Power grid insulator deicing system and deicing method based on unmanned aerial vehicle

Abstract

According to the power grid insulator deicing system and deicing method based on the unmanned aerial vehicle, the unmanned aerial vehicle is mounted to carry a heating blanket to the position of a power grid insulator, and remote and efficient deicing operation is achieved; the unmanned aerial vehicle serves as an aerial platform, has the characteristics of flexibility and quick response, and can quickly arrive at a working site; a heating material or a heating layer is arranged in the heating blanket, and ice on the insulator is melted through heating; and the heating blanket mounting mechanism adopts a steering engine detacher, so that the heating blanket can be accurately hung and released. Through the arrangement, the safety of insulator deicing operation can be improved, and the efficiency and reliability of the insulator deicing operation can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of power grid insulator deicing, and in particular to a power grid insulator deicing system and deicing method based on an unmanned aerial vehicle. Background Art

[0002] With the development of the power industry, high-voltage transmission lines often face the problem of ice and snow covering the surface of insulators when operating under harsh climatic conditions, especially in high-altitude cold areas. Icing of insulators will cause the insulation performance of the conductors to deteriorate, increase the probability of line flashover, and thus pose a potential threat to the safe operation of the power grid.

[0003] Traditional deicing methods include manual climbing and knocking, using heating equipment or utilizing anti-icing coatings. However, these methods all have certain limitations and risks in practical applications. On the one hand, manual high-altitude operations pose a great safety hazard. Manual deicing usually requires professionals to carry tools to climb up high-voltage towers, which not only increases personal safety risks, but is also restricted by weather, time periods and terrain. On the other hand, the use of fixed heating sources or anti-icing coatings is often difficult to flexibly adjust according to on-site conditions, the initial investment cost is high, and the deicing efficiency is limited after the ice layer has formed. Summary of the invention

[0004] In order to address the deficiencies of the prior art, the purpose of the present application is to provide a power grid insulator deicing system and deicing method based on a drone, which can improve the safety of insulator deicing operations and improve the efficiency and reliability of insulator deicing operations.

[0005] To achieve the above objectives, this application adopts the following technical solutions: The present application provides a grid insulator deicing system based on a drone, the grid insulator deicing device comprising: a heating blanket, a mounting drone and a heating blanket mounting mechanism; the heating blanket comprises a heating material or a heating layer, and the heating blanket is provided with hanging ears at opposite ends along the length direction of the heating blanket; the heating blanket mounting mechanism is installed on the mounting drone, the heating blanket mounting mechanism comprises at least two servo unhooks, each servo unhooks is respectively connected to a servo, each servo unhooks is used to hang or release the hanging ears, and after the heating blanket mounting mechanism releases the heating blanket, the heating blanket covers the grid insulator.

[0006] As a preferred technical solution, the power grid insulator de-icing device also includes: a spray drone and a heating blanket spray mechanism. The heating blanket spray mechanism is installed on the spray drone. The heating blanket spray mechanism includes a liquid storage container, a nozzle and a nozzle. The liquid storage container is used to store ice-melting agent. The liquid storage container is connected to the nozzle, and the nozzle is connected to the nozzle. When the heating blanket is hung above the target insulator, the heating blanket spray mechanism sprays the ice-melting agent on the surface of the heating blanket or the surface of the insulator to make the heating blanket release heat and melt the ice layer on the surface of the insulator.

[0007] As a preferred technical solution, the power grid insulator de-icing device also includes: a remote control and monitoring module, which includes: a ground control terminal, an image acquisition and transmission device, a flight controller, and a positioning and perception sensor; the image acquisition and transmission device, the flight controller, and the positioning and perception sensor are mounted on the mounted UAV and / or the spraying UAV; the image acquisition and transmission device, the flight controller, and the positioning and perception sensor are transmitted to the ground control terminal through wireless signals; the image acquisition and transmission device is used to collect images around the mounted UAV and / or the spraying UAV, and transmit the image data to the ground control terminal; the ground control terminal controls the flight controller to control the position and attitude of the UAV, and control the action of the heating blanket mounting mechanism and / or the heating blanket spraying mechanism; the positioning and perception sensor is used to detect the position and attitude of the UAV.

[0008] As a preferred technical solution, the image acquisition and transmission device includes a high-definition camera and an infrared imager, and the positioning and perception sensors include a laser ranging sensor and a GPS positioning module; the high-definition camera is used to monitor the relative position of the heating blanket and the insulator, the melting of the ice layer, and the flight status of the mounted drone and / or the spraying drone in real time; the infrared imager is used to monitor the temperature distribution on the surface of the heating blanket and the insulator to determine the heat release efficiency and the degree of ice melting; the laser ranging sensor and the GPS positioning module are used to determine the relative coordinate position of the insulator and the drone.

[0009] The present application also provides a method for deicing power grid insulators based on a drone, and the method for deicing power grid insulators comprises: Place the mounted drone stably in a safe ground area, hang the heating blanket's ears on the servo unhooking device of the heating blanket mounting mechanism, and check the connection reliability; The operator sets the flight trajectory, hovering coordinates, altitude, speed, and turning rate for the mounted UAV in the ground control terminal operation interface according to the mission plan and environmental factors, and completes the system comprehensive self-check and communication link connectivity test to ensure that the equipment and system are in the best working condition; The mounted drone automatically takes off according to the preset route, and relies on the GPS positioning module and the inertial navigation system to coordinate navigation and fly to a safe initial hovering point at a horizontal distance from the target insulator; The operator controls the posture and position of the mounted UAV based on the images collected by the high-definition camera and the distance data fed back by the laser ranging sensor received in real time by the ground control terminal, so that the mounted UAV flies to the side of the insulator. The heating blanket mounting mechanism is triggered by the ground control terminal, the servo unhooking device at one end of the heating blanket mounting mechanism is opened, and the hanging ear at one end of the heating blanket is hung on the preset hanging point on the corresponding side of the insulator. The hanging is detected at the moment of hanging and the hanging status signal is fed back; The operator controls the lifting speed of the mounted drone to slowly increase the height, and adjusts the lateral position of the mounted drone by adjusting the steering angular velocity in a timely manner according to the insulator structure and the surrounding environment to ensure that the middle section of the heating blanket smoothly and accurately crosses the top of the insulator. During this process, the accuracy of the relative position of the heating blanket and the insulator is maintained based on the feedback data from the high-definition camera, laser ranging sensor and GPS positioning module until the other end of the heating blanket reaches above the predetermined hanging point on the other side of the insulator; The ground control terminal automatically issues commands according to the set logic, and the servo unhooking device at the other end of the heating blanket mounting mechanism releases the lug. Under the coordination of its own weight and the fine adjustment of the mounted drone's attitude, the heating blanket naturally droops and closely adheres to the surface of the insulator, forming a symmetrical and stable suspension state centered on the insulator axis. During this process, the tapestry status information is monitored and uploaded in real time to ensure that the tapestry operation is successful once and for all without deviation. The heating blanket releases heat and melts the ice on the surface of the insulator; After the infrared imager and high-definition camera confirmed that the ice melting had achieved the expected effect, the mounted drone approached the insulator steadily from the safe standby position according to the command and hovered precisely at the edge of the insulator; The high-definition camera and laser rangefinder sensor on the mounted drone are used to capture the positions of the hanging ears at both ends of the heating blanket. Then, the servo unhookers at both ends of the heating blanket mounting mechanism are controlled to move in sequence. First, one end of the hanging ear is hooked and slowly lifted up. At the same time, the posture and position of the mounted drone are fine-tuned to make the heating blanket separate from the insulator surface at a uniform and stable speed. During this process, the relative distance between the heating blanket and the insulator is kept stable to avoid collision damage. After the heating blanket is completely separated from the insulator, the height of the mounted drone is further increased and the posture is adjusted. The heating blanket is retrieved intact to the initial mounting state and suspended under the mounted drone body. The heating blanket is tested and confirmed to be in normal state, and the mounted drone is ready to return. After completing the de-icing mission, the mounted drone automatically returns along the preset safe route and lands at the designated ground recovery area.

