Power transmission line adaptive de-icing device, method and de-icing robot

Abstract

The application discloses a power transmission line self-adaptive deicing device, method and deicing robot, which comprises an outer cavity wall, an inner cavity wall and an inflatable cavity formed by the two. The inner cavity wall is a flexible body, and a spiral deicing part and a heating part are arranged on the side of the inner cavity wall facing the power transmission line, so that the deicing efficiency is improved. The cross section of the inflatable cavity is semicircular, circular or fan-shaped, the distance between the inner cavity wall and the power transmission line is changed by adjusting the inflation amount, and the adaptation to different wire diameters and icing states is realized. The device has the advantages of structural flexibility, strong self-adaptability, high deicing efficiency and the like, effectively reduces the damage risk to the power transmission line, and improves the operation reliability of the power transmission line under complex weather conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission line deicing, and in particular to a power transmission line self-adaptive deicing device, method and deicing robot. BACKGROUND

[0002] In a low-temperature and high-humidity natural environment, a power transmission line is easily affected by weather conditions such as rain, fog and snow, causing ice crystals to rapidly accumulate on the surface of the conductor, forming a thick ice layer. These ice layers significantly increase the weight of the power transmission line, causing the sag of the conductor to increase, which may cause the conductor to break, the tower to overturn or even collapse, and other serious accidents, seriously threatening the safe and stable operation of the power system.

[0003] Existing power transmission line deicing technologies mostly rely on mechanical deicing devices or deicing robots to physically break the ice. A more typical approach is to forcibly break the ice layer using a metal deicing blade or a vibration mechanism. Although this approach has certain efficiency in dealing with thick ice, it also has the following significant problems:

[0004] (1) Poor safety: the metal deicing blade is prone to accidentally damaging the power transmission line during ice removal, which may cause electrical breakdown, surface damage and other potential hazards, especially in high-voltage power transmission scenarios;

[0005] (2) Poor adaptability: existing deicing blades are mostly designed for thick ice and are difficult to effectively handle thin ice or initial ice layers, resulting in limited deicing effect;

[0006] (3) Poor maintainability: metal blades are prone to rusting during long-term operation or storage, affecting subsequent use and increasing maintenance costs;

[0007] (4) Unable to adjust in real time: traditional deicing structures are mostly rigid structures and lack the ability to adapt to different ice layer thicknesses, power transmission line diameters or working conditions, making it impossible to achieve flexible and efficient deicing.

[0008] Therefore, there is an urgent need for a flexible, adaptable and adjustable power transmission line deicing device to address the technical shortcomings of existing deicing technologies in terms of safety, versatility and maintainability, and to ensure the continuous and stable operation of the power transmission system. SUMMARY

[0009] To address the shortcomings of existing technologies, the present application provides a power transmission line self-adaptive deicing device, method and deicing robot for achieving adaptive and dynamic deicing state adjustment according to different line diameters and ice layer thicknesses, and achieving precise and efficient deicing.

[0010] To achieve the above-mentioned purposes, the present application provides the following technical solutions: a power transmission line self-adaptive deicing device, comprising:

[0011] An outer cavity wall, an inner cavity wall, and an inflatable chamber enclosed by the outer cavity wall and the inner cavity wall;

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

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

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

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

[0016] Further, the spiral deicing part includes alternating spiral groove structures and spiral protrusion structures; the spiral protrusion structure is a flexible material, and an electric heating wire of the heating part is embedded inside.

[0017] Further, 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 continuously extends in the spiral direction.

[0018] A power transmission line self-adaptive deicing method, which adopts the power transmission line self-adaptive deicing method as described above, comprises:

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

[0020] Step S2, cooperatively deicing the thin ice layer on the surface of the power transmission line based on the mechanical peeling of the spiral deicing part and the heating and melting of the heating part.

[0021] Further, the step S1 comprises:

[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 detecting the running power of the heating part and the deicing force of the spiral protrusion structure;

[0024] Step S13, dynamically correcting 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] wherein, represents the working distance, represents the initial distance, represents the detected actual operating power of the heating part; represents the preset power; represents the deicing force of the spiral protruding structure; represents the preset force size; and respectively represent the preset first correction coefficient and the second correction coefficient; - represents the power deviation value, - represents the force deviation value.

