Crawler-type deicing device control method capable of adjusting self-adaptive icing thickness

Abstract

The invention is applicable to the field of deicing, and discloses a control method of a crawler-type deicing device with adaptive icing thickness adjustment, which comprises the following steps: acquiring an icing image of a cable, processing the icing image to obtain an initial icing contour of the cable, adjusting pixel coordinates of pixel points exceeding an icing range on the initial icing contour of the cable, and determining the icing thickness of the cable according to the pixel coordinates. The method comprises the steps of drawing a cable icing range, drawing a cable icing optimization contour until all pixel points are within the icing range, equally dividing the cable icing optimization contour into at least two sub-contours along the length direction of the cable, and when the cable icing thickness range of the sub-contours is greater than a range preset threshold value, obtaining an adjustment point of the to-be-calculated cable icing thickness on the sub-contours, and calculating the to-be-calculated cable icing thickness according to the adjustment point. When the position of the crawler-type deicing device reaches the adjusting point, the wide-end adjusting assembly adjusts the wide-end distance between the first deicing chain belt and the second deicing chain belt, the deicing efficiency can be improved, the cable safety can be guaranteed, meanwhile, the adjusting precision can be improved, and frequent adjustment of the wide-end distance between the chain belts is avoided.

Description

Technical Field

[0001] The present invention relates to the field of deicing, and particularly to a control method for a crawler-type deicing device with adaptive ice thickness adjustment. Background Art

[0002] In the power field, the problem of cable icing has always been an important factor threatening the safe and stable operation of the power grid. When encountering cold snaps, heavy and hard ice will form on the conductors and ground wires of transmission lines in freezing rain areas. Severe cable icing will not only greatly increase the weight of the cable, resulting in excessive sag of the cable and causing tripping, but may even cause major accidents such as wire breakage and tower collapse, seriously affecting the stability of power transmission and bringing great inconvenience and losses to social production and residents' lives.

[0003] Traditional deicing methods, such as manual deicing, have extremely low efficiency and high risk factors, and it is difficult to cope with large-area cable icing; although large-current thermal deicing can melt the ice layer to a certain extent, it has huge energy consumption and potential damage risks to the cable; most mechanical deicing devices have fixed structures and cannot flexibly adapt to different ice thicknesses. With the continuous expansion of the power grid scale and the increasing requirement for power supply reliability, it is extremely urgent to develop an efficient, intelligent deicing device that can adapt to different ice thicknesses.

[0004] Crawler-type deicing devices have gradually become an important direction in the research and development of deicing equipment due to their good mobility and high efficiency. However, when facing complex and variable ice thicknesses, the spacing of the deicing chain belts of existing crawler-type deicing devices often cannot be adjusted timely and accurately according to the actual ice thickness. This leads to the situation that in lightly iced areas, the deicing device may over-deice and cause unnecessary wear to the cable; while in heavily iced areas, the deicing effect is difficult to meet the expectations and the ice cannot be completely removed. Therefore, developing a control method for a deicing device with adaptive ice thickness adjustment is of crucial practical significance for improving deicing efficiency, ensuring cable safety, and enhancing the reliability of power grid operation. Summary of the Invention

[0005] The purpose of the present invention is to provide a control method for a crawler-type deicing device with adaptive ice thickness adjustment, aiming to solve the technical problem that the existing deicing control method cannot adaptively adjust to the ice thickness.

[0006] To achieve the above object, the solution provided by the present invention is: a control method for a crawler-type de-icing device with adaptive ice thickness adjustment. The control method for the crawler-type de-icing device with adaptive ice thickness adjustment is used to control the crawler-type de-icing device to perform cable de-icing operations. The crawler-type de-icing device includes a first de-icing chain belt, a second de-icing chain belt, a chain belt drive assembly, a wide-end adjustment assembly, and a narrow-end adjustment assembly. Ice-breaking teeth are provided on the outer sides of both the first de-icing chain belt and the second de-icing chain belt. An ice-removing channel for the cable to pass through is formed between the first de-icing chain belt and the second de-icing chain belt. The chain belt drive assembly is respectively connected to the first de-icing chain belt and the second de-icing chain belt, and is used to drive the first de-icing chain belt and the second de-icing chain belt to rotate self to perform cable de-icing operations. The wide-end adjustment assembly is respectively connected to the first end of the first de-icing chain belt and the first end of the second de-icing chain belt, and is used to adjust the wide-end spacing between the first de-icing chain belt and the second de-icing chain belt. The narrow-end adjustment assembly is respectively connected to the second end of the first de-icing chain belt and the second end of the second de-icing chain belt, and is used to adjust the narrow-end spacing between the first de-icing chain belt and the second de-icing chain belt. The control method for the crawler-type de-icing device with adaptive ice thickness adjustment includes: S1. Obtain the ice-covered image of the cable, process the ice-covered image, and obtain the initial contour of the cable ice coverage. S2. Determine whether each pixel point on the initial contour of the cable ice coverage is within the ice-covered range. If not, adjust the pixel coordinates of the pixel points outside the ice-covered range until all pixel points are within the ice-covered range, and output the pixel coordinates of all pixel points within the ice-covered range. S3. Draw an optimized contour of the cable ice coverage based on the pixel coordinates of all pixel points within the ice-covered range. S4. Evenly divide the optimized contour of the cable ice coverage into at least two sub-contours along the cable length direction, and calculate the range of the cable ice thickness of each sub-contour. The range of the cable ice thickness of the sub-contour is the difference between the maximum ice-covered thickness value and the minimum ice-covered thickness value of the sub-contour. S5. When the range of the cable ice thickness of the sub-contour is greater than the preset range threshold, obtain the adjustment points on the sub-contour where the cable ice thickness needs to be calculated based on the preset calculation step, and calculate the ice-covered thickness of the pixel points corresponding to the adjustment points based on the adjustment points. S6. When the position of the crawler-type de-icing device reaches the adjustment point, obtain the current wide-end spacing between the first de-icing chain belt and the second de-icing chain belt, and calculate an adjustment value based on the ice-covered thickness of the pixel points corresponding to the adjustment point and the current wide-end spacing. S7. Send the adjustment value to the wide-end adjustment assembly, so that the wide-end adjustment assembly completes the adjustment of the wide-end spacing between the first de-icing chain belt and the second de-icing chain belt based on the adjustment value before the crawler-type de-icing device reaches the next adjustment point.

[0007] Preferably, obtaining the icing image of the cable and processing the icing image to obtain the initial contour of the cable icing includes: S1-1, using a depth camera to obtain the icing image of the cable; S1-2, inputting the icing image into a pre-trained YOLO V8-seg model to obtain the cable icing mask image output by the pre-trained YOLO V8-seg model; S1-3, drawing the initial contour of the cable icing based on the icing mask image.

[0008] Preferably, drawing the initial contour of the cable icing based on the icing mask image includes: S1-3-1, converting the icing mask image into a grayscale image; S1-3-2, performing edge detection processing on the grayscale image to obtain an edge image, and performing contour search processing on the edge image to obtain the contour information of the cable icing; S1-3-3, drawing the contour of the cable icing based on the contour information of the cable icing, and performing smoothing processing on the contour of the cable icing using a Gaussian filter operator to obtain the initial contour of the cable icing.

[0009] Preferably, determining whether each pixel point on the initial contour of the cable icing is within the icing range. If not, adjusting the pixel coordinates of the pixel points outside the icing range until all pixel points are within the icing range, and outputting the pixel coordinates of all pixel points within the icing range includes: S2-1, obtaining the depth value of each pixel point on the initial contour of the cable icing, and determining whether the depth value of each pixel point is greater than a preset icing threshold. If so, determining that the corresponding pixel point is outside the icing range; S2-2, when any pixel point is outside the icing range, calculating the x-axis adjustment step and y-axis adjustment step of the pixel point based on the pixel coordinates of the pixel point and the center point of the initial contour of the cable icing; S2-3, calculating the adjusted pixel coordinates of the pixel point based on the x-axis adjustment step and y-axis adjustment step respectively, and obtaining the adjusted depth value according to the adjusted pixel coordinates of the pixel point; S2-4, determining whether the adjusted depth value of the pixel point is greater than the preset icing threshold. If so, repeating the previous step until the adjusted depth value of the pixel point is not greater than the preset icing threshold, and outputting the pixel coordinates of all pixel points within the icing range.

[0010] Preferably, defining the x-axis adjustment step as Δx and the y-axis adjustment step as Δy, then the x-axis adjustment step Δx and the y-axis adjustment step Δy are respectively expressed as:

[0011]

[0012] where (x i , y i ) represents the pixel coordinates of the pixel point in the initial contour of the cable icing, (c x , c y) represents the center point of the initial profile of the cable icing, and D represents the Euclidean distance from the current pixel point to the center point (c x ,c y ). k represents the step size scaling factor.

[0013] Preferably, the adjusted pixel coordinates of the pixel point are defined as (x i ′, y i ′) and are expressed as:[[]]

[0014]

[0015] In the formula, x i ′ represents the x-axis coordinate of the adjusted pixel coordinates of the pixel point, and y i ′ represents the y-axis coordinate of the adjusted pixel coordinates of the pixel point.

