Remote flame weeding device and method for power line

Abstract

The invention relates to the field of power line maintenance, in particular to a remote flame weeding device and method for a power line. The device comprises a flame weeding device and an unmanned aerial vehicle platform used for carrying the flame weeding device to reach a target area, the flame weeding device is arranged below a belly of the unmanned aerial vehicle platform, and a camera is arranged in front of the unmanned aerial vehicle platform; the flame weeding device comprises a control module, an angle adjusting mechanism, a mechanical weeding mechanism and a flame weeding mechanism. The control module and the angle adjusting mechanism are arranged below the belly of the unmanned aerial vehicle platform, the mechanical weeding mechanism and the flame weeding mechanism are connected with the angle adjusting mechanism and used for adjusting the vertical angle, and the control module is used for controlling the angle adjusting mechanism, the mechanical weeding mechanism and the flame weeding mechanism. The weeding machine can deal with weeding in complex terrains, the weeding efficiency is improved by adopting a dual weeding mechanism, and the thoroughness of weeding is ensured.

Description

Technical Field

[0001] The invention relates to the field of power line maintenance, and in particular to a remote flame weeding device and method for power lines. Background Art

[0002] In the field of power line maintenance, it is crucial to ensure the safety of the environment around transmission facilities. Weeds grow near power lines, especially on the sides of large buildings such as transmission towers, dams and high-rise buildings, which may cause damage to power facilities, such as causing fires or affecting power transmission efficiency. In addition, the root system of weeds may pose a threat to the stability of power lines, increasing maintenance costs and risks. Existing patent CN 107333513 B describes an automatic weeding device based on drone joint operation, which includes a processor, a drive device, a navigation device, an expelling device, a roller blade and wheels. Although the device provides an automated weeding solution, it may lack adaptability to complex terrain, especially for slope terrain and limited processing capabilities of weeds of different heights, and also does not have the function of flame weeding. In addition, the existing patent CN113508678A provides a contoured weeding device that adapts to slope terrain and weed height with a drone as a carrier. However, the thoroughness of the weeding of the device is insufficient and cannot prevent weed regeneration. Therefore, a remote flame weeding device and method for power lines is urgently needed. Summary of the invention

[0003] The invention provides a remote flame weeding device and method for power lines, aiming to solve the problem that the prior art cannot quickly eradicate weeds in remote and complex terrains, and avoid weed regeneration and root damage.

[0004] To achieve the above purpose, the following technical solution is adopted.

[0005] A remote flame weeding device for power lines, comprising:

[0006] A flame weeding device and an unmanned aerial vehicle platform for carrying the flame weeding device to a target area, wherein the flame weeding device is arranged under the belly of the unmanned aerial vehicle platform, and a camera is arranged in front of the unmanned aerial vehicle platform;

[0007] The flame weeding device comprises a control module, an angle adjustment mechanism, a mechanical weeding mechanism and a flame weeding mechanism;

[0008] The control module and the angle adjustment mechanism are arranged under the belly of the UAV platform, the mechanical weeding mechanism and the flame weeding mechanism are connected to the angle adjustment mechanism, and the control module is used to control the angle adjustment mechanism, the mechanical weeding mechanism and the flame weeding mechanism.

[0009] Optionally, a bracket is installed under the belly of the UAV platform, and the angle adjustment mechanism is installed on the bracket. The angle adjustment mechanism includes a rotating shaft rotatably connected to the bracket, a first motor connected to the rotating shaft with an output shaft, and a long rod; the long rod is a Y-shaped long rod, including a head end fixedly connected to the rotating shaft, a first tail end and a second tail end, the first tail end is connected to the flame weeding mechanism, and the second tail end is connected to the mechanical weeding mechanism.

[0010] Optionally, the flame weeding mechanism includes a gas cylinder installed under the belly of the UAV platform, an ignition generator arranged on the side wall of the first tail end of the long rod, an ignition needle connected to the ignition generator, and a flame nozzle arranged at the first tail end of the long rod, and the ignition needle is fixed on the side of the flame nozzle; a channel is opened inside the long rod from the head end to the first tail end, the gas cylinder is provided with a solenoid valve, the solenoid valve is connected to the gas pipe, and the gas pipe passes through the channel to connect to the flame nozzle.

[0011] Optionally, the mechanical weeding mechanism includes a motor base arranged at the second tail end of the long pole, a second motor arranged on the motor base, a rotating disk connected to the output shaft of the second motor, a weeding rope hole arranged on the side of the rotating disk, and a weeding rope arranged in the weeding rope hole.

[0012] Optionally, the control module includes a power module, a signal receiving device and a signal sending device, and the control module is connected to the solenoid valve, the first motor, the second motor, the ignition generator and the camera.

[0013] Optionally, it also includes a remote control, which is provided with a signal receiving module, a signal transmitting module, a display screen, an angle knob, a start ignition button, an end ignition button, a motor start button, and a motor end button. The remote control is used to obtain the video signal transmitted by the camera through the signal receiving module and display it on the display screen, transmit the signal to the control module through the signal transmitting module, and control the first motor, the second motor, the solenoid valve and the ignition generator through the control module.

