Rapid pruning system and method special for potential twig tree barrier of power transmission line

Abstract

The invention discloses a special rapid pruning system for potential twigs and tree obstacles of a power transmission line, and the system comprises an unmanned aerial vehicle, an operation terminal and a pruning tool which is installed at the abdomen of the unmanned aerial vehicle through a connecting member. The pruning tool comprises a shell, a rechargeable battery, an operation control circuit board, a miniature camera and a rotating component used for completing twig pruning work, the rechargeable battery and the operation control circuit board are arranged in the shell, the center of the lower end of the shell is connected with the rotating component in a clamped mode, and the two sides of the shell are connected with the two symmetrical rotating components in a clamped mode. The lower end and the two sides of the shell are each provided with a micro camera used for monitoring the twig pruning working condition in real time. The invention provides a special rapid pruning system for tree twigs at different parts of the power transmission line, tree barrier hidden dangers influencing reliable operation of the power transmission line are eliminated in the bud state, the difficulty and workload of tree barrier cleaning can be reduced, and the possibility of economic dispute events and the tree barrier cleaning cost are reduced.

Description

Technical Field

[0001] This invention belongs to the field of power system drone inspection technology, specifically relating to a rapid pruning system and method for potential tree twig obstructions along power transmission lines. Background Technology

[0002] Transmission lines are a crucial component of the power grid, characterized by their wide coverage and long transmission distances. Due to the influence of transmission corridors and voltage levels, they are mostly deployed in relatively remote areas with complex surrounding environments, especially in mountainous regions where numerous trees grow nearby. Because trees are rich in highly conductive water and have sharp tips with small radii of curvature at their tips, transmission lines are primarily exposed to the air. When trees come into contact with or are too close to them, corona discharge can easily occur at the treetops, affecting the reliable operation of the transmission lines. Tripping faults caused by flashovers of trees along transmission lines have become a focal point of concern for the power grid in recent years.

[0003] Currently, tree clearing of power transmission lines relies almost entirely on manual labor. This task requires personnel to climb trees with chainsaws or use aerial work platforms to reach the areas requiring clearing. Climbing trees with chainsaws is time-consuming, labor-intensive, and dangerous, posing risks of falls from heights and electric shock, making safety difficult to guarantee. While aerial work platforms can be used smoothly in urban areas or surrounding areas with simpler environments, they are ineffective in complex environments such as deep mountains, dense forests, and hilly areas, as well as areas difficult for vehicles to access, due to deployment challenges.

[0004] In recent years, multi-rotor drones have been used as flight platforms to carry shears on slings to clear specific tree obstacles, replacing the inefficient and risky high-altitude work of maintenance personnel. However, when drones carry shears on slings, the shears inevitably come into direct contact with the tree obstacles. The cutting process causes the shears to swing significantly, which can easily lead to instability in the flight system. Especially when using drones to clear thicker branches, efficient and reliable cutting is difficult due to limitations in flight stability, loiter time, and flight duration.

[0005] Currently, due to limitations in the number of maintenance personnel, workload, and power grid scale, tree clearing in power systems is mostly carried out when tree branches, due to their growth or falling, affect the reliable operation of lines and equipment. At this point, the situation often involves thick, lush branches that are too close to the power lines. Furthermore, tree pruning often leads to social conflicts and economic disputes between tree owners and power companies. Therefore, in order to ensure the reliable operation of the power system, it has become an urgent problem to solve how to design a dedicated tree pruning system that can replace maintenance personnel, is efficient and reliable, has low operational risks, and minimizes the possibility of excessive compensation and economic disputes between tree owners and power companies due to tree clearing. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a special rapid pruning system and method for potential tree branches obstructing power transmission lines. It mainly aims to carry out efficient pruning of potential tree branches obstructing the reliable operation of power transmission lines in advance, reduce the labor intensity of personnel, avoid personal injury to personnel during the tree obstruction pruning process, and solve the problems of difficulty, large workload, low efficiency, high cost, and easy occurrence of social and economic disputes when the trees and obstructions near power transmission lines are thick.