[0016] Preferably, the optimized profile of the cable icing is evenly divided into at least two sub-profiles along the length direction of the cable, and the range of the cable icing thickness of each sub-profile is calculated. The range of the cable icing thickness of the sub-profile is the difference between the maximum icing thickness value and the minimum icing thickness value of the sub-profile, including: S4-1, evenly dividing the optimized profile of the cable icing into at least two sub-profiles along the length direction; S4-2, for each sub-profile, obtaining the pixel coordinates of the left boundary pixel point and the right boundary pixel point corresponding to each unit step length in the sub-profile; S4-3, converting the pixel coordinates of the left boundary pixel point and the pixel coordinates of the right boundary pixel point into the real-world coordinates of the left boundary pixel point and the real-world coordinates of the right boundary pixel point respectively; S4-4, calculating the icing thickness value corresponding to each unit step length based on the real-world coordinates of the left boundary pixel point and the real-world coordinates of the right boundary pixel point; S4-5, screening out the maximum icing thickness value and the minimum icing thickness value from the calculated icing thickness values, and calculating the difference between the maximum icing thickness value and the minimum icing thickness value to obtain the range of the cable icing thickness of each sub-profile.

[0017] Preferably, the adjustment value is defined as A, and the adjustment value A is expressed as:[[]]

[0018] A = h - (W + e)

[0019] In the formula, h represents the current wide-end spacing between the first de-icing chain belt and the second de-icing chain belt, W represents the icing thickness of the pixel point corresponding to the adjustment point, and e represents the over-cut amount, and e is a constant.

[0020] Preferably, sending the adjustment value to the wide-end adjustment component so that the wide-end adjustment component completes the adjustment of the wide-end spacing between the first de-icing chain belt and the second de-icing chain belt based on the adjustment value before the crawler de-icing device reaches the next adjustment point includes: S7-1. Obtain the moving speed of the wide-end adjustment component, and calculate the adjustment time based on the moving speed of the wide-end adjustment component and the adjustment value; S7-2. Obtain the traveling speed of the crawler de-icing device, and calculate the traveling time for the crawler de-icing device to reach the next adjustment point from the current adjustment point based on the traveling speed of the crawler de-icing device and the preset step length; S7-3. Determine whether the adjustment time is greater than the traveling time. If so, calculate the allowable maximum traveling speed of the crawler de-icing device based on the preset step length and the adjustment time, and send the adjustment value and the allowable maximum traveling speed to the wide-end adjustment component and the chain belt driving component respectively, so that the wide-end adjustment component adjusts the wide-end spacing between the first de-icing chain belt and the second de-icing chain belt based on the adjustment value, and the chain belt driving component reduces the traveling speed of the crawler de-icing device to the allowable maximum traveling speed; S7-4. If not, send the adjustment value to the wide-end adjustment component so that the wide-end adjustment component adjusts the wide-end spacing between the first de-icing chain belt and the second de-icing chain belt, and the traveling speed of the crawler de-icing device remains unchanged.

[0021] Preferably, define the adjustment time as T1 and the traveling time for the crawler de-icing device to reach the next adjustment point from the current adjustment point as T2. Then the adjustment time T1 and the traveling time T2 for the crawler de-icing device to reach the next adjustment point from the current adjustment point are respectively expressed as:

[0022]

[0023] In the formula, V1 represents the moving speed of the wide-end adjustment component, Δy setp represents the preset step length, and V2 represents the traveling speed of the crawler de-icing device.

[0024] Preferably, the crawler de-icing device further includes a frame. The wide-end adjustment component includes two first adjustment seats and a wide-end clamping driving mechanism. The first de-icing chain belt and the second de-icing chain belt are clamped on the cable in a V shape. The two first adjustment seats can adjust the spacing along the radial direction of the cable. The two first adjustment seats are respectively connected to the first end of the first de-icing chain belt and the first end of the second de-icing chain belt. The wide-end clamping driving mechanism is installed on the frame. The wide-end clamping driving mechanism is respectively connected to the two first adjustment seats and is used to drive the two first adjustment seats to move synchronously towards each other or synchronously in the opposite direction to adjust the wide-end spacing between the first de-icing chain belt and the second de-icing chain belt.

[0025] Preferably, the narrow-end adjusting assembly includes two second adjusting seats and a narrow-end clamping driving mechanism. The two second adjusting seats can adjust the distance between them along the radial direction of the cable. The two second adjusting seats are respectively connected to the second ends of the first de-icing chain belt and the second de-icing chain belt. The narrow-end clamping driving mechanism is installed on the frame, and is respectively connected to the two second adjusting seats, and is used to drive the two adjusting seats to move synchronously towards each other or synchronously in the opposite direction, so as to adjust the narrow-end distance between the first de-icing chain belt and the second de-icing chain belt. Both the wide-end clamping driving mechanism and the narrow-end clamping driving mechanism are positive and reverse screw driving devices.

[0026] Preferably, a first sprocket and a second sprocket are arranged on the first de-icing chain belt, a third sprocket and a fourth sprocket are arranged on the second de-icing chain belt. The chain belt driving assembly includes four rotating shafts, a synchronous belt, a driving motor, a first double-sided clamping arm and a second double-sided clamping arm. The first ends of two of the rotating shafts respectively pass through the first sprocket and the second sprocket and are rotatably connected to the two ends of the first double-sided clamping arm. The first ends of the other two rotating shafts respectively pass through the third sprocket and the fourth sprocket and are rotatably connected to the two ends of the second double-sided clamping arm. The synchronous belt is wound around the second ends of the four rotating shafts. The output shaft of the driving motor is in transmission connection with any one of the rotating shafts. The two first adjusting seats are respectively arranged at the first ends of the first double-sided clamping arm and the second double-sided clamping arm, and the two second adjusting seats are respectively arranged at the second ends of the first double-sided clamping arm and the second double-sided clamping arm.

[0027] Preferably, the crawler-type de-icing device further includes a first encoder, a second encoder and a third encoder. The first encoder is arranged on the wide-end clamping driving mechanism, and is used to measure the wide-end distance between the first de-icing chain belt and the second de-icing chain belt and the movement speed of the wide-end adjusting assembly. The second encoder is arranged on the narrow-end clamping driving mechanism, and is used to measure the narrow-end distance between the first de-icing chain belt and the second de-icing chain belt. The third encoder is arranged on any one of the rotating shafts, and is used to measure the traveling speed of the crawler-type de-icing device.

[0028] The control method of the crawler-type de-icing device with adaptive ice thickness adjustment provided by the present application has the following advantages:

[0029] First, the control method of the crawler-type de-icing device with adaptive ice thickness adjustment provided by the present application can adaptively adjust the wide-end distance between the first de-icing chain belt and the second de-icing chain belt according to the ice thickness on the cable, can increase the contact area between the two chain belts and the ice on the cable, so as to improve the de-icing efficiency, ensure the safety of the cable and improve the reliability of the power grid operation.

[0030] Second, after obtaining the initial ice-covered profile of the cable, the control method of the caterpillar-type de-icing device with adaptive ice-covered thickness adjustment provided by the present application determines whether each pixel point on the initial ice-covered profile of the cable is within the ice-covered range. If not, it adjusts the pixel coordinates of the pixel points outside the ice-covered range until all pixel points are within the ice-covered range, and draws an optimized ice-covered profile of the cable based on the pixel coordinates of all pixel points within the ice-covered range. It can more accurately define the ice-covered area, correct the possible deviation of the initial ice-covered profile of the cable, make the finally drawn optimized ice-covered profile of the cable more in line with the actual ice-covered shape, provide a more accurate data basis for the subsequent ice-covered thickness measurement based on the optimized ice-covered profile of the cable, and improve the reliability and accuracy.

[0031] Third, the control method of the caterpillar-type de-icing device with adaptive ice-covered thickness adjustment provided by the present application equally divides the optimized ice-covered profile of the cable into at least two sub-profiles along the cable length direction, and determines whether to adjust the wide-end spacing between the first de-icing chain belt and the second de-icing chain belt according to the ice-covered thickness range difference of the sub-profiles. When the ice-covered thickness change of the sub-profile is relatively large, the wide-end spacing between the first de-icing chain belt and the second de-icing chain belt is adjusted multiple times to ensure high-precision adjustment. When the ice-covered thickness change of the sub-profile of the cable is relatively small, the wide-end spacing between the first de-icing chain belt and the second de-icing chain belt is not adjusted to avoid frequent adjustment, which can reduce equipment wear and energy consumption, extend the service life of the caterpillar-type de-icing device, reduce maintenance costs, and at the same time avoid equipment failures that may be caused by frequent adjustment, and ensure the stability and continuity of the cable de-icing operation.

