Deicing device for 330kV power transmission line

Abstract

The invention discloses a 330KV power transmission line deicing device, and relates to the technical field of power transmission line maintenance, the 330KV power transmission line deicing device comprises a device base and a deicing planning system, an adjusting mechanism is fixedly arranged on the surface of the bottom end of the device base, and a deicing mechanism is fixedly arranged on the surface of the bottom end of the adjusting mechanism; the deicing planning system comprises an image acquisition unit, an image processing unit, a deicing mode planning unit, a master control system and an icing prediction unit. The deicing modes can be controlled to be switched according to the deicing planning mode, and the deicing modes comprise the first-stage deicing state, the second-stage deicing state and the third-stage deicing state. Wherein the first-stage deicing state refers to heating deicing, the second-stage deicing state refers to heating deicing and crushing deicing, and the third-stage deicing state refers to heating deicing, crushing deicing and swinging deicing which are performed synchronously, so that the deicing requirement can be met, energy can be saved, the service time of equipment is prolonged, and the working efficiency is improved. And meanwhile, vibration generated on the power transmission line in the deicing process can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission line maintenance, and particularly to a de-icing device for a 330 kV transmission line. Background Art

[0002] Icing on transmission lines causes varying degrees of damage to the transmission lines, resulting in a large number of power outages. To avoid such accidents, de-icing work needs to be carried out on the transmission lines. The de-icing methods mainly include manual de-icing, mechanical de-icing, DC ice melting, etc. Among them, the best effect is achieved by DC ice melting. However, due to immature technology and extremely large investment, the DC ice melting technology cannot be used in some remote areas, and manual de-icing is mainly adopted.

[0003] However, manual de-icing requires walking under the iced conductors and climbing the iced transmission towers for manual de-icing operations. The high safety risk is an important problem that needs to be solved for current transmission lines. With the development of technology, currently, in addition to manpower, two main methods are used for de-icing: the thermal ice melting technology that increases the current of the transmission line to heat up the transmission line and melt the ice; the mechanical ice melting technology that relies on mechanical external forces. Among them, the ground wire of the transmission line lacks the conditions for thermal ice melting because current cannot be input. Therefore, from the perspective of wider applicability, many scholars have started to research de-icing robots for transmission line ground wires. Different de-icing robots use different de-icing mechanisms to remove the ice on the transmission line ground wire by applying mechanical force. However, the existing de-icing robots have a relatively single operation mode. In fact, the ice coverage on the transmission line is uneven in thickness. The de-icing robot cannot adjust the mode according to the thickness of the ice layer by itself, easily resulting in energy waste and incomplete de-icing; In view of the above technical defects, a solution is proposed herein. Summary of the Invention

[0004] The purpose of the present invention is to: be able to control the switching of the de-icing mode according to the de-icing planning mode, which can not only meet the de-icing requirements, but also save energy, extend the service life of the equipment, and at the same time reduce the vibration generated on the transmission line during the de-icing process.

[0005] To achieve the above purpose, the present invention adopts the following technical solution: A de-icing device for a 330 kV transmission line includes a device base and a de-icing planning system. The bottom surface of the device base is fixedly provided with an adjusting mechanism, the bottom surface of the adjusting mechanism is fixedly provided with a de-icing mechanism, the bottom surface of the device base is provided with a walking mechanism, and the top surface of the device base is provided with a suspension bracket adapted to an unmanned aerial vehicle; The de-icing planning system includes an image acquisition unit, an image processing unit, a de-icing mode planning unit, a total control system, and an ice coating prediction unit; The image acquisition unit remotely acquires images of the power transmission line to be de-iced by carrying a camera on a drone, preprocesses the images of the power transmission line to be de-iced to obtain an image set, and sends the image set to the image processing unit; The preprocessing specifically includes de-hazing, image grayscaling, and image enhancement processing on the images of the power transmission line to be de-iced; The image processing unit is used to obtain and process the image set, extract features from each power transmission line image in the image set one by one, splice and integrate them according to the power transmission line to be de-iced to obtain a power transmission circuit icing drawing, perform edge marking on the power transmission circuit icing drawing to obtain an icing size distribution map and send it to the de-icing mode planning unit; The de-icing mode planning unit is used to obtain and process the icing size distribution map, perform node-based judgment on the icing size distribution map according to the preset de-icing mode division range, execute different de-icing modes for different icing sizes, obtain several de-icing mode switching nodes, and generate a switching instruction at the de-icing mode switching node and send it to the total control system; The total control system is used to obtain the switching instruction and execute the switching of the de-icing mode according to the switching instruction, and control the de-icing mechanism to complete the de-icing operation; The icing prediction unit is used to obtain the historical icing data and current climate characteristic data of the area where the power transmission line to be de-iced is located, calculate the icing trend coefficient, update the icing size distribution map according to the icing trend coefficient, and send the updated icing size distribution map to the de-icing mode planning unit for real-time update of the de-icing mode switching node.

