Detachable power transmission line anti-icing device based on unmanned aerial vehicle

Abstract

The invention discloses a detachable power transmission line anti-icing device based on an unmanned aerial vehicle, and relates to the technical field of power transmission line anti-icing equipment. The device comprises a detachable connecting mechanism and a ferromagnetic anti-icing module, the ferromagnetic anti-icing module is made of ferromagnetic materials, the Curie point of the ferromagnetic anti-icing module can cover the ice melting working temperature, and the ferromagnetic anti-icing module forms a shell body of the detachable connecting mechanism and is arranged outside a power transmission conductor in a sleeving mode in the clamped state. The detachable connecting mechanism can be clamped or separated on a wire by the line operation robot, the unmanned aerial vehicle is used for transporting the ferromagnetic anti-icing module in an open state to the position of the line operation robot and completing butt joint, and the line operation robot completes closed installation and lock catch fixing of the module. The ferromagnetic anti-icing module utilizes an alternating electromagnetic field to generate hysteresis loss and eddy current loss to realize induction heating, and temperature self-limiting is realized through a material curie point, so that overheating is avoided. According to the invention, remote arrangement, intelligent start and stop and seasonal recovery of the anti-icing module can be realized, and the system has the advantages of flexible installation, high safety, low energy consumption, high intelligent operation degree and the like, and is suitable for anti-icing application of power transmission lines under different weather conditions.

Description

Technical Field

[0001] This invention relates to the field of power transmission line anti-icing equipment technology, specifically to a detachable power transmission line anti-icing device based on a drone. Background Technology

[0002] In high-latitude, high-altitude, and frigid regions, icing on transmission lines has long plagued the safe and stable operation of power systems. Exposed components such as transmission conductors, fittings, and insulators are prone to icing under low temperature, high humidity, or rain and snow conditions, leading to increased conductor load, tension, and exacerbated galloping. In severe cases, this can cause line breaks, tower collapses, and flashovers, resulting in widespread power outages and significant economic losses. Statistics show that icing disasters have become one of the major natural disasters threatening the safe operation of transmission lines, following typhoons and lightning strikes.

[0003] Currently, various prevention and control measures have been proposed to address the problem of icing on transmission lines, mainly including mechanical de-icing, electric heating de-icing, chemical anti-icing, and anti-icing coating methods. Mechanical de-icing typically relies on manual labor or specialized equipment to knock or vibrate the conductors to remove the ice layer; however, this method is high-risk, labor-intensive, and difficult to adapt to complex terrain. Electric heating de-icing involves applying a large current to the conductor to heat it up and melt the ice; while highly efficient, it consumes a great deal of energy and poses problems such as localized overheating and line damage. Chemical anti-icing relies on spraying anti-icing liquids or de-icing agents to form a protective layer on the conductor surface; however, its duration is short, and it poses a high risk of environmental pollution, hindering large-scale implementation. Anti-icing coatings involve coating the conductor surface with hydrophobic or thermally conductive materials to reduce the icing rate, offering passive protection, but its effectiveness is difficult to maintain long-term, and it cannot actively melt ice after it forms. Summary of the Invention

[0004] To address the technical problem of localized overheating in existing electric heating de-icing systems for power transmission lines, this invention provides a detachable anti-icing device for power transmission lines based on unmanned aerial vehicles (UAVs). The ferromagnetic anti-icing module has temperature control and self-limiting characteristics and can be automatically loaded and unloaded by UAVs and line operation robots. This enables remote deployment, intelligent start-up and shutdown, and seasonal recovery of the anti-icing device, allowing it to operate flexibly under different climatic conditions, thereby improving the anti-icing efficiency, safety, and intelligent operation and maintenance level of power transmission lines.