[0032] Fourth, the control method of the caterpillar-type de-icing device with adaptive ice-covered thickness adjustment provided by the present application calculates the adjustment time of the wide-end adjustment component and the walking time of the caterpillar-type de-icing device to reach the next adjustment point, and compares them, which can ensure that before the caterpillar-type de-icing device reaches the next adjustment point, the wide-end adjustment component has enough time to complete the adjustment of the wide-end spacing between the first de-icing chain belt and the second de-icing chain belt, avoiding the situation that the wide-end adjustment component fails to adjust in time due to the device walking too fast, thus affecting the de-icing effect. And when the adjustment time is greater than the walking time, by calculating the maximum allowable walking speed, the chain belt drive component reduces the walking speed of the caterpillar-type de-icing device, so that while ensuring that the wide-end adjustment component can complete the adjustment, a relatively high de-icing efficiency is maintained as much as possible, rather than simply stopping the device and waiting for the adjustment to be completed. Description of the Drawings

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0034] Figure 1 is a flowchart of the control method for the crawler-type de-icing device with adaptive ice thickness adjustment provided by the embodiment of the present invention;

[0035] Figure 2 is the ice-covered cable mask diagram provided by the embodiment of the present invention;

[0036] Figure 3 (a) is the initial contour diagram of the ice-covered cable provided by the embodiment of the present invention;

[0037] Figure 3 (b) is the optimized contour diagram of the ice-covered cable provided by the embodiment of the present invention;

[0038] Figure 4 is the top view of the crawler-type de-icing device provided by the embodiment of the present invention;

[0039] Figure 5 is the combined schematic diagram of the first de-icing chain belt and the second de-icing chain belt provided by the embodiment of the present invention.

[0040] Explanation of the reference numerals in the drawings:

[0041] 10. First de-icing chain belt; 11. Ice-breaking teeth; 12. First sprocket; 13. Second sprocket; 20. Second de-icing chain belt; 21. Third sprocket; 22. Fourth sprocket; 30. Chain belt drive assembly; 31. Rotating shaft; 32. First double-sided clamping arm; 33. Second double-sided clamping arm; 40. Wide-end adjustment assembly; 41. First adjustment seat; 42. Wide-end clamping drive mechanism; 50. Narrow-end adjustment assembly; 51. Second adjustment seat; 52. Narrow-end clamping drive mechanism; 60. Frame; 70. De-icing channel; 80. First encoder; 90. Second encoder. Detailed implementation manners

[0042] In the description and claims of the present invention and the above-mentioned drawings, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order other than that shown or described herein. In addition, the term "comprising" or "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0043] The control method for the crawler-type deicing device with adaptive ice thickness adjustment in this embodiment is used to control the crawler-type deicing device to perform cable deicing operations.

[0044] Please refer to Figure 4 and Figure 5 As shown, the crawler-type deicing device includes a first deicing chain belt 10, a second deicing chain belt 20, a chain belt drive assembly 30, a wide-end adjustment assembly 40, and a narrow-end adjustment assembly 50. Ice-breaking teeth 11 are provided on the outer sides of both the first deicing chain belt 10 and the second deicing chain belt 20. A deicing channel 70 for the cable to pass through is formed between the first deicing chain belt 10 and the second deicing chain belt 20. The chain belt drive assembly 30 is respectively connected to the first deicing chain belt 10 and the second deicing chain belt 20 and is used to drive the first deicing chain belt 10 and the second deicing chain belt 20 to rotate self to perform cable deicing operations; the wide-end adjustment assembly 40 is respectively connected to the first end of the first deicing chain belt 10 and the first end of the second deicing chain belt 20 and is used to adjust the wide-end spacing h between the first deicing chain belt 10 and the second deicing chain belt 20; the narrow-end adjustment assembly 50 is respectively connected to the second end of the first deicing chain belt 10 and the second end of the second deicing chain belt 20 and is used to adjust the narrow-end spacing i between the first deicing chain belt 10 and the second deicing chain belt 20.

[0045] It can be understood that the crawler-type deicing device of the embodiment of the present invention can be used in combination with a traveling device (not shown in the figure) and a drone (not shown in the figure).

[0046] In this embodiment, the crawler-type deicing device further includes a frame 60. The traveling device is arranged on the frame 60, and the traveling speeds of the traveling device, the first deicing chain belt 10, and the second deicing chain belt 20 are kept consistent.

[0047] In this embodiment, the walking device can be used as the main walking power of the crawler deicing device. The crawler deicing device cooperates with the walking device to stably act on the cable to ensure that the ice is crushed and removed, and to avoid excessive or insufficient local deicing due to speed asynchrony. The walking device adopts an existing walking device, for example, the walking device is a walking wheel driven by a motor.

[0048] When deicing the cable, the operator uses the drone to hang the tracked deicing device on the cable so that the cable enters the deicing channel 70. After it is in place, the drone is detached from the tracked deicing device, and the walking device can autonomously walk on the upper end of the cable along the length direction of the cable. At this time, it is necessary to adjust the wide end spacing and narrow end spacing between the first deicing chain belt 10 and the second deicing chain belt 20. The wide end spacing is adaptively adjusted to the ice thickness, and the narrow end spacing is larger than the cable diameter by 1mm-2mm, so that the first deicing chain belt 10 and the second deicing chain belt 20 are clamped on the cable in an eight-shaped shape. After the adjustment is completed, the chain belt drive assembly 30 is started, and the first deicing chain belt 10 and the ice-breaking teeth 11 on its outer side, the second deicing chain belt 20 and the ice-breaking teeth 11 on its outer side walk along the cable while crushing and deicing.

[0049] In this embodiment, the wide end adjustment component 40 is provided to adjust the wide end spacing between the first deicing chain belt 10 and the second deicing chain belt 20, and the narrow end adjustment component 50 is provided to adjust the narrow end spacing between the first deicing chain belt 10 and the second deicing chain belt 20, thereby increasing the contact area between the two chains and the ice cover, thereby enhancing the adaptability of the crawler deicing device to different cable specifications and complex icing conditions.

[0050] See also Figure 4 and Figure 5 As shown, in certain embodiments, exemplarily, the wide-end adjustment assembly 40 includes two first adjustment seats 41 and a wide-end clamping drive mechanism 42, the first deicing chain belt 10 and the second deicing chain belt 20 are clamped on the cable in an eight-shaped shape, the two first adjustment seats 41 can adjust the spacing along the radial direction of the cable, the two first adjustment seats 41 are respectively connected to the first end of the first deicing chain belt 10 and the first end of the second deicing chain belt 20, the wide-end clamping drive mechanism 42 is installed on the frame 60, the wide-end clamping drive mechanism 42 is respectively connected to the two first adjustment seats 41, and is used to drive the two first adjustment seats 41 to move synchronously in opposite directions or synchronously in opposite directions to adjust the wide-end spacing between the first deicing chain belt 10 and the second deicing chain belt 20.

[0051] In this embodiment, the wide-end clamping drive mechanism 42 is a forward and reverse screw drive device, and the two first adjustment seats 41 are respectively provided with internal threads corresponding to the forward and reverse threads. Through the cooperation of the threads, the two first adjustment seats 41 can be driven to move synchronously in opposite directions or in opposite directions. The structure is ingenious, and the thread cooperation has a self-locking effect, which can realize automatic locking of the two first adjustment seats 41 to prevent displacement.

[0052] In this embodiment, when adjusting the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20, the wide-end clamping drive mechanism 42 receives an adjustment value, analyzes the adjustment direction and adjustment amount according to the adjustment value, that is, determines the rotation direction (clockwise rotation or counterclockwise rotation of the positive and negative screws of the positive and negative screw drive device determines whether the spacing increases or decreases) and the number of turns of rotation of the positive and negative screws of the positive and negative screw drive device.

[0053] When it is necessary to increase the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20, the positive and negative screws of the positive and negative screw drive device rotate clockwise, the two first adjustment seats 41 move synchronously in opposite directions, drive the first end of the first de-icing chain belt 10 to swing away from the second de-icing chain belt 20, and drive the first end of the second de-icing chain belt 20 to swing away from the first de-icing chain belt 10, thereby increasing the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20.

[0054] When it is necessary to reduce the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20, the positive and negative screws of the positive and negative screw drive device rotate counterclockwise, the two first adjustment seats 41 move synchronously towards each other, drive the first end of the first de-icing chain belt 10 to swing towards the second de-icing chain belt 20, and drive the first end of the second de-icing chain belt 20 to swing towards the first de-icing chain belt 10, thereby reducing the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20.

[0055] Please refer to Figure 4 and Figure 5 As shown, in some embodiments, exemplarily, the narrow-end adjustment assembly 50 includes two second adjustment seats 51 and a narrow-end clamping drive mechanism 52. The two second adjustment seats 51 can adjust the spacing along the radial direction of the cable. The two second adjustment seats 51 are respectively connected to the second end of the first de-icing chain belt 10 and the second end of the second de-icing chain belt 20. The narrow-end clamping drive mechanism 52 is installed on the frame 60. The narrow-end clamping drive mechanism 52 is respectively connected to the two second adjustment seats 51 and is used to drive the two second adjustment seats 51 to move synchronously towards each other or synchronously in opposite directions to adjust the narrow-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20.

