Four-bundle conductor ice melting device and method based on unmanned aerial vehicle platform

Abstract

The invention relates to the technical field of electric power engineering, in particular to a four-split conductor ice melting device and method based on an unmanned aerial vehicle platform, and the device comprises a rack, the top of the rack is in bolted connection with two first electric push rods, the output ends of the first electric push rods are in key connection with first clamping assemblies, and the first clamping assemblies are in sliding connection with the interior of the rack; two second clamping assemblies are slidably connected into the rack. The ice-melting short-circuit device can quickly and accurately fit a wire through cooperative operation with the unmanned aerial vehicle, can quickly clamp the wire through linkage cooperation of a first fixed clamping plate and a first movable clamping plate, successfully realizes movable ice melting, avoids the problems of long time consumption and low efficiency of traditional butt joint, does not need to be arranged by manually climbing a tower, and is convenient to use. The high-altitude operation risk is fundamentally eliminated, a solid guarantee is provided for the safety of operators, end wiring butt joint can be completed on the ground in advance, and the industrial problems that a traditional butt joint device is insufficient in conductive area, difficult in air butt joint, poor in contact in the short circuit process and the like are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric power engineering, in particular to a four-split conductor deicing device and method based on a UAV platform. BACKGROUND

[0002] It is well known that in the field of power transmission today, overhead transmission lines as the key carrier of power transmission are widely distributed in various environments, and 500kV transmission lines are the core of the main network frame of the power system, bearing the heavy responsibility of the safety of the large power grid. However, in specific environmental conditions such as the ice area, the transmission line is prone to damage of fittings, collapse of towers and other accidents due to icing, threatening the safety of the power grid.

[0003] However, most of the existing devices and technologies do not have 500kV mobile deicing capability. In China, fixed deicing methods are used for 500kV deicing, which is high in cost and limited in scope, and difficult to respond to cross-regional icing emergencies. A single mobile deicing device cannot provide sufficient deicing power for 500kV deicing, and multiple devices need to be connected in series or parallel for 500kV line section deicing. Meanwhile, deicing preparation relies on manual operation, and maintenance personnel need to climb high towers and manually short-circuit in icing conditions. The harsh environment makes the operation difficult, intensive, and high-risk to personal safety, and the efficiency is low, which delays deicing. In summary, it is a key requirement to develop a safe and efficient deicing short-circuit device with 500kV mobile deicing capability to ensure the safety of the main network frame of the power grid. SUMMARY

[0004] In order to overcome the problem that the existing deicing short-circuit device is mostly fixed and inconvenient to move and connect, the present application provides a deicing short-circuit device with mobile and convenient connection effect.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a four-split conductor deicing device based on a UAV platform, comprising a rack, two groups of first electric push rods, the first electric push rods are arranged on one side of the rack, the first electric push rods are used to change the positions of the first clamping assemblies and the second clamping assemblies, two groups of first clamping assemblies, the first clamping assembly comprises a sliding block, the sliding block is slidingly arranged in the interior of the rack, one side of the sliding block is connected with the output end of the first electric push rod by a key, one side of the sliding block is provided with a third electric push rod, the output end of the third electric push rod is connected with a first fixed clamping plate by a key, one side of the first fixed clamping plate is provided with a second electric push rod, the output end of the second electric push rod is connected with a first movable clamping plate by a key, the first fixed clamping plate and the first movable clamping plate cooperate to clamp the conductor, and the first movable clamping plate and the first fixed clamping plate are hinged, and two groups of second clamping assemblies, one side of the second clamping assembly is fixedly arranged with the sliding block, so that the displacement of the sliding block will drive the displacement of the second clamping assembly.

[0006] Preferably, one side of the rack is provided with a plurality of mounting seats, and a connecting rod is arranged between the plurality of mounting seats, and two sets of positioning blocks are slidingly arranged outside the connecting rod, and the positioning blocks penetrate the rack away from the connecting rod.

[0007] Preferably, one side of the rack is provided with a plurality of support seats, and a fixing rod is arranged between the plurality of support seats, and the sliding block and one side of the second clamping assembly are slidingly arranged outside the plurality of fixing rods, respectively.

