Power cable snow removal equipment

Abstract

The invention relates to the technical field of cable snow removal, in particular to power cable snow removal equipment. The equipment comprises a cable snow removal module and a cable accumulated snow monitoring module, wherein the cable accumulated snow monitoring module comprises a data acquisition module and a data analysis control chip; the data analysis control chip obtains a first cable sequence in the cleaning process of the cable, determines an initial accumulated snow removing index, judges whether ice breaking operation is performed on the cable or not by using the initial accumulated snow removing index, controls the cable snow removing module to perform ice breaking operation on the current cable position if the ice breaking operation is performed, obtains a corresponding second cable sequence in the ice breaking operation process, and sends the second cable sequence to the cable snow removing module; and according to whether the updated accumulated snow removal index determined by the second cable sequence meets the ice crushing operation condition, whether the ice crushing operation on the cable is stopped is judged. The accumulated snow removing effect on the surface of the cable is judged, and the accumulated snow removing effect of the power cable snow removing equipment on the cable is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of cable snow removal, and in particular to a power cable snow removal device. Background Art

[0002] Power cables are one of the main components of power transmission and are usually installed outdoors for power transmission. When snow accumulates on the cables in winter, the weight of the snow increases the tension on the cables, which may cause problems such as cable breakage and power transmission failure. Therefore, it is necessary to remove the snow on the cables in a timely manner to reduce the weight burden of the snow on the cables and prevent the snow from affecting the power transmission efficiency.

[0003] Existing cable snow removal equipment clears snow on the cable surface by using a brush in the equipment to rotate at a fixed speed or a snow pusher to push forward at a certain speed. The environmental conditions at different locations of the cable are different, which may lead to differences in the thickness of snow on the cable surface. The snow removal equipment does not detect the snow removal effect of the cable after snow removal. The snow may not be thoroughly cleared in some areas of the cable, while other areas may be damaged by excessive friction, resulting in poor snow removal effect on the cable. Summary of the invention

[0004] In order to solve the technical problem that the snow removal equipment fails to detect the snow removal effect after snow removal on the cable, resulting in poor snow removal effect on the cable, the purpose of the present invention is to provide a power cable snow removal equipment, and the technical solution adopted is as follows: A power cable snow removal device, comprising a power cable snow removal device body, the power cable snow removal device body comprising a cable snow removal module and a cable snow accumulation monitoring module, the cable snow removal module comprising an ice crushing device, and the cable snow accumulation monitoring module comprising a data acquisition module and a data analysis control chip; The data acquisition module is connected to the signal input end of the data analysis control chip, and the signal output end of the data analysis control chip is connected to the cable snow removal module; the data acquisition module is used to collect the cable image of the cable at each moment in real time and transmit it to the data analysis control chip; The data analysis control chip receives the cable images sent by the data acquisition module to form a first cable sequence, wherein the first cable sequence is composed of cable images acquired during the process of the cable snow removal module cleaning the current cable position according to the cleaning set time period; According to the first cable sequence, an initial snow removal index is determined; according to the initial snow removal index, it is determined whether to perform ice crushing operation on the cable, and if so, the cable snow removal module is controlled to perform ice crushing operation on the current cable position, and the second cable sequence corresponding to the ice crushing operation process is obtained in real time; according to the second cable sequence obtained in real time, an updated snow removal index is determined, if the updated snow removal index meets the ice crushing operation conditions, the ice crushing operation is continued, otherwise the ice crushing operation is stopped.

[0005] Further, determining an initial snow removal index according to the first cable sequence specifically includes: determining snow thickness for each cable image in the first cable sequence; An initial snow removal index is determined based on the snow thickness of the last cable image in the first cable sequence and the difference between the snow thicknesses of adjacent cable images.

[0006] Further, the determining of the snow thickness of each cable image in the first cable sequence specifically includes: For each cable image in the first cable sequence, obtaining two analysis edge lines in the cable image; The pixel points on each analysis edge line in the cable image are arranged in sequence to obtain a pixel sequence corresponding to the analysis edge line; the concentrated value of the distance between the pixel points with the same subscript in the pixel sequences of the two analysis edge lines is used as the overall cable diameter of the cable image; Half of the difference between the overall cable diameter and a preset value of the cable diameter is used as the snow thickness of the cable image.

[0007] Further, determining the initial snow removal index according to the snow thickness of the last cable image in the first cable sequence and the difference between the snow thicknesses of adjacent cable images specifically includes: taking the mean of the difference between the snow thickness of each cable image except the last cable image in the first cable sequence and the next adjacent cable image as the thickness variation indicator; An initial snow removal index is obtained according to the snow thickness of the last cable image in the first cable sequence and the thickness change index.