[0007] The objective of this invention is achieved as follows: In a first aspect, a rapid pruning system specifically designed for potential twig obstructions along power transmission lines is provided, comprising a drone and an operating terminal, and further comprising a pruning tool. The pruning tool is mounted on the underside of the drone via a connecting member. The pruning tool includes a housing, a rechargeable battery, an operation control circuit board, a miniature camera, and a rotating component for performing twig pruning. The rechargeable battery and the operation control circuit board are disposed within the housing. A rotating component is snapped into the center of the lower end of the housing, and two symmetrical rotating components are snapped into the sides of the housing. Miniature cameras for real-time monitoring of the twig pruning process are mounted on the lower end and both sides of the housing.

[0008] The operation control circuit board integrates a 4G / 5G communication module, an Arduino processor, and a storage module, which are used to interact with the operation terminal to perform pruning operations on tender branches.

[0009] The operating terminal interacts with the drone and the operation control circuit board via 4G / 5G communication to control the drone's flight and controls the rotating component to prune the tender branches via the operation control circuit board.

[0010] Preferably, the rotating component includes a bracket, a rotating shaft, a micro motor, and a circular saw blade. One end of the bracket is provided with a snap-fit ​​end for snap-fit ​​connection with the housing. The micro motor is provided on the inner side of the other end of the bracket, and the circular saw blade is provided on the outer side of the other end of the bracket. The circular saw blade is connected to the output shaft of the micro motor through the rotating shaft passing through the other end of the bracket. The snap-fit ​​end is provided with a power connection terminal A, and the micro motor is electrically connected to the power connection terminal A.

[0011] Preferably, the outer casing has a snap-fit ​​groove at the snap-fit ​​connection point with the rotating component, which matches the snap-fit ​​end. The snap-fit ​​groove has a power docking terminal B that matches the power docking terminal A. The rotating component is snap-fitted to the snap-fit ​​groove through the snap-fit ​​end, and after the snap-fit ​​connection is completed, the two are electrically connected through the power docking terminal A and the power docking terminal B.

[0012] Preferably, when the rotating component is installed at the lower end of the trimming tool, its rotation axis is on the same straight line as the vertical central axis of the main body of the UAV.

[0013] Preferably, when the rotating component is installed on both sides of the trimming tool, its rotation axis is perpendicular to the vertical center axis of the main body of the UAV, and the vertical distance between its circular saw blade and the UAV fuselage is greater than the vertical distance between the UAV wing and the UAV fuselage, and the rotation radius of its circular saw blade is less than the vertical distance between its rotation axis and the lower circular saw blade of the trimming tool.

[0014] Preferably, the connecting member is an I-shaped mounting bracket, the upper end of which is fixed to the belly of the UAV by screws, and the lower end of which is fixed to the upper end of the shell by screws.

[0015] Preferably, the top of the drone is equipped with an ultrasonic ranging radar for safe distance identification with power transmission lines.

[0016] Preferably, the UAV is equipped with a flight attitude control module that controls the UAV's take-off and landing and operation to be stable, with strong anti-interference ability and high accuracy in distance to power transmission lines and tender branches when carrying out pruning operations.

[0017] Secondly, a rapid pruning method for potential softwood obstructions along transmission lines is provided, applied to the rapid pruning system for potential softwood obstructions along transmission lines described in any of the preceding claims, comprising the following steps:

[0018] S1: A rotating component is snapped into the bottom of the trimming tool;

[0019] S1: Use the circular saw blade on the rotating component at the bottom of the trimming tool to support the trimming tool, and fix the trimming tool to the belly of the drone through the connecting component;

[0020] S3: Two rotating components are snapped together on both sides of the trimming tool;

[0021] S4: Take off the drone and approach the tender branches of the trees to be pruned;

[0022] S5: To prune potential tree branches growing under the transmission line, activate the circular saw blade on the rotating component at the bottom of the pruning tool to prune them; to prune potential tree branches growing on the side of the transmission line, activate the circular saw blade on the rotating component on the side of the pruning tool to prune them.

