Self-adaptive deicing device and method for power transmission line and deicing robot

Abstract

The invention discloses a self-adaptive deicing device and method for a power transmission line and a deicing robot. The self-adaptive deicing device comprises an outer cavity wall, an inner cavity wall and an inflation cavity defined by the outer cavity wall and the inner cavity wall. The inner cavity wall is a flexible body, and a spiral deicing part and a heating part are arranged on the side, facing the power transmission line, of the inner cavity wall and used for improving the deicing efficiency. The section of the inflation cavity is semicircular, circular or fan-shaped, and the distance between the inner cavity wall and the power transmission line is changed by adjusting the inflation amount, so that adaptation to different line diameters and icing states is realized. The device has the advantages of being flexible in structure, high in adaptability, high in deicing efficiency and the like, the damage risk of the power transmission line is effectively reduced, and the operation reliability of the power transmission line under the complex meteorological condition is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line deicing, and in particular to a power transmission line adaptive deicing device, method and deicing robot. Background Art

[0002] In low-temperature, high-humidity environments, transmission lines are highly susceptible to weather conditions such as rime, rime, and snow. These conditions cause ice crystals to rapidly accumulate on the conductor surfaces, forming thick layers of ice. This ice layer significantly increases the deadweight of transmission lines, increasing their sag. This can lead to serious accidents such as conductor breakage, tower toppling, or even tower collapse, seriously threatening the safe and stable operation of the power system.

[0003] Existing de-icing technologies for power transmission lines rely on mechanical de-icing devices or de-icing robots to physically break the ice. Typically, these methods use metal de-icing blades or vibration mechanisms to forcibly break the ice. While this approach is somewhat effective in dealing with thick ice, it also presents the following significant issues:

[0004] (1) Poor safety: Metal de-icing blades can easily damage the transmission line itself when scraping off the ice, posing potential hazards such as electrical breakdown and surface damage. The risk is particularly high in high-voltage transmission scenarios.

[0005] (2) Poor adaptability: Existing de-icing blades are mostly designed for thick ice and are difficult to effectively handle thin ice or the initial ice layer, resulting in limited de-icing effects;

[0006] (3) Poor maintainability: Metal cutting tools are prone to corrosion and rust during long-term operation or storage, which affects subsequent use and increases operation and maintenance costs;

[0007] (4) Unable to adjust in real time: Traditional deicing structures are mostly rigid structures, lacking the ability to adaptively adjust to different ice thicknesses, transmission line diameters, or working conditions, and are unable to achieve flexible and efficient deicing.

[0008] Therefore, there is an urgent need for a transmission line de-icing device with flexible structure, strong adaptability and adjustability to address the technical shortcomings of existing de-icing technology in terms of safety, versatility and maintainability, and to ensure the continuous and stable operation of the transmission system. Summary of the Invention

[0009] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide an adaptive deicing device, method and deicing robot for transmission lines, which are used to adaptively and dynamically adjust the deicing state according to different wire diameters and ice thicknesses, thereby achieving accurate and efficient deicing.

[0010] To achieve the above objectives, the present invention provides the following technical solution: a transmission line adaptive deicing device, comprising:

[0011] an outer cavity wall, an inner cavity wall, and an air-filled cavity formed by the outer cavity wall and the inner cavity wall;

[0012] The inner cavity wall is a flexible body, and its inner surface away from the outer cavity wall is provided with a spiral deicing part and a heating part;

[0013] The cross-sectional shape of the air-filled chamber is semicircular, circular or fan-shaped, and is configured to change the distance between the inner cavity wall and the surface of the transmission line by adjusting the amount of air filled.

[0014] Furthermore, when the cross-section of the inflatable chamber is circular, the outer cavity wall and the inner cavity wall are both made of flexible materials, and the inflatable chamber is provided with a through-type open structure for accommodating a power transmission line.

[0015] Furthermore, when a plurality of adjacent inflatable chambers abut against each other to form a composite structure with a semicircular or fan-shaped cross-section, the outer cavity wall is made of a hard material, the inner cavity wall is made of a flexible material, and the composite structure is configured to wrap the upper surface of the transmission line.

