Engine water cooling system control method and device and power transmission line deicing unmanned aerial vehicle

Abstract

The invention relates to the field of power transmission line deicing. The invention relates to an unmanned aerial vehicle, in particular to an engine water cooling system control method and device and a power transmission line deicing unmanned aerial vehicle. According to the engine water cooling system control method and device and the power transmission line deicing unmanned aerial vehicle, when the power transmission line deicing unmanned aerial vehicle works, deicing liquid is heated through the engine water cooling system of the oil-driven unmanned aerial vehicle, and the rotating speeds of a cooling fan and a circulating water pump of the engine water cooling system are adjusted in real time; and the temperature of the deicing liquid sprayed by the deicing liquid spraying system is adjusted, so that the deicing liquid is kept at the optimal temperature, and ice coated on the surface of the power transmission line is effectively removed.

Description

Technical Field

[0001] The present invention relates to the field of power transmission line deicing. More specifically, the present invention relates to a control method and device for an engine water cooling system and a power transmission line deicing drone. Background Art

[0002] When severe ice and snow weather occurs, ice may appear on the towers, conductors and ground wires on the transmission lines. The ice will seriously affect the normal operation of the transmission lines and may even cause the towers to collapse and the lines to break, endangering the safe and stable operation of the transmission lines. Therefore, it is necessary to clean the ice on the transmission lines in a timely manner.

[0003] In order to remove ice from transmission lines, the commonly used methods are mechanical de-icing and heating de-icing. Heating de-icing uses direct current to melt ice. A direct current voltage is applied to the transmission line and a short circuit is created at the end of the transmission line, causing the conductor to heat up and melt the ice. Mechanical de-icing usually uses a drone carrying a striking rod. The drone is controlled to accelerate and fly towards the conductor. The mechanical kinetic energy of the striking rod is transferred to the ground wire, causing the ground wire to swing greatly, causing the ice to be impacted and the ground wire to swing and break. Among them, the direct current heating de-icing method requires large-scale modification of the transmission line, which is relatively costly. The mechanical de-icing method has a better effect, but this method cannot control the scope and degree of ice shedding, which can easily cause the ground wire to bounce greatly, and may cause the ground wires to be too close to each other, resulting in a transmission line tripping accident. Summary of the Invention

[0004] The purpose of the present invention is to address the above-mentioned problems and provide an engine water cooling system control method, a control device and a transmission line de-icing drone. When the transmission line de-icing drone is working, the de-icing fluid is heated by the engine water cooling system of the oil-powered drone, and the speed of the engine water cooling system cooling fan and the circulating water pump is adjusted in real time, and the temperature of the de-icing fluid sprayed by the de-icing fluid injection system is adjusted to maintain the optimal temperature, thereby effectively removing ice from the surface of the transmission line.

[0005] To achieve these objects and other advantages of the present invention, a method for controlling an engine water cooling system is provided for use with a deicing liquid spraying device. The deicing liquid spraying device includes a moving mechanism and a deicing liquid spraying system. The moving mechanism includes an engine water cooling system, a coolant line of the engine water cooling system is connected to a heating line in a deicing liquid tank of the deicing liquid spraying system, and the method includes:

[0006] Preset the deicing fluid target heating temperature of the deicing fluid injection system ;

[0007] Get the temperature of the coolant in the heating pipe respectively and the temperature of the deicing liquid at the outlet of the deicing liquid tank ;

[0008] according to and determining a control voltage of a cooling fan of the engine water cooling system to adjust a rotation speed of the cooling fan;

[0009] according to and Determine the control voltage of the circulating water pump of the engine water cooling system to adjust the speed of the circulating water pump.

[0010] Furthermore, in the engine water cooling system control method, the control voltage of the cooling fan of the engine water cooling system is calculated as shown in the following formula (1):

[0011] (1)

[0012] in, 、 and are the PID controller parameters; It is the control voltage of the cooling fan; for and The difference.

[0013] Furthermore, in the engine water cooling system control method, the control voltage of the cooling fan of the engine water cooling system is calculated as shown in the following formula (1):

[0014] (2)

[0015] in, 、 and are the PID controller parameters; is the control voltage of the circulating water pump; for and The difference.