[0010] As a preferred technical solution, the method for deicing power grid insulators also includes: The spray drone fills the ice melting agent into the liquid storage container; The operator sets the flight trajectory, hovering coordinates, altitude, speed, turning rate, spray pressure, spray pattern, and flow rate of the spray drone in the ground control terminal operation interface according to the mission planning and environmental factors, and completes the system comprehensive self-check and communication link connectivity test to ensure that the equipment and system are in the best working condition; After the mounted drone has finished hanging the blanket and maintained a safe distance, the spraying drone quickly flies to the spraying operation position above the insulator and away from the surface of the heating blanket according to the preset path, and sprays the ice melting agent on the surface of the heating blanket or the surface of the insulator, so that the heating blanket releases heat and the ice layer on the surface of the insulator melts; During the de-icing process, the ground control terminal continuously receives and analyzes the ice melting visual images from the high-definition camera and the temperature change data from the infrared imager, and uses intelligent algorithms to evaluate the de-icing effect in real time. Based on this, the operator flexibly and timely fine-tunes the spray volume, jet intensity, spray angle, and vertical angle according to professional experience and preset strategies to ensure that the heating de-icing process continues to advance efficiently and evenly, so that the ice layer on the surface of the insulator can be quickly and comprehensively melted until the residual thickness of the ice layer is lower than the safety threshold or the preset de-icing target is reached; After completing the de-icing mission, the spray drone automatically returns along the preset safe route and lands at the designated ground recovery area.

[0011] As a preferred technical solution, the deicing method for power grid insulators also includes: under mild icing conditions or specific task requirements, placing a heating blanket flat on a special anti-seepage and heat-insulating preheating pad in a safe ground operation area, slowly pouring an appropriate amount of ice-melting agent through the heating blanket using a pouring device, and monitoring the temperature and humidity changes of the heating blanket in real time during the process to ensure uniform and appropriate preheating without the risk of local overheating or liquid accumulation, and pre-triggering a small amount of heat release to achieve a stable preheating state; Mount the drone with the preheated heating blanket and quickly fly to the insulator to mount the heating blanket. Use the preheating heat to initially melt the ice layer. If the ice layer is thin, it can independently complete the de-icing. When the ice layer is thick, the cleaning drone will supplement the spraying of ice-melting agent according to the actual situation of the ice layer to optimize the de-icing effect.

[0012] As a preferred technical solution, the power grid insulator deicing method also includes: when the actual situation is a complex working condition, the mounted drone and the spraying drone are used for collaborative division of labor. The complex working conditions include severe weather, super-high poles and towers, and simultaneous deicing of multiple points of insulator groups; The coordinated work of the mounting drone and the spraying drone includes: the mounting drone performs the tasks of hanging and retrieving the heating blanket, and uses the high-precision positioning navigation system and the preset planning path to ensure the stability of the carpet and the safety of the carpet retrieval; The cleaning drone performs spraying operations and image monitoring tasks. The cleaning drone collects and transmits on-site image data in real time through image acquisition and transmission devices, providing decision-making basis for operators, and controls spraying parameters according to instructions to achieve insulator de-icing; The mounted drone and the spraying drone are coordinated and dispatched through the ground control terminal, which allocates task loads, optimizes flight paths and operation sequences according to real-time working conditions.

[0013] As a preferred technical solution, the nozzle of the spray drone adjusts the spray angle and jet intensity in real time according to the shape and mounting position of the insulator to ensure that the water mist is evenly distributed on the heating blanket and the insulator surface, thereby promoting heat release of the heating blanket and melting of the ice layer; the spray drone is remotely controlled through the ground control terminal, so that the operator can adjust the spray parameters in time according to real-time images and on-site factors.

[0014] As a preferred technical solution, the method for deicing power grid insulators also includes: After the mounted drone and spraying drone landed at the designated ground recovery area, the operator quickly went forward to check the appearance and component conditions of the mounted drone and spraying drone, and recorded the equipment operation data and mission execution parameters; The operator will immediately conduct a comprehensive inspection of the retrieved heating blanket, including the appearance integrity of the heating blanket, heating performance test, and ear wear condition. Then, the operator will use cleaning equipment and mild detergent to gently clean the surface stains and residual salt impurities of the heating blanket, and dry it naturally or dry it at low temperature in a clean, dry, constant temperature indoor environment. After the testing equipment confirms that the heating blanket performance meets the standards, the heating blanket will be packaged and stored in the storage facility; Ensure that the mounted drone and spraying drone are in good standby condition and are ready for the next power grid insulator de-icing mission at any time. Regularly perform maintenance and performance calibration tests on the components of the mounted drone and spraying drone to ensure long-term stable and reliable operation of the system.

