Unmanned aerial vehicle mounting tool for removing ice on insulator of power transmission line

Abstract

The invention belongs to the field of line insulator ice removal, and particularly relates to a power transmission line insulator ice removal unmanned aerial vehicle mounting tool which comprises a driving control module, a functional accessory and a balance weight module. Accurate measurement of the position of the insulator and visual positioning of deicing operation are realized. The problem that a traditional deicing tool is difficult to accurately judge the deicing position is solved, the distance between the tool and the insulator can be measured in real time, accurate data are provided for deicing operation, and an operator can visually observe the icing condition and the operation progress. The effect of improving the deicing precision and the operation efficiency is achieved, the poor deicing effect caused by distance judgment errors is avoided, it is ensured that the functional accessory is deiced at the proper position, the deicing strategy such as the rotating speed of the brushless motor and the operation strength of the functional accessory can be adjusted in time according to the icing condition, and the deicing efficiency is improved. The problems that an existing deicing mode is low in efficiency and poor in precision are solved.

Description

Technical Field

[0001] The invention belongs to the field of deicing of line insulators, and specifically is a UAV mounting tool for deicing insulators of transmission lines. Background Art

[0002] In the power transmission system, the normal operation of transmission line insulators is crucial to ensure a stable power supply. However, in cold climates, ice is very likely to form on the surface of insulators. At present, although some transmission line insulator de-icing drone-mounted tools have been put into use, many problems are still exposed in actual applications.

[0003] First, there are serious deficiencies in precise positioning. Most existing mounting tools lack precise distance measurement and target positioning components, making it difficult to accurately measure the distance between the tool and the insulator in real time. This results in the operator being unable to know the exact working position of the de-icing components, and it is very easy to misjudge the distance, which greatly reduces the de-icing effect and may even cause unnecessary damage to the transmission line. In addition, due to the lack of effective visual feedback and target indication devices, it is difficult for operators to quickly and accurately locate the specific location that needs to be de-iced in a complex transmission line environment, which greatly affects the efficiency of the de-icing operation.

[0004] Secondly, the protection of insulators needs to be improved. The de-icing parts of some mounted tools are rigidly designed. During the de-icing process, when they come into direct contact with the insulators, they cannot adapt well to the shape and surface curvature of the insulators, which can easily cause rigid collisions with the insulators, thereby damaging the insulating layer on the surface of the insulators, reducing the insulation performance of the insulators, and burying hidden dangers for the safe operation of the transmission lines. Moreover, traditional de-icing methods often simply shake off the ice, and lack effective cleaning measures for the remaining broken ice, which may affect the electrical performance of the insulators and increase the probability of failure.

[0005] Furthermore, the stability and reliability of the system are flawed. During the mounting and flight of the drone, the counterweight design of some mounting tools is unreasonable, and the weight and distribution of the counterweight cannot be flexibly adjusted according to actual operation requirements, which makes it difficult for the drone to maintain a good balance during flight, affecting the stability and safety of the flight. At the same time, the existing mounting tools also have shortcomings in power supply and signal transmission. On the one hand, the single battery power supply mode is prone to low power during long-term operation, resulting in operation interruption; on the other hand, in the complex electromagnetic environment near the power transmission line, signal transmission is easily interfered, control instructions are not transmitted accurately, or operation data cannot be transmitted back in real time, which may cause operation errors or equipment loss of control.

[0006] In addition, existing mounting tools are not satisfactory in terms of system control and ease of operation. Their control systems often have single functions and lack multi-task management capabilities, making it difficult to achieve flexible control of de-icing devices. In addition, the operation interface is not user-friendly, making it difficult for operators to quickly and accurately adjust de-icing strategies according to actual conditions, which increases the difficulty of operation and reduces work efficiency.

[0007] In summary, the existing transmission line insulator de-icing drone mounting tools have many problems in terms of precise positioning, insulator protection, system stability and reliability, and convenience of control operation. It is urgent to develop a more advanced, efficient and reliable mounting tool to meet the needs of safe and stable operation of transmission lines.