[0028] Further, the calibration method of the first correction coefficient and the second correction coefficient comprises:

[0029] In the environmental simulation cabin, under the condition of constant force = , the operating power of the heating part is adjusted to ∈[80W,120W], and the first change amount of the working distance is recorded, and the coefficient is obtained by linear regression fitting;

[0030] Under the condition of constant power = , the deicing force ∈[3N,7N] is adjusted, the second change amount of the working distance is recorded, and the coefficient is obtained by linear regression fitting.

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

[0032] An ice removing robot, carrying the power transmission line adaptive deicing device as described above;

[0033] The controller is configured to execute the power transmission line adaptive deicing method.

[0034] Further, it further comprises:

[0035] An image collector for identifying the ice layer thickness;

[0036] An air pressure sensor for monitoring the air chamber pressure;

[0037] A force sensor for detecting the deicing force;

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

[0039] The present application has the following beneficial effects:

[0040] The present application can flexibly adjust the distance between the flexible inner cavity wall and the surface of the power transmission line or the ice layer thereon by adjusting the inflation amount of the air chamber, is suitable for power transmission lines with different diameters and ice layer with different thicknesses, and has wide adaptability.

[0041] The inner cavity wall in the present application is a flexible body structure, and the spiral deicing part and the heating part arranged on the inner surface thereof can cooperate to complete dual deicing of physical peeling and thermal energy melting, especially when the ice layer is thin (such as in the initial formation stage of the ice layer), precise and efficient deicing can be realized, the ice layer is effectively prevented from continuing to thicken, and the surface of the power transmission line is also prevented from being damaged, and the deicing safety is significantly improved.

[0042] The present application dynamically corrects the deicing working distance by setting the initial distance between the spiral protruding structure and the ice surface and combining real-time detection of the heating power and the deicing force, and takes into account the deicing efficiency, the stability of the robot in marching and the protection requirement of the wire.

[0043] The present application introduces the power deviation value and the force deviation value as adjustment factors, and realizes closed-loop control in the whole process through the formula for accurately calculating the working distance, and effectively improves the adaptability and precision of the deicing strategy.

[0044] The device of the present application can be integrated on a deicing robot, and combined with the image collector, the air pressure sensor and the force sensor, can realize real-time acquisition of the ice layer thickness, the inflation state and the contact force data, and the controller can execute distance dynamic correction and control strategy adjustment based on multiple source information, and comprehensively improve the response capability and operation reliability of the intelligent deicing system.

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

[0046] Figure 1 is a structural section view of the self-adaptive deicing device for power transmission line in the present application;

[0047] Figure 2 is a working state schematic view of the deicing device disclosed in embodiment one of the present application;

[0048] Figure 3 is a working state schematic view of the deicing device disclosed in embodiment two of the present application;

[0049] Figure 4 is a step flow chart of the deicing method disclosed in Embodiment Three of the present application;

[0050] Figure 5 is a step flow chart of Step S1 in the present application;

[0051] Figure 6 is an electrical connection schematic diagram of the controller in the present application.

[0052] The figure marks: 1, outer cavity wall; 2, inner cavity wall; 201, spiral deicing part; 202, heating part; 3, inflation chamber; 4, power transmission line; 5, controller; 6, image collector; 7, air pressure sensor; 8, force sensor. DETAILED DESCRIPTION

[0053] The present application will be further described in detail below in conjunction with the drawings and embodiments. Identical parts are denoted by identical reference numerals in the following description. It should be noted that the words "front", "back", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the words "bottom surface" and "top surface", "inner" and "outer" refer to the directions towards or away from the geometric center of a particular part.

[0054] Embodiment 1, with reference to Figure 1 and Figure 2 , is the first embodiment of the present application, which provides a power transmission line adaptive deicing device, which can realize adaptive dynamic adjustment of deicing state according to different line diameters and ice thickness, realize precise and efficient deicing, comprising:

[0055] The outer cavity wall 1, the inner cavity wall 2, and the inflation chamber 3 formed by the outer cavity wall 1 and the inner cavity wall 2;

[0056] The inner cavity wall 2 is a flexible body, and the inner side surface thereof away from the outer cavity wall 1 is provided with a spiral deicing part 201 and a heating part 202;

[0057] The cross-sectional shape of the inflation chamber 3 is semicircular, circular or sector-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 inflation amount.