[0014] Optionally, the head end of the long rod to the fork position is a split rotation connection, and a rotating motor is also provided at the rotation connection to adjust the angle between the plane where the first tail end and the second tail end are located and the horizontal plane.

[0015] Optionally, the long rod also includes a third tail end, the third tail end is located in the plane where the first tail end and the second tail end are located, the first tail end is located between the second tail end and the third tail end, and the third tail end is provided with a fire extinguishing mechanism.

[0016] A method for remote flame weeding of power lines comprises the following steps:

[0017] S1. The UAV platform flies to the vicinity of weeds in the target area, and the camera collects weed information and sends it to the control module;

[0018] S2. According to the position of the weeds, the control module drives the first motor to rotate a corresponding angle so that the mechanical weeding mechanism at the second tail end is aligned with the weed position;

[0019] S3, the control module drives the rotating motor so that the vector direction of the line connecting the first tail end to the second tail end is the flight direction of the UAV platform;

[0020] S4, controlling the UAV platform to move to the next weed location, and controlling the mechanical weeding mechanism to weed, and during the movement, controlling the flame weeding mechanism at the first tail end to burn the remaining grass roots after weeding;

[0021] S5. Control the flight speed and hovering time of the UAV so that the processing time of the mechanical weeding mechanism and the flame weeding mechanism on the same weeds is within a set range;

[0022] S6. Repeat the above steps until all weeds in the target area are cleared.

[0023] Optionally, step S4 further includes the following steps: controlling the fire extinguishing mechanism to extinguish the fire at the location where the flame burns;

[0024] Step S5 also includes the following steps: when there is no open flame in the image of the position after the flame is burned collected by the camera, the fire extinguishing structure is controlled to stop extinguishing the fire.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention integrates the flame weeding device with the drone platform to achieve mechanization and automation of weeding operations, reducing the need and risk of manual operations. The mobility of the drone platform allows for rapid response to weeding operations, especially in hard-to-reach areas such as the exterior walls of tall buildings and near transmission towers. The drone platform carrying the flame weeding device can cover a large area in a short period of time, improving the efficiency of weeding operations. The combination of the flame extinguishing mechanism and the mechanical extinguishing mechanism can quickly eradicate weeds in remote and complex terrain, avoiding weed regeneration and root damage.

[0027] By installing a bracket and an angle adjustment mechanism under the belly of the drone platform, the stability and reliability of the device are enhanced. The angle adjustment mechanism allows the weeding mechanism to accurately aim at the weeds, improving the accuracy and efficiency of weeding.

[0028] The integrated design of the gas cylinder, ignition generator and flame nozzle enables precise control of the flame, improving the safety and efficiency of weeding. The design of the solenoid valve and gas pipe allows the flame nozzle to quickly respond to ignition and flameout commands, improving operational flexibility. The design of the second motor and rotating disk allows the mechanical weeding mechanism to quickly rotate the weeding rope and efficiently remove weeds. The design of the mechanical weeding mechanism reduces physical damage to buildings and power lines, protecting the integrity of the infrastructure.

[0029] The control module integrates power supply, signal receiving and sending devices, realizes centralized control of the weeding device, and simplifies the operation process. The direct connection between the control module and each key component improves the response speed of the command and improves the efficiency of the weeding operation.

[0030] The design of the remote control allows the operator to control the weeding operation from a safe distance, improving the safety of the operation. Through the display screen and camera on the remote control, the operator can monitor the weeding operation in real time and adjust the operation strategy in time.

[0031] The setting of the rotating motor allows the tail end of the long pole to adjust the angle with the horizontal plane, increasing the flexibility and adaptability of the weeding device. By adjusting the angle of the tail end, the mechanical weeding mechanism and the flame weeding mechanism can weed in turn during the movement of the UAV platform without repeatedly adjusting the position. The setting of the fire extinguishing mechanism can quickly extinguish the fire after the flame weeding to prevent the occurrence of fire and improve the safety of the operation. The use of the fire extinguishing mechanism reduces the damage that flame weeding may cause to the environment and protects the surrounding vegetation and soil.

[0032] Through the automated or semi-automated operation of the drone platform, the entire process from weed identification to weeding, flame burning and fire extinguishing is automated, greatly improving the operation efficiency. The control module accurately controls the flight speed and hovering time of the drone platform to ensure the weeding and flame burning effects, while improving the energy utilization efficiency.

[0033] By extinguishing the fire at the location where the flame burns, the risk of fire is reduced and environmental safety is protected. After the camera collects the image, it controls the fire extinguishing mechanism to stop extinguishing the fire, ensuring the reliability and safety of the weeding operation and preventing unnecessary waste of resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a front view of a remote flame weeding device for power lines of the present invention;

[0035] Figure 2 It is a side view of a remote flame weeding device for power lines of the present invention;

[0036] Figure 3It is a front view of a remote controller of a power line remote flame weeding device of the present invention;

[0037] Figure 4 It is a front view of a long pole of a remote flame weeding device for power lines of the present invention;