[0023] S6: During operation, if any of the angle variables φ, θ, or ψ contained in the Euler angle Θ exceeds the allowable value, or if the drone or pruning tool operates abnormally, the operation terminal will intelligently shut down the pruning tool, the circular saw blade will stop running, and an alarm will be issued to the operator for handling.

[0024] S7: Once the tender branches of the trees have reached the required pruning level, control the drone to land, disassemble the pruning tools, and complete the pruning operation.

[0025] Due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0026] 1. This invention proposes to prune potential tender branches of nearby trees that may affect the reliable operation of transmission lines in advance. On the one hand, this can reduce the difficulty and workload of clearing tree obstacles. On the other hand, tree owners are more likely to accept the pruning of tender branches, thereby reducing the possibility of economic disputes.

[0027] 2. Since tree twigs are easy to prune, this invention provides a special rapid pruning system for tree twigs in different parts of power transmission lines. It can meet the needs of pruning tree twigs in multiple scenarios and for various types of trees, reduce the number of equipment required for tree obstacle removal, and is easy to operate and carry with high work efficiency.

[0028] 3. The pruning system provided by this invention can meet the needs of clearing tender branches of trees under and on the sides of power transmission lines, eliminate potential tree obstacles that could affect the reliable operation of power transmission lines in their infancy, reduce the probability of power transmission line failures caused by untimely or missed pruning of tree obstacles, and has significant economic and social benefits.

[0029] 4. This invention proposes using an improved drone as a platform and specialized tools and equipment to prune potential tree branches that may affect the reliable operation of power transmission lines. During the operation, technologies such as image recognition, spacing assessment, and emergency handling are used to avoid damage to power transmission line conductors, personnel, and equipment, ensuring the smooth progress of the pruning operation. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural diagram of the pruning system of the present invention. Figure 1 .

[0031] Figure 2 This is a three-dimensional structural diagram of the pruning system of the present invention. Figure 2 .

[0032] Figure 3 This is a top view of the pruning system of the present invention.

[0033] Figure 4 This is a three-dimensional structural diagram of the trimming tool of the present invention before the rotating component is installed.

[0034] Figure 5 This is a three-dimensional structural diagram of the trimming tool of the present invention after the rotating component is installed.

[0035] Figure 6 This is a schematic diagram of the internal structure of the rotating component of the present invention.

[0036] Figure 7 This is a schematic diagram of the panel structure of the operating terminal of the present invention.

[0037] Figure 8 This is a flowchart of the pruning method of the present invention.

[0038] In the diagram: 1. Drone; 2. Ultrasonic ranging radar; 3. Bracket; 4. Snap-fit ​​end; 5. Miniature motor; 6. Rotating shaft; 7. Circular saw blade; 8. Trimming tool; 9. Connecting component; 10. Miniature camera; 11. Snap-fit ​​slot; 12. USB communication port A; 13. Running light A; 14. Power switch A; 15. Battery indicator light; 16. Running light B; 17. Display screen; 18. Drone control handle; 19. Circular saw blade working button; 20. USB communication port B; 21. Power switch B; 22. Shell m; vertical distance n from drone wing to drone fuselage; vertical distance x from side circular saw blade to drone fuselage; rotation radius y of side circular saw blade; vertical distance between side rotation axis and lower circular saw blade of trimming tool. Detailed Implementation

[0039] It should be understood that this invention is aimed at the pruning of potential tree shoots. Therefore, the tree shoots that need to be pruned are generally far away from power transmission lines, but they grow rapidly (such as during the peak growing season in spring and summer). After a period of time, they may pose a safety hazard to the power transmission lines, so they need to be pruned in advance to prevent problems before they occur.

