Power transmission line icing full-state monitoring device and method based on multi-sensor fusion

Abstract

The invention provides a power transmission line icing full-state monitoring device and method based on multi-sensor fusion, and the device comprises an energy supply installation seat which sleeves a power transmission line; and the lateral monitoring housing is used for being matched with the energy supply mounting seat, the lateral monitoring housing comprises a main assembly control frame, and the main assembly control frame is provided with a combined monitoring housing, a folding extrusion driving wheel and a driving module. According to the invention, the power transmission line icing full-state monitoring device can carry out monitoring in different environments, and the practicability is improved.

Description

Technical Field

[0001] This invention relates to the field of power transmission conductor and ground wire condition monitoring technology, and more specifically, to a device and method for monitoring the full state of power transmission line icing based on multi-sensor fusion. Background Technology

[0002] Conductors and ground wires are two complementary and indispensable components of power transmission lines: one is primarily external (transmitting energy), and the other is primarily internal (ensuring safety), together ensuring the stable and reliable operation of the power grid. Because they are exposed to the external environment, they are easily affected by it. To facilitate condition monitoring of transmission conductors and ground wires, regular manual inspection and maintenance are required, which is not only inefficient but also costly. Therefore, some unmanned devices that can automatically monitor transmission conductors and ground wires have emerged on the market. However, in rainy or snowy weather, the cable surface may become icy, leading to inaccurate monitoring results and affecting the efficiency of the device's movement along the conductor and ground wire surface. Furthermore, subsequent maintenance is difficult. Summary of the Invention

[0003] Therefore, this invention provides a multi-sensor fusion-based device and method for monitoring the full state of icing on power transmission lines, enabling the device to monitor under different environments and improving its practicality.

[0004] To address the aforementioned problems, this invention provides a multi-sensor fusion-based full-state monitoring device for power transmission line icing, comprising: a power supply mounting base fitted onto the power transmission line; and a lateral monitoring housing for cooperating with the power supply mounting base. The lateral monitoring housing includes: a main assembly control frame, on which a combined monitoring housing, a folding and extrusion drive wheel, and a drive module are mounted.

[0005] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: By using a split structure design that combines a power supply mounting base with a lateral monitoring housing, the device can flexibly adapt to different specifications of power transmission lines and is easy to disassemble and maintain; the main assembly control frame integrates a combined monitoring housing, folding and squeezing drive wheels and drive modules, realizing multi-dimensional monitoring and autonomous movement of the icing status of power transmission lines, improving the comprehensiveness and automation level of monitoring, and enhancing the adaptability and reliability of the device in complex environments.

[0006] In one embodiment of the present invention, the main assembly control frame further includes: an annular main frame; multiple side assembly frames disposed on the annular main frame; and each side assembly frame is further provided with an embedded electric heating block and an embedded adjustment guide rail.

[0007] Compared with existing technologies, the technical effects achieved by this technical solution are as follows: the combined structure of the annular main frame and multiple side assembly frames enhances the overall rigidity and assembly stability; the embedded electric heating blocks set in the side assembly frames can locally heat the surface of the transmission line to effectively melt ice; and the embedded adjustment guide rails provide a basis for precise displacement control of the internal functional modules, thereby improving the thermal control capability and mechanical adjustment accuracy of the device, which is conducive to achieving more accurate identification and handling of icing conditions.

[0008] In one embodiment of the present invention, an embedded electric control screw and an internal thread translation block threaded onto the embedded electric control screw are movably mounted inside the embedded adjustment guide rail.

[0009] Compared with existing technologies, the technical effects achieved by this technical solution are as follows: the cooperation between the embedded electric control screw and the internal thread translation block realizes high-precision linear displacement control in the embedded guide rail, enabling related actuators such as the folding and extrusion drive wheel to accurately adjust the contact state with the power transmission line, improving the positioning accuracy and operational reliability of the device, and providing a stable and controllable power transmission mechanism for icing monitoring and cleaning operations.

[0010] In one embodiment of the present invention, the combined monitoring housing further includes: an arc-shaped monitoring housing, which is slidably connected to two adjacent lateral assembly frames; and the arc-shaped monitoring housing is also provided with a split optical recognition module and a split flow guiding device.