[0006] Further, the adjusting mechanism includes linear tracks and servo motors. The two linear tracks are respectively fixed on the bottom surface of the device base. Sliders are movably connected to the inner walls of the two linear tracks. The two servo motors are respectively fixed on the outer surfaces of the linear tracks. Ball screw rods are connected to the outer surfaces of the output ends of the two servo motors. The two sliders are respectively movably sleeved on the outer surfaces of the ball screw rods. The de-icing mechanism is fixed on the bottom surface of the slider.

[0007] Further, the de-icing mechanism includes fixed clamping rings and a swinging assembly. Connecting blocks are fixed on the top surfaces of the two fixed clamping rings. The two connecting blocks are respectively fixed on the bottom surface of the slider. Semi-circular heating plates are fixed on the outer surfaces of the two fixed clamping rings. Ice-breaking components are fixed on the outer surfaces of the two fixed clamping rings. The swinging assembly is fixed on the outer surface of the device base.

[0008] Further, the ice crushing assembly includes a first motor and a driving gear. An active groove is fixedly provided on the outer surface of the fixed snap ring. A movable semi-ring is movably connected to the inner wall of the active groove. Ice crushing teeth are evenly distributed on the inner wall of the movable semi-ring. Driving teeth are evenly distributed on the outer surface of the movable semi-ring. The first motor is fixedly provided on the outer surface of any one of the fixed snap rings. A driving gear is fixedly provided on the outer surface of the output end of the first motor. The driving gear meshes with the driving teeth. An insertion shaft is fixedly provided on one end surface of the movable semi-ring, and an insertion groove is formed on the other end surface of the movable semi-ring.

[0009] Further, the swinging assembly includes a second motor and an ice crushing shaft. The second motor is fixedly provided inside the device base. A driving shaft is fixedly provided on the outer surface of the output end of the second motor. A plurality of ice crushing shafts are evenly distributed on the outer surface of the driving shaft. A plurality of flexible swing rods are fixedly provided on the end surface of the ice crushing shaft.

[0010] Further, the traveling mechanism includes a linkage plate and a third motor. The two linkage plates are respectively connected to the connecting block as a whole. The two third motors are respectively fixedly provided on the bottom surface of the linkage plate. A traveling shaft is fixedly provided on the bottom surface of the output end of the third motor. A traveling wheel is fixedly provided on the bottom surface of the traveling shaft. The two traveling wheels are arranged at intervals.

[0011] Further, the specific process of obtaining the ice-covered size distribution map is as follows: S101. Perform edge detection on the transmission line image by using the Canny operator. Through methods such as Gaussian filtering, calculating the gradient amplitude direction, non-maximum suppression, and double-threshold edge detection, obtain the texture features and edge information of the ice cover, and complete the recognition of the ice cover features to obtain an edge image. S102. Obtain the original image of the transmission line to be de-iced from the database, and splice the edge images according to the distribution order of the original images to obtain a drawing of the ice cover on the transmission circuit. S103. Find the contour of the ice cover through the gradient change of the pixel values in the drawing of the ice cover on the transmission circuit, and calculate the ice cover thickness Mk through the pixel relationship of the image. S104. Perform section processing on the drawing of the ice cover on the transmission circuit, and mark the ice cover thickness Mk on the drawing of the ice cover on the transmission circuit one by one according to the section unit to obtain the ice-covered size distribution map.