[0008] To this end, the present invention provides a transmission line insulator de-icing drone mounting tool. Summary of the invention

[0009] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0010] The technical solution adopted by the present invention to solve its technical problem is: the transmission line insulator de-icing drone mounting tool described in the present invention includes a drive control module, functional accessories and a counterweight module, a connector is provided at the front end of the drive control module, the functional accessories are provided at the front end of the connector, an insulating rod is fixed at the rear end of the drive control module, a counterweight module is provided at the rear end of the insulating rod, a connecting rod is provided between the drive control module and the connector and between the insulating rod and the counterweight module, and a drone connecting component is provided at the top of the connecting rod between the insulating rod and the counterweight module.

[0011] Preferably, the drive control module is composed of a laser rangefinder, a camera, a red dot generator, a control panel, a brushless motor and a battery compartment. The front end of the insulating rod is provided with a battery compartment, the front end of the battery compartment is provided with a brushless motor, the lower part of the brushless motor is provided with a laser rangefinder, the upper part of the brushless motor is provided with a camera, a red dot generator is provided on one side of the camera, and a control panel is provided at the rear ends of the camera and the red dot generator.

[0012] Preferably, the functional accessory consists of a flexible metal fork frame and a rubber ball. The flexible metal fork frame is installed on the rotating shaft at the front end of the brushless motor through a connector and a connecting rod. Rubber balls are arranged at the ends of the two fork rods of the flexible metal fork frame.

[0013] Preferably, the counterweight module consists of a modular counterweight compartment, a second battery compartment, a charging port, a signal enhancer, a bolt connection port and a pin hole. The modular counterweight compartment is arranged at the rear end of the drone connecting component, the front end of the modular counterweight compartment is provided with a bolt connection port, and a pin hole is longitudinally penetrated in the bolt connection port. The rear end of the modular counterweight compartment is provided with a second battery compartment, the top of the second battery compartment is provided with a signal enhancer, and the bottom of the second battery compartment is provided with a charging port.

[0014] The beneficial effects of the present invention are as follows: 1. The transmission line insulator de-icing drone mounting tool described in the present invention realizes accurate measurement of the insulator position and intuitive positioning of the de-icing operation by integrating a laser rangefinder, a camera and a red dot generator in the drive control module. It improves the problem that traditional de-icing tools are difficult to accurately judge the de-icing position, can measure the distance between the tool and the insulator in real time, provide accurate data for de-icing operations, and allow operators to intuitively observe the icing situation and the progress of the operation. It produces the effect of improving de-icing accuracy and operation efficiency, avoids poor de-icing effects due to distance judgment errors, ensures that functional accessories are de-iced in appropriate positions, and can timely adjust the de-icing strategy according to the icing situation, such as the speed of the brushless motor and the operating force of the functional accessories, solving the problems of low efficiency and poor accuracy of existing de-icing methods.

[0015] 2. The transmission line insulator de-icing drone mounting tool described in the present invention adopts a design in which a flexible metal fork frame and a rubber ball form functional accessories. The flexibility of the flexible metal fork frame and the elasticity and friction characteristics of the rubber ball improve the defect of the traditional de-icing tool that the rigid contact is easy to damage the insulator. When de-icing, the flexible metal fork frame can better adapt to the shape and surface curvature of the insulator. The rubber ball uses its elasticity to knock the ice and uses friction to wipe the broken ice without scratching the insulating layer of the insulator. The effect of protecting the insulator while efficiently de-icing is produced, the insulating performance of the insulator is guaranteed, and the problem that the existing de-icing operation may cause damage to the insulator and affect the safe and stable operation of the transmission line is solved.

[0016] 3. The transmission line insulator de-icing drone mounting tool described in the present invention has a modular design for the counterweight module, and is provided with components such as a battery compartment 2 and a signal enhancer. The modular counterweight compartment can flexibly adjust the counterweight, the battery compartment 2 provides electric energy supplement, and the signal enhancer enhances the stability of signal transmission. It improves the balance problems that may occur during the flight and operation of the mounting tool, the insufficient power affecting the operation, and the unstable signal causing the equipment to lose control. It produces the effect of ensuring the flight stability and safety of the drone, extending the working time of the equipment, and ensuring the accurate transmission of control instructions and the real-time feedback of operation data, so that the equipment can operate normally in complex electromagnetic environments and long-term operations, solves the shortcomings of the existing deicing equipment in terms of stability and reliability, and reduces the risk of operational errors and equipment failures.