[0008] Further, judging whether to perform ice crushing operation on the cable according to the initial snow removal index specifically includes: If the initial snow removal index is greater than or equal to the preset removal threshold, the cable is not subjected to ice crushing operation; if the initial snow removal index is less than the preset removal threshold, the cable is subjected to ice crushing operation.

[0009] Furthermore, the cable snow removal module is controlled to perform ice crushing operation on the current cable position, specifically including: According to the snow thickness of each cable image in the second cable sequence, the swing amplitude of the ice crushing device at the time corresponding to the cable image is controlled.

[0010] Furthermore, before the control cable snow removal module performs ice crushing operation on the current cable position, it also includes: The power cable snow removal equipment body also includes a heating device; before performing an ice crushing operation on the current cable position, the heating device is controlled to heat the current cable position.

[0011] Furthermore, the updated snow removal index satisfies the ice crushing operation condition when the updated snow removal index is greater than or equal to a preset removal threshold.

[0012] Furthermore, the power cable snow removal equipment body also includes a brush, which controls the rotation speed of the brush at the corresponding moment of the cable image based on the snow thickness of each cable image in the first cable sequence; the greater the snow thickness, the greater the rotation speed of the brush.

[0013] Further, the obtaining of two analysis edge lines in the cable image specifically includes: A grayscale image of the cable image is obtained, edge detection is performed on the grayscale image, and a curve fitting is performed on pixel points at the same position in the cable image to obtain edge pixels, and the fitted curve is used as an analysis edge line in the cable image.

[0014] The present invention has the following beneficial effects: In the present invention, a cable snow monitoring module and a cable snow removal module are deployed on the main body of the power cable snow removal device. The data acquisition module in the cable snow monitoring module can collect the cable image of the cable at each moment in real time, providing a data basis for the subsequent accurate judgment of whether to perform a snow removal operation on the cable surface. Then, the first cable sequence corresponding to the cable cleaning process is obtained through the data analysis control chip in the cable snow monitoring module, and the snow removal index used to measure the snow removal effect on the cable surface is determined; according to the snow removal effect of the cable, that is, the initial snow removal index, it is determined whether to further perform ice crushing operation on the cable. If the ice crushing operation is performed, the second cable sequence in the ice crushing process is obtained in real time, providing a data basis for analyzing the snow removal effect on the cable surface during the ice crushing process; according to the second cable sequence, the updated snow removal index is determined to reflect the snow removal effect of the cable during the ice crushing process, and it is used to determine whether to perform the ice breaking operation, effectively improving the snow removal effect and snow removal efficiency of the entire cable surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 A structural diagram of a power cable snow removal device provided by one embodiment of the present invention; Figure 2 A flowchart of a method for obtaining an initial snow removal index provided by an embodiment of the present invention; Figure 1 The numbers in it are: 1. cable to be snow-removed; 2. first connecting cable; 3. second connecting cable; 4. third connecting cable; 5. fourth connecting cable; 6. first counterweight module; 7. second counterweight module; 8. third counterweight module; 9. fourth counterweight module; 10. first brush; 11. second brush; 12. first shaft; 13. second shaft; 14. first transmission motor; 15. second transmission motor; 16. first front drive wheel; 17. second front drive wheel; 18. third front drive wheel; 19. bracket; 20. lifting ring; 21. first rear drive wheel; 22. second rear drive wheel; 23. third rear drive wheel; 24. drive motor; 25. ice crushing device; 26. third shaft; 27. second monitoring camera; 28. shell of cable snow-removing equipment; 29. ​​heating device; 30. first monitoring camera. DETAILED DESCRIPTION

[0017] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation, structure, features and effects of a power cable snow removal device proposed according to the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0018] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0019] An electric cable snow removal device provided in an embodiment of the present invention comprises an electric cable snow removal device body, on which a cable snow accumulation monitoring module and a cable snow removal module are installed, and the cable snow accumulation monitoring module is used to detect and analyze the snow accumulation state on the cable surface, so the cable snow accumulation monitoring module comprises a data acquisition module and a data analysis control chip. Among them, the data acquisition module is connected to the data analysis control chip, and the data analysis control chip is used for data processing and machine control, and the chip type is FPGA, which receives information from the data acquisition module and sends control instructions to the cable snow removal module.

[0020] The specific scheme of the power cable snow removal equipment provided by the present invention is described in detail below with reference to the accompanying drawings.