[0015] Compared with the prior art, the beneficial effects of this application are: This application realizes remote and efficient de-icing operations by mounting a drone carrying a heating blanket to the location of the power grid insulator. As an aerial platform, the drone is flexible and responsive, and can quickly reach the work site. The heating blanket has a built-in heating material or heating layer, which melts the ice on the insulator by heating. This design avoids the equipment damage and safety hazards that may be caused by traditional manual knocking or mechanical vibration de-icing. The heating blanket mounting mechanism uses a servo unhooking device, which can accurately hang and release the heating blanket. This mechanism design not only improves the degree of automation of the operation, but also ensures the stability and accuracy of the heating blanket when covering the insulator.

[0016] Traditional manual deicing operations require personnel to work at heights, which poses a great safety risk. However, this application uses drones for remote operations, which greatly reduces manual participation and reduces operational risks. The softness and fit of the heating blanket enable it to cover the insulator tightly, avoiding equipment damage that may be caused by traditional deicing methods. At the same time, the heating method of the heating blanket is also gentler and will not cause thermal shock or thermal damage to the insulator. This application is applicable to power grid insulators of various types and specifications, and no special design or modification is required for different insulators. This greatly improves the versatility and adaptability of the system.

[0017] The operation of this application is relatively simple. The operator only needs to control the flight of the drone and the mounting and release of the heating blanket through the remote control. This mode of operation reduces the skill requirements for the operator and improves the work efficiency. The system can be equipped with intelligent monitoring equipment to monitor the working status of the heating blanket and the de-icing effect of the insulator in real time. This helps to detect and deal with potential problems in a timely manner and ensure the safety and smooth progress of the operation. The system can also record the data of each de-icing operation, including operation time, heating blanket temperature, de-icing effect, etc. These data can be used for subsequent analysis and optimization to further improve the performance and efficiency of the system.

[0018] The system can efficiently and quickly remove ice from grid insulators, reducing equipment failures and power outages caused by ice. This helps reduce grid maintenance costs and improve power supply reliability. Ice is one of the important factors affecting grid power supply stability. The application of this system helps reduce power outages caused by ice and improves grid power supply stability and reliability. The research and development and application of this system have promoted the application and development of drone technology in the power industry. With the continuous advancement and improvement of technology, the system is expected to be applied and promoted in a wider range of fields.

[0019] In summary, the UAV-based power grid insulator deicing system provided in this application has many beneficial effects such as technological innovation, high efficiency, improved safety, convenient and intelligent operation, as well as economic and social benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the power grid insulator deicing system based on drones in this application; Figure 2 The present invention is a flow chart of the method for deicing insulators of power grids. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the specific implementation manner of the present application will be clearly and completely described below in conjunction with the drawings in the implementation manner of the present application.

[0022] like Figure 1 As shown, the present application provides a UAV-based power grid insulator deicing system, including a heating blanket, a mounting UAV and a heating blanket mounting mechanism.

[0023] The heating blanket is a flexible heating blanket, and both ends of the heating blanket are respectively provided with hanging ears for being hooked by the heating blanket mounting mechanism.

[0024] The main body of the heating blanket contains a heating material or a heating layer that can produce an exothermic effect when in contact with water. The heating layer releases heat after absorbing an ice-melting agent, and is used to heat and melt the ice layer on the surface of the power grid insulator.

[0025] In one embodiment, the main body of the heating blanket contains a heating material that can generate an exothermic effect when in contact with water. The heating material is a mixture of quicklime, magnesium, and aluminum, and the ice melting agent is heavy water or charged water.

[0026] In another embodiment, the main body of the heating blanket contains a heating layer that can produce an exothermic effect when in contact with water. The heating layer is a special chemical fiber, phase change material or composite carbon fiber heating layer with water absorption and heat release characteristics, and a multi-layer textile structure and a waterproof breathable membrane are provided in the heating blanket to continuously release heat after the first contact with water, and have a certain thermal conductivity uniformity, so that the ice layer at various positions on the surface of the insulator can be quickly melted. In this application, the core heating material inside the main body of the heating blanket is a composite phase change material, which efficiently triggers an exothermic reaction when it contacts water molecules, and with the help of the multi-layer carefully woven high-temperature resistant textile structure and highly breathable waterproof membrane in the blanket, the heat is uniformly and persistently conducted and released, ensuring the rapid melting of the ice layer on the surface of the insulator in all directions, and effectively avoiding local overheating or uneven heat loss.

[0027] The heating blanket is in the shape of a rectangular blanket. It is flexible, thin and light. The overall size of the heating blanket is designed to match the specifications of common insulators.

[0028] The heating blanket mounting mechanism is installed on the mounting drone, and the mounting drone brings the heating blanket mounting mechanism to the designated location. The heating blanket mounting mechanism includes at least two independently operable servo unhooking devices, which are used to controllably hang or release the heating blanket's lugs. Each servo unhooking device is connected to a servo, and each servo independently controls the servo unhooking device connected to the servo to hang or release the heating blanket's lugs.

[0029] In this application, a multi-rotor drone with excellent load capacity and stable hovering performance is selected as the mounted drone. Its body is made of high-strength lightweight carbon fiber material, which ensures the stability of the structure while reducing its own weight to increase the effective load and flight time.

[0030] Furthermore, the power grid insulator deicing device also includes: a spraying drone and a heating blanket spraying mechanism.

[0031] The heating blanket spraying mechanism is installed on a spraying drone, and the spraying drone brings the heating blanket spraying mechanism to a designated location. It should be noted that the heating blanket mounting mechanism and the heating blanket spraying mechanism can also be installed on the same drone, and the drone brings the heating blanket mounting mechanism and the heating blanket spraying mechanism to a designated location.

[0032] The heating blanket spray mechanism includes a liquid storage container, a spray pipe and a spray head. The liquid storage container is used to store ice melting agent, the liquid storage container is connected to the spray pipe, and the spray pipe is connected to the spray head. When the heating blanket is hung above the target insulator, the heating blanket spray mechanism sprays the ice melting agent on the surface of the heating blanket or the surface of the insulator in a directional manner, so that the heating blanket releases heat and melts the ice layer on the surface of the insulator.

[0033] In this application, the spray drone fuselage adopts a streamlined aviation aluminum alloy shell design, which has both good aerodynamic performance and strong protection characteristics, and is equipped with a powerful, energy-saving and efficient brushless motor and an optimized propeller system to ensure stable and flexible flight and sufficient load capacity. It carries a large-capacity, high-pressure resistant polyethylene material storage container and a precision pressure-adjustable spray mechanism.