[0017] 4. The transmission line insulator de-icing drone mounting tool described in the present invention adopts an embedded system based on an AVR single-chip microcomputer as the control system, with a host computer human-computer interaction interface compiled by LabView, and a suitable motor drive module, wireless module, etc. The problems of inflexible control, complex operation and unstable communication of traditional de-icing devices are improved. Multi-task management is realized, and the de-icing device can be remotely controlled. The information interaction between the host computer and the slave computer enables the motor to produce different speeds. The motor drive module and the wireless module ensure the reliability of motor control and signal transmission. The operation is convenient, the control is flexible, and the communication is stable, which facilitates the operator to perform de-icing operations according to the actual situation, solves the inconvenience of the control and operation of the existing de-icing equipment, and improves the work efficiency and management level. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] Figure 1 This is the overall structure diagram of the de-icing UAV mounting tool in the present invention; Figure 2 It is a structural diagram of the counterweight module in the present invention; Figure 3 The drive control module structure in the present invention Figure 1 ; Figure 4 The drive control module structure in the present invention Figure 2 ; Figure 5 It is a structural diagram of functional accessories in the present invention; Figure 6 is a control task system diagram in the present invention; Figure 7 It is the control logic diagram in the present invention.

[0020] In the figure: 1. Drive control module; 11. Laser rangefinder; 12. Camera; 13. Red dot generator; 14. Control panel; 15. Brushless motor; 16. Battery compartment one; 2. Connector; 3. Functional accessories; 31. Flexible metal fork frame; 32. Rubber ball; 4. Connecting rod; 5. Insulating rod; 6. UAV connection parts; 7. Counterweight module; 71. Modular counterweight compartment; 72. Battery compartment two; 73. Charging port; 74. Signal enhancer; 75. Bolt connection interface; 76. Pin hole position. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0022] like Figures 1 to 7 As shown, the transmission line insulator de-icing drone mounting tool of an embodiment of the present invention includes a drive control module 1, a functional accessory 3 and a counterweight module 7. A connector 2 is provided at the front end of the drive control module 1, and a functional accessory 3 is provided at the front end of the connector 2. An insulating rod 5 is fixed to the rear end of the drive control module 1, and a counterweight module 7 is provided at the rear end of the insulating rod 5. A connecting rod 4 is provided between the drive control module 1 and the connector 2 and between the insulating rod 5 and the counterweight module 7. A drone connecting component 6 is provided at the top of the connecting rod 4 between the insulating rod 5 and the counterweight module 7.

[0023] The drive control module 1 is composed of a laser rangefinder 11, a camera 12, a red dot generator 13, a control panel 14, a brushless motor 15 and a battery compartment 16. The front end of the insulating rod 5 is provided with a battery compartment 16, the front end of the battery compartment 16 is provided with a brushless motor 15, the lower part of the brushless motor 15 is provided with a laser rangefinder 11, the upper part of the brushless motor 15 is provided with a camera 12, a red dot generator 13 is provided on one side of the camera 12, and the rear ends of the camera 12 and the red dot generator 13 are provided with a control panel 14.

[0024] Laser rangefinder 11: It uses laser to accurately measure the target distance. In the de-icing operation of the transmission line insulator, it can measure the distance between the tool and the insulator in real time, provide accurate distance data for subsequent de-icing operations, ensure that the functional accessory 3 is de-iced at the appropriate position, improve the accuracy of de-icing, and avoid poor de-icing effect or damage to the transmission line due to misjudgment of distance.

[0025] Camera 12: It is used to collect image information of the work site in real time. The operator can intuitively observe the ice coating of the insulator, the surrounding environment and the progress of the de-icing operation through the image feedback from the camera 12, so as to adjust the de-icing strategy in time, for example, adjusting the speed of the brushless motor 15 and the operating force of the functional accessories 3 according to the thickness and distribution of the ice coating.

