Unmanned aerial vehicle and unmanned aerial vehicle operation method

Abstract

The embodiment of the invention provides an unmanned aerial vehicle and an unmanned aerial vehicle operation method, and the unmanned aerial vehicle comprises an unmanned aerial vehicle main body; the fixing device is arranged on the unmanned aerial vehicle body and used for being fixed to a target object when the unmanned aerial vehicle body flies to a target position; and the operation device is arranged on the unmanned aerial vehicle main body and is used for operating the object after the unmanned aerial vehicle main body is fixed on the target object. According to the unmanned aerial vehicle and the unmanned aerial vehicle operation method, when the unmanned aerial vehicle is fixed to the target object through the fixing device, close-range operation can be conducted through the operation device carried on the unmanned aerial vehicle body, the operation efficiency can be improved, and the operation difficulty can be reduced.

Description

Technical Field

[0001] This application relates to unmanned aerial vehicle (UAV) technology, and more particularly to a UAV and a method for operating UAVs. Background Technology

[0002] High-voltage line freezing is a significant hazard. Firstly, freezing increases the load on high-voltage lines, potentially causing wire breakage or pole collapse, leading to widespread power outages and severely impacting residential lives and industrial production. Secondly, power outages result in high repair costs, indirectly causing substantial economic losses to businesses and individuals. Therefore, in low-temperature regions or during winter, it is necessary to organize de-icing personnel to remove ice from high-voltage lines and towers. Traditionally, this involves people climbing the towers to manually knock off the ice, but this method is inefficient and carries high safety risks.

[0003] In recent years, drones have been increasingly used for de-icing operations. For example, drones can be used to carry de-icing rods, which fly along a predetermined trajectory to strike high-voltage lines and remove ice. Some drones also carry de-icing robots that travel along high-voltage lines to perform de-icing operations.

[0004] However, all the aforementioned de-icing operations using drones require the drones to operate while in motion. For example, in the first scenario, the drone needs to use a de-icing rod to strike the high-voltage line during flight to remove ice. In the second scenario, the drone needs to precisely align the de-icing robot with the high-voltage line before it can move along it, and the drone also needs to follow the robot. Therefore, the requirements for the drone's flight trajectory are extremely high. Furthermore, due to wind influences, achieving high-precision positioning for the drone is difficult.

[0005] In addition, maintenance work on high-voltage lines and towers is also quite difficult, especially in severe weather conditions such as strong winds, rain, and snow, where high-altitude operations pose a very high risk to operators.

[0006] For ships, de-icing is also crucial. During navigation, thick layers of ice can freeze over the superstructure and equipment surfaces. This can cause rotating equipment such as radar to malfunction, icy staircases to pose significant safety hazards, and icy windows to impair the visibility of passengers. Furthermore, it frequently results in hatches freezing shut, preventing personnel from opening them from inside. Summary of the Invention

[0007] To address one of the aforementioned technical deficiencies, this application provides a drone and a drone operation method.

[0008] According to a first aspect of the embodiments of this application, a drone is provided, comprising: The main body of the drone; A fixing device, installed on the main body of the drone, is used to fix the main body of the drone to the target object when the drone flies to the target position; The working device is mounted on the main body of the drone and is used to perform operations on the object after the main body of the drone is fixed to the target object.

[0009] According to a second aspect of the embodiments of this application, a method for operating a drone is provided, comprising: Control the main body of the aircraft to fly to the target location; Control the fixing devices on the main body of the aircraft to fix it to the target object; Control the working devices on the main body of the aircraft to perform operations on the target object.

[0010] When the drone provided in this application is fixed to a target object by a fixing device, it can perform close-range operations using the working device carried on the drone body. Compared with the traditional method of drones operating while in motion, the operation of drones under fixed conditions can improve work efficiency and reduce work difficulty. Attached Figure Description

[0011] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of a drone equipped with an electromagnetic adsorption component, provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of the electromagnetic adsorption component provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of another electromagnetic adsorption component in a drone provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of another electromagnetic adsorption component in a drone provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a drone equipped with a vacuum adsorption component provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the vacuum adsorption assembly provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of a drone equipped with a hook structure provided in an embodiment of this application; Figure 8 This is a schematic diagram of the hook structure provided in the embodiments of this application; Figure 9 This is a schematic diagram of the structure of a drone equipped with a heating component, provided in an embodiment of this application. Figure 10This is a schematic diagram of the structure of the heating assembly provided in an embodiment of this application; Figure 11 A schematic diagram of a drone equipped with another heating component is provided for an embodiment of this application; Figure 12 This is a schematic diagram of another heating component provided in an embodiment of this application; Figure 13 This is a schematic diagram of the knocking de-icing structure provided in an embodiment of this application; Figure 14 This is a schematic diagram of the vibration de-icing structure provided in the embodiments of this application; Figure 15 A schematic diagram of the structure of a drone equipped with an ice-removing shovel provided in an embodiment of this application; Figure 16 This is a schematic diagram of the structure of the de-icing shovel provided in an embodiment of this application; Figure 17 This is a schematic diagram of the flaw detection mechanism provided in the embodiments of this application; Figure 18 This is a schematic diagram of the structure of a drone equipped with a welding torch provided in an embodiment of this application; Figure 19 This is a schematic diagram of the welding torch provided in an embodiment of this application; Figure 20 This is a schematic diagram of the structure of a drone equipped with a threading tool, provided in an embodiment of this application. Figure 21 A schematic diagram of the structure of the threading tool provided in the embodiments of this application; Figure 22 A schematic diagram of the structure of a drone equipped with a grinding mechanism provided in an embodiment of this application; Figure 23 This is a schematic diagram of the grinding mechanism provided in the embodiments of this application; Figure 24 A schematic diagram of the structure in which various tools provided in the embodiments of this application are arranged side by side; Figure 25 This is a schematic diagram of the overall three-dimensional structure of the de-icing drone provided in the embodiments of this application; Figure 26 This is a schematic diagram of the overall structure of the fixing structure and the de-icing structure of the de-icing device provided in the embodiments of this application; Figure 27 This is a three-dimensional structural diagram of the fixing structure of the de-icing device provided in the embodiments of this application; Figure 28 This is a side cross-sectional view of the fixing structure of the de-icing device provided in the embodiments of this application; Figure 29 This is a schematic diagram of the magnetic fixing component structure of the de-icing device provided in the embodiments of this application; Figure 30 This is a schematic diagram of the magnetic fixing component structure of a de-icing device provided in another embodiment of this application; Figure 31 yes Figure 28 Enlarged view of point A in the middle; Figure 32 This is a side view of the fixing structure and the de-icing structure of the de-icing device provided in the embodiments of this application; Figure 33 This is a front view schematic diagram of the fixing structure and the de-icing structure of the de-icing device provided in the embodiments of this application; Figure 34 This is a flowchart of the drone operation method provided in the embodiments of this application.

[0012] Figure label: 1-Unmanned Aerial Vehicle (UAV); 11-Airframe; 12-Power System; 13-Connecting Arm; 14-Mounting Beam; 2-Fixed structure; 21-Mounting assembly; 211-Fixing part; 2111-Sliding guide rail; 2112-Limiting hole; 2113-Mounting base; 212-Mounting part; 2121-Telescopic slide rod; 2122-Collar ring; 213-Rotating component; 2131-Support base; 2132-Rotating shaft; 214-Telescopic drive component; 215-Locking fastener; 22-Magnetic fixing assembly; 221-Electromagnet; 222-Mounting housing; 23-Heating assembly; 231-Heating coil; 232-Heating element; 3-De-icing structure; 31-Impact de-icing component; 311-De-icing plate; 32-Moving part; 321-Mounting rod; 33-Impact driving component; 34-Scraper; 35-Oscillating driving component; 41-Electromagnetic adsorption component; 42-Vacuum adsorption component; 43-Hook structure; 51-Heating element; 52-Heating body; 53-Heating cylinder; 61-Ice remover; 62-Tapping head; 63-Ice remover mounting base; 64-Vibrating component; 65-Vibration generator; 66-Vibrating component mounting base; 67-Ice remover scraper; 68-Scraper connecting rod; 69-Scraper mounting base; 71-Flaw detector; 72-Flaw detector mounting base; 81-Maintenance robot; 82-Welding torch; 83-Threading tool; 84-Grinding frame; 85-Grinding head. Detailed Implementation

[0013] Please provide as many detailed diagrams as possible to illustrate the specific solutions for the parts highlighted in yellow below. Specific structures can be numbered in the diagrams. Please provide an editable version for future adjustments and modifications.