[0016] Furthermore, in the engine water cooling system control method, an electronic three-way valve is connected to the coolant pipeline of the engine water cooling system, the inlet of the electronic three-way valve is connected to the water outlet of the coolant tank of the engine water cooling system, and the two outlets of the electronic three-way valve are respectively connected to the water inlet of the circulation pump and the water inlet of the radiator of the engine water cooling system;

[0017] The calculation method of the opening degree of the outlet of the electronic three-way valve communicating with the radiator is as follows:

[0018] (3)

[0019] in, The opening of the outlet of the electronic three-way valve connected to the radiator is the proportional coefficient.

[0020] The present invention further provides an engine water cooling system control device for a deicing liquid spraying device, the deicing liquid spraying device comprising a moving mechanism and a deicing liquid spraying system, the moving mechanism having an engine water cooling system, a coolant pipeline of the engine water cooling system being in communication with a heating pipeline in a deicing liquid tank of the deicing liquid spraying system, comprising:

[0021] The first temperature sensor is used to obtain the temperature of the coolant in the heating pipeline ;

[0022] The second temperature sensor is used to obtain the temperature of the deicing liquid at the outlet of the deicing liquid tank ;

[0023] The first PID controller is electrically connected to the temperature setting module, the first temperature sensor and the cooling fan of the engine water cooling system respectively. The first PID controller is configured to and Calculating and adjusting the control voltage of the cooling fan of the engine water cooling system;

[0024] The second PID controller is electrically connected to the first temperature sensor, the second temperature sensor and the circulating water pump of the engine water cooling system respectively; the second PID controller is electrically connected to the first temperature sensor, the second temperature sensor and the circulating water pump of the engine water cooling system respectively; and Calculating and adjusting the control voltage of the circulating water pump of the engine water cooling system;

[0025] An electronic three-way valve is connected to the coolant pipeline of the engine water cooling system, the inlet of the electronic three-way valve is connected to the water outlet of the coolant tank of the engine water cooling system, and the two outlets thereof are connected to the water inlet of the circulation pump and the water inlet of the radiator of the engine water cooling system respectively;

[0026] A control module is electrically connected to the electronic three-way valve, the first temperature sensor and the second temperature sensor.

[0027] The present invention also provides a transmission line deicing drone, comprising an oil-powered drone, a deicing fluid injection system, and an engine water cooling system, and also comprising the engine water cooling system control device.

[0028] Furthermore, in the transmission line deicing drone, the deicing fluid injection system further comprises:

[0029] a booster pump, the water inlet of which is connected to the liquid outlet of the deicing liquid tank;

[0030] a de-icing liquid spraying mechanism, the liquid inlet of which is connected to the water outlet of the booster pump;

[0031] When the deicing fluid injection system is working, the optimal injection pressure of the deicing fluid is calculated, and then the optimal speed of the corresponding booster pump is calculated according to the calculated optimal injection pressure, and the speed of the booster pump is adjusted to the optimal speed.

[0032] Furthermore, in the transmission line deicing drone, the method for calculating the optimal injection pressure of the deicing fluid when the deicing fluid injection mechanism is in operation is as follows:

[0033] (4)

[0034] in, The optimal injection pressure for de-icing fluid; is the margin coefficient, take 1.1-1.2; is the load factor; is the ice crack coefficient. When there are cracks on the ice , when there is no crack ; is the ice cover thickness; is the salt influence coefficient, when the natural environment is frozen ; is the temperature influence coefficient, which is calculated as follows:

[0035] (5)

[0036] in, is the ambient temperature;

[0037] The calculation method of ice thickness in formula (4) is as follows:

[0038] (6)

[0039] in, is the ice density; is the ice-covered shape factor; is the ice cover radius; is the transmission line radius.

[0040] Furthermore, in the transmission line deicing drone, the relationship between the injection pressure of the deicing liquid and the rotation speed of the booster pump when the deicing liquid injection mechanism is in operation is as shown in the following formula (7):

[0041] (7)

[0042] in, is the speed of the boost pump; is the area of ​​the liquid outlet of the de-icing liquid injection mechanism shown.