[0021] See also Figure 1 , which shows a structural diagram of a power cable snow removal device provided by an embodiment of the present invention, the snow removal device includes a power cable snow removal device body, and the power cable snow removal device body includes: a cable to be snow removed 1; a first connecting cable 2; a second connecting cable 3; a third connecting cable 4; a fourth connecting cable 5; a first counterweight module 6; a second counterweight module 7; a third counterweight module 8; a fourth counterweight module 9; a first brush 10; a second brush 11; a first shaft 12; a second shaft 13; a first transmission motor 14; a second transmission motor 15; a first front drive wheel 16; a second front drive wheel 17; a third front drive wheel 18; a bracket 19; a lifting ring 20; a first rear drive wheel 21; a second rear drive wheel 22; a third rear drive wheel 23; a drive motor 24; an ice crushing device 25; a third shaft 26; a second monitoring camera 27; a housing 28 of the cable snow removal device; a heating device 29; and a first monitoring camera 30.

[0022] The first connecting cable 2 connects the main part of the power cable snow removal equipment and the first counterweight module 6, the second connecting cable 3 connects the main part of the power cable snow removal equipment and the second counterweight module 7, the third connecting cable 4 connects the main part of the power cable snow removal equipment and the third counterweight module 8, and the fourth connecting cable 5 connects the main part of the power cable snow removal equipment and the fourth counterweight module 9. The above four counterweight modules are used to maintain the stability of the power cable snow removal equipment when it walks on the cable 1 to be snowed, and the four counterweight modules contain counterweight lead blocks.

[0023] Brushing module: The first brush 10 and the second brush 11 are respectively located on both sides of the cable 1 to be cleared of snow, the first shaft 12 and the second shaft 13 are connected to the first brush 10 and the second brush 11 in sequence, the first transmission motor 14 and the second transmission motor 15 drive the first shaft 12 and the second shaft 13 to rotate the first brush 10 and the second brush 11, so as to sweep the snow on the cable 1 to be cleared of snow.

[0024] The first front driving wheel 16, the second front driving wheel 17, the first rear driving wheel 21 and the second rear driving wheel 22 are used to clamp the two sides of the cable 1 to be cleared and move on the cable 1 to be cleared, and the third front driving wheel 18 is in contact with the third rear driving wheel 23 and the upper part of the cable 1 to be cleared; the bracket 19 connects the front and rear parts of the power cable snow removal equipment, and the middle part of the bracket 19 is provided with a lifting ring 20, and the power cable snow removal equipment can be lifted by using a drone or the like through the lifting ring 20.

[0025] Ice crushing module: The heating device 29 is used to heat and melt the ice on the surface of the cable 1 to be snow-removed, and its left and right sides are symmetrically designed; the third shaft 26 is connected to the ice crushing device 25, and the driving motor 24 drives the third shaft 26 to make the ice crushing device 25 swing back and forth, thereby crushing ice on the cable 1 to be snow-removed. The ice crushing device 25 is actually a knocking rod. The ice crushing device 25 and the cable 1 to be snow-removed are perpendicular to each other and the ice crushing device 25 is located above the cable 1 to be snow-removed. When the ice crushing device is not working, the ice crushing device 25 is in contact with the cable 1 to be snow-removed. The second monitoring camera 27 and the first monitoring camera 30 are image acquisition devices during the snow removal process of the cable 1 to be snow-removed.

[0026] The data acquisition module is connected to the signal input end of the data analysis control chip, and the signal output end of the data analysis control chip is connected to the cable snow removal module; the cable snow removal module is used to remove snow from the surface of the cable; the data acquisition module is used to collect the first cable image and the second cable image of the cable at each moment in real time, and transmit them to the data analysis control chip.

[0027] In the embodiment of the present invention, the second monitoring camera 27 and the first monitoring camera 30 together constitute a data acquisition module; the cable snow removal module is composed of a brushing module and an ice crushing module, wherein the brushing module includes a first brush 10 and a second brush 11, and the ice crushing module includes an ice crushing device 25 and a heating device 29.

[0028] It should be noted that, in the embodiment of the present invention, the image acquisition frequency of the first monitoring camera and the second monitoring camera is once every 3 seconds, which can be set by the implementer according to the specific situation; the heating device is actually a heating element, which can be a metal rod, a metal belt, an electric heating wire, etc.; the ice crushing device is a knocking rod, which is usually made of plastic with strong toughness and structure. The knocking rod swings and knocks the cable to achieve ice crushing.

[0029] Before analyzing the cable image, the data analysis control chip needs to grayscale and denoise the cable image to obtain a grayscale image of the cable image. In the embodiment of the present invention, a weighted average grayscale algorithm is used for grayscale processing, and a Gaussian filter is used for denoising. The specific method is not introduced here, and they are all technical means well known to those skilled in the art.