[0058] In specific applications, the cross-sectional shape of the inflation chamber 3 is selected according to the installation mode and icing state of the power transmission line 4.

[0059] Preferably, when the cross-section of the inflation chamber 3 is circular, the outer cavity wall 1 and the inner cavity wall 2 are both flexible materials, such as silicone, TPU thermoplastic elastomer or high molecular synthetic rubber material, which have certain deformation ability; and the inflation 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 realize 360° full wrapping deicing.

[0060] Specifically, in this embodiment, the spiral deicing part 201 includes alternating spiral protruding structures and spiral groove structures for disturbing and peeling off the ice layer during the axial movement of the device; the protruding structure is made of flexible rubber material (such as thermoplastic polyurethane TPU or silica gel), which has good deformation ability and can automatically adapt to the surface morphology of the power transmission line 4 under different fitting pressures; the heating part 202 is embedded in the spiral protruding structure and is an electric heating wire structure that generates heat for ice melting through power supply. The heating part 202 is made of multiple thin nickel-chromium wires or carbon fiber heat-conducting wires, which are coiled and arranged as a whole inside the flexible structure, and local heating and softening of the ice layer in contact are achieved by controlling the current.

[0061] Installation method: the power transmission line self-adaptive deicing device is directly sleeved outside the power transmission line 4 by using the through opening in the middle of the chamber. Since the chamber wall material is soft, the entire circular chamber can reset after slight expansion and deformation, realizing the rapid covering of the power transmission line 4.

[0062] Adaptive adjustment: the inflatable chamber 3 is connected with an inflation port and an exhaust port, and the inflation port and the exhaust port are respectively connected with an inflation device and a suction device. The inflation device is connected to the inflation port to inflate the chamber, and the degree of the inner chamber wall 2 bulging inward is adjusted, so as to control the contact pressure and distance between the inner chamber wall 2 and the surface of the power transmission line 4, so that the device can adapt to power transmission lines 4 of different diameters and ice layers of different thicknesses.

[0063] Working principle of embodiment 1:

[0064] The self-adaptive deicing device is fixed on the power transmission line 4 deicing robot through clamping structures, guide rail mechanisms or magnetic attraction devices, etc. The robot moves on the wire to drive the device to move forward. The controller sets the initial target fitting distance according to the thickness of the ice layer, controls the air pump to inflate the inflatable chamber 3, and makes the inner chamber wall 2 bulge inward to approach the power transmission line 4. The spiral deicing part 201 on the inner chamber wall 2 approaches or lightly presses the ice layer, and the ice layer is peeled off by the mechanical disturbance of the spiral structure. At the same time, the heating part 202 is powered on to work, and the ice layer at the contact point is softened or melted through heat conduction, forming a synergistic effect of mechanical ice breaking and hot melting deicing. The ice slag is discharged through the opening or falls naturally due to gravity. The device structure in this embodiment is flexible, light and easy to quickly install and disassemble, and is very suitable for temporary or large-scale inspection operations; the circular full-wrapping design can simultaneously remove the ice around the wire, and is particularly suitable for scenarios where the ice is uniformly distributed on the surface of the cylindrical power transmission line 4.

[0065] Through the cooperation of the flexible chamber wall and the air pressure adjustment, the problem of surface damage caused by the direct contact of the deicing knife with the metal wire can be avoided; it is suitable for preventive deicing of thin ice layer (ice layer thickness ≤10mm) and moderate ice layer, and has good engineering adaptability; it can be expanded and integrated into the existing power transmission line 4 route inspection robot or deicing platform system, and has intelligent transformation potential.

[0066] Preferably, when multiple adjacent air-filled chambers 3 abut to form a composite structure with a semicircular or sector cross-section, the outer cavity wall 1 is made of a hard material, such as engineering plastic, carbon fiber plate, or lightweight aluminum alloy plate, to support and define the shape and stability of the device; the inner cavity wall 2 is made of a flexible material, such as rubber or silicone, which has a deformable fitting property, and the composite structure is configured to wrap the upper surface of the power transmission line 4.