[0038] In the figure: 1. UAV platform; 2. Anti-collision bar; 3. Control module; 4. Gas cylinder; 5. Solenoid valve; 6. Gas pipe; 7. Bracket; 8. First motor; 9. Long rod; 901. Head end thread; 902. First tail end; 903. Second tail end; 904. Tail end thread; 905. Motor base; 10. Second motor; 11. Rotating disk; 12. Weeding rope; 13. Flame nozzle; 14. Ignition needle; 15. Ignition generator; 16. Camera; 17. Rotating axis; 18. Remote control; 1801. Display screen; 1802. Angle knob; 1803. Start ignition button; 1804. End ignition button; 1805. Motor start button; 1806. Motor off button. DETAILED DESCRIPTION

[0039] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0040] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0041] Example 1

[0042] like Figures 1 to 4 As shown, a remote flame weeding device for power lines is designed to remove weeds in areas below power lines that are difficult to reach manually. The device includes a flame weeding device and an unmanned aerial vehicle platform 1, the unmanned aerial vehicle platform 1 is used to carry the flame weeding device to the target area, the flame weeding device is installed under the belly of the unmanned aerial vehicle platform 1, and a camera 16 is installed in front of the unmanned aerial vehicle platform 1 to monitor the weed situation below.

[0043] The flame weeding device is composed of a control module 3, an angle adjustment mechanism, a mechanical weeding mechanism and a flame weeding mechanism. The control module 3 and the angle adjustment mechanism are both arranged under the belly of the UAV platform 1, while the mechanical weeding mechanism and the flame weeding mechanism are connected to the angle adjustment mechanism and used to adjust the upper and lower angles of the device to ensure that the weeding device can accurately aim at the target weeds. The control module 3 is responsible for controlling the operation of the angle adjustment mechanism, the mechanical weeding mechanism and the flame weeding mechanism.

[0044] As a preferred example, multiple anti-collision bars 2 are fixed around the drone fuselage. The length of the anti-collision bars 2 is greater than the maximum size of the drone's propeller. When the drone flies close to a building, the anti-collision bars 2 will first contact the building, thereby preventing the drone's propeller from hitting the building.

[0045] As a preferred example, two symmetrical brackets 7 are provided under the belly of the drone platform 1, and the two brackets 7 are used to fix and support the entire angle adjustment mechanism. The bracket 7 is designed with a bearing hole, and a rotating shaft 17 is installed in the bearing hole. The rotating shaft 17 can rotate freely to provide flexible rotation capability for the angle adjustment mechanism. The rotating shaft 17 is fixed to the bracket 7 through a bearing to ensure smooth operation even under high load conditions.

[0046] The core of the angle adjustment mechanism is the first motor 8, whose output shaft is connected to the rotating shaft 17. The function of the first motor 8 is to drive the rotating shaft 17 to rotate, thereby driving the entire long rod 9 to adjust the angle. This design allows the tail end of the long rod 9 to be adjusted to different angles as needed to meet the weeding needs of different heights and positions.

[0047] like Figure 4 As shown, the long rod 9 is an important component of the angle adjustment mechanism. It is a Y-shaped structure, and the head end is fixedly connected to the rotating shaft 17. Specifically, there is a round hole in the middle of the rotating shaft 17, and the head end of the long rod 9 passes through the round hole. The head end of the long rod 9 has a head end thread 901, and the head end thread 901 is fixed to the rotating shaft 17 through a cushion and a bolt; the main body of the long rod 9 is a hollow round rod structure. The material and structural design of the long rod 9 must ensure that it can withstand the corresponding torque and weight under the drive of the motor, while maintaining stable mechanical properties. The head end of the long rod 9 is fixed to the rotating shaft 17 through threads, cushions and bolts to ensure firmness and reliability during operation.

[0048] The long rod 9 is divided into three parts: a head end, a first tail end 902 and a second tail end 903. The first tail end 902 is connected to a flame weeding mechanism, which is responsible for performing flame weeding; the second tail end 903 is connected to a mechanical weeding mechanism, which is responsible for performing mechanical weeding. This design enables the same device to perform flame and mechanical weeding at the same time, thereby improving the efficiency and thoroughness of weeding.

[0049] As a preferred example, the flame weeding mechanism is a key component of the device, and its design and layout are crucial to achieving efficient and safe flame weeding operations. The mechanism includes the following core components:

[0050] Gas cylinder 4: Gas cylinder 4 is installed under the belly of the UAV platform 1. Its size, weight and shape are carefully designed to ensure that it can provide sufficient flammable gas while maintaining the balance of the UAV. The design of gas cylinder 4 takes safety and stability into consideration to prevent leakage or other potential hazards during flight.

[0051] Ignition generator 15: The ignition generator 15 is disposed on the side wall of the first tail end 902 of the long rod 9, and its function is to generate electric sparks to ignite the combustible gas flowing out of the gas cylinder 4. The ignition generator 15 is connected to the control module 3 to ensure that the operator can remotely control the ignition process through the remote controller 18.

[0052] Ignition needle 14: The ignition needle 14 is connected to the ignition generator 15 and fixed to the side of the flame nozzle 13. The design of the ignition needle 14 ensures that the electric spark generated by the ignition generator 15 can be directly transmitted to the vicinity of the flame nozzle 13, thereby effectively igniting the combustible gas.