[0008] Preferably, the second clamping assembly comprises a moving frame slidingly arranged inside the rack, and the moving frame and the sliding block are fixedly arranged, one side of the moving frame is provided with a second fixed clamping plate, one side of the second fixed clamping plate is provided with a fourth electric push rod, the output end of the fourth electric push rod is key-connected with a second movable clamping plate, and the second movable clamping plate and the second fixed clamping plate are hinged.

[0009] Preferably, one side of the sliding block is provided with a sliding rail, and the first fixed clamping plate is slidingly arranged outside the sliding rail.

[0010] Preferably, a plurality of sliding grooves are formed in the inside of the rack, and the sliding block and the moving frame are slidingly arranged in the sliding grooves.

[0011] A four-split conductor ice melting method based on a UAV platform, based on the four-split conductor ice melting device based on the UAV platform, comprising: S1: the clamping mechanism is started: the second electric push rod and the fourth electric push rod are started synchronously, the first movable clamping plate and the first fixed clamping plate form a clamping gap, and the second movable clamping plate and the second fixed clamping plate form a clamping gap at the same time; S2: device positioning: the clamping device is positioned above the target conductor by the UAV hoisting mechanism, the positioning blocks are attached to the conductor in real time by using the camera, and it is ensured that the plurality of conductors are respectively located in the clamping gap; S3: adaptive adjustment: when the conductor does not completely contact the clamping mechanism, the first electric push rod is started to drive the sliding block to move, and the relative positions of the two sets of clamping mechanisms are adjusted through the linkage of the moving frame; S4: ice melting operation stage: the clamping mechanism is controlled to be closed to form a holding state, the conductor is powered after the UAV and the device are separated, and short-circuit ice melting is realized through Joule heat effect; S5: recovery and verification stage: after the ice melting is completed, the conductor temperature change is monitored through the camera, the clamping mechanism is controlled to reset and release the conductor, and after the device is recovered to the ground, appearance detection and data recording are performed.

[0012] Preferably, the synchronous driving of the second electric push rod and the fourth electric push rod in step S1 adopts closed-loop pressure feedback control, which monitors the contact stress of the clamping surface in real time through a pressure sensor, triggers the push rod stroke locking mechanism when the stress value reaches the preset threshold, and ensures that the clamping force is stable within the range of 80-120 N.

[0013] Preferably, the camera monitoring system in step S2 integrates a dual-spectrum imaging module, which identifies the temperature distribution on the surface of the wire through infrared thermal imaging, automatically calculates the wire sag parameter by combining machine vision algorithms, and dynamically adjusts the hovering attitude of the unmanned aerial vehicle to keep the positioning block and the lowest point of the wire within the preset positioning accuracy.

[0014] Preferably, the recycling verification stage in step S5 includes a secondary separation detection mechanism, which triggers the electromagnetic unlocking device in the clamping mechanism when the hoisting acceleration of the unmanned aerial vehicle exceeds the threshold, detects the lock separation state through a Hall sensor, and ensures that the wire is completely separated from the clamping surface before starting the return program.

[0015] Beneficial effects

[0016] The ice melting short circuit device, through cooperation with the unmanned aerial vehicle, can quickly and accurately adhere to the wire, and the linkage of the first fixed clamping plate and the first movable clamping plate can quickly clamp the wire, successfully realizing mobile ice melting, avoiding the problems of long time consumption and low efficiency of traditional butt joint, and fundamentally eliminating the risk of high-altitude operation, providing a solid guarantee for the safety of the operator, and enabling the end connection line butt joint to be completed on the ground in advance, solving the industry pain points of insufficient conductive area of traditional butt joint, difficulty in air butt joint, and poor contact during short circuit process. BRIEF DESCRIPTION OF DRAWINGS Figure 1 is a structural top view of the present application; Figure 2 is a structural bottom view of the present application; Figure 3 is a structural schematic view of the first clamping assembly of the present application; Figure 4 is a structural schematic view of the second clamping assembly of the present application.

[0017] In the figure: 1, rack; 2, first clamping assembly; 201, sliding block; 202, first fixed clamping plate; 203, sliding rail; 204, first movable clamping plate; 205, second electric push rod; 206, third electric push rod; 3, second clamping assembly; 301, moving frame; 302, second fixed clamping plate; 303, second movable clamping plate; 304, fourth electric push rod; 4, fixed rod; 5, first electric push rod; 6, spring; 7, mounting seat; 8, support seat; 9, positioning block; 10, connecting rod. DETAILED DESCRIPTION

[0018] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0019] Referring to Figures 1 to 4 A four-split wire ice melting device based on a UAV platform, comprising a rack 1, the top of the rack 1 is bolted with two groups of first electric push rods 5, the output end of the first electric push rod 5 is key connected with a first clamping assembly 2, and the first clamping assembly 2 is slidingly connected inside the rack 1, two groups of second clamping assemblies 3 are slidingly connected inside the rack 1, and the second clamping assemblies 3 are fixedly connected with the first clamping assembly 2.