[0012] Further, the specific process of obtaining several ice removal mode switching nodes is as follows: S201. After obtaining the ice-covered size distribution map, obtain the ice cover thickness Mk corresponding to the section unit one by one, and calculate the node judgment coefficient Ui according to the following formula: , where i, j = 1, 2, 3,..., k; S202. Obtain a preset node judgment threshold. If the node judgment coefficient Ui is greater than or equal to the node judgment threshold, the section demarcation point between Mi and Mj is marked as the de-icing mode switching node; S203. Obtain a preset de-icing mode evaluation interval (Mmin, Mmax). If the ice thickness Mk at the extended end of the de-icing mode switching node is less than or equal to Mmin, this section is in the primary de-icing state; If the ice thickness Mk at the extended end of the de-icing mode switching node is greater than Mmin and less than Mmax, this section is in the secondary de-icing state; If the ice thickness Mk at the extended end of the de-icing mode switching node is greater than or equal to Mmax, this section is in the tertiary de-icing state.

[0013] Among them, the primary de-icing state is heating and melting ice, the secondary de-icing state is heating and melting ice and crushing de-icing, and the tertiary de-icing state is heating and melting ice, crushing de-icing, and swinging de-icing simultaneously.

[0014] Furthermore, the specific process of updating the ice-covered size distribution map is as follows: S301. Obtain the historical ice-covered data and current climate characteristic data of the area where the transmission line to be de-iced is located. The historical ice-covered data includes historical temperature data Ti, historical precipitation Li, and historical ice layer thickness Hi. Calculate the ice-covered critical coefficient Wi according to the following formula: , where e1 and e2 are preset proportionality coefficients, and i = 1, 2, 3,..., n. The ice-covered critical coefficient is used to reflect the proportional relationship between the ice layer thickness and temperature and precipitation. The larger the ice-covered critical coefficient, the greater the ice layer thickness under the influence of the current temperature and precipitation. Conversely, the smaller the ice-covered critical coefficient, the smaller the ice layer thickness under the influence of the current temperature and precipitation; S302. The current climate characteristic data includes real-time temperature data Tt, relative humidity data RH, and precipitation Lt. Calculate the ice-covered trend coefficient Gt according to the following formula: , where e3, e4, and e5 are preset proportionality coefficients. The ice-covered trend coefficient is used to reflect the ice-covered growth or reduction trend of the transmission line under the premise of the current climate characteristic data; S303. If the ice-covered icing trend coefficient Gt is closer to the ice-covered critical coefficient, the ice-covered size tends to grow, and update the ice-covered size according to the deviation value between the ice-covered icing trend coefficient Gt and the ice-covered critical coefficient; If the ice-covered icing trend coefficient Gt deviates more from the ice-covered critical coefficient, the ice-covered size tends to decrease, and also update the ice-covered size according to the deviation value between the ice-covered icing trend coefficient Gt and the ice-covered critical coefficient.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: The de-icing device for the 330 kV transmission line mounts the whole de-icing device under the unmanned aerial vehicle (UAV) through a suspension frame, and sends the de-icing device above the transmission line to be de-iced by the UAV. The semi-circular heating plate is connected to the circuit to heat and melt the ice on the surface of the transmission line to be de-iced. According to the icing state, the first motor is connected to the circuit, and the driving gear is driven to rotate by the first motor. Under the meshing action, the movable semi-ring is driven to rotate, and the ice is removed by the ice-breaking teeth to achieve crushing de-icing. Further, the second motor can be connected to the circuit, and the ice-breaking shaft is driven to rotate by the second motor, so that the flexible swing rod continuously contacts the surface of the transmission line to be de-iced, realizing swing de-icing.

[0016] The de-icing device for the 330 kV transmission line remotely collects images of the transmission line to be de-iced by a camera mounted on the UAV, extracts features from the transmission line images one by one to obtain an icing size distribution map, makes a node-based judgment on the icing size distribution map according to the preset de-icing mode division range, executes different de-icing modes for different icing sizes, and obtains several de-icing mode switching nodes, controls the de-icing mechanism to complete the de-icing operation, and at the same time obtains the historical icing data and current climate characteristic data of the area where the transmission line to be de-iced is located for icing prediction to update the icing size distribution map, so as to perform real-time update of the de-icing mode switching nodes to ensure the accuracy of de-icing.