[0014] It can provide an overall view of the drone, showing the various components mounted on it; it can also provide detailed views of each component.

[0015] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0016] This embodiment provides a drone, including: a drone body, a fixing device, and an operating device. The drone body can be an existing drone, an improved version of an existing drone, or a redesigned drone body as needed, as long as it can meet the requirements of flight, positioning, carrying the fixing device, and the operating device. The drone can fly autonomously or be remotely controlled.

[0017] Both the fixing device and the working device are mounted on the main body of the drone. The fixing device is used to secure the drone to the target object when it flies to the target location. The target object can be a tall object such as a building, high-voltage line, tower, or wind turbine, or an object that is more difficult to work on, such as a ship or bridge. The working device is used to perform operations on the target object after the main body of the drone is fixed to it, such as de-icing, cleaning, and maintenance.

[0018] When a drone is fixed to a target object using a mounting device, it can perform close-range operations using the working device carried on the drone body. Compared to traditional drone operations while in motion, this application's method of operating while fixed improves operational efficiency and reduces operational difficulty.

[0019] Based on the above, the fixing device provided in this embodiment can be at least one of an adsorption structure and a hook structure. The adsorption structure is used to adhere to the surface of a target object to achieve a fixing effect. For example, an electromagnetic adsorption component can be used to adhere to the surface of an iron-containing target object, such as a steel tower, utility pole, or contact wire support, through electromagnetic force. During the drone's flight, the electromagnetic adsorption component is energized but does not generate magnetic force; when the drone reaches the target object's surface, the electromagnetic adsorption component is de-energized and generates magnetic force to adhere to the target object for operation. The de-energization of the electromagnetic adsorption component during operation saves energy. This solution can also be used in drone-assisted fishing scenarios. The drone flies to a target object, such as a bridge, and then adheres to the bottom or side of the bridge through the de-energized electromagnetic adsorption component. The drone then lowers the hook and bait into the water, and when it detects significant hook movement, it lifts the hook to complete the catch.

[0020] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the drone 1 includes: a drone body, a fixing device, and an operating device. The drone body can be an existing drone or a redesigned version based on the functions of this embodiment. The drone body is equipped with a propeller, a power unit, a positioning device, and a communication device, etc. A connecting arm 13 extends from the top or bottom of the drone body for connecting the fixing device and / or the operating device.

[0021] Figures 1 to 4 In the process, the fixing device is an electromagnetic adsorption component 41. During the flight of the UAV, the electromagnetic adsorption component 41 is energized and does not generate magnetic force; when the UAV reaches the surface of the target object, the electromagnetic adsorption component 41 is de-energized and generates magnetic force to adsorb onto the target object to perform the operation.

[0022] One specific embodiment is as follows: a mounting beam 14 is fixed to the bottom of the connecting arm 13, and the bottom of the connecting arm 13 is fixed to the middle of the mounting beam 14. Electromagnetic adsorption components 41 are provided at both ends of the mounting beam 14.

[0023] Figure 1 and Figure 2 The electromagnetic adsorption assembly 41 is a type of component with rectangular magnetic poles arranged side by side. The electromagnetic adsorption assemblies 41 are located at both ends of the front of the mounting beam 14, with an interface for mounting to the working device in the middle. The wires of the electromagnetic adsorption assembly 41 are located on the back of the mounting beam 14, passing through the connecting arm 13 and connecting to the power supply device of the drone.

[0024] Figure 3 It is another electromagnetic adsorption component 41, whose magnetic poles are circular. Figure 4 It is another electromagnetic adsorption component 41, which adopts a magnetic pole structure that combines circular and rectangular shapes.

[0025] Alternatively, a vacuum adsorption assembly can be used, which uses negative pressure to adsorb the material onto the surface of the target object. This method can be applied to relatively smooth surfaces, such as glass, ice, painted surfaces, and plastic surfaces. Figure 5 and Figure 6 As shown, the difference from the above scheme is that vacuum adsorption components 42 are provided at both ends of the mounting beam 14. A vacuuming mechanism can be installed on the mounting beam 14 or the drone body to evacuate the vacuum adsorption components 42.

[0026] Hook structures are used to attach to target objects, such as overhead contact lines, high-voltage lines, and towers. The hook structure has an insulating pad on the surface in contact with the target object to prevent electrical conduction. One embodiment includes a retractable hook that extends from the drone's body and attaches to the target object when the drone flies to the target location.

[0027] like Figure 7 and Figure 8 As shown, the difference from the above scheme is that hook structures 43 are set at both ends of the mounting beam 14. The hook structure 43 is made of high-strength sheet material, and its top is bent to form a hook shape. The size of the hook shape can be set according to the target object.

[0028] The above-described embodiments of the adsorption and hook structures are merely examples. Those skilled in the art can also use other fixing methods to fix the drone to the target object. The drone may only have an adsorption structure or only a hook structure. Alternatively, the drone may have both an adsorption structure and a hook structure, and during operation, only one or both can be used to improve the stability.

[0029] The adsorption and hook structures can be detachably installed on the main body of the drone, and can be disassembled and replaced as needed, which provides greater flexibility and reduces flight load.

[0030] One embodiment is as follows: the working device includes at least one of a de-icing structure and a maintenance structure. The de-icing structure is disposed on the main body of the drone and is used to perform de-icing operations on the target object after the main body of the drone is fixed to the target object. The maintenance structure is disposed on the main body of the drone and is used to perform maintenance operations on the target object after the main body of the drone is fixed to the target object.

[0031] Drones can be equipped with only a de-icing structure for de-icing target objects; or only a maintenance structure for inspecting and maintaining target objects; or both de-icing and maintenance structures can be set up, and can be operated sequentially or simultaneously during operation.

[0032] Alternatively, the de-icing and maintenance structures can be detachably mounted on the main body of the drone, allowing for replacement as needed and providing greater flexibility.

[0033] For de-icing structures, heating components can be included to generate heat and melt the ice on the target object's surface. These heating components can be heating pipes, heating plates, or heating strips. With heating pipes and heating plates, after the drone is fixed to the target object, the heating pipes or plates are brought close to the object and heating is activated to melt the ice on the target object's surface. For smaller or elongated objects, heating strips can be used. The drone pre-deploys the heating strip and flies around the target object to wrap it around the object. After the drone is fixed to the target object, heating is activated, achieving a rapid de-icing effect.

[0034] like Figure 9 and Figure 10As shown, the difference from the above scheme is that a heating pipe 51 is installed on the mounting beam 14. The heating pipe 51 is bent and arranged at the front of the mounting beam 14, and the power cable of the heating pipe 51 is arranged at the back of the mounting beam 14 and connected to the power supply mechanism of the UAV through the connecting arm 13.

[0035] The heating assembly can also be a high-temperature air blowing method, specifically including a heating cylinder, a heating element, and an air supply element. The heating cylinder has an airflow channel, and the air supply element is located at one end of the heating cylinder. When the air supply element is activated, it blows air from one end of the heating cylinder to the other, causing the air to flow orderly and rapidly within the heating cylinder. The heating element generates heat and heats the surrounding air. The hot air flows along the heating cylinder under the action of the air supply element and is blown out from one end. When a drone using the above heating assembly needs de-icing, the drone is first fixed to the target object, the air outlet of the heating cylinder is directed towards the target object, and then the heating element and air supply element are activated, causing hot air to blow towards the target object to melt the ice on its surface.

[0036] like Figure 11 and Figure 12 As shown, the difference from the above scheme lies in the fact that a heating assembly for high-temperature air blowing is provided on the mounting beam 14, specifically including: a heating body 52, a heating cylinder 53, a heating element, and an air supply element. The shape of the heating body 52 matches the mounting beam 14, and an installation space is provided inside the heating body 52, where both the heating element and the air supply element are installed. The heating cylinder 53 is located on one side of the heating body 52 and communicates with the installation space.

