Intelligent deicing system based on unmanned aerial vehicle vision

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and provides an intelligent deicing system based on unmanned aerial vehicle vision, which comprises a server, an unmanned aerial vehicle, an unmanned aerial vehicle management and control module, a vision acquisition module, an insulating rod deicing module and an extension rope winding and unwinding module, the visual acquisition module acquires icing image data on the power transmission line and analyzes the state of the power transmission line according to the acquired icing image data, the extension rope winding and unwinding module is loaded on the unmanned aerial vehicle, and the extension rope winding and unwinding module is used for adjusting the position of the insulating rod deicing module. And the insulating rod deicing module is used for removing the ice on the power transmission line, so that the insulating rod deicing module can impact the ice on the power transmission line. Through cooperation of the insulating rod deicing module and the extension rope winding and unwinding module, the ice coating treatment efficiency of the power transmission line is improved, and it is guaranteed that the whole system has the advantages of being high in safety, high in flexibility and high in efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an intelligent deicing system based on unmanned aerial vehicle vision. Background Art

[0002] The accumulation of ice and snow will increase the load on the towers supporting high-voltage lines, which may cause excessive stretching and breakage of the wires, or even collapse of the towers, which can cause large-scale power outages in the power system. Therefore, it is very important to clear the ice and snow on the high-altitude cables in a timely manner.

[0003] At present, the main de-icing method is manual de-icing, but it is highly dangerous, time-consuming and labor-intensive. There are also some devices that de-ice by squeezing crushed ice, but such devices have complex structures, low operating efficiency, and improper operation can easily damage transmission lines.

[0004] For example, Chinese patent CN116039932B discloses a drone steam deicing device and deicing method, which de-ices the transmission line by integrating a steam generating device with the drone. Although the reliability of de-icing is improved, it still requires intermittent water replenishment and de-icing the line under high-temperature water vapor, resulting in the defect of low efficiency.

[0005] In addition, there are the following deicing methods and corresponding defects in the prior art:

[0006] 1. Ground manual work: Among them, ice and snow are removed by manually knocking on the transmission poles on the ground or using special long-pole tools. This method is inefficient, labor-intensive, and has great safety risks in severe weather conditions.

[0007] 2. Helicopter snow blowing method: In this method, special blowing equipment suspended from a helicopter is used to blow away the ice and snow on the line. Although the efficiency is relatively high, the operation cost is expensive and there are safety hazards in complex terrain or severe weather conditions.

[0008] 3. Chemical deicing agents: Among them, chemical deicing agents are sprayed on transmission lines to melt ice and snow chemically. This method may pollute the environment and has limited effect under conditions of strong winds or low temperatures.

[0009] The present invention is made to solve the common problems in this field, such as low safety, high cost, low efficiency, poor flexibility, high risk of environmental pollution, low intelligence, etc. Summary of the invention

[0010] The purpose of the present invention is to propose an intelligent deicing system based on drone vision to address the current deficiencies.

[0011] In order to overcome the shortcomings of the prior art, the present invention adopts the following technical solutions:

[0012] An intelligent deicing system based on drone vision, the intelligent deicing system comprising a server and a drone, the intelligent deicing system further comprising a drone control module, a visual acquisition module, an insulating rod deicing module, and an extension rope retracting module, the server being connected to the drone, the drone control module, the visual acquisition module, the insulating rod deicing module, and the extension rope retracting module respectively;

[0013] The UAV control module controls the flight route and posture of the UAV, the visual acquisition module collects ice image data on the transmission line, and analyzes the status of the transmission line according to the collected ice image data, the extension rope retracting module is loaded on the UAV, and the extension rope retracting module is used to adjust the position of the insulating rod deicing module so that the insulating rod deicing module can hit the ice on the transmission line, and the insulating rod deicing module is used to remove the ice on the transmission line;

[0014] Among them, the extension rope retracting module pulls the insulating rod deicing module so that the insulating rod deicing module is suspended in the air and flush with the ice-covered position of the transmission line, and when the UAV is in horizontal flight, the insulating rod deicing module collides with the ice-covered position on the transmission line to separate the ice on the transmission line.

[0015] Optionally, the insulating rod deicing module includes a deicing unit and a connecting unit, the deicing unit is used to contact the ice on the transmission line, and the connecting unit is connected to the extension rope retracting module;

[0016] Wherein, the deicing unit includes an insulating rod and a counterweight, wherein the insulating rod is used to contact the transmission line to impact the ice on the transmission line, and the counterweight is arranged on the insulating rod to counterweight the insulating rod body.

[0017] Optionally, the visual acquisition module includes a visual acquisition unit and an analysis unit, the visual acquisition unit acquires ice-covered image data on the transmission line, and the analysis unit analyzes the state of the transmission line according to the ice-covered image data to obtain an analysis result of whether it is necessary to process the ice-covered on the transmission line;

[0018] The visual acquisition unit includes a visual acquisition probe and a data storage device, wherein the data storage device stores the ice image data acquired by the visual acquisition probe, and the visual acquisition probe acquires the ice image data on the transmission line;

[0019] Wherein, the visual acquisition module is arranged on the drone and moves along with the movement of the drone.

[0020] Optionally, the analysis unit obtains and processes the ice image data collected by the visual acquisition unit, wherein the processing includes edge detection, region segmentation and feature extraction, and calculates the ice index I according to the following formula: icing :

[0021] I icing =ln(1+E)·ln(1+T);

[0022] Wherein, E is the ice-covered area expansion rate in the ice-covered image data within a preset time interval, and T is the texture change index in the ice-covered image data within a preset time interval; the texture change index is used to characterize the texture fluctuation degree of the ice-covered image;

[0023] If the ice coverage index I icing When the handling threshold Handle set by the system is exceeded, an early warning prompt is issued, which triggers the extension rope retracting module and the insulating rod deicing module to handle the ice on the transmission line.

[0024] Optionally, the drone control module includes a posture control unit and a posture acquisition unit, the posture acquisition unit acquires the real-time posture of the drone, the posture control unit evaluates the posture of the drone according to the real-time posture data acquired by the posture acquisition unit to form an evaluation result, and controls the posture of the drone according to the evaluation result;

[0025] Among them, the attitude acquisition unit includes a gyroscope, an accelerometer, a magnetometer and a barometer. The gyroscope measures the angular velocity of the drone around the pitch axis, roll axis and yaw axis. The accelerometer measures the acceleration of the drone in the three spatial dimensions of attitude change. The magnetometer is used to detect changes in the geomagnetic field and provide a direction reference for the drone. The barometer measures the surrounding atmospheric pressure to help determine the relative height of the drone.