[0067] Specifically, in this embodiment, the composite structure with a semicircular or sector cross-section is designed to adapt to the deicing device wrapping only the upper surface of the power transmission line 4, which is suitable for typical cases where ice layers preferentially adhere to the upper part of the conductor under weather conditions such as glaze and rime; compared to a circular full-enclosure structure, this embodiment only needs to fit and deice the upper half, which is highly operable and adaptable in the field, suitable for wide-range movement and low-power operation; after deicing the upper surface, the lower ice layer loses structural support and can naturally fall off under gravity without the need for active removal, saving energy and being highly efficient.

[0068] This embodiment is particularly suitable for light or medium ice areas where ice is mainly on the top, and can quickly intervene for preventive removal at the initial stage of ice formation on the power transmission line 4; due to its simple structure and non-coating of the lower surface, it is suitable for long-distance inspection operations with robots, effectively reducing energy consumption and frictional resistance; the hard outer cavity wall 1 provides higher deicing stability and is suitable for harsh overhead power transmission line 4 environments with strong wind disturbances.

[0069] Preferably, the outer surface of the spiral protruding structure is provided with a hard blade made of hard plastic or metal, such as high-strength engineering plastic (e.g., PA66+GF30) or stainless steel sheet, which is fixed by in-mold insert injection molding or surface adhesion, and the hard blade extends continuously in the spiral direction.

[0070] Specifically, in this embodiment, the hard blade is arc-shaped or corrugated, partially embedded in the flexible material, retaining a certain amount of elastic allowance, which can enhance the mechanical peeling effect and reduce the risk of damage to the conductor body.

[0071] In moderate or severe icing scenarios (e.g., ice layer thickness ≥ 10 mm):

[0072] The heating wire embedded structure provides continuous heat energy, which can soften the ice layer before deicing and reduce the structural strength;

[0073] The flexible protruding structure provides controllable fitting and cushioning to prevent concentrated pressure on the power transmission line 4;

[0074] The hard blade functions as a cutting / peeling tool, which can effectively enhance the ice-breaking efficiency, especially in areas with hard or strongly adhered ice layers, reducing the problem of incomplete deicing and sliding.

[0075] Embodiment 2, refer to Figure 3 For the second embodiment of the present application, unlike the previous embodiment, the inner cavity wall 2 is made of hard material (such as engineering plastic, carbon fiber composite material, etc.) to provide stable support shape and overall rigidity, ensuring that the deicing blade has strong structural stability and force transmission capability. The outer cavity wall 1 is made of flexible material (such as silicone, TPU, etc.), which has good elasticity and deformation ability, and can be inflated or contracted under air pressure adjustment, thereby adjusting its contact state with the ice layer surface. Referring to the figure, a plurality of deicing blade devices are arranged circumferentially, forming a circular, semicircular or fan-shaped structure combination, which can be laid out according to the deicing needs of different wire coverage.

[0076] Working principle of embodiment 2:

[0077] The deicing blade structure in embodiment 1 needs to be sleeved on the surface of the power transmission line 4, so it is only suitable for light ice areas with thin ice thickness (such as ≤10mm), or cases where the ice layer thickness is uniform and the wire form is regular.

[0078] The structural design of this embodiment can achieve external pressure deicing by sticking, without completely covering the wire, so it is more suitable for the following cases:

[0079] 1. The ice layer thickness is greater than the second threshold value (for example, ≥20mm), which is common in heavy ice areas;

[0080] 2. The ice layer thickness is uneven or partially inflated, which may cause difficulties in covering or uneven sticking;

[0081] 3. The space near the wire is limited and does not have complete sleeve conditions.

[0082] Both the deicing blades of this embodiment and embodiment 1 can be integrated on the same power transmission line 4 deicing robot, forming a dual-mode deicing system:

[0083] Configuration mode: The two deicing blades are fixed at different positions of the robot, and can be independently expanded / contracted or rotated to switch;

[0084] Selection logic: The control system selects the deicing mode according to the ice layer thickness value predicted by the image recognition module; when the ice layer thickness value is less than or equal to the first threshold value, the light covering deicing blade of embodiment 1 is started; when the ice layer thickness value is greater than the second threshold value, switch to the sticking thick ice deicing blade of this embodiment, and the second threshold value is greater than the first threshold value; for the intermediate region where the ice layer thickness value is between the first threshold value and the second threshold value, it can be processed by weighting strategy or composite operation, or the embodiment is preferred to ensure the crossing performance.