[0037] The heating element is used to generate heat and raise the temperature of the surrounding air. The air supply element causes the high-temperature air to flow toward the heating cylinder 53 and is then delivered from the heating cylinder 53.

[0038] Figure 11 The fixing device is omitted above, but any of the fixing devices mentioned above can be used. The drone is fixed to the target object using the fixing device, with the heating cylinder 53 facing the target object. Then the heating component is activated, and the heating cylinder 53 sends out hot air to melt the ice on the surface of the target object, achieving a good de-icing effect.

[0039] In another approach, the de-icing structure may include a de-icing rod, a de-icing rod transmission mechanism, and a de-icing rod drive mechanism. The de-icing rod drive mechanism drives the de-icing rod to reciprocate in the direction of approaching and moving away from the target object through the de-icing rod transmission mechanism. The speed of movement in the direction of approaching the target object is greater than the speed of movement away from the target object, thereby striking the ice on the surface of the target object and breaking it by creating cracks in the ice.

[0040] like Figure 5 and Figure 13As shown, this embodiment provides a de-icing structure, including: an ice remover 61, a striking head 62, an ice remover mounting base 63, an ice remover drive mechanism, and an ice remover transmission mechanism. The ice remover mounting base 63 is mounted on the middle of the mounting beam 14. One end of the ice remover 61 is hinged to the ice remover mounting base 63 and can rotate relative to it. The striking head 62 is provided at the other end of the ice remover 61. The ice remover drive mechanism and the ice remover transmission mechanism are mounted on the ice remover mounting base 63 and are used to apply rotational force to the ice remover 61, causing it to rotate relative to the ice remover mounting base 63.

[0041] One implementation method is as follows: the de-icing rod driving mechanism drives the de-icing rod 61 to rotate upward to a position higher than the target object, and then the de-icing rod 61 falls freely downward to strike the target object, causing the ice layer on the surface of the target object to break, thereby achieving the de-icing effect.

[0042] Another implementation method is: the de-icing rod driving mechanism drives the de-icing rod 61 to move toward the target object at a relatively fast speed, and hits the target object, causing the ice layer on the surface of the target object to break, thereby achieving the de-icing effect.

[0043] In another approach, the de-icing structure may include a vibration generator and a vibration actuator. The vibration generator is connected to the vibration actuator, which is in contact with the target object. The vibration generator generates vibration and transmits it to the target object through the vibration actuator to cause the ice on the target object to vibrate at a high frequency, so that the ice detaches from the surface of the target object under the high-frequency vibration and falls off, thus achieving the de-icing effect.

[0044] like Figure 7 and Figure 14 As shown, a structure for de-icing using vibration includes: a vibrating element 64, a vibration generator 65, and a vibrating element mounting base 66. The vibrating element mounting base 66 is mounted to the middle of the mounting beam 14, and the vibration generator 65 is mounted on the vibrating element mounting base 66. The end of the vibration generator 65 is connected to the vibrating element 64, and the vibration generator 65 can drive the vibrating element 64 to vibrate at high frequency.

[0045] The aforementioned vibration-based de-icing structure can be used in conjunction with a hook structure or an adsorption assembly. When the drone flies to the target location, it is fixed to the surface of the target object via the hook structure or adsorption assembly. The vibrating element 64 then presses against the surface of the target object, activating the vibration generator 65. The vibrating element 64 generates high-frequency vibrations that break the ice layer on the target object's surface, achieving the de-icing effect.

[0046] In another embodiment, the de-icing structure may include an ice scraper and an ice scraper driver, the ice scraper driver driving the ice scraper to press against and move on the surface of the object to remove the ice from the surface of the object.

[0047] like Figure 15 and Figure 16 As shown, an ice-removing shovel is mounted on the drone, specifically comprising an ice-removing shovel 67, a shovel connecting rod 68, a shovel mounting base 69, and an ice-removing shovel driver. The shovel mounting base 69 is mounted to the middle of the mounting beam 14. One end of the shovel connecting rod 68 is connected to the shovel mounting base 69, and the other end is connected to the ice-removing shovel 67. The shovel connecting rod 68 can be hinged to the shovel mounting base 69, or the ice-removing shovel 67 can be hinged to the shovel connecting rod 68. The ice-removing shovel 68 includes a shovel body and a shovel plate. The shovel body is connected to the shovel connecting rod 68, and the edge of the shovel plate is thinned and sharpened.

[0048] The aforementioned de-icing structure can be used in conjunction with a hook structure or an adsorption component. The drone flies to the target location and is fixed to the surface of the target object via the hook structure or adsorption component. The de-icing shovel driver drives the shovel linkage 68 and the de-icing shovel 67 to move to the surface of the target object and move along the surface of the target object to remove the ice from the surface of the target object.

[0049] Furthermore, an ice-blowing structure is adopted and installed on the main body of the drone to generate high-pressure gas to blow away ice shards or melted water on the surface of the target object, preventing it from refreezing.

[0050] The ice blowing structure can refer to the heating component of the high-temperature blowing device mentioned above, but the heating function is canceled, and only high-pressure gas is sent out to blow away the ice slag on the surface of the object through high-speed airflow.

[0051] The aforementioned inspection structure may include a flaw detection mechanism for inspecting the surface of the target object, such as detecting pits, cracks, deformation, loose bolts, etc. It may also inspect the interior of the target object, such as detecting internal cracks and strain.

[0052] like Figure 1 and Figure 17 As shown, a flaw detection mechanism is installed on the UAV. The flaw detection mechanism specifically includes a flaw detection mounting base 72 and a flaw detector 71, wherein the flaw detection mounting base 72 is installed at the middle of the mounting beam 14, and the flaw detector 71 is fixed to the flaw detection mounting base 72.

[0053] The aforementioned flaw detection structure can be used in conjunction with a hook structure or an adsorption assembly. The UAV flies to the target location and is fixed to the surface of the target object via the hook structure or adsorption assembly. The flaw detection structure then faces the target object to perform flaw detection.

[0054] The flaw detection structure transmits data to the drone via cable, and the drone communicates wirelessly with the control terminal to transmit the flaw detection data to the control terminal.

[0055] The inspection structure may also include an inspection robot for repairing damage to the surface of a target object. For example, a welding torch may be installed at the end of the inspection robot to melt metal and fill cracks and pits on the surface of the target object, thereby achieving welding repair of the area that needs to be repaired.

[0056] like Figure 18 and Figure 19 As shown, the maintenance robot 81 is located in the middle of the mounting beam 14, and the welding torch 82 is mounted to the maintenance robot 81. The maintenance robot 81 holds the welding torch 82 to weld the surface of the target object. Furthermore, the mounting beam 14 is also provided with a flux tank, and the maintenance robot 81 can also hold the welding torch 82 and move it into the flux tank to retrieve the flux.

[0057] The 81 inspection robot can perform automatic welding in conjunction with image detection, and can also achieve remote welding.

[0058] The aforementioned maintenance robot 81 can be used with a hook structure or an adsorption component. When the drone flies to the target location, it is fixed to the surface of the target object via the hook structure or adsorption component, and the maintenance robot 81 holds the welding torch 82 to perform welding operations.

[0059] Alternatively, if there are loose bolts, the maintenance robot can hold a threaded tool and tighten the bolts.

[0060] like Figure 20 and Figure 21 As shown, the maintenance robot 81 is positioned in the middle of the mounting beam 14. A threading tool 83 is mounted to the maintenance robot 81. The maintenance robot 81 clamps the threading tool 83 to disassemble or tighten the surface of the target object. The maintenance robot 81 can perform automatic alignment operations in conjunction with image detection, or it can be remotely controlled.

[0061] The aforementioned maintenance robot 81 can be used with a hook structure or an adsorption assembly. When the drone flies to the target location, it is fixed to the surface of the target object via the hook structure or adsorption assembly, and the maintenance robot 81 clamps the threaded tool 83 to perform the operation.