[0011] Compared with existing technologies, the technical effects achieved by this solution are as follows: the arc-shaped monitoring housing is slidably inserted between the side assembly frames, which enhances the overall structure's sealing and environmental adaptability; its integrated split optical recognition module can perform high-quality image acquisition and ice layer recognition on the surface of the power transmission line; and the split diversion device can effectively expel internal moisture and maintain the monitoring area dry, thereby improving the clarity and accuracy of optical monitoring data and optimizing the recognition effect of ice thickness.

[0012] In one embodiment of the present invention, the arc-shaped monitoring housing is provided with a rectangular assembly opening; the split optical recognition module and the split flow guiding device are disposed inside the rectangular assembly opening.

[0013] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: the rectangular assembly port provides a structural basis for standardized modular installation, enabling the separate optical recognition module and the separate flow guiding device to be quickly installed and replaced, improving the modularity and maintenance convenience of the system, while ensuring the rationality and functionality of the layout of the optical sensing and airflow guiding components, and enhancing the stability and repeatability of the monitoring process.

[0014] In one embodiment of the present invention, the drive module further includes: a first external assembly frame disposed at a rectangular assembly opening; a second external assembly frame disposed at a rectangular assembly opening; a main drive wheel disposed at the first external assembly frame; and a secondary guide wheel disposed at the second external assembly frame.

[0015] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: the first and second external assembly frames respectively support the main drive wheel and the auxiliary guide wheel, forming a stable and reliable drive and guide mechanism, enabling the device to move axially or rotate circumferentially along the power transmission line, achieving all-round coverage monitoring of the power transmission line; the dual-wheel design improves the smoothness of movement and positioning accuracy, and enhances the motion control capability of the device under complex working conditions.

[0016] In one embodiment of the present invention, lateral telescopic grooves are symmetrically provided on the inner walls of the first and second external assembly frames; end electromagnets and iron compression springs controlled by the end electromagnets are fixedly mounted on the inner walls of the lateral telescopic grooves.

[0017] Compared with existing technologies, the technical effects achieved by this technical solution are as follows: the end electromagnets and iron compression springs installed in the lateral telescopic groove realize electromagnetic control and elastic support for the main drive wheel and the auxiliary guide wheel, so that the clamping force with the surface of the transmission line can be quickly adjusted according to the actual working conditions. This ensures the friction requirements during movement and avoids damage to the cable surface, thereby improving the adaptability and operational safety of the device.

[0018] In one embodiment of the present invention, an annular power supply groove that mates with the annular main frame is provided on the side wall of the power supply mounting base; a magnetically controlled outer locking claw is movably mounted on the outer side of the power supply mounting base.

[0019] Compared with existing technologies, the technical effects achieved by adopting this technical solution are as follows: the annular power supply groove on the power supply mounting base provides stable power connection and transmission for the lateral monitoring housing, while the magnetically controlled external locking claw enables quick clamping and release, enhancing the installation efficiency and connection reliability of the overall structure, ensuring that the device does not lose power or loosen during long-term monitoring, and is suitable for long-term deployment in harsh outdoor environments.

[0020] This invention also provides a method for monitoring the full-state icing of power transmission lines based on multi-sensor fusion. This method is applicable to any of the power transmission line icing monitoring devices described above. The method includes: a power supply mounting base fixedly installed at the connection end of the power transmission line; monitoring the external environment via an embedded temperature and humidity sensor controller mounted on the outer side of the side mounting frame; when the detected temperature is below 0°C and the humidity exceeds a preset value, the embedded temperature and humidity sensor controller controls the embedded electric control screw to rotate, driving the internal thread translation block to translate along the embedded adjusting guide rail; the embedded adjusting guide rail drives the folding extrusion drive wheel for parallel extrusion and inward folding extrusion, controlling the folding extrusion drive... The driving wheel presses against the outer wall of the transmission line, and the folding and pressing drive wheel drives the equipment to move along the transmission line. At the same time, the embedded electric heating block at the traveling end is activated to heat the surface sheath of the transmission line. The heated air is discharged outward through the split-type air guiding device. The split-type optical recognition module on the arc-shaped monitoring housing performs optical scanning on the outer sheath of the transmission line. When a preset problem is detected, the embedded electric control screw reverses and drives the internal thread translation block to move in the opposite direction. The internal thread translation block controls the folding and pressing drive wheel to reset in parallel, controls the drive module to start, and presses the main drive wheel and the auxiliary guide wheel against the surface of the outer sheath of the transmission line, so that the transmission line icing full-state monitoring device performs circumferential motion, thereby performing ring optical detection.