[0043] Furthermore, in the transmission line deicing drone, the deicing liquid tank includes:

[0044] A box body is provided with a liquid outlet, the heating pipeline is arranged in the box body, the inlet and outlet of the heating pipeline respectively pass through the box body and are connected to the coolant pipeline of the engine water cooling system, and a heat exchange layer is provided on the outside of the heating pipeline;

[0045] The first temperature sensor is arranged in the heating pipeline, and the second temperature sensors are respectively arranged at the liquid outlets of the deicing liquid tank.

[0046] The beneficial effects of the present invention are:

[0047] 1. When the transmission line deicing drone of the present invention is in operation, the deicing fluid is heated by its engine water cooling system, and the rotation speeds of the cooling fan and circulating water pump of the engine water cooling system are adjusted in real time. The temperature of the deicing fluid sprayed by the deicing fluid spraying system is regulated to maintain the optimal temperature, thereby effectively removing ice from the surface of the transmission line.

[0048] 2. When the transmission line deicing drone of the present invention is working, the rotation speed of the booster pump is adjusted according to the actual situation on site, so that the deicing liquid can be sprayed at the optimal spray pressure when the deicing liquid spraying mechanism is working, so that the ice on the surface of the transmission line can be brittle faster and the deicing efficiency can be accelerated.

[0049] Other advantages, objectives and features of the present invention will be reflected in part from the following description and will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a structural diagram of an engine water cooling system in one embodiment of the present invention;

[0051] Figure 2 A structural diagram of an engine water cooling system control device in another embodiment of the present invention;

[0052] Figure 3 This is a schematic structural diagram of a drone in another embodiment of the present invention;

[0053] Figure 4 This is a schematic structural diagram of a drone in another embodiment of the present invention;

[0054] Figure 5 This is a schematic structural diagram of a drone in another embodiment of the present invention;

[0055] Figure 6 Schematic diagram of the structure of a deicing liquid tank in another embodiment of the present invention.

[0056] Wherein, the reference numerals represent:

[0057] Oil-powered engine 1; coolant tank 2; engine oil tank 3; upper loading plate 4; lower loading plate 5; circulating water pump 41; deicing liquid tank 51; heating water path 511, deicing liquid water path 512; heat exchange layer 513 and second temperature sensor 514, first temperature sensor 515, heating pipe inlet 516, heating pipe outlet 517, coolant outlet 518; booster pump 52, camera device 6; cooling fan 7; electronic three-way valve 8; nozzle 9. DETAILED DESCRIPTION

[0058] The present invention is further described in detail below with reference to the embodiments so that those skilled in the art can implement the invention with reference to the description.

[0059] It should be noted that, in the description of the present invention, the terms "horizontal", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0060] An embodiment of the present invention provides an engine water cooling system control method for a transmission line deicing drone. The transmission line deicing drone includes a gasoline-powered drone, a deicing fluid injection system, and an engine water cooling system. The engine water cooling system can be based on existing technology and includes a coolant pipeline. The coolant pipeline is a circulating water circuit, on which a coolant tank, a radiator, and a circulating water pump are sequentially arranged. The radiator is provided with a cooling fan. The portion of the coolant pipeline located between the coolant tank and the radiator is connected to the water channel inside the engine cylinder block and cylinder head. The portion of the coolant pipeline located between the coolant tank and the circulating water pump passes through the deicing fluid tank, and the circulating water pump drives the coolant to circulate in the coolant pipeline. The deicing fluid injection system includes a deicing fluid tank, and the deicing fluid tank has a heating pipeline. Both ends of the heating pipeline pass through the deicing fluid tank and are connected to the coolant pipeline of the engine water cooling system. When the engine water cooling system is in operation, the high-temperature coolant in the coolant pipeline passes through the heating pipeline, which can heat the deicing fluid in the deicing fluid tank. The control method includes:

[0061] Preset the deicing fluid target heating temperature of the deicing fluid injection system ;

[0062] Get the temperature of the coolant in the heating pipe respectively and the temperature of the deicing liquid at the outlet of the deicing liquid tank ;

[0063] according to and Determine the control voltage of the cooling fan of the engine water cooling system. Generally, the cooling fan adopts a DC motor. The speed of the DC motor is proportional to the voltage. The higher the voltage, the faster the speed of the DC motor. Therefore, the speed of the cooling fan can be adjusted by adjusting the control voltage of the cooling fan. The speed control voltage of the cooling fan of the engine water cooling system is calculated as shown in the following formula (1): wherein the speed of the cooling fan of the engine water cooling system is calculated using the PID algorithm:

[0064] (1)

[0065] in, 、 and are the PID controller parameters; It is the control voltage of the cooling fan; for and The difference.

