Suspension insulator layered progressive intelligent deicing method, deicing robot and system

Abstract

The invention belongs to the technical field of power robots. According to the suspension insulator layered progressive intelligent deicing method, robot and system, in the insulator multi-dimensional sensing intelligent recognition step, after the deicing robot is hung to a tower where an insulator string is located, an insulator multi-dimensional sensing recognition agent is called to recognize an insulator string image in an icing state, and the insulator string image is subjected to image recognition; obtaining a position identification result and an icing thickness of the insulator string; in the layered progressive adaptive decision-making step, an autonomous decision-making agent is called to adaptively select a deicing strategy according to the icing thickness, and a deicing clamping jaw is controlled to deice the insulator chain layer by layer according to the selected deicing strategy and the position identification result of the insulator chain; in the effect evaluation closed-loop strategy adjustment step, the ice detection agent is autonomously called in the deicing process to evaluate the deicing effect, and the deicing strategy is dynamically adjusted in a closed-loop mode according to the deicing effect evaluation result. According to the invention, the accuracy, efficiency and safety of deicing operation are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of power robot technology, and in particular to a layered progressive intelligent de-icing method for suspension insulators, a de-icing robot and system. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Suspension insulators are core insulation components of overhead transmission lines, directly bearing the crucial role of conductor support and insulation isolation. Their operational status directly determines the safety and stability of the power grid. In harsh winter weather conditions such as low temperatures, high humidity, or rain, snow, and freezing, ice easily forms on the surface of suspension insulators. This icing not only reduces the insulator's insulation performance but can also lead to serious faults such as insulator string breakage and line tripping due to ice bridging and overload, posing a significant challenge to power grid operation and maintenance. Currently, de-icing of suspension insulators has become a key task for ensuring the safe operation of the power grid in winter. However, existing de-icing technologies still have many shortcomings that urgently need to be addressed, making it difficult to meet the demands for efficient, precise, and safe de-icing.

[0004] In terms of de-icing positioning and operation procedures, existing technologies generally rely on manual visual observation or simple mechanical positioning methods. This not only results in low positioning accuracy and an inability to accurately identify the specific position and rotation angle of the insulator string, but also leads to a chaotic de-icing sequence for single insulator strings. During operation, random point de-icing mode is often used, which easily leads to incomplete removal of the upper layer of ice and omission of the lower layer of ice. This results in insulation hazards still existing insulators after de-icing, seriously affecting the integrity and reliability of the de-icing operation.

[0005] In terms of icing and ice formation identification, traditional ice formation detection methods often rely on simple image comparison or manual judgment, which makes it difficult to capture the subtle features of residual ice after de-icing. Due to insufficient image feature extraction technology, it is impossible to effectively integrate local spatial details and global semantic information. Furthermore, the mismatch in resolution of image features at different levels leads to large errors in ice formation detection, resulting in frequent missed or false detections of dangerous ice formations. This fails to provide accurate information for secondary de-icing and further exacerbates the risk of residual ice formations.

[0006] In terms of de-icing strategies and parameter control, existing technologies mostly adopt a single, fixed de-icing strategy without classifying the severity of icing. Moreover, once the operating parameters are set, they are not adjusted. Due to the lack of scientific criteria for judging the severity of icing, it is impossible to match and adapt strategies according to actual working conditions such as icing thickness and motor load. At the same time, there is a lack of real-time feedback and adjustment mechanisms. When problems such as excessive deviation between the extrusion pressure and the preset value, insulator centerline misalignment, and de-icing time exceeding expectations occur, the operating parameters cannot be corrected in time. This can easily lead to problems such as excessive extrusion pressure damaging the insulator, insufficient extrusion pressure resulting in incomplete de-icing, or positional deviation causing operational failure.

[0007] In summary, current suspension insulator de-icing technology suffers from multiple problems, including low positioning accuracy, inaccurate ice identification, poor strategy adaptability, low operating efficiency, and insufficient operational reliability, making it difficult to meet the power grid's demand for efficient and safe de-icing of iced insulators. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention provides a layered, progressive intelligent de-icing method, de-icing robot, and system for suspension insulators. This significantly improves the accuracy, efficiency, and safety of de-icing operations, achieving precise insulator positioning and accurate identification of dangerous ice formations. It solves the problems of coarse positioning and missed or misjudged ice formations in traditional methods, avoids insulation hazards caused by residual ice, and is adaptable to different icing scenarios from light to heavy. It dynamically adjusts the de-icing strategy in real time, eliminating operational failures caused by improper pressure or positional deviations, and improving de-icing efficiency.

[0009] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a layered progressive intelligent de-icing method for suspension insulators.

[0010] A layered, progressive intelligent de-icing method for suspension insulators utilizes a de-icing robot comprising at least one set of de-icing grippers, including: Insulator multi-dimensional sensing intelligent recognition steps: After the de-icing robot is suspended on the tower where the insulator string is located, the insulator multi-dimensional sensing and recognition intelligent agent is called to recognize the image of the insulator string under the ice-covered state, and obtain the position recognition result of the insulator string and the ice thickness. Layered progressive adaptive decision-making steps: Based on the ice thickness, the autonomous decision-making agent is invoked to adaptively select the de-icing strategy. Based on the selected de-icing strategy and the position identification results of the insulator string, the de-icing gripper is controlled to perform layer-by-layer de-icing of the insulator string. Effect evaluation closed-loop strategy adjustment steps: During the de-icing process, the ice detection agent is autonomously invoked to evaluate the de-icing effect, and the de-icing strategy is dynamically adjusted in a closed loop based on the evaluation results.

[0011] In one implementation of the first aspect of the present invention, the process of calling a multi-dimensional sensing and recognition intelligent agent for insulators to recognize images of insulator strings under icing conditions includes: The image of the insulator string under icing conditions includes an RGB visible light image and a depth image. The RGB visible light image and the depth image of the insulator string are combined into a four-channel image and input into an insulator multi-dimensional perception and recognition agent based on the YOLOv11 model to obtain the position recognition result of the insulator string and the icing thickness.

[0012] In one implementation of the first aspect of the present invention, based on the ice thickness, an autonomous decision-making agent is invoked to adaptively select a de-icing strategy, including: The severity of icing is determined by comparing the icing thickness with a preset first thickness threshold and a preset second thickness threshold, and by combining the load change of the de-icing gripper's drive motor load over a set time period with a preset load threshold; wherein the first thickness threshold is less than the second thickness threshold. When the icing severity is light icing and the ice floe identification result shows that there are bridging ice floes, the light load compression strategy is selected; When the icing severity is moderate and no ice bridges are detected, the standard compression strategy is selected. When the icing severity is severe, or when the pressure feedback after a set number of consecutive cycles fails to achieve the desired de-icing effect, a powerful de-icing strategy is activated.

[0013] As a further limitation of the first aspect of the invention, determining the severity of icing includes: When the ice thickness is less than the first thickness threshold and the load change is less than the load threshold, it is judged as light icing; When the ice thickness is not less than the first thickness threshold and less than the second thickness threshold, or when the load change is greater than or equal to the load threshold, it is judged as moderate icing. When the ice thickness is not less than the second thickness threshold, or when the collected target area image contains continuous ice bodies exceeding the set area, it is determined to be heavily iced.

[0014] In one implementation of the first aspect of the present invention, when the de-icing effect evaluation result shows that there are dangerous ice floes, the squeezing force applied by the de-icing gripper to the insulator string, the image of the working area and the actual de-icing time are obtained during the operation, so as to adjust the operation parameters accordingly. Among them, when the pressure deviation between the extrusion pressure and the propulsion pressure is not less than the set pressure threshold, the retraction amount of the de-icing gripper propulsion is determined according to the pressure deviation. Extract the pixel deviation of the insulator string centerline in the image of the work area. When the pixel deviation is not less than the set pixel threshold, determine the lateral compensation amount based on the pixel deviation, and adjust the horizontal movement of the de-icing device accordingly. When the actual de-icing time is not less than the expected de-icing time, the enhanced extrusion pressure is determined based on the propulsion pressure, and the propulsion speed and propulsion distance are updated according to the enhanced extrusion pressure.

[0015] In one implementation of the first aspect of the present invention, during the de-icing process, an ice detection agent is autonomously invoked to evaluate the de-icing effect, including: Acquire images of insulator strings after the initial de-icing process. Use an insulator disc recognition agent to identify two adjacent insulator discs in the image after the initial de-icing process. If there are multiple insulator discs in the image field of view, the two insulator discs in the center of the image are used as the recognition results. Using an ice detection agent, it determines whether there is still ice between the two identified insulators. It calculates the ratio of the pixel length of the ice to the pixel length of the distance between the two insulators. Based on the comparison of the ratio with a predetermined threshold, it determines whether there is dangerous ice. If so, it controls the de-icing claw to perform de-icing again until the dangerous ice is removed.

[0016] As a further limitation of the first aspect of the present invention, the ice detection agent includes an encoder, an SDI semantic and detail injection module and a decoder. The encoder extracts multi-level features from the bottom layer to the top layer from the image of the insulator string after de-icing. Based on the M-level feature maps generated by the encoder, the SDI semantic and detail injection module applies spatial attention mechanism and channel attention mechanism to the features at each level, integrating local spatial information and global channel information. The resolution of feature maps at different levels is adjusted to the target resolution, multi-level feature resolution alignment is performed, and then fusion is performed; the decoder is used to gradually restore the resolution, and finally restore it to the original image resolution. The output segmentation map is obtained by mapping the number of segmentation categories to the probability normalization of the Softmax function through 1×1 convolution to the number of segmentation categories.

[0017] As a further limitation of the first aspect of the present invention, the process of adjusting the resolution of feature maps at different levels to the target resolution includes: With the first Hierarchical features resolution Based on the standard, let the adjusted feature be... For features of other levels j The adjusted rules are as follows: when At that time, characteristics The resolution is higher than Perform adaptive average pooling Downsampling: ; when When the resolutions of the two features are the same, and the identity mapping I is used, the features remain unchanged: ; when At that time, characteristics The resolution is lower than Perform bilinear interpolation Upsampling: .

[0018] In one implementation of the first aspect of the present invention, the de-icing gripper includes a de-icing blade, a de-icing support column, and a slide block. The de-icing blade is fixedly connected to the de-icing support column, the de-icing support column is connected to the slide block by a pin, a slack connection line is connected between the de-icing support column and the slide block, and an emergency pull ring is provided on the pin. When de-icing is completed at any de-icing position, but the two de-icing claws at opposite positions cannot move away from each other after clamping the insulator, or although they can move away from each other, the maximum distance between them is less than the maximum diameter of the insulator, the de-icing claws are judged to have failed to disengage. When the de-icing gripper fails to disengage, the aircraft pulls the emergency pull ring to pull the pin out of the slide, the de-icing support is disengaged from the slide, and the horizontal drive mechanism connected to the slide no longer acts on the de-icing support. The aircraft hoists the suspended insulator de-icing robot, which is connected to the slide, away from the insulator string. The slide then tensions the connecting wires to detach the de-icing support and blades from the insulator, completing the emergency detachment.

[0019] In one implementation of the first aspect of the present invention, two sets of de-icing grippers are arranged on a de-icing device. The first set of de-icing grippers includes a first gripper and a second gripper that are positioned opposite each other. The second set of de-icing grippers includes a third gripper and a fourth gripper that are positioned opposite each other. The openings of the first gripper and the third gripper face the same direction, and the openings of the second gripper and the fourth gripper face the same direction. The de-icing device includes: a support frame, a first horizontal moving mechanism, a second horizontal moving mechanism, a horizontal telescopic mechanism, and a translation mechanism. The first and third grippers are connected to the first horizontal moving mechanism, the second and fourth grippers are connected to the second horizontal moving mechanism, the first and second horizontal moving mechanisms are connected to the translation mechanism, the translation mechanism is connected to the output end of the horizontal telescopic mechanism, and the horizontal telescopic mechanism is fixed on the support frame. After the de-icing device is moved to the de-icing position of the top layer of the insulator string by the lifting device, the horizontal telescopic mechanism drives the two sets of de-icing claws to move forward, so that the first claw and the second claw are located on both sides of the first insulator string, and the third claw and the fourth claw are located on both sides of the second insulator string. The first and second horizontal moving mechanisms drive the two sets of de-icing grippers to move simultaneously, clamping ice at the top layer of the two insulator strings at the same time. After de-icing is completed at the topmost de-icing position, the first and second horizontal moving mechanisms control the two sets of grippers to release, and continue to move to the next de-icing position to continue de-icing until the bottommost de-icing position is completed. Then, the horizontal telescopic mechanism drives the de-icing grippers to retract, and the de-icing is completed.

[0020] In one implementation of the first aspect of the present invention, the hook device includes a frame body, on which a lifting module, a first slider and a second slider connected to the lifting module are provided, and a retraction spring mechanism connected to the first slider and the second slider respectively. When the hook device is lifted, the lifting module moves upward, causing the first and second sliders to move to both ends of the frame body respectively, while simultaneously stretching and retracting the tension spring mechanism. When the hook device is placed on the crossbeam, the lifting module resets and, through the retraction of the tension spring mechanism, moves the first and second sliders to the angle steel position to complete the fastening. The suspended insulator de-icing robot is mounted onto the frame body using a hoisting mechanism from an aircraft.

[0021] In one implementation of the first aspect of the present invention, the first slider and the second slider move in opposite directions; When the hook-and-loop device is lifted, it moves in opposite directions until it reaches both ends of the frame body. Once the hook-on device is placed on the crossbeam, move it in a direction that brings them closer together until it reaches the position of the angle steel.

[0022] In one implementation of the first aspect of the present invention, a DC motor is also provided on the frame body. When the hook device is placed on the crossbeam, the DC motor is controlled to push the first slider and the second slider to move toward each other until they move to the position of the angle steel. After the suspended insulator de-icing robot is mounted on the frame body, under the gravity of the suspended insulator de-icing robot, the first slider and the second slider both abut against the angle steel on the corresponding side. The tilt angle of the hook device is detected by the tilt sensor installed on the frame body, and the tilt angle of the suspended insulator de-icing robot when it is mounted on the frame body is adjusted according to the tilt angle.

[0023] Secondly, the present invention provides a suspended insulator de-icing robot.

[0024] A suspended insulator de-icing robot includes: a lifting mechanism, a hoisting mechanism, and a de-icing device. The hoisting mechanism is fixed to the upper part of the lifting mechanism, and the lower part of the lifting mechanism is connected to a support frame. The hoisting mechanism includes a hoisting guide part, a hanging guide part, and a guide plate. The hoisting guide part is used for hoisting the aircraft onto the upper and lower lines. The hanging guide part is used for hanging on the hook device on the tower crossarm or the tower crossarm. The guide plate is inclined and fits against the transition part between the lifting mechanism and the hoisting mechanism. The de-icing device includes: a support frame, a horizontal moving mechanism, a horizontal telescopic mechanism, and at least one set of de-icing grippers for clamping ice. The de-icing grippers include de-icing blades, de-icing support columns, and slides. The de-icing blades are fixedly connected to the de-icing support columns, and the de-icing support columns are connected to the slides via a pin. A slack connection line is connected between the de-icing support columns and the slides, and an emergency pull ring is provided on the pin. The slide is connected to the output end of the horizontal moving mechanism. The horizontal telescopic mechanism is fixed on the support frame. The output end of the horizontal telescopic mechanism is connected to the horizontal moving mechanism. The de-icing grippers move left and right under the drive of the corresponding horizontal moving mechanism to move closer to each other to clamp ice or move further apart to detach. The horizontal telescopic mechanism is used to drive the horizontal moving mechanism to move back and forth.