[0030] The data analysis control chip receives the cable images sent by the data acquisition module to form a first cable sequence. The first cable sequence is composed of cable images obtained when the cable snow removal module cleans the current cable position according to a set cleaning time period.

[0031] It should be noted that the cable images at all times of the current cable position within the cleaning setting time period are arranged in time sequence to obtain the first cable sequence, and the elements in the first cable sequence are cable images; the cable images at each time of the current cable position within the cleaning setting time period are obtained by the first monitoring camera. The last moment within the cleaning setting time period is the current moment when the cable snow removal module cleans the current cable position. The cleaning setting time period includes six moments, which can be set by the implementer according to the specific situation.

[0032] According to the first cable sequence, determine the initial snow removal index; according to the initial snow removal index, determine whether to perform ice crushing operation on the cable, if so, control the cable snow removal module to perform ice crushing operation on the current cable position, and obtain the corresponding second cable sequence during the ice crushing operation in real time; according to the second cable sequence obtained in real time, determine an updated snow removal index, if the updated snow removal index meets the ice crushing operation conditions, continue the ice crushing operation, otherwise stop the ice crushing operation. The specific contents are as follows: The initial snow removal index reflects the snow removal effect of the power cable snow removal equipment during the cleaning process at the current cable position. The better the snow removal effect, the thinner the snow thickness on the cable surface. Therefore, the snow removal effect is analyzed by the snow thickness on the cable surface.

[0033] See also Figure 2 , which shows a flow chart of a method for obtaining an initial snow removal index provided by an embodiment of the present invention, the method comprising: Step S110: determining the snow thickness of each cable image in the first cable sequence.

[0034] When the cable is installed in the air, it has a certain drooping arc due to its own gravity. The environmental conditions at different locations of the cable are different, resulting in different thicknesses of snow on the cable surface. When clearing snow from power cables, in order to ensure the snow removal efficiency of the power cable snow removal equipment and save energy consumption of the equipment, the data analysis control chip adjusts the brush rotation speed based on the snow thickness on the cable surface, thereby automatically adjusting the operating status of each module of the snow removal equipment.

[0035] The distance between the two analysis edge lines represents the width of the cable wrapped in snow. The preset value of the cable diameter is the actual width of the cable. The difference between the two reflects the approximate thickness of snow on the cable surface, and the snow thickness is obtained.

[0036] Preferably, in some possible implementation modes of the embodiments of the present invention, the method for obtaining the snow thickness of the cable image includes: for each cable image in the first cable sequence, obtaining two analysis edge lines in the cable image; arranging the pixel points on each analysis edge line in the cable image in sequence to obtain a pixel sequence of the corresponding analysis edge line; taking the concentrated value of the distance between the pixel points with the same subscript in the pixel sequences of the two analysis edge lines as the overall cable diameter of the cable image; taking half of the difference between the overall cable diameter and a preset value of the cable diameter as the snow thickness of the cable image.

[0037] Since the power cable snow removal equipment is installed on a cable, the main part of the cable image is the cable wrapped in snow, and the analysis edge line in the cable image is the edge of the cable wrapped in snow. The method for obtaining the analysis edge line is: obtain the grayscale image of the cable image, perform curve fitting on the edge pixels obtained by edge detection of the grayscale image and the pixel points at the same position in the cable image, and use the fitted curve as the analysis edge line in the cable image.

[0038] It should be noted that in the embodiment of the present invention, the Canny operator is used to perform edge detection on the grayscale image of the cable image. In other embodiments, the Sobel operator and the Prewitt operator may also be used, which is not limited here; the cable image corresponds to the pixels in its grayscale image one by one. When the cable is frozen, the thickness of ice at different positions on the same cable is different, and the edge of the cable wrapped in snow is a curve. Therefore, it is necessary to perform curve fitting on the edge pixels on the same side of the cable, and an analysis edge line is obtained at each edge position on the cable. In the embodiment of the present invention, the least squares method is used for curve fitting. Among them, the Canny operator and the least squares method are both well-known technologies for those skilled in the art, and will not be repeated here.

[0039] The pixels on the two analysis edge lines in the cable grayscale image are sorted from the same side. In an embodiment of the present invention, the overall cable diameter of the cable image obtained when there is no snow on the cable surface is used as the direct preset value of the cable. In another embodiment of the present invention, the standard diameter of the cable under the specific model and specification is used as the preset value of the cable diameter. The elements in the pixel sequence of the analysis edge line are pixel points.

[0040] The central value of data is used to describe the central tendency of a group of data, which can be measured by statistical indicators such as mean, median and mode. In the embodiment of the present invention, the mean is selected to measure the central value of data, that is, the mean of the distance between the pixels with the same subscript in the pixel sequence of the two analysis edge lines is used as the overall cable diameter of the cable image; in other embodiments of the present invention, the mean can also be replaced by the median or mode.