[0066] according to and Determine the control voltage of the circulating water pump of the engine water cooling system. Generally, the circulating water pump of the engine water cooling system of the UAV adopts a DC motor. The speed of the DC motor is proportional to the voltage. The higher the voltage, the faster the speed of the DC motor. Therefore, the speed of the circulating water pump can be adjusted by adjusting the control voltage of the circulating water pump. The control voltage of the circulating water pump of the engine water cooling system is calculated as shown in the following formula (2):

[0067] The PID algorithm is used to calculate the speed of the circulating water pump of the engine water cooling system:

[0068] (2)

[0069] in, 、 and are the PID controller parameters; is the control voltage of the circulating water pump; for and The difference.

[0070] In this embodiment, when the transmission line deicing drone is working, the temperature of the coolant in the coolant pipe of the engine water cooling system is higher than the temperature of the deicing liquid in the deicing liquid tank. Therefore, the high-temperature coolant in the coolant pipe can heat the deicing liquid in the deicing liquid tank when passing through the heating pipe. Generally, the deicing liquid is made of ethylene glycol or propylene glycol, and its deicing effect is best when the temperature is 82°C. Therefore, it is necessary to keep the temperature of the deicing liquid at the outlet of the deicing liquid tank stable. At this time, the target heating temperature of the deicing liquid is pre-set. Then, when the power line deicing drone is operating, the real-time temperature of the coolant in the heating line and the real-time temperature of the deicing fluid at the deicing tank outlet are obtained. The corresponding rotational speeds of the cooling fan and circulating water pump of the engine water cooling system are calculated using a PID algorithm. The cooling fan rotational speed directly affects the heat dissipation efficiency of the radiator, while the circulating water pump rotational speed directly affects the flow rate of the coolant in the coolant line, thereby affecting the heat dissipation efficiency of the engine water cooling system. In this embodiment, by adjusting the rotational speeds of the cooling fan and circulating water pump of the engine water cooling system, the temperature of the coolant in the coolant line is adjusted, and the heating effect of the heating line on the deicing fluid in the deicing tank is adjusted, ensuring that the deicing fluid is discharged from the deicing fluid injection system at a constant temperature.

[0071] Preferably, as another embodiment of the present invention, Figure 1 As shown, an electronic three-way valve is connected to the coolant pipeline of the engine water cooling system, the inlet of the electronic three-way valve is connected to the water outlet of the coolant tank of the engine water cooling system, and the two outlets thereof are respectively connected to the water inlet of the circulation pump and the water inlet of the radiator of the engine water cooling system;

[0072] The calculation method of the opening degree of the outlet of the electronic three-way valve communicating with the radiator is as follows:

[0073] (3)

[0074] in, The opening of the outlet of the electronic three-way valve connected to the radiator is the proportional coefficient.

[0075] In this embodiment, after the electronic three-way valve is connected to the coolant pipeline, Figure 1 As shown, one outlet of the electronic three-way valve is directly connected to the circulating water pump via a pipeline, while the other outlet is connected in series with the radiator and the circulating water pump. The electronic three-way valve regulates the amount of coolant flowing into the radiator. When the engine is first started, generating less heat, the outlet of the electronic three-way valve connected to the circulating water pump is open, while the outlet connected to the radiator is closed. Coolant flows directly into the circulating water pump, bypassing the radiator. This prevents heat loss from the radiator and rapidly raises the coolant pipe temperature, ensuring effective heating of the de-icing fluid.