[0020] Specifically, to realize the rapid and accurate positioning of the device on the wire, four groups of positioning blocks 9 are slidingly connected inside the rack 1, and the bottom of the positioning block 9 extends to below the rack 1. During operation, the wire is stably clamped by the four groups of positioning blocks 9, so that the device can be quickly positioned and stably carried on the wire, laying a foundation for subsequent ice melting short circuit operation.

[0021] When moving the device, the rack 1 is hoisted onto the UAV, and then the UAV operator remotely operates the device to be hoisted to the target area through the camera, watches the wire position through the camera, hoists the device to the wire directly above, then slowly descends, and fits with the wire through the positioning block 9.

[0022] First, referring to Figures 1 to 3 In this embodiment, the first clamping assembly 2 comprises a sliding block 201 slidingly connected inside the rack 1, and the sliding block 201 is key connected with the output end of the first electric push rod 5. One side of the sliding block 201 is bolted with a third electric push rod 206, the output end of the third electric push rod 206 is key connected with a first fixed clamping plate 202, and the third electric push rod 206 is opened. The output end will change the height of the first fixed clamping plate 202 and the first movable clamping plate 204. The bottom of the first fixed clamping plate 202 is hinged with a first movable clamping plate 204, and one side of the first fixed clamping plate 202 is bolted with a second electric push rod 205. The output end of the second electric push rod 205 is key connected with the first movable clamping plate 204, and the sliding block 201 is fixedly connected with one side of the second clamping assembly 3.

[0023] Specifically, in order to keep the balance of the first fixed clamping plate 202 in movement, the slide rail 203 is bolted at the bottom of the sliding block 201, and the first fixed clamping plate 202 is slidingly connected to the outer side of the slide rail 203, so that the slide rail 203 can provide protection for the movement of the first fixed clamping plate 202, avoid the imbalance and misplacement of the first fixed clamping plate 202 in movement, and ensure the normal use of the device.

[0024] Before clamping the wire, the second electric push rod 205 is turned on, so that the output end of the second electric push rod 205 pushes one side of the first movable clamping plate 204 to move towards the first fixed clamping plate 202. At this time, due to the hinging of the first movable clamping plate 204 and the first fixed clamping plate 202, the first movable clamping plate 204 rotates around one side of the first fixed clamping plate 202 as the axis. At this time, the gap between the first movable clamping plate 204 and the first fixed clamping plate 202 is exposed, and then the first electric push rod 5 is turned on, so that the output end of the first electric push rod 5 will push the sliding block 201 to displace. The movement of the sliding block 201 will change the position of the first fixed clamping plate 202 and the first movable clamping plate 204, so that the first fixed clamping plate 202 and the first movable clamping plate 204 quickly move to the outside of the wire. Then the output end of the second electric push rod 205 is controlled to move back. At this time, the first movable clamping plate 204 rotates back and cooperates with the first fixed clamping plate 202 to clamp and fix the wire.

[0025] Finally, referring to Figure 1 、 Figure 2 and Figure 4 , in the present embodiment, the second clamping assembly 3 comprises a moving frame 301 slidingly connected to the inside of the rack 1, and the moving frame 301 is fixedly connected with the sliding block 201. One side of the moving frame 301 is bolted with a fourth electric push rod 304 and a second fixed clamping plate 302. One side of the second fixed clamping plate 302 is hinged with a second movable clamping plate 303, and the second movable clamping plate 303 is keyed connected with the output end of the fourth electric push rod 304.