[0026] Optionally, the extension cord retracting module includes an extension cord, a carabiner, a retracting unit and a buffer unit, the retracting unit retracts and releases the extension cord, one end of the extension cord is connected to the retracting unit, and the other end of the extension cord is connected to the connecting unit through the carabiner to pull the deicing unit, and the buffer unit buffers the traction of the extension cord to alleviate the inertial pulling of the deicing unit.

[0027] Optionally, the connecting unit includes a connecting seat, a connecting hole and a limiting member, the connecting seat is arranged in the insulating rod and supports the limiting member, the connecting hole is arranged on the connecting seat and passes through the connecting seat, and the limiting member is arranged on the connecting seat and limits the shaking of the insulating rod.

[0028] Optionally, the insulating rod includes a main rod and a protective sleeve, wherein the protective sleeve is nested in the outer circumference of the main rod and extends along the length direction of the main rod.

[0029] Optionally, the buffer unit includes a buffer airbag, an air pump and an electronic deflation valve, the air pump inflates the buffer airbag so that the buffer airbag is inflated and bulged, and the electronic deflation valve is arranged on the buffer airbag and communicated with the inner wall of the buffer airbag;

[0030] Wherein, the buffer airbag is configured as an annular structure and is nested in the outer circumference of the extension cord to buffer the pulling of the extension cord.

[0031] Optionally, the material of the protective cover includes rubber and a soft insulating material.

[0032] The beneficial effects achieved by the present invention are:

[0033] 1. Through the cooperation between the UAV control module and the insulating rod deicing module, the flight control safety of the UAV is guaranteed when the UAV carries the insulating rod deicing module and hits the ice, so that the whole system has the advantages of high safety, strong deicing flexibility, no risk of environmental pollution and low cost.

[0034] 2. Through the cooperation of the insulating rod deicing module and the extension rope retracting module, the ice treatment efficiency on the transmission line is improved, ensuring that the entire system has the advantages of high safety, strong flexibility and high efficiency;

[0035] 3. The cushioning airbag is inflated and expanded to slow down the shaking of the extension cord, and improve the stability and reliability of the insulating rod's impact on the ice on the transmission line;

[0036] 4. Through the cooperation between the attitude control unit and the attitude acquisition unit, the attitude of the UAV can be collected, and the flight attitude can be controlled according to the real-time attitude of the UAV, ensuring that the entire system has the advantages of high stability, good flexibility and high intelligence during the de-icing process; BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0038] Figure 1 It is an overall block diagram of the present invention.

[0039] Figure 2 It is a schematic diagram of the analysis process of the posture control unit of the present invention.

[0040] Figure 3 It is a schematic structural diagram of the drone, the extension rope retracting and releasing module and the insulating rod deicing module of the present invention.

[0041] Figure 4 It is a schematic structural diagram of the carabiner, the connecting unit and the insulating rod of the present invention.

[0042] Figure 5 It is a schematic structural diagram of the insulating rod and the connecting unit of the present invention.

[0043] Figure 6 for Figure 5 A magnified schematic diagram of center A.

[0044] Figure 7 It is a schematic structural diagram of the retractable unit and the buffer unit of the present invention.

[0045] Figure 8 This is a schematic diagram of a top-down scene in which the UAV of the present invention drives the insulating rod deicing module to impact the power transmission line.

[0046] Fig. 9 This is a schematic diagram of an application scenario in which the insulating rod deicing module of the present invention collides with ice on a transmission line.

[0047] Fig.10 It is a structural schematic diagram of the auxiliary ice separation module, power transmission line and ice coating of the present invention.

[0048] Explanation of the reference numerals: 1. UAV; 2. Extension rope; 3. Insulating rod; 4. Visual acquisition module; 5. Carabiner; 6. Extension rope retracting and releasing module; 7. Counterweight; 8. Connecting seat; 9. Main rod; 10. Connecting hole; 11. Limiting hydraulic rod; 12. Buffer airbag; 13. Retracting and releasing seat; 14. Electronic deflation valve; 15. Inflating pump; 16. Retracting and releasing drive mechanism; 17. Retracting and releasing rod; 18. Auxiliary ice separation module; 19. Ice covering; 20. Transmission line. DETAILED DESCRIPTION

[0049] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0050] Embodiment 1: According to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, this embodiment provides an intelligent deicing system based on drone vision, the intelligent deicing system includes a server and a drone 1, the intelligent deicing system also includes a drone control module, a visual acquisition module 4, an insulating rod deicing module, and an extension rope retracting module, the server is respectively connected to the drone 1, the drone control module, the visual acquisition module 4, the insulating rod deicing module, and the extension rope retracting module, and the intermediate data and process data of the drone control module, the visual acquisition module 4, the insulating rod deicing module, and the extension rope retracting module are stored in the database of the server;

[0051] Among them, the drone control module, the visual acquisition module 4, and the extension rope retracting module are all arranged on the drone 1;

[0052] The drone control module controls the flight path and posture of the drone 1, the visual acquisition module 4 collects the image data of ice 19 on the transmission line 20, and analyzes the state of the transmission line 20 according to the collected image data of ice 19, the extension rope retracting module is loaded on the drone 1, and the extension rope retracting module is used to adjust the position of the insulating rod deicing module so that the insulating rod deicing module can hit the ice on the transmission line, and the insulating rod deicing module is used to remove the ice 19 on the transmission line 20;

[0053] The intelligent deicing system also includes a central processor, which is respectively connected to the drone control module, the visual acquisition module 4, the insulating rod deicing module, and the extension rope retracting module, and centrally controls the drone control module, the visual acquisition module 4, the insulating rod deicing module, and the extension rope retracting module based on the central processor, and stores the control data in the database of the server to improve the reliability and efficiency of the entire system in deicing the transmission line 20;

[0054] The extension rope retracting module pulls the insulating rod deicing module so that the insulating rod deicing module is suspended in the air and flush with the ice-covered position 19 of the transmission line 20, and the insulating rod deicing module collides with the ice-covered position 19 on the transmission line 20 when the drone 1 is flying horizontally, so as to separate the ice-covered position 19 on the transmission line;

[0055] Optionally, the insulating rod deicing module includes a deicing unit and a connecting unit, the deicing unit is used to contact the ice 19 on the transmission line, and the connecting unit is connected to the extension rope retracting module;

[0056] The deicing unit includes an insulating rod 3 and a counterweight. The insulating rod 3 is used to contact the transmission line 20 to impact the ice 19 on the transmission line 20. The counterweight is arranged on the insulating rod 3 to counterweight the main body of the insulating rod 3. The counterweight is preferably made of insulating material, such as a heavy object wrapped with insulating material or glass or ceramic material.