[0056] In this embodiment, the narrow-end clamping drive mechanisms 52 are both positive and negative screw drive devices. The two second adjustment seats 51 are correspondingly provided with internal threads corresponding to the positive and negative threads. Through the thread engagement effect, the two second adjustment seats 51 can be driven to move synchronously towards each other or synchronously in opposite directions. The structure is ingenious, and the thread engagement has a self-locking effect, which can realize the automatic locking of the two second adjustment seats 51 to prevent deviation. The adjustment principle of the narrow-end adjustment assembly 50 is the same as that of the wide-end adjustment assembly 40, and will not be elaborated here.

[0057] See also Figure 4 and Figure 5 As shown, in some embodiments, exemplarily, the first deicing chain belt 10 is provided with a first sprocket 12 and a second sprocket 13, and the second deicing chain belt 20 is provided with a third sprocket 21 and a fourth sprocket 22, and the chain belt drive assembly 30 includes four rotating shafts 31, a synchronous belt (not shown), a driving motor (not shown), a first bidirectional clamping arm 32 and a second bidirectional clamping arm 33, wherein the first ends of the two rotating shafts 31 respectively pass through the first sprocket 12 and the second sprocket 13 and are rotatably connected to the two ends of the first bidirectional clamping arm 32, and the first ends of the other two rotating shafts 31 respectively pass through the third sprocket 21 and the fourth sprocket 22 and are rotatably connected to the two ends of the second bidirectional clamping arm 33, the synchronous belt is wrapped around the second ends of the four rotating shafts 31, and the output shaft of the driving motor is transmission-connected to any one of the rotating shafts 31, and the two first adjustment seats 41 are respectively arranged at the first end of the first bidirectional clamping arm 32 and the first end of the second bidirectional clamping arm 33, and the two second adjustment seats 51 are respectively arranged at the second end of the first bidirectional clamping arm 32 and the second end of the second bidirectional clamping arm 33.

[0058] In this embodiment, obstacle avoidance adjustment holes (not shown) are provided on the first bidirectional clamping arm 32 and the second bidirectional clamping arm 33. When the first adjustment seat 41 drives the first deicing chain belt 10 to swing and the second adjustment seat 51 drives the second deicing chain belt 20 to swing, the obstacle avoidance adjustment holes allow the first bidirectional clamping arm 32 and the second bidirectional clamping arm 33 to flexibly adjust the connection position within a certain range, thereby cleverly avoiding possible interference between the components.

[0059] In this embodiment, the first two-way clamping arm 32 and the second two-way clamping arm 33 not only bear the function of connecting the rotating shaft 31 and the adjustment seat, but also enhance the rigidity of the entire structure to a certain extent. Even in a complex working environment, such as strong winds, cable shaking, etc., the crawler deicing device can maintain a stable operating state to ensure the smooth progress of the cable deicing operation. While adjusting the wide end spacing and narrow end spacing of the first deicing chain belt 10 and the second deicing chain belt 20, the first two-way clamping arm 32 and the second two-way clamping arm 33 can drive the rotating shaft 31, sprocket and deicing chain belt connected thereto to make adaptive adjustments as a whole, realize the coordinated operation of wide end spacing adjustment and chain belt drive, and further improve the response capability of the crawler deicing device to different working conditions.

[0060] When it is necessary to increase the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20, the positive and negative screw of the positive and negative screw driving device rotates clockwise, and the two first adjusting seats 41 move synchronously in the opposite direction, and drive the first end of the first de-icing chain belt 10 to swing away from the second de-icing chain belt 20 through the first double-sided clamping arm 32, and drive the first end of the second de-icing chain belt 20 to swing away from the first de-icing chain belt 10 through the second double-sided clamping arm 33, thereby increasing the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20.

[0061] When it is necessary to reduce the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20, the positive and negative screw of the positive and negative screw driving device rotates counterclockwise, and the two first adjusting seats 41 move synchronously towards each other, and drive the first end of the first de-icing chain belt 10 to swing towards the second de-icing chain belt 20 through the first double-sided clamping arm 32, and drive the first end of the second de-icing chain belt 20 to swing towards the first de-icing chain belt 10 through the second double-sided clamping arm 33, thereby reducing the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20.

[0062] Please refer to Figure 4 and Figure 5 As shown, in some embodiments, by way of example, the crawler-type de-icing device further includes a first encoder 80, a second encoder 90, and a third encoder (not shown in the figure). The first encoder 80 is disposed on the wide-end clamping drive mechanism 42. The first encoder 80 is used to measure the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20 and the movement speed of the wide-end adjustment assembly 40. The second encoder 90 is disposed on the narrow-end clamping drive mechanism 52. The second encoder 90 is used to measure the narrow-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20. The third encoder is disposed on any one of the rotating shafts 31 and is used to measure the traveling speed of the crawler-type de-icing device.

[0063] In this embodiment, the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20 has an initial value. After each adjustment, the rotation angle of the screw motor of the positive and negative screw driving device is measured by the first encoder 80 installed on the screw motor, and the number of rotations of the screw motor is calculated. Then, through the transmission ratio conversion, the number of rotations of the positive and negative screws of the positive and negative screw driving device is calculated, and the moving distance of the first adjusting seat 41 is calculated according to the pitch of the positive and negative screws. And because of the same positive and negative screw driving, therefore, the change amount of the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20 is twice the moving distance of the first adjusting seat 41. Finally, according to the change amount of the wide-end spacing and the previous wide-end spacing, corresponding operations are performed to obtain the current wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20. When calculating for the first time, the current wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20 is obtained according to the change amount of the wide-end spacing and the initial value.

[0064] In this embodiment, within a relatively short period of time, the rotation angle of the screw motor of the positive and negative screw driving device is measured by the first encoder 80, and the average angular velocity of the screw motor is calculated. Then, through the transmission ratio conversion, the average angular velocity of the positive and negative screws of the positive and negative screw driving device is calculated, and the average moving speed of the first adjusting seat 41, that is, the moving speed of the wide-end adjusting assembly 40, is calculated in combination with the pitch of the positive and negative screws.

[0065] The measurement principle of the second encoder 90 is the same as that of the first encoder 80, and will not be elaborated here.

[0066] In this embodiment, within a relatively short period of time, the rotation angle of the rotating shaft 31 is measured by the third encoder, and the average angular velocity of the rotating shaft 31 is calculated, and then the traveling speed of the crawler-type de-icing device is obtained through the gear transmission relationship conversion.

[0067] For ease of understanding, the specific process of the control method of the crawler-type de-icing device with adaptive ice thickness adjustment in the embodiment of the present invention is described below. Please refer to Figure 1 , in the embodiment of the present invention, a control method of a crawler-type de-icing device with adaptive ice thickness adjustment includes:

[0068] S1. Obtain the ice-covered image of the cable, process the ice-covered image, and obtain the initial contour of the cable ice cover.

[0069] S2. Determine whether each pixel point on the initial contour of the cable ice cover is within the ice-covered range. If not, adjust the pixel coordinates of the pixel points outside the ice-covered range until all pixel points are within the ice-covered range, and output the pixel coordinates of all pixel points within the ice-covered range.

[0070] S3. Draw an optimized profile of the cable icing based on the pixel coordinates of all pixel points within the icing range.

[0071] S4. Evenly divide the optimized profile of the cable icing into at least two sub-profiles along the cable length direction, and calculate the range of the cable icing thickness for each sub-profile. The range of the cable icing thickness for a sub-profile is the difference between the maximum icing thickness value and the minimum icing thickness value of the sub-profile.

[0072] S5. When the range of the cable icing thickness for a sub-profile is greater than the preset range threshold, obtain the adjustment points on the sub-profile where the cable icing thickness needs to be calculated based on the preset calculation step, and calculate the icing thickness of the pixel points corresponding to the adjustment points.

[0073] S6. When the position of the crawler-type de-icing device reaches the adjustment point, obtain the current wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20, and calculate an adjustment value based on the icing thickness of the pixel point corresponding to the adjustment point and the current wide-end spacing.

[0074] S7. Send the adjustment value to the wide-end adjustment component 40, so that the wide-end adjustment component 40 completes the adjustment of the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20 based on the adjustment value before the crawler-type de-icing device reaches the next adjustment point.

[0075] In this embodiment, in step S1, to obtain the icing image of the cable and process the icing image to obtain the initial profile of the cable icing, it includes:

[0076] S1-1. Use a depth camera to obtain the icing image of the cable.

[0077] In this embodiment, a depth camera is used to obtain the icing image of the cable, and here the icing image is an RGB image.

[0078] S1-2. Input the icing image into the pre-trained YOLO V8-seg model to obtain the cable icing mask image output by the pre-trained YOLO V8-seg model. The cable icing mask image is as Figure 2 shown.