[0026] When the sliding block 201 displaces, it will drive the moving frame 301 to displace. The movement of the moving frame 301 will change the position of the second fixed clamping plate 302 and the second movable clamping plate 303. After the fourth electric push rod 304 is turned on, the output end of the fourth electric push rod 304 will push one side of the second movable clamping plate 303, so that the second movable clamping plate 303 rotates around one side of the second fixed clamping plate 302 as the axis. At this time, the gap between the second movable clamping plate 303 and the second fixed clamping plate 302 is exposed. When the wire is located between the second movable clamping plate 303 and the second fixed clamping plate 302, the output end of the fourth electric push rod 304 is controlled to move back. At this time, the second movable clamping plate 303 will rotate back and cooperate with the second fixed clamping plate 302 to clamp and fix the wire.

[0027] The top of the rack 1 is welded with a plurality of mounting seats 7 and a plurality of support seats 8, a plurality of connecting rods 10 are welded between the plurality of mounting seats 7, the number of the connecting rods 10 is two groups, the top of the four groups of positioning blocks 9 is respectively connected in sliding mode on the outer side of the two groups of connecting rods 10, the connecting rods 10 can keep the balance of the positioning blocks 9, so as to avoid the misplacement of the positioning blocks 9, a plurality of fixed rods 4 are welded between the plurality of support seats 8, the number of the fixed rods 4 is five groups, the sliding block 201 is connected in sliding mode on the outer side of the three groups of fixed rods 4, and the moving frame 301 is connected in sliding mode on the outer side of the two groups of fixed rods 4, so that the fixed rods 4 can provide balance for the sliding block 201 and the moving frame 301, and the misplacement of the sliding block 201 and the moving frame 301 during movement is avoided, and the outer sides of the fixed rods 4 and the connecting rods 10 are respectively provided with two groups of springs 6, one end of the plurality of springs 6 is welded with the positioning blocks 9, the sliding block 201 and the moving frame 301 respectively.

[0028] The ice melting short circuit device can be quickly and accurately attached to the wire in cooperation with the unmanned aerial vehicle, and the linkage of the first fixed clamping plate 202 and the first movable clamping plate 204 can quickly clamp the wire, so that the mobile ice melting is successfully realized, the problems of long time consumption and low efficiency of traditional butt joint are avoided, the device does not need manual climbing tower arrangement, the risk of high-altitude operation is fundamentally eliminated, the safety of the operator is firmly guaranteed, and the butt joint of the terminal line can be completed on the ground in advance, so that the industry pain points such as insufficient conductive area of the traditional butt joint device, difficulty in air butt joint and poor contact in the short circuit process are solved.

[0029] A four-split wire ice melting method based on an unmanned aerial vehicle platform, based on the four-split wire ice melting device based on the unmanned aerial vehicle platform, comprising: S1: the clamping mechanism is started: the second electric push rod and the fourth electric push rod are started synchronously, the first movable clamping plate and the first fixed clamping plate form a clamping gap, and the second movable clamping plate and the second fixed clamping plate form a clamping gap at the same time; S2: device positioning: the clamping device is positioned above the target wire by the unmanned aerial vehicle hoisting mechanism, the positioning block is attached to the wire in real time by using the camera, and it is ensured that the plurality of wires are respectively located in the clamping gap; S3: self-adaptive adjustment: when the wire does not completely contact the clamping mechanism, the first electric push rod is started to drive the sliding block to move, and the relative positions of the two groups of clamping mechanisms are adjusted through the linkage of the moving frame; S4: ice melting operation stage: the clamping mechanism is controlled to close to form a holding state, the wire is powered after the unmanned aerial vehicle is separated from the device, and the ice melting is realized through the Joule effect; S5: recovery verification stage: after the ice melting is completed, the temperature change of the wire is monitored through the camera, the clamping mechanism is controlled to reset and release the wire, and after the device is recovered to the ground, the appearance is detected and the data is recorded.

[0030] Preferably, the synchronous driving of the second and fourth electric push rods in step S1 adopts closed-loop pressure feedback control, which monitors the contact stress of the clamping surface in real time through a pressure sensor, triggers the push rod stroke locking mechanism when the stress value reaches the preset threshold, and ensures that the clamping force is stable within the range of 80-120N.

[0031] Preferably, the camera monitoring system in step S2 integrates a dual-spectrum imaging module, which identifies the temperature distribution on the surface of the wire through infrared thermal imaging, automatically calculates the wire sag parameter through machine vision algorithm, and dynamically adjusts the hovering attitude of the unmanned aerial vehicle to keep the positioning block and the lowest point of the wire within the preset positioning accuracy.