[0057] Optionally, the extension cord retracting module includes an extension cord 2, a carabiner 5, a retracting unit and a buffer unit, the retracting unit retracts and releases the extension cord 2, one end of the extension cord 2 is connected to the retracting unit, and the other end of the extension cord 2 is connected to the connecting unit through the carabiner 5 to pull the deicing unit, and the buffer unit buffers the traction of the extension cord 2 to alleviate the inertial pulling of the deicing unit;

[0058] The retractable unit comprises a retractable seat 13, a retractable rod 17, a retractable drive mechanism 16, an identification probe, and at least two positioning marks. The retractable seat 13 is provided with a retractable cavity for placing the retractable rod 17 and the retractable drive mechanism 16. One end of the retractable rod 17 is hinged to the inner wall of the retractable cavity, and the other end of the retractable rod 17 is driven and connected to the retractable drive mechanism 16 to form a retractable portion. The identification probe is arranged on the inner wall of the retractable cavity and is arranged toward the movement path of the extension cord 2. At least two positioning marks are distributed at equal intervals along the length direction of the extension cord 2.

[0059] One end of the extension cord 2 is bound to the rod body of the retractable rod 17 (the other end of the extension cord 2 is connected to the insulating rod 3), and under the drive of the retractable driving mechanism 16, the extension cord 2 is wound around the retractable rod 17, thereby realizing the retractable recovery of the extension cord 2;

[0060] In this embodiment, when it is necessary to remove the ice 19 on the transmission line 20, the central processor controls the retractable drive mechanism 16 to release the extension rope 2 to a set length, and then controls the drone 1 to move in parallel through the central processor, and drives the insulating rod 3 to hit the ice 19, so that the ice 19 on the transmission line 20 is separated after the impact, thereby achieving the purpose of removing the ice 19, wherein the release length of the extension rope 2 is determined according to the positioning marks of each length position collected by the identification probe, and if the length of the released extension rope 2 does not meet the required length, the central processor controls the retractable drive mechanism 16 to continue to release the extension rope 2 to reach the required length, and when the required length is reached, the central processor controls the retractable drive mechanism 16 to stop driving the retractable rod 17 and maintain it at the required length;

[0061] In addition, during this process, the buffer unit continuously buffers and limits the position of the extension rope 2 to prevent the large inertia of the insulating rod 3 from affecting the flight safety of the drone 1;

[0062] Optionally, the buffer unit includes a buffer airbag 12, an air pump 15 and an electronic deflation valve 14, wherein the air pump 15 inflates the buffer airbag 12 so that the buffer airbag 12 is inflated and bulged, and the electronic deflation valve 14 is arranged on the buffer airbag 12 and communicated with the inner wall of the buffer airbag 12;

[0063] The cushioning airbag 12 is configured as a ring structure and is nested on the outer periphery of the extension cord 2 to cushion the pulling of the extension cord 2;

[0064] In the process of buffering and limiting the extension rope 2, the buffer airbag 12 is inflated and expanded to slow down the shaking of the extension rope 2, thereby improving the stability and reliability of the insulating rod 3 impacting the ice 19 of the transmission line 20;

[0065] When the limit buffering of the extension cord 2 is finished, the gas in the buffer airbag 12 is discharged through the electronic deflation valve 14, so that the buffer airbag 12 changes from a bulging state to a deflated state, and the limit state of the extension cord 2 is released;

[0066] Optionally, the insulating rod 3 includes a main rod 9 and a protective sleeve, wherein the protective sleeve is nested in the outer periphery of the main rod 9 and extends along the length direction of the main rod 9;

[0067] Optionally, the material of the protective cover includes rubber and a soft material with insulation properties;

[0068] The main body rod 9 is configured as a hollow barrel structure;

[0069] Optionally, the connection unit includes a connection seat 8, a connection hole 10 and a limiting member, the connection seat 8 is arranged in the insulating rod 3 and supports the limiting member, the connection hole 10 is arranged on the connection seat 8 and passes through the connection seat 8, and the limiting member is arranged on the connection seat 8 and limits the shaking of the insulating rod 3;

[0070] The limiting component includes a limiting hydraulic rod 11 and a contact piece. One end of the limiting hydraulic rod 11 is connected to the contact piece to form a limiting portion. The limiting portion is symmetrically arranged on the peripheral side of the extension rope 2 and limits and buffers the shaking of the extension rope 2 and the main rod 9. The other end of the limiting hydraulic rod 11 is connected to the inner wall of the main rod 9. The contact piece is made of silicone rubber or rubber so that when the limiting hydraulic rod 11 is in motion, it can contact the outer periphery of the extension rope 2 to achieve the limiting of the extension rope 2.

[0071] In this embodiment, the cooperation between the insulating rod deicing module and the extension rope retracting module makes it possible to efficiently handle the ice 19 on the transmission line 20, ensuring that the entire system has the advantages of high safety, strong flexibility and high efficiency;

[0072] Optionally, the visual acquisition module 4 includes a visual acquisition unit and an analysis unit, the visual acquisition unit acquires image data of ice coating 19 on the transmission line 20, and the analysis unit analyzes the state of the transmission line 20 according to the image data of ice coating 19;

[0073] The visual acquisition unit includes a visual acquisition probe and a data storage device, wherein the data storage device stores the ice-covered image data 19 acquired by the visual acquisition probe, and the visual acquisition probe acquires the ice-covered image data 19 on the transmission line 20;

[0074] The visual acquisition module 4 is arranged on the drone 1 and moves along with the movement of the drone 1;

[0075] Optionally, the analysis unit obtains and processes the ice coverage image data 19 acquired by the visual acquisition unit, wherein the processing includes edge detection, region segmentation and feature extraction, and calculates the ice coverage index I according to the following formula: icing :

[0076] I icing =ln(1+E)·ln(1+T);

[0077] Wherein, E is the ice-covered area expansion rate in the ice-covered image data within a preset time interval, and T is the texture change index in the ice-covered image data within a preset time interval;

[0078] If the ice coverage index I icing When the handling threshold Handle set by the system is exceeded, an early warning prompt is issued, and the extension rope retracting module and the insulating rod deicing module are triggered to handle the ice on the transmission line 20;

[0079] If the ice coverage index I cing If the handling threshold Handle set by the system is exceeded, it means that the ice coverage on the transmission line 20 is lower than the handling condition set by the system, and no immediate handling is required, but continuous attention should be paid;

[0080] The processing threshold Handle set by the system is set by the system or the administrator according to the actual situation. This is a technical means well known to those skilled in the art. Those skilled in the art can refer to relevant technical manuals to learn about the technology, so it will not be described in detail in this embodiment.