[0025] In one implementation of the second aspect of the present invention, the de-icing blade is fixed to the inner side of the de-icing support column, and side baffles are fixed to the upper and lower parts of the de-icing support column. The side baffles are used to contact the group of insulators to limit the movement distance of the de-icing blade. The horizontal moving mechanism is connected to the support frame through a multi-section guide rail.

[0026] In an optional implementation of the second aspect of the present invention, the de-icing blade is a double-layer blade arranged vertically, with a connecting post connecting the double-layer blade. The connecting post is used to contact the group of insulator sheets to limit the movement distance of the double-layer blade. The horizontal moving mechanism is connected to the support frame through a multi-section guide rail.

[0027] In an optional implementation of the second aspect of the present invention, the two jaws of any group of de-icing grippers are arranged in a staggered manner, and the two jaws can be crossed and merged, which can adapt to de-icing of insulator strings with different disc diameters.

[0028] In one implementation of the second aspect of the present invention, the lifting mechanism includes a lifting module and a hoisting module, with the hoisting module arranged at the bottom of the lifting module. The lifting module includes a lifting upper connecting plate, multiple insulating rods, multiple insulating rod connecting plates, upper insulating rod clamps, lower insulating rod clamps, a bottom rectangular tube, and insulating ropes. The top of the multiple insulating rods is connected to the lifting upper connecting plate through the upper insulating rod clamps, and the bottom of the multiple insulating rods is connected to the bottom rectangular tube through the lower insulating rod clamps. The bottom rectangular tube is fixed to the support frame. The winch module includes pulleys, rollers, a winch motor support, a winch motor, and a winch bracket. The winch bracket is fixed to the bottom rectangular tube, the winch motor support is fixed to the winch bracket, and the winch motor is fixed to the winch motor support. The winch motor is connected to the rollers, the pulleys are fixed to the bottom rectangular tube, one end of the insulating rope is connected to the lifting upper connecting plate, and the other end of the insulating rope passes around the pulley and is wound around the roller. The winch motor winds or unwinds the insulating rope through the rollers, thereby driving the support frame to move up and down.

[0029] In an optional implementation of the second aspect of the present invention, the de-icing device includes: two sets of de-icing grippers positioned opposite each other, the first set of de-icing grippers including a first gripper and a second gripper positioned opposite each other, the second set of de-icing grippers including a third gripper and a fourth gripper positioned opposite each other, the openings of the first gripper and the third gripper having the same orientation, and the openings of the second gripper and the fourth gripper having the same orientation. The de-icing device also includes: a support frame, a first horizontal moving mechanism, a second horizontal moving mechanism, a horizontal telescopic mechanism, and a translation mechanism. The first and third grippers are connected to the first horizontal moving mechanism, the second and fourth grippers are connected to the second horizontal moving mechanism, the first and second horizontal moving mechanisms are connected to the translation mechanism, the translation mechanism is connected to the output end of the horizontal telescopic mechanism, and the horizontal telescopic mechanism is fixed on the support frame.

[0030] As a further limitation of the second aspect of the present invention, the first horizontal moving mechanism is a first rack, the second horizontal moving mechanism is a second rack, the first rack and the second rack are arranged in a staggered manner, and the first rack and the second rack are meshed with the same gear in the middle of the staggered arrangement, and the gear is connected to the output shaft of the drive motor. It also includes an adaptive module, which includes a linear guide rail, a slider, a base, and tension springs. The linear guide rail is fixed at the end of the horizontal telescopic mechanism, the slider is slidably connected to the linear guide rail, the movable base is fixed on the slider, the drive motor is fixed on the movable base through a motor bracket, and two tension springs are symmetrically arranged on both sides of the movable base, and both tension springs are in a pre-tensioned state in the initial state.

[0031] Thirdly, the present invention provides a de-icing system for suspension insulators.

[0032] A suspension insulator de-icing system includes a fall-prevention hook device and a suspension insulator de-icing robot according to the second aspect of the present invention. The anti-fall hook device includes: a frame body, a lifting module located in the middle of the frame body, a first slider and its corresponding retraction spring mechanism on one side of the lifting module, and a second slider and its corresponding retraction spring mechanism on the other side. The frame body has guide grooves on both sides, and both ends of each slider are set in the guide grooves. One end of the frame body is also provided with a robot guide plate for mounting the suspended insulator de-icing robot. The lifting module and two retraction spring mechanisms are used to drive the first and second sliders to move in the guide groove in a direction that moves away from or towards each other.

[0033] In one implementation of the third aspect of the present invention, the first slider and the second slider have the same structure. Each slider includes a vertical plate and a horizontal plate disposed at one end of the vertical plate, thereby forming an L-shaped structure. The vertical plate is provided with a plurality of connecting holes along the vertical direction for adjusting the fixed position of the horizontal plate on the vertical plate.

[0034] In one implementation of the third aspect of the present invention, the lifting module includes a housing, a sliding column disposed in the housing, and a rope pulling mechanism connected to one end of the sliding column. The rope pulling mechanism includes a first steel wire rope connected to a first slider and a second steel wire rope connected to a second slider. The upward movement of the sliding column causes the first steel wire rope and the second steel wire rope to move upward. The first wire rope is connected to the top of the first slider through a rolling shaft assembly, so that the upward movement of the first wire rope drives the first slider to move away from the lifting module. The second wire rope is connected to the top of the second slider via a rolling shaft assembly, so that the upward movement of the second wire rope drives the second slider to move away from the lifting module.

[0035] In one implementation of the third aspect of the present invention, the two retraction spring mechanisms have identical structures, each including a crossbar, a connector on the crossbar, and a spring on the connector. The other end of the spring is connected to the top of the corresponding slider. The contraction of the two springs respectively drives the first slider and the second slider to move toward the target engagement position in a direction that brings them closer to each other. Both sides of the frame body are equipped with DC motors. The output shaft of the DC motor is connected to a push rod. The push rod is aligned with the corresponding slider. The DC motor drives the push rod to push the corresponding slider, so that the first slider and the second slider move in a direction closer to each other. An angle sensor is installed on one side of the frame body to measure the tilt angle of the hook device. An angle adjustment motor is installed on the robot guide plate to adjust the tilt angle of the hook point by controlling the rotation of the angle adjustment motor according to the measured tilt angle.

[0036] Compared with the prior art, the beneficial effects of the present invention are: This invention innovatively proposes a layered, progressive intelligent de-icing method for suspended insulators, and develops a suspended insulator de-icing robot integrating at least one set of de-icing grippers. A multi-agent linkage control strategy is designed, encompassing "insulator state perception - adaptive selection of de-icing strategy - layered progressive de-icing - effect evaluation and closed-loop adjustment." First, a multi-dimensional insulator perception agent identifies the insulator string position and ice thickness. Then, an autonomous decision-making agent selects a de-icing strategy based on the ice thickness and controls the grippers to remove ice layer by layer. Finally, an ice detection agent evaluates the effect and adjusts the strategy in a closed loop. This solves the problems of inaccurate positioning and ice thickness judgment in traditional insulator de-icing methods. This invention overcomes the problems of large deviations, a single de-icing strategy that cannot adapt to different icing conditions, and the lack of real-time effect evaluation leading to incomplete or excessive de-icing. It overcomes the limitations of low efficiency and poor safety of manual de-icing, as well as the insufficient adaptability of traditional mechanical de-icing to insulators and the ease with which it can cause equipment damage. It improves the accuracy of insulator location identification and ice thickness detection, enhances the adaptability of de-icing strategies and the efficiency of de-icing operations, strengthens the controllability of de-icing effects, avoids de-icing leaks caused by positioning deviations, equipment damage caused by improper strategies, and the risk of secondary icing caused by the lack of real-time evaluation, and comprehensively ensures the safe and stable operation of insulator strings.

[0037] This invention innovatively proposes a precise identification scheme based on insulator location, ice thickness, and dangerous ice. It constructs a multi-dimensional sensing and identification agent for insulators based on the YOLOv11 model, and an ice detection agent including an encoder, an SDI semantic and detail injection module, and a decoder. A resolution alignment mechanism adapted to multi-level features is designed. During operation, the insulator is located first, and after de-icing, residual ice is identified. The encoder extracts multi-level features, and the SDI module fuses local and global information. After resolution alignment and fusion, a segmentation map is output, accurately identifying dangerous ice. This not only improves the accuracy of ice detection and hazard assessment but also avoids line insulation hazards caused by missed ice identification, providing a precise decision-making basis for secondary de-icing. It overcomes the problems of large detection errors caused by the separation of semantic and detail information and the mismatch of resolutions of different levels of features in traditional ice identification, reducing the risk of line faults caused by residual ice.

[0038] This invention innovatively constructs a closed-loop de-icing control strategy of "effect evaluation-decision feedback," designs a dynamic parameter adjustment mechanism based on extrusion pressure, image deviation, and operation time, and proposes an icing grading standard that combines icing thickness and motor load. During operation, the severity of icing is first determined by dual indicators, and targeted strategies such as light load, standard, and strong load are matched. Then, parameters are dynamically adjusted in real time by monitoring data. If the extrusion pressure deviation exceeds the standard, the amount of reduction is adjusted; if the pixel deviation is too large, horizontal movement is compensated; and if the timeout is exceeded, the extrusion pressure is increased. This overcomes the limitations of traditional de-icing strategies, which are singular, have fixed operation parameters that cannot adapt to complex icing scenarios, and cannot correct deviations in real time. The dynamic adaptation of strategy and parameters not only improves the scenario adaptability and parameter accuracy of the de-icing strategy, but also avoids operation failure caused by improper extrusion pressure damaging insulators, incomplete de-icing, or positional deviation, achieving a balance between efficiency and safety under different icing scenarios.

[0039] This invention innovatively proposes an intelligent de-icing method for insulator strings using a "layer-by-layer progressive - multi-string translation switching" approach. A layered de-icing device integrating a support frame, a horizontal moving mechanism, a horizontal telescopic mechanism, and a translation mechanism was developed. The support frame provides a stable bearing foundation for each actuator. The horizontal telescopic mechanism precisely delivers the de-icing grippers to both sides of the insulator. The horizontal moving mechanism controls the opening and closing of the grippers to perform the ice-clamping operation. The translation mechanism completes the position switching between multiple insulator strings. This solves the problems of chaotic single-string operation sequence and incomplete ice removal between upper and lower layers in traditional de-icing methods. It avoids efficiency losses caused by repeated disassembly and adjustment of the device during multi-string operation, improves the de-icing efficiency of multiple insulator strings, overcomes the efficiency bottleneck of excessively long total operation time for traditional devices, and significantly shortens the duration of icing impact on power line transmission.

[0040] This invention innovatively designs an emergency release structure for de-icing grippers, including a plug-in pin, a slack connecting line, and an emergency pull ring. It proposes an aircraft-assisted emergency release strategy. The de-icing gripper adopts a three-section structure of blade, support, and slide. In case of release failure, the aircraft pulls the pull ring to remove the plug-in pin, separating the support from the slide. Then, the hoisting body tightens the connecting line, causing the blade to release. This emergency mechanism not only improves the emergency handling capability of de-icing operations but also avoids secondary equipment failures and power line outages caused by gripper jamming. It overcomes the serious risk of damage to the suspension insulator de-icing robot or power line outage caused by the lack of an emergency release mechanism in traditional de-icing grippers, which can lead to jamming. This ensures rapid response to abnormalities during high-altitude operations, guaranteeing operational safety and stable line operation.

[0041] This invention innovatively designs a fall-prevention hook device including a lifting module, a bidirectional slider, a retractable tension spring, and a DC motor. It constructs a dual-locking mechanism of tension spring contraction and motor drive. During lifting, the slider separates; after placement, the tension spring contracts, and the motor drive achieves dual locking, further compacting the suspended insulator de-icing robot under gravity. An inclination sensor detects the tilt angle, which is then corrected by the motor. The L-shaped structure of the slider and the connecting holes are compatible with different angle steels. This multi-layered fall-prevention design improves mounting stability and scene adaptability, preventing operational abnormalities caused by the suspended insulator de-icing robot falling due to loose hooks or tilt deviations. It overcomes the shortcomings of traditional hook devices, such as insecure locking, poor adaptability to different angle steel specifications, and inability to correct tilt after mounting, thus improving the mounting safety of the suspended insulator de-icing robot during high-altitude de-icing operations.

[0042] This invention innovatively designs an adaptive adjustment module containing a linear guide rail and pre-tension springs. The adaptive module balances the force on the motor through double pre-tension springs. When the load fluctuates, the slider slides along the guide rail to drive the motor to adjust adaptively. This overcomes the problems of unbalanced driving force, easy jamming when encountering load fluctuations, and uncontrolled gripper stroke that can damage insulators in traditional robots. It improves the operational stability and load adaptability of the suspended insulator de-icing robot, avoids gripper jamming or excessive blade movement that can damage insulators due to uneven driving force, and achieves efficient and precise automated de-icing.