[0017] 3. The de-icing device for the 330 kV transmission line controls the switching of the de-icing mode according to the de-icing planning mode. The de-icing mode includes a primary de-icing state, a secondary de-icing state, and a tertiary de-icing state. The primary de-icing state is heating and melting ice, the secondary de-icing state is heating and melting ice and crushing de-icing, and the tertiary de-icing state is heating and melting ice, crushing de-icing, and swing de-icing simultaneously. It can not only meet the de-icing requirements, but also save energy, extend the service life of the equipment, and reduce the vibration generated on the transmission line during the de-icing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shows the overall external structure schematic diagram of the present invention; Figure 2 Shows the overall external structure schematic diagram of the present invention from another angle; Figure 3 Shows the internal structure schematic diagram of the de-icing mechanism of the present invention; Figure 4 Shows the internal structure schematic diagram of the de-icing mechanism of the present invention from another angle; Figure 5 Shows the structure schematic diagram of the de-icing planning system of the present invention; Legend: 1. Device base; 2. Suspension bracket; 3. Linear track; 4. Slide block; 5. Servo motor; 6. Ball screw; 7. Fixed snap ring; 8. Connecting block; 9. Semi-circular heating plate; 10. Movable semi-ring; 11. Ice-breaking teeth; 12. Driving teeth; 13. First motor; 14. Driving gear; 15. Insertion shaft; 16. Insertion groove; 17. Second motor; 18. Driving shaft; 19. Ice-breaking shaft; 20. Flexible swing rod; 21. Linkage plate; 22. Third motor; 23. Walking shaft; 24. Walking wheel. Detailed implementation

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Embodiment 1: As Figures 1-4 shown, a 330 kV transmission line de-icing device includes a device base 1 and a de-icing planning system. The device base 1 is fixedly provided with an adjustment mechanism on the bottom surface, and the de-icing mechanism is fixedly provided on the bottom surface of the adjustment mechanism. A walking mechanism is provided on the bottom surface of the device base 1, and a suspension bracket 2 adapted to the drone is provided on the top surface of the device base 1; The adjustment mechanism includes a linear track 3 and a servo motor 5. The two linear tracks 3 are respectively fixedly provided on the bottom surface of the device base 1. The inner walls of the two linear tracks 3 are both movably connected with a slide block 4. The two servo motors 5 are respectively fixedly provided on the outer surface of the linear track 3. The outer surfaces of the output ends of the two servo motors 5 are both connected with a ball screw 6. The two slide blocks 4 are respectively movably sleeved on the outer surface of the ball screw 6. The de-icing mechanism is fixedly provided on the bottom surface of the slide block 4.

[0021] The de-icing mechanism includes a fixed snap ring 7 and a swinging assembly. The top surfaces of the two fixed snap rings 7 are fixedly provided with a connecting block 8. The two connecting blocks 8 are respectively fixedly provided on the bottom surface of the slide block 4. The outer surfaces of the two fixed snap rings 7 are both fixedly provided with a semi-circular heating plate 9. The outer surfaces of the two fixed snap rings 7 are both fixedly provided with an ice-breaking assembly. The swinging assembly is fixedly provided on the outer surface of the device base 1.

[0022] The ice crushing assembly includes a first motor 13 and a driving gear 12. The outer surface of the fixed snap ring 7 is fixedly provided with a movable groove. A movable half-ring 10 is movably connected to the inner wall of the movable groove. Ice crushing teeth 11 are evenly distributed on the inner wall of the movable half-ring 10. Driving teeth 12 are evenly distributed on the outer surface of the movable half-ring 10. The first motor 13 is fixedly arranged on the outer surface of any one of the fixed snap rings 7. A driving gear 14 is fixedly arranged on the outer surface of the output end of the first motor 13. The driving gear 14 meshes with the driving teeth 12. An insertion shaft 15 is fixedly arranged on one end surface of the movable half-ring 10. An insertion groove 16 is formed on the other end surface of the movable half-ring 10.