[0005] This invention is achieved through the following technical solution:

[0006] This invention provides a detachable anti-icing device for power transmission lines based on a drone, comprising a detachable connection mechanism and a ferromagnetic anti-icing module. The detachable connection mechanism can be engaged or disengaged by a drone robotic arm and a line maintenance robot, engaging with the outside of the power transmission line in operation. The ferromagnetic anti-icing module is made of ferromagnetic material with a Curie temperature that covers the de-icing operating temperature. The ferromagnetic anti-icing module constitutes the main body of the detachable connection mechanism and is fitted over the power transmission line when the detachable connection mechanism is engaged.

[0007] The detachable connection mechanism of this invention works in conjunction with the ferromagnetic anti-icing module. The detachable connection mechanism can be operated jointly by a drone execution unit and a line operation robot, enabling the ferromagnetic anti-icing module to be quickly installed on the transmission line. This invention provides a collaborative installation method: the drone transports the open ferromagnetic anti-icing module to the line operation robot and completes the docking. The line operation robot, using its installation execution mechanism, grasps the ferromagnetic anti-icing module, allowing the transmission line to enter between two loop segments, and drives the two loop segments to radially close and circumferentially lock, thereby achieving a reliable closed installation of the ferromagnetic anti-icing module on the outer circumference of the conductor. During disassembly, the line operation robot pushes the dovetail tenon out of the dovetail mortise in the opposite direction, opening the module, which is then retrieved by the drone.

[0008] In an optional embodiment of the present invention, the line operation robot is capable of straddling the outside of the transmission line and moving along the direction of the line. To this end, the line operation robot may include a walking roller mechanism for rolling contact with the transmission line, allowing the robot to be stably suspended on the line in a straddling manner through the limiting and supporting effect of the rollers; the end effector mechanisms on both sides of the robot include openable grippers and a pushing structure arranged circumferentially along the ferromagnetic anti-icing module, for realizing the receiving, closing, and circumferential locking operations of the module.

[0009] During the operation of power transmission lines, an alternating electromagnetic field exists around the lines. Ferromagnetic anti-icing modules convert some magnetic energy into heat energy through hysteresis and eddy current losses, thus achieving induction heating. The Curie point of the ferromagnetic anti-icing module can cover the de-icing operating temperature. When the ambient temperature is lower than the Curie temperature of the material, the ferromagnetic material maintains its ferromagnetism, continuously generating heat to prevent ice formation on the conductors and fittings. When the ambient temperature rises above the Curie point, the material's magnetism disappears, and the heating process automatically stops, achieving passive self-limiting temperature heating.

[0010] Therefore, the anti-icing device for power transmission lines provided by this invention has a ferromagnetic anti-icing module with temperature control self-limiting characteristics, and can be automatically loaded and unloaded by drones and line operation robots. It can realize remote deployment, intelligent start-up and shutdown, and seasonal recovery of the anti-icing device for power transmission lines, and can operate flexibly under different climatic conditions, thereby improving the anti-icing efficiency, safety and intelligent operation and maintenance level of power transmission lines.

[0011] In an optional embodiment of this application, the detachable connection mechanism includes an annular shell made of ferromagnetic material, the annular shell being divided into a first ring segment and a second ring segment arranged opposite each other along the circumference; the end face of the first ring segment forms a dovetail tenon along the axial direction, and the corresponding end face of the second ring segment forms a dovetail mortise along the axial direction to cooperate with it; the dovetail tenon and the dovetail mortise are both arranged within the wall thickness range of the shell, so that the outer circumference of the assembled shell remains completely circular.

[0012] In the collaborative installation method, the line operation robot clamps the two ring segments during assembly, placing the transmission conductor inside the two ring segments. Then, it pushes along the axial direction, causing the dovetail tenon to slide into the dovetail mortise and abut against the shoulder at the end of the dovetail mortise. Locking is formed through the squeezing fit and friction between the sides of the dovetail. During disassembly, the line operation robot pushes in the opposite circumferential direction, causing the dovetail tenon to exit the dovetail mortise, and the two ring segments can be separated radially.