[0032] Preferably, the recycling verification stage in step S5 includes a secondary separation detection mechanism. When the hoisting acceleration of the unmanned aerial vehicle exceeds the threshold, the electromagnetic unlocking device in the clamping mechanism is triggered, and the Hall sensor detects the separation state of the lock to ensure that the wire is completely separated from the clamping surface before the return program is started.

[0033] Working principle: S1: First, turn on the second electric push rod 205 and the fourth electric push rod 304. At this time, the output end of the second electric push rod 205 pushes one side of the first movable clamping plate 204 to move towards the first fixed clamping plate 202. At this time, due to the hinge connection between the first movable clamping plate 204 and the first fixed clamping plate 202, the first movable clamping plate 204 rotates around one side of the first fixed clamping plate 202. At this time, the gap between the first movable clamping plate 204 and the first fixed clamping plate 202 is exposed. At the same time, the output end of the fourth electric push rod 304 will push one side of the second movable clamping plate 303, so that the second movable clamping plate 303 rotates around one side of the second fixed clamping plate 302. At this time, the gap between the second movable clamping plate 303 and the second fixed clamping plate 302 is exposed; S2: Then, hoist the rack 1 to the unmanned aerial vehicle, and then the unmanned aerial vehicle operator remotely operates the device through the camera to hoist it to the target area. The unmanned aerial vehicle operator watches the position of the wire through the camera, hoists the device above the wire, then slowly lowers it, and then the positioning block 9 and the wire are in close contact. Then, multiple groups of wires will be located between the first fixed clamping plate 202 and the first movable clamping plate 204, and between the second movable clamping plate 303 and the second fixed clamping plate 302; S3: If the wires are not in contact with the first fixed clamping plate 202, the first movable clamping plate 204, the second fixed clamping plate 302 and the second movable clamping plate 303, the position of the sliding block 201 can be adjusted by turning on the first electric push rod 5. The movement of the sliding block 201 can change the position of the first fixed clamping plate 202 and the first movable clamping plate 204, and the change in the position of the sliding block 201 will change the position of the second fixed clamping plate 302 and the second movable clamping plate 303 by changing the way the moving frame 301 moves, thereby allowing multiple groups of wires to be located between the first fixed clamping plate 202 and the first movable clamping plate 204 and between the second movable clamping plate 303 and the second fixed clamping plate 302, respectively. S4: Then, the output end of the second electric push rod 205 is controlled to push the first movable clamping plate 204. At this time, the first movable clamping plate 204 rotates and cooperates with the first fixed clamping plate 202 to clamp the wires, and at the same time, the output end of the fourth electric push rod 304 is controlled to push the second movable clamping plate 303 to move back. At this time, the second movable clamping plate 303 will rotate and cooperate with the second fixed clamping plate 302 to clamp the wires, thereby clamping the device and the wires tightly, achieving sufficient contact area between the wires and the clamping to withstand a 4000A impact current. Then, after the device is tightly attached to the four-split wires, the unmanned aerial vehicle is separated from the device, and finally the wires are powered to achieve the effect of short-circuit heating and ice melting. S5: Finally, after the ice melting process is completed, the operator monitors the temperature change of the wires and the ice melting state in real time through the remote camera, confirms that the desired effect is achieved, and then recovers. The unmanned aerial vehicle operator controls the unmanned aerial vehicle to fly over the device again, then the device is hoisted onto the unmanned aerial vehicle, and then the second electric push rod 205 and the fourth electric push rod 304 are controlled again to make the first movable clamping plate 204 and the second movable clamping plate 303 rotate and release the wires, and then the device is slowly lifted to separate from the wires to avoid secondary contact with the wires. Subsequently, the unmanned aerial vehicle safely hoists the device back to the ground and the operator immediately inspects the appearance of the device and tests its function, records the ice melting data and evaluates the operation efficiency. At the same time, the wires return to normal operating state. The entire process does not require manual climbing, significantly improving safety and operational convenience.