[0053] Flame nozzle 13: The flame nozzle 13 is arranged on the tail end thread 904 at the end of the first tail end 902 of the long rod 9, and is designed to guide and control the shape and direction of the flame. The structure of the flame nozzle 13 can ensure that the flame is concentrated and evenly distributed to achieve a precise weeding effect.

[0054] Channel: A channel is formed inside the long rod 9 from the head to the first tail end 902, and the channel is used to transport the combustible gas from the gas cylinder 4 to the flame nozzle 13. The design of the channel ensures smooth gas flow, reduces pressure loss, improves the efficiency of flame weeding, and can also be used to connect the built-in gas pipe 6.

[0055] Solenoid valve 5: The gas cylinder 4 is provided with a solenoid valve 5, which is connected to the flame nozzle 13 through the gas pipe 6. The function of the solenoid valve 5 is to control the flow of the combustible gas according to the instructions of the control module 3 to achieve precise control of the flame. The design of the solenoid valve 5 ensures that the gas supply can be quickly cut off when the flame is not needed, ensuring the safety of the operation.

[0056] In actual application, the operator sends an ignition command through the remote control 18. After receiving the command, the control module 3 activates the ignition generator 15 to generate an electric spark, which is transmitted to the flame nozzle 13 through the ignition needle 14 to ignite the combustible gas flowing out of the gas cylinder 4. At the same time, the solenoid valve 5 is opened, allowing the combustible gas to flow to the flame nozzle 13 through the gas pipe 6 and the gas pipe 6 inside the long rod 9 to form a flame. The operator can adjust the size and direction of the flame as needed to meet different weeding needs. When the weeding operation is completed, the operator can send a flameout command through the remote control 18, and the control module 3 cuts off the solenoid valve 5 to stop the supply of combustible gas. At the same time, the ignition generator 15 stops generating electric sparks, and the flame is extinguished.

[0057] As a preferred example, the mechanical weeding mechanism includes a motor base 905, which is arranged at the second tail end 903 of the long rod 9. The motor base 905 is designed to fix the second motor 10 and ensure the stable operation of the motor. The motor base 905 is usually made of a strong material to withstand the force and vibration generated when the motor is running. The second motor 10 is installed on the motor base 905, which is the power source of the weeding mechanism. The second motor 10 is connected to the rotating disk 11 through its output shaft, providing power to the rotating disk 11, thereby driving the weeding rope 12 to rotate at high speed. The selection of the second motor 10 takes into account the requirements of power and speed to ensure that the weeding rope 12 can effectively hit the weeds.

[0058] Connected to the output shaft of the second motor 10 is a rotating disc 11, located above the motor base 905. The rotating disc 11 is designed to transmit the rotational motion of the motor to the weeding rope 12. The rotating disc 11 is usually made of a lightweight and durable material to ensure stability and durability when rotating at high speeds.

[0059] The side of the rotating disk 11 is provided with a weeding rope hole, which is a channel for guiding the weeding rope 12. The design of the weeding rope hole ensures that the weeding rope 12 can be correctly installed on the rotating disk 11 and maintains appropriate tension and position during rotation.

[0060] Finally, the weeding rope 12 is installed in the weeding rope hole. The weeding rope 12 is a component that actually performs the weeding operation. It hits the weeds through the high-speed rotation of the rotating disk 11 to achieve the weeding function. The material selection of the weeding rope 12 takes into account the wear resistance and the cutting effect on the weeds to ensure long-term and effective use.

[0061] In actual application, after the second motor 10 is started, the rotation of the rotating disk 11 drives the weeding rope 12 to rotate at high speed. When the drone flies near the weeds in the target area, the operator can control the first motor 8 through the remote control 18 to adjust the angle of the long rod 9 so that the weeding rope 12 approaches the weeds at the most appropriate angle. Subsequently, the second motor 10 drives the rotating disk 11 and the weeding rope 12 to rotate at high speed, hitting the leaves and stems of the weeds to achieve the weeding function. When the weeds are cleared to a certain extent, the operator can control the second motor 10 to stop rotating through the remote control 18 to complete the weeding operation.

[0062] As a specific example, the control module 3 is the central nervous system of the entire remote flame weeding device, responsible for receiving operation instructions and controlling the actions of various execution components. The control module 3 includes a power module, a signal receiving device and a signal sending device, and these submodules together ensure that the control module 3 can operate stably and realize the remote control function.

[0063] The power module is the energy supply part of the control module 3, which is usually composed of a lithium battery and provides a stable power supply for the control module 3 and its connected solenoid valve 5, the first motor 8, the second motor 10, the ignition generator 15 and the camera 16.

[0064] The signal receiving device is responsible for receiving wireless signals from the remote controller 18, which contain the operator's control instructions for the device. The device can decode the signals and convert them into instructions that the control module 3 can understand.

[0065] The signal sending device is responsible for sending the status information of the control module 3 or the picture captured by the camera 16 back to the remote controller 18, so as to ensure that the operator can monitor the progress of the weeding operation in real time.