[0034] Furthermore, the power grid insulator deicing device also includes a remote control and monitoring module. The remote control and monitoring module is used to realize the control and coordination of the drone, the heating blanket mounting mechanism and the heating blanket spraying mechanism.

[0035] Specifically, the remote control and monitoring module includes: a ground control terminal, an image acquisition and transmission device, a flight controller, and a positioning and perception sensor. Among them, the image acquisition and transmission device, the flight controller, and the positioning and perception sensor are mounted on the mounted drone and / or the spraying drone. Wireless signals are transmitted between the image acquisition and transmission device, the flight controller, and the positioning and perception sensor and the ground control terminal. The image acquisition and transmission device is used to collect images around the mounted drone and / or the spraying drone, and transmit the image data to the ground control terminal. The ground control terminal controls the flight controller to control the position and attitude of the drone, and control the action of the heating blanket mounting mechanism and / or the heating blanket spraying mechanism. The positioning and perception sensor is used to detect the position and attitude of the drone.

[0036] By collecting images around the drone through the image acquisition and transmission device, the insulator position, heating blanket attachment status, and heat release process can be monitored. Specifically, through the coordination of the ground control terminal and the flight controller, the drone position can be adjusted according to the insulator position so that the heating blanket mounting mechanism or the heating blanket spraying mechanism reaches the specified position; the servo can also be controlled according to the heating blanket attachment status so that the servo unhooker hooks or releases the heating blanket lug; the heating blanket spraying mechanism can also be controlled according to the heat release process so that the heating blanket spraying mechanism sprays the ice melting agent onto the heating blanket surface or the insulator surface; after the heating is completed, the servo unhooker is controlled to re-hook the heating blanket lug and remove the heating blanket from the insulator.

[0037] Specifically, the image acquisition and transmission device includes a high-definition camera and an infrared imager, and the positioning and perception sensors include a laser ranging sensor and a GPS positioning module; the high-definition camera is used to monitor the relative position of the heating blanket and the insulator, the melting of the ice layer, and the flight status of the mounted drone and / or the spraying drone in real time; the infrared imager is used to monitor the temperature distribution on the surface of the heating blanket and the insulator to determine the heat release efficiency and the degree of ice melting; the laser ranging sensor and the GPS positioning module are used to determine the relative coordinate position of the insulator and the drone.

[0038] The remote control and monitoring module is centered on a powerful and efficient industrial ground control terminal. Through a highly stable and low-latency wireless communication link, it is closely connected with a variety of high-end sensors and flight controllers on the two drones. Among them, the high-definition camera has high resolution, wide dynamic range and low-light performance. With professional optical image stabilization lens and intelligent image optimization algorithm, it can capture and clearly transmit high-quality images of the entire process of mounting, spraying, ice melting and the relative position of the heating blanket and insulator in real time; the infrared imager uses high-sensitivity, high-resolution thermal imaging detectors and precise temperature calibration algorithms to accurately monitor the temperature distribution on the surface of the heating blanket and the insulator, providing key basis for operators to accurately judge the heat release efficiency and the degree of ice melting; the laser ranging sensor uses pulsed laser ranging technology, combined with a high-precision GPS positioning module, to determine the three-dimensional coordinate position and relative distance between the insulator and the drone in real time and accurately, giving high accuracy and reliability to the drone's hovering, hanging, and taking operations in complex environments, ensuring the overall de-icing process is accurate, efficient, and safe.

[0039] Through the cooperation of the above structure, when the UAV reaches the target insulator position, the servo unhooking device can be used to hook the ear at one end of the heating blanket to one side of the insulator; Then lift or adjust the position and attitude of the drone so that the middle section of the heating blanket crosses the top of the insulator; When the other end of the heating blanket is released and mounted on the other side of the insulator, the heating blanket is symmetrically suspended on the insulator with the insulator axis as the center and closely attached to the surface of the insulator; The heating blanket spraying mechanism then sprays the ice-melting agent onto the heating blanket, causing the heating blanket to release heat, thereby quickly dissolving the ice layer on the surface of the insulator. Finally, the heating blanket mounting mechanism hooks the heating blanket hanging ears again to retrieve the heating blanket. The entire process does not require manual climbing or complex ground pretreatment, effectively improving de-icing efficiency and safety.

[0040] Furthermore, the heating blanket mounting mechanism also includes a supporting carbon tube and a steering gear transmission rod mechanism. The supporting carbon tube is fixedly installed at the bottom of the drone, and the length direction of the supporting carbon tube is perpendicular to the front and rear axis of the drone. In the present application, two steering gear unhooks are provided, and the two steering gear unhooks are respectively arranged at both ends of the supporting carbon tube.

[0041] The servo unhooking device is fixedly connected to the UAV body. The servo unhooking device includes a hooking component, the servo is connected to the servo transmission rod mechanism, the servo transmission rod mechanism is connected to the hooking component, the servo drives the servo transmission rod mechanism, so that the servo transmission rod mechanism drives the hooking component to open and close, thereby allowing the heating blanket hook to be quickly hooked or released.

[0042] This application firmly installs a carbon tube support structure made of special aluminum alloy material as a mounting device on the lower part of the mounted drone body. The mounting device is precisely equipped with two independently operated and reliable servo unhooking devices at both ends. Its core components are made of high-precision metal alloys. After rigorous mechanical design and multiple simulation test optimization, it can accurately and quickly control the rotation or opening and closing of the hook component to ensure that the heating blanket can be hung and released stably and efficiently. The ear can withstand the test of harsh outdoor environments, have a long service life, and are easy to maintain.

[0043] Furthermore, the nozzle of the heating blanket spray mechanism can adjust the spray angle and jet intensity in real time according to the shape and mounting position of the insulator to ensure that the water mist is evenly distributed on the surface of the heating blanket and the insulator, thereby promoting efficient heat release of the heating blanket and melting of the ice layer; the spray mechanism can be remotely controlled through the ground control terminal, so that the operator can adjust the spray parameters in time according to real-time images and on-site factors.

[0044] The nozzle of the heating blanket spray mechanism of the present application is made of high-strength, corrosion-resistant stainless steel. The nozzle uses advanced fluid mechanics design and precision processing technology to produce a multi-mode nozzle that can remotely and electronically accurately adjust the spray angle, vertical adjustment range and jet intensity. It can achieve accurate, uniform and efficient spraying of water on the surface of the heating blanket and insulator according to the shape of the insulator, the mounting position and the ice condition, greatly improving the de-icing efficiency and effect.