[0016] Furthermore, the spiral deicing portion includes a spiral groove structure and a spiral protrusion structure that are alternately arranged; the spiral protrusion structure is made of a flexible material, and the electric heating wire of the heating portion is embedded inside.

[0017] Furthermore, a hard blade is provided on the outer surface of the spiral protrusion structure. The material of the hard blade is hard plastic or metal, and the hard blade extends continuously along the spiral direction.

[0018] A method for adaptive deicing of a transmission line, using the above-mentioned method for adaptive deicing of a transmission line, comprising:

[0019] Step S1, controlling the distance between the inner cavity wall and the surface of the transmission line or the surface of the ice layer by adjusting the inflation volume of the inflation cavity;

[0020] Step S2: Based on the mechanical peeling of the spiral deicing unit and the heating and ice melting of the heating unit, the thin ice layer on the surface of the transmission line is collaboratively deiced.

[0021] Furthermore, the step S1 includes:

[0022] Step S11, obtaining the thickness of the ice layer and calculating the initial distance between the spiral protrusion structure and the ice surface;

[0023] Step S12, real-time detection of the operating power of the heating unit and the deicing force of the spiral protrusion structure;

[0024] Step S13: dynamically correct the initial distance according to the power deviation value and the force deviation value to obtain the working distance.

[0025] The calculation formula of the working distance is configured as:

[0026] ;

[0027] in, represents the working distance, represents the initial distance, Indicates the detected actual operating power of the heating unit; Indicates preset power; represents the deicing force of the spiral protrusion structure; Indicates the preset force size; and represent the preset first correction coefficient and the second correction coefficient respectively; - represents the power deviation value, - Indicates the force deviation value.

[0028] Furthermore, a calibration method of the first correction coefficient and the second correction coefficient includes:

[0029] In the environmental simulation chamber, under constant force conditions = , adjust the operating power of the heating unit to ∈[80W,120W], and record the first change of the working distance, and obtain the coefficient by linear regression fitting ;

[0030] Under constant power conditions = , adjust the de-icing force ∈[3N,7N], record the second change of the working distance, and obtain the coefficient by linear regression fitting ;

[0031] During the calibration process of the first correction coefficient and the second correction coefficient, the calibration error rate is ≤5%.

[0032] A deicing robot equipped with the above-mentioned adaptive deicing device for power transmission lines;

[0033] A controller is included, configured to execute the transmission line adaptive de-icing method.

[0034] Furthermore, it also includes:

[0035] Image collector, used to identify ice thickness;

[0036] Air pressure sensor for monitoring the pressure of the air-filled chamber;

[0037] Force sensor for detecting de-icing force;

[0038] The controller is connected to the image collector, the air pressure sensor and the force sensor, and is used to perform dynamic distance correction according to the ice layer thickness, the inflation chamber pressure and the deicing force.

[0039] Beneficial effects of the present invention:

[0040] The present invention flexibly adjusts the distance between the flexible inner cavity wall and the surface of the transmission line or its ice layer by adjusting the inflation volume of the inflatable chamber. It is applicable to transmission lines of different diameters and ice scenes of different thicknesses, and has wide adaptability.

[0041] The inner cavity wall of the present invention is a flexible structure. The spiral deicing unit and the heating unit arranged on its inner surface can work together to achieve dual deicing by physical peeling and thermal melting. Especially when the ice layer is still thin (such as in the early stage of ice formation), it can achieve precise and efficient deicing, effectively prevent the ice layer from further thickening, and avoid damage to the surface of the transmission line, significantly improving deicing safety.

[0042] The present invention dynamically adjusts the deicing working distance by setting the initial distance between the spiral protrusion structure and the ice surface, combining real-time detection of heating power and deicing force, and taking into account deicing efficiency, robot travel stability, and wire protection requirements.

[0043] The present invention introduces power deviation and force deviation as adjustment factors, and realizes closed-loop control of the entire process through a formula for accurately calculating the working distance, effectively improving the adaptability and accuracy of the de-icing strategy.