[0076] After the engine has been running for a period of time, the outlet of the electronic three-way valve connected to the circulating water pump is closed, and the outlet of the electronic three-way valve connected to the radiator is opened. The coolant passes through the radiator and enters the circulating water pump. After the heat is dissipated by the radiator, some heat is lost. The flow rate of the coolant flowing through the radiator will also affect the heat dissipation of the radiator. Therefore, in this embodiment, the opening of the outlet of the electronic three-way valve connected to the radiator is adjusted based on the temperature of the deicing liquid at the outlet of the deicing liquid tank. Adjust the opening of the outlet of the electronic three-way valve connected to the radiator to control the flow rate of the coolant flowing through the radiator. When the de-icing fluid temperature rises, the amount of cooling water flowing through the radiator gradually increases and the fan speed increases to keep the de-icing fluid temperature at 82°C.

[0077] An embodiment of the present invention further provides an engine water cooling system control device for a deicing liquid spraying device, wherein the deicing liquid spraying device comprises a moving mechanism and a deicing liquid spraying system, wherein the moving mechanism comprises an engine water cooling system, wherein a coolant line of the engine water cooling system is connected to a heating line in a deicing liquid tank of the deicing liquid spraying system, such as Figure 2 As shown, the method for implementing the above engine water cooling system control method includes:

[0078] The first temperature sensor is used to obtain the temperature of the coolant in the heating pipeline ;

[0079] The second temperature sensor is used to obtain the temperature of the deicing liquid at the outlet of the deicing liquid tank ;

[0080] a first PID controller electrically connected to the temperature setting module, the first temperature sensor, and a cooling fan of the engine water cooling system;

[0081] a second PID controller electrically connected to the first temperature sensor, the second temperature sensor and a circulating water pump of the engine water cooling system, respectively;

[0082] An electronic three-way valve is connected to the coolant pipeline of the engine water cooling system, the inlet of the electronic three-way valve is connected to the water outlet of the coolant tank of the engine water cooling system, and the two outlets thereof are connected to the water inlet of the circulation pump and the water inlet of the radiator of the engine water cooling system respectively;

[0083] A control module is electrically connected to the electronic three-way valve, the first temperature sensor and the second temperature sensor.

[0084] The embodiment of the present invention also provides a transmission line deicing drone, such as Figure 3-Figure 5 As shown, it includes an oil-powered drone, a deicing fluid injection system and an engine water cooling system, and also includes the above-mentioned engine water cooling system control device.

[0085] The de-icing fluid injection system further comprises:

[0086] a booster pump, the water inlet of which is connected to the liquid outlet of the deicing liquid tank;

[0087] a de-icing liquid spraying mechanism, the liquid inlet of which is connected to the water outlet of the booster pump;

[0088] When the deicing fluid injection system is working, the optimal injection pressure of the deicing fluid is calculated, and then the optimal speed of the corresponding booster pump is calculated according to the calculated optimal injection pressure, and the speed of the booster pump is adjusted to the optimal speed.

[0089] In this embodiment, the oil-powered UAV includes a UAV body and further includes:

[0090] The drone features a gasoline engine 1 mounted on top of the main body, a coolant tank 2 and an engine oil tank 3 mounted on the side of the drone. The drone also features an upper loading platform 4 and a lower loading platform 5, which can be used to secure certain system components. A circulating water pump 41 is secured to the upper loading platform 4, and a radiator and cooling fan 7 are mounted on the rear of the drone. A de-icing liquid tank 51 is secured to the lower loading platform 5. The coolant tank 2, circulating water pump 41, radiator, and cooling fan 7 are connected to the de-icing liquid tank 51 via coolant piping and an electronic three-way valve 8. The outlet of the de-icing liquid tank 51 is connected to the inlet of a booster pump 52. The de-icing liquid spraying mechanism utilizes a nozzle 9, with the outlet of the booster pump 52 connected to the nozzle 9 via a pipeline, forming the de-icing liquid spraying system. A camera 6 is also mounted on the drone, facing the same direction as the nozzle 9. This camera 6 can capture image information of the power transmission line, allowing for manual determination of ice thickness on the power transmission line.