[0013] In an optional embodiment of this application, the ferromagnetic anti-icing module is made of one of the following alloys: Ni-Cu, Fe-Ni, or Fe-Ni-Cr.

[0014] In an optional embodiment of this application, the Curie temperature range of the ferromagnetic anti-icing module is 30°C to 80°C.

[0015] In an optional embodiment of this application, the ferromagnetic anti-icing module is covered with an electrical insulation protective layer.

[0016] In an optional embodiment of this application, a drone execution unit is also included; the drone execution unit includes a drone body, a flight control system, a positioning camera, an infrared temperature measuring device, and a robotic arm; the drone execution unit is used to transport the ferromagnetic anti-icing module in the open state to the position of the line operation robot and dock with the line operation robot.

[0017] In an optional embodiment of this application, the flight control system includes a global positioning system and is capable of automatic path planning and control of the UAV hovering and positioning based on power transmission line GIS data.

[0018] In an optional embodiment of this application, a control module is also included, which is capable of scheduling the UAV, issuing task instructions, and transmitting system data back based on meteorological monitoring data, line temperature information, and UAV status signals.

[0019] In an optional embodiment of this application, the control module includes a meteorological monitoring unit, which is capable of collecting ambient temperature, humidity and wind speed data.

[0020] In an optional embodiment of this application, a line operation robot is also included. The line operation robot is capable of straddling a power transmission line and walking along the power transmission line. The line operation robot includes a pair of annular walking rollers mounted on top of the line operation robot for rolling contact with the power transmission line, and end effectors of the support arm type arranged on both sides of the line operation robot. The end effectors are capable of receiving ferromagnetic anti-icing modules transferred by the UAV and completing the closed installation and locking fixation of the modules on the outer periphery of the power transmission line.

[0021] In an optional embodiment of this application, the end effector includes an openable gripper and a pushing structure arranged along the circumferential direction of the ferromagnetic anti-icing module. The line operation robot uses its end effector to make the transmission line enter between the first ring segment and the second ring segment, and drives the first ring segment and the second ring segment to close towards each other and push along the axial direction, so that the detachable connection mechanism can achieve locking.

[0022] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0023] This invention provides a drone-based detachable anti-icing device for power transmission lines, comprising a detachable connection mechanism and a ferromagnetic anti-icing module. Through collaborative operation between a drone and a line maintenance robot, the ferromagnetic anti-icing module can be automatically installed and removed from the outside of the transmission conductor. The ferromagnetic anti-icing module utilizes hysteresis loss and eddy current loss for induction heating and prevents localized overheating through Curie point self-limiting temperature characteristics. This enables remote deployment, intelligent start-up and shutdown, and seasonal recovery of the anti-icing device, improving the anti-icing efficiency, safety, and intelligent operation and maintenance level of transmission lines under various climatic conditions. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] In the attached diagram:

[0026] Figure 1 This is a schematic diagram illustrating the working process of the detachable power line anti-icing device based on a drone provided in an embodiment of the present invention.

[0027] Figure 2 This is a schematic diagram of the detachable connection mechanism provided in an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the line operation robot provided in an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the collaborative installation process of the ferromagnetic anti-icing module provided in an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the control and communication process of a detachable power transmission line anti-icing device based on a drone, provided in an embodiment of the present invention.