[0044] The device of the present invention can be integrated into a de-icing robot. Combining an image collector, an air pressure sensor, and a force sensor, it can acquire ice thickness, inflation status, and contact force data in real time. The controller dynamically corrects distance and adjusts control strategies based on multi-source information, comprehensively improving the responsiveness and operational reliability of the intelligent de-icing system.

[0045] The device of the present invention matches the corresponding flexible / hard material combination according to different cavity structures (semicircular, circular or fan-shaped), so that it can adapt to different types of transmission line laying methods, and has good versatility and engineering application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a cross-sectional view of the structure of the adaptive deicing device for transmission lines of the present invention; Figure 2 This is a schematic diagram of the working state of the deicing device disclosed in the first embodiment of the present invention; Figure 3 This is a schematic diagram of the working state of the deicing device disclosed in the second embodiment of the present invention; Figure 4is a flowchart of the steps of the deicing method disclosed in the third embodiment of the present invention; Figure 5 is a flowchart of step S1 in the present invention; Figure 6 It is a schematic diagram of the electrical connection of the controller in the present invention.

[0047] Figure numerals: 1. outer cavity wall; 2. inner cavity wall; 201. spiral deicing part; 202. heating part; 3. inflation chamber; 4. transmission line; 5. controller; 6. image collector; 7. air pressure sensor; 8. force sensor. DETAILED DESCRIPTION

[0048] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom," "top," "inner," and "outer" refer to directions toward or away from the geometric center of a particular component, respectively.

[0049] Example 1, with reference to Figure 1 and Figure 2 , which is the first embodiment of the present invention, provides a transmission line adaptive deicing device that can dynamically adjust the deicing state according to different wire diameters and ice thicknesses, achieving precise and efficient deicing, including:

[0050] An outer cavity wall 1, an inner cavity wall 2, and an air-filled cavity 3 enclosed by the outer cavity wall 1 and the inner cavity wall 2;

[0051] The inner cavity wall 2 is a flexible body, and its inner surface away from the outer cavity wall 1 is provided with a spiral deicing part 201 and a heating part 202;

[0052] The cross-sectional shape of the air-filled chamber 3 is semicircular, circular or fan-shaped, and is configured to change the distance between the inner cavity wall 2 and the surface of the transmission line 4 by adjusting the air filling amount.

[0053] In a specific application, the cross-sectional shape of the inflation chamber 3 is selected according to the installation method and icing state of the transmission line 4 .

[0054] Preferably, when the cross-section of the inflatable chamber 3 is circular, the outer cavity wall 1 and the inner cavity wall 2 are both made of flexible materials, such as silicone, TPU thermoplastic elastomer or polymer synthetic rubber material, and have a certain deformation ability; and the inflatable chamber 3 is provided with a through-type open structure for accommodating the power transmission line 4, which facilitates the insertion of the power transmission line 4 from the through-type open structure to achieve 360° fully wrapped de-icing.

[0055] Specifically, in this embodiment, the spiral de-icing unit 201 comprises alternating spiral protrusions and grooves, designed to disturb and remove ice during axial movement. The protrusions are made of a flexible rubber material (such as thermoplastic polyurethane (TPU) or silicone) with excellent deformability, allowing them to automatically adapt to the surface morphology of the power transmission line 4 under varying contact pressures. The heating unit 202, embedded within the spiral protrusions, is an electric heating wire structure that generates heat to melt ice through power supply. The heating unit 202 utilizes multiple strands of fine-diameter nickel-chromium or carbon fiber heat-conducting wire, coiled and encapsulated within the flexible structure. By controlling the current, it achieves localized heating and softening of the ice it contacts.

[0056] Installation method: Using the through-opening in the middle of the chamber, the power line adaptive deicing device is directly mounted on the outside of the power line 4. Because the cavity wall material is soft, the entire circular cavity can be reset after slight expansion and deformation, achieving rapid coverage of the power line 4.

[0057] Adaptability and adjustment: The inflation chamber 3 is connected to an inflation port and an air outlet, which are respectively connected to an inflation device and an air suction device. Air is inflated into the chamber through the connected inflation port to adjust the degree of inward bulging of the inner cavity wall 2, thereby controlling the contact pressure and distance between it and the surface of the transmission line 4, so that the device can adapt to transmission lines 4 of different diameters and ice layers of different thicknesses.