[0066] The control module 3 is connected to the following components through wires to control them:

[0067] The control module 3 is connected to the electromagnetic valve 5 through wires, and controls the opening and closing of the electromagnetic valve 5 according to the operation instructions, thereby controlling the combustible gas in the gas cylinder 4 to flow to the flame nozzle 13, so as to realize the generation and extinguishing of the flame. The control module 3 is connected to the first motor 8 to control its start and stop. The first motor 8 is responsible for driving the rotating shaft 17 of the long rod 9 to realize the rotation of the angle adjustment mechanism to adjust the working angle of the mechanical weeding mechanism and the flame weeding mechanism. The control module 3 is connected to the second motor 10 to control its start and stop. The second motor 10 is responsible for driving the rotating disk 11 and the weeding rope 12 to realize the function of mechanical weeding. The control module 3 is connected to the ignition generator 15 through wires, and controls the ignition generator 15 to generate electric sparks according to the operation instructions, ignites the combustible gas in the flame nozzle 13, and realizes the function of flame weeding. The control module 3 is connected to the camera 16 to control the shooting and image transmission of the camera 16, and sends the captured image to the display screen 1801 of the remote control 18 through the signal sending device, so that the operator can remotely monitor the operation site.

[0068] In actual application, the operator sends instructions through the remote control 18. After receiving the instructions, the control module 3 decodes the instructions through the signal receiving device, and distributes power to the corresponding execution components, such as the solenoid valve 5 and the motor, through the power module according to the instructions, so as to achieve precise control of the entire weeding device. At the same time, the control module 3 is also responsible for sending the images captured by the camera 16 and the status information of the device back to the remote control 18, so that the operator can monitor the progress of the weeding operation in real time and adjust the operation instructions as needed.

[0069] As a specific example, Figure 3As shown, the specific structure and operation of the remote control 18 include key components such as a signal receiving module, a signal transmitting module, a display screen 1801, an angle knob 1802, a start ignition button 1803, an end ignition button 1804, a motor start button 1805 and a motor end button, and are connected to the control module 3 of the device to realize the remote control function.

[0070] The remote controller 18 is an interface between the operator and the remote flame weeding device, and is compact and user-friendly. A signal receiving module and a signal transmitting module are provided on the front of the remote controller 18, which are used to receive real-time video signals from the device and send control signals to the device, respectively. The signal receiving module receives the video signal transmitted by the camera 16 through wireless communication technology and displays it on the display screen 1801 of the remote controller 18, so that the operator can monitor the on-site situation of the weeding operation in real time.

[0071] The remote controller 18 is provided with a plurality of control buttons and knobs, including an angle knob 1802, a start ignition button 1803, an end ignition button 1804, a motor start button 1805, and a motor end button. The angle knob 1802 is used to fine-tune the angle of the long rod 9 to ensure that the weeding mechanism is accurately aimed at the target weeds. The start ignition button 1803 and the end ignition button 1804 are respectively used to control the ignition and extinguishing of the flame weeding mechanism, and the motor start button 1805 and the motor end button control the start and stop of the mechanical weeding mechanism. The display screen 1801 on the remote controller 18 is used to display the real-time video stream received from the camera 16, so that the operator can clearly see the progress of the weeding operation away from the operation site. The design of the display screen 1801 takes into account the visibility under strong outdoor light, ensuring that a clear image can be provided under various lighting conditions. The signal transmission module of the remote controller 18 is responsible for wirelessly transmitting the operator's control instructions to the control module 3. These instructions include control signals for the first motor 8, the second motor 10, the solenoid valve 5 and the ignition generator 15, so as to achieve precise control of the entire weeding device.

[0072] In actual use, the operator first adjusts the long rod 9 to a suitable angle through the angle knob 1802, and then observes the position of the target weeds through the display screen 1801. The operator presses the motor start button 1805 to start the mechanical weeding mechanism, and presses the start ignition button 1803 to ignite the flame weeding mechanism when necessary. After the weeding operation is completed, the operator presses the motor end button and the end ignition button 1804 to stop the operation of the mechanical and flame weeding mechanisms respectively.

[0073] Example 2

[0074] A long rod 9 structure of a remote flame weeding device for power lines, wherein the head end of the long rod 9 to the fork position is a split rotation connection, and a rotating motor is provided at the rotation connection for adjusting the angle between the plane where the first tail end 902 and the second tail end 903 are located and the horizontal plane.

[0075] The long rod 9 is a key component of the device, and is designed as a Y-shaped structure, with the head end fixedly connected to the rotating shaft 17, and the tail end is divided into a first tail end 902 and a second tail end 903. The first tail end 902 is connected to the flame weeding mechanism, and the second tail end 903 is connected to the mechanical weeding mechanism. The design of the long rod 9 allows it to be flexibly adjusted in three-dimensional space to meet the weeding needs of different heights and angles.

[0076] The head end to the fork position of the long rod 9 adopts a split rotating connection design, which allows the two tail ends of the long rod 9 to rotate relative to the head end to adjust the angle with the horizontal plane. This connection method provides additional degrees of freedom, allowing the weeding mechanism to be more accurately aimed at the target weeds.

[0077] A rotating motor is provided at the rotating connection of the long rod 9, which is responsible for driving the rotation of the long rod 9 to achieve the plane angle adjustment of the first tail end 902 and the second tail end 903. The selection of the rotating motor takes into account the requirements of torque and speed to ensure that the long rod 9 can be smoothly and accurately adjusted to the desired position.