[0031] The attached diagram shows the markings and corresponding component names:

[0032] 1-UAV body, 2-Ferromagnetic anti-icing module, 3-Transmission line, 4-Pole, 5-Line operation robot, 6-Dovetail tenon, 7-Shoulder, 8-Dovetail mortise, 9-Roller, 10-Line operation robot, 11-End effector, 12-Meteorological monitoring unit, 13-Control module, 14-Cloud monitoring platform, 15-UAV operation unit, 16-Line temperature monitoring unit. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. It should be noted that similar reference numerals and letters in the following drawings indicate similar items. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0034] In the description of the embodiments of this application, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the device of this application is usually placed in when in use, or the orientation or positional relationship that is commonly understood by those skilled in the art. It is only for the convenience of describing this application and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0035] In the description of this application, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] It should be noted that, with the rapid development of materials science and drone technology, the inventors of this application began to explore the application of the self-heating characteristics of ferromagnetic materials in power transmission line anti-icing. Low Curie-point ferromagnetic materials possess a "self-limiting temperature" characteristic; that is, when the temperature is below their Curie point, the material exhibits ferromagnetism, generating hysteresis and eddy current losses in an alternating magnetic field, which are then converted into heat energy for heating. However, when the temperature rises above the Curie point, its magnetism disappears, and the heating process automatically stops, thus preventing overheating. This characteristic enables it to automatically initiate heating for anti-icing in low-temperature environments and spontaneously stop heating in high-temperature environments, exhibiting good energy efficiency and safety.

[0037] However, if ferromagnetic anti-icing devices are installed in a fixed manner, i.e., the ferromagnetic heating components are permanently attached to the conductors, this not only increases the load on the lines but also creates unnecessary wind resistance and increases the risk of structural aging during hot seasons. Furthermore, manual disassembly and maintenance are complex, especially in mountainous areas, across rivers, and on high-voltage lines, where manual operation is highly dangerous and time-consuming. To address seasonal icing issues, if ferromagnetic anti-icing devices can be quickly installed before the freezing season and then automatically disassembled and retrieved after temperatures rise, the economic efficiency and operability of the anti-icing system will be significantly improved.

[0038] Among these technologies, drones demonstrate exceptional flexibility and precision in power transmission line inspection, wind deflection monitoring, and localized maintenance, possessing the ability to carry, deploy, and retrieve lightweight devices. Line maintenance robots can straddle and walk along power lines, enabling precise operation and installation work on conductors. Combining low Curie point ferromagnetic anti-icing modules with drone transportation technology and automated installation technology from line maintenance robots can achieve a dynamic anti-icing strategy of "deployment on demand, use during the anti-icing season, and automatic disassembly." This approach allows for automatic installation under low temperature and high humidity conditions. When the temperature rises to a set threshold, the module is retrieved through a collaborative effort between drones and line maintenance robots, effectively reducing system downtime and maintenance costs.

[0039] Furthermore, by combining meteorological monitoring, infrared thermography, and a cloud-based control platform, intelligent management and remote dispatching of the anti-icing system can be achieved. Drones can plan their operational paths based on line GIS information and meteorological early warning data, enabling precise anti-icing operations in specific areas. Through interconnection with the power grid dispatching system via a communication module, the system can receive real-time meteorological change data and line operating status, achieving automatic control and status feedback of the ferromagnetic anti-icing module, thereby realizing a proactive and intelligent anti-icing and disaster prevention system for transmission lines.

[0040] Therefore, the inventors of this application have developed a ferromagnetic anti-icing device based on unmanned aerial vehicles (UAVs) and line maintenance robots, which is structurally sound, detachable, and capable of unmanned collaborative operation, to achieve intelligent deployment and efficient operation of power transmission line anti-icing devices. Specifically:

[0041] Example

[0042] Combination Figure 1 and Figure 2 This embodiment provides a detachable anti-icing device for power transmission lines based on a drone, comprising: a detachable connecting mechanism and a ferromagnetic anti-icing module 2. The detachable connecting mechanism can be engaged or disengaged by a line operation robot 5, engaging with the power transmission conductor 3 in the working state. The ferromagnetic anti-icing module 2 is made of ferromagnetic material, and its Curie point can cover the de-icing working temperature. It is installed on the detachable connecting mechanism, and when the detachable connecting mechanism is engaged, it is fitted over the power transmission conductor 3. In this embodiment, the entire ferromagnetic anti-icing module 2 can be transported by a drone execution unit and docked with the line operation robot 5.