[0045] Furthermore, the lugs are made of high-strength composite materials to accommodate insulators of different specifications and sizes and repeated use under different climatic conditions. The lug surface can also be provided with an anti-skid coating or micro-grooves to improve the stable bonding between the lug and the servo unhooking device during the mounting process, and reduce the shaking and deviation during the heating blanket mounting and release operations. The lug surface is coated with a polymer anti-skid coating with strong weather resistance and excellent adhesion to ensure that it is tightly and firmly mounted with the servo unhooking device under various complex weather conditions and long-term frequent use conditions without the risk of loosening and slipping.

[0046] like Figure 2 As shown, based on the above-mentioned power grid insulator deicing device, the present application provides a power grid insulator deicing method, the method comprising: The spray drone fills the ice melting agent into the liquid storage container; The operator sets the flight trajectory, hovering coordinates, altitude, speed, turning rate, spray pressure, spray pattern, and flow rate of the spray drone in the ground control terminal operation interface according to the mission planning and environmental factors, and completes the system comprehensive self-check and communication link connectivity test to ensure that the equipment and system are in the best working condition; After the mounted drone has finished hanging the blanket and maintained a safe distance, the spraying drone quickly flies to the spraying operation position above the insulator and away from the surface of the heating blanket according to the preset path, and sprays the ice melting agent on the surface of the heating blanket or the surface of the insulator, so that the heating blanket releases heat and the ice layer on the surface of the insulator melts; During the de-icing process, the ground control terminal continuously receives and analyzes the ice melting visual images from the high-definition camera and the temperature change data from the infrared imager, and uses intelligent algorithms to evaluate the de-icing effect in real time. Based on this, the operator flexibly and timely fine-tunes the spray volume, jet intensity, spray angle, and vertical angle according to professional experience and preset strategies to ensure that the heating de-icing process continues to advance efficiently and evenly, so that the ice layer on the surface of the insulator can be quickly and comprehensively melted until the residual thickness of the ice layer is lower than the safety threshold or the preset de-icing target is reached; After completing the de-icing mission, the spray drone automatically returns along the preset safe route and lands at the designated ground recovery area.

[0047] Furthermore, the de-icing method for power grid insulators also includes: under mild icing conditions or specific task requirements, placing a heating blanket flat on a special anti-seepage and heat-insulating preheating pad in a safe ground operation area, slowly pouring a proper amount of ice-melting agent through the heating blanket using a pouring device, and monitoring the temperature and humidity changes of the heating blanket in real time during the process to ensure uniform and appropriate preheating without the risk of local overheating or liquid accumulation, and pre-triggering a small amount of heat release to achieve a stable preheating state; The mounting drone mounts the preheated heating blanket and quickly flies to the insulator to mount the heating blanket. The preheated heat is used to initially melt the ice layer. When the ice layer is thin, de-icing can be completed independently. In this working mode, the ice layer can be initially heated and melted without the need for the spray drone to spray from high altitude. If necessary, the spray drone can spray additionally to improve de-icing efficiency and save energy consumption.

[0048] When the ice layer is thick, the cleaning drone will supplement the spraying of ice-melting agent according to the actual situation of the ice layer to optimize the de-icing effect.

[0049] Furthermore, the deicing method for power grid insulators also includes: when the actual situation is a complex working condition, the mounted drone and the spraying drone are used for collaborative division of labor, and the complex working conditions include severe weather, super-high poles and towers, and deicing of multiple points of insulator groups at the same time; The coordinated work of the mounting drone and the spraying drone includes: the mounting drone performs the tasks of hanging and retrieving the heating blanket, and uses the high-precision positioning navigation system and the preset planning path to ensure the stability of the carpet and the safety of the carpet retrieval; The cleaning drone performs spraying operations and image monitoring tasks. The cleaning drone collects and transmits on-site image data in real time through image acquisition and transmission devices, providing decision-making basis for operators, and controls spraying parameters according to instructions to achieve insulator de-icing; The mounted drone and the spraying drone are coordinated and dispatched through the ground control terminal, which allocates task loads, optimizes flight paths and operation sequences according to real-time working conditions.

[0050] The mounting drone and the spraying drone can be operated in a dual-machine collaborative mode, with one drone focusing on the precise placement and retrieval of the heating blanket, and the other focusing on the spraying water flow, monitoring images and data transmission. The collaborative control of the two drones through the ground control terminal can achieve flexible operation strategies, such as fast, efficient and safe deicing operations under different weather conditions, different tower heights and terrain environments, thereby further meeting the diverse needs of power grid operation and maintenance.

[0051] Furthermore, the nozzle of the spray drone adjusts the spray angle and jet intensity in real time according to the shape and mounting position of the insulator to ensure that the water mist is evenly distributed on the heating blanket and the insulator surface, thereby promoting heat release of the heating blanket and melting of the ice layer; the spray drone is remotely controlled through the ground control terminal, so that the operator can adjust the spray parameters in time according to real-time images and on-site factors.

[0052] Furthermore, the power grid insulator deicing method also includes: After the mounted drone and spraying drone landed at the designated ground recovery area, the operator quickly went forward to check the appearance and component conditions of the mounted drone and spraying drone, and recorded the equipment operation data and mission execution parameters; The operator will immediately conduct a comprehensive inspection of the retrieved heating blanket, including the appearance integrity of the heating blanket, heating performance test, and ear wear condition. Then, the operator will use cleaning equipment and mild detergent to gently clean the surface stains and residual salt impurities of the heating blanket, and dry it naturally or dry it at low temperature in a clean, dry, constant temperature indoor environment. After the testing equipment confirms that the heating blanket performance meets the standards, the heating blanket will be packaged and stored in the storage facility; Ensure that the mounted drone and spraying drone are in good standby condition and are ready for the next power grid insulator de-icing mission at any time. Regularly perform maintenance and performance calibration tests on the components of the mounted drone and spraying drone to ensure long-term stable and reliable operation of the system.

[0053] In some practical application scenarios, the working process of the power grid insulator deicing system is as follows; Before the operation, the appropriate operation plan is selected through professional analysis and evaluation based on the precise on-site weather forecast, detailed parameters of the target insulators and real-time monitoring data of the ice layer. The mounted drone is placed stably in a safe ground area, and the heating blanket with complete functions and good condition is accurately mounted on the servo unhooking device of the mounting device through the hanging ears, and the connection reliability is carefully checked. At the same time, the spray drone is accurately filled with an appropriate amount of clean water or a water containing a solubilizing agent prepared according to the characteristics of ice formation into the liquid storage container at the dedicated water filling equipment to ensure accurate liquid level and no risk of leakage.