[0034] Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A four-split wire de-icing device based on an unmanned aerial vehicle (UAV) platform, characterized in that, include: Rack (1); Two sets of first electric push rods (5), the first electric push rods (5) are set on one side of the frame (1); Two sets of first clamping assemblies (2), each first clamping assembly (2) includes a slider (201), the slider (201) being slidably disposed inside the frame (1), one side of the slider (201) being keyed to the output end of a first electric push rod (5), a third electric push rod (206) being disposed on one side of the slider (201), the output end of the third electric push rod (206) being keyed to a first fixed clamping plate (202), a second electric push rod (205) being disposed on one side of the first fixed clamping plate (202), the output end of the second electric push rod (205) being keyed to a first movable clamping plate (204), and the first movable clamping plate (204) and the first fixed clamping plate (202) being hinged; and Two sets of second clamping components (3) are fixedly arranged on one side of the second clamping component (3) and the slider (201).

2. The de-icing short-circuit device according to claim 1, characterized in that, The frame (1) has multiple sets of mounting seats (7) on one side, and a connecting rod (10) is provided between the multiple sets of mounting seats (7). Two sets of positioning blocks (9) are slidably provided on the outer side of the connecting rod (10), and the side of the positioning block (9) away from the connecting rod (10) passes through the frame (1).

3. The de-icing short-circuit device according to claim 1, characterized in that, The frame (1) has multiple sets of support seats (8) on one side, and fixed rods (4) are arranged between the multiple sets of support seats (8). The slider (201) and the second clamping assembly (3) are respectively slidably arranged on the outside of the multiple sets of fixed rods (4).

4. The de-icing short-circuit device according to claim 1, characterized in that, The second clamping assembly (3) includes a movable frame (301), which is slidably disposed inside the frame (1), and the movable frame (301) and the slider (201) are fixedly disposed. A second fixed clamping plate (302) is disposed on one side of the movable frame (301), and a fourth electric push rod (304) is disposed on one side of the second fixed clamping plate (302). The output end of the fourth electric push rod (304) is keyed to a second movable clamping plate (303), and the second movable clamping plate (303) is hinged to the second fixed clamping plate (302).

5. The de-icing short-circuit device according to claim 1, characterized in that, A slide rail (203) is provided on one side of the slider (201), and the first fixed clamp (202) is slidably disposed on the outside of the slide rail (203).

6. The de-icing short-circuit device according to claim 4, characterized in that, The frame (1) has multiple sets of sliding grooves inside, and the slider (201) and the moving frame (301) are slidably disposed in the sliding grooves.

7. A method for de-icing four-split conductors based on an unmanned aerial vehicle (UAV) platform, comprising the de-icing device for four-split conductors based on an UAV platform as described in any one of claims 1 to 6, characterized in that, include: S1 clamping mechanism Start-up: Simultaneously start the second and fourth electric push rods to drive the first movable clamping plate to form a clamping gap with the first fixed clamping plate, and at the same time drive the second movable clamping plate to form a clamping gap with the second fixed clamping plate; S2: Device positioning: The clamping device is positioned directly above the target wire using a drone hoisting mechanism. A camera monitors the positioning block in real time to ensure that the positioning block fits the wire, ensuring that multiple sets of wires are located within the clamping gap. S3: Adaptive adjustment: When the wire is not fully in contact with the clamping mechanism, the first electric push rod is activated to drive the slider to move, and the relative position of the two clamping mechanisms is adjusted through the linkage of the moving frame. S4: De-icing operation stage: Control the clamping mechanism to close and form a tight grip, so that the drone is separated from the device and the wire is energized to achieve short-circuit de-icing through the Joule heating effect; S5: Recycling Verification Phase: After the ice melt is completed, the temperature change of the wire is monitored by the camera, the clamping mechanism is controlled to reset and release the wire, and the recycling device is brought to the ground for appearance inspection and data recording.

8. The method for de-icing a four-split conductor based on an unmanned aerial vehicle platform according to claim 1, characterized in that: In step S1, the synchronous drive of the second and fourth electric push rods adopts closed-loop pressure feedback control. The pressure sensor monitors the contact stress of the clamping surface in real time. When the stress value reaches the preset threshold, the push rod stroke locking mechanism is triggered to ensure that the clamping force is stable within the preset range.

9. A method for de-icing four-split conductors based on an unmanned aerial vehicle platform according to claim 8, characterized in that: The camera monitoring system described in step S2 integrates a dual-spectrum imaging module, which identifies the surface temperature distribution of the conductor through infrared thermal imaging, and automatically calculates the conductor sag parameters by combining machine vision algorithms, dynamically adjusting the drone's hovering attitude to maintain the preset positioning accuracy between the positioning block and the lowest point of the conductor.

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