[0043] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0044] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0045] Figure 1 A schematic diagram of the overall structure of a suspended insulator de-icing robot provided as an exemplary embodiment of the present invention; Figure 2 A schematic diagram of a lifting module and a hoisting module provided for an exemplary embodiment of the present invention; Figure 3 A detailed schematic diagram of a lifting module provided for an exemplary embodiment of the present invention; Figure 4 Detailed schematic diagram of a hoisting module provided for an exemplary embodiment of the present invention; Figure 5 A schematic diagram of the structure of a de-icing device provided in an exemplary embodiment of the present invention; Figure 6 A schematic diagram of the structure of the de-icing gripper provided in an exemplary embodiment of the present invention; Figure 7 A schematic diagram of a horizontal moving mechanism provided as an exemplary embodiment of the present invention; Figure 8 A schematic diagram of a translation mechanism provided for an exemplary embodiment of the present invention. Figure 1 ; Figure 9 A schematic diagram of a translation mechanism provided for an exemplary embodiment of the present invention. Figure 2 ; Figure 10 A schematic diagram of a de-icing blade provided for an exemplary embodiment of the present invention; Figure 11 A schematic diagram of the position of the telescopic frame provided for an exemplary embodiment of the present invention; Figure 12 A schematic diagram of two sets of de-icing grippers provided for an exemplary embodiment of the present invention; Figure 13 A schematic diagram of an anti-fall hook device provided in an exemplary embodiment of the present invention; Figure 14 A side view of the anti-fall hook device provided in an exemplary embodiment of the present invention. Figure 1 ; Figure 15 A schematic diagram of the installation of the lifting mechanism and the retraction spring mechanism provided for an exemplary embodiment of the present invention; Figure 16 A schematic diagram of a retractable tension spring mechanism provided for an exemplary embodiment of the present invention; Figure 17 A side view of the anti-fall hook device provided in an exemplary embodiment of the present invention. Figure 2 ; Figure 18 A schematic diagram of DC motor installation provided for an exemplary embodiment of the present invention; Figure 19 A schematic diagram of the lifting mechanism of the hook device provided in an exemplary embodiment of the present invention; Figure 20 A schematic diagram of a hook-and-loop device being lifted to a tower, as provided in an exemplary embodiment of the present invention; Figure 21 A schematic diagram of the suspension insulator de-icing robot mounting provided as an exemplary embodiment of the present invention; Figure 22 A schematic diagram of a rescue tool provided for an exemplary embodiment of the present invention; Figure 23 A schematic flowchart of a layered progressive intelligent de-icing method for suspension insulators provided as an exemplary embodiment of the present invention; Figure 24A flowchart illustrating a closed-loop de-icing control method based on icing grading, strategy matching, and parameter feedback, provided as an exemplary embodiment of the present invention; Figure 25 A schematic diagram of a two-layer wireless communication architecture provided as an exemplary embodiment of the present invention; Figure 26 A schematic diagram of the system functional architecture provided for an exemplary embodiment of the present invention; Figure 27 A flowchart illustrating an emergency detachment method for de-icing grippers provided as an exemplary embodiment of the present invention; Figure 28 A schematic diagram of the de-icing process using a set of de-icing grippers, provided as an exemplary embodiment of the present invention; Figure 29 A schematic diagram of the de-icing process using two sets of de-icing grippers, provided as an exemplary embodiment of the present invention; in, 1. Horizontal moving mechanism; 101. Moving base; 102. De-icing module; 103. Moving rack; 104. De-icing module slider; 105. Trapezoidal lead screw; 106. Clamping motor output shaft; 107. Motor connecting seat; 108. Clamping motor; 109. Fixed base; 110. Moving cable chain; 111. Cable chain bracket; 112. Camera; 113. Camera bracket; 114. Translation guide rail; 115. Translation slider; 116. Gear motor output shaft; 117. Gear retaining ring; 118. Drive gear; 119. Motor mounting plate; 120. Gear motor; 2. Telescopic mechanism; 3. De-icing gripper; 301. Side baffle; 302. De-icing blade; 303. De-icing support; 304. Blade support; 305. Wedge-shaped slide; 306. Hard limit stop; 307. Insert / remove pin; 308. Emergency pull ring; 309. Double-layer blade; 310. Connecting post; 4. Multi-section guide rail; 5. Control box; 6. Battery box; 7. Support frame; 8. Quick-release connecting plate; 9. Multi-section insulating rod; 10. Lifting mechanism; 11. Mounting guide; 12. Guide plate; 13. Lifting guide; 14. Lifting module; 15. Winch module; 16. Upper clamp of insulating rod; 17. Upper lifting connecting plate; 18. Insulating rope; 19. Multi-section insulating rod connecting plate; 20. Pipe clamp; 21. Rectangular tube; 22. Lower clamp of insulating rod; 23. Pulley; 24. Roller; 25. Winch motor support; 26. Winch motor; 27. Winch bracket; 28. First gripper; 29. ​​Second gripper; 30. Third gripper; 31. Fourth gripper; 32. Adaptive adjustment module; 33. Telescopic frame; 34. Hook device; 35. Drone; 36. Pole tower; 37. Lifting equipment; 38. Suspension insulator de-icing robot; 39. Angle steel; 40. Frame body; 41. First slider; 42. Second slider; 43. Lifting mechanism; 44. Retraction spring mechanism; 45. Sliding column; 46. Shell; 47. First wire rope; 48. Second wire rope; 49. DC motor; 50. Lifting ring; 51. Robot guide plate; 52. Hook point; 53. Crossarm guide plate; 54. Tilt sensor; 55. Angle adjustment motor; 56. Guide groove; 57. Side plate; 58. Vertical plate; 59. Horizontal plate; 60. Connecting hole; 61. Lifting ring bracket; 62. Crossbar; 63. Connector; 64. Motor bracket; 65. Push rod; 66. Suspension insulator; 67. Rolling shaft; 68. First tension spring; 69. Second tension spring; 70. Drone connecting plate; 71. Connecting support; 72. Connecting rod; 73. Connecting section; 74. Unlocking hook. Detailed Implementation

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0047] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0048] Insulator strings are critical components in power systems, supporting conductors and providing electrical insulation. In winter, insulator surfaces are prone to icing. Icing not only increases the insulator's weight but can also cause it to shift and collide with towers, leading to insulation failure, structural damage, and even tower collapse. Furthermore, icing significantly reduces the insulator's insulation strength, increasing the risk of flashover accidents and seriously threatening the safe and stable operation of the power system. Common de-icing methods for power lines include manual knocking, thermal melting, and spraying anti-icing solvents. Newer methods include drone-based fire de-icing and laser de-icing.

[0049] The aforementioned de-icing methods have the following problems in practical applications: manual de-icing is labor-intensive and inefficient, greatly affected by weather and terrain, and requires workers to operate at heights, posing safety risks; thermal melting is suitable for transmission lines, but its effect on de-icing tower insulators is poor; spraying anti-icing solvents is mainly used to prevent icing, but it is difficult to remove ice from already iced equipment; laser de-icing has high precision, but the equipment cost is high, the operating cost is large, and the obstruction of the suspended insulator near the tower makes it difficult for the laser to irradiate; drone-based fire de-icing may damage the composite material insulator itself. In view of the various problems existing in the de-icing solutions, this implementation proposes a suspended insulator de-icing robot (hereinafter referred to as the robot), which uses an "impact + clamping" method for de-icing operations, and a drone completes the rapid hoisting and unloading of the device; an icing image detection and recognition algorithm is developed to accurately locate the icing area through camera images, assisting the de-icing mechanism to operate efficiently. This solution can achieve efficient and precise operation of the de-icing device, reduce the labor intensity of on-site personnel, and ensure the safe operation of power lines. Specifically, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, it includes a lifting mechanism, a hoisting mechanism, and a de-icing device. The hoisting mechanism 10 is fixed to the upper part of the lifting mechanism, and the lower part of the lifting mechanism is connected to the support frame 7. The hoisting mechanism 10 includes a hoisting guide part 13, a hanging guide part 11, and a guide plate 12. The hoisting guide part 13 is used for hoisting the aircraft (this implementation takes a drone as an example, but other manned or unmanned aircraft can also be used, which will not be described here). The hanging guide part 11 is used for hanging on the hanging beam. The guide plate 12 is made of insulating material and is inclined and attached to the transition part between the lifting mechanism and the hoisting mechanism 10. During the hanging process, it can be smoothly guided to the beam of the anti-fall hook device. The main material of the hoisting guide part 13 and the hanging guide part 11 is insulating material, and they are supported by several pillars in the middle. The shape is a ramp for easy access.

[0050] In this implementation, the lifting mechanism includes a lifting module 14 and a hoisting module 15, with the hoisting module 15 located at the bottom of the lifting module 14. The lifting module 14 includes an upper lifting connecting plate 17, multiple insulating rods 9, a connecting plate 19 for multiple insulating rods, an upper clamp 16 for insulating rods, a lower clamp 22 for insulating rods, a bottom rectangular tube 21, and an insulating rope 18. The top of the multiple insulating rods 9 is connected to the upper lifting connecting plate 17 via the upper clamp 16, and the bottom of the multiple insulating rods 9 is connected to the bottom rectangular tube 21 via the lower clamp 22. The bottom rectangular tube 21 is fixed to the support frame 7. A pipe clamp 20 is fitted onto the multiple insulating rods 9, and two multiple insulating rods 9 are connected by the connecting plate 19.

[0051] It should be noted that the support frame 7 is mainly welded from rectangular tubes and contains quick-release connecting plates 8, which can be quickly assembled and disassembled with the lifting mechanism. Correspondingly, each component is also connected to the control box 5 and the battery box 6 through quick-release connectors, which facilitates the transportation and storage of the robot.

[0052] The hoisting module 15 includes a pulley 23, a roller 24, a hoisting motor support 25, a hoisting motor 26, and a hoisting bracket 27. The hoisting bracket 27 is fixed on the bottom rectangular tube 21, the hoisting motor support 25 is fixed on the hoisting bracket 27, the hoisting motor 26 is fixed on the hoisting motor support 25, the hoisting motor 26 is connected to the roller 24, the pulley 23 is fixed on the bottom rectangular tube 21, one end of the insulating rope 18 is connected to the lifting upper connecting plate 17, and the other end of the insulating rope 18 passes around the pulley 23 and is wound around the roller 24. The hoisting motor 26 winds or unwinds the insulating rope 18 through the roller 24, thereby driving the support frame to move up and down.

[0053] like Figure 5 and Figure 6 As shown, this implementation innovatively proposes a de-icing device, including: a support frame 7, a horizontal moving mechanism 1, a horizontal telescopic mechanism 2, and at least one set of de-icing grippers 3 for clamping ice. The support frame 7 is provided with a control box 5 and a battery box 6, and a quick-release connecting plate 8 is connected to the support frame 7. The de-icing gripper 3 includes a de-icing blade 302, a de-icing support column 303, and a wedge-shaped slide 305. The de-icing blade 302 and the de-icing support column 303 are fixedly connected by a blade support 304. The de-icing support column 303 and the wedge-shaped slide 305 are connected by a pull pin 307. A slack connecting line connects the de-icing support column 303 and the wedge-shaped slide 305. An emergency pull ring 308 is provided on the pull pin 307. The wedge-shaped slide 305 is connected to the output end of the horizontal moving mechanism 1. The horizontal telescopic mechanism 2 is fixed on the support frame 7. The output end of the horizontal telescopic mechanism 2 is connected to the horizontal moving mechanism 1. The two de-icing grippers 3 move left and right respectively under the drive of the corresponding horizontal moving mechanism 1 to move closer to each other to clamp ice or move away from each other to disengage. The horizontal telescopic mechanism 2 is used to drive the horizontal moving mechanism 1 to move back and forth.

[0054] like Figure 7 , Figure 8 and Figure 9 As shown, the horizontal moving mechanism 1 includes: a moving base 101, a de-icing module 102, a moving rack 103, a de-icing module slider 104, a trapezoidal lead screw 105, a clamping motor output shaft 106, a motor connecting seat 107, a clamping motor 108, a fixed base 109, a moving cable chain 110, a cable chain bracket 111, a camera 112, a camera bracket 113, a translation guide rail 114, a translation slider 115, a gear motor output shaft 116, a gear retaining ring 117, a drive gear 118, a motor mounting plate 119, and a gear motor 120.

[0055] Both the cable chain bracket 111 and the camera bracket 113 are fixed on the fixed base 109. The fixed base 109 is fixedly connected to the telescopic frame. A movable cable chain 110 is fixed on the cable chain bracket 111, and a camera 112 is connected to the camera bracket 113.

[0056] The movable rack 103 is fixed to the bottom of the movable base 101. A motor connector 107 is fixed on the movable base 101. A clamping motor 108 is fixed on the motor connector 107. The output shaft 106 of the clamping motor is connected to the trapezoidal lead screw 105. The threads on both sides of the trapezoidal lead screw 105 are opposite. A de-icing module slider 104 is connected to each side of the trapezoidal lead screw 105 by threads. Each de-icing module slider 104 is connected to a wedge-shaped slide block 305.

[0057] In this implementation, the de-icing blade 302 is fixed to the inner side of the de-icing support column 303. Side baffles 301 are fixed to both the upper and lower parts of the de-icing support column 303. The side baffles 301 are used to contact the insulator string's plates to limit the movement distance of the de-icing blade 302 (achieving active stress isolation, ensuring the center of the de-icing gripper always corresponds to the center of the insulator string, avoiding damage to the core rod). A wedge-shaped slide block 305 is fixed to the de-icing module slider 104. A hard limit block 306 is fixed to the de-icing module slider 104. The hard limit blocks 306 on the two de-icing grippers 3 are arranged opposite to each other. In this implementation, the two opposite de-icing grippers 3 open and close synchronously in a staggered manner. The two opposite de-icing grippers 3 can cross and merge, adapting to de-icing of insulator strings with different disc diameters.

[0058] Optionally, in some other implementations, such as Figure 10 As shown, the de-icing blades are double-layered blades 309 arranged vertically, with a connecting post 310 connecting the double-layered blades (at this time, the de-icing blades no longer have side baffles, and the connecting post 310 contacts the skirt to avoid damage to the core rod by the double-layered blades 309). The connecting post 310 is used to contact the group of insulator strings to limit the movement distance of the double-layered blades. The horizontal moving mechanism is connected to the support frame through a multi-section guide rail. Through this double-layered encircling and multi-contact progressive double-layered blade 309, the pressure on the contact surface with the ice layer is increased, which can achieve efficient ice breaking and improve the work efficiency.

[0059] like Figure 11As shown, the motor mounting plate 119 is fixed on the telescopic frame 33, and the telescopic frame 33 is provided with a translation guide rail 114. The movable base 101 is slidably connected to the translation guide rail 114 through the translation slider 115. The output end of the horizontal telescopic mechanism 2 is connected to the telescopic frame 33. The telescopic frame 33 is connected to the support frame 7 through a multi-section guide rail 4. The motor mounting plate 119 is connected with a gear motor 120. The end of the output shaft 116 of the gear motor is provided with a gear retaining ring 117. The output shaft 116 of the gear motor is connected with a drive gear 118. The drive gear 118 and the movable rack 103 drive the horizontal moving mechanism 1 to move left and right as a whole to achieve the clamping of the two insulator strings.

[0060] like Figure 12 As shown, optionally, the de-icing device includes: two sets of de-icing grippers positioned opposite each other. The first set of de-icing grippers includes a first gripper 28 and a second gripper 29 positioned opposite each other, and the second set of de-icing grippers includes a third gripper 30 and a fourth gripper 31 positioned opposite each other. The openings of the first gripper 28 and the third gripper 30 face the same direction, and the openings of the second gripper 29 and the fourth gripper 31 face the same direction. In this case, the de-icing device further includes: a support frame, a first horizontal moving mechanism, a second horizontal moving mechanism, a horizontal telescopic mechanism, and a translation mechanism. The first gripper 28 and the third gripper 30 are connected to the first horizontal moving mechanism, the second gripper 29 and the fourth gripper 31 are connected to the second horizontal moving mechanism, the first horizontal moving mechanism and the second horizontal moving mechanism are connected to the translation mechanism, the translation mechanism is connected to the output end of the horizontal telescopic mechanism, and the horizontal telescopic mechanism is fixed to the support frame. More specifically, the first horizontal moving mechanism is a first rack, and the second horizontal moving mechanism is a second rack. The first rack and the second rack are staggered, and the same gear meshes between them. The gear is connected to the output shaft of the drive motor. It also includes an adaptive module. The adaptive adjustment module 32 includes a linear guide rail, a slider, a base, and a tension spring. The linear guide rail is fixed to the end of the horizontal telescopic mechanism. The slider is slidably connected to the linear guide rail. The movable base is fixed on the slider. The drive motor is fixed on the movable base through a motor bracket. Two tension springs are symmetrically arranged on both sides of the movable base, and both tension springs are in a pre-tensioned state in the initial state.