[0054] Based on the mission planning and environmental factors, the operators set the core flight parameters such as flight trajectory, hovering coordinates, altitude, speed, turning rate, etc. for the two drones one by one through the intuitive and intelligent operation interface of the ground control terminal, as well as the key operating parameters such as spray pressure, spray pattern, flow rate, etc. for the spray drones. They also completed a comprehensive system self-check and communication link connectivity test to ensure that the equipment and system are in the best working condition.

[0055] The mounted drone automatically takes off according to the preset route, and relies on the high-precision GPS positioning module and the advanced inertial navigation system to coordinate navigation and accurately fly to the safe initial hovering point at a horizontal distance from the target insulator. The operator uses the real-time reception and high-definition display of the drone's front-view camera and downward-view camera fusion images on the ground control terminal, as well as the distance data fed back by the laser ranging sensor, to accurately control the drone's attitude and position through a professional control handle or smart touch interface, and fine-tune it to the best tapestry starting position on one side of the insulator to strictly control the error.

[0056] Triggered by a one-touch command from the ground control terminal, the servo unhooking device at one end of the mounting device turns and opens accurately and smoothly according to the preset program, and the hanging ear at one end of the heating blanket is firmly hung on the preset hanging point on the corresponding side of the insulator. At the moment of hanging, the system automatically detects and feeds back the hanging status signal.

[0057] Afterwards, the operator controlled the mounted drone's lifting speed to slowly increase the altitude, and according to the insulator structure and the surrounding environment, the operator adjusted the lateral position by turning the angular velocity in time to ensure that the middle section of the heating blanket smoothly and accurately crossed the top of the insulator. During the process, the accuracy of the relative position of the heating blanket and the insulator was maintained based on the multi-sensor fusion data until the other end of the heating blanket arrived above the predetermined hanging point on the other side of the insulator.

[0058] The ground control terminal automatically issues commands according to the set logic, and the servo unhooking device at the other end precisely moves to loosen the hanging ear. The heating blanket, under the coordination of its own weight and the fine-tuning of the attitude of the mounted drone, naturally droops and tightly adheres to the surface of the insulator, forming a symmetrical and stable suspension state centered on the insulator axis. The entire system monitors and uploads the tapestry status information in real time throughout the process to ensure that the tapestry operation is successful at one time and without deviation.

[0059] After the mounted drone completes the carpeting and maintains a safe distance, the spray drone quickly flies along a preset path to the ideal working position above the insulator and above the surface of the heating blanket.

[0060] Based on the panoramic and close-up images of the heating blanket and insulators sent back by the high-definition camera and the temperature distribution data monitored in real time by the infrared imager, combined with the ice thickness, distribution and on-site meteorological conditions, the operator accurately sets the spraying parameters at the ground control terminal and starts the spraying operation of the spraying drone. The nozzle sprays water evenly on the surface of the heating blanket at a preset angle and flow rate, ensuring full coverage and uniform penetration of the water, triggering the efficient heat release of the heating blanket's heating materials.

[0061] During the de-icing process, the ground control terminal continuously receives and analyzes the visual images of ice melting from the high-definition camera and the temperature change data from the infrared imager, and uses intelligent algorithms to evaluate the de-icing effect in real time. Based on this, the operator flexibly and timely fine-tunes the spray volume, jet intensity, spray angle, and vertical angle according to professional experience and preset strategies to ensure that the heating and de-icing process continues to proceed efficiently and evenly, so that the ice layer on the surface of the insulator can be quickly and comprehensively melted until the residual thickness of the ice layer is lower than the safety threshold or the preset de-icing target is reached.

[0062] After the infrared imager and high-definition camera jointly confirmed that the melting of the ice layer had achieved the expected effect, the mounted drone steadily approached the insulator from the safe standby position according to instructions and hovered precisely at the edge of the insulator.

[0063] The multi-eye vision recognition system on the fuselage is combined with the high-precision laser positioning sensor to accurately capture the position of the ears at both ends of the heating blanket. Then, the servo unhookers at both ends are controlled to move accurately in sequence, first hooking the ear at one end gently and firmly, and then slowly lifting it at a safe lifting rate. At the same time, the posture and position of the fuselage are fine-tuned to make the heating blanket separate from the insulator surface at a uniform speed and smoothly. During the process, the relative distance between the heating blanket and the insulator is kept stable to avoid collision damage.

[0064] After the heating blanket is completely detached from the insulator, the height is further raised and the posture is adjusted, and the heating blanket is retrieved intactly to the initial mounting state and hung under the fuselage. The system automatically detects and confirms that the heating blanket is in normal retrieval state and prepares to return.

[0065] After the mounting drone and the spraying drone complete the de-icing mission, they automatically return according to the preset safe route and land accurately in the designated ground recovery area.

[0066] The operators quickly went forward to check the appearance and key components of the two drones, and recorded the equipment operation data and mission execution parameters. The retrieved heating blankets were immediately fully inspected, including appearance integrity, heating performance test, ear wear condition, etc., and then special cleaning equipment and mild detergent were used to gently clean the surface stains, residual salt and other impurities of the heating blankets according to standard procedures. They were naturally dried or dried at low temperature in a clean, dry, constant temperature indoor environment. After professional testing equipment confirmed that the performance met the standards, they were properly packaged and stored in special storage facilities to ensure that the equipment was in good standby condition and ready for the next grid insulator de-icing mission at any time. In addition, the system components were regularly subjected to in-depth maintenance and performance calibration tests according to the equipment maintenance manual to ensure the long-term stable and reliable operation of the system.

[0067] In addition, in other practical application scenarios, the optional modes and control details of the power grid insulator de-icing system are as follows; Ground preheating mode: In mild icing conditions or specific mission requirements, in the safe ground operation area, place the heating blanket flat on a special anti-seepage and heat-insulating preheating pad, use precise quantitative perfusion equipment to slowly pour in an appropriate amount of ice-melting agent, and monitor the temperature and humidity changes of the heating blanket in real time during the process to ensure uniform and moderate preheating, without the risk of local overheating or accumulation of liquid, and pre-trigger a small amount of heat release to reach a stable preheating state. The drone mounts this preheated heating blanket and quickly flies to the insulator for mounting, using the preheating heat to initially melt the ice layer. When the ice layer is thin, it can independently complete de-icing; when the ice layer is thick, the spray drone will subsequently supplement the spraying according to the actual situation of the ice layer to optimize the de-icing effect, greatly shortening the operation time, improving energy utilization, and effectively reducing energy consumption costs and equipment loss risks.