[0078] The rotating motor is connected to the rotating connection of the long rod 9 through a gear or belt transmission system, and the operator can control the start and stop of the rotating motor through the control button or knob on the remote control 18, thereby adjusting the angle of the tail end of the long rod 9. This design enables the long rod 9 to quickly respond to the operator's instructions and achieve precise angle adjustment.

[0079] In actual use, the operator first observes the position and angle of the target weeds through the display screen 1801 on the remote controller 18. Then, the operator uses the angle knob 1802 or button on the remote controller 18 to control the rotation motor so that the first tail end 902 and the second tail end 903 of the long rod 9 are adjusted to a suitable position and angle to ensure that the weeding mechanism can accurately aim at the target weeds. The operator can then start the mechanical weeding mechanism and / or the flame weeding mechanism to operate.

[0080] As a preferred example, the long rod 9 includes a third tail end, and the third tail end is located in the plane where the first tail end 902 and the second tail end 903 are located, the first tail end 902 is located between the second tail end 903 and the third tail end, and a fire extinguishing mechanism is provided on the third tail end.

[0081] The long rod 9 is an important part of the device, which is designed as a Y-shaped structure, with the head end fixedly connected to the rotating shaft 17, and the tail end is divided into a first tail end 902, a second tail end 903 and a newly added third tail end. The first tail end 902 is connected to the flame weeding mechanism, the second tail end 903 is connected to the mechanical weeding mechanism, and the third tail end is used to install the fire extinguishing mechanism.

[0082] The third tail end is located in the plane where the first tail end 902 and the second tail end 903 are located. This design makes the structure of the long rod 9 more compact and ensures the effective operating range of the fire extinguishing mechanism. The first tail end 902 is located between the second tail end 903 and the third tail end. This layout is conducive to balancing the weight distribution of the long rod 9 and ensuring stability during operation.

[0083] The fire extinguishing mechanism provided on the third tail end is a key feature of this embodiment. The fire extinguishing mechanism can be implemented in a variety of ways, for example, it can be a spraying device for spraying water or chemical fire extinguishing agents to quickly extinguish sparks or small flames that may be left after the flame weeding. The design of the fire extinguishing mechanism needs to take into account the convenience of operation and the speed of response to ensure that it can be activated immediately after the flame weeding to prevent the spread of the fire.

[0084] The operation of the fire extinguishing mechanism can be controlled by the remote controller 18. After the operator completes the flame weeding, he can start the fire extinguishing mechanism by pressing a button or a knob on the remote controller 18. After receiving the start signal, the control module 3 transmits the command to the fire extinguishing mechanism at the third end, so that it starts working and quickly extinguishes the flame to ensure the safety of the weeding area.

[0085] In order to ensure the fire extinguishing effect, the fire extinguishing mechanism can be equipped with a sensor for detecting whether the flame is completely extinguished. The sensor feeds back the detected information to the control module 3, and the control module 3 transmits the information to the display screen 1801 of the remote controller 18, so that the operator can understand the fire extinguishing situation in real time and perform secondary operations when necessary.

[0086] Example 3

[0087] A method for remote flame weeding of power lines comprises the following steps:

[0088] The drone platform 1 flies to the vicinity of weeds in the target area, and uses the camera 16 installed in front of the drone platform 1 to collect weed information.

[0089] The image captured by the camera 16 is transmitted to the control module 3 via a wireless signal, and the image recognition algorithm built into the control module 3 identifies and locates the position of the weeds.

[0090] According to the position information of the weeds, the control module 3 drives the first motor 8 to rotate a corresponding angle.

[0091] The rotating shaft 17 connected to the first motor 8 drives the long rod 9 so that the mechanical weeding mechanism at the second tail end 903 is aligned with the weed position, ready for weeding operation.

[0092] The control module 3 drives the rotating motor to adjust the plane where the first tail end 902 and the second tail end 903 of the long rod 9 are located to be consistent with the flight direction of the UAV platform 1.

[0093] Ensure that the vector direction of the line from the end of the first tail end 902 to the end of the second tail end 903 is the same as the flight direction of the UAV platform 1, so as to accurately control the weeding and flame burning operations.

[0094] The UAV platform 1 is controlled to move to the next weed location, and the mechanical weeding mechanism is controlled to weed.

[0095] During the movement, the flame weeding mechanism of the first tail end 902 is controlled to burn the grass roots remaining after weeding, thereby completely removing the weeds.

[0096] The flight speed and hovering time of the drone are controlled so that the processing time of the mechanical weeding mechanism and the flame weeding mechanism on the same weeds is within the set range.

[0097] By precisely controlling the speed and position of the drone, the efficiency and safety of weeding and flame burning operations can be ensured.

[0098] Repeat until completed

[0099] Repeat the above steps until all the weeds in the target area are cleared.

[0100] The control module 3 automatically plans the operation path according to the information fed back by the camera 16 and the pre-set operation area to ensure the continuity and coverage of the operation.

[0101] In actual application, the operator monitors the entire weeding process through the remote controller 18 and adjusts the position and operating parameters of the drone as needed. The control module 3 automatically adjusts the action of the motor and the drone according to the real-time feedback data and the preset algorithm to achieve efficient and accurate weeding operations. Through this method, weeds in areas under power transmission lines that are difficult to reach manually can be quickly and safely removed, greatly reducing the risk and cost of manual weeding, while improving the efficiency and thoroughness of weeding.