[0091] Preferably, as another embodiment of the present invention, the method for calculating the optimal injection pressure of the deicing fluid when the deicing fluid injection mechanism is in operation is as follows:

[0092] (4)

[0093] in, The optimal injection pressure for de-icing fluid; is the margin coefficient, take 1.1-1.2; is the load factor; is the ice crack coefficient. When there are cracks on the ice , when there is no crack ; is the ice cover thickness; is the salt influence coefficient, when the natural environment is frozen ; is the temperature influence coefficient, which is calculated as follows:

[0094] (5)

[0095] in, is the ambient temperature;

[0096] The calculation method of ice thickness in formula (4) is as follows:

[0097] (6)

[0098] in, is the ice density; is the ice-covered shape factor; is the ice cover radius; is the transmission line radius.

[0099] The values ​​of ice density are shown in Table 1 below:

[0100] Table 1 Ice density values

[0101]

[0102] The values ​​of the ice shape coefficient are shown in Table 2 below:

[0103] Table 2 Table of ice shape coefficient values

[0104]

[0105] The relationship between the injection pressure of the deicing liquid and the rotation speed of the booster pump when the deicing liquid injection mechanism is working is shown in the following formula (7):

[0106] (7)

[0107] in, is the speed of the boost pump; is the area of ​​the outlet of the deicing liquid injection mechanism shown. The functional relationship in formula (7) can be obtained through testing experiments and is not specifically limited here.

[0108] In this embodiment, a booster pump delivers deicing liquid from the deicing tank to the deicing liquid spray mechanism. The deicing liquid spray mechanism's nozzle is directed toward the ice covering the transmission line, where it is sprayed onto the ice. By using equations (4)-(7) above and determining the corresponding parameters based on actual site conditions, the optimal speed of the booster pump can be calculated. At this point, the deicing liquid spray mechanism sprays deicing liquid at the optimal spray pressure, which can rapidly embrittle the ice covering the ground conductor surface and improve deicing efficiency.

[0109] Preferably, as another embodiment of the present invention, Figure 6 As shown, the deicing liquid tank includes:

[0110] A box body is provided with a liquid outlet, the heating pipeline is arranged in the box body, the inlet and outlet of the heating pipeline respectively pass through the box body and are connected to the coolant pipeline of the engine water cooling system, and a heat exchange layer is provided on the outside of the heating pipeline;

[0111] The first temperature sensor is arranged in the heating pipeline, and the second temperature sensors are respectively arranged at the liquid outlets of the deicing liquid tank.

[0112] In this embodiment, the deicing liquid tank includes a box body, which contains a heating pipeline 511, a deicing liquid water channel 512 and a heat exchange layer 513, as well as a second temperature sensor 514, a first temperature sensor 515, a heating pipeline inlet 516, a heating pipeline outlet 517, and a coolant outlet 518.

[0113] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and embodiments shown and described herein.

Claims

1. A method for controlling an engine water cooling system, for use with a deicing liquid spraying device, wherein the deicing liquid spraying device comprises a moving mechanism and a deicing liquid spraying system, wherein the moving mechanism comprises an engine water cooling system, wherein a coolant line of the engine water cooling system is connected to a heating line in a deicing liquid tank of the deicing liquid spraying system, wherein: include: Preset the deicing fluid target heating temperature of the deicing fluid injection system ; Get the temperature of the coolant in the heating pipe respectively and the temperature of the deicing liquid at the outlet of the deicing liquid tank ; according to and determining a control voltage of a cooling fan of the engine water cooling system to adjust a rotation speed of the cooling fan; according to and Determine the control voltage of the circulating water pump of the engine water cooling system to adjust the speed of the circulating water pump.

2. The engine water cooling system control method according to claim 1, characterized in that: The control voltage of the cooling fan of the engine water cooling system is calculated as shown in the following formula (1): （1） in, 、 and are the PID controller parameters; It is the control voltage of the cooling fan; for and The difference.

3. The engine water cooling system control method according to claim 1, characterized in that: The control voltage of the circulating water pump of the engine water cooling system is calculated as shown in the following formula (2): （2） in, 、 and are the PID controller parameters; is the control voltage of the circulating water pump; for and The difference.