[0058] Working principle of embodiment 1:

[0059] The adaptive de-icing device is fixed to the de-icing robot for the transmission line 4 by means of connectors such as a clamping structure, a guide rail mechanism or a magnetic device. The robot moves on the conductor to drive the device forward. The controller sets the initial target fitting distance according to the thickness of the ice layer, and controls the air pump to inflate the inflation chamber 3, so that the inner cavity wall 2 bulges inward and close to the transmission line 4. The spiral de-icing part 201 on the inner cavity wall 2 is close to or lightly presses the ice layer, and peels off the ice layer through the mechanical disturbance of the spiral structure. At the same time, the heating part 202 is energized to soften or melt the ice layer at the contact point through heat conduction, forming a synergistic effect of mechanical ice breaking and thermal melting de-icing. The ice residue is discharged through the opening or falls naturally due to gravity. The device structure in this embodiment is flexible, lightweight, and easy to install and disassemble quickly, making it very suitable for temporary or large-scale inspection operations. The circular fully enclosed design can simultaneously remove ice covering all sides of the conductor, and is particularly suitable for scenarios where the surface of the cylindrical transmission line 4 is evenly covered with ice.

[0060] Through the flexible cavity wall and air pressure regulation, the problem of surface damage caused by direct contact between the de-icing blade and the metal wire can be avoided; it is suitable for preventive de-icing of thin ice layers (ice thickness ≤ 10mm) and moderate ice layers, and has good engineering adaptability; it can be expanded and integrated into the existing transmission line 4-way inspection robot or de-icing platform system, and has the potential for intelligent transformation.

[0061] Preferably, when multiple adjacent inflatable chambers 3 abut each other to form a composite structure with a semicircular or fan-shaped cross-section, the outer cavity wall 1 is a hard material, such as engineering plastic, carbon fiber plate or lightweight aluminum alloy plate, which is used to support and limit the shape and stability of the device; the inner cavity wall 2 is a flexible material, such as rubber, silicone, etc., which has deformable and conformable properties, and the composite structure is configured to wrap the upper surface of the transmission line 4.

[0062] Specifically, in this embodiment, the composite structure design of the semicircular or fan-shaped cross-section allows the adaptive de-icing device to be wrapped only on the upper surface of the transmission line 4, which is suitable for the typical situation where the ice layer preferentially adheres to the upper part of the conductor under meteorological conditions such as rain, rime, and snow; compared with the circular fully enclosed structure, this embodiment only needs to de-ice the upper half of the surface, which has strong on-site operability and adaptability, and is suitable for large-scale movement and low-power operation; after the upper surface is de-iced, the lower ice layer loses structural support and can fall off naturally by gravity without the need for active breaking, which is energy-saving and efficient.

[0063] This embodiment is particularly suitable for areas with light or medium ice, where the upper surface is mainly covered with ice. It can quickly intervene in the early stages of icing on the 4-way transmission line to perform preventive removal. Due to its simple structure and the fact that it does not cover the lower surface, it is suitable for cooperating with robots in long-distance inspection operations, and can effectively reduce energy consumption and friction resistance. The outer cavity wall 1 is a hard structure, which can provide higher deicing stability and is suitable for overhead transmission line environments with large wind disturbances.

[0064] Preferably, the outer surface of the spiral protrusion structure is provided with a hard blade, which is made of hard plastic or metal, such as high-strength engineering plastic (such as PA66+GF30) or stainless steel sheet, and is fixed by in-mold injection molding or surface adhesion. The hard blade extends continuously along the spiral direction.

[0065] Specifically, in this embodiment, the hard blade is arc-shaped or corrugated, partially embedded in the flexible material, and retains a certain elastic margin, which can enhance the mechanical stripping effect and reduce the risk of damage to the wire body.