[0021] Compared with existing technologies, the technical effects achieved by this solution are as follows: By intelligently triggering the action of the electric control screw through temperature and humidity sensing, the folding and squeezing drive wheel is controlled to press the transmission line and drive the device to move. Combined with electric heating for ice melting and dehumidification, autonomous ice melting and drying are achieved in low temperature and high humidity environments. Furthermore, by combining optical recognition and circumferential detection, multi-angle and full-coverage monitoring of the icing state is achieved, significantly improving the comprehensiveness, accuracy and automation of monitoring.

[0022] In one embodiment of the invention, the folding extrusion drive wheel and drive module are controlled to run in an alternating manner along the power transmission line.

[0023] Compared with existing technologies, the technical effects achieved by this technical solution are as follows: The folding and extrusion drive wheel and the drive module adopt an interleaved operation control strategy, which not only realizes the smooth movement of the device on the power transmission line, but also allows for flexible switching between axial and circumferential monitoring modes. This avoids blind spots or structural interference that may be caused by a single drive mode, improves the rationality of monitoring path planning and the working efficiency of the system, and enhances the continuity and reliability of the overall monitoring process.

[0024] By adopting the technical solution of the present invention, the following technical effects can be achieved: (1) The transmission conductor and ground wire icing full state monitoring device and method based on multi-sensor fusion of the present invention adopts a split structure design of the lateral monitoring cover, which can replace different combined monitoring covers according to the monitoring environment needs, which can not only improve its adaptability, but also facilitate later maintenance. (2) Fix a lateral assembly frame on the side wall of the annular main frame. The lateral assembly frame can not only be used to quickly assemble the combined monitoring housing, but also change the assembly relationship between it and the power transmission conductor through the folding and squeezing drive wheel on the inner side, which is convenient for loading, unloading and translation. (3) A drive module is set inside the combined monitoring housing, which can work with the folding and squeezing drive wheel to run alternately, making it easier to drive the power transmission conductor to move radially or axially, and making control more convenient; (4) The lateral monitoring housing can be fixed and powered during idle time via the power supply mounting base, which facilitates automated operation; (5) The drive module inside the combined monitoring housing adopts bidirectional magnetic control adjustment, which facilitates the extension and retraction adjustment of the main drive wheel and the auxiliary guide wheel. It uses elastic compression to contact the outer wall of the power transmission conductor and improves the adjustment efficiency. (6) The ice on the surface of the power transmission conductor is melted by the embedded electric heating blocks at both ends of the inner wall of the side assembly frame. A split-type flow guiding device is set on the arc-shaped monitoring cover to quickly exhaust the humid air inside, improve the dryness of the surface of the power transmission conductor, and improve the monitoring accuracy. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a schematic diagram of the structure of a transmission line icing full-state monitoring device based on multi-sensor fusion provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the idle time of a transmission line icing full-state monitoring device based on multi-sensor fusion provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the main assembly control frame in this invention; Figure 4 This is a schematic diagram of the internal structure of a power transmission line icing full-state monitoring device based on multi-sensor fusion.

[0026] Explanation of reference numerals in the attached figures: 1. Power supply mounting base; 11. Annular power supply groove; 12. Magnetic control outer locking claw; 2. Main assembly control frame; 21. Annular main frame; 22. Lateral assembly frame; 23. Embedded electric heating block; 24. Embedded adjusting guide rail; 25. Embedded electric control screw; 26. Internal thread translation block; 3. Combined monitoring cover; 31. Arc-shaped monitoring cover; 32. Split optical recognition module; 33. Split flow guiding device; 4. Folding extrusion drive wheel; 5. Drive module; 51. First outer assembly frame; 52. Second outer assembly frame; 53. Main drive wheel; 54. Secondary guide wheel; 55. Lateral telescopic groove; 6. End electromagnet; 7. Iron extrusion spring. Detailed Implementation

[0027] To make the above-mentioned objectives, features, and advantages of the present invention more apparent and understandable, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] [First Embodiment] See Figures 1-4 The present invention provides a full-state monitoring device for icing of power transmission lines based on multi-sensor fusion, comprising: a power supply mounting base 1, which is sleeved on the power transmission line; and a lateral monitoring cover, which is used to cooperate with the power supply mounting base 1. The lateral monitoring cover includes: a main assembly control frame 2, on which a combined monitoring cover 3, a folding and squeezing drive wheel 4, and a drive module 5 are provided.