[0023] The swinging assembly includes a second motor 17 and an ice crushing shaft 19. The second motor 17 is fixedly arranged inside the device base 1. A driving shaft 18 is fixedly arranged on the outer surface of the output end of the second motor 17. A plurality of ice crushing shafts 19 are evenly distributed on the outer surface of the driving shaft 18. A plurality of flexible swing rods 20 are fixedly arranged on the end surface of the ice crushing shaft 19.

[0024] The traveling mechanism includes a linkage plate 21 and a third motor 22. The two linkage plates 21 are respectively connected to the connecting block 8 as a whole. The two third motors 22 are respectively fixedly arranged on the bottom surface of the linkage plate 21. A traveling shaft 23 is fixedly arranged on the bottom surface of the output end of the third motor 22. A traveling wheel 24 is fixedly arranged on the bottom surface of the traveling shaft 23. The two traveling wheels 24 are arranged at intervals.

[0025] The working principle is as follows: The ice removal device is integrally carried under the unmanned aerial vehicle through the suspension frame 2. The ice removal device is sent above the power transmission line to be de-iced by the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to adjust the position so that the power transmission line to be de-iced is located between the two fixed snap rings 7. At this time, the total control unit controls the servo motor 5 to drive the ball screw 6 to rotate until the two fixed snap rings 7 are in contact with each other, and at the same time drives the insertion shaft 15 to be inserted into the insertion groove 16, so that the two movable half-rings 10 are connected as a whole; At this time, the linkage plate 21 drives the traveling wheel 24 to approach the power transmission line to be de-iced under the linkage action of the connecting block 8. The second motor 17 drives the traveling wheel 24 to travel along the power transmission line to be de-iced. At the same time, the semi-circular heating plate 9 is connected to the circuit to heat and melt the ice on the surface of the power transmission line to be de-iced. According to the icing state, the first motor 13 is connected to the circuit. The first motor 13 drives the driving gear 14 to rotate, and drives the movable half-ring 10 to rotate under the meshing action, and the ice is removed by the ice crushing teeth 11 to realize crushing ice removal. Further, the second motor 17 can be connected to the circuit. The second motor 17 drives the ice crushing shaft 19 to rotate, so that the flexible swing rod 20 continuously contacts the surface of the power transmission line to be de-iced, realizing swinging ice removal; The de-icing mode is switched according to the de-icing planning mode. The de-icing mode includes a primary de-icing state, a secondary de-icing state, and a tertiary de-icing state. The primary de-icing state is heating and melting ice, the secondary de-icing state is heating and melting ice and crushing de-icing, and the tertiary de-icing state is heating and melting ice, crushing de-icing, and swinging de-icing simultaneously. This can not only meet the de-icing requirements, but also save energy, extend the service life of the equipment, and reduce the vibration generated on the transmission line during the de-icing process.

[0026] Embodiment 2: As Figure 5 shown, a 330 kV transmission line de-icing device includes a device base and a de-icing planning system. The de-icing planning system includes an image acquisition unit, an image processing unit, a de-icing mode planning unit, a total control system, and an icing prediction unit; The image acquisition unit remotely acquires images of the transmission line to be de-iced through a camera carried by a drone, preprocesses the images of the transmission line to be de-iced to obtain an image set, and sends the image set to the image processing unit; The preprocessing specifically includes de-fogging, image grayscale conversion, and image enhancement processing of the images of the transmission line to be de-iced; The image processing unit is used to acquire and process the image set, extract features from each transmission line image in the image set one by one, splice and integrate them according to the transmission line to be de-iced to obtain a transmission circuit icing drawing, and perform edge marking on the transmission circuit icing drawing to obtain an icing size distribution map and send it to the de-icing mode planning unit; The specific process of obtaining the icing size distribution map is as follows: S101. Edge detection is performed on the transmission line image using the Canny operator. Through methods such as Gaussian filtering, calculating the gradient amplitude direction, non-maximum suppression, and double-threshold edge detection, the texture features and edge information of the ice coating are obtained, and the recognition of the ice coating features is completed to obtain an edge image; S102. The original image of the transmission line to be de-iced is obtained from the database, and the edge image is processed and spliced according to the distribution order of the original image to obtain a transmission circuit icing drawing; S103. Through the gradient change of the pixel values in the transmission circuit icing drawing, the contour of the ice coating is found, and the ice coating thickness Mk is calculated through the pixel relationship of the image; S104. The transmission circuit icing drawing is processed in sections, and the ice coating thickness Mk is marked on the transmission circuit icing drawing one by one according to the section unit to obtain an icing size distribution map.