[0066] In moderate or heavy icing scenarios (for example, ice thickness ≥ 10 mm):

[0067] The embedded heating wire structure provides continuous heat energy, which can soften the ice layer and reduce the structural strength before de-icing;

[0068] The flexible raised structure provides controlled fit and cushioning force to prevent concentrated pressure on the transmission line 4;

[0069] The hard blades have a cutting / peeling effect, especially in areas with hard or strongly adhered ice, which can effectively enhance ice breaking efficiency and reduce slippage and incomplete ice removal.

[0070] Example 2, reference Figure 3This is the second embodiment of the present invention. Unlike the previous embodiment, this embodiment utilizes a hard material (e.g., engineering plastics, carbon fiber composites, etc.) for its inner cavity wall 2, providing a stable support shape and overall rigidity, ensuring the de-icing blade's structural stability and force transmission capabilities. The outer cavity wall 1 is constructed of a flexible material (e.g., silicone, TPU, etc.), exhibiting excellent elasticity and deformability. It can expand or contract under air pressure regulation, thereby adjusting its contact with the ice surface. Referring to the figure, multiple de-icing blade devices are arranged circumferentially, forming a circular, semicircular, or fan-shaped structure. These can be deployed to meet the de-icing requirements of different conductor coverage areas.

[0071] Working principle of embodiment 2:

[0072] The de-icing blade structure in Example 1 needs to be sleeved on the surface of the transmission line 4, so it is only suitable for light ice areas with thin ice thickness (such as ≤10mm), or situations where the ice layer thickness is uniform and the conductor shape is regular.

[0073] The structural design of this embodiment can achieve close-fitting external pressure deicing without completely covering the wires, and is therefore more suitable for the following situations:

[0074] 1. The ice thickness is greater than the second threshold (e.g. ≥20mm), which is common in heavy ice areas;

[0075] 2. The thickness of the ice layer is uneven or partially bulging, which may cause difficulty in wrapping or uneven adhesion;

[0076] 3. The space near the wires is limited and does not allow for complete installation.

[0077] The de-icing blades of this embodiment and embodiment 1 can be integrated into the same power line 4 de-icing robot to form a dual-mode de-icing system:

[0078] Configuration: Two types of de-icing blades are fixed at different positions of the robot and can be independently expanded / retracted or rotated;

[0079] Selection logic: The control system selects a de-icing mode based on the ice thickness value predicted by the image recognition module; when the ice thickness value is less than or equal to a first threshold, the light-weight enclosed de-icing blade of Example 1 is activated; when the ice thickness value is greater than a second threshold, the control system switches to the contact-type thick ice de-icing blade of this embodiment, where the second threshold value is greater than the first threshold value; for ice thickness values in the intermediate region between the first and second threshold values, a weighted strategy or composite operation can be used for processing, or this embodiment can be preferentially adopted to ensure crossing performance.

[0080] The inverted structural design (hard inside and soft outside) of this embodiment effectively solves the fitting problem of traditional sleeve-type de-icing structures in thick ice and irregular ice environments; at the same time, the modular layout supports multi-angle distributed de-icing, which is more adaptable; in addition, the multi-mode linkage intelligent scheduling mechanism improves the robot's operating efficiency and versatility under different ice conditions; at the same time, the original spiral structure heating collaborative de-icing mechanism is retained to ensure de-icing quality.

[0081] Example 3, reference Figure 4 and Figure 5 , which is a third embodiment of the present invention, differs from the previous embodiment in that this embodiment provides a method for adaptive deicing of a transmission line, which is applied to the above-mentioned adaptive deicing device for a transmission line, comprising:

[0082] Step S1, by adjusting the amount of air in the inflatable chamber 3, the distance between the inner chamber wall 2 and the surface of the transmission line 4 or the surface of the ice layer is controlled. The distance adjustment is based on the currently identified ice thickness and an initial distance is set;

[0083] In step S2, based on the mechanical stripping of the spiral deicing unit 201 and the heating and melting of ice by the heating unit 202, the thin ice layer on the surface of the transmission line 4 is collaboratively deiced. Driven by the robot, the deicing device moves at a uniform speed along the conductor to achieve continuous and synchronous deicing.