[0041] Since the cable is surrounded by snow, the difference between the overall cable diameter and the preset value of the cable diameter represents the total thickness of snow on both sides of the cable wrapped in snow. Therefore, the embodiment of the present invention uses half of the difference between the overall cable diameter and the preset value of the cable diameter as the snow thickness of the cable image.

[0042] In a specific implementation of the embodiment of the present invention, the snow thickness is expressed by the formula: Where H is the snow thickness of each cable image in the first cable sequence; M is the minimum value of the total number of elements in the pixel sequence of the two analysis edge lines in each cable image in the first cable sequence; is the mth pixel point in the pixel sequence of the first analysis edge line in each cable image in the first cable sequence; The mth pixel point in the pixel sequence of the second analysis edge line in each cable image in the first cable sequence; is the Euclidean distance between the mth pixel points in the pixel sequence of two analysis edge lines in each cable image in the first cable sequence; Preset value for cable diameter.

[0043] The thicker the snow is, the faster the brush should rotate in order to increase the snow removal efficiency of the power cable snow removal equipment. Therefore, based on the snow thickness of each cable image in the first cable sequence, the rotation speed of the brush at the corresponding moment of the cable image is controlled. The thicker the snow is, the faster the brush rotates; energy consumption is saved while ensuring the snow removal efficiency of the equipment.

[0044] The rotation speed of the brush is expressed by the formula: Where V is the rotation speed of the brush at the corresponding moment of each cable image in the first cable sequence; is a preset rotation speed value, and in the implementation of the present invention, an empirical value of 1.5 revolutions per second is taken, and the implementer can set it according to the specific situation; H is the snow thickness of each cable image in the first cable sequence.

[0045] The data analysis chip outputs the rotation speed of the brush at each moment within the set cleaning time period in real time. The data analysis control chip outputs the brush sweeping control instruction and feeds back the brush sweeping control instruction to the cable snow removal module. In the time period between each moment within the set cleaning time period and the next adjacent moment, the two brushes in the power cable snow removal equipment rotate at the rotation speed of that moment to brush the snow on the surface of the current cable position.

[0046] Step S120: determining an initial snow removal index according to the snow thickness of the last cable image in the first cable sequence and the difference between the snow thicknesses of adjacent cable images.

[0047] The initial snow removal index is used to measure the snow removal effect; the difference between the snow thickness of adjacent cable images in the first cable sequence reflects the change in the snow thickness at the current cable position within the set cleaning time period. The larger the change, the looser the snow on the cable surface, and the better the snow removal effect; the snow thickness of the last cable image in the first cable sequence indicates the snow thickness on the cable surface after a period of snow removal on the cable surface. If the snow thickness is smaller, it indicates that the snow removal effect of the cable at the corresponding moment of the above cable image is better. Therefore, the above two factors are analyzed comprehensively to improve the accuracy of the snow removal index in measuring the snow removal effect.

[0048] Preferably, in some possible implementation modes of the embodiments of the present invention, the method for obtaining the initial snow clearance index includes: taking the average of the difference in snow thickness between each cable image except the last cable image in the first cable sequence and its adjacent next cable image as the thickness change index; and obtaining the initial snow clearance index based on the snow thickness of the last cable image in the first cable sequence and the thickness change index.

[0049] If the thickness change index is larger, it means that the snow on the surface of the current cable position is looser and easier to clean, and the snow cleaning effect is better. If the snow thickness of the last cable image in the first cable sequence is smaller, it means that the snow cleaning effect of the cable at the corresponding moment of the cable image is better. Therefore, the thickness change index is positively correlated with the snow removal index, and the snow thickness of the last cable image in the first cable sequence is negatively correlated with the snow removal index.

[0050] In the embodiment of the present invention, the snow thickness of the last cable image in the first cable sequence is negatively correlated and mapped, and the product of the mapping result and the thickness change index is normalized to obtain the initial snow removal index. In the embodiment of the present invention, the correlation between the snow thickness and the thickness change index can also be constructed through other basic mathematical operations, which will not be limited or elaborated here.

[0051] In a specific implementation of the embodiment of the present invention, the initial snow removal index is expressed by the formula: Where Q is the initial snow removal index; S is the total number of cable images in the first cable sequence; is the snow thickness of the s-th cable image except the last cable image in the first cable sequence; is the snow thickness of the next cable image adjacent to the s-th cable image except the last cable image in the first cable sequence; is the snow thickness of the last cable image in the first cable sequence; It is the thickness variation index; It is a preset positive number with an empirical value of 0.01. It is used to prevent the denominator from being zero, which makes the fraction meaningless. Norm is the normalization function.