[0026] Red dot generator 13: emits red indicator light spots, and is used in conjunction with camera 12 to provide operators with more intuitive target indications visually, making it easier for operators to quickly locate specific locations that require de-icing, especially in complex power transmission line environments, which helps to improve operating efficiency and accuracy.

[0027] Control panel 14: As a key component of human-machine interaction, the operator can input various control instructions through the control panel 14, such as starting and stopping the brushless motor 15, adjusting its speed, switching the shooting mode of the camera 12, etc., to achieve flexible control of the entire mounting tool. At the same time, the control panel 14 can also display the working status information of the equipment, such as power, signal strength, etc., so that the operator can understand the operation status of the equipment in real time.

[0028] Brushless motor 15: provides power support for functional accessory 3, and drives flexible metal fork 31 and rubber ball 32 to perform de-icing operation through high-speed rotation. Brushless motor 15 has the advantages of high efficiency, long life, low noise, etc., which can ensure the stability and continuity of de-icing operation, and compared with brushed motor, it reduces maintenance costs and failure risks caused by brush wear.

[0029] Battery compartment 16: stores electrical energy to power the various electronic components in the drive control module 1 and the brushless motor 15. Reasonable battery capacity design can meet the needs of continuous deicing operations within a certain period of time, ensuring that the mounting tool completes sufficient deicing work in one flight mission of the UAV and reducing operation interruptions caused by insufficient power.

[0030] The functional accessory 3 is composed of a flexible metal fork frame 31 and a rubber ball 32. The flexible metal fork frame 31 is installed on the rotating shaft at the front end of the brushless motor 15 through the connector 2 and the connecting rod 4. The two fork rod ends of the flexible metal fork frame 31 are provided with rubber balls 32.

[0031] Flexible metal fork frame 31: Made of flexible metal material, it has certain flexibility and strength. It is installed on the rotating shaft at the front end of the brushless motor 15 through the connector 2 and the connecting rod 4, and can rotate at high speed under the drive of the brushless motor 15. Its flexible design allows it to better adapt to the shape and surface curvature of the insulator when it contacts the insulator, avoiding damage to the insulator caused by rigid collision. At the same time, the structural design of the fork frame enables the rubber ball 32 to form a larger operating range during the rotation process, thereby increasing the coverage area of ​​deicing.

[0032] Rubber ball 32: Installed at the ends of the two fork rods of the flexible metal fork frame 31, as a component that directly contacts the ice. Rubber has good elasticity and friction. During high-speed rotation, it can use its elasticity to flexibly knock the ice, shake it off the surface of the insulator, and use friction to wipe off the remaining broken ice, achieving the purpose of efficient deicing. In addition, the rubber material will not scratch the insulating layer on the surface of the insulator, ensuring the insulating performance of the insulator.

[0033] The counterweight module 7 is composed of a modular counterweight compartment 71, a second battery compartment 72, a charging port 73, a signal enhancer 74, a bolt connection port 75 and a pin hole 76. The modular counterweight compartment 71 is arranged at the rear end of the drone connecting component 6, and a bolt connection port 75 is arranged at the front end of the modular counterweight compartment 71. A pin hole 76 is longitudinally penetrated in the bolt connection port 75. The rear end of the modular counterweight compartment 71 is provided with a second battery compartment 72, a signal enhancer 74 is arranged on the top of the second battery compartment 72, and a charging port 73 is arranged on the bottom of the second battery compartment 72.

[0034] Modular counterweight bin 71: The weight and distribution of the counterweight can be flexibly adjusted according to actual operation requirements. By adding or reducing counterweight blocks in the modular counterweight bin 71, the mounting tool can maintain a good balance state when mounted on the drone, ensuring the stability and safety of the drone flight. At the same time, the modular design facilitates the replacement and maintenance of the counterweight components, improving the versatility and maintainability of the equipment.

[0035] Battery compartment 2 72: further provides power replenishment for the mounting tool, especially when the battery of the drive control module 1 is low, it can continue to power key components of the equipment, such as the signal amplifier 74, some control circuits, etc., to ensure the normal operation of the equipment during the entire operation process and extend the working time of the equipment.