[0068] Dual-machine collaborative operation strategy: To cope with complex working conditions (such as severe weather, ultra-high towers, and simultaneous de-icing of multiple points of insulator groups), a dual-machine collaborative fine division of labor strategy is implemented. The mounted drone focuses on the core tasks of accurately hanging and retrieving the heating blanket, and efficiently executes it based on the high-precision positioning navigation system and preset planning, ensuring the stability of the carpet and the safety of the carpet retrieval throughout the process; the spraying drone fully undertakes the key responsibilities of spraying operations and image monitoring, relying on advanced sensor fusion perception technology to collect and transmit on-site data in real time, providing operators with accurate decision-making basis, and accurately adjusting the spraying parameters according to instructions to implement efficient de-icing. The two drones are intelligently coordinated and dispatched through the ground control terminal, flexibly allocating task loads according to real-time working conditions, optimizing flight paths and operation sequences, greatly improving overall operation efficiency and system reliability, and effectively enhancing the adaptability and success rate of power grid insulator de-icing operations in complex environments, ensuring safe and stable power operation and maintenance.

[0069] It should be noted that the words "first", "second" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "a" do not indicate a quantitative limitation, but indicate the existence of at least one. "Multiple" or "several" means at least two. Unless otherwise specified, words such as "front", "back", "left", "right", "bottom" and / or "top" are only for the convenience of description and are not limited to one position or one spatial orientation. Words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect.

[0070] The singular forms "a", "said" and "the" used in this specification and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0071] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the claims attached to this application.

Claims

1. A power grid insulator deicing system based on drones, characterized in that: The grid insulator deicing device comprises: A heating blanket, the heating blanket comprising a heating material or a heating layer, and the heating blanket is provided with hanging ears at two opposite ends along the length direction of the heating blanket; A mounting UAV and a heating blanket mounting mechanism, wherein the heating blanket mounting mechanism is installed on the mounting UAV, and the heating blanket mounting mechanism comprises at least two servo unhooking devices, each of which is respectively connected to a servo, and each of which is used to hang or release the hanging ear. After the heating blanket mounting mechanism releases the heating blanket, the heating blanket covers the grid insulator.

2. The UAV-based power grid insulator deicing system according to claim 1, characterized in that: The power grid insulator deicing device also includes: A spraying drone and a heating blanket spraying mechanism, wherein the heating blanket spraying mechanism is installed on the spraying drone, and comprises a liquid storage container, a nozzle and a nozzle, wherein the liquid storage container is used to store an ice-melting agent, the liquid storage container is connected to the nozzle, and the nozzle is connected to the nozzle. When the heating blanket is hung above a target insulator, the heating blanket spraying mechanism sprays the ice-melting agent on the surface of the heating blanket or the surface of the insulator, so that the heating blanket releases heat and melts the ice layer on the surface of the insulator.

3. The UAV-based power grid insulator deicing system according to claim 2, characterized in that: The power grid insulator deicing device also includes: A remote control and monitoring module, the remote control and monitoring module includes: a ground control terminal, an image acquisition and transmission device, a flight controller, and a positioning and perception sensor; the image acquisition and transmission device, the flight controller, and the positioning and perception sensor are mounted on the mounting UAV and / or the spraying UAV; the image acquisition and transmission device, the flight controller, and the positioning and perception sensor are transmitted to the ground control terminal via wireless signals; the image acquisition and transmission device is used to acquire images around the mounting UAV and / or the spraying UAV, and transmit the image data to the ground control terminal; the ground control terminal controls the flight controller to control the position and attitude of the UAV, and control the action of the heating blanket mounting mechanism and / or the heating blanket spraying mechanism; the positioning and perception sensor is used to detect the position and attitude of the UAV.

4. The UAV-based power grid insulator deicing system according to claim 3 is characterized in that: The image acquisition and transmission device includes a high-definition camera and an infrared imager, and the positioning and perception sensor includes a laser ranging sensor and a GPS positioning module; the high-definition camera is used to monitor the relative position of the heating blanket and the insulator, the melting of the ice layer and the flight status of the mounted drone and / or the spraying drone in real time; the infrared imager is used to monitor the temperature distribution on the surface of the heating blanket and the insulator to determine the heat release efficiency and the degree of ice melting; the laser ranging sensor and the GPS positioning module are used to determine the relative coordinate position of the insulator and the drone.

5. A method for deicing power grid insulators based on drones, characterized in that: The grid insulator deicing method comprises: Place the mounted drone stably in a safe ground area, hang the heating blanket's ears on the servo unhooking device of the heating blanket mounting mechanism, and check the connection reliability; The operator sets the flight trajectory, hovering coordinates, altitude, speed, and turning rate for the mounted UAV in the ground control terminal operation interface according to the mission plan and environmental factors, and completes the system comprehensive self-check and communication link connectivity test to ensure that the equipment and system are in the best working condition; The mounted drone automatically takes off according to the preset route, and relies on the GPS positioning module and the inertial navigation system to coordinate navigation and fly to a safe initial hovering point at a horizontal distance from the target insulator; The operator controls the posture and position of the mounted UAV based on the images collected by the high-definition camera and the distance data fed back by the laser ranging sensor received in real time by the ground control terminal, so that the mounted UAV flies to the side of the insulator. The heating blanket mounting mechanism is triggered by the ground control terminal, the servo unhooking device at one end of the heating blanket mounting mechanism is opened, and the hanging ear at one end of the heating blanket is hung on the preset hanging point on the corresponding side of the insulator. The hanging is detected at the moment of hanging and the hanging status signal is fed back; The operator controls the lifting speed of the mounted drone to slowly increase the height, and adjusts the lateral position of the mounted drone by adjusting the steering angular velocity in a timely manner according to the insulator structure and the surrounding environment to ensure that the middle section of the heating blanket smoothly and accurately crosses the top of the insulator. During this process, the accuracy of the relative position of the heating blanket and the insulator is maintained based on the feedback data from the high-definition camera, laser ranging sensor and GPS positioning module until the other end of the heating blanket reaches above the predetermined hanging point on the other side of the insulator; The ground control terminal automatically issues commands according to the set logic, and the servo unhooking device at the other end of the heating blanket mounting mechanism releases the lug. Under the coordination of its own weight and the fine adjustment of the mounted drone's attitude, the heating blanket naturally droops and closely adheres to the surface of the insulator, forming a symmetrical and stable suspension state centered on the insulator axis. During this process, the tapestry status information is monitored and uploaded in real time to ensure that the tapestry operation is successful once and for all without deviation. The heating blanket releases heat and melts the ice on the surface of the insulator; After the infrared imager and high-definition camera confirmed that the ice melting had achieved the expected effect, the mounted drone approached the insulator steadily from the safe standby position according to the command and hovered precisely at the edge of the insulator; The high-definition camera and laser rangefinder sensor on the mounted drone are used to capture the positions of the hanging ears at both ends of the heating blanket. Then, the servo unhookers at both ends of the heating blanket mounting mechanism are controlled to move in sequence. First, one end of the hanging ear is hooked and slowly lifted up. At the same time, the posture and position of the mounted drone are fine-tuned to make the heating blanket separate from the insulator surface at a uniform and stable speed. During this process, the relative distance between the heating blanket and the insulator is kept stable to avoid collision damage. After the heating blanket is completely separated from the insulator, the height of the mounted drone is further increased and the posture is adjusted. The heating blanket is retrieved intact to the initial mounting state and suspended under the mounted drone body. The heating blanket is tested and confirmed to be in normal state, and the mounted drone is ready to return. After completing the de-icing mission, the mounted drone automatically returns along the preset safe route and lands at the designated ground recovery area.