[0079] In this embodiment, the YOLO V8-seg model has higher detection accuracy. Based on the YOLO V8 object detection framework, the YOLO V8-seg model adds a new instance segmentation branch (Mask Head) to achieve end-to-end joint training of detection and segmentation. Its architecture is divided into three parts: Backbone, Neck, and Head. The Backbone adopts an improved CSPDarknet53 structure, reduces computational redundancy through cross-stage partial connection (CSP), and introduces spatial pyramid pooling (SPPF) to enhance the multi-scale feature extraction ability. The Neck uses the combination of PANet (Path Aggregation Network) and BiFPN (Bidirectional Feature Pyramid) to optimize the feature fusion path and improve the segmentation accuracy of small targets (such as thin cables). The Head outputs the detection box (BoundingBox), classification confidence, and segmentation mask in parallel. Among them, the mask head uses a dynamic convolution kernel to generate pixel-level predictions, reducing memory occupancy.

[0080] Understandably, the cable icing mask image is an image with the same size as the icing image. It uses different pixel values or colors to identify which pixels in the original image belong to the cable icing part and which do not. Generally, the pixels in the icing area will be marked with a specific value (for example, 255 represents the icing area and 0 represents the non-icing area in a grayscale image) or a specific color (in a color mask image, a certain color represents the icing area, and other colors represent the background or other objects). In this way, the outline and position of the iced cable can be clearly separated from the icing image. In this embodiment, the pixels in the icing area are marked with a specific color.

[0081] S1-3. Draw the initial contour of the cable icing based on the icing mask image.

[0082] In this embodiment, drawing the initial contour of the cable icing based on the icing mask image specifically includes:

[0083] S1-3-1. Convert the icing mask image into a grayscale image.

[0084] In this embodiment, the binary mask image (pixel values 0 or 1) is converted into an 8-bit grayscale image (such as 0 corresponding to black and 255 corresponding to white) to facilitate the unified processing of subsequent edge detection algorithms.

[0085] S1-3-2. Perform edge detection processing on the grayscale image to obtain an edge image, and perform contour search processing on the edge image to obtain the cable icing contour information.

[0086] In this embodiment, the Canny algorithm is used to perform edge detection processing on the grayscale image. When performing contour search processing on the edge image, only the outermost contour and compressed redundant points are extracted to reduce the contour complexity. Finally, the searched contours are filtered (such as area threshold filtering) to exclude small-area noise interference and obtain the cable icing contour information.

[0087] S1-3-3. Draw the cable icing contour based on the cable icing contour information, and use the Gaussian filter operator to smooth the cable icing contour to obtain the initial cable icing contour.

[0088] In this embodiment, the Gaussian filter operator is used to eliminate the serrated edges of the contour, improve the continuity and smoothness of the contour, and avoid the influence of noise on subsequent analysis (such as area calculation).

[0089] In this embodiment, in step S2, as Figure 3 (a) shows, there will be some pixel points on the initial cable icing contour that exceed the icing range. Therefore, it is necessary to determine whether each pixel point on the initial cable icing contour is within the icing range, and adjust the pixel coordinates of the pixel points that exceed the icing range until all pixel points are within the icing range, and then draw the optimized cable icing contour (such as Figure 3 (b) shows). By judging and adjusting each pixel point on the initial cable icing contour, it is ensured that all pixel points are within the icing range, which can more accurately determine the actual boundary of the icing, and at the same time can effectively reduce the misjudgment of non-icing areas as icing areas, helping to accurately grasp the cable icing condition.

[0090] In this embodiment, it is determined whether each pixel point on the initial cable icing contour is within the icing range. If not, the pixel coordinates of the pixel points that exceed the icing range are adjusted until all pixel points are within the icing range, and the pixel coordinates of all pixel points within the icing range are output. Specifically, it includes:

[0091] S2-1. Obtain the depth value of each pixel point on the initial cable icing contour, and determine whether the depth value of each pixel point is greater than the preset icing threshold. If so, it is determined that the corresponding pixel point exceeds the icing range.

[0092] In this embodiment, the depth value of each pixel point on the initial cable icing contour is measured by a depth camera.

[0093] The preset icing threshold refers to the maximum vertical distance between the depth camera and the ice-covered ice surface, and the preset icing threshold is set according to the actual situation.

[0094] S2-2. When any pixel point exceeds the icing range, calculate the x-axis adjustment step and y-axis adjustment step of the pixel point based on the pixel coordinates of the pixel point and the center point of the initial cable icing contour.

[0095] S2-3. Calculate the adjusted pixel coordinates of the pixel points respectively based on the adjustment step lengths of the x-axis and the y-axis, and obtain the adjusted depth value according to the adjusted pixel coordinates of the pixel points.

[0096] S2-4. Determine whether the adjusted depth value of the pixel point is greater than the preset icing threshold. If so, repeat the previous step until the adjusted depth value of the pixel point is not greater than the preset icing threshold, and output the pixel coordinates of all pixel points within the icing range.

[0097] In this embodiment, the pixel coordinates of the pixel points can be obtained by a depth camera. The depth camera includes a left camera and a right camera. The pixel coordinates of the pixel points in the initial cable icing contour are represented by (x i , y i ), and the adjusted pixel coordinates of the pixel points are represented by (x i ′, y i ′).

[0098] When adjusting the pixel coordinates of the pixel points, move the pixel points towards the center of the initial cable icing contour. The moving step length is Δr, and Δr is expressed as:

[0099]

[0100] In the formula, (c x , c y ) represents the center point of the initial cable icing contour, and k represents the step length proportionality factor.

[0101] In order to calculate that the adjusted pixel coordinates of the pixel point are (x i ′, y i ′), it is necessary to decompose Δr into the x-axis and Δy and the y-axis, so as to calculate that the adjusted pixel coordinates of the pixel point are (x i ′, y i ′).

[0102] Therefore, define the adjustment step length of the x-axis as Δx and the adjustment step length of the y-axis as Δy. Then the adjustment step length Δx of the x-axis and the adjustment step length Δy of the y-axis are respectively expressed as:

[0103]

[0104] In the formula, (c x , c y ) represents the center point of the initial cable icing contour, D represents the Euclidean distance from the current pixel point to the center point (c x , c y ), k represents the step length proportionality factor.

[0105] The adjusted pixel coordinates of the pixel are (x i ′, y i ′) and are expressed as:

[0106]

[0107] In the formula, x i ′ represents the x-axis coordinate of the adjusted pixel coordinates of the pixel, and y i ′ represents the y-axis coordinate of the adjusted pixel coordinates of the pixel.

[0108] That is to say, by comparing the depth value with the preset icing threshold, it is judged whether the pixel is on the icing contour. When it is judged that any pixel exceeds the icing range, the pixel coordinates of the pixel need to be adjusted, and the depth value of the point is read again according to the corresponding point of the adjusted pixel coordinates. Only when the depth value of the adjusted pixel is not greater than the preset icing threshold, it can be judged that the pixel is within the icing range.

[0109] In this embodiment, for the pixels that exceed the icing range, one adjustment may not make them completely enter the icing range. Therefore, iterative adjustment is required until the pixel enters the icing range.

[0110] In this embodiment, in step S3, based on the pixel coordinates of all pixels within the icing range, an optimized contour of the cable icing is drawn. As shown in Table 1 below, the average error of the pixels on the optimized contour of the cable icing is reduced by 87.5% compared with the pixels on the initial contour of the cable icing, the maximum error is reduced by 87.7%, and the key point retention rate is increased by 60%.

[0111] Table 1 Index values of the optimized contour of the cable icing and the initial contour of the cable icing

[0112]

[0113] In this embodiment, in step S4, the optimized contour of the cable icing is evenly divided into at least two sub-contours along the cable length direction, and the range difference of the cable icing thickness of each sub-contour is calculated. The range difference of the cable icing thickness of the sub-contour is the difference between the maximum icing thickness value and the minimum icing thickness value of the sub-contour, including:

[0114] S4-1. Evenly divide the optimized contour of the cable icing into at least two sub-contours along the length direction.

[0115] In this embodiment, the division is made according to the length of the optimized contour of the cable icing and the preset value of the sub-contour length. For example, if the length of the optimized contour of the cable icing is 1200 pixel points and the preset value of the sub-contour length is 300 pixel points, the optimized contour of the cable icing is divided into 4 sub-contours.

[0116] S4-2. For each sub-profile, obtain the pixel coordinates of the left boundary pixel points and the pixel coordinates of the right boundary pixel points corresponding to each unit step length in the sub-profile.

[0117] In this embodiment, the unit step length is a fixed length preset for measuring the position change in the length direction of the cable. A unit step length can be 1 pixel point or 5 pixel points, which is specifically set according to the actual situation.

[0118] S4-3. Convert the pixel coordinates of the left boundary pixel points and the pixel coordinates of the right boundary pixel points into the real-world coordinates of the left boundary pixel points and the real-world coordinates of the right boundary pixel points respectively.

[0119] In this embodiment, the pixel coordinates and the corresponding depth values of the left boundary pixel points are respectively represented as (x L , y) and Z L , and the pixel coordinates and the corresponding depth values of the right boundary pixel points are represented as (x R , y) and Z R . The depth values corresponding to the left boundary pixel points and the depth values corresponding to the right boundary pixel points are obtained by a depth camera.