[0081] The ice-covered area expansion rate E in the ice-covered image data within a preset time interval is calculated according to the following formula:

[0082]

[0083] In the formula, △t is the continuous time interval, A t A represents the relative ice coverage area at time t; t-△t Represents the relative ice coverage area at time t-△t

[0084] In this embodiment, the ice-covered image data within the preset time interval needs to be processed in the chassis first, and the ice-covered situation is analyzed by intuitive features. The ice-covered image data within the preset time interval is processed according to the following steps, including:

[0085] S1. Image preprocessing

[0086] Grayscale: First, if the original image is in color, it needs to be converted to a grayscale image; this is because grayscale images simplify subsequent processing steps and reduce computational complexity;

[0087] Gray(x,y)=0.299·R(x,y)+0.587·G(x,y)+0.144·B(x,y);

[0088] Wherein, R(x,y): represents the intensity value of the red channel at the pixel point with coordinates (x,y); its value usually ranges from 0 to 255, where 0 represents no intensity on the channel (no red light at all), and 255 represents the maximum intensity on the channel (pure red), G(x,y): represents the intensity value of the green channel at the pixel point with coordinates (x,y); its value range is also 0 to 255, similar to the red channel, where 0 represents no green light, and 255 represents the maximum green light intensity (pure green), B(x,y): represents the intensity value of the blue channel at the pixel point with coordinates (x,y); similarly, its value range is 0 to 255, where 0 represents no blue light, and 255 represents the maximum blue light intensity (pure blue);

[0089] Filter denoising: Apply filters (such as Gaussian filters) to remove image noise and smooth the image;

[0090] S2. Binarization

[0091] Binarization: By setting a threshold, the grayscale image is converted into a binary image (i.e., each pixel in the image is either black or white); this step is to make it easier to distinguish between ice-covered areas and non-ice-covered areas;

[0092] S3. Ice-covered area extraction

[0093] Region marking: In the binary image, image segmentation techniques (such as connected region marking) are used to identify and mark different connected regions; in actual situations, ice-covered regions can usually be identified based on features such as brightness, size or shape;

[0094] For binarization, the goal is to convert the image into an image containing only two values ​​(usually 0 and 1 or 0 and 255), which helps to simplify further analysis of the image, such as the calculation of ice cover area. In this process, a threshold is set, and then the value of each pixel in the binary image is determined based on the comparison result between the gray value of each pixel and the threshold. The specific calculation formula is as follows:

[0095]

[0096] Wherein, Binary(x,y) represents the pixel value of the binary image at the position (x,y), Gray(x,y) is the pixel value of the original grayscale image at the position (x,y), and threshold is the threshold of the binary image, which is a predetermined grayscale value, and its value is set by the system based on experience. This is a technical means well known to those skilled in the art, and therefore, it will not be described in detail in this embodiment;

[0097] Pixel values ​​greater than this threshold are marked as 1 (or 255, depending on the specific implementation), indicating that the pixel belongs to a specific feature, such as an ice-covered area;

[0098] Pixels with values ​​less than or equal to the threshold are marked as 0, indicating that the pixel does not belong to the feature;

[0099] In this way, the original grayscale image is converted into a binary image, which contains only two values, greatly simplifying the subsequent process of identifying ice-covered areas and calculating ice-covered areas;

[0100] S4, relative ice cover area A t Area calculation

[0101] Calculate the relative ice cover area A t Area: For each connected area marked as ice-covered area in the binary image, calculate its relative ice-covered area A t :

[0102] A t =N ice ;

[0103] Where N ice is the number of pixels in the ice-covered area after binarization;

[0104] In addition, in this embodiment, a calculation step for calculating a grayscale histogram is provided:

[0105] S11. Calculate grayscale histogram: For each frame of image, calculate its grayscale histogram; assuming that the grayscale range of the image is 0 to 255 (taking the standard 8 as an example), the histogram H t (i) represents the number of pixels of gray level i in the image at time t;

[0106] S12, histogram difference: calculate the grayscale histogram difference between two consecutive frames of images; the difference can be quantified in a variety of ways, that is, calculate the sum of the differences:

[0107]

[0108] Among them, D t Represents the histogram difference between time t and t-Δt, histogram H t (i) represents the number of pixels of gray level i in the image at time t, H t-Δt (i) represents the number of pixels of gray level i in the image at time t-Δt;

[0109] S13, texture change index: the histogram difference D t Used as a texture change index T in the ice-covered image data within a preset time interval:

[0110] T=D t ;

[0111] Wherein, T is a texture change index in the ice-covered image data within a preset time interval;

[0112] In this embodiment, through the cooperation of the visual acquisition unit and the analysis unit, the ice coating state on the transmission line 20 can be analyzed, and the de-icing strategy can be actively deployed to improve the accuracy and efficiency of the system de-icing;

[0113] Optionally, the drone control module includes a posture control unit and a posture acquisition unit, the posture acquisition unit acquires the real-time posture of the drone, the posture control unit evaluates the posture of the drone according to the real-time posture data acquired by the posture acquisition unit to form an evaluation result, and controls the posture of the drone according to the evaluation result;

[0114] The attitude acquisition unit includes a gyroscope, an accelerometer, a magnetometer and a barometer. The gyroscope measures the angular velocity of the drone around the pitch axis, the roll axis and the yaw axis. The accelerometer measures the acceleration of the drone in the three spatial dimensions of attitude change. The magnetometer is used to detect changes in the geomagnetic field and provide a direction reference for the drone. The barometer measures the surrounding atmospheric pressure to help determine the relative height of the drone.