[0029] Specifically, the power supply mounting base 1 and the lateral monitoring housing that cooperates with the power supply mounting base 1. The lateral monitoring housing includes a main assembly control frame 2, a combined monitoring housing 3 installed on the side wall of the main assembly control frame 2, a folding and extrusion drive wheel 4, and a drive module 5 installed inside the combined monitoring housing 3.

[0030] Specifically, in order to facilitate lateral assembly and electric heating adjustment, the main assembly control frame 2 includes an annular main frame 21, a plurality of lateral assembly frames 22 fixed on the side wall of the annular main frame 21, embedded electric heating blocks 23 fixed at both ends of the inner wall of the lateral assembly frames 22, and embedded adjustment guide rails 24 fixed inside the lateral assembly frames 22.

[0031] Specifically, in order to coordinate with the translation of the lead screw, the embedded adjusting guide rail 24 is internally fitted with an embedded electrically controlled lead screw 25 and an internally threaded translation block 26 threaded onto the embedded electrically controlled lead screw 25.

[0032] Specifically, one end of the folding extrusion drive wheel 4 is movably mounted on the inner side of the embedded adjustment guide rail 24, and the other end is movably mounted on the internal thread translation block 26. The internal thread translation block 26 moves along the embedded adjustment guide rail 24, thereby extruding the folding extrusion drive wheel 4 and changing the gap between it and the outer sheath of the power transmission conductor.

[0033] Specifically, in order to facilitate sliding insertion and fixing, the combined monitoring housing 3 includes an arc-shaped monitoring housing 31 that slides into both sides of the lateral assembly frame 22, a split optical recognition module 32 and a split flow guiding device 33 installed on the arc-shaped monitoring housing 31.

[0034] Specifically, the side assembly frame 22 and the arc-shaped monitoring housing 31 are assembled by splicing. Then, an end locking bolt is threaded onto the outer end of the side assembly frame 22 to prevent the side assembly frame 22 and the arc-shaped monitoring housing 31 from separating.

[0035] Specifically, in order to facilitate external installation, the arc-shaped monitoring housing 31 has a rectangular assembly port inside, and the drive module 5 and the split optical recognition module 32 are inserted into the rectangular assembly port and fixedly assembled with the arc-shaped monitoring housing 31 respectively.

[0036] Specifically, in order to coordinate with lateral control, the drive module 5 includes a first external assembly frame 51 and a second external assembly frame 52 fixed inside the rectangular assembly opening, a main drive wheel 53 movably installed at the inner opening of the first external assembly frame 51, and a secondary guide wheel 54 movably installed at the inner opening of the second external assembly frame 52.

[0037] Specifically, in order to cooperate with the internal telescopic control, lateral telescopic grooves 55 are symmetrically opened on the inner walls of the first external assembly frame 51 and the second external assembly frame 52. End electromagnets 6 and iron compression springs 7 controlled by the end electromagnets 6 are fixedly installed on the inner walls of the lateral telescopic grooves 55.

[0038] Specifically, the main drive wheel 53 and the auxiliary guide wheel 54 are slidably assembled inside the first outer assembly frame 51 and the second outer assembly frame 52 by inserting the adjusting sliders on the two side assembly shafts into the lateral telescopic groove 55. The iron compression springs 7 on both sides of the lateral telescopic groove 55 press against the adjusting sliders on both sides respectively. When it is necessary to press the main drive wheel 53 or the auxiliary guide wheel 54 downward, the electromagnet 6 at the lower end is activated, controlling the iron compression spring 7 at the lower end to retract, while the iron compression spring 7 at the upper end presses the adjusting slider downward, driving the main drive wheel 53 or the auxiliary guide wheel 54 to slide downward; the same applies to upward retraction.

[0039] Specifically, in order to cooperate with the self-powered locking during idle periods, an annular power supply groove 11 that matches the annular main frame 21 is provided on the side wall of the power supply mounting base 1, and a magnetically controlled outer locking claw 12 is movably mounted on the outer side of the power supply mounting base 1.