[0085] The structure direction reverse design (hard inside and soft outside) of the embodiment effectively solves the adhesion problem of the traditional sleeve type deicing structure in the thick ice and special-shaped ice layer environment; meanwhile, the modular layout supports multi-angle distributed deicing and is more adaptable; in addition, the multi-mode linkage intelligent scheduling mechanism improves the working efficiency and versatility of the robot in different ice conditions; meanwhile, the original spiral structure heating cooperative deicing mechanism is retained to ensure the deicing quality.

[0086] Embodiment 3, refer to Figure 4 and Figure 5 The third embodiment of the present application is different from the previous embodiment, which provides a power transmission line adaptive deicing method applied to the power transmission line adaptive deicing device described above, comprising:

[0087] Step S1, by adjusting the inflation amount of the inflation chamber 3, the distance between the inner cavity wall 2 and the surface of the power transmission line 4 or the surface of the ice layer is controlled, and the distance adjustment is based on the currently identified ice layer thickness to set the initial distance;

[0088] Step S2, based on the mechanical peeling of the spiral deicing part 201 and the heating ice melting of the heating part 202, the thin ice layer on the surface of the power transmission line 4 is cooperatively deiced, and the deicing device moves at a constant speed along the wire under the driving of the robot, realizing continuous and synchronous deicing.

[0089] Working principle of embodiment 3:

[0090] Step S1 includes: step S11, acquiring the ice layer thickness and calculating the initial distance of the spiral protruding structure from the ice surface;

[0091] Step S11 includes:

[0092] The image collector collects the power transmission line image;

[0093] The image recognition module analyzes the ice layer thickness through a deep learning model;

[0094] According to the ice layer thickness, the controller sets the initial distance, and the formula of the initial distance can be configured as:

[0095] ;

[0096] Wherein, represents the initial distance, represents the ice layer thickness, represents a preset empirical allowance value (such as 1-2mm), which is used to prevent rigid contact.

[0097] Step S12, real-time detection of the heating part running power and the deicing force of the spiral protruding structure;

[0098] Step S12 includes:

[0099] The actual power of the heating part is calculated by current / voltage sampling;

[0100] The deicing force in the deicing process is obtained by the force sensor on the spiral deicing part;

[0101] The system records the actual operating power of the heating part and the deicing force as real-time feedback parameters.

[0102] In step S13, the initial distance is dynamically corrected according to the power deviation value and the force deviation value to obtain the working distance. In the calculation process of the working distance, the controller updates once every deicing distance, and the fit state is fine-tuned by adjusting the air pressure to realize dynamic adaptive control.

[0103] The calculation formula of the working distance is configured as:

[0104] ;

[0105] wherein, represents the working distance, represents the initial distance, represents the detected actual operating power of the heating part; represents the preset power; represents the deicing force of the spiral protruding structure; represents the preset force size; and respectively represent the preset first correction coefficient and the second correction coefficient; - represents the power deviation value, - represents the force deviation value.

[0106] To obtain accurate and reliable first correction coefficients and second correction coefficients, the following experimental method is used for calibration. The calibration method of the first correction coefficient and the second correction coefficient comprises:

[0107] In the environmental simulation cabin, under the condition of constant force = , the operating power of the heating part is adjusted to ∈[80W,120W], and the first change of the working distance is recorded. The coefficient is obtained by linear regression fitting.

[0108] Under the condition of constant power = , the deicing force ∈[3N,7N] is adjusted, the second change of the working distance is recorded, and the coefficient is obtained by linear regression fitting.

[0109] In the first correction coefficient and the second correction coefficient calibration process, the calibration error rate is less than or equal to 5%.

[0110] Wherein, the experimental equipment configuration:

[0111] Controllable heating source (heating power range: 50W-150W); force sensor (range 0-10N, resolution less than or equal to 0.1N); laser range finder (accuracy ±0.1mm); environmental simulation cabin (temperature control range: -20℃-0℃, humidity control); main control acquisition system (with data recording and regression calculation module).

[0112] The calibration steps include:

[0113] 1, reference calibration: set the reference value: =10mm, =100W, =5N; when not performing correction calculation, the measured value verifies the initial consistency.