[0084] Working principle of embodiment 3:

[0085] Step S1 includes: step S11, obtaining the thickness of the ice layer and calculating the initial distance between the spiral protrusion structure and the ice surface;

[0086] Step S11 includes:

[0087] The image collector collects images of the transmission line;

[0088] The image recognition module analyzes ice thickness through a deep learning model;

[0089] According to the thickness of the ice layer, the controller sets the initial distance. The formula of the initial distance can be configured as:

[0090] ;

[0091] in, represents the initial distance, Indicates the thickness of the ice layer, Indicates the preset empirical margin value (such as 1 to 2 mm) used to prevent rigid contact.

[0092] Step S12, real-time detection of the operating power of the heating unit and the deicing force of the spiral protrusion structure;

[0093] Step S12 includes:

[0094] The actual power of the heating unit is calculated through current / voltage sampling;

[0095] The deicing force during the deicing process is obtained by the force sensor on the spiral deicing part;

[0096] The system records two variables: the actual operating power of the heating unit and the deicing force as real-time feedback parameters.

[0097] In step S13, the initial distance is dynamically corrected based on the power deviation value and the force deviation value to obtain the working distance. During the calculation of the working distance, the controller updates it once every de-icing distance and fine-tunes the fitting state by adjusting the air pressure to achieve dynamic adaptive control.

[0098] The calculation formula of working distance is configured as:

[0099] ;

[0100] in, Indicates the working distance, represents the initial distance, Indicates the actual operating power of the heating unit detected; Indicates preset power; represents the de-icing force of the spiral convex structure; Indicates the preset force size; and represent the preset first correction coefficient and the second correction coefficient respectively; - Indicates the power deviation value, - Indicates the force deviation value.

[0101] In order to obtain accurate and reliable first correction coefficient and second correction coefficient, the following experimental method is used for calibration. The calibration method of the first correction coefficient and the second correction coefficient includes:

[0102] In the environmental simulation chamber, under constant force conditions = , adjust the operating power of the heating part to ∈[80W,120W], and record the first change in working distance, and obtain the coefficient through linear regression fitting ;

[0103] Under constant power conditions = , adjust the de-icing force ∈[3N,7N], record the second change in working distance, and obtain the coefficient through linear regression fitting ;

[0104] During the calibration process of the first correction coefficient and the second correction coefficient, the calibration error rate is ≤5%.

[0105] Among them, the experimental equipment configuration:

[0106] Controllable heating source (heating power range: 50W ~ 150W); force sensor (range 0 ~ 10N, resolution ≤ 0.1N); laser rangefinder (accuracy ± 0.1mm); environmental simulation chamber (temperature control range: -20℃ ~ 0℃, humidity control); main control acquisition system (with data recording and regression calculation module).

[0107] The calibration steps include:

[0108] 1. Benchmark calibration: Set the benchmark value: =10mm, =100W, =5N; measured without correction calculation value, verifying initial consistency.

[0109] 2. Power correction test (calibration ):fixed = ,set up They are 80W, 100W, and 120W respectively, and the corresponding records are Value, calculation = - ; Based on the least squares method, the linear relationship is fitted and the result is value.

[0110] 3. Force correction test (calibration ):fixed = ,Adjustment 3N, 5N, 7N; record change , calculated based on the least squares fitting method .

[0111] 4. Error verification: The fitted 、 Bring in the calculation model; actual measurement Values and calculations Value comparison; if the error is ≤5%, the parameter can be used for engineering implementation.

[0112] Through the above-mentioned calibration process, this embodiment can adjust the fitting state according to real-time feedback to improve de-icing accuracy; at the same time, it can dynamically balance de-icing efficiency and wire safety to avoid hard pressure or slippage; in addition, it supports differentiated processing of different ice thicknesses and structures to improve adaptability; this embodiment is also easy to integrate with image recognition and sensor control systems, and has a foundation for intelligent operation.

[0113] Example 4, with reference to Figure 6 , which is the fourth embodiment of the present invention, is different from the previous embodiment in that this embodiment provides a deicing robot equipped with the above-mentioned adaptive deicing device for power transmission lines;

[0114] The system comprises a controller 5 configured to execute the above-mentioned adaptive deicing method for transmission lines.