[0062] Alternatively, the damaged surface can be ground before welding. Therefore, a grinding mechanism can be installed at the end of the inspection robot to grind the areas of the target object's surface that need repair.

[0063] like Figure 22 and Figure 23As shown, a maintenance robot 81 is positioned in the middle of the mounting beam 14. A grinding mechanism is mounted to the maintenance robot 81, and the maintenance robot 81 holds the grinding mechanism to grind the surface of the target object. The grinding mechanism includes a grinding frame 84 and a grinding head 85, wherein the grinding frame 84 is connected to the end of the maintenance robot 81. The grinding head 85 is mounted on the grinding frame 84, and the grinding head 85 grinds the surface of the target object.

[0064] The maintenance robot 81 can perform automatic alignment operations in conjunction with image detection, and can also be remotely controlled. The aforementioned maintenance robot 81 can be used with a hook structure or an adsorption assembly. The drone flies to the target location and is fixed to the surface of the target object via the hook structure or adsorption assembly, whereupon the maintenance robot 81 clamps the grinding mechanism to perform the grinding operation.

[0065] One implementation is as follows: the maintenance robot includes a maintenance base, a tool socket, and a robotic arm. The maintenance base is mounted on the main body of the drone, and both the tool socket and the robotic arm are mounted on the maintenance base. The tool socket has at least two tool slots, such as those for accommodating screwdrivers and welding torches. The front end of the robotic arm has a connecting part that can connect multiple tools, facilitating the replacement of appropriate tools for repairing the target object.

[0066] like Figure 24 As shown, the grinding mechanism, threading tool 83, and welding torch 82 are arranged side by side and placed on the tool socket of the maintenance base. The maintenance robot can connect one of the tools as needed. After use, the tool is returned to the tool socket and then disconnected.

[0067] like Figure 34 As shown. Based on the above technical solution, this embodiment provides a method for operating a drone, including: Step 101: Control the main body of the aircraft to fly to the target position.

[0068] In this step, the method of controlling the main body of the aircraft can be specifically set according to the model of the main body of the aircraft, and can be implemented using existing methods in the prior art.

[0069] Step 102: Control the fixing device on the main body of the aircraft to fix it to the target object.

[0070] In this step, the fixing mechanism includes at least one of an adsorption component and a hook component. When the fixing mechanism is an adsorption component, this step specifically involves controlling the adsorption component to adsorb onto the surface of the target object; when the mechanism is a hook component, this step specifically involves controlling the hook component to hook onto the target object.

[0071] Specifically, when the adsorption component is an electromagnetic adsorption component, it is energized to generate a magnetic force that adsorbs the iron-containing target object surface. When the adsorption component is a vacuum adsorption component, it is evacuated to generate a vacuum negative pressure that adsorbs the target object surface.

[0072] Step 103: Control the working device on the main body of the aircraft to perform operations on the target object.

[0073] The working device includes at least one of a de-icing structure and a maintenance structure. When the working device is a de-icing structure, this step specifically involves controlling the de-icing structure to perform de-icing operations on the target object. When the working device is a maintenance structure, this step specifically involves controlling the maintenance structure to perform maintenance operations on the target object.

[0074] One implementation of the de-icing structure is as follows: if the de-icing structure is a heating component, then the heating component is controlled to generate heat and move close to the target object to melt the ice on the surface of the target object.

[0075] When the de-icing structure includes an ice remover, an ice remover transmission mechanism, and an ice remover drive mechanism, the ice remover drive mechanism is controlled to work. The ice remover transmission mechanism drives the ice remover to reciprocate in the direction of approaching and moving away from the target object. The speed of movement in the direction of approaching the target object is greater than the speed of movement away from the target object, thereby knocking the ice on the surface of the target object.

[0076] The de-icing structure includes a vibration generator and a vibration actuator. When the vibration generator is controlled to generate vibration, it is transmitted to the target object through the vibration actuator to cause the ice on the target object to vibrate.

[0077] The de-icing structure includes an ice scraper and an ice scraper driver. When the ice scraper driver is controlled to work, it drives the ice scraper to move to the surface of the target object and move on the surface of the target object to remove the ice from the surface of the target object.

[0078] Furthermore, an ice-blowing structure is employed. The process of controlling the ice-blowing structure to remove ice from the target object also includes: controlling the ice-blowing structure to generate high-pressure gas and spraying the high-pressure gas onto the ice slag on the object's surface.

[0079] For the inspection structure, the inspection structure includes at least one of the following: a flaw detection mechanism and a maintenance robot. When the inspection structure is a flaw detection mechanism, the flaw detection mechanism is controlled to inspect the surface of the target object.

[0080] When the inspection structure is an inspection robot, control the inspection robot to repair the damage on the surface of the target object. For example, control the robot arm in the inspection robot to take the first tool out of the tool socket, then control the robot arm to move the first tool to the damaged position on the surface of the target object to perform the operation, then control the robot arm to move to the tool socket and put the first tool back into the tool socket.

[0081] If a second tool needs to be replaced, after the first tool is put back into the tool socket, the robotic arm is controlled to move to the position of the second tool, the second tool is taken out of the tool socket, and then the robotic arm is controlled to move the second tool to the damaged position on the surface of the target object for operation.

[0082] In addition to the above-mentioned de-icing solution, this embodiment also provides a specific implementation method.

[0083] This application provides a drone equipped with a fixed structure and a de-icing structure, which facilitates quick installation and disassembly and enables flexible de-icing operations in various environments. It is suitable for de-icing in high-altitude or hard-to-access areas such as ship superstructures, enhancing the applicability and flexibility of the device. It can effectively solve the problem of ice accumulation on ship superstructures, ensure the safety of ship navigation, and reduce the risks and costs of manual de-icing.

[0084] It should be noted that the de-icing device described in this application is used for, but not limited to, de-icing drones. For ease of explanation, this application only uses the application of the de-icing device to drones as an example. The principle of the de-icing device in other types of facilities is essentially the same as that in drones, such as ground robots and watercraft. Only the connection method of the installation components needs to be adapted according to the characteristics of the specific platform. These will not be elaborated here. This embodiment only uses the de-icing of ships as an example.

[0085] like Figures 25 to 27 In this embodiment, the main body of the drone is provided with a fixing structure 2 and a de-icing structure 3. The fixing structure 2 includes an installation component 21 and at least one magnetic fixing component 22. One end of the at least one magnetic fixing component 22 is connected to the main body of the drone through the installation component 21, and the other end is used to magnetically attract and fix the object to be de-iced. The de-icing structure 3 is installed on the installation component 21 and has a de-icing end for removing the ice layer from the object to be de-iced.

[0086] In this scheme, a fixed structure 2 and a de-icing structure 3 are set up. Through the magnetic force generated by the magnetic fixing component 22, the fixed structure 2 can be attracted and fixed to the object to be de-iced, ensuring a stable connection between the de-icing structure 3 and the object to be de-iced. This allows the de-icing structure 3 to effectively remove ice from various locations of the ship's superstructure, while ensuring the safety and stability of the de-icing operation.

[0087] Since the magnetic fixing component 22 relies on the magnetic field generated by the current to attract magnetic materials, the surface of the object to be de-iced needs to have a certain magnetic properties or be attracted by magnetic materials. These materials can be iron, nickel, cobalt and their alloys, etc., to ensure that the magnetic fixing component 22 can be stably attracted.

[0088] In practical applications, the thickness and distribution of ice on the ship's superstructure may vary. To address these differences, the design of the de-icing device must possess a certain degree of flexibility and adaptability. Therefore, in this embodiment, the mounting component 21 has a rotating state relative to the drone body and a locked state relative to the drone body. When the ice layer is thick enough that the magnetic fixing component 22 cannot firmly adhere to the object, the relative position between the magnetic fixing component 22 and the object to be de-iced can be flexibly adjusted by adjusting the rotation state of the mounting component 21, thereby finding the optimal adsorption point and ensuring that the de-icing device can be stably fixed to the object to be de-iced. The locked state of the mounting component 21 ensures that the de-icing device will not shift or fall off due to external forces during the de-icing operation, further improving the safety and stability of the de-icing operation.