6. The method for deicing insulators of a power grid according to claim 5, characterized in that: The grid insulator deicing method further comprises: The spray drone fills the ice melting agent into the liquid storage container; The operator sets the flight trajectory, hovering coordinates, altitude, speed, turning rate, spray pressure, spray pattern, and flow rate of the spray drone in the ground control terminal operation interface according to the mission planning and environmental factors, and completes the system comprehensive self-check and communication link connectivity test to ensure that the equipment and system are in the best working condition; After the mounted drone has finished hanging the blanket and maintained a safe distance, the spraying drone quickly flies to the spraying operation position above the insulator and away from the surface of the heating blanket according to the preset path, and sprays the ice melting agent on the surface of the heating blanket or the surface of the insulator, so that the heating blanket releases heat and the ice layer on the surface of the insulator melts; During the de-icing process, the ground control terminal continuously receives and analyzes the ice melting visual images from the high-definition camera and the temperature change data from the infrared imager, and uses intelligent algorithms to evaluate the de-icing effect in real time. Based on this, the operator flexibly and timely fine-tunes the spray volume, jet intensity, spray angle, and vertical angle according to professional experience and preset strategies to ensure that the heating de-icing process continues to advance efficiently and evenly, so that the ice layer on the surface of the insulator can be quickly and comprehensively melted until the residual thickness of the ice layer is lower than the safety threshold or the preset de-icing target is reached; After completing the de-icing mission, the spray drone automatically returns along the preset safe route and lands at the designated ground recovery area.

7. The method for deicing power grid insulators according to claim 6, characterized in that: The power grid insulator deicing method further comprises: in a light icing condition or a specific task requirement, placing a heating blanket flat on a special anti-seepage and heat-insulating preheating pad in a safe ground operation area, slowly pouring a proper amount of ice-melting agent through the heating blanket using a pouring device, and monitoring the temperature and humidity changes of the heating blanket in real time during the process to ensure uniform and appropriate preheating without the risk of local overheating or liquid accumulation, and pre-triggering a trace amount of heat release to achieve a stable preheating state; Mount the drone with the preheated heating blanket and quickly fly to the insulator to mount the heating blanket. Use the preheating heat to initially melt the ice layer. If the ice layer is thin, it can independently complete the de-icing. When the ice layer is thick, the cleaning drone will supplement the spraying of ice-melting agent according to the actual situation of the ice layer to optimize the de-icing effect.

8. The method for deicing power grid insulators according to claim 6 or 7, characterized in that: The power grid insulator deicing method further includes: when the actual situation is a complex working condition, implementing a dual-machine collaborative division of labor of a mounted drone and a spraying drone, and the complex working condition includes severe weather, super-high towers, and simultaneous deicing of multiple points of an insulator group; The collaborative work of the mounting drone and the spraying drone includes: the mounting drone performs the tasks of placing and retrieving the heating blanket, and uses a high-precision positioning navigation system and a preset planning path to ensure the stability of the blanket and the safety of the blanket; The cleaning drone performs spraying operations and image monitoring tasks. The cleaning drone collects and transmits on-site image data in real time through an image acquisition and transmission device, provides a decision basis for operators, and controls spraying parameters according to instructions to achieve insulator de-icing; The mounting UAV and the spraying UAV are coordinated and dispatched through the ground control terminal to distribute task loads, optimize flight paths and operation sequences according to real-time working conditions.

9. The method for deicing insulators of a power grid according to claim 6, characterized in that: The nozzle of the spraying drone adjusts the spray angle and jet intensity in real time according to the shape and mounting position of the insulator to ensure that the water mist is evenly distributed on the heating blanket and the insulator surface, thereby promoting the heat release of the heating blanket and the melting of the ice layer; The spraying drone is remotely controlled through a ground control terminal, allowing the operator to adjust the spraying parameters in a timely manner based on real-time images and on-site factors.

10. The method for deicing insulators of a power grid according to claim 6, characterized in that: The grid insulator deicing method further comprises: After the mounted drone and spraying drone landed at the designated ground recovery area, the operator quickly went forward to check the appearance and component conditions of the mounted drone and spraying drone, and recorded the equipment operation data and mission execution parameters; The operator will immediately conduct a comprehensive inspection of the retrieved heating blanket, including the appearance integrity of the heating blanket, heating performance test, and ear wear condition. Then, the operator will use cleaning equipment and mild detergent to gently clean the surface stains and residual salt impurities of the heating blanket, and dry it naturally or dry it at low temperature in a clean, dry, constant temperature indoor environment. After the testing equipment confirms that the heating blanket performance meets the standards, the heating blanket will be packaged and stored in the storage facility; Ensure that the mounted drone and spraying drone are in good standby condition and are ready for the next power grid insulator de-icing mission at any time. Regularly perform maintenance and performance calibration tests on the components of the mounted drone and spraying drone to ensure long-term stable and reliable operation of the system.

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