4. The engine water cooling system control method according to claim 1, characterized in that: An electronic three-way valve is connected to the coolant pipeline of the engine water cooling system, wherein the inlet of the electronic three-way valve is connected to the water outlet of the coolant tank of the engine water cooling system, and the two outlets of the electronic three-way valve are connected to the water inlet of the circulation pump and the water inlet of the radiator of the engine water cooling system respectively; The calculation method of the opening degree of the outlet of the electronic three-way valve communicating with the radiator is as follows: （3） in, The opening of the outlet of the electronic three-way valve connected to the radiator is the proportional coefficient.

5. An engine water cooling system control device for a deicing liquid spraying device, the deicing liquid spraying device comprising a moving mechanism and a deicing liquid spraying system, the moving mechanism having an engine water cooling system, a coolant line of the engine water cooling system communicating with a heating line in a deicing liquid tank of the deicing liquid spraying system, characterized in that: include: The first temperature sensor is used to obtain the temperature of the coolant in the heating pipeline ; The second temperature sensor is used to obtain the temperature of the deicing liquid at the outlet of the deicing liquid tank ; The first PID controller is electrically connected to the temperature setting module, the first temperature sensor and the cooling fan of the engine water cooling system respectively. The first PID controller is configured to and Calculating and adjusting the control voltage of the cooling fan of the engine water cooling system; The second PID controller is electrically connected to the first temperature sensor, the second temperature sensor and the circulating water pump of the engine water cooling system respectively; the second PID controller is electrically connected to the first temperature sensor, the second temperature sensor and the circulating water pump of the engine water cooling system respectively; and Calculating and adjusting the control voltage of the circulating water pump of the engine water cooling system; An electronic three-way valve is connected to the coolant pipeline of the engine water cooling system, the inlet of the electronic three-way valve is connected to the water outlet of the coolant tank of the engine water cooling system, and the two outlets thereof are connected to the water inlet of the circulation pump and the water inlet of the radiator of the engine water cooling system respectively; A control module is electrically connected to the electronic three-way valve, the first temperature sensor and the second temperature sensor.

6. A transmission line deicing drone, comprising an oil-powered drone, a deicing fluid injection system, and an engine water cooling system, characterized in that: It also includes the engine water cooling system control device as claimed in claim 5.

7. The transmission line deicing drone according to claim 6, characterized in that: The de-icing fluid injection system further comprises: a booster pump, the water inlet of which is connected to the liquid outlet of the deicing liquid tank; a de-icing liquid spraying mechanism, the liquid inlet of which is connected to the water outlet of the booster pump; When the deicing fluid injection system is working, the optimal injection pressure of the deicing fluid is calculated, and then the optimal speed of the corresponding booster pump is calculated according to the calculated optimal injection pressure, and the speed of the booster pump is adjusted to the optimal speed.

8. The transmission line deicing drone according to claim 7, characterized in that: The calculation method of the optimal injection pressure of the deicing fluid when the deicing fluid injection mechanism is working is as follows: （4） in, The optimal injection pressure for de-icing fluid; is the margin coefficient, take 1.1-1.2; is the load factor; is the ice crack coefficient. When there are cracks on the ice , when there is no crack ; is the ice cover thickness; is the salt influence coefficient, when the natural environment is frozen ; is the temperature influence coefficient, which is calculated as follows: （5） in, is the ambient temperature; The calculation method of ice thickness in formula (4) is as follows: （6） in, is the ice density; is the ice-covered shape factor; is the ice cover radius; is the transmission line radius.

9. The transmission line deicing drone according to claim 7, characterized in that: The relationship between the injection pressure of the deicing liquid and the speed of the booster pump when the deicing liquid injection mechanism is working is shown in the following formula (7): （7） in, is the speed of the boost pump; is the area of ​​the liquid outlet of the de-icing liquid injection mechanism shown.

10. The transmission line deicing drone according to claim 7, characterized in that: The deicing fluid tank comprises: A box body is provided with a liquid outlet, the heating pipeline is arranged in the box body, the inlet and outlet of the heating pipeline respectively pass through the box body and are connected to the coolant pipeline of the engine water cooling system, and a heat exchange layer is provided on the outside of the heating pipeline; The first temperature sensor is arranged in the heating pipeline, and the second temperature sensors are respectively arranged at the liquid outlets of the deicing liquid tank.

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