[0114] 2, power correction test (calibration ): fix = , set to 80W, 100W, 120W respectively, record the corresponding value, calculate = - ; based on the least square method, the linear relationship is fitted, and the value is obtained.

[0115] 3, force correction test (calibration ): fix = , adjust to 3N, 5N, 7N; record change , based on the least square method, calculate .

[0116] 4, error verification: the fitted , is brought into the calculation model; the measured value is compared with the calculated value; if the error is less than or equal to 5%, the parameter can be used for engineering implementation.

[0117] Through the above calibration process, the embodiment can realize real-time feedback adjustment according to the fitting state, improve the deicing precision; at the same time, dynamically balance the deicing efficiency and the wire safety, avoid hard pressure or slip; in addition, support different ice layer thickness and structure difference processing, improve the adaptability; the embodiment is also convenient for integration with image recognition, sensing control system, and has the basis of intelligent operation.

[0118] Embodiment 4, refer to Figure 6 , the fourth embodiment of the present application, unlike the previous embodiment, provides an ice-removing robot carrying the above-mentioned power line adaptive ice-removing device;

[0119] The controller 5 is configured to perform the above-mentioned power line adaptive ice-removing method.

[0120] Preferably, it further comprises:

[0121] The image collector 6 is used to identify the ice layer thickness.

[0122] The air pressure sensor 7 is used to monitor the pressure of the inflation chamber 3.

[0123] The force sensor 8 is used to detect the ice-removing force.

[0124] 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 distance dynamic correction according to the ice layer thickness, the pressure of the inflation chamber 3, and the ice-removing force.

[0125] Working principle of embodiment 4:

[0126] The ice-removing robot mainly comprises:

[0127] The walking driving module: including electric wheel set, guide mechanism and battery assembly, suitable for stable walking on high-altitude overhead power line 4;

[0128] The ice-removing device module: at least one power line adaptive ice-removing device as described above is installed, with functions of air pressure adjustment, flexible ice-removing, and heating ice-removing;

[0129] The main controller 5: including microprocessor, communication interface, built-in program memory, with real-time data processing, path planning and feedback control capabilities;

[0130] The sensor system: including image sensor, air pressure sensor 7 and force sensor 8, image collector 6 (camera): installed at the front or top of the ice-removing device, used to collect the surface image of the power line 4; the air pressure sensor 7 is installed in the inflation chamber 3 or on the air path; real-time detection of the air pressure in the chamber, feedback of the current fit strength of the ice-removing device; can be used to calculate the actual working distance and feedback adjust the air pressure change. The force sensor 8 is integrated between the protruding structure of the spiral ice-removing part 201 or the inner cavity wall 2 and the support. The control linkage mechanism of the sensor system: the controller 5 receives image information, air pressure data and force data; comprehensively analyzes the current ice layer state, ice-removing load and structure feedback, and performs distance correction calculation; controls the air pump to adjust the inflation amount and corrects the position of the inner cavity wall 2; can be linked to change the power of the heating part 202, realizing the whole process closed-loop control.

[0131] The monitoring device monitors the unit force during the deicing process; the data input controller 5 is used to determine whether the safety threshold is exceeded or the fitting distance needs to be corrected.

[0132] Power supply and energy management system: power supply for deicing components and sensors, and monitoring of system power consumption.

[0133] Workflow of the robot:

[0134] 1. Path initialization: the robot locates the starting point and sets the travel path;

[0135] 2. Image recognition prediction: the image collector 6 detects the ice layer state, and if the thickness is greater than or equal to the set threshold, the deicing mode is started;

[0136] 3. Air pressure adjustment fitting: the controller 5 sets the initial distance according to the identified ice layer thickness and the empirical model , adjusts the air pressure to make the inner cavity wall 2 reach the target fitting state; 4. Deicing execution: the robot travels while starting the heating part 202 and the spiral deicing part 201;

[0137] 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 small or the fitting is insufficient, the distance L is reduced or the heating power is increased;

[0138] 6. Complete the path and stop or return.