[0052] It should be noted that, in the embodiment of the present invention, The inverse of realizes negative correlation mapping; when the initial snow removal index Q is larger, the snow removal effect on the surface of the current cable position at the corresponding moment of the last cable image in the first cable sequence is better, and the snow thickness on the cable surface is thinner.

[0053] Determine whether to perform ice crushing on the cable based on the initial snow removal index. The specific operations are as follows: If the initial snow removal index is greater than or equal to the preset removal threshold, it means that the snow on the surface of the current cable position has been removed by the rotation of the brush, that is, the snow removal effect meets the requirements, and the cable will not be crushed. The data analysis and calculation chip controls the front and rear drive wheels of the power cable deicing equipment to rotate, so that the equipment moves forward to the next position of the cable that needs snow removal.

[0054] If the initial snow removal index is less than the preset removal threshold, the snow removal effect at the current cable position has not yet met the requirements, and there may be ice or frozen snow on the cable surface that is difficult to clean, and the snow at the current cable position needs to be cleared in the next step, then the cable is crushed. The corresponding second cable sequence during the ice crushing operation is obtained in real time; based on the second cable sequence obtained in real time, an updated snow removal index is determined. If the updated snow removal index meets the ice crushing operation conditions, the ice crushing operation continues, otherwise the ice crushing operation is stopped.

[0055] It should be noted that the cable images at all times in the time period from the initial ice crushing moment of the current cable position to the current moment are arranged in time sequence to obtain the second cable sequence; as the ice crushing operation proceeds, the cable images at the current moment are continuously added to the second cable sequence, and the second cable sequence is obtained in real time. The cable images in the second cable sequence are obtained by the second monitoring camera. In the embodiment of the present invention, the preset clearing threshold is an empirical value of 0.6, and the implementer can set it according to the specific situation.

[0056] Before using the ice crushing device to perform ice crushing operation on the current cable position, control the heating device to heat the current cable position, and cooperate with the ice crushing device to remove ice accumulation, thereby improving deicing efficiency. Control the power cable snow removal equipment to move forward to the position where the heating device just corresponds to the cable that needs deicing, stop moving forward, start the heating device, and heat the cable position that needs deicing for a certain period of time.

[0057] It is known that the longer the heating time, the weaker the ice accumulation intensity; the smaller the snow removal index, the less effective the snow removal effect on the cable surface. The thicker the snow or ice on the cable surface, the stronger the cable ice accumulation intensity, that is, the smaller the snow removal index, the longer the heating time required to improve the subsequent de-icing efficiency. Therefore, the heating time of the heating device is adaptively set according to the initial snow removal index. The heating time of the heating device is expressed by the formula: Wherein, W is the heating time of the heating device; Q is the initial snow removal index; T is the preset removal threshold; As the preset time length, an empirical value of 1.8 seconds is taken in the implementation of the present invention, and the implementer can set it according to the specific situation.

[0058] It should be noted that when the initial snow removal index The smaller the time, the worse the brush's effect of clearing snow on the cable surface is, which means that the cable surface ice cleaning is more difficult, that is, the cable ice accumulation intensity is higher. In order to improve the subsequent de-icing efficiency, the required heating time W is longer. Therefore, the initial snow removal index is negatively correlated with the heating time.

[0059] After completing the heating operation, the data analysis control chip generates an ice crushing control instruction and feeds back the ice crushing control instruction to the cable snow removal module, and the ice crushing device executes the operation of crushing ice on the cable.

[0060] It is known that the greater the swing amplitude of the ice crushing device, the better the effect of clearing snow or ice on the cable surface; the greater the thickness of snow on the cable surface after heating treatment, the greater the swing amplitude required for the ice crushing device. According to the snow thickness of each cable image in the second cable sequence, the swing amplitude of the ice crushing device at the corresponding moment of the cable image is controlled to effectively clear ice on the cable surface and reduce damage to the cable.

[0061] The swing amplitude of the ice crushing device, i.e. the knocking rod, refers to the rotation angle of the driving motor in the ice crushing module. The magnitude of the driving motor pulse voltage and current is controlled by the rotation angle, thereby controlling the lifting angle of the ice crushing device, knocking the cable downward to achieve the ice crushing operation of the cable. During the ice crushing process, the swing amplitude of the ice crushing device at each moment is expressed by the formula: Where F is the swing amplitude of the ice crushing device at the corresponding moment of each cable image in the second cable sequence; is the snow thickness for each cable image in the second cable sequence; The preset amplitude is 1.3 degrees, and the implementer can set it according to the specific situation. It should be noted that the larger the swing amplitude F is, the larger the amplitude of the ice crushing device is lifted, and the greater the kinetic energy brought by the movement of the ice crushing device, so that the cable ice can be quickly cleaned.