[0089] like Figures 25 to 27 To improve stability when adsorbed onto the surface of the ship's superstructure, in some possible embodiments, the mounting assembly 21 includes a fixing part 211, at least one mounting part 212, and a rotating member 213. The fixing part 211 is connected to the drone body, and the two mounting parts 212 are respectively disposed at opposite ends of the fixing part 211. Each mounting part 212 is connected to a magnetic fixing assembly 22, and the fixing part 211 can be fixed to the superstructure of the ship via the mounting parts 212 at both ends and the magnetic fixing assembly 22. Meanwhile, the de-icing structure 3 is installed on one side of the fixing part 211 and between two of the mounting parts 212. This makes the fixing structure 2 more stable, able to withstand greater de-icing force, while maintaining the compactness of the structure, facilitating drone carrying and operation. The rotating member 213 is rotatably connected to the fixing part 211 and configured to be connected to the drone body; enabling the fixing part 211 to be rotatably mounted relative to the drone body. Simultaneously, the magnetic fixing assembly 22 is rotatably connected to the mounting part 212. Since the fixing part 211 can rotate relative to the drone 1, and the mounting part 212 is also rotatably connected to the magnetic fixing component 22, the two magnetic fixing components 22 can flexibly adjust their relative position angle.

[0090] To further improve the stability of the de-icing device during de-icing operations, in some possible embodiments, there are at least two magnetic fixing components 22. These at least two magnetic fixing components 22 are respectively disposed on both sides of the rotation axis of the mounting component 21 and are rotatably connected to the mounting component 21. Correspondingly, to facilitate the installation of the magnetic fixing components 22, there are also at least two mounting portions 212. These at least two mounting portions 212 are respectively disposed on both sides of the rotation axis of the rotating component 213, with the number equal to the number of magnetic fixing components 22, and each mounting portion 212 corresponds to at least one magnetic fixing component 22. This design allows the two magnetic fixing components 22 to form a stable support point when the de-icing device is attached to the object to be de-iced, further enhancing the stability of the de-icing device during de-icing operations. Meanwhile, the rotatable connection between the magnetic fixing component 22 and the mounting part 212 allows the magnetic fixing component 22 to flexibly adjust its relative position angle. Specifically, during operation, the operator can first attach one magnetic fixing component 22 to a fixed point on the superstructure of the ship, based on the thickness and distribution of the ice layer, and then control the drone 1 to move the other magnetic fixing component 22 on the superstructure to find another suitable fixing point for attachment. This design ensures that the de-icing device can adapt to the shape and distribution of the ice layer on the superstructure, thereby ensuring that the de-icing structure 3 can stably adhere to the superstructure for efficient de-icing operations. Furthermore, this design allows the device to operate on objects to be de-iced at different heights and angles, greatly expanding the application range of the de-icing drone.

[0091] Furthermore, in order to maintain the locked state of the mounting component 21 relative to the drone body, such as Figure 27 , Figure 28 and Figure 31 In some possible embodiments, the mounting component 21 further includes a locking member 215 disposed between the rotating member 213 and the fixed part 211 for locking or unlocking the relative position of the fixed part 211 and the rotating member 213, so as to lock the fixed part 211 and the rotating member 213 in a suitable position by means of the locking member 215.

[0092] To further enhance the flexibility of the magnetic attraction position and ensure the accuracy and stability of the magnetic attraction fixing assembly 22 during the adsorption process, in this embodiment, the fixing part 211 and the mounting part 212 are slidably connected. The mounting part 212 can slide along the sliding guide rail 2111 of the fixing part 211 to accommodate objects of different sizes and varying ice thickness distributions to be de-iced.

[0093] In order to drive the mounting part 212 to slide relative to the fixed part, such as Figures 25 to 28In some possible embodiments, a telescopic drive member 214 is further provided between the fixing part 211 and the mounting part 212. The two mounting parts 212 are respectively connected to the fixing part 211 via the telescopic drive member 214, allowing them to move relative to the fixing part 211 under the telescopic drive of the telescopic drive member 214 to adjust the position of the magnetic fixing assembly 22, further enhancing the adaptability and flexibility of the device. Through precise control of the telescopic drive member 214, the distance between the two magnetic fixing assemblies 22 can be controlled, enabling fine-tuning of the position of the magnetic fixing assembly 22 and ensuring that the fixing structure 2 can accurately adhere to the thinner ice layer, improving de-icing efficiency. Furthermore, the telescopic function of the telescopic drive member 214 supports pre-adjustment and calibration of the device before operation, reducing errors and unnecessary adjustment time during operation and improving operational efficiency.

[0094] Of course, in other possible embodiments, the magnetic position can be flexibly adjusted by folding and retracting. For example, a robotic arm can be set on the mounting part 212. By folding and extending the robotic arm, the position and angle of the magnetic fixing component 22 can be adjusted to adapt to objects of different shapes and sizes to be de-iced.

[0095] In one embodiment, when two magnetic fixing components 22 and two mounting parts 212 are provided, the fixing part 211 includes a sliding guide rail 2111, and each mounting part 212 includes a telescopic slide rod 2121. The telescopic drive component 214 is a first electric telescopic rod, and the rotating component 213 includes a support base 2131 and a rotating shaft 2132. Both ends of the sliding guide rail 2111 have grooves along its length. One end of the telescopic slide rod 2121 is slidably disposed within the groove, and the other end has a collar 2122. The collar 2122 is rotatably fitted onto the outside of the magnetic fixing component 22. The first electric telescopic rod connects the telescopic slide rod 2121 to the bottom of the groove. The telescopic movement of the first electric telescopic rod drives the telescopic slide rod 2121 to slide within the groove, thereby adjusting the position of the magnetic fixing component 22. The sliding design of the sliding guide rail 2111 and the telescopic slide rod 2121 also enhances the durability and load-bearing capacity of the device. The support base 2131 is fixedly installed on the drone 1, and the rotating shaft 2132 is fixedly installed on the support base 2131. The rotating shaft 2132 passes through the middle of the sliding guide rail 2111 and is rotatably connected to the sliding guide rail 2111, so that the sliding guide rail 2111 can rotate relative to the drone 1.

[0096] In use, the operator can, based on the specific condition of the ice layer on the object to be de-iced, use the drone 1 to drive one of the magnetic fixing components 22 to a fixed point on the superstructure of the ship. Then, the drone 1 is activated again, causing the sliding guide rail 2111 to rotate relative to the drone 1. Simultaneously, the other magnetic fixing component 22 moves on the superstructure to find another suitable fixing point. At this time, due to the sliding connection between the telescopic slide rod 2121 and the slide groove, and the rotational connection between the collar 2122 and the magnetic fixing component 22, the operator can flexibly adjust the position and angle of the magnetic fixing component 22 to ensure that it can stably adhere to a thinner or more easily adhered position on the superstructure of the ship.

[0097] It should be noted that in other possible embodiments, the telescopic drive component 214 can also be in the form of a hydraulic cylinder or a pneumatic cylinder to achieve the telescopic drive function. The fixed part 211, the mounting part 212, and the rotating part 213 can also adopt other structural forms. For example, the fixed part 211 can be designed as a frame structure, the mounting part 212 can be designed as a detachable hanger, and the rotating part 213 can be designed as a hinge connection, etc., to adapt to different usage requirements and working environments.

[0098] Understandably, in other possible embodiments, when three or more magnetic fixing components 22 and mounting parts 212 are provided, three or more sliding guide rails 2111 can be provided, and one end of the sliding guide rail 2111 can be rotatably fixed together, while the other end is slidably provided with a telescopic slide rod 2121. Each magnetic fixing component 22 can independently adjust its position and angle to achieve adsorption and fixation.