[0040] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0041] Firstly, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the present invention provides a rapid pruning system for potential twig obstructions on power transmission lines, including a drone 1, an operating terminal and a pruning tool 8, wherein the pruning tool 8 is installed on the underside of the drone 1 via a connecting member 9.

[0042] The top of the drone 1 is equipped with an ultrasonic ranging radar 2 for identifying safe distances to power transmission lines. Specifically, it uses an HC-SR04 probe with a detection accuracy of 3mm and a detection range of 2–600cm (the detection range is wide; it can be adjusted to accommodate safe distances between the drone 1 and power transmission lines of different grades). The detection distance calculation formula is as follows:

[0043] s = v × Δt / 2;

[0044] In the formula, s is the distance, v is the speed of ultrasonic wave propagation, and Δt is the time difference.

[0045] The UAV 1 is equipped with a flight attitude control module that controls the UAV 1 to take off and land smoothly and operate stably when carrying out pruning operations, with strong anti-interference ability and high accuracy in distance to power transmission lines and pruning branches.

[0046] The drone's flight attitude satisfies the following kinematic model:

[0047]

[0048] In the formula, ω is the angular velocity of the UAV used to control its attitude and direction during flight, preventing flight instability and yaw; Θ is the Euler angle, widely used in UAV attitude control description, used to intuitively represent the UAV's flight attitude, including roll angle φ, pitch angle θ, and yaw angle ψ, which can be expressed as:

[0049]

[0050] The pruning tool 8 includes a housing 22, a rechargeable battery, a control circuit board, a miniature camera 10, and a rotating component for pruning tender branches. The rechargeable battery and the control circuit board are housed inside the housing 22. A rotating component is snapped into the center of the lower end of the housing 22, and two symmetrical rotating components are snapped into the sides of the housing 22. Miniature cameras 10 for real-time monitoring of the pruning process are installed at the lower end and on both sides of the housing 22.

[0051] The operation control circuit board integrates a 4G / 5G communication module, an Arduino processor, and a storage module, which are used to interact with the operation terminal to carry out the pruning of tender branches.

[0052] The operating terminal interacts with the drone 1 and the operation control circuit board via 4G / 5G communication to control the drone 1 to fly and controls the rotating components to carry out pruning operations on the tender branches through the operation control circuit board.

[0053] The connecting component 9 adopts an I-shaped mounting bracket. The upper end of the mounting bracket is fixed to the belly of the UAV 1 with screws, and the lower end of the mounting bracket is fixed to the upper end of the outer shell 22 with screws.

[0054] The rotating component includes a bracket 3, a rotating shaft 6, a micro motor 5, and a circular saw blade 7. One end of the bracket 3 is provided with a snap-fit ​​end 4 for snap-fit ​​connection with the outer casing 22. The micro motor 5 is provided on the inner side of the other end of the bracket 3, and the circular saw blade 7 is provided on the outer side of the other end of the bracket 3. The circular saw blade 7 is connected to the output shaft of the micro motor 5 through the rotating shaft 6 passing through the other end of the bracket 3. The snap-fit ​​end 4 is provided with a power connection terminal A, and the micro motor 5 is electrically connected to the power connection terminal A.

[0055] The outer casing 22 is provided with a snap-fit ​​groove 11 at the snap-fit ​​connection point with the rotating component. The snap-fit ​​groove 11 is provided with a power docking terminal B that matches the power docking terminal A. The rotating component is snap-fitted to the snap-fit ​​groove 11 through the snap-fit ​​end 4, and after the snap-fit ​​connection is completed, the two are electrically connected through the power docking terminal A and the power docking terminal B.

[0056] When the rotating component is installed at the lower end of the trimming tool 8, its rotation axis 6 is on the same straight line as the vertical center axis of the main body of the UAV 1.