[0115] Preferably, it also includes:

[0116] Image collector 6, used to identify ice thickness;

[0117] Air pressure sensor 7, used to monitor the pressure of the air-filled chamber 3;

[0118] A force sensor 8 for detecting the de-icing force;

[0119] The controller 5 is connected to the image collector 6, the air pressure sensor 7 and the force sensor 8, and is used to perform dynamic distance correction according to the thickness of the ice layer, the pressure of the inflation chamber 3 and the deicing force.

[0120] Working principle of embodiment 4:

[0121] The de-icing robot mainly includes:

[0122] Travel drive module: including electric wheel set, guide mechanism and battery assembly, suitable for steady travel on high-altitude overhead transmission line 4;

[0123] Deicing device module: equipped with at least one transmission line adaptive deicing device as described above, with functions such as air pressure regulation, flexible deicing, and heating deicing;

[0124] Main controller 5: includes a microprocessor, communication interface, built-in program memory, and has real-time data processing, path planning and feedback control capabilities;

[0125] The sensor system includes an image sensor, an air pressure sensor 7, and a force sensor 8. The image acquisition device 6 (camera) is installed at the front or top of the de-icing device to capture images of the power line 4 surface. The air pressure sensor 7 is installed within the air chamber 3 or on the air path. It monitors the air pressure within the chamber in real time, reflecting the current adhesion strength of the de-icing device. This can be used to calculate the actual working distance and provide feedback to adjust air pressure changes. The force sensor 8 is integrated into the protrusion of the spiral de-icing unit 201 or between the inner cavity wall 2 and the bracket. The sensor system's control linkage mechanism: The controller 5 receives image information, air pressure data, and force data. It comprehensively analyzes the current ice layer state, de-icing load, and structural feedback to perform distance correction calculations. It controls the air pump to adjust the air volume and correct the position of the inner cavity wall 2. This can be linked to the power changes of the heating unit 202 to achieve closed-loop control of the entire process.

[0126] The unit force of the monitoring device during the de-icing process; the data is input into the controller 5 to determine whether it exceeds the safety threshold or needs to correct the fitting distance.

[0127] Power and Energy Management System: Provides power to de-icing components and sensors, and monitors system power consumption.

[0128] The robot's workflow:

[0129] 1. Path initialization: The robot locates the starting point and sets the travel path;

[0130] 2. Image recognition prediction: The image collector 6 detects the ice layer status. If the thickness is greater than or equal to the set threshold, the de-icing mode is activated;

[0131] 3. Air pressure adjustment and fitting: Controller 5 sets the initial distance based on the identified ice thickness and the empirical model , adjust the air pressure so that the inner cavity wall 2 reaches the target bonding state; 4. Deicing execution: During the robot's walking process, the heating part 202 and the spiral deicing part 201 are started at the same time;

[0132] 5. Dynamic feedback control: If the air pressure drops or the force is too high, the controller 5 corrects the air pump output; if the power is too low or the fit is insufficient, the distance L is reduced or the heating power is increased;

[0133] 6. Stop or return after completing the path.

[0134] Beneficial effects of Example 4:

[0135] This embodiment combines three types of sensors: image, force, and air pressure to implement a closed-loop de-icing system that is "visible," "measurable," and "responsive." This embodiment is also applicable to a variety of transmission lines with four specifications and different ice thicknesses (including light ice, medium ice, and thick ice). Through a modular sensing and control structure, this embodiment facilitates integration with other operation and maintenance robot systems. In addition, it can effectively avoid the risk of damage to the conductors caused by traditional de-icing methods, thereby improving the safety and automation level of line operation and maintenance.

[0136] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that improvements and modifications that do not depart from the principles of the present invention are within the scope of protection of the present invention.

