency of the transmission line at the iced part, wherein;

[0069] Resonance frequency f:

[0070]

[0071]

[0072]

[0073] Where m is the mass of the transmission line before freezing, k is the stiffness of the transmission line before freezing,

[0074] Δm is the mass change of the transmission line after freezing, Δk is the stiffness change of the transmission line after freezing,

[0075] E is the elastic modulus of the transmission line;

[0076] I is the section moment of inertia of the transmission line;

[0077] L is the length of the transmission line where ice forms, which is preset to 5 cm;

[0078] D is the outer diameter of the transmission line before freezing, and d is the ice thickness;

[0079] After the resonance frequency detection device obtains the resonance frequency of the iced part of the transmission line, it adjusts the frequencies of the microwave generator 4, the ultrasonic generator 5 and the auxiliary ultrasonic generator 9 to make the frequencies of the microwave generator 4, the ultrasonic generator 5 and the auxiliary ultrasonic generator 9 the same as the resonance frequency of the iced part of the transmission line. After the first iced part of the transmission line is de-iced, the device moves to the next iced part of the transmission line through the drone device until all the iced parts of the transmission line are processed.

[0080] Example 4

[0081] Based on the above embodiment, when the present device is in use, an ice detection sensor is preset on the transmission line. When the ice detection sensor on the transmission line detects the icing model, the icing information and the transmission line information are sent to the terminal, and the terminal controls the present device to move to the transmission line.

[0082] When the device moves to the transmission line, the image information of the iced part of the transmission line is obtained through the drone device, so that the iced part of the transmission line is located between the microwave generator 4, the ultrasonic generator 5 and the auxiliary ultrasonic generator 9, that is, the microwave generator 4 and the ultrasonic generator 5 are located on both sides of the iced part of the transmission line, and the auxiliary ultrasonic generator 9 is located directly above the iced part of the transmission line. The distance between the microwave generator 4 and the transmission line is adjusted so that the distance between the microwave generator 4 and the transmission line is less than the first threshold; the distance between the ultrasonic generator 5 and the transmission line is adjusted so that the distance between the ultrasonic generator 5 and the transmission line is less than the second threshold. The first threshold and the second threshold are both less than 2cm. In practice, the size of the first threshold and the second threshold can be adjusted according to the actual situation. Optimally, the distance between the microwave generator 4 and the transmission line is 0, and the distance between the ultrasonic generator 5 and the transmission line is 0. Among them, when the drone moves so that the iced part of the transmission line is located between the microwave generator 4, the ultrasonic generator 5 and the auxiliary ultrasonic generator 9, it can also be adjusted by the distance sensor.

[0083] The resonant frequency of the iced part of the transmission line is obtained by a resonant frequency detection device, and the frequencies of the microwave generator 4, the ultrasonic generator 5 and the auxiliary ultrasonic generator 9 are adjusted to be consistent with the resonant frequency of the iced part of the transmission line.

[0084] The drone device obtains the image information of the iced part of the transmission line again. If there is no ice at the iced part of the transmission line, the drone device drives the device to move forward a preset distance on the transmission line to de-ice the next part. The preset distance moved forward on the transmission line is the same as the length L of the iced part of the transmission line. When judging whether de-icing is completed, the distance sensor can also be used to judge whether de-icing is completed.

[0085] The deicing is determined based on the image information of the icing area. If the deicing is completed, the drone device 12 moves to the next icing area of ​​the transmission line. Generally speaking, the drone device moves from one end to the other end on the transmission line to complete the deicing of the transmission line.

[0086] The terms "first", "second", "third", etc. used herein are only used to distinguish the corresponding components for the sake of clarity of description, and are not intended to limit any order or emphasize importance, etc. In addition, the term "connected" used herein, unless otherwise specified, may refer to direct connection or indirect connection via other components.

[0087] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A same-frequency resonance deicing device for unmanned aerial vehicles, characterized in that: The invention comprises an unmanned aerial vehicle device (12), wherein the unmanned aerial vehicle device (12) is provided with an ice removal device (13), wherein the ice removal device (13) comprises a microwave generator (4) and an ultrasonic generator (5) which are arranged opposite to each other, wherein a transmission line is located between the microwave generator (4) and the ultrasonic generator (5), and microwaves and ultrasonic waves emitted by the microwave generator (4) and the ultrasonic generator (5) are both directed toward the transmission line; The deicing device (13) comprises a resonance frequency detection device, which is used to obtain the resonance frequency of the iced part of the transmission line, and to make the ultrasonic frequency emitted by the ultrasonic generator (5) the same as the resonance frequency of the iced part of the transmission line, and the microwave frequency emitted by the microwave generator (4) the same as the resonance frequency of the iced part of the transmission line.