[0043] Specifically, the detachable connection mechanism includes an annular housing made of ferromagnetic material, which serves as the main body structure of the ferromagnetic anti-icing module 2. The annular housing is divided into a first ring segment and a second ring segment arranged opposite each other along the circumference. A dovetail tenon 6 is formed axially on the end face of the first ring segment, and a dovetail mortise 8 is formed axially on the corresponding end face of the second ring segment. Both the dovetail tenon 6 and the dovetail mortise 8 are completely arranged within the wall thickness of the housing, ensuring that the housing maintains a continuous circular outer circumference after assembly, without disrupting its external contour.

[0044] Accordingly, this embodiment also includes a line operation robot 5, which can straddle the power transmission line 3 and walk along the power transmission line 3. The line operation robot 5 includes a pair of annular walking rollers 9 installed on the top of the line operation robot 5 for rolling contact with the power transmission line 3, and a support arm-type end effector 11 set on both sides of the line operation robot 5. The end effector 11 can receive the ferromagnetic anti-icing module 2 handed over by the UAV and complete the closed installation and locking fixation of the module on the outer periphery of the power transmission line 3.

[0045] Specifically, the end effector 11 includes an openable gripper and a pushing structure arranged in the circumferential direction of the ferromagnetic anti-icing module 2. The line operation robot 5 uses its end effector 11 to make the power transmission line 3 enter between the first ring segment and the second ring segment, and drives the first ring segment and the second ring segment to close towards each other and push along the axial direction, so that the detachable connection mechanism can achieve locking.

[0046] It is understood that this embodiment also includes a drone execution unit; the drone execution unit includes a drone body 1, a flight control system, a positioning camera, an infrared temperature measuring device, and a robotic arm; the drone execution unit can perform the transportation, positioning, and docking tasks of the ferromagnetic anti-icing module 2 with the line operation robot 5 according to the instructions issued by the control module 13 when the temperature of the power transmission line or the meteorological conditions reach a set threshold.

[0047] The flight control system includes a global positioning system and is capable of automatic path planning and hovering positioning of the UAV body 1 based on power transmission line GIS data.

[0048] In other words, the UAV operation unit 15 is the key aerial execution part of the system, mainly used for the remote transportation, precise delivery, and retrieval of the ferromagnetic anti-icing module 2. This unit includes a flight control system, a positioning camera, an infrared temperature measurement device, a robotic arm, a power system, and an energy management module. The UAV can achieve precise navigation and hovering positioning based on the Global Positioning System (GPS) and GIS geographic information of the power transmission line. The positioning camera, combined with visual recognition algorithms, can identify the position and attitude of the conductor, fittings, and the line operation robot 5, enabling high-precision docking operations.

[0049] Meanwhile, the infrared temperature measurement device can monitor the surface temperature of the conductor and the ambient temperature in real time to help determine the risk of icing; the robotic arm is used to grasp or release the ferromagnetic anti-icing module 2 and complete docking and handover with the line operation robot 5. Through attitude control and vision control algorithms, the UAV can maintain stable flight and docking accuracy in strong winds and high-altitude disturbance environments. The UAV system is also equipped with obstacle avoidance radar and attitude self-stabilization system to ensure safe operation in complex power transmission corridor environments.

[0050] It is understood that this embodiment also includes a control module 13, which can realize drone scheduling, task instruction issuance and system data feedback based on meteorological monitoring data, line temperature information and drone status signals.

[0051] Based on this, the control module 13 includes a meteorological monitoring unit 12, which can collect ambient temperature, humidity and wind speed data.

[0052] During operation, the control module 13 (control and communication module) serves as the scheduling and decision-making center for the entire device, responsible for task planning, data processing, and communication management. This module interconnects with the cloud control platform and power grid dispatching system via wireless communication methods (such as 4G, NB-IoT, or Wi-Fi). The control module 13 receives real-time temperature, humidity, and wind speed data provided by the meteorological monitoring unit 12, as well as information on the drone's operational status and line temperature, and uses intelligent algorithms to determine whether anti-icing conditions are met.