[0099] Specifically, in one embodiment, the locking device 215 includes an electric rod mounted on the mounting base 2113. A plurality of limiting holes 2112 are arranged in a circular array on the side of the sliding guide rail 2111 at a position corresponding to one end of the electric rod. The limiting holes 2112 have the same diameter as the telescopic shaft of the electric rod. At a specific position, when the electric rod extends, it connects to the limiting holes 2112 to restrict the rotation of the sliding guide rail 2111, thereby locking the relative position of the fixed part 211 and the rotating part 213. When the electric rod retracts, it disengages from the limiting holes 2112, allowing the sliding guide rail 2111 to continue rotating relative to the drone 1, thereby unlocking the relative position of the fixed part 211 and the rotating part 213. In the locked state, the drone 1, the fixed structure 2, and the de-icing structure 3 form a stable whole, ensuring that they will not shake or fall off due to external forces during de-icing operations, thus improving the safety and stability of the operation. Of course, in other possible embodiments, the locking device 215 can also adopt various locking methods such as mechanical locks and electromagnetic locks to meet the usage requirements under different operating environments and needs.

[0100] Preferably, such as Figure 27 , Figure 29 and Figure 30 In this embodiment, the magnetic fixing assembly 22 includes an electromagnet 221. A mounting housing 222 is provided on the outer side of the electromagnet 221. A collar 2122 at one end of the telescopic slide rod 2121 is rotatably fitted onto the outer side of one end of the mounting housing 222. A mounting groove is provided at the other end of the mounting housing 222. The electromagnet 221 is installed in the mounting groove, with its adsorption surface flush with or protruding from the groove opening to ensure that the electromagnet 221 can properly adhere to the superstructure of the ship. Specifically, the electromagnet 221 is connected to the power supply and control system of the UAV 1. The power supply and de-energization of the electromagnet 221 can be controlled by the control system of the UAV 1, thereby controlling the generation or disappearance of magnetic force to achieve adsorption and detachment from magnetic surfaces such as the superstructure of the ship. After the de-icing operation is completed, the operator only needs to disconnect the power supply of the electromagnet 221 through the control system of the UAV 1 to easily release the adsorption, achieving rapid detachment and recovery of the device, greatly improving operational efficiency.

[0101] It should be noted that in other possible embodiments, the magnetic fixing component 22 may also adopt other structural forms that can generate magnetic force, such as a combination of permanent magnet or electromagnet 221 and permanent magnet, to adapt to different adsorption requirements and working environments.

[0102] To further improve the fixing effect of the de-icing device and ensure efficient de-icing, such as Figure 27 , Figure 29 and Figure 30 In some possible embodiments, the fixing structure 2 further includes a heating component 23 connected to the magnetic fixing component 22, used to heat and melt the ice layer on the object to be de-iced corresponding to the magnetic fixing component 22. When the ice layer on the superstructure of the ship is thick, the heating component 23 can preheat and melt the ice layer so that the magnetic fixing component 22 can more effectively adhere to the object to be de-iced.

[0103] In one embodiment, such as Figure 29The heating component 23 includes a heating coil 231, which is installed in a mounting groove within the mounting housing 222 and fitted snugly against the outside of the magnetic fixing component 22. One heating surface of the heating coil is on the same plane as the magnetic surface of the magnetic fixing component 22, generating heat on the outside of the magnetic fixing component 22 to preheat the object to be de-iced, facilitating subsequent adsorption and fixation by the magnetic fixing component 22. The heating coil 231 is connected to the power supply and control system of the UAV 1, allowing the operator to control the heating temperature and heating time of the heating coil 231 via the UAV 1's control system. Before de-icing operations begin, the operator can activate the heating coil 231 to preheat the area where the magnetic fixing component 22 will be adsorbed, melting the ice layer and exposing the underlying magnetic material. Then, the electromagnet 221 is activated, using magnetic force to firmly adsorb the magnetic fixing component 22 onto the ship's superstructure. This design not only improves the adsorption effect of the magnetic fixing component 22 but also ensures the stability and safety of the de-icing device during operation. In some extremely cold working environments, the heating component 23 can also prevent the magnetic fixing component 22 from failing due to low temperature, further enhancing the reliability and durability of the device.

[0104] In one embodiment, such as Figure 30 The heating component 23 can also be designed as a heating element 232, the shape of which matches that of the electromagnet 221, and is installed side by side on one side of the electromagnet 221 to work together with the electromagnet 221 to heat and melt the ice layer and achieve magnetic adsorption and fixation.

[0105] In other possible embodiments, the heating component 23 can also be implemented by blowing hot air. Specifically, the heating component 23 may include a hot air generator, a hot air duct, and a hot air nozzle. The hot air generator is used to generate hot air, and the hot air duct is connected between the hot air generator and the hot air nozzle to deliver hot air from the hot air generator to the hot air nozzle. The hot air nozzle is arranged around the electromagnet 221 to blow hot air directly onto the superstructure of the ship to melt the ice.

[0106] like Figure 25 , Figure 26 , Figure 32 and Figure 33To achieve efficient de-icing, in this embodiment, the de-icing structure 3 consists of several knocking de-icing components 31, a movable component 32, and a knocking drive component 33. The knocking drive component 33 serves as the de-icing end of the de-icing structure 3 and is arranged parallel to the adsorption end of the fixed component, allowing for better removal of the ice layer. Specifically, the movable component 32 is rotatably mounted on one side of the mounting component 21; several knocking de-icing components 31 are respectively arranged on both sides of the movable component 32 and connected to it; the knocking drive component 33 is mounted on the mounting component 21, and its drive end is connected to the movable component 32, used to drive the movable component 32 to oscillate intermittently, thereby causing the knocking de-icing components 31 to oscillate around the movable component 32, so that the knocking de-icing components 31 on both sides of the movable component 32 can intermittently knock on the ice surface, thereby breaking and removing the ice layer.

[0107] In one embodiment, the movable component 32 includes a mounting rod 321, and the de-icing components 31 each include de-icing plates 311. The driving component 33 includes a first swing motor. Two mounting seats 2113 are provided on the side of the sliding guide rail 2111 facing away from the UAV 1. The two ends of the mounting rod 321 are respectively connected to the two mounting seats 2113, allowing it to rotate on the two mounting seats 2113. Several de-icing plates 311 are distributed on both sides of the mounting rod 321, arranged sequentially along the length of the mounting rod 321. One end of each de-icing plate 311 is connected to the mounting rod 321, and the other end extends vertically outward from the mounting rod 321. The first swing motor is mounted on one of the mounting seats 2113, and its driving end is connected to the mounting rod 321. During operation, the first swing motor intermittently drives the mounting rod 321 to swing, thereby causing the de-icing plates 311 to intermittently swing with the mounting rod 321, so that the de-icing plates 311 on both sides can intermittently strike the ice layer on the hull hull, thus achieving the purpose of de-icing.

[0108] Furthermore, the de-icing plate 311 is designed with a beveled side for striking the ice surface. When the de-icing plate 311 is mounted on the sliding guide rail 2111 and its position is perpendicular to the mounting surface of the guide rail, the de-icing plate 311 will not touch the ice surface. Driven by the first swing motor, the mounting rod 321 begins to swing, and the de-icing plate 311 swings intermittently. During this time, the beveled surface moves closer to the ice layer with the swing of the mounting rod 321 and changes its angle accordingly. When the mounting rod 321 contacts the ice layer, the beveled surface will completely adhere to the ice layer. The beveled surface is designed to be uneven, for example, with serrated, wavy, or other shapes that increase friction and breaking effect, to enhance the de-icing plate 311's striking and breaking ability against the ice layer. When the de-icing plate 311 swings with the mounting rod 321 and strikes the ice layer, the beveled surface can cut into the ice layer more effectively, generating a greater impact force, thereby removing the ice layer more effectively.

[0109] In one embodiment, the striking de-icing component 31 further includes a scraper 34 and a swing drive 35. Each de-icing plate 311 has a scraper 34 on both sides of its striking position. The scraper 34 extends along the length of the de-icing plate 311, with its blade facing away from the striking end of the de-icing plate 311. The swing drive 35 is a second swing motor. Multiple second swing motors are provided and fixedly installed on one side of the mounting rod 321. Each second swing motor connects to two symmetrical de-icing plates 311 and can drive the de-icing plates 311 to swing in a direction perpendicular to the swing direction of the movable component 32, thereby moving the scraper 34 that contacts the ice layer on one side of the mounting rod 321 and scraping the ice layer of the object to be de-iced. This design allows the scraper 34 to follow immediately after the striking de-icing component 31 strikes the ice surface, scraping the ice surface under the action of the swing drive 35, thus completely removing the broken ice layer. The addition of scraper 34 not only enhances the de-icing force but also ensures the thoroughness of the de-icing operation.