2. The same frequency resonance deicing device for unmanned aerial vehicles according to claim 1 is characterized in that: The deicing device (13) comprises a connecting ring (1), on which a microwave generator (4) and an ultrasonic generator (5) are arranged; an adjusting component is arranged on the connecting ring (1), and the adjusting component is used to adjust the distance between the microwave generator (4) and the transmission line, and the distance between the ultrasonic generator (5) and the transmission line.

3. The same frequency resonance deicing device for unmanned aerial vehicles according to claim 1, characterized in that: An auxiliary ultrasonic generator (9) is also provided on the connecting ring (1). When the transmission line is located between the microwave generator (4) and the ultrasonic generator (5), the auxiliary ultrasonic generator (9) is located above the transmission line.

4. The same frequency resonance deicing device for unmanned aerial vehicles according to claim 2, characterized in that: The adjustment component comprises a first telescopic rod (2) and a second telescopic rod (3) which are arranged on a connecting ring (1); one end of the first telescopic rod (2) is connected to a microwave generator (4); one end of the second telescopic rod (3) is connected to an ultrasonic generator (5); the adjustment component also comprises two rotating gears (8); the two rotating gears (8) are connected to the connecting ring (1) and are capable of circumferentially rotating on the connecting ring (1); the two rotating gears (8) are respectively meshed with the first telescopic rod (2) and the second telescopic rod (3); the two rotating gears (8) rotate to respectively drive the first telescopic rod (2) and the second telescopic rod (3) to move towards or away from the transmission line.

5. The same frequency resonance deicing device for unmanned aerial vehicles according to claim 4, characterized in that: A rotating ring (6) is provided on the connecting ring (1), and the rotating ring (6) can rotate circumferentially on the connecting ring (1). Two rotating gears (8) are coaxially connected to a shaft (11), and the shaft (11) is connected to an action gear (7). The action gear (7) is meshed with the rotating ring (6). When the rotating ring (6) rotates circumferentially, it drives the action gear (7) to rotate circumferentially, and the action gear (7) drives the rotating gear (8) to rotate circumferentially through the shaft (11).

6. The same frequency resonance deicing device for unmanned aerial vehicles according to claim 3, characterized in that: An auxiliary adjustment component is provided on the connecting ring (1), and the auxiliary adjustment component is used to adjust the distance between the auxiliary ultrasonic generator (9) and the transmission line.

7. The same frequency resonance deicing device for unmanned aerial vehicles according to claim 1, characterized in that: The resonant frequency detection device includes a transmission line ice thickness detection sensor.

8. The same frequency resonance deicing device for unmanned aerial vehicles according to claim 2, characterized in that: The connecting ring (1) is in a semicircular arc shape.

9. A method for deicing an unmanned aerial vehicle by means of same-frequency resonance, characterized in that: The deicing device according to any one of claims 1 to 8 comprises the following steps: The drone device (12) moves to the location where the power transmission line is frozen so that the power transmission line is located between the microwave generator (4) and the ultrasonic generator (5); The resonant frequency detection device obtains the resonant frequency of the iced part of the transmission line, so that the frequency of the ultrasonic wave emitted by the ultrasonic generator (5) is the same as the resonant frequency of the iced part of the transmission line, and the frequency of the microwave emitted by the microwave generator (4) is the same as the resonant frequency of the iced part of the transmission line; The drone device (12) obtains image information of the icing location of the transmission line, and determines whether deicing is completed based on the image information of the icing location. If deicing is completed, the drone device (12) moves to the next icing location of the transmission line.

10. The same frequency resonance deicing method for unmanned aerial vehicles according to claim 9, characterized in that: After the transmission line is located between the microwave generator (4) and the ultrasonic generator (5), the distance between the microwave generator (4) and the transmission line is adjusted so that the distance between the microwave generator (4) and the transmission line is less than a first threshold; and the distance between the ultrasonic generator (5) and the transmission line is adjusted so that the distance between the ultrasonic generator (5) and the transmission line is less than a second threshold.

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