[0061] In this implementation, a suspension insulator de-icing system is also proposed, including the aforementioned suspension insulator de-icing robot and an anti-fall hook device. For example... Figure 13 and Figure 14As shown, the anti-fall hook device includes: a frame body 40, a lifting mechanism 43 located at the middle of the frame body 40, a first slider 41 and its corresponding retraction spring mechanism 44 on one side of the lifting mechanism 43, and a second slider 42 and its corresponding retraction spring mechanism 44 on the other side; guide grooves 56 are provided on both sides of the frame body 40, and both ends of each slider are located in the guide groove 56; one end of the frame body 40 is also provided with a robot guide plate 51 for mounting the suspended insulator de-icing robot 38; the lifting mechanism 43 and the two retraction spring mechanisms 44 are used to drive the first slider 41 and the second slider 42 to move in the guide grooves 56 in a direction that moves away from or towards each other.

[0062] In this implementation, side plates 57 are provided on both sides of the frame body 40. At least one row of guide grooves 56 are provided at both ends of the side plates 57. Each slider has a protrusion at both ends that matches the size of the guide groove 56. The protrusion is placed in the guide groove 56 so that the first slider 41 and the second slider 42 can move along the guide groove 56.

[0063] As another implementation, two rows of guide grooves 56 can be provided at each end of the side plate 57; correspondingly, two matching protrusions are provided at both ends of each slider, and each protrusion is provided in one of the rows of guide grooves 56.

[0064] Understandably, the guide grooves 56 at both ends of the side plate 57 are symmetrically arranged along the axis of the side plate 57 and have equal lengths, so that the strokes of the first slider 41 and the second slider 42 are consistent.

[0065] In this implementation, the first slider 41 and the second slider 42 have the same structure, are located on both sides of the lifting mechanism 43, and are symmetrically arranged so that the strokes of the first slider 41 and the second slider 42 are consistent.

[0066] Each slider includes a vertical plate 58 and a horizontal plate 59, with one end of the vertical plate 58 and one end of the horizontal plate 59 fixedly connected to form an L-shaped structure.

[0067] Multiple connecting holes 60 are provided on the vertical plate 58 along the vertical direction. By adjusting the fixed position of the horizontal plate 59 on the vertical plate 58, it can adapt to the different sizes of angle steel 39 on the tower 36, thereby improving the versatility and applicability of the hook device 34. Moreover, the double slider design is suitable for the structure of double angle steel on the tower 36.

[0068] Understandably, fixed connections can be made using threaded connections, pin connections, snap-fit ​​connections, etc., as long as they can achieve the assembly of an L-shaped structure. No specific limitations are made here.

[0069] In this implementation, a lifting mechanism 43 is provided at the upper part of the frame body 40 at the middle position. The lifting mechanism 43 includes a housing 46, and a sliding column 45 is provided inside the housing 46. One end of the sliding column 45 is connected to the lifting ring bracket 61, and the other end is connected to the first slider 41 and the second slider 42 respectively through a rope pulling mechanism. The rope pulling mechanism includes a first steel wire rope 47 connecting the first slider 41 and a second steel wire rope 48 connecting the second slider 42. The up and down movement of the sliding column 45 drives the synchronous movement of the first steel wire rope 47 and the second steel wire rope 48. Figure 15 As shown, the first wire rope 47 is fixedly connected to the top of the first slider 41 by a rolling shaft assembly consisting of two rolling shafts 67, so that the upward movement of the first wire rope 47 causes the first slider 41 to move away from the lifting mechanism 43; the second wire rope 48 is fixedly connected to the top of the second slider 42 by a rolling shaft assembly consisting of two rolling shafts 67, so that the upward movement of the second wire rope 48 causes the second slider 42 to move away from the lifting mechanism 43.

[0070] Thus, when the sliding column 45 moves upward, it drives the first wire rope 47 and the second wire rope 48 to move upward synchronously. The first slider 41 and the second slider 42 are arranged on both sides of the lifting mechanism 43. The first wire rope 47 and the second wire rope 48 are connected to the first slider 41 and the second slider 42 in opposite directions, respectively. Then, the upward movement of the first wire rope 47 causes the first slider 41 to move away from the lifting mechanism 43, that is, to move towards one end of the frame body 40. The upward movement of the second wire rope 48 causes the second slider 42 to move away from the lifting mechanism 43, that is, to move towards the other end of the frame body 40. At this time, the first slider 41 and the second slider 42 move in opposite directions, moving away from each other, and move to both ends of the frame body 40 respectively.

[0071] As an alternative implementation, in the rolling shaft assembly, one rolling shaft 67 is located at the bottom end of the lifting mechanism 43, and the other rolling shaft 67 is located at one end of the frame body 40.

[0072] Understandably, the rolling shaft 67 is mounted on the frame body 40. When the sliding column 45 moves, it drives the first wire rope 47 and the second wire rope 48 to move, and at the same time drives the rolling shaft 67 to rotate. The first wire rope 47 and the second wire rope 48 move around the rolling shaft 67.

[0073] As an alternative implementation, the housing 46 may be provided with a guide rail for guiding the sliding column 45 to move up and down.

[0074] Understandably, the above connections can be made using threaded connections, pin connections, snap-fit ​​connections, etc., as long as a fixed connection can be achieved; no specific limitations are made here.

[0075] In this implementation, a lifting ring 50 is connected to the lifting ring bracket 61 for hoisting the hook device 34 using a drone 35. The drone 35 is suspended inside the lifting ring 50 by the hoisting device 37. After the drone 35 takes off, the sliding column 45 of the lifting mechanism 43 moves upward, and then drives the first slider 41 and the second slider 42 to move to both ends of the frame body 40 respectively through the rope pulling mechanism.

[0076] It is understandable that the drone 35 used in this implementation is a type of aircraft, but other types of aircraft, such as manned fixed-wing aircraft, helicopters, airships, etc., can also be used, as long as they can achieve stable hoisting of the hook device 34, without any specific limitations.

[0077] It is understandable that the lifting equipment 37 can use high-strength ropes (such as nylon), carbon fiber telescopic rods or hooks, as long as it can achieve stable lifting of the hook device 34, without specific limitations.

[0078] In this implementation, two retractable tension spring mechanisms 44 are symmetrically arranged at the middle position of the frame body 40; wherein, the first retractable tension spring mechanism is connected to the first slider 41, and the second retractable tension spring mechanism is connected to the second slider 42. like Figure 15 and Figure 16 As shown, specifically: the two retraction spring mechanisms 44 have identical structures, each including a crossbar 62, a connecting piece 63 disposed on the crossbar 62, and a tension spring; the two ends of the crossbar 62 are respectively disposed on the side plates 57 on both sides of the frame body 40, and the connecting piece 63 is preferably disposed in the middle position of the crossbar 62; one end of the tension spring is disposed on the connecting piece 63, and the other end is directly connected to the top of the slider; that is, the first tension spring 68 of the first retraction spring mechanism is connected to the first slider 41, and the second tension spring 69 of the second retraction spring mechanism is connected to the second slider 42; thus, through the extension and retraction of the first tension spring 68 and the second tension spring 69, the first slider 41 and the second slider 42 are respectively driven to move.

[0079] Understandably, the above connections can be made using threaded connections, pin connections, snap-fit ​​connections, etc., as long as a fixed connection can be achieved; no specific limitations are made here.

[0080] It should be noted that the load-bearing capacity (tensile force that can be withstood) of the wire rope in the lifting mechanism 43 is greater than that of the tension spring. For example, the wire rope can bear tens or even hundreds of kilograms, while the tension spring can only bear a maximum of 1 kg.

[0081] Based on this characteristic, the drone 35 is suspended in the lifting ring 50 by the hoisting device 37. After the drone 35 takes off, the hook device 34 is lifted, and the sliding column 45 of the lifting mechanism 43 moves upward. At this time, the first steel wire rope 47 and the second steel wire rope 48 move upward synchronously. The overall weight of the hook device 34 far exceeds the maximum bearing capacity of the tension spring. Therefore, while the first steel wire rope 47 and the second steel wire rope 48 drive the first slider 41 and the second slider 42 to move away from the lifting mechanism 43, they also drive the first tension spring 68 and the second tension spring 69 to stretch until the first slider 41 and the second slider 42 move to the end of their stroke and reach both ends of the frame body 40.

[0082] When the hook device 34 reaches the position of the crossarm above the pole 36, the drone 35 places the hook device 34 on the angle steel 39 above the crossarm. The drone 35 flies away. At this time, the tension spring only needs to bear the weight of the slider. As a result, the first tension spring 68 and the second tension spring 69 contract. At the same time, under the action of gravity, the sliding column 45 falls back to its original position, which in turn drives the first slider 41 and the second slider 42 to move towards the lifting mechanism 43 respectively. That is, when they move to the position of the angle steel 39, the hook is engaged.

[0083] The above-mentioned fastening method uses a combination of a retractable tension spring mechanism 44 and gravity self-locking. In another embodiment, motor control can also be used, with the two sliders moving left and right by the forward and reverse rotation of the motor, thereby achieving fastening. The purpose of this design is that if there is ice on the angle steel 39, restricting the retraction of the first slider 41 and the second slider 42, that is, when the hook device 34 is placed on the angle steel 39 above the crossarm, the tension spring cannot retract effectively due to the obstruction of ice, and therefore the first slider 41 and the second slider 42 cannot move to the position of the angle steel 39.

[0084] Based on this, the motor control method designed in this implementation is as follows: Figures 17-18 As shown, specifically: On both sides of the frame body 40, there are motor brackets 64 for supporting DC motors 49 on the side plates 57. On each side, the output shaft of DC motor 49 is connected to a push rod 65. The push rod 65 is aligned with the slider on that side. After DC motor 49 is started, it pushes the first slider 41 and the second slider 42 to move towards each other through the push rod 65 until they move to the position of angle steel 39.

[0085] As an alternative implementation, the DC motor 49 can be started remotely. By controlling the forward and reverse rotation of the DC motor 49, the two sliders can be moved to the left or right, that is, the first slider 41 and the second slider 42 move in opposite directions.

[0086] In this implementation, a robot guide plate 51 for mounting the suspended insulator de-icing robot 38 is provided at one end of the frame body 40. The robot guide plate 51 is provided with several attachment points 52 for mounting the suspended insulator de-icing robot 38. When the hook device 34 is stably hooked onto the crossarm above the tower 36, the suspension insulator de-icing robot 38 is mounted on the attachment point 52 by the drone 35 to perform cleaning or de-icing operations on the suspension insulator 66.

[0087] When the suspended insulator de-icing robot 38 is mounted on the attachment point 52, the first slider 41 and the second slider 42 will come into contact with the angle steel 39 under the action of gravity of the suspended insulator de-icing robot 38, and will abut against the angle steel 39, thereby providing stable support.

[0088] As an alternative implementation, the robot guide plate 51 is located at both ends on both sides of the frame body 40, and each end of the robot guide plate 51 can rotate around the connection point with the frame body 40 to adjust the tilt angle of the attachment point 52.

[0089] As an alternative implementation, an inclination sensor 54 is provided on one side of the frame body 40 to measure the inclination angle of the hook device 34, so as to characterize the posture of the hook device 34 hooking on the crossbeam, thereby adjusting the inclination angle of the hook point 52 according to the posture.

[0090] As an alternative implementation method, an electric adjustment method is used to adjust the rotation angle of the attachment point 52; wherein, an angle adjustment motor 55 is provided on the robot guide plate 51, and the angle is adjusted by remotely controlling the rotation of the angle adjustment motor 55.

[0091] It is understandable that, in addition to electric adjustment, manual adjustment can also be used to adjust the rotation angle of the attachment point 52, which will not be elaborated here.

[0092] In this implementation, a crossbeam guide plate 53 is provided below the frame body 40 to guide the hook device 34 to be placed at the crossbeam position above the tower 36.

[0093] In this implementation, the working principle of the aforementioned anti-fall hook device includes: The drone 35 is suspended in the lifting ring 50 by the lifting device 37. After the drone 35 takes off, the hook device 34 is lifted, and the sliding column 45 of the lifting mechanism 43 moves upward. At this time, it drives the first steel wire rope 47 and the second steel wire rope 48 to move upward simultaneously. The first steel wire rope 47 and the second steel wire rope 48 respectively drive the first slider 41 and the second slider 42 to move away from the lifting mechanism 43, while stretching the first tension spring 68 and the second tension spring 69, until the first slider 41 and the second slider 42 move to both ends of the frame body 40. Figure 19 As shown.

[0094] When the hook device 34 reaches the position on the crossarm above the tower 36, the drone places the hook device 34 on the angle steel 39 above the crossarm, and the drone 35 flies away. At this time, the first tension spring 68 and the second tension spring 69 contract, and under the action of gravity, the sliding column 45 falls back to its original position, which then drives the first slider 41 and the second slider 42 to move towards the lifting mechanism 43, that is, to the position of the angle steel 39 to complete the engagement. Figure 20 As shown.

[0095] When the hook device 34 is stably hooked onto the crossarm above the tower 36, the drone 35 attaches the suspension insulator de-icing robot 38 to the attachment point 52 for cleaning or de-icing operations on the suspension insulator 66. At this time, under the gravity of the suspension insulator de-icing robot 38, the first slider 41 and the second slider 42 will also contact the angle steel 39, thereby providing stable support. Figure 21 As shown.

[0096] like Figure 22 As shown, a rescue tool is provided, including a drone connection plate 70, a connection support 71, a connection rod 72, a connection joint 73, and an unlocking hook 74. The drone connection plate 70 is installed on the bottom of the drone. One end of the connection support 71 is connected to the drone connection plate 70, and the other end is connected to the connection rod 72. The connection rod 72 is made of carbon fiber tube of fixed length. The connection rods 72 are connected to each other by aluminum connection joints 73. The connection rods 72 are connected to the unlocking hook 74. In actual use, the unlocking hook 74 hooks the emergency pull ring 308, and the drone pulls out the plug pin 307. Since there is no position restriction, the de-icing support 303 is disengaged from the wedge-shaped slide 305, thereby releasing the locked state.