[0139] Benefits of embodiment 4:

[0140] This embodiment combines image, force, and air pressure sensors to realize a closed-loop deicing system that is "visible", "measurable", and "responsive"; it is also applicable to multiple power transmission line 4 specifications and different ice layer thicknesses (including light ice, medium ice, and thick ice); through the modular sensing and control structure, it is easy to integrate with other inspection and maintenance robot systems; in addition, it can effectively avoid the damage risk of traditional deicing methods to the conductor, and improve the safety and automation level of line operation and maintenance.

[0141] The above is only a preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solutions falling within the scope of the present application should be considered within the protection scope of the present application. It should be noted that for ordinary technical personnel in the technical field, some improvements and refinements without departing from the principles of the present application should also be considered within the protection scope of the present application.

Claims

1. A power transmission line adaptive de-icing method applied to a power transmission line adaptive de-icing device, characterized by, The power transmission line adaptive deicing device comprises: an outer cavity wall (1), an inner cavity wall (2), and an inflation chamber (3) enclosed by the outer cavity wall (1) and the inner cavity wall (2); the inner cavity wall (2) is a flexible body, and a spiral deicing part (201) and a heating part (202) are arranged on the inner side surface of the inner cavity wall (2) away from the outer cavity wall (1); the cross-sectional shape of the inflation chamber (3) is semicircular, circular or sector-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 inflation amount; the power transmission line adaptive deicing method comprises: Step S1: controlling the distance between the inner cavity wall (2) and the surface of the power transmission line (4) or the surface of the ice layer by adjusting the inflation amount of the inflation chamber (3); Step S2: cooperatively deicing the thin ice layer on the surface of the power transmission line (4) based on the mechanical peeling of the spiral deicing part (201) and the ice melting by heating of the heating part (202); the step S1 comprises: Step S11: obtaining the thickness of the ice layer and calculating the initial distance of the spiral protruding structure from the ice surface; Step S12: real-time detecting the running power of the heating part (202) and the deicing force of the spiral protruding 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: ； wherein, represents the working distance, represents the initial distance, represents the detected actual operating power of the heating portion; represents the preset power; represents the deicing force of the spiral protrusion structure; represents the preset force size; and respectively represent a preset first correction coefficient and a preset second correction coefficient; - represents the power deviation value, - represents the force deviation value.

2. The method of claim 1, wherein: when the cross-section of the inflation chamber (3) is circular, the outer cavity wall (1) and the inner cavity wall (2) are both flexible materials, and the inflation chamber (3) is provided with a through-type open structure for accommodating the power transmission line (4).

3. The method of claim 1, wherein: when a plurality of adjacent inflation chambers (3) abut against each other to form a composite structure with a semicircular or sector-shaped cross-section, the outer cavity wall (1) is a hard material, the inner cavity wall (2) is a flexible material, and the composite structure is configured to wrap the upper surface of the power transmission line (4).

4. The power line adaptive de-icing method according to any one of claims 1-3, characterized in that: The spiral deicing part (201) comprises alternating spiral groove structures and spiral protruding structures; the spiral protruding structure is a flexible material, and an electric heating wire of the heating part (202) is embedded in the spiral protruding structure.

5. The method of claim 4, wherein: The outer surface of the spiral protruding structure is provided with a hard blade, the material of the hard blade is hard plastic or metal, and the hard blade continuously extends in the spiral direction.

6. The method of claim 1, wherein: The calibration method of the first correction coefficient and the second correction coefficient comprises: In the environmental simulation cabin, under the condition of constant force = , adjust the heating part operation power to ∈[80W,120W], and record the first change amount of the working distance, and obtain the coefficient by linear regression fitting; Under the condition of constant power = , adjust the deicing force ∈[3N,7N], record the second change amount of the working distance, and obtain the coefficient through linear regression fitting ; during the calibration of the first correction coefficient and the second correction coefficient, the calibration error rate is ≤5%.

7. A de-icing robot, characterized by: for performing the power transmission line adaptive deicing method of any one of claims 1-5; comprising a controller (5); further comprising: an image collector (6) for identifying the thickness of the ice layer; an air pressure sensor (7) for monitoring the inflation chamber pressure; a force sensor (8) for detecting the deicing force; the controller (5) is connected with the image collector (6), the air pressure sensor (7) and the force sensor (8), and is used for performing distance dynamic correction according to the thickness of the ice layer, the inflation chamber pressure and the deicing force.

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