[0115] The attitude control unit uses the real-time position of the UAV as the coordinate origin to establish a spatial coordinate system xyz, obtains the real-time attitude data of the UAV collected by the attitude acquisition unit, and calculates the flight index Fly according to the following formula:

[0116]

[0117] In the formula, Represents the modulus of the angular velocity vector of the drone around its three axes (pitch, roll, yaw), reflecting the stability of the drone's rotational motion. It represents the modulus of the acceleration vector of the drone in three spatial dimensions, reflecting the stability of the drone's linear motion; dh(t) / dt is the altitude change rate, which is equal to the altitude change rate obtained by mapping the atmospheric pressure measured by the barometer within time t (that is, in a short period of time, the change in air pressure is ΔP and the corresponding altitude change is Δh, then the altitude change rate can be approximated as: By monitoring the pressure change ΔP over a period of time and using the Barot formula to calculate the corresponding altitude change Δh, the altitude change rate can be estimated. 0 and t f are the start and end time of the de-icing task, and they satisfy: t = tf -t 0 ;

[0118] Among them, the modulus of the angular velocity vector of the drone around its three axes (pitch, roll, yaw) Calculate according to the following formula:

[0119]

[0120] In the formula, ω roll (t) represents the angular velocity of the drone around the roll axis at time t, and its value is equal to the angular velocity of the drone around the roll axis detected by the gyroscope within time t, ω pitch (t) represents the angular velocity of the drone around the pitch axis at time t, and its value is equal to the angular velocity of the drone around the pitch axis detected by the gyroscope within time t, ω yaw (t) represents the angular velocity of the UAV around the yaw axis at time t, and its value is equal to the angular velocity of the UAV around the yaw axis detected by the gyroscope within time t;

[0121] The modulus of the drone's acceleration vector in three spatial dimensions Calculate according to the following formula:

[0122]

[0123] In the formula, a x (t) represents the acceleration of the drone in the X-axis direction at time t, a y (t) represents the acceleration of the drone in the Y-axis direction at time t, a z (t) represents the acceleration of the drone in the Z-axis direction (usually perpendicular to the ground) at time t;

[0124] like Figure 8 As shown, in this embodiment, the direction in which the UAV vertically impacts the power transmission line 20 is set as the X-axis direction;

[0125] If the flight index Fly exceeds the monitoring threshold Range (i.e., Fly>Range), it indicates that the drone is in an unstable state, and the control of the drone's attitude is triggered;

[0126] This is an attitude disturbance caused by external environmental influences (such as strong winds), control system problems, or mission execution (such as impact de-icing). The flight index that exceeds the threshold prompts the operator or the automatic control system to take action;

[0127] If the value of the flight index Fly is within the monitoring threshold Range (i.e., Fly≤Range), the UAV is considered to be in a stable and safe flight state;

[0128] This means that the attitude changes and altitude changes of the drone are within acceptable ranges, and the drone's control system can effectively maintain flight stability;

[0129] The monitoring threshold Range set by the system is set by the system or the manager / operator according to the actual situation of the actual inspection and deicing location. This is a technical means well known to those skilled in the art. Those skilled in the art can refer to relevant technical manuals to learn about the technology, so it will not be described in detail in this embodiment.

[0130] Through the cooperation between the attitude control unit and the attitude acquisition unit, the attitude of the UAV can be acquired, and the flight attitude can be controlled according to the real-time attitude of the UAV, so as to ensure that the whole system has the advantages of high stability, good flexibility and high intelligence during the deicing process;

[0131] In this embodiment, the control of the drone by the attitude control unit includes:

[0132] 1) The rotation speed of the drone is adjusted;

[0133] 2) adjusting the tilt angle of the drone;

[0134] In the process of impacting the ice, in order to compensate for the attitude change caused by the impact, the attitude control unit needs to control the motor of the UAV (four-rotor as an example, i=1...4), specifically, the adjusted speed RPM of the motor of each rotor adjusted_i Calculate according to the following formula:

[0135] RPM adjusted_i =BPM base_i +ΔRPM roll +ΔRPM pitch +ΔRPM yaw , i=1,2,3,4;

[0136] Where RPM base_i is the base speed, ΔRPM roll The amount of adjustment to the motor speed to achieve roll control, ΔRPM pitch The adjustment amount of the motor speed to achieve pitch control, ΔRPM yaw The amount of adjustment to the motor speed in order to achieve yaw control. For each motor, the sign and size of these adjustments depend on the direction and magnitude of the attitude change to be achieved.

[0137] The motor speed adjustment ΔRPM to achieve roll control roll , calculated according to the following formula:

[0138]

[0139] In the formula, K p , K i , K d They are the proportional, integral, and derivative gain parameters of the PID controller, e roll is the attitude deviation of the UAV in the rolling direction, that is, the difference between the expected attitude and the actual attitude, de roll / dt is the time derivative of the attitude deviation in the rolling direction of the UAV, which represents the rate of change of the attitude deviation in the rolling direction of the UAV, ∫(e roll dt) refers to the attitude deviation in the rolling direction e roll (t) The accumulation over time t represents the total accumulated roll deviation since the start of control;

[0140] The adjustment amount of motor speed ΔRPM to achieve pitch control pitch , calculated according to the following formula:

[0141]

[0142] In the formula, K p , K i , K d They are the proportional, integral, and derivative gain parameters of the PID controller, e pitch is the attitude deviation of the drone in the pitch direction, that is, the difference between the expected attitude and the actual attitude, de pitch / dt is the time derivative of the attitude deviation in the pitch direction of the UAV, which represents the rate of change of the attitude deviation in the pitch direction of the UAV, ∫(e pitch dt) refers to the attitude deviation in the pitch direction e pitch (t) The accumulation over time t represents the total accumulated pitch deviation since the start of control;

[0143] Adjustment of motor speed ΔRPM to achieve yaw control yaw , calculated according to the following formula:

[0144]

[0145] In the formula, K p , K i , K d They are the proportional, integral, and derivative gain parameters of the PID controller, eyaw is the attitude deviation of the UAV in the yaw direction, that is, the difference between the expected attitude and the actual attitude, de yaw / dt is the time derivative of the attitude deviation of the UAV in the yaw direction, which represents the change rate of the attitude deviation in the yaw direction of the UAV, ∫(e yaw dt) refers to the attitude deviation in the yaw direction e yaw (t) The accumulation over time t represents the total accumulated yaw deviation since the start of control;