[0110] In actual operation, after the ice layer is broken by the de-icing plate 311, the inclined surface of the de-icing plate 311 on one side of the mounting rod 321 is kept in contact with the outer plate surface. Then, the second swing motor is started, which drives the de-icing plate 311 to swing in a direction perpendicular to the swing direction of the movable part 32, thereby driving the scraper 34 to scrape along the ice layer surface and remove ice debris from the outer plate of the ship. Then, the first swing motor continues to drive the mounting rod 321 to swing, causing the inclined surface of the de-icing plate 311 on the other side of the mounting rod 321 to contact the surface of the superstructure of the ship. Under the action of the second swing motor, the de-icing plate 311 on this side continues to swing in a direction perpendicular to the swing direction of the movable part 32, driving the scraper 34 to scrape along the ice layer surface and remove ice debris from the superstructure of the ship.

[0111] It should be noted that, in other possible embodiments, the de-icing structure 3 is not limited to this, and a thermal de-icing structure can also be used, such as using heating elements such as heating wires or heating plates 232 to heat the ice surface, so that the ice layer melts and falls off.

[0112] The aforementioned drones can quickly reach the work area, facilitating flexible de-icing operations in high-altitude or hard-to-reach areas such as ship superstructures. For example... Figure 25 and Figure 26The UAV 1 is a vertical UAV, which has better vertical take-off and landing capabilities and aerial stability. It can maintain a stable flight attitude in complex and changing environments and is also convenient for carrying de-icing equipment, providing reliable support for de-icing operations. The vertical UAV includes a fuselage 11 and a flight system. The mounting components 21 of the fixed structure 2 are connected to the fuselage 11. The flight system includes a power system 12, a control system, and a navigation system. The power system 12 consists of multiple propellers distributed on the UAV body, which can provide power for the UAV's flight. The control system is used to control the UAV's flight attitude and altitude, and the navigation system ensures that the UAV can accurately fly to the work area according to the preset route.

[0113] Working principle: During de-icing operations, the drone 1 flies to the vicinity of the ship's superstructure and attaches to the ship's hull using magnetic fixing components 22. When the ice layer on the superstructure is relatively thick, the drone 1 moves the magnetic fixing components 22 until one of them is attached to the superstructure. Then, the telescopic drive component 214 drives the telescopic slide rod 2121 to retract, or the drone 1 drives the sliding guide rail 2111 to rotate around the fixed magnetic fixing component 22 to adjust the position and angle of the other magnetic fixing component 22. This ensures that the magnetic fixing component 22 can be stably attached to the thinner or easier-to-attach ice layer on the superstructure. If the magnetic fixing component 22 still cannot be attached, the heating element generates heat to melt some of the ice attached to the superstructure, allowing the electromagnetic relay to be successfully attached to the superstructure. The de-icing structure 3 begins operation. The striking drive 33 drives the mounting rod 321 to swing, causing the de-icing plate 311 to intermittently strike the ice layer. After the ice layer breaks, the swing drive 35 drives the de-icing plate 311 to swing in a direction perpendicular to the swing direction of the mounting rod 321, which in turn drives the scraper 34 to scrape the ice layer, completely removing the broken ice. After completing one de-icing operation, the magnetic fixing assembly 22 is released, and the drone 1 flies to the next position to repeat the above process.

[0114] This embodiment utilizes a drone 1, a fixed structure 2, and a de-icing structure 3. The drone 1, acting as a flight platform, can quickly reach the work area, improving de-icing efficiency. The magnetic fixing component 22 achieves a stable connection with the object to be de-iced through magnetic attraction, ensuring the stability and operational accuracy of the de-icing structure 3. This solution, by using the drone 1 to carry the fixed structure 2 and the de-icing structure 3, facilitates rapid installation and disassembly, enabling flexible de-icing operations in various environments. It is particularly suitable for de-icing high-altitude or inaccessible areas such as ship superstructures, enhancing the applicability and flexibility of the device. It effectively solves the problem of ice accumulation on ship superstructures, ensuring ship navigation safety and reducing the risks and costs of manual de-icing.

Claims

1. A drone, characterized in that, include: The main body of the drone; A fixing device, installed on the main body of the drone, is used to fix the main body of the drone to the target object when the drone flies to the target position; The working device is mounted on the main body of the drone and is used to perform operations on the object after the main body of the drone is fixed to the target object.

2. The UAV according to claim 1, characterized in that, The working device includes at least one of: a de-icing structure and a maintenance structure; The de-icing structure is installed on the main body of the drone and is used to perform de-icing operations on the target object after the main body of the drone is fixed to the target object. The maintenance structure is installed on the main body of the drone and is used to perform maintenance work on the target object after the main body of the drone is fixed to the target object.

3. The UAV according to claim 1, characterized in that, The fixing device includes at least one of an adsorption structure and a hook structure; Adsorption structures are used to adsorb onto the surface of a target object; Hook-and-hook structure, used to hook onto a target object.

4. The UAV according to claim 2, characterized in that, The adsorption structure is as follows: Electromagnetic adsorption components adhere to the surface of iron-containing target objects using electromagnetic force.

5. The UAV according to claim 4, characterized in that, When the power is off, the electromagnetic adsorption component adheres to the surface of the target object by electromagnetic force.

6. The UAV according to claim 2, characterized in that, The adsorption structure is as follows: Vacuum adsorption components adsorb onto the surface of target objects using vacuum negative pressure.

7. The UAV according to claim 3, characterized in that, The hook structure includes a retractable hook that extends from the main body of the drone and hooks onto the target object when the drone flies to the target location.

8. The UAV according to claim 2, characterized in that, The de-icing structure includes: Heating components are used to generate heat and bring it close to the target object to melt the ice on the target object's surface.

9. The UAV according to claim 8, characterized in that, The heating component includes: Heating cylinder, with an air flow channel inside; Heating element, used to generate heat and heat the surrounding air; An air supply unit, located at one end of the heating cylinder, is used to deliver hot air from inside the heating cylinder and spray it toward the target object to melt the ice on the surface of the target object.

10. The UAV according to claim 8, characterized in that, The de-icing structure also includes: an ice remover, an ice remover transmission mechanism, and an ice remover drive mechanism; the ice remover drive mechanism drives the ice remover to reciprocate in the direction of approaching and moving away from the target object through the ice remover transmission mechanism, and the speed of movement in the direction of approaching the target object is greater than the speed of movement away from the target object, so as to knock the ice on the surface of the target object.

11. The UAV according to claim 10, characterized in that, The de-icing structure includes: a vibration generator and a vibration actuator; the vibration generator is connected to the vibration actuator, the vibration actuator is in contact with the target object, the vibration generator is used to generate vibration, and the vibration is transmitted to the target object through the vibration actuator to make the ice on the target object vibrate.

12. The UAV according to claim 11, characterized in that, The de-icing structure includes: an ice scraper and an ice scraper driver, wherein the ice scraper driver drives the ice scraper to press against the surface of the object and move on the surface of the object to remove the ice from the surface of the object.

13. The UAV according to claim 10, 11, or 10, characterized in that, Also includes: An ice-blowing structure, mounted on the main body of the drone, is used to generate high-pressure gas to blow away ice debris from the surface of the target object.

14. The UAV according to claim 2, characterized in that, The maintenance structure includes: Flaw detection equipment is used to inspect the surface of a target object.

15. The UAV according to claim 14, characterized in that, The maintenance structure includes: Inspection robots are used to repair damage to the surface of target objects.

16. The UAV according to claim 15, characterized in that, The maintenance robot includes: The maintenance base is mounted on the main body of the drone. A tool socket is provided on the maintenance base; the tool socket has at least two tool slots for receiving tools; Robotic arm; the rear end of the robotic arm is set on the maintenance base, and the front end is provided with a connecting part for connecting tools.