[0027] The de-icing mode planning unit is used to obtain and process the icing size distribution map, perform node-based judgment on the icing size distribution map according to the preset de-icing mode division range, execute different de-icing modes for different icing sizes, obtain several de-icing mode switching nodes, and generate a switching instruction at the de-icing mode switching node and send it to the total control system; The specific process of obtaining several de-icing mode switching nodes is as follows: S201. After obtaining the icing size distribution map, obtain the icing thickness Mk corresponding to each section unit one by one, and calculate the node judgment coefficient Ui according to the following formula: , where i, j = 1, 2, 3,..., k; S202. Obtain the preset node judgment threshold. If the node judgment coefficient Ui is greater than or equal to the node judgment threshold, mark the dividing point of the section between Mi and Mj as the de-icing mode switching node; S203. Obtain the preset de-icing mode evaluation interval (Mmin, Mmax). If the icing thickness Mk at the extended end of the de-icing mode switching node is less than or Mmin, then this section is in the primary de-icing state; If the icing thickness Mk at the extended end of the de-icing mode switching node is greater than Mmin and less than Mmax, then this section is in the secondary de-icing state; If the icing thickness Mk at the extended end of the de-icing mode switching node is greater than or Mmax, then this section is in the tertiary de-icing state.

[0028] Among them, the primary de-icing state is heating for ice melting, the secondary de-icing state is heating for ice melting and crushing de-icing, and the tertiary de-icing state is heating for ice melting, crushing de-icing and swinging de-icing simultaneously.

[0029] The total control system is used to obtain the switching instruction and execute the switching of the de-icing mode according to the switching instruction, and control the de-icing mechanism to complete the de-icing operation; The icing prediction unit is used to obtain the historical icing data and current climate characteristic data of the area where the transmission line to be de-iced is located, and then calculate the icing trend coefficient, update the icing size distribution map according to the icing trend coefficient, and send the updated icing size distribution map to the de-icing mode planning unit for real-time update of the de-icing mode switching node.

[0030] The specific process of updating the icing size distribution map is as follows: S301. Obtain the historical icing data and current climate characteristic data of the area where the transmission line to be de-iced is located. The historical icing data includes historical temperature data Ti, historical precipitation Li and historical ice layer thickness Hi, and calculate the icing critical coefficient Wi according to the following formula: , where e1 and e2 are preset proportionality coefficients, where i = 1, 2, 3, …, n. The icing critical coefficient is used to reflect the proportional relationship between the ice layer thickness, temperature, and precipitation. The larger the icing critical coefficient, the greater the ice layer thickness under the influence of the current temperature and precipitation. Conversely, the smaller the icing critical coefficient, the smaller the ice layer thickness under the influence of the current temperature and precipitation; S302. The current climate characteristic data includes real-time temperature data Tt, relative humidity data RH, and precipitation Lt. Calculate the icing trend coefficient Gt according to the following formula: , where e3, e4, and e5 are preset proportionality coefficients. The icing trend coefficient is used to reflect the growth or reduction trend of ice coating on the transmission line under the premise of the current climate characteristic data; S303. If the icing trend coefficient Gt is closer to the icing critical coefficient, the ice coating size tends to increase, and update the ice coating size according to the deviation value between the icing trend coefficient Gt and the icing critical coefficient; If the icing trend coefficient Gt deviates more from the icing critical coefficient, the ice coating size tends to decrease, and also update the ice coating size according to the deviation value between the icing trend coefficient Gt and the icing critical coefficient.

[0031] The setting of the interval and threshold size is for the convenience of comparison. Regarding the threshold size, it depends on the amount of sample data and the base quantity set by those skilled in the art for each group of sample data; as long as it does not affect the proportional relationship between the parameters and the quantified values.

[0032] The above formulas are all dimensionless and take their numerical calculations. The formulas are obtained by collecting a large amount of data for software simulation to obtain a formula closest to the actual situation. The preset parameters in the formulas are set by those skilled in the art according to the actual situation; In the two embodiments provided in this application, it should be understood that the disclosed devices and systems can be implemented in other ways; for example, the device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there can be other division methods. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed; another point, the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or modules can be electrical, mechanical, or other forms; The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and should be covered by the protection scope of the present invention.