[0097] Based on the suspended insulator de-icing robot proposed in this implementation, this implementation proposes a layered, progressive intelligent de-icing method for suspended insulators, such as... Figure 23 As shown, the process includes the following: Insulator multi-dimensional sensing intelligent identification step 2301: After the de-icing robot is suspended on the tower where the insulator string is located, the insulator multi-dimensional sensing intelligent agent is called to identify the image of the insulator string under the ice-covered state, and the position identification result of the insulator string and the ice thickness are obtained. Layered progressive adaptive decision-making step 2302: Based on the ice thickness, the autonomous decision-making agent is invoked to adaptively select the de-icing strategy. Based on the selected de-icing strategy and the position identification result of the insulator string, the de-icing gripper is controlled to perform layer-by-layer de-icing of the insulator string. Effect evaluation closed-loop strategy adjustment step 2303: During the de-icing process, the ice detection agent is autonomously invoked to evaluate the de-icing effect, and the de-icing strategy is dynamically adjusted in a closed loop based on the de-icing effect evaluation results.

[0098] More specifically, before de-icing, first check on the ground whether the joints of the anti-fall hook device move normally and smoothly. The robot is placed on a ground lifting platform for testing and preparation, checking that the movement of each joint module is normal. The drone prepares a lifting beam, usually a section of round pipe, with ropes at both ends tied to the drone's landing support. The drone takes off, lifts the anti-fall hook device, and attaches it to the crossarm of the suspended insulator to be de-iced. After adjusting the position, the drone releases the hook and is ready to lift the robot. Before this, it is necessary to check whether the drone's battery power is sufficient for the second lifting; if the battery power is insufficient, it needs to be replaced. After confirming that the battery power is sufficient for the second lifting, the drone lifts the robot from the ground lifting platform into the air, and then attaches the robot to the crossarm of the anti-fall hook device. Under the action of the crossarm's guide adjustment mechanism (angle adjustment), the robot will be guided and attached to the center of the crossarm, that is, on the plane relative to the center line of the insulator string. Then, the drone releases the hook and is removed from the line.

[0099] The robot sequentially adjusts its height from the high-voltage side, moves its de-icing end left and right to align with the insulator strings, and extends its telescopic mechanism to send the de-icing grippers to a position concentric with the insulator strings. The de-icing grippers remove the ice from the insulator strings using a combination of mechanical impact and clamping. This process requires coordination with the front-end ice recognition and control logic. After removing ice from one layer of insulators, the lifting mechanism lowers the entire de-icing section to remove ice from the next layer. After removing ice from the preset height, the de-icing section is retracted to its initial position, and the lifting mechanism then moves the entire de-icing section upwards. On the low-voltage side, if the de-icing environment consists of two strings of insulators, after de-icing one string, the robot is raised to the highest point on the low-voltage side to de-ic the other string of insulators. After all strings are de-iced, the robot is retrieved to its initial position, i.e., the lifting mechanism is retracted to its shortest length, the telescopic mechanism is returned to the zero position, the translation mechanism returns the de-icing gripper to the center, and the gripper's hands are merged to the center zero position. The drone hoisting robot is then unloaded and landed on the ground lifting platform. The drone unloads the anti-fall hook device to the ground, completing the de-icing task. After inspecting the drone, robot, and anti-fall hook device, the robot is shut down.

[0100] It should be noted that steps S2201 and S2203 in this implementation both utilize image processing algorithms (i.e., identifying the position of the insulator string, the ice thickness, and the intelligent agent identifying dangerous icing). Therefore, this implementation also proposes an intelligent identification process for insulator position and icing status, including the following steps: Images of insulator strings under icing conditions are acquired, and a multi-dimensional sensing and recognition agent for insulators is used to identify the images of insulator strings under icing conditions and locate the position of the insulator strings to assist the robot in adjusting its posture. During the training process, RGB three-channel visible light image information and depth image information are fused together. The system acquires an image of the target insulator sheet area after the initial de-icing. An insulator sheet recognition agent identifies two adjacent insulator sheets in the image. If multiple insulator sheets are present in the image field of view, the two insulator sheets in the center of the image are used as the recognition results. An ice floe detection agent is used to determine whether there is still ice floe between the two identified insulator sheets. The ratio of the pixel length of the ice floe to the pixel length of the distance between the two insulator sheets is calculated. Based on the comparison of the ratio and a predetermined threshold, it is determined whether there is bridging ice floe or ice floe exceeding the predetermined bridging risk (i.e., dangerous ice floe), in order to assist the robot in performing de-icing again.

[0101] The ice removal gripper is used to remove ice between adjacent insulator discs. Since the insulator string may be tilted at a certain angle, the position of the insulator string is first located using the constructed insulator string position detection model, which helps the robot select a suitable de-icing angle for operation.

[0102] The robot is equipped with an RGBD camera or a binocular camera, which together with the robot's de-icing tool form a hand-eye system. While identifying the target, it can use depth information to measure the distance to the target, assisting the robot in precise operation.

[0103] Images of insulator strings under different icing conditions were collected using installed cameras. The insulator strings were labeled using rotating rectangles and classified into slightly iced, moderately iced, and severely iced insulator strings. A sample library of insulator strings under different icing conditions was constructed, and the YOLOv11 algorithm model was used as the basic framework of the ice detection agent.

[0104] To effectively reduce the impact of complex outdoor environments and severe weather conditions, RGB three-channel visible light image information and depth image information are fused together for training. This filters out the influence of sky background, distant targets, etc. Specifically, the RGB visible light image and depth image are combined into a four-channel image. At the same time, the first layer parameters of the YOLOv11 algorithm model are modified to change the model from three-channel training to four-channel image training. The annotation is uniformly based on the visible light image annotation position. After the model training is completed, the model is used to recognize and infer the image collected during the robot's initial operation to locate the position and rotation angle of the insulator string. The de-icing robot adjusts its posture according to the located position of the insulator string.

[0105] For severely iced insulator strings identified by the model, the icing will severely obstruct the insulators, making it difficult to accurately determine the position of the insulator strings. The camera will collect images in real time and transmit them to the remote monitoring system, where the robot will be guided by a human.

[0106] The insulator de-icing robot can use de-icing tools to de-ice adjacent insulators. It can intelligently locate the working position by the position of the insulator pieces. By building a sample library of insulator pieces under different icing conditions, it can develop an insulator piece recognition model (i.e., an ice detection intelligent agent) through deep learning training, and combine the depth information of RGBD cameras or binocular cameras to locate the coordinate position of the insulator pieces in three-dimensional space.

[0107] Specifically, the two-dimensional coordinates of pixels are obtained by capturing RGB images from the camera. Combined with the depth value corresponding to the pixel output by the camera, the two-dimensional coordinates and depth value are converted into the three-dimensional spatial coordinates of the insulator sheet based on the camera's intrinsic parameters. The de-icing tool and the acquisition camera form a hand-eye system. The transformation matrix from the camera coordinate system to the tool coordinate system is calculated by calibrating the calibration board. This guides the de-icing robot to automatically control the de-icing tool to reach the working position and carry out the initial de-icing operation.

[0108] After the insulator de-icing robot completes the initial de-icing of two adjacent insulators, it resets to the starting position before the de-icing operation and activates the camera mounted on the robot to capture images of the area containing the two insulators. The robot then uses an insulator identification model to detect the two insulators. If multiple insulators are present in the image field of view, the two insulators in the center of the image are used as the identification results. Then, an ice detection agent is used to determine whether there is still ice between the two insulators and calculates the ratio of the pixel length of the ice to the pixel length of the distance between the two insulators. A threshold is set to determine whether there is still bridging ice or ice with a significant risk of bridging, guiding the de-icing robot to perform a second operation to completely remove the ice bridging hazard.

[0109] After the robot's initial de-icing, the characteristics of the insulator discs become more apparent, facilitating the identification of individual discs. For insulator strings installed at a certain angle, the identification model uses a rotating rectangle to label each insulator disc individually, creating an insulator disc sample library. This ensures that the model's identification of insulator discs more closely matches the actual positions of the real insulator discs.

[0110] The recognition algorithm employs the YOLOv11 one-stage fast detection algorithm, with the model selectable based on recognition performance, such as Small or Medium. To further improve recognition accuracy and speed, the upsampling method used in YOLOv11 is modified. YOLOv11 uses a combination of standard upsampling and 3×3 convolution for feature matching and enhancement, resulting in low computational efficiency, which limits its deployment on edge devices. Furthermore, the simple upsampling method can easily lead to feature blurring, affecting the feature fusion effect.

[0111] This implementation improves upon the upsampling method by designing a processing flow of "upsampling - feature enhancement - channel matching": In terms of upsampling, bilinear interpolation with a scaling factor of 2 is used to expand the feature map to twice its original scale, and the primary matching skips the next level of feature resolution. In terms of feature enhancement, 3×3 depthwise convolution (DWC) is first used to extract local features, and then batch normalization (BN) and ReLU activation are performed to introduce non-linear features, thereby efficiently enhancing the feature map without significantly increasing computational overhead. In terms of channel matching, a 1×1 point convolution is adopted to reduce the number of channels and adjust the number of channels to be consistent with the next level of jump features. The above method enhances the information fusion between different levels and stages, which is more conducive to target detection and segmentation.

[0112] The specific mathematical formula can be expressed as: .

[0113] If the recognition model fails to recognize the insulator due to factors such as insulator disc occlusion during verification, the Canny edge detection algorithm is used to extract the edge of the image by utilizing the arc feature of the insulator disc edge. The least squares method or RANSAC algorithm is then used to fit the arc of the insulator edge to detect the edge of the insulator disc, which serves as the location information of the insulator disc.

[0114] For the ice detection agent, the image is first preprocessed. In addition to commonly used enhancements such as rotation, contrast transformation, and affine transformation, Gaussian blur is added to the image to simulate the image defocusing caused by slight shaking of the robot gimbal. Salt and pepper noise or Gaussian noise is added to simulate the quality loss that may occur during image and video transmission.

[0115] In terms of semantic segmentation networks, the overall approach adopts U-Net v2, an improved version of the U-Net semantic segmentation network model. U-Net utilizes skip connections to connect the encoder and decoder at each level, but it is insufficient to effectively integrate low-level and high-level features. U-Net v2 better integrates features from different levels through a new skip connection design, enhancing the fusion of semantic information in low-level features, while using finer details to optimize high-level features. It consists of three parts: an encoder, an SDI semantic and detail injection module, and a decoder.

[0116] First, a deep neural network encoder is used to extract multi-level features from the input image, from the bottom layer to the top layer. The encoder can adopt network structures such as ResNet, DenseNet, and MobileNet. For an input image I, the encoder extracts multi-scale M-level features. Let i represent the i-th feature, where... Extracted features The output will be fed into the next module for further optimization. Based on the M-level feature maps generated by the encoder, the semantic and detail injection module applies spatial attention and channel attention mechanisms to the features at each level, enabling the features to integrate local spatial information and global channel information, as shown in the following formula: = ( ));in, This represents the feature map after processing at the i-th level. Indicates the first Spatial attention parameters at each level, Indicates the first At each level, channel attention parameters are used. Specific spatial channel attention mechanisms can employ attention structures such as SE, ECA, and CBAM, followed by 1×1 convolution to reduce... The number of channels in the feature map is used to obtain the feature map. ; The resolution of feature maps at different levels is different, and they need to be adjusted to the target resolution first (based on the first level). Hierarchical features resolution Based on the baseline, multi-level feature resolution alignment is performed, followed by fusion. Let the adjusted features be... For other levels Features The adjusted rules are as follows: when : Downsampling using adaptive average pooling D, the formula is: ; when Using the identity mapping I, the features remain unchanged, and the formula is: ; when Upsampling via bilinear interpolation U is achieved using the following formula: .

[0117] After resolution adjustment, a 3×3 convolution is used to smooth each feature, removing noise introduced by interpolation or pooling while preserving feature details. The formula is as follows: ,in, This represents a 3×3 convolution operation on the j-th feature at the i-th baseline. Appropriate padding is applied during convolution to ensure the output resolution matches the input resolution. Then, all aligned and smoothed features are integrated through element-wise multiplication, ensuring that each layer's features simultaneously contain both semantic and detailed information from each layer. The fusion formula is as follows: (Number of levels) The final output is the fused features. .

[0118] The decoder gradually restores the resolution through steps such as upsampling, skip fusion, and convolution, eventually restoring it to the original image resolution. It then maps the resolution to the number of segmentation categories using 1×1 convolution and normalizes the probability of each pixel using the Softmax function to obtain the output segmentation map.

[0119] To address the interference from complex background information in the field, edge detection feature maps are fused with U-Net v2 to enhance the accuracy of target edge processing and achieve more refined segmentation.

[0120] This implementation provides two fusion methods. The first method uses edge detection operators such as Canny and Laplacian to extract edges from the original input image. After grayscale conversion, a single-channel image is obtained. The edge single-channel image information is then stitched together with the original RGB three-channel image to form a four-channel image. Finally, the U-Net v2 network is used for feature extraction, fusion, and other processing to output the final ice segmentation result.

[0121] The second approach is to refer to the residual network structure and introduce the edge detection operator into the residual structure. The original feature map, the feature map after multi-layer convolution operation, and the edge detection feature map are added and fused to form a new feature map for the current stage, which serves as the input for the next stage. The designed edge residual network structure can be introduced into the shallow layers of the network to enhance the model's ability to perceive edge information.

[0122] In some embodiments, the specific edge residual network structure branches are as follows: 1) Assume the input feature map is The first branch pair Perform identity mapping, i.e. ; 2) Second branch pair Edge feature extraction is performed using edge operators to obtain... =Edge operator operation ( ); 3) Third branch pair Perform double-layer convolution, normalization, activation function, and other operations to obtain... =BN(Conv(Relu(BN(Conv(x))))); 4) Output , , Feature maps are unified to the same scale, then summed and fused, and hyperparameters are designed. , , Weighted fusion It automatically learns the importance of different feature branches.

[0123] For two adjacent insulators in the operation, the midline point of the bottom edge of the rotating rectangle of the upper insulator piece and the midline point of the rotating rectangle of the lower insulator piece, as identified by the model, are selected as the basis for calculating the spacing. The vertical distance between the two points is taken as the pixel spacing distance of the insulator pieces. For each ice ridge region segmented by the ice ridge detection algorithm, the vertical coordinates of the region perpendicular to the midline point of the two insulators are used as a constraint. The coordinates of the top and bottom edges of each ice ridge region are calculated, and the vertical distance between the two points is taken as the pixel length of the ice ridge. When the ratio of the pixel length of the ice ridge to the pixel spacing distance between the two insulators is greater than the threshold t (e.g., t is 0.6), it is determined that there is still a risk of bridging of the ice ridge, and the robot needs to perform secondary de-icing.

[0124] During the de-icing process, the robot's ability to identify the steel caps of porcelain insulators and the core rods of composite insulators, as well as their icing status, can guide the de-icing robot to determine whether it has completed the de-icing work on two adjacent insulators. In particular, since the steel caps are made of a hard material, if the robot cannot determine whether the de-icing operation has been completed, it may easily damage the de-icing device.

[0125] This implementation uses model training to construct a training dataset containing un-iced steel caps or core rods, lightly iced steel caps or core rods, and heavily iced steel caps or core rods. Collected data samples are labeled with bounding boxes. The YOLOv11 algorithm is used to train an insulator steel cap or core rod icing status recognition model to detect the position of the insulator steel cap or core rod during operation. Using depth information from an RGBD camera, and with the center point of the detected steel cap or core rod bounding box as a reference point, the distance between the de-icing device and the steel cap or core rod is determined, guiding the robot to operate effectively and safely.