[0036] Charging port 73: It is convenient to charge the battery compartment 2 72. After the mounting tool is used, the battery can be quickly charged through the charging port 73 for use in the next operation. The design of the charging port 73 should have good waterproof and dustproof performance to ensure normal use in complex outdoor environments.

[0037] Signal Booster 74: Enhances the signal transmission strength and stability between the mounted tool and the UAV and the ground control station. There may be various electromagnetic interferences near the power transmission lines. Signal Booster 74 can effectively resist interference, ensure accurate transmission of control instructions and real-time feedback of operation data, and avoid operation errors or equipment loss of control due to signal interruption or instability.

[0038] Bolt connection port 75 and pin hole 76: Through bolt connection port 75 and pin hole 76, a firm connection between counterweight module 7, UAV connection component 6 and insulating rod 5 is achieved. This connection method has high reliability and stability, and can withstand various forces generated by the mounting tool during flight and operation, ensuring the integrity of the entire equipment structure. At the same time, it is convenient to disassemble and replace the counterweight module 7 when necessary.

[0039] Specifically, the control system is an important and inseparable part of the de-icing device, and the stability of the control system is directly related to the stability of the entire de-icing device system. Through the functional analysis of the control system, the control system of the de-icing device is then built. Wireless communication is used for communication. The upper computer uses the human-computer interaction interface compiled by LabView, and the lower computer uses the embedded AVR microcontroller to control the operation and information interaction of the de-icing device respectively. Information can be exchanged between the upper computer and the lower computer, so that the motor on the de-icing device produces different speeds. At the same time, the software system can manage multiple tasks and realize the control of the de-icing device by the remote mobile platform.

[0040] When the de-icing device is working on a high-voltage transmission line, different functions need to cooperate to perform de-icing operations. The operating position of the de-icing device is mainly realized by the front-end visual sensor and the laser ranging module. The front-end de-icing device rotates the flexible rubber head through the brushless motor 15 to knock and remove the ice on the insulator. The speed of the vibration motor is controlled by the AVR microcontroller. For precise control at the front end, the microcontroller needs to control the forward and reverse rotation of the reduction motor to make the magnets attract and separate, so as to control the de-icing device of the drone to de-ice the insulators on the transmission line. The electrical system of the de-icing device includes: (1) De-icing device main body control part; (2) Wireless communication part; (3) Human-computer interaction part.

[0041] The control part of the de-icing device is the focus of the research. The motor drive module can control the motor speed on the de-icing device, so that the vibration motor and the flexible de-icing rubber head can rotate at high speed; the wireless communication part uses Wi-Fi communication to transmit information, and the Raspberry Pi RevPiCore3 is used to control the de-icing device and transmit related data. In order to better control the de-icing device, the human-computer interaction part is essential.

[0042] The de-icing device is controlled by a single-chip microcomputer, which is the key to the operation of the entire system. According to the needs of the de-icing device system and the functions that need to be realized, and compared with the types of single-chip microcomputers currently on the market, the AVR single-chip microcomputer ATmegal6 was finally selected. It has on-chip EEPROM, A / D converter, PWM and other resources, and the command data will be completed within one clock cycle. Therefore, considering the comprehensive design requirements and various factors, the de-icing device uses a single-chip microcomputer as the control chip.

[0043] The drive motor module uses L293D, which has many advantages such as good low-speed operation stability, and only one chip is needed to control the motor.

[0044] The function of the wireless module is to receive data from the host computer to realize wireless control of the de-icing device. Wireless control technology can be used in relatively dangerous environments. At present, wireless data transmission technology is divided into two categories. Since the high-voltage transmission line is more than 30 meters away from the ground, the Wi-Fi module is used as the wireless communication part of the de-icing device to transmit the sent operating instructions. In special circumstances, the transmission power can also be increased to increase the transmission distance of the Wi-Fi module, and the maximum transmission distance can reach 100 meters. Considering various factors, the Wi-Fi module is the best choice for the wireless communication part of the de-icing device, and the de-icing device uses the HC-06Wi-Fi module.