[0057] When the rotating component is installed on both sides of the trimming tool 8, its rotation axis 6 is perpendicular to the vertical center axis of the main body of the UAV 1, and the vertical distance n between its circular saw blade 7 and the fuselage of the UAV 1 is greater than the vertical distance m between the wing of the UAV 1 and the fuselage of the UAV 1 (i.e., n > m), and the rotation radius x of its circular saw blade 7 is less than the vertical distance y between its rotation axis 6 and the lower circular saw blade 7 of the trimming tool 8 (i.e., x < y).

[0058] In practice, the outer casing 22 of the trimming tool 8 is equipped with a USB communication port A12, a running light A13, and a power switch A14.

[0059] In practical implementation, the operating terminal is equipped with a battery power indicator 15, a running light B16, a display screen 17, a drone operating handle 18, a circular saw blade working button 19, a USB communication port B20, and a power switch B21. The circular saw blade working button 19 consists of three arrow keys: the left and right arrow keys control the working status of the two circular saw blades 7 on either side of the trimming tool 8, and the down arrow key controls the working status of the circular saw blade 7 at the bottom of the trimming tool 8. Pressing and holding one, two, or all three circular saw blade working buttons 19 will start the corresponding circular saw blade 7 to rotate; releasing the button will stop the rotation of the circular saw blade 7, providing flexible and convenient control.

[0060] Secondly, such as Figure 8 As shown, this invention provides a rapid pruning method specifically for potential softwood obstructions along power transmission lines, applied to the rapid pruning system for potential softwood obstructions along power transmission lines provided by this invention, comprising the following steps:

[0061] S1: A rotating component is snapped into the bottom of the trimming tool 8;

[0062] S1: Use the circular saw blade 7 attached to the bottom rotating component of the trimming tool 8 to support the trimming tool 8, and fix the trimming tool 8 to the belly of the drone 1 through the connecting component 9;

[0063] S3: Two rotating components are snapped together on both sides of the trimming tool 8;

[0064] S4: Take off the drone and approach the tender branches of the trees to be pruned;

[0065] S5: To prune potential tree branches growing under the transmission line, activate the circular saw blade 7 on the bottom rotating component of pruning tool 1 to prune them; to prune potential tree branches growing on the side of the transmission line, activate the circular saw blade 7 on the side rotating component of pruning tool 8 to prune them.

[0066] S6: During the operation, if any of the angle variables φ, θ, or ψ contained in the Euler angle Θ exceeds the allowable value, or if the drone 1 or the trimming tool 8 operates abnormally, the operation terminal will intelligently shut down the trimming tool, the circular saw blade 7 will stop running, and an alarm will be issued to the operator, who will then handle the alarm.

[0067] S7: After the tree branches reach the pruning requirements, control the drone 1 to land, disassemble the pruning tools 8, and complete the pruning operation.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A rapid pruning system specifically designed for potential tree sprout obstacles along power transmission lines, comprising a drone and an operating terminal, characterized in that: It also includes a pruning tool, which is mounted on the underside of the drone via a connecting member. The pruning tool includes a shell, a rechargeable battery, an operation control circuit board, a miniature camera, and a rotating component for pruning tender branches. The rechargeable battery and the operation control circuit board are housed inside the shell. A rotating component is snapped into the center of the lower end of the shell, and two symmetrical rotating components are snapped into the sides of the shell. Miniature cameras for real-time monitoring of the tender branch pruning process are installed at the lower end and on both sides of the shell. The operation control circuit board integrates a 4G / 5G communication module, an Arduino processor, and a storage module, which are used to interact with the operation terminal to perform pruning operations on tender branches. The operating terminal interacts with the drone and the operation control circuit board via 4G / 5G communication to control the drone's flight and controls the rotating component to prune the tender branches via the operation control circuit board.