[0126] like Figure 24 As shown, this implementation also proposes a closed-loop de-icing control method based on icing grading, strategy matching, and parameter feedback, which includes the following process: S2401: When identifying the image of an insulator string under icing conditions, the icing thickness is also obtained, and a de-icing strategy is selected based on the icing thickness. S2402: Under the selected de-icing strategy, set the propulsion pressure, propulsion speed, propulsion distance, and lifting adjustment amount to control the robot's operation based on the ice thickness; S2403: Acquire the squeezing pressure applied by the de-icing gripper to the insulator string, the image of the working area, and the actual de-icing time during the operation, and use this information to adjust the operating parameters; wherein, when the pressure deviation between the squeezing pressure and the pushing pressure is not less than the set pressure threshold, the amount of retraction of the de-icing gripper is determined based on the pressure deviation. S2404: Extract the pixel deviation of the center line of the insulator string in the image of the working area. When the pixel deviation is not less than the set pixel threshold, determine the lateral compensation amount according to the pixel deviation, and adjust the horizontal movement of the de-icing device accordingly. S2405: When the actual de-icing time is not less than the expected de-icing time, determine the enhanced extrusion pressure based on the propulsion pressure, and update the propulsion speed and propulsion distance according to the enhanced extrusion pressure.

[0127] In this implementation, when identifying the image of the insulator string under icing conditions, the icing thickness is also obtained. An icing removal strategy is selected based on the icing thickness. Under the selected icing removal strategy, the propulsion pressure, propulsion speed, propulsion distance, and lifting adjustment amount for controlling the robot's operation are set according to the icing thickness. Specifically, this includes: The severity of icing is determined by comparing the icing thickness H with the preset first and second thickness thresholds, and by combining the load change of the de-icing gripper's drive motor load over a set time period with the preset load threshold. The first thickness threshold is less than the second thickness threshold. For example, the first thickness threshold is set to 5mm and the second thickness threshold is set to 15mm.

[0128] Specifically: when the ice thickness H is less than the first thickness threshold and the load change is less than the load threshold (considered as no abnormal change in motor load L), it is judged as light icing; When the icing thickness H is not less than the first thickness threshold and less than the second thickness threshold, or when the load change is greater than or equal to the load threshold, it is judged as moderate icing. When the ice thickness H is not less than the second thickness threshold, or when the collected target area image contains a continuous ice body exceeding the set area (which can be detected by the trained image recognition model), it is determined to be heavily iced.

[0129] Meanwhile, based on the icicle identification results, icicles with bridging are considered to have a bridging trend, and icicles with a bridging risk exceeding the predetermined risk are considered to be high-risk bridging situations.

[0130] Based on this, the following de-icing strategy is selected: (1) When the severity of icing is mild and the ice identification result shows a bridging trend, a light-load compression strategy is selected to quickly remove ice with low thrust and high speed. (2) When the icing severity is moderate and no ice bridge is detected, select the standard compression strategy and carry out the operation with moderate thrust and standard advance distance; (3) When the icing severity is severe, or when the feedback of three consecutive compressions fails to achieve the desired de-icing effect, a powerful de-icing strategy is initiated to break the ice with higher thrust and segmented propulsion. (4) When the ice bridge identification result is a high-risk bridging situation, the bridging risk handling strategy is called first, the speed is reduced and the maximum thrust is limited, and safety is ensured by gradually breaking the ice bridge; (5) In addition, if risk factors such as low ambient temperature, high wind speed, motor overload or abnormal posture are detected, the system will automatically enter the safety pause strategy, stop the operation and maintain the current position until the environment is restored or the operation is confirmed by a person before it can continue.

[0131] By using the above-mentioned graded judgment and rule-based strategy switching methods, the optimal de-icing strategy can be automatically selected under different icing and environmental conditions, thereby improving the stability and safety of de-icing operations.

[0132] Finally, under the selected de-icing strategy, the propulsion pressure, propulsion speed, propulsion distance, and lifting adjustment amount are set to control the robot's operation, so as to realize de-icing operations for different icing scenarios.

[0133] Specifically: (1) The propulsion pressure is derived from the base pressure F0 combined with the icing thickness H and the motor load L: F target =F0+k h ·H+k l ·L, where kh k l This is the empirical gain coefficient.

[0134] (2) The propulsion speed v is based on the real-time pressure deviation e F = F target –F real Dynamic adjustment: v = v0 – k f ·e F To ensure that the propulsion speed is automatically reduced when the pressure is too high, thus avoiding impact on the insulator, F real k represents the actual extrusion pressure. f is a coefficient.

[0135] (3) The advance distance D is set as D=D0+k based on the initial distance D0 and the icing thickness H. d ·H,k d is a coefficient.

[0136] (4) The elevation adjustment amount Δh is calculated based on the visual center deviation Δpos and the IMU attitude deviation Δθ: Δh=k c ·Δpos+k θ ·Δθ,k c and k θ is a coefficient.

[0137] Therefore, for the extrusion motor, the output pushing pressure is controlled by adjusting the drive current; for the forward pushing mechanism, the pushing speed and pushing distance are controlled by adjusting the pulse frequency of the servo motor; for the lifting mechanism, the lifting adjustment is finely adjusted by the stepping amount of the brake motor; and for the horizontal compensation mechanism, the slide is controlled to perform lateral movement according to the lateral compensation command. These actuators continuously correct pressure, displacement, and attitude under closed-loop feedback, ensuring that the robot's de-icing tool always remains in a safe and effective working state.

[0138] In this implementation, high-precision lifting and lowering can be achieved through an electric telescopic rod and a brake motor during robot operation, ensuring the robot can flexibly adjust to the target working position. Simultaneously, horizontal movement of the robot is supported, and precise control ensures that the robot can move freely in suspended environments to complete de-icing tasks. Throughout this process, real-time feedback of sensor data ensures the accuracy of each robot movement, adapting to complex working scenarios.

[0139] In this implementation, force control and visual feedback are used to ensure the protection of insulators and the accuracy of de-icing actions by adjusting the pressure and posture of the de-icing tool in real time, thereby avoiding damage.

[0140] The robot uses a built-in pressure sensor to monitor the squeezing force applied to the insulator by the gripper in real time, and uses a vision module to continuously detect the position of the insulator's centerline to identify the deviation of the de-icing tool.

[0141] Specifically: (1) When an abnormal increase in extrusion pressure is detected, the retraction action is automatically executed and the thrust is reduced.

[0142] (2) When visual detection detects a deviation in the center line of the insulator, the lateral compensation amount is calculated based on the deviation amount, and the horizontal moving mechanism is controlled to perform lateral compensation movement. (3) When the ice block does not fall off within the expected time, a secondary de-icing action with increased squeezing force is automatically triggered.

[0143] (4) If a dangerous condition is detected, such as abnormal insulator stress, motor stall, or tool posture, stop, retraction, and alarm protection actions shall be executed immediately.

[0144] More specifically: the calculation process for the above closed-loop regulation is as follows.

[0145] (1) Real-time reading of the measured extrusion force F from the pressure sensor real and the set propulsion pressure F target Compare the results, when F is satisfied real -F target ≥ΔF th When this occurs, it is considered an abnormal increase in extrusion pressure, where ΔF th A pressure threshold is set to characterize the permissible deviation range from the normal operating pressure.

[0146] At this point, based on the pressure deviation e F =F real -F target Calculate the retraction amount Δd: Δd = k ret ·e F , where k ret This is the shrinkage gain coefficient.

[0147] Therefore, the number of pulses of the forward push mechanism servo motor is reduced according to the amount of retraction to achieve retraction, thereby automatically reducing the thrust and correcting the target current of the compression motor to prevent damage to the insulator.

[0148] This adjustment is used to control the pressure applied by the robot's de-icing tool, ensuring that appropriate pressure is applied to the insulator during de-icing operations to avoid damage to the target.

[0149] (2) Using the trained image recognition model, extract the pixel deviation Δu of the insulator string centerline in the image of the working area, and compare it with the set pixel threshold Δu. th When comparing, if |Δu|≥Δuth At that time, the positional deviation between the judgment tool and the insulator exceeded the limit.

[0150] At this point, the lateral compensation amount Δx is calculated based on the pixel deviation and image depth information: Δx = k u ·Δu·S d , where k u S is the pixel compensation coefficient. d Δx is the depth scale factor, representing the displacement that maps pixel deviation to actual space. Therefore, the stroke of the horizontal movement mechanism is adjusted according to Δx to realign the de-icing tool back to the center of the insulator.

[0151] (3) Establish the expected ice removal time model T based on the current ice thickness H, the propulsion speed v and the pressure application time t. exp When the actual de-icing time T real ≥T exp +ΔT th If the de-icing operation is deemed ineffective and a second de-icing operation with increased pressure is required, then the de-icing process must be performed.

[0152] Increase extrusion pressure F enh For: F enh =F target +k enh ·(T real -T exp ), where k enh To enhance the intensity coefficient.

[0153] F enh As a new target pressure, the propulsion speed and distance are recalculated until the ice layer breaks off or the safety limit is reached.

[0154] Through the calculation process of pressure anomaly detection, visual deviation correction, and de-icing effect judgment described above, the extrusion pressure, tool position, and operation rhythm can be adjusted in real time in complex environments to achieve safe, reliable, and continuous de-icing operations.

[0155] As an alternative implementation method, real-time adjustments can be made based on environmental factors, such as optimizing the de-icing operation by considering temperature and humidity. The specific adjustment formula is as follows: Environmental compensation amount = k3 × (Ambient temperature change + Humidity change). When a temperature change or excessively high humidity is detected, the de-icing strategy is adjusted according to the set environmental compensation amount. For example, in low-temperature environments, it is necessary to increase the thrust to overcome the hardness of the ice layer; in high-humidity environments, it is necessary to adjust the speed and pressure of the de-icing tools to avoid affecting the operation results due to water droplets or melting ice.

[0156] As an alternative implementation method, the lifting height can also be finely adjusted in real time based on the position information fed back by the encoder of the upgrade module and the attitude angle of the IMU.

[0157] The position deviation calculation formula is Δpos = target position - measured position. This adjustment amount is used to control the robot's movement position. When a position deviation is detected, the robot's propulsion speed and direction are adjusted to ensure that the robot moves to the target position.

[0158] The formula for calculating attitude error is Δθ = visual recognition angle - attitude angle measured by IMU. This adjustment is used to control the robot's attitude and direction, ensuring that the robot's attitude is stable during operation and avoiding deviation from the predetermined trajectory.

[0159] The above-calculated adjustment amounts dynamically adjust the robot's movement, posture, and pressure based on the robot's actual working state and environmental conditions to cope with different working environments and operational needs, ensuring the robot's accuracy and stability in de-icing operations.

[0160] The control method for the suspended insulator de-icing robot provided in this implementation mainly includes three core steps. First, when identifying the image of the insulator string under icing conditions, the ice thickness is also obtained. Based on the detected icing state of the insulator string and the ice identification results, the most suitable strategy is selected from multiple preset de-icing strategies to adapt to different icing conditions. Next, under the determined de-icing strategy, based on the icing state and the robot's operating status, key parameters such as the propulsion pressure, propulsion speed, propulsion distance, and lifting adjustment amount used to control the robot's operation are precisely set, laying the foundation for efficient robot operation. Finally, during the robot's operation, information such as the squeezing pressure applied by the robot to the insulator string, the image of the working area, and the actual de-icing time are acquired in real time. Based on this, the robot's operating parameters are adjusted to ensure the smooth progress of the de-icing operation.

[0161] In practical applications, the icing conditions of insulator strings are complex and varied, and the risk of ice bridges also differs. This implementation design incorporates a de-icing strategy selection technology. When the detected ice thickness is thin and relatively uniform, and the risk of ice bridges is low, a gentler mechanical scraping de-icing strategy can be selected. Conversely, when the ice thickness is large and there is a significant risk of ice bridges, a de-icing strategy with higher impact force is employed. By selecting the de-icing strategy based on the actual situation, de-icing efficiency can be improved and de-icing costs can be reduced. Secondly, the settings for propulsion pressure, propulsion speed, propulsion distance, and lifting adjustment are closely related to the icing condition and the robot's operating status. If the ice is thick and hard, to ensure effective de-icing, it is necessary to increase the propulsion pressure, propulsion speed, and appropriately increase the propulsion distance to ensure thorough removal of the ice layer. However, the propulsion pressure and speed should not be excessive, otherwise, it may damage the insulators. Regarding the robot's operating status, if the robot wobbles or becomes unstable during movement, the lifting adjustment needs to be adjusted promptly to maintain the robot's balance and ensure the accuracy of the de-icing operation.

[0162] Finally, the feedback adjustment mechanism plays a crucial role in the robot's operation. Pressure sensors monitor the real-time compressive force applied by the robot to the insulator string. When the pressure deviation between the compressive force and the pre-set propulsion pressure is not less than a set pressure threshold, it indicates that the current operating parameters may need adjustment. At this point, the retraction amount of the de-icing gripper is determined based on the pressure deviation to restore the compressive force to an appropriate range. Image acquisition equipment captures images of the work area, and the pixel deviation of the insulator string centerline in the image is extracted. When the pixel deviation is not less than a set pixel threshold, it indicates a deviation in the robot's horizontal position. The lateral compensation amount needs to be determined based on the pixel deviation to adjust the robot's horizontal movement and ensure the accuracy of the de-icing operation. Actual de-icing time is also an important feedback indicator. When the actual de-icing time is not less than the expected de-icing time, it indicates low de-icing efficiency. In this case, the compressive force is increased based on the propulsion pressure, and the propulsion speed and distance are updated accordingly to improve de-icing efficiency.

[0163] In this implementation, a self-check and recovery mechanism is also included throughout the robot's operation, comprising three stages: startup self-check, operation self-check, and anomaly recovery. Specifically, these include: After the robot is powered on, it enters the startup self-test process, which performs a comprehensive self-test on key modules such as the motor drive unit, encoder feedback, upper / lower limit of the telescopic rod, wireless communication link, battery voltage and temperature, and image sensor status. If an abnormality is detected, it enters the prohibited operation mode and prompts for manual handling.

[0164] During operation, the system continuously monitors the operating status of motor temperature, communication quality, pressure fluctuations, number of consecutive visual recognition failures, and telescopic pole load to determine in real time whether there are any potential faults.

[0165] When an anomaly occurs, the anomaly recovery process is initiated: In the case of communication interruption, the system automatically attempts to send a handshake packet and reconnect the LoRa communication link, and continues to execute the current operation steps after recovery; in the case of motor overload, the system reduces the operating load and resumes the operation after the temperature recovers; in the case of visual loss, the system automatically re-identifies the insulator position and returns to the safe position point; in the case of lifting error, the system performs a limit switch re-zeroing operation.

[0166] The aforementioned self-checking and recovery mechanisms can ensure the robot's continuous and stable operation in complex environments, thereby improving overall operational reliability.