[0146] In addition, K p , K i , K d They are the specific determined values ​​of the proportional, integral, and derivative gain parameters of the PID controller, which can be determined based on experimental data. In this embodiment, it is set to try to use the same PID coefficient (K p , K i , K d ) as a starting point, but in more refined tuning, optimization and actual application, in order to obtain the best flight performance and stability, the PID coefficients for pitch, yaw and roll control are often adjusted individually according to specific needs; specifically:

[0147] K p : Larger K p A high value can increase the system response speed, but too high a value may cause overshoot and oscillation;

[0148] K i :Increase K i It helps to eliminate steady-state errors, but too high a value may cause the system to react too slowly and overshoot;

[0149] K d :K d It helps to improve the response speed and stability of the system and reduce overshoot, but setting it too high may make the system too sensitive to noise and cause instability;

[0150] In this embodiment, K p , K i , K d The specific values ​​of the proportional, integral, and derivative gain parameters of the PID controller provide a range of values:

[0151] K p : 0.8 to 1.2 as a starting value; this range is enough to produce a fast response, but not so extreme that it causes system instability;

[0152] K i : 0.1 to 0.4, set according to the system's sensitivity to steady-state error and the need for adjustment speed; keep it low at the beginning to avoid integral saturation and too slow response;

[0153] K d : 0.05 to 0.2 to enhance system stability and reduce overshoot; the derivative term is sensitive to high-frequency noise, so it should be used with caution in noisy systems;

[0154] At the same time, in this embodiment, a step of determining a gain parameter is also provided:

[0155] S21, fixed K i and K d , adjust K p :First fix K i =0 and K d =0, then gradually increase K p , until the system responds at an appropriate speed but does not introduce unacceptable oscillations; this step determines an approximate K p value;

[0156] S22. Find the right K p After that, a small amount of K i , increase until the system can eliminate the steady-state error without causing significant overshoot or oscillation (this value is determined as K i value);

[0157] S23. Finally, increase K d To reduce any overshoot or oscillation, making the system response smoother (and this value is determined as K d value), usually, K d The introduction of will make the system more sensitive to noise, so it needs to be carefully adjusted;

[0158] Of course, in addition to the above-mentioned determination method, those skilled in the art may also set it according to the actual application scenario and experimental data, and input or set it from the human-machine interaction interface of the drone. This is a technical means well known to those skilled in the art, and those skilled in the art may consult the relevant technical manual to learn about the technology, so it will not be described one by one in this embodiment;

[0159] Specific motor speed adjustment strategies include:

[0160] Roll: Increase the speed of one motor (such as 1 and 3) while reducing the speed of the other side (such as 2 and 4); ΔRPMroll is positive for motors 1 and 3 and negative for motors 2 and 4;

[0161] Pitch: Increase the speed of the front or rear motor while reducing the speed of the other end;

[0162] ΔRPM pitch It is positive for the front motors (such as 1 and 2) and negative for the rear motors (such as 3 and 4);

[0163] Yaw: Increase the speed of the motors rotating in the same direction (such as 1 and 3 rotating clockwise), while reducing the speed of the motors rotating in the opposite direction (such as 2 and 4 rotating counterclockwise);

[0164] ΔRPM yaw It is positive for a motor rotating clockwise and negative for a motor rotating counterclockwise;

[0165] In addition, the tilt angle of the drone is adjusted mainly by the following methods:

[0166] Pitch: Increase or decrease the speed difference between the front and rear motors (assuming that No. 1 and No. 2 are the front motors, and No. 3 and No. 4 are the rear motors) to control the pitch. If the target position is in front of the drone (i.e. Δh>0), it is necessary to increase the speed of the front motor and reduce the speed of the rear motor to make the drone tilt forward.

[0167] Among them, Δh is the vertical distance that the drone needs to adjust in order to return to a stable flight track or altitude (its value is preset by the system based on experience); for example, if the drone descends due to a collision, Δh is a positive value, indicating that it needs to rise to a certain height to return to the original flight altitude or track, and therefore needs to be set in advance as a vertical distance to compensate for the posture change caused by the collision;

[0168] In this embodiment, before performing the de-icing task, a reasonable Δh value is preset based on the task planning and possible flight variables (such as impact reaction force); this value is to prevent possible adverse effects during the impact, ensure that the UAV can operate stably and effectively complete the task, and ensure that the UAV performs the de-icing operation at the most appropriate attitude and altitude, while minimizing the impact of the impact on flight stability;

[0169] Roll: Increase or decrease the speed difference between the left and right motors to control the roll. If the target is on one side of the drone (for example, the right side), increase the speed of the left motor and decrease the speed of the right motor to make the drone tilt to the right.

[0170] The attitude control unit determines the Δh and the adjusted speed RPM adjusted_i Transmitted to the motor controller of the drone to adjust the speed of each motor in real time;

[0171] For pitch and roll adjustments, this is usually achieved by changing the relative speeds of the front and rear or left and right motors; for yaw adjustments, this is achieved by changing the relative speeds of the diagonal motors;

[0172] Once the motor adjustment is completed, the attitude acquisition unit continues to monitor the real-time attitude of the drone and generates new attitude data;

[0173] These new data are sent back to the attitude control unit to form a closed-loop feedback control system; the system continuously evaluates and adjusts to ensure the stability and accuracy of the drone's attitude;

[0174] In this embodiment, assuming that the drone has a roll deviation to the left due to external interference, the attitude control unit will:

[0175] receiving roll deviation information provided by an attitude acquisition unit;

[0176] Calculate the motor adjustment required to correct the deviation, such as increasing the speed of the right motor and decreasing the speed of the left motor;

[0177] Send control commands to adjust the motor speed;

[0178] Monitor the real-time posture data after adjustment to confirm whether the deviation has been corrected;

[0179] Through the above process, the attitude control unit of the UAV can effectively respond to various flight situations, realize precise control of flight attitude, and ensure the smooth completion of flight missions;

[0180] Through the mutual cooperation between the UAV control module and the insulating rod deicing module, the flight control safety of the UAV 1 is guaranteed when the UAV 1 carries the insulating rod deicing module to hit the ice cover 19, so that the entire system has the advantages of high safety, strong deicing flexibility, no risk of environmental pollution and low cost.