[0102] As a preferred example of the above example, while controlling the drone platform 1 to move to the next weed location, the mechanical weeding mechanism is controlled to weed. During the movement, the flame weeding mechanism of the first tail end 902 is controlled to burn the grass roots remaining after weeding. After burning, the control module 3 activates the fire extinguishing mechanism to extinguish the location after the flame burning. The fire extinguishing mechanism can be a spraying device for spraying water or chemical fire extinguishing agents to quickly extinguish sparks or small flames that may be left after flame weeding.

[0103] When there is no open flame in the image of the position after the flame is burned collected by the camera 16, the control module 3 receives the signal from the camera 16 and determines that the fire has been controlled.

[0104] Based on the feedback from the camera 16, the control module 3 then sends a command to the fire extinguishing mechanism to stop extinguishing the fire. This step ensures the safety of the weeding operation, prevents the further spread of the fire, and also avoids unnecessary waste of resources.

[0105] In actual application, the operator monitors the entire weeding and fire-fighting process through the remote controller 18. The control module 3 automatically adjusts the action of the drone and the working state of the weeding mechanism according to the real-time feedback data and the preset algorithm to achieve efficient and accurate weeding and fire-fighting operations. Through this method, weeds in the areas under the power transmission line that are difficult to reach manually can be quickly and safely removed, while ensuring that no safety hazards are left after the operation.

[0106] Example 4

[0107] A remote flame weeding device comprises the following steps:

[0108] S1: The operator controls the drone to fly to the vicinity of weeds on the building through the drone controller; the camera 16 transmits the monitoring image to the display screen 1801 of the remote controller 18 through the control circuit, and performs subsequent operations with the assistance of the display screen 1801;

[0109] S2: The operator turns the angle knob 1802 according to the position of the weeds, and the remote controller 18 sends a signal to the control circuit through the signal transmitter. The control circuit controls the first motor 8 to generate a rotational motion of a corresponding angle, so that the rotating disk 11 at the front end of the second tail end 903 of the long rod 9 approaches the weeds at the most appropriate angle.

[0110] S3: The operator presses the motor start button 1805, and the remote controller 18 sends a signal to the control circuit 3 through the signal transmitting device. The control circuit controls the second motor 10 to produce a continuous rotation motion, and the second motor 10 drives the rotating disk 11 and the weeding rope 1212 to rotate at a high speed, thereby achieving a cleaning effect on the leaves and stems of the weeds;

[0111] S4: When the weeds are cleaned to a certain extent, the operator presses the motor end button, and the second motor 10 stops rotating;

[0112] S5: The operator turns the angle knob 1802, and the remote controller 18 sends a signal to the control circuit through the signal transmitter. The control circuit controls the first motor 8 to generate a rotational motion of a corresponding angle, so that the flame nozzle 13 at the first tail end 902 of the long rod 9 approaches the root of the weeds at the most appropriate angle.

[0113] S6: The operator presses the start ignition button 1803, and the remote controller 18 sends a signal to the control circuit through the signal transmitter. The control circuit controls the solenoid valve 5 to be in a connected state, and the combustible gas is transported from the gas cylinder 4 to the flame nozzle 13 through the gas pipe 6. The control circuit controls the ignition generator 15 to ignite the flame nozzle 13, igniting the combustible gas sprayed from the flame nozzle 13, and the flame is aimed at the roots of the weeds to burn, thereby completely removing the weeds;

[0114] S7: The operator observes through the display screen 1801 that the weeds have been burnt, and presses the end ignition button 1804. The remote controller 18 sends a signal to the control circuit through the signal transmitter. The control circuit controls the solenoid valve 5 to be in the disconnected state, and the flame at the flame nozzle 13 is extinguished. Then the operator controls the drone to the next weed and repeats the operation.

[0115] The present invention has a reliable structure and is easy to operate. It can completely remove weeds by combining mechanical weeding and flame weeding operations. The user operates the drone of the present invention to fly near the weeds. With the assistance of the camera 16 and the display screen 1801, the user first controls the first motor 8 to generate a certain angle of rotation through the remote control 18, so that the rotating disk 11 and the weeding rope 12 at the front end of the mechanical weeding device are aimed at the weeds, and then operates the second motor 10 to generate a rotational motion, driving the weeding rope 12 to remove the leaves and stems of the weeds. Then, the user controls the first motor 8 to generate a certain angle of rotation through the remote control 18, so that the flame nozzle 13 is aimed at the root of the weeds. By controlling the solenoid valve 5 and the ignition generator 15, the combustible gas is ejected from the flame nozzle 13 and burns the root of the weeds, thereby achieving the purpose of removing the weeds.