[0167] In this implementation, such as Figure 25 As shown, a two-layer wireless communication architecture is used to achieve stable remote communication between the robot and the ground control system: Among them, LoRa communication serves as a long-distance communication link between the lifting and de-icing modules. The LoRa protocol features low power consumption and long distance, ensuring communication stability in high-altitude and strong electromagnetic environments.

[0168] The SBUS protocol is used for multi-channel real-time control between the remote controller and the robot, ensuring that the operator can accurately control the robot's various actions.

[0169] In this implementation, to further improve the communication stability and security of the two-layer wireless communication architecture under high altitude, strong electromagnetic interference and severe weather conditions, the communication module incorporates anti-interference enhancement mechanisms, link adaptive mechanisms and redundancy protection mechanisms on both the LoRa and SBUS links.

[0170] Specifically: LoRa communication links utilize spread spectrum frequency hopping technology to automatically switch operating frequencies to avoid interference bands when they detect a decrease in signal-to-noise ratio, an increase in bit error rate, or increased external electromagnetic interference, thereby improving the link's anti-interference capability. Simultaneously, the spreading factor is adjusted in real-time based on parameters such as RSSI, SNR, and bit error rate, adaptively switching within the SF7 to SF12 range: increasing the spreading factor to enhance demodulation capability when the electromagnetic environment is harsh, and decreasing the spreading factor to improve communication efficiency when the environment is stable.

[0171] For forward error correction, LoRa communication employs variable error correction coding and automatically upgrades the error correction level when an increase in erroneous frames is detected, thereby significantly enhancing the data integrity of the link. In the event of abnormal data transmission, a tiered retransmission strategy is implemented, including rapid retransmission, retransmission after increasing transmit power, and reconnection after switching to a backup frequency, to ensure that the link can still restore communication in high-interference environments. Furthermore, LoRa communication enables AES-128 encryption and two-way authentication mechanisms to guarantee data security and attack resistance during long-distance communication.

[0172] For the SBUS link, to ensure low latency and high reliability even under strong electromagnetic interference, the hardware employs a metal braided shielding layer and a differential drive structure to reduce the impact of external interference on the signal. An LC filter network and a TVS diode surge protection circuit are added at the communication interface to suppress the effects of high-frequency noise and transient voltage on signal stability. At the protocol and parsing level, SBUS data frames utilize a real-time verification mechanism. Upon detecting a verification failure, a redundant frame mechanism automatically selects an available control quantity from the most recent valid data frame to prevent erroneous robot actions caused by brief interference. If the SBUS signal is continuously lost for a certain period, a safety mode is activated, automatically stopping horizontal movement, retrieving the de-icing gripper to a safe position, and locking the lifting mechanism to ensure the robot's safe operation in the event of communication failure.

[0173] Regarding the two-layer communication collaboration, this implementation clearly defines the functional division of LoRa and SBUS within the system. The LoRa link primarily undertakes long-distance communication tasks, including task command issuance, icing identification result feedback, equipment operating status monitoring, and abnormal information uploading, suitable for task-level scheduling and status monitoring during operation. The SBUS link is mainly used for short-range real-time motion control, enabling operators to precisely control actions such as lifting, horizontal movement, and gripper opening and closing, meeting the operational requirements of high real-time performance and low latency.

[0174] To enable coordinated operation of the two links, the system employs an internal communication scheduling mechanism: when the SBUS is connected, it prioritizes real-time actions, while LoRa focuses on status feedback; when the SBUS is not connected or experiences an interruption, the system automatically switches to LoRa control mode; when both links are available simultaneously, LoRa handles task-level control and status monitoring, while the SBUS handles action-level control, ensuring coordinated operation of the two links under different operating modes. Furthermore, in the event of a communication link anomaly, automatic redundancy switching between LoRa and SBUS is implemented. If the SBUS loses its signal, LoRa takes over control; if LoRa loses its signal, it enters a safe mode while retaining the local controllability of the SBUS, significantly improving the overall robustness and reliability of the communication system.

[0175] Through the aforementioned anti-interference enhancement mechanism, link adaptive adjustment strategy, and collaborative and redundant switching design of dual-layer communication, this implementation can provide stable, reliable, and secure communication capabilities in strong electromagnetic, high-altitude, and complex environments, providing key assurance for the continuous operation of the suspended insulator de-icing robot in complex environments.

[0176] This implementation also includes power management, responsible for monitoring battery status and ensuring a stable power supply. This includes: a battery management system that monitors battery charge, current, voltage, and temperature to ensure safe battery operation; and power distribution and charging management that intelligently adjusts battery charging strategies and rationally allocates power to ensure stable operation of all modules. Efficient battery management extends the robot's runtime and improves operational reliability.

[0177] Specifically, the intelligent charging strategies for batteries include: phased charging strategy, temperature compensation strategy, load priority strategy, and battery health status management strategy.

[0178] Among them, the phased charging strategy adopts a constant current-constant voltage (CC-CV) two-stage charging method to improve efficiency and delay battery aging; the temperature compensation strategy automatically adjusts the charging current according to the battery temperature to avoid the risk of overcharging in high or low temperature environments; the load priority strategy dynamically allocates available current to each module according to the robot's current working status; and the health status management strategy automatically adjusts the maximum rechargeable amount according to parameters such as battery cycle count and voltage fluctuation to extend battery life.

[0179] The selection and adjustment of the charging strategy are based on the following rules: when the battery level is below the first threshold, the constant current fast charging mode is entered; when the battery level reaches the second threshold, the constant voltage fine-tuning mode is switched; when the battery temperature exceeds the set upper limit, the charging power is reduced or charging is paused; when the robot performs high-load de-icing operations, the power supply to non-critical modules is reduced, and priority is given to ensuring the lifting and squeezing power modules.

[0180] The power distribution module assigns different power supply priorities based on the importance of each module's function: the lifting motor and pressure control module are at level one, the vision recognition module at level two, the communication module at level three, and the auxiliary lighting and indicator module at level four. When the battery load approaches saturation, the power supply to lower-priority modules is reduced via PWM modulation, with the duty cycle dynamically adjusted to free up more power to support critical modules. By monitoring parameters such as current, voltage, and temperature in real time, the output power is dynamically allocated to ensure the continuous and stable operation of key functional units and improve the overall reliability of the machine.

[0181] This implementation proposes a mechanically and electrically integrated lifting and de-icing coordinated control technology. The lifting module uses a brake motor in conjunction with a telescopic insulating rod, which can automatically lock and precisely control the lifting height in the event of a power outage. The de-icing module employs a squeezing gripper and a horizontal centering and pushing mechanism, achieving flexible de-icing through force control and visual feedback. This ensures precise and flexible control during the de-icing process, avoiding damage to the insulators. This technology achieves efficient de-icing without damaging the insulators, significantly improving the automation level and safety of live-line de-icing operations.

[0182] This implementation proposes a two-layer wireless communication architecture, employing the LoRa protocol for long-distance communication and the SBUS protocol for real-time control. The LoRa protocol, serving as the remote communication link between the lifting and de-icing modules, provides reliable remote control in strong electromagnetic and high-altitude environments, ensuring stability under these conditions. The SBUS protocol provides multi-channel real-time control between the robot and the remote controller. This two-layer communication architecture provides the robot with highly reliable, low-latency communication, significantly improving the stability, accuracy, and reliability of communication during de-icing operations, meeting the real-time control requirements of de-icing operations.

[0183] The implementation method proposed as follows Figure 26 The control system of the suspended insulator de-icing robot shown adopts a modular design concept. The whole machine consists of multiple functional modules, including fall protection, lifting, de-icing, power management, communication, and overall machine control. Each functional module operates independently and can be interconnected and mutually inspected through a unified protocol. It also has intelligent self-testing, self-recovery, and remote reset functions. Each module has a built-in independent control unit and communication interface, ensuring that the system can automatically detect and resume operation in the event of abnormalities, such as motor failure, communication interruption, or power failure, thereby improving the robot's safety and continuous operation capability.

[0184] The proposed control method for the suspended insulator de-icing robot significantly improves the robot's operating efficiency, safety, and intelligence by combining a dual-layer communication architecture, modular design, self-recovery function, and electromechanical integrated lifting and de-icing coordination control technology. It is suitable for high-altitude operations in complex environments, and can maintain high efficiency and stable performance, especially under strong electromagnetic, high-altitude, and severe weather conditions.

[0185] To ensure operational safety, this implementation also proposes an emergency detachment method for the de-icing gripper, such as... Figure 27 As shown, the process includes the following: S2701: When de-icing is completed at any de-icing position, but the two de-icing claws at opposite positions cannot move away from each other after clamping the insulator, or although they can move away from each other, the maximum distance between them is less than the maximum diameter of the insulator, it is determined that the de-icing claws have failed to disengage. S2702: When the de-icing gripper fails to disengage, the emergency pull ring is pulled by the drone to pull the plug pin out of the slide, the de-icing support is disengaged from the slide, and the horizontal drive mechanism connected to the slide no longer acts on the de-icing support. S2703: The drone lifts the suspended insulator de-icing robot connected to the slide block away from the insulator string. The slide block drives the connecting line to tighten, so that the de-icing support and blade can be detached from the insulator, completing the emergency detachment.

[0186] In this implementation, the preferred method is as follows: Figure 28As shown, when there is only one set of de-icing grippers, the ice-gripping process is as follows: S2801: After the de-icing device is moved to the de-icing position of the top layer of the insulator string by the lifting device, the horizontal telescopic mechanism drives the de-icing gripper to move to both sides of the insulator string, and the horizontal moving mechanism controls the two grippers to clamp the ice. S2802: After the de-icing is completed at the top de-icing position, the horizontal moving mechanism controls the two grippers to release and continue to move to the next de-icing position to continue de-icing until the de-icing is completed at the bottom de-icing position. Then, the horizontal telescopic mechanism drives the de-icing grippers to retract. S2803: The translation mechanism drives the horizontal moving mechanism to the front of another insulator string, starting from the lowest de-icing position of the other insulator string and continuing until the de-icing is completed at the highest de-icing position of the other insulator string.

[0187] Optionally, in some other implementations, such as Figure 29 As shown, when two sets of de-icing grippers are included, the ice-gripping process is as follows: S2901: After the de-icing device is moved to the de-icing position of the top layer of the insulator string by the lifting device, the horizontal telescopic mechanism drives the two sets of de-icing claws to move forward, so that the first claw and the second claw are located on both sides of the first insulator string, and the third claw and the fourth claw are located on both sides of the second insulator string. S2902: The first and second horizontal moving mechanisms drive the two sets of de-icing grippers to move simultaneously, so as to simultaneously clamp ice at the top layer of the two insulator strings. S2903: After de-icing is completed at the topmost de-icing position, the first and second horizontal moving mechanisms control the two sets of grippers to release and continue moving to the next de-icing position to continue de-icing until the bottommost de-icing position is completed. Then, the horizontal telescopic mechanism drives the de-icing grippers to retract, and de-icing is completed.

[0188] In summary, this invention employs a suspended insulator de-icing robot based on the proposed design. A lifting mechanism allows the de-icing device to move up and down along the insulator string, reaching and removing ice at various de-icing locations. By designing a double-layered, encircling structure and multi-contact, progressive de-icing grippers (including de-icing blades), the pressure on the contact surface with the ice layer is increased, enabling simultaneous removal of ice floes and ice covering the skirts. This efficiently breaks down the ice layer, improving operational efficiency. The synchronous, staggered opening and closing structure allows the upper and lower grippers to cross and merge, adapting to de-icing insulators of different disc diameters. This invention employs mechanical impact and clamping methods to remove surface ice, effectively breaking up hard and thick ice layers. The specifically designed impact head and clamps conform well to the surface of the insulator string, demonstrating strong adaptability to complex insulator shapes. An active stress isolation mechanism, with side baffles, ensures the center of the de-icing gripper always aligns with the center of the insulator string, preventing damage to the core rod. Adjustable translation mechanisms adapt to de-icing environments for suspended single and double insulator strings, increasing adaptability. A combination of forward and reverse racks and an adaptive alignment clamping mechanism allows for simultaneous de-icing of two insulator strings in a single operation, improving work efficiency. Compared to thermal de-icing, which experiences a sharp drop in efficiency at extremely low temperatures, laser de-icing requiring point-to-point contact and being inefficient, and drone-borne flamethrowers damaging composite insulators, the de-icing method employed in this invention is virtually unaffected by ambient temperature, maintaining stable operation even in frigid environments.

[0189] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A layered, progressive intelligent de-icing method for suspension insulators, characterized in that, A de-icing robot comprising at least one set of de-icing grippers includes: Insulator multi-dimensional sensing intelligent recognition steps: After the de-icing robot is suspended on the tower where the insulator string is located, the insulator multi-dimensional sensing and recognition intelligent agent is called to recognize the image of the insulator string under the ice-covered state, and obtain the position recognition result of the insulator string and the ice thickness. Layered progressive adaptive decision-making steps: Based on the ice thickness, the autonomous decision-making agent is invoked to adaptively select the de-icing strategy. Based on the selected de-icing strategy and the position identification results of the insulator string, the de-icing gripper is controlled to perform layer-by-layer de-icing of the insulator string. Effect evaluation closed-loop strategy adjustment steps: During the de-icing process, the ice detection agent is autonomously invoked to evaluate the de-icing effect, and the de-icing strategy is dynamically adjusted in a closed loop based on the evaluation results.

2. The layered progressive intelligent de-icing method for suspension insulators as described in claim 1, characterized in that, The insulator multi-dimensional sensing and recognition intelligent agent is invoked to recognize images of insulator strings under icing conditions, including: The image of the insulator string under icing conditions includes an RGB visible light image and a depth image. The RGB visible light image and the depth image of the insulator string are combined into a four-channel image and input into an insulator multi-dimensional perception and recognition agent based on the YOLOv11 model to obtain the position recognition result of the insulator string and the icing thickness.

3. The layered progressive intelligent de-icing method for suspension insulators as described in claim 1, characterized in that, Based on the ice thickness, an autonomous decision-making agent is invoked to adaptively select a de-icing strategy, including: The severity of icing is determined by comparing the icing thickness with a preset first thickness threshold and a preset second thickness threshold, and by combining the load change of the de-icing gripper's drive motor load over a set time period with a preset load threshold; wherein the first thickness threshold is less than the second thickness threshold. When the icing severity is light icing and the ice floe identification result shows that there are bridging ice floes, the light load compression strategy is selected; When the icing severity is moderate and no ice bridges are detected, the standard compression strategy is selected. When the icing severity is severe, or when the pressure feedback after a set number of consecutive cycles fails to achieve the desired de-icing effect, a powerful de-icing strategy is activated.

4. The layered progressive intelligent de-icing method for suspension insulators as described in claim 3, characterized in that, Determining the severity of icing includes: When the ice thickness is less than the first thickness threshold and the load change is less than the load threshold, it is judged as light icing; When the ice thickness is not less than the first thickness threshold and less than the second thickness threshold, or when the load change is greater than or equal to the load threshold, it is judged as moderate icing. When the ice thickness is not less than the second thickness threshold, or when the collected target area image contains continuous ice bodies exceeding the set area, it is determined to be heavily iced.