[0181] Embodiment 2: This embodiment should be understood to include all the features of any of the above embodiments, and further improve upon them. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, the intelligent deicing system further includes an auxiliary ice separation module 18, and the auxiliary ice separation module 18 assists in separating the ice 19 on the transmission line 20;

[0182] The auxiliary deicing module 18 is arranged on the insulating rod deicing module and contacts the ice 19 on the transmission line 20 during the auxiliary deicing process (such as Fig.10 In the illustration shown, it is perpendicular to the paper surface), so that the ice coating 19 can be detached;

[0183] At the same time, in this embodiment, the auxiliary ice separation module 18 can remove the ice 19 on the transmission line 20 alone, and can also be used in conjunction with the insulating rod deicing module to improve the efficiency of the entire system in removing the ice 19 on the transmission line 20;

[0184] like Fig.10 As shown, when the auxiliary ice separation module 18 is used alone, it is necessary to translate the auxiliary ice separation module 18 along the laying direction of the power transmission line 20 so that the auxiliary ice separation module can contact the ice 19 on the power transmission line 20, so that the ice 19 is separated from the power transmission cable under the action of the auxiliary ice separation module 18;

[0185] The auxiliary ice separation module 18 includes an ultrasonic transmitting unit, an energy supply unit, and an ultrasonic evaluation unit. The ultrasonic transmitting unit assists in separating the ice 19 on the transmission line 20. The energy supply unit is used to supply power to the ultrasonic transmitting unit. The ultrasonic evaluation unit evaluates the state of the ice 19 according to the image data of the ice 19 of the visual acquisition module 4 to form an evaluation result, so that the ultrasonic transmitting unit triggers the auxiliary removal of the ice 19 according to the evaluation result; the evaluation may be based on whether the area and thickness of the ice reach a preset value, and the evaluation result is the result of whether the ice on the transmission line needs to be processed, that is, when the area and / or thickness of the ice is greater than the corresponding preset value, the ice is processed;

[0186] The ultrasonic emitting unit comprises a support base and an ultrasonic generator, wherein the support base is used to support the ultrasonic generator, and the ultrasonic emitter is used to emit ultrasonic waves (such as Fig.10 As shown in the gradient color in the figure), so that the ice coating 19 can produce cracks and destroy the adhesion between the ice and the surface of the transmission line, and finally cause the ice layer to detach and fall off, wherein the ultrasonic generator is arranged on the support seat to form a generating part, and the generating part is configured to be arranged on the body of the insulating rod 3;

[0187] The energy supply unit includes a battery pack and a placement cavity for placing the battery pack, the battery pack is used to supply power to the ultrasonic generator, and the battery pack is electrically connected to the ultrasonic generator through a wire;

[0188] Wherein, the placement cavity is adapted to the battery pack, and the battery pack can be detachably snap-fitted and placed in the placement cavity;

[0189] At the same time, it is preferred to use a high-capacity battery pack;

[0190] The ultrasonic evaluation unit obtains the relative ice coverage area A at time t t , and calculate the energy index energy according to the following formula:

[0191] energy=A t f(T′);

[0192] In the formula, A t is the relative ice coverage area at time t, and f(T') is the temperature adjustment function, which is calculated according to the following formula:

[0193]

[0194] Where T' is the ambient temperature in degrees Celsius (°C), T freeze is the freezing point of ice, which is 0°C, T ref is the reference temperature, which may be set to 5°C, for example, as the temperature point at which ultrasonic deicing starts to become more effective, T freeze is the freezing point of ice, which is 0°C. δ is a fixed adjustment value used to adjust the energy demand when approaching or exceeding the reference temperature and the freezing point. The value is usually between 0 and 1. The specific value of δ should be based on actual operating experience, previous experimental data, or specific equipment (ultrasonic transmitting unit) performance. For example, if experiments show that the efficiency of ultrasonic deicing decreases significantly when the temperature is much lower than the freezing point, a higher δ value (such as 0.2 or 0.3) may need to be selected to reflect this situation.

[0195] When the ambient temperature is close to the freezing point of ice (0°C), the ice is in a state that is easy to de-ice because the ice begins to melt and its structure is more easily destroyed; in this case, the value of δ may be lower, reflecting that less additional energy is required for de-icing when it is close to the freezing point;

[0196] In contrast, when the ambient temperature is well below freezing, the ice is harder and more stable, and ultrasonic deicing may require more energy; therefore, the value of δ should be higher to reflect the additional energy required to remove the ice under these low temperature conditions;

[0197] Under mild winter conditions (e.g., temperatures close to but below 0°C), a lower δ value (e.g., 0.1) might be chosen;

[0198] In extremely cold conditions (e.g., temperatures well below 0°C), the value of δ may need to be set higher (e.g., 0.3 or higher) to ensure sufficient energy to remove solid ice layers;

[0199] By setting the adjustment value δ for specific usage scenarios, the energy output of the ultrasonic deicing system can be managed more effectively to ensure effective deicing under different environmental conditions.

[0200] The ultrasonic evaluation unit obtains the energy index energy and calculates the transmission power P required by the ultrasonic generator according to the following formula:

[0201]

[0202] Where t is the scheduled or estimated time required to remove ice, and its value is set by the system, and E required The total energy required to remove the current ice cover satisfies:

[0203] E required = k·energy;

[0204] Wherein, energy is the energy index, and k is a proportionality coefficient determined according to historical data or experiments. In this embodiment, a specific step for determining its value is provided:

[0205] S31. Data Collection

[0206] First, sufficient data needs to be collected, including the operation data of ultrasonic de-icing equipment under different icing conditions. This data should include:

[0207] Type, thickness and area of ​​ice cover.

[0208] Operating environment conditions, such as temperature, humidity, etc.

[0209] The transmitting power of the ultrasonic device.

[0210] The time required to successfully remove the ice.

[0211] If available, directly measured or calculated energy required to remove a specific ice cover.

[0212] S32. Calculation of energy index

[0213] For each set of data, a corresponding energy index energy is calculated, wherein the energy index energy is calculated based on the ice-covered area, thickness and operating conditions;

[0214] S33. Estimation of actual energy demand

[0215] For each operation, estimate the actual energy requirement E actual :

[0216] E actual =P operational ×toperation ;

[0217] Where P operational is the transmit power during operation, t operation It's operation time.