Claims

1. A 330 kV transmission line deicing device, comprising a device base (1) and a deicing planning system, characterized in that: An adjustment mechanism is fixedly provided on the bottom surface of the device base (1), a deicing mechanism is fixedly provided on the bottom surface of the adjustment mechanism, a walking mechanism is provided on the bottom surface of the device base (1), and a suspension frame (2) adapted to the drone is provided on the top surface of the device base (1); The deicing planning system includes an image acquisition unit, an image processing unit, a deicing mode planning unit, a general control system and an icing prediction unit; The image acquisition unit remotely acquires images of the power transmission line to be de-iced by using a camera mounted on a drone, pre-processes the images of the power transmission line to be de-iced to obtain an image set, and sends the image set to the image processing unit; The image processing unit is used to obtain and process an image set, extract features of the power transmission line images in the image set one by one, and obtain a power transmission circuit ice coverage depiction map after splicing and integrating the images according to the power transmission lines to be de-iced, and mark the edges of the power transmission circuit ice coverage depiction map to obtain an ice coverage size distribution map and send it to the de-icing mode planning unit; The de-icing mode planning unit is used to obtain and process the distribution map of ice size, perform node-based judgment on the distribution map of ice size according to the preset de-icing mode division range, execute different de-icing modes for different ice sizes, and obtain several de-icing mode switching nodes, and generate a switching instruction at the de-icing mode switching node and send it to the general control system; The overall control system is used to obtain the switching instruction and execute the switching of the deicing mode according to the switching instruction, and control the deicing mechanism to complete the deicing operation; The icing prediction unit is used to obtain the historical icing data and current climate characteristic data of the area where the transmission line to be de-iced is located, and then calculate the icing trend coefficient, update the icing size distribution map according to the icing trend coefficient, and send the updated icing size distribution map to the de-icing mode planning unit for real-time update of the de-icing mode switching node.

2. The 330kV power transmission line deicing device according to claim 1, characterized in that: The adjustment mechanism comprises a linear track (3) and a servo motor (5); the two linear tracks (3) are respectively fixed on the bottom surface of the device base (1); the inner walls of the two linear tracks (3) are movably connected to a slider (4); the two servo motors (5) are respectively fixed on the outer surface of the linear track (3); the outer surfaces of the output ends of the two servo motors (5) are both connected to a ball screw (6); the two sliders (4) are respectively movably sleeved on the outer surfaces of the ball screw (6); and the deicing mechanism is fixed on the bottom surface of the slider (4).

3. The 330kV power transmission line deicing device according to claim 1, characterized in that: The deicing mechanism comprises a fixed clamping ring (7) and a swinging assembly, the top surfaces of the two fixed clamping rings (7) are fixedly provided with a connecting block (8), the two connecting blocks (8) are respectively fixedly provided on the bottom surfaces of the slider (4), the outer surfaces of the two fixed clamping rings (7) are fixedly provided with a semi-annular heating plate (9), the outer surfaces of the two fixed clamping rings (7) are fixedly provided with an ice crushing assembly, and the swinging assembly is fixedly provided on the outer surface of the device base (1).

4. The 330kV power transmission line deicing device according to claim 3, characterized in that: The ice crushing assembly comprises a first motor (13) and a driving gear (12); a movable groove is fixedly provided on the outer surface of the fixed clamp ring (7); a movable half ring (10) is movably connected to the inner wall of the movable groove; ice crushing teeth (11) are evenly distributed on the inner wall of the movable half ring (10); driving teeth (12) are evenly distributed on the outer surface of the movable half ring (10); the first motor (13) is fixedly provided on the outer surface of any fixed clamp ring (7); a driving gear (14) is fixedly provided on the outer surface of the output end of the first motor (13); the driving gear (14) and the driving gear (12) are meshed with each other; an insertion shaft (15) is fixedly provided on one end surface of the movable half ring (10); and an insertion groove (16) is provided on the other end surface of the movable half ring (10).