[0062] The data analysis chip outputs the swing amplitude of the ice crushing device at each moment in the ice crushing process in real time. The data analysis control chip outputs the ice crushing control instruction and feeds back the ice crushing control instruction to the ice crushing device in the cable snow removal module. In the time period between each moment in the ice crushing process and the next adjacent moment, the ice crushing device rotates at the swing amplitude at that moment to crush the snow on the surface of the current cable position.

[0063] During the ice crushing process, the data analysis control chip determines the updated snow removal index according to the second cable sequence in real time; if the updated snow removal index meets the ice crushing operation conditions, that is, the updated snow removal index is greater than or equal to the preset removal threshold, indicating that the snow removal effect after ice crushing at the current cable position is not good, the ice crushing operation continues; if the updated snow removal index does not meet the ice crushing operation conditions, that is, the updated snow removal index is less than the preset removal threshold, the ice crushing operation is stopped, and the data analysis control chip controls the front drive wheels and the rear drive wheels to rotate, so that the power cable snow removal equipment moves forward to the next position of the cable that requires snow removal, and repeats the above snow removal work.

[0064] It should be noted that the snow thickness of each cable image in the second cable sequence is obtained in the same way as the snow thickness of each cable image in the first cable sequence; the method for determining the updated snow removal index based on the second cable sequence is the same as the method for determining the initial snow removal index based on the first cable sequence, which can be regarded as replacing the first cable sequence with the second cable sequence.

[0065] Since the length of the power cable snow removal equipment is much smaller than the length of the cable, the power cable snow removal equipment performs snow removal on the cable locally. First, the surface snow at a local position of the cable is cleared. When the snow at this position is cleared, the mobile device clears the surface snow at the next position of the cable. Taking any position on the cable to be snow-removed as a specific position, taking the specific position of the cable as an example, the snow removal process of the power cable snow removal equipment in the embodiment of the present invention is as follows: (1) Use a drone to connect the lifting ring 20 of the power cable snow removal equipment, lift the equipment and place it on the cable 1 to be snow removed.

[0066] (2) The first monitoring camera 30 is used to collect cable images of a specific position of the cable 1 to be cleared of snow in real time, and transmits the images to the data analysis control chip. The data analysis control chip analyzes the thickness of snow during the snow removal process and generates a brushing control instruction, and feeds back the brushing control instruction to the cable snow removal module. The first transmission motor 14 and the second transmission motor 15 in the cable snow removal module rotate at corresponding speeds, and drive the first brush 10 and the second brush 11 through the first shaft 12 and the second shaft 13 to brush the snow on the surface of the specific position.

[0067] (3) The first monitoring camera 30 continues to collect images of the cable at a specific location during the snow removal process in real time, and transmits the images to the data analysis control chip. The data analysis control chip obtains a real-time initial snow removal index based on the snow thickness of the cable image, and determines whether to perform an ice crushing operation based on the initial snow removal index.

[0068] If not, it means that the snow on the surface of the specific position has been cleared, and the front drive wheel and the rear drive wheel are controlled to rotate so that the power cable snow removal equipment moves forward to the next position of the cable that requires snow removal.

[0069] If so, before the data analysis control chip generates the ice crushing control instruction, it first generates the heating control instruction, and feeds back the heating control instruction to the cable snow removal module, and the cable snow removal module performs the operation of heating the specific position of the cable; the specific execution process of the heating operation is as follows: since there is a certain distance between the two brushes and the heating device 29 in the power cable snow removal equipment, before heating the specific position, it is necessary to drive the front drive wheel and the rear drive wheel to rotate, so that the heating device 29 in the power cable snow removal equipment moves to a specific area, and the heating device 29 is used to heat the specific position for a certain period of time. After the heating operation is completed, the data analysis control chip generates the ice crushing control instruction, and feeds back the ice crushing control instruction to the cable snow removal module, and the ice crushing device 25 in the cable snow removal module performs the operation of crushing ice on the cable, that is, the driving motor 24 drives the ice crushing device 25 through the third shaft 26 to clean the ice on the cable surface.

[0070] (4) When generating the ice crushing control instruction, the data analysis control chip simultaneously controls the second monitoring camera 27 in the data acquisition module to collect the cable image of the specific position of the cable in real time, and transmits it to the data analysis control chip to analyze the ice crushing situation at the specific position, that is, the updated snow clearing index, and simultaneously analyzes the snow clearing effect at the specific position, that is, the updated snow clearing index in real time. If the updated snow clearing index meets the ice crushing operation conditions, that is, the updated snow clearing index is greater than or equal to the preset clearing threshold, the ice crushing operation continues; otherwise, the data analysis control chip controls the front drive wheel and the rear drive wheel to rotate, so that the power cable snow removal equipment moves forward to the next position of the cable that requires snow removal, and repeats the above snow removal work.