2. The rapid pruning system for potential softwood obstructions along power transmission lines according to claim 1, characterized in that: The rotating component includes a bracket, a rotating shaft, a micro motor, and a circular saw blade. One end of the bracket is provided with a snap-fit ​​end for snap-fit ​​connection with the outer casing. The micro motor is located on the inner side of the other end of the bracket, and the circular saw blade is located on the outer side of the other end of the bracket. The circular saw blade is connected to the output shaft of the micro motor through the rotating shaft passing through the other end of the bracket. The snap-fit ​​end is provided with a power connection terminal A, and the micro motor is electrically connected to the power connection terminal A.

3. The rapid pruning system for potential softwood obstructions along power transmission lines according to claim 2, characterized in that: The outer casing has a snap-fit ​​groove at the snap-fit ​​connection point with the rotating component, which matches the snap-fit ​​end. The snap-fit ​​groove has a power docking terminal B that matches the power docking terminal A. The rotating component is snap-fitted to the snap-fit ​​groove through the snap-fit ​​end, and after the snap-fit ​​connection is completed, the two are electrically connected through the power docking terminal A and the power docking terminal B.

4. The rapid pruning system for potential softwood obstructions along transmission lines according to claim 2, characterized in that: When the rotating component is installed at the lower end of the trimming tool, its rotation axis is on the same straight line as the vertical central axis of the main body of the UAV.

5. The rapid pruning system for potential softwood obstructions along transmission lines according to claim 2, characterized in that: When the rotating component is installed on both sides of the trimming tool, its rotation axis is perpendicular to the vertical center axis of the main body of the drone, and the vertical distance between its circular saw blade and the drone body is greater than the vertical distance between the drone wing and the drone body, and the rotation radius of its circular saw blade is less than the vertical distance between its rotation axis and the lower circular saw blade of the trimming tool.

6. The rapid pruning system for potential softwood obstructions along power transmission lines according to claim 1, characterized in that: The connecting component is an I-shaped mounting bracket. The upper end of the mounting bracket is fixed to the belly of the drone with screws, and the lower end of the mounting bracket is fixed to the upper end of the outer shell with screws.

7. The rapid pruning system for potential softwood obstructions along power transmission lines according to claim 1, characterized in that: The top of the drone is equipped with an ultrasonic ranging radar for identifying safe distances from power transmission lines.

8. The rapid pruning system for potential softwood obstructions along power transmission lines according to claim 1, characterized in that: The drone is equipped with a flight attitude control module that controls the drone's take-off and landing, ensures smooth operation, strong anti-interference capabilities, and high accuracy in maintaining distances to power lines and pruning branches during tender branch pruning.

9. A rapid pruning method for potential softwood obstructions along transmission lines, applied to the rapid pruning system for potential softwood obstructions along transmission lines as described in any one of claims 1 to 8, characterized in that, Includes the following steps: S1: A rotating component is snapped into the bottom of the trimming tool; S1: Use the circular saw blade on the rotating component at the bottom of the trimming tool to support the trimming tool, and fix the trimming tool to the belly of the drone through the connecting component; S3: Two rotating components are snapped together on both sides of the trimming tool; S4: Take off the drone and approach the tender branches of the trees to be pruned; S5: To prune potential tree branches growing under the transmission line, activate the circular saw blade on the rotating component at the bottom of the pruning tool to prune them; to prune potential tree branches growing on the side of the transmission line, activate the circular saw blade on the rotating component on the side of the pruning tool to prune them. S6: During operation, if any of the angle variables φ, θ, or ψ contained in the Euler angle Θ exceeds the allowable value, or if the drone or pruning tool operates abnormally, the operation terminal will intelligently shut down the pruning tool, the circular saw blade will stop running, and an alarm will be issued to the operator for handling. S7: Once the tender branches of the trees have reached the required pruning level, control the drone to land, disassemble the pruning tools, and complete the pruning operation.

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