5. The 330kV power transmission line deicing device according to claim 3, characterized in that: The swing assembly comprises a second motor (17) and an ice-crushing shaft (19); the second motor (17) is fixedly arranged inside the device base (1); a driving shaft (18) is fixedly arranged on the outer surface of the output end of the second motor (17); a plurality of ice-crushing shafts (19) are evenly distributed on the outer surface of the driving shaft (18); and a plurality of flexible swing rods (20) are fixedly arranged on the end surface of the ice-crushing shaft (19).

6. The 330kV power transmission line deicing device according to claim 1, characterized in that: The walking mechanism comprises a linkage plate (21) and a third motor (22), the two linkage plates (21) are respectively connected to the connection block (8) as a whole, the two third motors (22) are respectively fixedly arranged on the bottom surface of the linkage plate (21), the bottom surface of the output end of the third motor (22) is fixedly provided with a walking shaft (23), the bottom surface of the walking shaft (23) is fixedly provided with a walking wheel (24), and the two walking wheels (24) are arranged at intervals.

7. The 330kV power transmission line deicing device according to claim 1, characterized in that: The specific process of obtaining the ice size distribution map is as follows: S101, performing edge detection on the transmission line image using the Canny operator, obtaining the texture features and edge information of the ice through Gaussian filtering, calculating the direction of the gradient amplitude, non-maximum suppression and double threshold edge detection methods, completing the recognition of ice features and obtaining an edge image; S102, obtaining an original image of the power transmission line to be de-iced from a database, processing edge images according to the distribution order of the original image, and splicing them to obtain a transmission circuit ice coverage depiction; S103, finding the outline of ice through the gradient change of pixel values ​​in the ice-covered image of the power transmission circuit, and calculating the ice-covered thickness Mk through the pixel relationship of the image; S104, performing section processing on the transmission circuit ice coverage depiction diagram, marking the ice coverage thickness Mk on the transmission circuit ice coverage depiction diagram one by one according to the section units to obtain an ice coverage size distribution diagram.

8. The 330kV power transmission line deicing device according to claim 1, characterized in that: The specific process of obtaining several de-icing mode switching nodes is as follows: S201, after obtaining the ice size distribution map, obtain the ice thickness Mk corresponding to the section unit one by one, and calculate the node judgment coefficient Ui according to the following formula: , where i, j = 1, 2, 3, …, k; S202, obtaining a preset node judgment threshold, if the node judgment coefficient Ui is greater than or equal to the node judgment threshold, then the section demarcation point between Mi and Mj is marked as a deicing mode switching node; S203, obtaining a preset deicing mode evaluation interval (Mmin, Mmax), if the ice thickness Mk at the extended end of the deicing mode switching node is less than or equal to Mmin, the section is in a first-level deicing state; If the ice thickness Mk at the extended end of the deicing mode switching node is greater than Mmin and less than Mmax, the section is in the secondary deicing state; If the ice thickness Mk at the extended end of the de-icing mode switching node is greater than or equal to Mmax, the section is in the third-level de-icing state.

9. The 330kV power transmission line deicing device according to claim 1, characterized in that: The specific process of updating the ice size distribution map is as follows: S301, obtaining historical ice coverage data and current climate characteristic data of the area where the power transmission line to be de-iced is located, wherein the historical ice coverage data includes historical temperature data Ti, historical precipitation Li and historical ice thickness Hi, and calculating the critical ice coverage coefficient Wi according to the following formula: , where e1 and e2 are preset proportional coefficients, where i = 1, 2, 3, …, n, and the critical ice coefficient is used to reflect the proportional relationship between ice thickness and temperature and precipitation; S302, the current climate characteristic data includes real-time temperature data Tt, relative humidity data RH and precipitation Lt, and the ice tendency coefficient Gt is calculated according to the following formula: , where e3, e4 and e5 are preset proportional coefficients; S303, if the icing trend coefficient Gt approaches the icing critical coefficient, the icing size tends to grow, and the icing size is updated according to the icing critical coefficient deviation value between the icing trend coefficient Gt; If the icing trend coefficient Gt deviates from the icing critical coefficient, the icing size tends to be reduced. Similarly, the icing size is updated according to the icing critical coefficient deviation value between the icing trend coefficient Gt.

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