[0040] Specifically, the magnetically controlled outer locking claw 12 includes a flip locking claw hinged to the outer surface of the power supply mounting base 1, an embedded electromagnet fixed to the outer wall of the power supply mounting base 1, and an external spring installed between the embedded electromagnet and the flip locking claw. The external spring is extended or retracted by opening and closing the embedded electromagnet, thereby changing the angle of the flip locking claw. When the flip locking claw approaches the annular main frame 21 and flips inward, the magnetically controlled outer locking claw 12 engages with one side of the annular main frame 21. Then, the power supply surface of the annular main frame 21 is inserted into the annular power supply groove 11, and the power supply terminals on the inner wall of the annular power supply groove 11 supply power to the entire monitoring device.

[0041] Preferably, by adopting a split structure design that combines the power supply mounting base 1 with the lateral monitoring housing, the device can flexibly adapt to different specifications of power transmission lines and is easy to disassemble and maintain. The main assembly control frame 2 integrates a combined monitoring housing 3, a folding and squeezing drive wheel 4, and a drive module 5, realizing multi-dimensional monitoring and autonomous movement of the icing status of the power transmission line, improving the comprehensiveness and automation level of monitoring, and enhancing the adaptability and reliability of the device in complex environments.

[0042] Specifically, the main assembly control frame 2 also includes: an annular main frame 21; multiple side assembly frames 22, which are located on the annular main frame 21; and each side assembly frame 22 is also provided with an embedded electric heating block 23 and an embedded adjustment guide rail 24.

[0043] Preferably, the combined structure of the annular main frame 21 and multiple side assembly frames 22 enhances the overall rigidity and assembly stability. The embedded electric heating block 23 set in the side assembly frame 22 can locally heat the surface of the power transmission line to effectively melt ice. The embedded adjustment guide rail 24 provides a precise displacement control basis for the internal functional modules, thereby improving the thermal control capability and mechanical adjustment accuracy of the device, which is conducive to achieving more accurate identification and handling of icing status.

[0044] Specifically, the embedded adjusting guide rail 24 is internally fitted with an embedded electric control screw 25 and an internal thread translation block 26 threaded onto the embedded electric control screw 25.

[0045] Preferably, the cooperation between the embedded electric control screw 25 and the internal thread translation block 26 enables high-precision linear displacement control in the embedded guide rail, allowing related actuators such as the folding and pressing drive wheel 4 to accurately adjust the contact state with the power transmission line, improving the positioning accuracy and operational reliability of the device, and providing a stable and controllable power transmission mechanism for icing monitoring and cleaning operations.

[0046] Specifically, the combined monitoring housing 3 also includes: an arc-shaped monitoring housing 31, which is slidably connected to two adjacent lateral assembly frames 22; and the arc-shaped monitoring housing 31 is also provided with a split optical recognition module 32 and a split flow guiding device 33.

[0047] Preferably, the arc-shaped monitoring housing 31 is slidably inserted between the side assembly frames 22, which enhances the overall structure's sealing and environmental adaptability. Its integrated split optical recognition module 32 can perform high-quality image acquisition and ice layer recognition on the surface of the power transmission line, while the split diversion device 33 can effectively expel internal moisture and maintain the monitoring area dry, thereby improving the clarity and accuracy of optical monitoring data and optimizing the recognition effect of ice thickness.

[0048] Specifically, the arc-shaped monitoring housing 31 is provided with a rectangular assembly opening; the split optical recognition module 32 and the split flow guiding device 33 are located inside the rectangular assembly opening.

[0049] Preferably, the rectangular assembly port provides a structural basis for standardized modular installation, enabling the separate optical recognition module 32 and the separate flow guiding device 33 to be quickly installed and replaced, improving the modularity and maintenance convenience of the system, while ensuring the rationality and functionality of the layout of the optical sensing and airflow guiding components, and enhancing the stability and repeatability of the monitoring process.

[0050] Specifically, the drive module 5 also includes: a first external assembly frame 51, which is located at a rectangular assembly opening; a second external assembly frame 52, which is located at a rectangular assembly opening; a main drive wheel 53, which is located at the first external assembly frame 51; and a secondary guide wheel 54, which is located at the second external assembly frame 52.

[0051] Preferably, the first and second external assembly frames 52 respectively support the main drive wheel 53 and the auxiliary guide wheel 54, forming a stable and reliable drive and guide mechanism, enabling the device to move axially or rotate circumferentially along the power transmission line, and achieve all-round coverage monitoring of the power transmission line; the dual-wheel design improves the smoothness of movement and positioning accuracy, and enhances the motion control capability of the device under complex working conditions.