[0120] The real-world coordinates (X L , Y L , Z L ) of the left boundary pixel points and the real-world coordinates (X R , Y R , Z R ) of the right boundary pixel points are obtained through back-projection calculation, and are respectively represented as:

[0121]

[0122] In the formula, f x represents the focal length of the depth camera in the x direction, f y represents the focal length of the depth camera in the y direction, and (c x , c y ) represents the center point of the cable icing optimization profile.

[0123] It can be understood that the center point of the cable icing optimization profile is the same as the center point of the initial cable icing profile. Therefore, (c x , c y ) represents the center point of the cable icing optimization profile.

[0124] S4-4. Calculate the ice thickness value corresponding to each unit step length based on the real-world coordinates of the left boundary pixel points and the real-world coordinates of the right boundary pixel points.

[0125] In this embodiment, the ice thickness value corresponding to each unit step length is represented by w, then w is represented as:

[0126] w = |X L - X R |

[0127] That is to say, the ice accretion thickness value corresponding to each unit step length is equal to the absolute value of the difference between the x coordinate of the real-world coordinate of the left boundary pixel point and the x coordinate of the real-world coordinate of the right boundary pixel point.

[0128] S4-5. Screen out the maximum ice accretion thickness value and the minimum ice accretion thickness value from the calculated ice accretion thickness values, and calculate the difference between the maximum ice accretion thickness value and the minimum ice accretion thickness value to obtain the range of the cable ice accretion thickness of each sub-profile.

[0129] In this embodiment, in order to further improve the accuracy of calculating the range of the cable ice accretion thickness of each sub-profile, the average value (μ) and the standard deviation (σ) of the ice accretion thickness values corresponding to all unit step lengths within the sub-profile can be calculated. Then, after excluding the abnormal ice accretion thickness values that deviate from the mean value by ±2σ, re-screen the maximum ice accretion thickness value and the minimum ice accretion thickness value to calculate the range of the cable ice accretion thickness of each sub-profile. Such a design can exclude extreme abnormal points and make the range of the cable ice accretion thickness of each sub-profile reflect the more real ice accretion thickness fluctuation.

[0130] In other embodiments, in order to further improve the accuracy of calculating the range of the cable ice accretion thickness of each sub-profile, if a unit step length includes multiple pixel points, at this time, for each unit step length, the ice accretion thickness values of the pixel points corresponding to each unit step length and the ice accretion thickness values of the two pixel points before and after the pixel point can be calculated respectively, and then the average value of the three is used as the final ice accretion thickness value of the pixel points corresponding to the unit step length.

[0131] In this embodiment, in step S5, when the range of the cable ice accretion thickness of the sub-profile is greater than the preset range threshold, it indicates that the change in the ice accretion thickness of the sub-profile is relatively large, and it is necessary to adjust the wide-end spacing h between the first de-icing chain belt 10 and the second de-icing chain belt 20 multiple times to ensure high-precision adjustment. When the range of the cable ice accretion thickness of the sub-profile is not greater than the preset range threshold, it indicates that the ice accretion thickness of the sub-profile is relatively consistent, and there is no need to adjust the wide-end spacing h between the first de-icing chain belt 10 and the second de-icing chain belt 20 to avoid frequent adjustment.

[0132] In this embodiment, the preset range threshold can be set according to the ice accretion type, cable diameter, environmental temperature, etc.

[0133] For example, for the ice accretion type, when the ice accretion is hard ice, the hard ice has a high density and strong adhesion, and the preset range threshold is set relatively small (such as 5 mm) to ensure high-precision adjustment; when the ice accretion is soft ice, the soft ice has a low density and is fragile, and the preset range threshold can be appropriately relaxed (such as 10 mm) to avoid frequent adjustment.

[0134] For the cable diameter, when the cable diameter is large (e.g., 50 mm), the preset threshold range increases proportionally; when the cable diameter is small (e.g., 10 mm), the preset threshold range is set smaller (e.g., 3 mm) to prevent over-adjustment from damaging the cable.

[0135] For the ambient temperature, when the ambient temperature is low (e.g., below -10°C), the preset threshold range is appropriately reduced because the brittleness of the ice layer increases and more precise control is required; when the ambient temperature is high (e.g., above 0°C), the preset threshold range can be relaxed because the ice layer softens and the adjustment tolerance increases.

[0136] In this embodiment, the preset calculation step size is set according to the actual adjustment requirements. For example, it can be 5 unit step sizes or 10 unit step sizes. The adjustment point refers to the y-axis coordinate of the pixel point on the sub-profile obtained based on the calculation step size. For example, the length of the optimized profile of the cable with ice is 1200 pixel points. The optimized profile of the cable with ice is divided into 4 sub-profiles. One unit step size is 1 pixel point, and the calculation step size is 5 unit step sizes, that is, the calculation step size is 5 pixel points. The left and right boundary pixel points corresponding to the start end of the sub-profile S are (x LS0 ,y S0 ) and (x RS0 ,y S0 ), and the left and right boundary pixel points corresponding to the end of the sub-profile S are (x LS30 ,y S30 ) and (x RS30 ,y S30 ). When the range of the ice thickness of the cable in the sub-profile S is greater than the preset threshold range, the corresponding adjustment points are y S5 、y S10 、y S15 、y S20 、y S25 and y S30 . The left boundary pixel points corresponding to the adjustment points y S5 、y S10 、y S15 、y S20 、y S25 and y S30 are respectively (x LS5 ,y S5 )、(x LS10 ,y S10 )、(x LS15 ,y S15 )、(x LS20 ,y S20 )、(x LS25 ,y S25 ) and (x LS30 ,y S30 ). The adjustment points y S5 、yS10 , y S15 , y S20 , y S25 and y S30 The corresponding right - boundary pixel points of y are respectively (x RS5 , y S5 ), (x RS10 , y S10 ), (x RS15 , y S15 ), (x R20 , y S20 ), (x RS25 , y S25 ), and (x RS30 , y S30 ).

[0137] In this embodiment, the calculation method of the ice - coating thickness of the pixel points corresponding to the adjustment points is the same as that of the ice - coating thickness values corresponding to each unit step, which will not be elaborated here.

[0138] In this embodiment, in step S6, it is defined that the adjustment value is A, then the adjustment value A is expressed as:

[0139] A = h-(W + e)

[0140] In the formula, h represents the current wide - end spacing between the first de - icing chain belt 10 and the second de - icing chain belt 20, W represents the ice - coating thickness of the pixel points corresponding to the adjustment points, e represents the over - cutting amount, and e is a constant.

[0141] It can be understood that when the adjustment value A is a positive number, it means that the wide - end spacing between the first de - icing chain belt 10 and the second de - icing chain belt 20 needs to be increased. When the adjustment value A is a negative number, it means that the wide - end spacing between the first de - icing chain belt 10 and the second de - icing chain belt 20 needs to be decreased.

[0142] In this embodiment, the depth camera is installed on the crawler - type de - icing device. In the initial state, the crawler - type de - icing device can travel to the cable position corresponding to the initial position of the optimized profile of the cable ice - coating. Subsequently, the traveling distance of the crawler - type de - icing device can be measured by the third encoder. Thus, when the position of the crawler - type de - icing device reaches the adjustment point, the current wide - end spacing between the first de - icing chain belt 10 and the second de - icing chain belt 20 can be obtained, and the adjustment value can be calculated based on the ice - coating thickness of the pixel points corresponding to the adjustment points and the current wide - end spacing.

[0143] In this embodiment, in step S7, the adjustment value is sent to the wide - end adjustment component 40, so that the wide - end adjustment component 40 completes the adjustment of the wide - end spacing between the first de - icing chain belt 10 and the second de - icing chain belt 20 based on the adjustment value before the crawler - type de - icing device reaches the next adjustment point, including:

[0144] S7-1. Obtain the moving speed of the wide-end adjusting component 40, and calculate the adjustment time based on the moving speed of the wide-end adjusting component 40 and the adjustment value.

[0145] In this embodiment, define the adjustment time as T1, then the adjustment time T1 is expressed as:

[0146]

[0147] In the formula, V1 represents the moving speed of the wide-end adjusting component 40.

[0148] S7-2. Obtain the traveling speed of the crawler-type deicing device, and calculate the traveling time for the crawler-type deicing device to reach the next adjustment point from the current adjustment point based on the traveling speed of the crawler-type deicing device and the preset step length.

[0149] In this embodiment, define the traveling time for the crawler-type deicing device to reach the next adjustment point from the current adjustment point as T2, then T2 is expressed as:

[0150]

[0151] In the formula, Δy setp represents the preset step length, and V2 represents the traveling speed of the crawler-type deicing device.

[0152] In this embodiment, the preset step length is set according to the actual situation, for example, it can be values such as 5 or 10.

[0153] S7-3. Judge whether the adjustment time is greater than the traveling time. If so, calculate the allowable maximum traveling speed of the crawler-type deicing device based on the preset step length and the adjustment time, and send the adjustment value and the allowable maximum traveling speed to the wide-end adjusting component 40 and the chain drive component 30 respectively, so that the wide-end adjusting component 40 adjusts the wide-end spacing between the first deicing chain 10 and the second deicing chain 20 based on the adjustment value, and the chain drive component 30 reduces the traveling speed of the crawler-type deicing device to the allowable maximum traveling speed.