[0218] S34. Determine the proportionality coefficient k

[0219] Using the collected data set, for each instance, we have the energy index energy and the corresponding actual energy demand E actual The proportionality factor k was fitted from these data by the least squares method to best fit the following relationship: E actual =k×energy, thus obtaining a certain proportionality coefficient k;

[0220] According to the above steps S31-S34, the final proportionality coefficient k is obtained;

[0221] When the ultrasonic evaluation unit determines the power of the ultrasonic generator, it is transmitted to the central processor, and the ultrasonic generator is controlled by the central processor so that the ultrasonic generator can be accurately controlled;

[0222] Through the mutual cooperation between the auxiliary ice separation module and the insulating rod deicing module, the deicing efficiency on the transmission line 20 is made more efficient, and the entire system is ensured to have the advantages of flexible deicing strategy, high deicing efficiency, low environmental pollution risk and high intelligence.

[0223] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. An intelligent deicing system based on drone vision, the intelligent deicing system comprising a server and a drone, characterized in that: The intelligent deicing system also includes a drone control module, a visual acquisition module, an insulating rod deicing module, and an extension rope retracting module. The server is respectively connected to the drone, the drone control module, the visual acquisition module, the insulating rod deicing module, and the extension rope retracting module in communication; The UAV control module controls the flight route and posture of the UAV, the visual acquisition module collects ice image data on the transmission line, and analyzes the status of the transmission line according to the collected ice image data, the extension rope retracting module is loaded on the UAV, and the extension rope retracting module is used to adjust the position of the insulating rod deicing module so that the insulating rod deicing module can hit the ice on the transmission line, and the insulating rod deicing module is used to remove the ice on the transmission line; Among them, the extension rope retracting module pulls the insulating rod deicing module so that the insulating rod deicing module is suspended in the air and is flush with the ice-covered position on the transmission line. When the UAV is in horizontal flight, the insulating rod deicing module is collided with the ice-covered position on the transmission line to separate the ice on the transmission line.

2. The intelligent deicing system based on drone vision according to claim 1 is characterized in that: The insulating rod deicing module comprises a deicing unit and a connecting unit, wherein the deicing unit is used to contact the ice on the transmission line, and the connecting unit is used to connect with the extension rope retracting module; Wherein, the deicing unit includes an insulating rod and a counterweight, wherein the insulating rod is used to contact the transmission line to impact the ice on the transmission line, and the counterweight is arranged on the insulating rod to counterweight the insulating rod body.

3. The intelligent deicing system based on drone vision according to claim 2 is characterized in that: The visual acquisition module includes a visual acquisition unit and an analysis unit, wherein the visual acquisition unit acquires ice-covered image data on the transmission line, and the analysis unit analyzes the state of the transmission line according to the ice-covered image data to obtain an analysis result of whether the ice-covered transmission line needs to be processed; The visual acquisition unit includes a visual acquisition probe and a data storage device, wherein the data storage device stores the ice image data acquired by the visual acquisition probe, and the visual acquisition probe acquires the ice image data on the transmission line; The visual acquisition module is arranged on the UAV.

4. The intelligent deicing system based on drone vision according to claim 3 is characterized in that: The analysis unit obtains the ice image data collected by the visual acquisition unit and processes it, wherein the processing includes edge detection, region segmentation and feature extraction, and calculates the ice index I according to the following formula: icing : I icing =ln(1+E)·ln(1+T); Wherein, E is the ice-covered area expansion rate in the ice-covered image data within a preset time interval, and T is the texture change index in the ice-covered image data within a preset time interval; If the ice coverage index I icing When the handling threshold Handle set by the system is exceeded, an early warning prompt is issued, which triggers the extension rope retracting module and the insulating rod deicing module to handle the ice on the transmission line.

5. The intelligent deicing system based on drone vision according to claim 4 is characterized in that: The UAV control module includes a posture acquisition unit and a posture control unit. The posture acquisition unit acquires the real-time posture of the UAV. The posture control unit evaluates the posture of the UAV according to the real-time posture data acquired by the posture acquisition unit to form an evaluation result, and controls the posture of the UAV according to the evaluation result. Among them, the attitude acquisition unit includes a gyroscope, an accelerometer, a magnetometer and a barometer. The gyroscope measures the angular velocity of the drone around the pitch axis, roll axis and yaw axis. The accelerometer measures the acceleration of the drone in the three spatial dimensions of attitude change. The magnetometer is used to detect changes in the geomagnetic field and provide a direction reference for the drone. The barometer measures the surrounding atmospheric pressure to help determine the relative height of the drone.

6. The intelligent deicing system based on drone vision according to claim 5 is characterized in that: The extension cord retracting module includes an extension cord, a carabiner, a retracting unit and a buffer unit. The retracting unit retracts and releases the extension cord. One end of the extension cord is connected to the retracting unit, and the other end of the extension cord is connected to the connecting unit through the carabiner to pull the deicing unit. The buffer unit buffers the traction of the extension cord to alleviate the inertial pulling of the deicing unit.

7. The intelligent deicing system based on drone vision according to claim 6 is characterized in that: The connecting unit includes a connecting seat, a connecting hole and a limiting member. The connecting seat is arranged in the insulating rod and supports the limiting member. The connecting hole is arranged on the connecting seat and passes through the connecting seat. The limiting member is arranged on the connecting seat and limits the shaking of the insulating rod.

8. The intelligent deicing system based on drone vision according to claim 7 is characterized in that: The insulating rod comprises a main body rod and a protective sleeve, wherein the protective sleeve is nested in the outer circumference of the main body rod and extends along the length direction of the main body rod.

9. The intelligent deicing system based on drone vision according to claim 8 is characterized in that: The buffer unit includes a buffer airbag, an air pump and an electronic deflation valve, wherein the air pump inflates the buffer airbag so that the buffer airbag is inflated and bulged, and the electronic deflation valve is arranged on the buffer airbag and communicated with the inner wall of the buffer airbag; Wherein, the buffer airbag is configured as an annular structure and is nested in the outer circumference of the extension cord to buffer the pulling of the extension cord.

10. The intelligent deicing system based on drone vision according to claim 9 is characterized in that: The material of the protective cover includes rubber and soft material with insulation.

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