[0045] The control system is controlled by an embedded system based on an AVR single-chip control board. Tasks are created in the operating system. The motor rotation task controls the operation of the de-icing device. The measurement task is responsible for using visual sensors and laser ranging sensors to detect the positions of the de-icing device and the insulators of the high-voltage transmission lines. The communication task is mainly responsible for the communication between the de-icing device and the outside world.

[0046] according to Figure 6 and Figure 7 As shown, system initialization and task allocation include the following steps: S1. Startup Task: The system starts and executes the startup task, which is used to create various tasks required for system operation and prepare for subsequent work; S2. Task allocation: Task allocation is performed based on the operating system of the AVR microcontroller, including the following tasks: S3, motor rotation control task: responsible for controlling the rotation of the motor in the deicing device to drive the deicing operation; S4, horizontal swing motor vibration task: control the motor to swing or vibrate in the horizontal direction to better achieve the deicing effect; S5, communication task: realize communication with the host computer, ensure that the de-icing device can receive the command of the host computer, and feed back the status of the device and other information to the host computer; S6, measurement task: sensing the position of the insulator and providing position information for subsequent de-icing operations; S7, Statistical tasks: understand CPU usage frequency and conduct statistical analysis on system resource usage, which helps optimize system performance; S8, Idle task: When there are no other tasks to execute, perform timing operations to ensure the continuous operation of the system and the rational use of resources.

[0047] The de-icing process includes the following steps: S1. Position measurement: The position relationship between the de-icing device and the insulator is sensed through the measurement task to obtain accurate position information; S2, motor rotation: control the motor rotation task to start the motor and drive the de-icing device to start working; S3. Determine the de-icing effect: Check whether the ice on the insulator is cleared; if the ice is not cleared, increase the motor speed and continue the de-icing operation; if the ice on the insulator is cleared, end the de-icing operation.

[0048] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A UAV mounting tool for deicing insulators of power transmission lines, comprising a drive control module (1), functional accessories (3) and a counterweight module (7), characterized in that: A connector (2) is provided at the front end of the drive control module (1), a functional accessory (3) is provided at the front end of the connector (2), an insulating rod (5) is fixed at the rear end of the drive control module (1), a counterweight module (7) is provided at the rear end of the insulating rod (5), a connecting rod (4) is provided between the drive control module (1) and the connector (2) and between the insulating rod (5) and the counterweight module (7), and a drone connecting component (6) is provided at the top of the connecting rod (4) between the insulating rod (5) and the counterweight module (7).

2. The transmission line insulator deicing drone mounting tool according to claim 1 is characterized by: The drive control module (1) is composed of a laser rangefinder (11), a camera (12), a red dot generator (13), a control panel (14), a brushless motor (15) and a battery compartment (16). The front end of the insulating rod (5) is provided with a battery compartment (16), the front end of the battery compartment (16) is provided with a brushless motor (15), the lower part of the brushless motor (15) is provided with a laser rangefinder (11), the upper part of the brushless motor (15) is provided with a camera (12), one side of the camera (12) is provided with a red dot generator (13), and the rear ends of the camera (12) and the red dot generator (13) are provided with a control panel (14).

3. The transmission line insulator deicing drone mounting tool according to claim 2 is characterized by: The functional accessory (3) is composed of a flexible metal fork frame (31) and a rubber ball (32). The flexible metal fork frame (31) is mounted on a rotating shaft at the front end of the brushless motor (15) through a connector (2) and a connecting rod (4). The rubber balls (32) are arranged at the ends of the two fork rods of the flexible metal fork frame (31).

4. The transmission line insulator deicing drone mounting tool according to claim 3 is characterized by: The counterweight module (7) is composed of a modular counterweight compartment (71), a second battery compartment (72), a charging port (73), a signal enhancer (74), a bolt connection port (75) and a pin hole (76). The modular counterweight compartment (71) is arranged at the rear end of the drone connecting component (6). The front end of the modular counterweight compartment (71) is provided with a bolt connection port (75). A pin hole (76) is longitudinally penetrated in the bolt connection port (75). The rear end of the modular counterweight compartment (71) is provided with a second battery compartment (72). The top of the second battery compartment (72) is provided with a signal enhancer (74). The bottom of the second battery compartment (72) is provided with a charging port (73).

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