17. The UAV according to claim 15, characterized in that, The end of the inspection robot is equipped with a welding torch, which is used to weld the areas on the surface of the target object that need to be repaired.

18. The UAV according to claim 15, characterized in that, The end of the inspection robot is equipped with a grinding head, which is used to grind the area on the surface of the target object that needs to be repaired.

19. The UAV according to claim 4, characterized in that, The electromagnetic adsorption component includes: an installation component and at least one magnetic fixing component. One end of the at least one magnetic fixing component is connected to the main body of the drone through the installation component, and the other end is used to magnetically adsorb and fix it to the target object. The installation component has a rotation state that can rotate relative to the main body of the drone and a locking state that is locked relative to the main body of the drone.

20. The UAV according to claim 19, characterized in that, There are at least two magnetic fixing components, which are respectively disposed on both sides of the rotation axis of the mounting component, and the mounting component is rotatably connected.

21. The UAV according to claim 19, characterized in that, The mounting assembly includes a fixed part, a rotating part, and at least one mounting part. The fixed part is connected to the main body of the drone, and the mounting part is connected to the fixed part. A magnetic fixing assembly is connected to the mounting part. The rotating part is rotatably connected to the fixed part and is configured to be connected to the main body of the drone; the magnetic fixing component is rotatably connected to the mounting part.

22. The UAV according to claim 21, characterized in that, There are at least two mounting parts, which are respectively located on both sides of the rotation axis of the rotating part, and each mounting part corresponds to at least one magnetic fixing component.

23. The UAV according to claim 21, characterized in that, The rotating component includes a support base and a rotating shaft. The support base is fixedly installed on the main body of the UAV, and the rotating shaft is installed on the support base. The fixed part is rotatably connected to the rotating shaft.

24. The UAV according to claim 23, characterized in that, The mounting components also include locking fasteners, which are positioned between the rotating part and the fixed part to lock or unlock the relative position of the fixed part and the rotating part.

25. The UAV according to claim 24, characterized in that, The locking device includes an electric rod, which is mounted on a rotating component. The side of the fixed part has several limiting holes arranged in a circular array corresponding to the electric rod. When the electric rod extends, it connects to the limiting holes to lock the relative position of the fixed part and the rotating component. When the electric rod shortens, it disengages from the limiting holes to unlock the relative position of the fixed part and the rotating component.

26. The UAV according to claim 21, characterized in that, The mounting part is slidably connected to the fixing part.

27. The UAV according to claim 26, characterized in that, The mounting assembly also includes at least one telescopic drive member, which connects the fixing part and the mounting part, and is used to drive the mounting part to slide relative to the fixing part.

28. The UAV according to claim 27, characterized in that, The fixing part includes a sliding guide rail, and the sliding guide rail has a groove along its length; The mounting section includes a telescopic slide rod, which is slidably installed in the slide groove. The telescopic drive component is connected between the telescopic slide rod and the bottom of the slide groove to drive the telescopic slide rod to slide in the slide groove.

29. The UAV according to claim 28, characterized in that, The heating component includes a heating coil, which is fitted and sleeved on the magnetic fixing component, with one of its heating surfaces and the magnetic surface of the magnetic fixing component on the same plane.

30. The UAV according to claim 19, characterized in that, The de-icing structure includes a movable component, several knocking de-icing components, and a knocking drive component. The movable component is rotatably mounted on the mounting assembly. The several knocking de-icing components are respectively disposed on both sides of the movable component and connected to the movable component. The knocking drive component is mounted on the mounting assembly, and its driving end is connected to the movable component to drive the movable component to swing intermittently, so as to drive the knocking de-icing components to swing around the movable component and knock on the ice surface.

31. The UAV according to claim 30, characterized in that, Each of the knocking de-icing components includes a de-icing plate. Several de-icing plates are arranged sequentially along the length of the movable component on both sides of the movable component. One end of each de-icing plate is connected to the movable component, and the other end extends vertically outward from the movable component.

32. The UAV according to claim 31, characterized in that, The knocking de-icing component also includes a scraper and a swing drive. The scraper is fixedly mounted on the side of the de-icing plate, and the swing drive is mounted on one side of the movable component. Its driving end is connected to the de-icing plate and is used to drive the de-icing plate to swing in a direction perpendicular to the swing direction of the movable component, so as to drive the scraper to scrape the object to be de-iced.

33. A method for operating unmanned aerial vehicles (UAVs), characterized in that, include: Control the main body of the aircraft to fly to the target location; Control the fixing devices on the main body of the aircraft to fix it to the target object; Control the working devices on the main body of the aircraft to perform operations on the target object.

34. The method according to claim 33, characterized in that, The fixing structure includes at least one of: an adsorption component and a hook component; Controlling the fixing devices on the main body of the aircraft to fix it to the target object includes: Control the adsorption component to adsorb onto the surface of the target object, and / or control the hook component to hook onto the target object.

35. The method according to claim 34, characterized in that, If the adsorption component is an electromagnetic adsorption component, then controlling the adsorption component to adsorb onto the surface of the target object includes: controlling the electromagnetic adsorption component to be energized, so that the generated magnetic force adsorbs onto the surface of the iron-containing target object; or... If the adsorption component is a vacuum adsorption component, then controlling the adsorption component to work and adsorb onto the surface of the target object includes: controlling the vacuum adsorption component to draw a vacuum, and the resulting vacuum negative pressure adsorbs onto the surface of the target object.

36. The method according to claim 33, characterized in that, The working device includes at least one of: a de-icing structure and a maintenance structure; Controlling the working devices on the main body of the aircraft to perform operations on the target object includes: controlling the de-icing structure to perform de-icing operations on the target object; and / or controlling the maintenance structure to perform maintenance operations on the target object.

37. The method according to claim 36, characterized in that, The de-icing structure is a heating component; controlling the de-icing structure to perform de-icing operations on the target object includes: The heating element is controlled to generate heat and bring it close to the target object to melt the ice on the surface of the target object.

38. The method according to claim 37, characterized in that, The de-icing structure includes an ice-removing rod, an ice-removing rod transmission mechanism, and an ice-removing rod drive mechanism; controlling the de-icing structure to perform de-icing operations on the target object includes: The ice-removing rod drive mechanism is controlled to operate, and the ice-removing rod is driven to reciprocate in the direction of approaching and moving away from the target object through the ice-removing rod transmission mechanism. The speed of movement in the direction of approaching the target object is greater than the speed of movement away from the target object, so as to knock the ice on the surface of the target object.

39. The method according to claim 38, characterized in that, The de-icing structure includes: a vibration generator and a vibration actuator; controlling the de-icing structure to perform de-icing operations on the target object includes: The vibration generator is controlled to produce vibrations, which are then transmitted to the target object through a vibration actuator to cause the ice on the target object to vibrate.

40. The method according to claim 39, characterized in that, The de-icing structure includes: an ice-removing shovel and an ice-removing shovel driver; controlling the de-icing structure to perform de-icing operations on the target object includes: Control the ice scraper driver to move the ice scraper to the surface of the target object and move it to remove the ice from the target object surface.

41. The method according to claim 38, 39 or 40, characterized in that, The working device further includes: an ice-blowing structure; during the process of controlling the de-icing structure to perform de-icing operations on the target object, it also includes: Control the operation of the ice blowing structure to generate high-pressure gas and spray the high-pressure gas onto the ice slag on the surface of the object.

42. The method according to claim 36, characterized in that, The maintenance structure includes at least one of the following: a flaw detection mechanism and a maintenance robotic arm; Controlling the maintenance structure to perform maintenance work on the target object includes: Control the flaw detection mechanism to inspect the surface of the target object, and / or control the maintenance robot to repair damage to the surface of the target object.

43. The method according to claim 42, characterized in that, Controlling a maintenance robot to repair damage to the surface of a target object includes: Control the robotic arm of the maintenance robot to take the first tool from the tool socket; The robotic arm is controlled to move the first tool to the damaged location on the surface of the target object to perform the operation; Control the robotic arm to move to the tool socket and put the first tool back into the tool socket.

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