[0053] When the line temperature is detected to be below a set threshold or meteorological data indicates a risk of icing, the system automatically dispatches a drone to transport and deliver the ferromagnetic anti-icing module 2, and coordinates the line operation robot 5 to perform the installation operation. When the temperature rises and the risk of icing is eliminated, the system instructs the line operation robot 5 to disassemble the module, and the drone retrieves the module. Through this closed-loop control mechanism, the unmanned and adaptive operation of the transmission line anti-icing system is achieved. All operational data and environmental parameters are uploaded to the cloud platform in real time for background monitoring, historical analysis, and anti-icing strategy optimization.

[0054] During the collaborative installation process, the UAV execution unit first transports the ferromagnetic anti-icing module 2, which is in an open state, to the vicinity of the predetermined transmission line 3 section, and then flies to the location of the line operation robot 5. The ferromagnetic anti-icing module 2 is delivered to the line operation robot 5 via a docking mechanism. The line operation robot 5 straddles the transmission line 3 and moves along the line to the target installation position. Its installation execution mechanism clamps the first and second ring segments, allowing the transmission line 3 to enter the opening area formed by the inner sides of the two ring segments. Subsequently, it drives the two ring segments radially to close together, so that the inner arc surfaces of the two ring segments together cover the transmission line 3. Then, it pushes the first ring segment axially, causing the dovetail tenon 6 to slide in and gradually engage along the axial extension direction of the dovetail mortise 8. When the dovetail tenon 6 slides to the end of the dovetail mortise 8 and abuts against the shoulder 7 structure 7 at the end of the groove, a stable lock is formed by the squeezing fit between the dovetail sidewalls and the interface friction, thus completing the closed installation of the ferromagnetic anti-icing module 2 on the outer periphery of the transmission line 3.

[0055] exist Figure 1 In the line operation robot 5 shown, the paired circular structure at its top is a walking roller mechanism 9, used for rolling contact with the power transmission line 3 and to enable the robot to straddle and walk on the line. In a preferred embodiment, as... Figure 3As shown, the line operation robot 5 includes a box-shaped line operation robot 5 located in the middle, a walking roller mechanism 9 set above the line operation robot 5 for rolling contact with the power transmission line 3, and end effectors 11 extending from the left and right sides of the line operation robot 5. The walking roller mechanism 9 can adopt a structure of paired annular rollers 9. When the line operation robot 5 is in place, the power transmission line 3 passes through the opening between the two rollers 9 and falls into the support area inside the rollers 9. With the help of the rolling cooperation between the rollers 9 and the line, the robot is stably suspended on the line in a straddling manner and moves along the direction of the line when the drive motor drives the rollers 9 to rotate. The end effector 11 extends from both sides of the line operation robot 5 in the form of bent support arms. Each support arm has an openable gripper at its end for gripping the first and second ring segments of the ferromagnetic anti-icing module 2. When the gripper is closed, its inner edge applies a circumferential thrust to the ferromagnetic anti-icing module 2. This thrust is applied to the first ring segment after the two ring segments are closed, driving the dovetail tenon 6 to slide into the dovetail mortise 8 to achieve locking. During disassembly, a thrust in the opposite direction is applied to disengage the dovetail tenon 6 from the dovetail mortise 8. With this structure, the line operation robot 5 can both straddle the transmission line 3 and move along the line, and can also complete the closing installation and locking of the ferromagnetic anti-icing module 2.

[0056] During disassembly, the line operation robot 5 pushes in the opposite circumferential direction through its installation actuator, causing the dovetail tenon 6 to disengage from the dovetail mortise 8; then the two rings separate radially, thus removing the covering from the transmission conductor 3. The line operation robot 5 then transfers the open ferromagnetic anti-icing module 2 to the drone, whose execution unit then safely retrieves it.