[0116] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A remote flame weeding device for power lines, characterized in that: include, A flame weeding device and an unmanned aerial vehicle platform (1) for carrying the flame weeding device to a target area, wherein the flame weeding device is arranged under the belly of the unmanned aerial vehicle platform (1), and a camera (16) is arranged in front of the unmanned aerial vehicle platform (1); The flame weeding device comprises a control module (3), an angle adjustment mechanism, a mechanical weeding mechanism and a flame weeding mechanism; The control module (3) and the angle adjustment mechanism are arranged below the belly of the UAV platform (1); the mechanical weeding mechanism and the flame weeding mechanism are connected to the angle adjustment mechanism; and the control module (3) is used to control the angle adjustment mechanism, the mechanical weeding mechanism and the flame weeding mechanism.

2. A remote flame weeding device for power lines according to claim 1, characterized in that: A bracket (7) is installed under the belly of the unmanned aerial vehicle platform (1), and the angle adjustment mechanism is installed on the bracket (7). The angle adjustment mechanism comprises a rotating shaft (17) rotatably connected to the bracket (7), a first motor (8) whose output shaft is connected to the rotating shaft (17), and a long rod (9); the long rod (9) is a Y-shaped long rod, comprising a head end fixedly connected to the rotating shaft (17), a first tail end (902) and a second tail end (903), the first tail end (902) being connected to the flame weeding mechanism, and the second tail end (903) being connected to the mechanical weeding mechanism.

3. A remote flame weeding device for power lines according to claim 2, characterized in that: The flame weeding mechanism comprises a gas cylinder (4) installed under the belly of the UAV platform (1), an ignition generator (15) arranged on the side wall of the first tail end (902) of the long rod (9), an ignition needle (14) connected to the ignition generator (15), and a flame nozzle (13) arranged at the end of the first tail end (902) of the long rod (9), wherein the ignition needle (14) is fixed to the side of the flame nozzle (13); a channel is opened inside the long rod (9) from the head end to the first tail end (902), the gas cylinder (4) is provided with a solenoid valve (5), the solenoid valve (5) is connected to the gas supply pipe (6), and the gas supply pipe (6) passes through the channel and is connected to the flame nozzle (13).

4. A remote flame weeding device for power lines according to claim 3, characterized in that: The mechanical weeding mechanism comprises a motor base (905) arranged at the end of the second tail end (903) of the long rod (9), a second motor (10) arranged on the motor base (905), a rotating disk (11) connected to the output shaft of the second motor (10), a weeding rope hole arranged on the side of the rotating disk (11), and a weeding rope (12) arranged in the weeding rope hole.

5. A remote flame weeding device for power lines according to claim 4, characterized in that: The control module (3) comprises a power module, a signal receiving device and a signal sending device, and the control module (3) is connected to the solenoid valve (5), the first motor (8), the second motor (10), the ignition generator (15) and the camera (16).

6. A remote flame weeding device for power lines according to claim 4, characterized in that: The invention also comprises a remote controller (18), wherein the remote controller (18) is provided with a signal receiving module, a signal transmitting module, a display screen (1801), an angle knob (1802), an ignition start button (1803), an ignition end button (1804), a motor start button (1805), and a motor end button. The remote controller (18) is used to obtain a video signal transmitted by a camera (16) through the signal receiving module and display it on the display screen (1801), transmit a signal to the control module (3) through the signal transmitting module, and control the first motor (8), the second motor (10), the solenoid valve (5), and the ignition generator (15) through the control module (3).

7. A remote flame weeding device for power lines according to claim 2, characterized in that: The head end of the long rod (9) to the fork position is a split rotation connection, and a rotation motor is also provided at the rotation connection to adjust the angle between the plane where the first tail end (902) and the second tail end (903) are located and the horizontal plane.

8. A remote flame weeding device for power lines according to claim 2, characterized in that: The long rod (9) also includes a third tail end, which is located in the plane where the first tail end (902) and the second tail end (903) are located, and the first tail end (902) is located between the second tail end (903) and the third tail end, and a fire extinguishing mechanism is arranged on the third tail end.

9. A method for remote flame weeding of a power line, based on a device for remote flame weeding of a power line according to any one of claims 1 to 8, characterized in that: The following steps are included: S1, the drone platform (1) flies to the vicinity of weeds in the target area, and the camera (16) collects weed information and sends it to the control module (3); S2. According to the position of the weeds, the control module (3) drives the first motor (8) to rotate at a corresponding angle so that the mechanical weeding mechanism at the second tail end (903) is aligned with the position of the weeds; S3, the control module (3) drives the rotating motor so that the vector direction of the line connecting the end of the first tail end (902) to the end of the second tail end (903) becomes the flight direction of the UAV platform (1); S4, controlling the UAV platform (1) to move to the next weed location, and controlling the mechanical weeding mechanism to weed, and during the movement, controlling the flame weeding mechanism at the first tail end (902) to burn the remaining grass roots after weeding; S5, controlling the flight speed and hovering time of the UAV platform (1) so that the processing time of the mechanical weeding mechanism and the flame weeding mechanism on the same weeds is within a set range; S6. Repeat the above steps until all weeds in the target area are cleared.

10. A method for remote flame weeding of power lines according to claim 9, characterized in that: Step S4 also includes the following steps: controlling the fire extinguishing mechanism to extinguish the fire at the location where the flame burns; Step S5 also The method comprises the following steps: when the image of the position after the flame burning collected by the camera (16) shows no open flame, the fire extinguishing structure is controlled to stop extinguishing the fire.

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