[0154] S7-4. If not, send the adjustment value to the wide-end adjusting component 40, so that the wide-end adjusting component 40 adjusts the wide-end spacing between the first deicing chain 10 and the second deicing chain 20 based on the adjustment value, and the traveling speed of the crawler-type deicing device remains unchanged.

[0155] In this embodiment, define the allowable maximum traveling speed of the crawler-type deicing device as V MAX , then step S7 can be expressed as: calculate the adjustment time T1 and T2. When T1 > T2, first calculate V MAX , then adjust h, and at the same time make V2 ≤ V MAX ; when T1 < T2, adjust h, and at the same time V2 remains unchanged.

[0156] That is to say, when the adjustment time is sufficient, only the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20 needs to be adjusted. When the adjustment time is insufficient, the traveling speed of the crawler-type de-icing device needs to be reduced to ensure that the wide-end adjustment assembly 40 can complete the adjustment before the crawler-type de-icing device reaches the next adjustment point.

[0157] The control method of the crawler-type de-icing device with adaptive ice coating thickness adjustment according to the embodiment of the present invention has the following advantages:

[0158] First, the control method of the crawler-type de-icing device with adaptive ice coating thickness adjustment provided by the present application can adaptively adjust the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20 according to the ice coating thickness of the cable, which can increase the contact area between the two chain belts and the ice coating of the cable, thereby improving the de-icing efficiency, ensuring the safety of the cable, and improving the reliability of the power grid operation.

[0159] Second, after obtaining the initial ice coating profile of the cable, the control method of the crawler-type de-icing device with adaptive ice coating thickness adjustment provided by the present application determines whether each pixel point on the initial ice coating profile of the cable is within the ice coating range. If not, the pixel coordinates of the pixel points outside the ice coating range are adjusted until all pixel points are within the ice coating range, and the optimized ice coating profile of the cable is drawn based on the pixel coordinates of all pixel points within the ice coating range, which can more accurately define the ice coating area, correct the possible deviation of the initial ice coating profile of the cable, make the finally drawn optimized ice coating profile of the cable more conform to the actual ice coating shape, provide a more accurate data basis for the subsequent ice coating thickness measurement based on the optimized ice coating profile of the cable, and improve the reliability and accuracy.

[0160] Third, the control method of the crawler-type de-icing device with adaptive ice coating thickness adjustment provided by the present application equally divides the optimized ice coating profile of the cable into at least two sub-profiles along the cable length direction, and determines whether to adjust the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20 according to the ice coating thickness range difference of the sub-profiles. When the ice coating thickness change of the sub-profile is relatively large, the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20 is adjusted multiple times to ensure high-precision adjustment. When the ice coating thickness change of the sub-profile of the cable is relatively small, the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20 is not adjusted to avoid frequent adjustment, which can reduce equipment wear and energy consumption, extend the service life of the crawler-type de-icing device, reduce the maintenance cost, and at the same time can also avoid equipment failures that may be caused by frequent adjustment, and ensure the stability and continuity of the cable de-icing operation.

[0161] Fourth, the control method of the crawler-type de-icing device with adaptive ice thickness adjustment provided by the present application calculates the adjustment time of the wide-end adjustment component 40 and the travel time of the crawler-type de-icing device to reach the next adjustment point, and compares them, which can ensure that the wide-end adjustment component 40 has enough time to complete the adjustment of the wide-end spacing between the first de-icing chain belt 10 and the second de-icing chain belt 20 before the crawler-type de-icing device reaches the next adjustment point, avoiding the situation that the wide-end adjustment component 40 fails to adjust in time due to the device traveling too fast, thus affecting the de-icing effect. And when the adjustment time is greater than the travel time, by calculating the maximum allowable travel speed, the chain belt drive component 30 reduces the travel speed of the crawler-type de-icing device, so as to maintain a relatively high de-icing efficiency while ensuring that the wide-end adjustment component 40 can complete the adjustment, rather than simply stopping the device and waiting for the adjustment to be completed.

[0162] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A control method for a crawler-type de-icing device with adaptive ice thickness adjustment, characterized in that, The control method for the caterpillar - type de - icing device with adaptive ice - coating thickness adjustment is used to control the caterpillar - type de - icing device to perform cable de - icing operations. The caterpillar - type de - icing device includes a first de - icing chain belt (10), a second de - icing chain belt (20), a chain - belt driving assembly (30), a wide - end adjusting assembly (40) and a narrow - end adjusting assembly (50). Ice - breaking teeth (11) are arranged on the outer sides of both the first de - icing chain belt (10) and the second de - icing chain belt (20). An ice - removing channel (70) for the cable to pass through is formed between the first de - icing chain belt (10) and the second de - icing chain belt (20). The chain - belt driving assembly (30) is respectively connected to the first de - icing chain belt (10) and the second de - icing chain belt (20), and is used to drive the first de - icing chain belt (10) and the second de - icing chain belt (20) to rotate self - sufficiently for cable de - icing operations; The wide - end adjusting assembly (40) is respectively connected to the first ends of the first de - icing chain belt (10) and the second de - icing chain belt (20), and is used to adjust the wide - end spacing between the first de - icing chain belt (10) and the second de - icing chain belt (20). The narrow - end adjusting assembly (50) is respectively connected to the second ends of the first de - icing chain belt (10) and the second de - icing chain belt (20), and is used to adjust the narrow - end spacing between the first de - icing chain belt (10) and the second de - icing chain belt (20). The control method for the caterpillar - type de - icing device with adaptive ice - coating thickness adjustment includes: S1. Obtain the ice - coated image of the cable, process the ice - coated image, and obtain the initial contour of the cable ice - coating; S2. Judge whether each pixel point on the initial contour of the cable ice - coating is within the ice - coated range. If not, adjust the pixel coordinates of the pixel points outside the ice - coated range until all pixel points are within the ice - coated range, and output the pixel coordinates of all pixel points within the ice - coated range; S3. Draw an optimized contour of the cable ice - coating based on the pixel coordinates of all pixel points within the ice - coated range; S4. Evenly divide the optimized contour of the cable ice - coating into at least two sub - contours along the cable length direction, and calculate the range of the cable ice - coating thickness of each sub - contour. The range of the cable ice - coating thickness of the sub - contour is the difference between the maximum ice - coating thickness value and the minimum ice - coating thickness value of the sub - contour; S5. When the range of the cable ice - coating thickness of the sub - contour is greater than the preset range threshold, obtain the adjustment points on the sub - contour where the cable ice - coating thickness is to be calculated based on a preset calculation step length, and calculate the ice - coating thickness of the pixel points corresponding to the adjustment points; S6. When the position of the caterpillar - type de - icing device reaches the adjustment point, obtain the current wide - end spacing between the first de - icing chain belt and the second de - icing chain belt, and calculate an adjustment value based on the ice - coating thickness of the pixel points corresponding to the adjustment point and the current wide - end spacing; S7. Send the adjustment value to the wide-end adjustment component so that the wide-end adjustment component completes the adjustment of the wide-end spacing between the first de-icing chain belt and the second de-icing chain belt based on the adjustment value before the crawler-type de-icing device reaches the next adjustment point.

2. The control method of the crawler-type deicing device with adaptive ice thickness adjustment according to claim 1, characterized in that, The obtaining of the icing image of the cable and the processing of the icing image to obtain the initial contour of the cable icing include: S1-1. Use a depth camera to obtain the icing image of the cable; S1-2. Input the icing image into the pre-trained YOLO V8-seg model to obtain the cable icing mask image output by the pre-trained YOLO V8-seg model; S1-3. Draw the initial contour of the cable icing based on the icing mask image.

3. The control method of the caterpillar type deicing device with adaptive ice thickness adjustment according to claim 2, characterized in that, The drawing of the initial contour of the cable icing based on the icing mask image includes: S1-3-1. Convert the icing mask image into a grayscale image; S1-3-2. Perform edge detection processing on the grayscale image to obtain an edge image, and perform contour search processing on the edge image to obtain the cable icing contour information; S1-3-3. Draw the cable icing contour based on the cable icing contour information, and use a Gaussian filter operator to smooth the cable icing contour to obtain the initial contour of the cable icing.

4. The control method of the caterpillar track type deicing device with adaptive ice coating thickness adjustment according to claim 1, characterized in that, The judging whether each pixel point on the initial contour of the cable icing is within the icing range. If not, adjust the pixel coordinates of the pixel points outside the icing range until all pixel points are within the icing range, and output the pixel coordinates of all pixel points within the icing range, including: S2-1. Obtain the depth value of each pixel point on the initial contour of the cable icing, and judge whether the depth value of each pixel point is greater than the preset icing threshold. If so, determine that the corresponding pixel point is outside the icing range; S2-2. When any pixel point is outside the icing range, calculate the x-axis adjustment step and the y-axis adjustment step of the pixel point based on the pixel coordinates of the pixel point and the center point of the initial contour of the cable icing; S2-3. Calculate the adjusted pixel coordinates of the pixel point based on the x-axis adjustment step and the y-axis adjustment step respectively, and obtain the adjusted depth value according to the adjusted pixel coordinates of the pixel point; S2-4. Judge whether the adjusted depth value of the pixel point is greater than the preset icing threshold. If so, repeat the previous step until the adjusted depth value of the pixel point is not greater than the preset icing threshold, and output the pixel coordinates of all pixel points within the icing range.