Claims

1. A transmission line adaptive deicing device, characterized in that: include: An outer cavity wall (1), an inner cavity wall (2), and an air-filled cavity (3) enclosed by the outer cavity wall (1) and the inner cavity wall (2); The inner cavity wall (2) is a flexible body, and its inner surface away from the outer cavity wall (1) is provided with a spiral deicing portion (201) and a heating portion (202); The cross-sectional shape of the inflatable chamber (3) is semicircular, circular or fan-shaped, and is configured to change the distance between the inner cavity wall (2) and the surface of the power transmission line (4) by adjusting the amount of inflation.

2. The adaptive deicing device for power transmission lines according to claim 1, characterized in that: When the cross-section of the inflatable chamber (3) is circular, the outer chamber wall (1) and the inner chamber wall (2) are both made of flexible materials, and the inflatable chamber (3) is provided with a through-type open structure for accommodating a power transmission line (4).

3. The adaptive deicing device for power transmission lines according to claim 1, characterized in that: When a plurality of adjacent inflatable chambers (3) abut against each other to form a composite structure with a semicircular or fan-shaped cross-section, the outer cavity wall (1) is made of a hard material, the inner cavity wall (2) is made of a flexible material, and the composite structure is configured to wrap the upper surface of the transmission line (4).

4. The adaptive deicing device for power transmission lines according to any one of claims 1 to 3, characterized in that: The spiral deicing portion (201) comprises a spiral groove structure and a spiral protrusion structure that are alternately arranged; the spiral protrusion structure is made of a flexible material and has the electric heating wire of the heating portion (202) embedded therein.

5. The adaptive deicing device for power transmission lines according to claim 4, characterized in that: The outer surface of the spiral protrusion structure is provided with a hard blade, the material of the hard blade is hard plastic or metal, and the hard blade extends continuously along the spiral direction.

6. A method for adaptive deicing of a transmission line, using the adaptive deicing device for a transmission line according to any one of claims 1 to 5, characterized in that: include: Step S1, controlling the distance between the inner cavity wall (2) and the surface of the transmission line (4) or the surface of the ice layer by adjusting the inflation volume of the inflation chamber (3); Step S2, based on the mechanical stripping of the spiral deicing part (201) and the heating and ice melting of the heating part (202), the thin ice layer on the surface of the transmission line (4) is collaboratively deiced.

7. The method for adaptive deicing of a transmission line according to claim 6, characterized in that: The step S1 comprises: Step S11, obtaining the thickness of the ice layer and calculating the initial distance between the spiral protrusion structure and the ice surface; Step S12, real-time detection of the operating power of the heating unit (202) and the deicing force of the spiral protrusion structure; Step S13, dynamically correcting the initial distance according to the power deviation value and the force deviation value to obtain the working distance; The calculation formula of the working distance is configured as: ； in, represents the working distance, represents the initial distance, Indicates the detected actual operating power of the heating unit; Indicates preset power; represents the deicing force of the spiral protrusion structure; Indicates the preset force size; and represent the preset first correction coefficient and the second correction coefficient respectively; - represents the power deviation value, - Indicates the force deviation value.

8. The adaptive deicing method for transmission lines according to claim 7, characterized in that: The calibration method of the first correction coefficient and the second correction coefficient includes: In the environmental simulation chamber, under constant force conditions = , adjust the operating power of the heating unit to ∈[80W,120W], and record the first change of the working distance, and obtain the coefficient by linear regression fitting ; Under constant power conditions = , adjust the de-icing force ∈[3N,7N], record the second change of the working distance, and obtain the coefficient by linear regression fitting ; During the calibration process of the first correction coefficient and the second correction coefficient, the calibration error rate is ≤5%.

9. A de-icing robot, characterized in that: Equipped with at least one transmission line adaptive deicing device according to any one of claims 1 to 5; It comprises a controller (5) configured to execute the transmission line adaptive deicing method according to any one of claims 6 to 8.

10. The de-icing robot according to claim 9, characterized in that: Also includes: An image collector (6) for identifying ice thickness; An air pressure sensor (7) for monitoring the pressure of the air-filled chamber; A force sensor (8) for detecting de-icing force; The controller (5) is connected to the image collector (6), the air pressure sensor (7) and the force sensor (8) and is used to perform dynamic distance correction according to the ice layer thickness, the inflation chamber pressure and the deicing force.

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