[0052] Specifically, lateral expansion grooves 55 are symmetrically provided on the inner walls of the first outer assembly frame 51 and the second outer assembly frame 52; end electromagnets 6 and iron compression springs 7 controlled by the end electromagnets 6 are fixedly mounted on the inner walls of the lateral expansion grooves 55.

[0053] Preferably, the end electromagnet 6 and iron compression spring 7 installed in the lateral telescopic groove 55 realize electromagnetic control and elastic support for the main drive wheel 53 and the auxiliary guide wheel 54, so that the clamping force with the surface of the transmission line can be quickly adjusted according to the actual working conditions, which not only ensures the friction force requirement during movement, but also avoids damage to the cable surface, thus improving the adaptability and operational safety of the device.

[0054] Specifically, the side wall of the power supply mounting base 1 is provided with an annular power supply groove 11 that cooperates with the annular main frame 21; the outer side of the power supply mounting base 1 is movably equipped with a magnetically controlled outer locking claw 12.

[0055] Preferably, the annular power supply groove 11 on the power supply mounting base 1 provides stable power connection and transmission for the lateral monitoring housing, while the magnetically controlled outer locking claw 12 enables quick clamping and release, enhancing the installation efficiency and connection reliability of the overall structure, ensuring that the device remains powered and does not loosen during long-term monitoring, and is suitable for long-term deployment in harsh outdoor environments.

[0056] This invention also provides a method for monitoring the full-state icing of power transmission lines based on multi-sensor fusion. This method is applicable to any of the power transmission line icing full-state monitoring devices described above. The method includes: a power supply mounting base 1 is fixedly installed at the connection end of the power transmission line; an embedded temperature and humidity sensor controller installed on the outer side of the side mounting frame 22 monitors the external environment; when the detected temperature is below 0℃ and the humidity exceeds a preset value, the embedded temperature and humidity sensor controller controls the embedded electric control screw 25 to rotate, driving the internal thread translation block 26 to translate along the embedded adjusting guide rail 24; the embedded adjusting guide rail 24 drives the folding extrusion drive wheel 4 to perform parallel extrusion and inward folding extrusion, controlling the folding extrusion drive wheel 4 to extrude. On the outer wall of the power transmission line, the folding and pressing drive wheel 4 drives the device to move along the power transmission line; at the same time, the embedded electric heating block 23 at the traveling end is activated to heat the surface sheath of the power transmission line; the air is heated and discharged outward through the split-type flow guide device 33; the split-type optical recognition module 32 on the arc-shaped monitoring cover 31 performs optical scanning on the outer sheath of the power transmission line; when a preset problem is detected, the embedded electric control screw 25 reverses and drives the internal thread translation block 26 to move in the opposite direction. The internal thread translation block 26 controls the folding and pressing drive wheel 4 to reset in parallel, controls the drive module 5 to start, and presses the main drive wheel 53 and the auxiliary guide wheel 54 onto the surface of the outer sheath of the power transmission line, so that the power transmission line icing full-state monitoring device performs circular motion, thereby performing ring optical detection.

[0057] Specifically, the preset values ​​and preset questions are set manually according to the actual situation.

[0058] Preferably, the electric control screw is triggered by temperature and humidity sensors to control the folding and squeezing drive wheel 4 to press the transmission line and drive the device to move. Combined with electric heating for ice melting and dehumidification, autonomous ice melting and drying are achieved in low temperature and high humidity environments. Furthermore, by combining optical recognition and circumferential detection, multi-angle and full-coverage monitoring of the icing state is achieved, which significantly improves the comprehensiveness, accuracy and automation of the monitoring.

[0059] Specifically, the folding and extrusion drive wheel 4 and the drive module 5 are controlled to run in an alternating manner along the power transmission line.

[0060] Preferably, the folding and extrusion drive wheel 4 and the drive module 5 adopt an interleaved operation control strategy, which not only realizes the smooth movement of the device on the power transmission line, but also allows for flexible switching between axial and circumferential monitoring modes. This avoids blind spots or structural interference that may be caused by a single drive mode, improves the rationality of monitoring path planning and the working efficiency of the system, and enhances the continuity and reliability of the overall monitoring process.