[0071] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A power cable snow removal device, comprising a power cable snow removal device body, characterized in that: The power cable snow removal device body includes a cable snow removal module and a cable snow accumulation monitoring module, the cable snow removal module includes an ice crushing device, and the cable snow accumulation monitoring module includes a data acquisition module and a data analysis control chip; The data acquisition module is connected to the signal input end of the data analysis control chip, and the signal output end of the data analysis control chip is connected to the cable snow removal module; The data acquisition module is used to collect the cable image at each moment in real time and transmit it to the data analysis control chip; The data analysis control chip receives the cable images sent by the data acquisition module to form a first cable sequence, wherein the first cable sequence is composed of cable images acquired during the process of the cable snow removal module cleaning the current cable position according to the cleaning set time period; According to the first cable sequence, an initial snow removal index is determined; according to the initial snow removal index, it is determined whether to perform ice crushing operation on the cable, and if so, the cable snow removal module is controlled to perform ice crushing operation on the current cable position, and the second cable sequence corresponding to the ice crushing operation process is obtained in real time; according to the second cable sequence obtained in real time, an updated snow removal index is determined, if the updated snow removal index meets the ice crushing operation conditions, the ice crushing operation is continued, otherwise the ice crushing operation is stopped.

2. A power cable snow removal device according to claim 1, characterized in that: Determining an initial snow removal index according to the first cable sequence specifically includes: determining snow thickness for each cable image in the first cable sequence; An initial snow removal index is determined based on the snow thickness of the last cable image in the first cable sequence and the difference between the snow thicknesses of adjacent cable images.

3. A power cable snow removal device according to claim 2, characterized in that: The step of determining the snow thickness of each cable image in the first cable sequence specifically includes: For each cable image in the first cable sequence, obtaining two analysis edge lines in the cable image; The pixel points on each analysis edge line in the cable image are arranged in sequence to obtain a pixel sequence corresponding to the analysis edge line; the concentrated value of the distance between the pixel points with the same subscript in the pixel sequences of the two analysis edge lines is used as the overall cable diameter of the cable image; Half of the difference between the overall cable diameter and a preset value of the cable diameter is used as the snow thickness of the cable image.

4. A power cable snow removal device according to claim 2, characterized in that: Determining the initial snow removal index according to the snow thickness of the last cable image in the first cable sequence and the difference between the snow thicknesses of adjacent cable images specifically includes: taking the mean of the difference between the snow thickness of each cable image except the last cable image in the first cable sequence and the next adjacent cable image as the thickness variation indicator; An initial snow removal index is obtained according to the snow thickness of the last cable image in the first cable sequence and the thickness change index.

5. The power cable snow removal device according to claim 1, characterized in that: The step of judging whether to perform ice crushing operation on the cable according to the initial snow removal index specifically includes: If the initial snow removal index is greater than or equal to the preset removal threshold, the cable is not subjected to ice crushing operation; if the initial snow removal index is less than the preset removal threshold, the cable is subjected to ice crushing operation.

6. The power cable snow removal device according to claim 2, characterized in that: Control the cable snow removal module to crush ice at the current cable location, including: According to the snow thickness of each cable image in the second cable sequence, the swing amplitude of the ice crushing device at the time corresponding to the cable image is controlled.

7. The power cable snow removal device according to claim 1, characterized in that: Before the control cable snow removal module performs ice crushing operation on the current cable position, the method further includes: The power cable snow removal equipment body also includes a heating device; before performing the ice crushing operation on the current cable position, the heating device is controlled to heat the current cable position.

8. The power cable snow removal device according to claim 1, characterized in that: The updated snow removal index satisfies the ice crushing operation condition when the updated snow removal index is greater than or equal to a preset removal threshold.

9. The power cable snow removal device according to claim 2, characterized in that: The power cable snow removal device body further comprises a brush, and based on the snow thickness of each cable image in the first cable sequence, the rotation speed of the brush is controlled at a time corresponding to the cable image; The greater the thickness of the snow, the greater the rotation speed of the brush.

10. The power cable snow removal device according to claim 3, characterized in that: The obtaining of two analysis edge lines in the cable image specifically includes: A grayscale image of the cable image is obtained, edge detection is performed on the grayscale image, and a curve fitting is performed on pixel points at the same position in the cable image to obtain edge pixels, and the fitted curve is used as an analysis edge line in the cable image.

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