5. The layered progressive intelligent de-icing method for suspension insulators as described in claim 1, characterized in that, When the de-icing effect evaluation results show that there are dangerous ice formations, the squeezing force applied by the de-icing gripper to the insulator string, the image of the work area, and the actual de-icing time are obtained during the operation, so as to make feedback adjustments to the operation parameters. Among them, when the pressure deviation between the extrusion pressure and the propulsion pressure is not less than the set pressure threshold, the retraction amount of the de-icing gripper propulsion is determined according to the pressure deviation. Extract the pixel deviation of the insulator string centerline in the image of the work area. When the pixel deviation is not less than the set pixel threshold, determine the lateral compensation amount based on the pixel deviation, and adjust the horizontal movement of the de-icing device accordingly. When the actual de-icing time is not less than the expected de-icing time, the enhanced extrusion pressure is determined based on the propulsion pressure, and the propulsion speed and propulsion distance are updated according to the enhanced extrusion pressure.

6. The layered progressive intelligent de-icing method for suspension insulators as described in claim 1, characterized in that, During the de-icing process, the system autonomously invokes an ice detection agent to evaluate the de-icing effect, including: Acquire images of insulator strings after the initial de-icing process. Use an insulator disc recognition agent to identify two adjacent insulator discs in the image after the initial de-icing process. If there are multiple insulator discs in the image field of view, the two insulator discs in the center of the image are used as the recognition results. Using an ice detection agent, it determines whether there is still ice between the two identified insulators. It calculates the ratio of the pixel length of the ice to the pixel length of the distance between the two insulators. Based on the comparison of the ratio with a predetermined threshold, it determines whether there is dangerous ice. If so, it controls the de-icing claw to perform de-icing again until the dangerous ice is removed.

7. The layered progressive intelligent de-icing method for suspension insulators as described in claim 6, characterized in that, The ice detection agent includes an encoder, an SDI semantic and detail injection module, and a decoder. The encoder extracts multi-level features from the bottom to the top layer from the image of the insulator string after de-icing. Based on the M-level feature maps generated by the encoder, the SDI semantic and detail injection module applies spatial attention and channel attention mechanisms to the features at each level, integrating local spatial information and global channel information. The resolution of feature maps at different levels is adjusted to the target resolution, multi-level feature resolution alignment is performed, and then fusion is performed. The decoder is used to gradually restore the resolution, eventually restoring it to the original image resolution. It maps the number of segmentation categories to the probability normalization of each pixel using a 1×1 convolution and a Softmax function, thus obtaining the output segmentation map.

8. The layered progressive intelligent de-icing method for suspension insulators as described in claim 7, characterized in that, The process of adjusting the resolution of feature maps at different levels to the target resolution includes: With the first Hierarchical features resolution Based on the standard, let the adjusted feature be... For features of other levels j The adjusted rules are as follows: when At that time, characteristics The resolution is higher than Perform adaptive average pooling Downsampling: ; when When the resolutions of the two features are the same, and the identity mapping I is used, the features remain unchanged: ; when At that time, characteristics The resolution is lower than Perform bilinear interpolation Upsampling: .

9. The layered progressive intelligent de-icing method for suspension insulators as described in claim 1, characterized in that, The de-icing gripper includes a de-icing blade, a de-icing support column, and a slide. The de-icing blade is fixedly connected to the de-icing support column, and the de-icing support column is connected to the slide via a pin. A slack connection line is connected between the de-icing support column and the slide. An emergency pull ring is provided on the pin. When de-icing is completed at any de-icing position, but the two de-icing claws at opposite positions cannot move away from each other after clamping the insulator, or although they can move away from each other, the maximum distance between them is less than the maximum diameter of the insulator, the de-icing claws are judged to have failed to disengage. When the de-icing gripper fails to disengage, the aircraft pulls the emergency pull ring to pull the pin out of the slide, the de-icing support is disengaged from the slide, and the horizontal drive mechanism connected to the slide no longer acts on the de-icing support. The aircraft hoists the suspended insulator de-icing robot, which is connected to the slide, away from the insulator string. The slide then tensions the connecting wires to detach the de-icing support and blades from the insulator, completing the emergency detachment.

10. The layered progressive intelligent de-icing method for suspension insulators as described in claim 1, characterized in that, It includes two sets of de-icing grippers positioned opposite each other. The de-icing grippers are arranged on the de-icing device. The first set of de-icing grippers includes a first gripper and a second gripper positioned opposite each other. The second set of de-icing grippers includes a third gripper and a fourth gripper positioned opposite each other. The openings of the first gripper and the third gripper face the same direction, and the openings of the second gripper and the fourth gripper face the same direction. The de-icing device includes: a support frame, a first horizontal moving mechanism, a second horizontal moving mechanism, a horizontal telescopic mechanism, and a translation mechanism. The first and third grippers are connected to the first horizontal moving mechanism, the second and fourth grippers are connected to the second horizontal moving mechanism, the first and second horizontal moving mechanisms are connected to the translation mechanism, the translation mechanism is connected to the output end of the horizontal telescopic mechanism, and the horizontal telescopic mechanism is fixed on the support frame. After the de-icing device is moved to the de-icing position of the top layer of the insulator string by the lifting device, the horizontal telescopic mechanism drives the two sets of de-icing claws to move forward, so that the first claw and the second claw are located on both sides of the first insulator string, and the third claw and the fourth claw are located on both sides of the second insulator string. The first and second horizontal moving mechanisms drive the two sets of de-icing grippers to move simultaneously, clamping ice at the top layer of the two insulator strings at the same time. After de-icing is completed at the topmost de-icing position, the first and second horizontal moving mechanisms control the two sets of grippers to release, and continue to move to the next de-icing position to continue de-icing until the bottommost de-icing position is completed. Then, the horizontal telescopic mechanism drives the de-icing grippers to retract, and the de-icing is completed.

11. The layered progressive intelligent de-icing method for suspension insulators as described in any one of claims 1-10, characterized in that, The hook device includes a frame body, on which a lifting module, a first slider and a second slider connected to the lifting module are provided, and a retraction spring mechanism connected to the first slider and the second slider respectively. When the hook device is lifted, the lifting module moves upward, causing the first and second sliders to move to both ends of the frame body respectively, while simultaneously stretching and retracting the tension spring mechanism. When the hook device is placed on the crossbeam, the lifting module resets and, through the retraction of the tension spring mechanism, moves the first and second sliders to the angle steel position to complete the fastening. The suspended insulator de-icing robot is mounted onto the frame body using a hoisting mechanism from an aircraft.

12. The layered progressive intelligent de-icing method for suspension insulators as described in claim 11, characterized in that, The first and second sliders move in opposite directions; When the hook-and-loop device is lifted, it moves in opposite directions until it reaches both ends of the frame body. Once the hook-on device is placed on the crossbeam, move it in a direction that brings them closer together until it reaches the position of the angle steel.

13. The layered progressive intelligent de-icing method for suspension insulators as described in claim 11, characterized in that, The frame body is also equipped with a DC motor. When the hook device is placed on the crossbeam, the DC motor is controlled to push the first slider and the second slider to move towards each other until they move to the position of the angle steel. After the suspended insulator de-icing robot is mounted on the frame body, under the gravity of the suspended insulator de-icing robot, the first slider and the second slider both abut against the angle steel on the corresponding side. The tilt angle of the hook device is detected by the tilt sensor installed on the frame body, and the tilt angle of the suspended insulator de-icing robot when it is mounted on the frame body is adjusted according to the tilt angle.

14. A suspended insulator de-icing robot, Its features are, Includes: a lifting mechanism, a hoisting mechanism, and a de-icing device. The hoisting mechanism is fixed to the upper part of the lifting mechanism, and the lower part of the lifting mechanism is connected to the support frame. The hoisting mechanism includes a hoisting guide, a mounting guide, and a guide plate. The hoisting guide is used for hoisting the aircraft onto the upper and lower lines. The mounting guide is used for mounting on the pole crossarm or on the pole crossarm hook device. The guide plate is inclined and fits against the transition part between the lifting mechanism and the hoisting mechanism. The de-icing device includes: a support frame, a horizontal moving mechanism, a horizontal telescopic mechanism, and at least one set of de-icing grippers for clamping ice. The de-icing grippers include de-icing blades, de-icing support columns, and slides. The de-icing blades are fixedly connected to the de-icing support columns, and the de-icing support columns are connected to the slides via a pin. A slack connection line is connected between the de-icing support columns and the slides, and an emergency pull ring is provided on the pin. The slide is connected to the output end of the horizontal moving mechanism. The horizontal telescopic mechanism is fixed on the support frame. The output end of the horizontal telescopic mechanism is connected to the horizontal moving mechanism. The de-icing grippers move left and right under the drive of the corresponding horizontal moving mechanism to move closer to each other to clamp ice or move further apart to detach. The horizontal telescopic mechanism is used to drive the horizontal moving mechanism to move back and forth.

15. The suspension insulator de-icing robot as described in claim 14, characterized in that, The de-icing blade is fixed to the inside of the de-icing support column. Side baffles are fixed to the upper and lower parts of the de-icing support column. The side baffles are used to contact the group of insulators to limit the movement distance of the de-icing blade. The horizontal moving mechanism is connected to the support frame through a multi-section guide rail. Alternatively, the de-icing blades are double-layered blades arranged vertically, with connecting posts between the double-layered blades. The connecting posts are used to contact the insulator string's plates to limit the movement distance of the double-layered blades. The horizontal moving mechanism is connected to the support frame via multiple sections of guide rails. Alternatively, the two jaws of any set of de-icing grippers can be arranged in a staggered manner, one above the other.

16. The suspension insulator de-icing robot as described in claim 14, characterized in that, The lifting mechanism includes a lifting module and a winch module, with the winch module located at the bottom of the lifting module; The lifting module includes a lifting upper connecting plate, multiple insulating rods, multiple insulating rod connecting plates, upper insulating rod clamps, lower insulating rod clamps, a bottom rectangular tube, and insulating ropes. The top of the multiple insulating rods is connected to the lifting upper connecting plate through the upper insulating rod clamps, and the bottom of the multiple insulating rods is connected to the bottom rectangular tube through the lower insulating rod clamps. The bottom rectangular tube is fixed to the support frame. The winch module includes pulleys, rollers, a winch motor support, a winch motor, and a winch bracket. The winch bracket is fixed to the bottom rectangular tube, the winch motor support is fixed to the winch bracket, and the winch motor is fixed to the winch motor support. The winch motor is connected to the rollers, the pulleys are fixed to the bottom rectangular tube, one end of the insulating rope is connected to the lifting upper connecting plate, and the other end of the insulating rope passes around the pulley and is wound around the roller. The winch motor winds or unwinds the insulating rope through the rollers, thereby driving the support frame to move up and down.

17. The suspension insulator de-icing robot as described in claim 14, characterized in that, The de-icing device includes: two sets of de-icing grippers positioned opposite each other; the first set of de-icing grippers includes a first gripper and a second gripper positioned opposite each other; the second set of de-icing grippers includes a third gripper and a fourth gripper positioned opposite each other; the openings of the first gripper and the third gripper face the same direction; the openings of the second gripper and the fourth gripper face the same direction. The de-icing device also includes: a support frame, a first horizontal moving mechanism, a second horizontal moving mechanism, a horizontal telescopic mechanism, and a translation mechanism. The first and third grippers are connected to the first horizontal moving mechanism, the second and fourth grippers are connected to the second horizontal moving mechanism, the first and second horizontal moving mechanisms are connected to the translation mechanism, the translation mechanism is connected to the output end of the horizontal telescopic mechanism, and the horizontal telescopic mechanism is fixed on the support frame.

18. The suspension insulator de-icing robot as described in claim 17, characterized in that, The first horizontal moving mechanism is a first rack, and the second horizontal moving mechanism is a second rack. The first rack and the second rack are staggered and meshed with the same gear in the middle of the staggered arrangement. The gear is connected to the output shaft of the drive motor. It also includes an adaptive module, which includes a linear guide rail, a slider, a base, and tension springs. The linear guide rail is fixed at the end of the horizontal telescopic mechanism, the slider is slidably connected to the linear guide rail, the movable base is fixed on the slider, the drive motor is fixed on the movable base through a motor bracket, and two tension springs are symmetrically arranged on both sides of the movable base, and both tension springs are in a pre-tensioned state in the initial state.

19. A de-icing system for suspension insulators, characterized in that, Including a fall-prevention hook device and a suspension insulator de-icing robot as described in any one of claims 14-15; The anti-fall hook device includes: a frame body, a lifting module located in the middle of the frame body, a first slider and its corresponding retraction spring mechanism on one side of the lifting module, and a second slider and its corresponding retraction spring mechanism on the other side. The frame body has guide grooves on both sides, and both ends of each slider are set in the guide grooves. One end of the frame body is also provided with a robot guide plate for mounting the suspended insulator de-icing robot. The lifting module and two retraction spring mechanisms are used to drive the first slider and the second slider to move in the guide groove in a direction that moves away from or towards each other.

20. The suspension insulator de-icing system as described in claim 19, characterized in that, The first and second sliders have the same structure. Each slider includes a vertical plate and a horizontal plate at one end of the vertical plate, thus forming an L-shaped structure. The vertical plate has several connecting holes along the vertical direction for adjusting the fixed position of the horizontal plate on the vertical plate.

21. The suspension insulator de-icing system as described in claim 19, characterized in that, The lifting module includes a housing, a sliding column disposed inside the housing, and a rope pulling mechanism connected to one end of the sliding column. The rope pulling mechanism includes a first steel wire rope connecting a first slider and a second steel wire rope connecting a second slider. The upward movement of the sliding column causes the first steel wire rope and the second steel wire rope to move upward. The first wire rope is connected to the top of the first slider through a rolling shaft assembly, so that the upward movement of the first wire rope drives the first slider to move away from the lifting module. The second wire rope is connected to the top of the second slider via a rolling shaft assembly, so that the upward movement of the second wire rope drives the second slider to move away from the lifting module.

22. The suspension insulator de-icing system as described in claim 19, characterized in that, The two retraction spring mechanisms have the same structure, both including a crossbar, a connector on the crossbar, and a spring on the connector. The other end of the spring is connected to the top of the corresponding slider. When the two springs contract, they respectively drive the first slider and the second slider to move towards each other to the target engagement position. Both sides of the frame body are equipped with DC motors. The output shaft of the DC motor is connected to a push rod. The push rod is aligned with the corresponding slider. The DC motor drives the push rod to push the corresponding slider, so that the first slider and the second slider move in a direction closer to each other. An angle sensor is installed on one side of the frame body to measure the tilt angle of the hook device. An angle adjustment motor is installed on the robot guide plate to adjust the tilt angle of the hook point by controlling the rotation of the angle adjustment motor according to the measured tilt angle.

Images