5. The control method of the caterpillar track type deicing device with adaptive ice thickness adjustment according to claim 4, characterized in that, Define the x-axis adjustment step as Δx and the y-axis adjustment step as Δy. Then the x-axis adjustment step Δx and the y-axis adjustment step Δy are respectively expressed as: where (x i , y i ) represents the pixel coordinates of the pixel points in the initial profile of the cable icing, (c x , c y ) represents the center point of the initial profile of the cable icing, D represents the Euclidean distance from the current pixel point to the center point (c x , c y ), and k represents the step size scaling factor.

6. The control method of the caterpillar type deicing device with adaptive ice coating thickness adjustment according to claim 5, characterized in that, The pixel coordinates of the pixel after adjustment are (x i ′, y i ′) as follows: where x i ' represents the x-axis coordinate of the pixel coordinates after pixel point adjustment, and y i ' represents the y-axis coordinate of the pixel coordinates after pixel point adjustment.

7. The control method of the caterpillar track type deicing device with adaptive ice coating thickness adjustment according to claim 1, characterized in that, The cable icing optimized contour is evenly divided into at least two sub-contours along the cable length direction, and the cable icing thickness range difference of each sub-contour is calculated. The cable icing thickness range difference of the sub-contour is the difference between the maximum icing thickness value and the minimum icing thickness value of the sub-contour, including: S4-1. Evenly divide the cable icing optimized contour into at least two sub-contours along the length direction; S4-2. For each of the sub-contours, obtain the pixel coordinates of the left boundary pixel points and the pixel coordinates of the right boundary pixel points corresponding to each unit step length in the sub-contour; S4-3. Convert the pixel coordinates of the left boundary pixel points and the pixel coordinates of the right boundary pixel points into the real-world coordinates of the left boundary pixel points and the real-world coordinates of the right boundary pixel points respectively; S4-4. Calculate the ice accretion thickness value corresponding to each unit step length based on the real-world coordinates of the left boundary pixel points and the real-world coordinates of the right boundary pixel points; S4-5. Screen out the maximum ice accretion thickness value and the minimum ice accretion thickness value from the calculated ice accretion thickness values, and calculate the difference between the maximum ice accretion thickness value and the minimum ice accretion thickness value to obtain the cable ice accretion thickness range of each sub-contour.

8. The control method of the caterpillar track type deicing device with adaptive ice thickness adjustment according to claim 1, characterized in that Define the adjustment value as A, then the adjustment value A is expressed as: A = h - (W + e) In the formula, h represents the current wide-end spacing between the first ice removal chain belt and the second ice removal chain belt, W represents the ice accretion thickness of the pixel point corresponding to the adjustment point, e represents the over-cut amount, and e is a constant.

9. The control method of the caterpillar track type deicing device with adaptive ice coating thickness adjustment according to claim 8, characterized in that, The sending the adjustment value to the wide-end adjustment component so that the wide-end adjustment component completes the adjustment of the wide-end spacing between the first ice removal chain belt and the second ice removal chain belt based on the adjustment value before the tracked ice removal device reaches the next adjustment point includes: S7-1. Obtain the moving speed of the wide-end adjustment component, and calculate the adjustment time based on the moving speed of the wide-end adjustment component and the adjustment value; S7-2. Obtain the walking speed of the tracked ice removal device, and calculate the walking time for the tracked ice removal device to reach the next adjustment point from the current adjustment point based on the walking speed of the tracked ice removal device and the preset step length; S7-3. Determine whether the adjustment time is greater than the walking time. If so, calculate the allowable maximum walking speed of the tracked ice removal device based on the preset step length and the adjustment time, and send the adjustment value and the allowable maximum walking speed to the wide-end adjustment component and the chain belt drive component respectively, so that the wide-end adjustment component adjusts the wide-end spacing between the first ice removal chain belt and the second ice removal chain belt based on the adjustment value, and the chain belt drive component reduces the walking speed of the tracked ice removal device to the allowable maximum walking speed; S7-4. If not, send the adjustment value to the wide-end adjustment component so that the wide-end adjustment component adjusts the wide-end spacing between the first ice removal chain belt and the second ice removal chain belt based on the adjustment value, and the walking speed of the tracked ice removal device remains unchanged.

10. The control method of the crawler type deicing device with adaptive ice thickness adjustment according to claim 9, characterized in that, Define the adjustment time as T1, and the walking time for the tracked ice removal device to reach the next adjustment point from the current adjustment point as T2. Then the adjustment time T1 and the walking time T2 for the tracked ice removal device to reach the next adjustment point from the current adjustment point are respectively expressed as: where V1 represents the moving speed of the wide-end adjustment component, Δy setp represents the preset step length, and V2 represents the traveling speed of the crawler-type de-icing device.

11. The control method of the caterpillar track type deicing device with adaptive ice coating thickness adjustment according to claim 1, characterized in that, The crawler-type deicing device further includes a frame (60). The wide-end adjusting assembly (40) includes two first adjusting seats (41) and a wide-end clamping driving mechanism (42). The first deicing chain belt (10) and the second deicing chain belt (20) are clamped on the cable in a V shape. The two first adjusting seats (41) can adjust the distance between them along the radial direction of the cable. The two first adjusting seats (41) are respectively connected to the first ends of the first deicing chain belt (10) and the second deicing chain belt (20). The wide-end clamping driving mechanism (42) is installed on the frame (60), and is respectively connected to the two first adjusting seats (41), and is used to drive the two first adjusting seats (41) to move synchronously towards each other or synchronously in opposite directions, so as to adjust the wide-end distance between the first deicing chain belt (10) and the second deicing chain belt (20).

12. The control method of the caterpillar type de-icing device with adaptive ice thickness adjustment according to claim 11, characterized in that, The narrow-end adjusting assembly (50) includes two second adjusting seats (51) and a narrow-end clamping driving mechanism (52). The two second adjusting seats (51) can adjust the distance between them along the radial direction of the cable. The two second adjusting seats (51) are respectively connected to the second ends of the first deicing chain belt (10) and the second deicing chain belt (20). The narrow-end clamping driving mechanism (52) is installed on the frame (60), and is respectively connected to the two second adjusting seats (51), and is used to drive the two adjusting seats to move synchronously towards each other or synchronously in opposite directions, so as to adjust the narrow-end distance between the first deicing chain belt (10) and the second deicing chain belt (20). The wide-end clamping driving mechanism (42) and the narrow-end clamping driving mechanism (52) are both positive and reverse screw driving devices.

13. The control method of the caterpillar type deicing device with adaptive ice thickness adjustment according to claim 12, characterized in that, A first sprocket (12) and a second sprocket (13) are arranged on the first deicing chain belt (10). A third sprocket (21) and a fourth sprocket (22) are arranged on the second deicing chain belt (20). The chain belt driving assembly (30) includes four rotating shafts (31), a synchronous belt, a driving motor, a first double-sided clamping arm (32) and a second double-sided clamping arm (33). The first ends of two of the rotating shafts (31) respectively pass through the first sprocket (12) and the second sprocket (13) and are rotatably connected to the two ends of the first double-sided clamping arm (32). The first ends of the other two rotating shafts (31) respectively pass through the third sprocket (21) and the fourth sprocket (22) and are rotatably connected to the two ends of the second double-sided clamping arm (33). The synchronous belt is wound around the second ends of the four rotating shafts (31). The output shaft of the driving motor is in transmission connection with any one of the rotating shafts (31). The two first adjusting seats (41) are respectively arranged at the first ends of the first double-sided clamping arm (32) and the second double-sided clamping arm (33). The two second adjusting seats (51) are respectively arranged at the second ends of the first double-sided clamping arm (32) and the second double-sided clamping arm (33).

14. The control method of the crawler-type de-icing device with adaptive ice thickness adjustment according to claim 13, characterized in that, The crawler type de-icing device further includes a first encoder (80), a second encoder (90) and a third encoder. The first encoder (80) is arranged on the wide-end clamping drive mechanism (42), and the first encoder (80) is used to measure the wide-end spacing between the first de-icing chain belt (10) and the second de-icing chain belt (20) and the movement speed of the wide-end adjustment assembly (40). The second encoder (90) is arranged on the narrow-end clamping drive mechanism (52), and the second encoder (90) is used to measure the narrow-end spacing between the first de-icing chain belt (10) and the second de-icing chain belt (20). The third encoder is arranged on any one of the rotating shafts (31) and is used to measure the traveling speed of the crawler type de-icing device.

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