[0061] 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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-sensor fusion-based full-state monitoring device for icing on power transmission lines, characterized in that, include: A power supply mounting base, wherein the power supply mounting base is sleeved on the power transmission line; A lateral monitoring housing, the lateral monitoring housing being used to mate with the power supply mounting base, the lateral monitoring housing comprising: The main assembly control frame is equipped with a combined monitoring cover, a folding extrusion drive wheel, and a drive module.

2. The multi-sensor fusion-based full-state monitoring device for power transmission line icing as described in claim 1, characterized in that, The main assembly control box also includes: Circular main frame; Multiple lateral assembly frames are provided on the annular main frame; Each side assembly frame is also equipped with an embedded electric heating block and an embedded adjustment rail.

3. The multi-sensor fusion-based full-state monitoring device for power transmission line icing according to claim 2, characterized in that, The embedded adjusting guide rail is internally fitted with an embedded electric control screw and an internal thread translation block threaded onto the embedded electric control screw.

4. The multi-sensor fusion-based full-state monitoring device for power transmission line icing as described in claim 2, characterized in that, The combined monitoring enclosure also includes: An arc-shaped monitoring housing, wherein the arc-shaped monitoring housing is slidably inserted into two adjacent lateral assembly frames; Furthermore, the arc-shaped monitoring housing is also equipped with a split optical recognition module and a split flow guiding device.

5. The multi-sensor fusion-based full-state monitoring device for power transmission line icing according to claim 4, characterized in that, The arc-shaped monitoring housing is provided with a rectangular assembly opening; The split optical recognition module and the split flow guiding device are located inside the rectangular assembly port.

6. The multi-sensor fusion-based full-state monitoring device for power transmission line icing according to claim 5, characterized in that, The drive module also includes: A first external assembly frame is disposed at the rectangular assembly opening; A second external assembly frame is disposed at the rectangular assembly opening; The main drive wheel is disposed on the first external assembly frame; A secondary guide wheel is disposed on the second outer assembly frame.

7. The multi-sensor fusion-based full-state monitoring device for power transmission line icing according to claim 6, characterized in that, Lateral expansion grooves are symmetrically provided on the inner walls of both sides of the first and second external assembly frames. End electromagnets and iron compression springs controlled by the end electromagnets are fixedly mounted on the inner walls of both sides of the lateral telescopic groove.

8. The multi-sensor fusion-based full-state monitoring device for power transmission line icing according to claim 2, characterized in that, The side wall of the power supply mounting base is provided with an annular power supply groove that matches the annular main frame. The power supply mounting base is movably fitted with a magnetically controlled external locking claw.

9. A method for monitoring the full-state state of icing on power transmission lines based on multi-sensor fusion, wherein the method is applicable to the full-state monitoring device for icing on power transmission lines as described in any one of claims 1-8, characterized in that, The method for monitoring the full-state icing condition of transmission lines includes: The power supply mounting base is fixedly installed at the connection end of the power transmission line, and the external environment is monitored by an embedded temperature and humidity sensor controller installed on the outer side of the side assembly frame. When the temperature is detected to be below 0°C and the humidity exceeds the preset value, the embedded temperature and humidity sensor controller controls the embedded electric control screw to rotate, which drives the internal thread translation block to translate along the embedded adjustment guide rail. The embedded adjustment guide rail drives the folding extrusion drive wheel to perform parallel extrusion and inward folding extrusion, controlling the folding extrusion drive wheel to press against the outer wall of the power transmission line. The folding extrusion drive wheel drives the equipment to move along the power transmission line. Simultaneously, the embedded electric heating block at the traveling end is activated to heat the surface sheath of the transmission line; the heated air is then discharged outwards via the split-type air guiding device. The split-type optical recognition module on the arc-shaped monitoring housing performs optical scanning on the outer sheath of the power transmission line; When a preset problem is detected, the embedded electronic control screw reverses and drives the internal thread translation block to move in the opposite direction. The internal thread translation block controls the folding and pressing drive wheel to reset in parallel and controls the drive module to start. The main drive wheel and the auxiliary guide wheel are pressed against the outer sheath surface of the power transmission line, so that the power transmission line icing full-state monitoring device performs circumferential motion, thereby performing ring optical detection.

10. The method for monitoring the full-state icing of transmission lines according to claim 9, characterized in that, The folding extrusion drive wheel and the drive module are controlled to run in an alternating manner along the power transmission line.

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