[0057] Combination Figure 4 Specifically, the collaborative operation process of this embodiment may include: the UAV execution unit carrying the ferromagnetic anti-icing module 2 in the open state flies to the target conductor section; through visual positioning and flight control, it adjusts its attitude to dock with the line operation robot 5, and hooks or plugs the ferromagnetic anti-icing module 2 into the tool interface of the line operation robot 5; after receiving the module, the line operation robot 5 walks along the transmission line 3 to the target installation point, and uses its installation execution mechanism to radially close and circumferentially lock the two ring sections to complete the module installation; when disassembly is required, the line operation robot 5 releases the lock in the reverse order and opens the two ring sections, returns the module to the UAV, and the UAV execution unit completes the recovery.

[0058] The ferromagnetic anti-icing module 2 is made of low Curie-point ferromagnetic material, exhibiting excellent temperature control and self-limiting characteristics. This module can be selected from low Curie-point ferromagnetic alloys such as Ni-Cu, Fe-Ni, and Fe-Ni-Cr, depending on the operating environment. The Curie temperature range can be designed from 30℃ to 80℃ to adapt to different regional climates. To enhance the module's weather resistance and insulation performance, it is externally covered with an electrical insulation protective layer, such as epoxy resin, silicone rubber, or fluoropolymer layers, effectively preventing moisture intrusion and corona discharge. A thermally conductive filling layer can be embedded inside the module to improve heating uniformity while ensuring its mechanical strength and long-term stability.

[0059] In summary, the detachable anti-icing device for power transmission lines based on drones provided in this embodiment includes a detachable connection mechanism and a ferromagnetic anti-icing module 2. The detachable connection mechanism is engaged or disengaged on the conductor by a line operation robot 5. The ferromagnetic anti-icing module 2 is made of ferromagnetic material and its Curie point can cover the de-icing working temperature. It is installed on the detachable connection mechanism. Thus, through the collaboration of the drone and the line operation robot 5, the ferromagnetic anti-icing module 2 can be remotely and automatically deployed and removed on the power transmission conductor 3.

[0060] During the operation of transmission lines, an alternating electromagnetic field exists around the line. The alternating electromagnetic field generated by the conductor current acts on the ferromagnetic anti-icing module 2, causing magnetic and eddy current losses in the low Curie point ferromagnetic layer, thereby converting magnetic energy into heat energy and achieving induction heating. The Curie point of the ferromagnetic anti-icing module 2 can cover the de-icing working temperature. When the ambient temperature is lower than the Curie temperature of the material, the ferromagnetic material maintains its ferromagnetism and continuously generates heat to prevent ice formation on the conductor and fitting surfaces. When the ambient temperature rises above the Curie point, the material loses its magnetism, and the heating process automatically stops, achieving passive self-limiting temperature heating. This process requires no additional external power supply and has extremely low energy consumption. At the same time, heat loss is effectively suppressed through the insulating protective layer on the outer layer of the module, further improving heating efficiency and stability.

[0061] The device's operation process includes four stages: monitoring, judgment, execution, and feedback. First, the meteorological monitoring unit 12 and the infrared thermometer continuously collect environmental and line temperature data. Second, the control module 13 uses algorithms to determine if there is a risk of icing. When the activation conditions are met, the system automatically dispatches a drone to transport and deliver the ferromagnetic anti-icing module 2, while the line operation robot 5 performs the installation task. After installation, the module enters the working state, achieving self-limiting temperature heating for anti-icing. Task execution results and operational data are transmitted back to the cloud platform in real time for status assessment and strategy optimization. When the icing risk is eliminated, the system automatically issues a disassembly command, the line operation robot 5 disassembles the module, and the drone performs the retrieval operation, achieving seasonal reuse of the module and resource conservation.

[0062] From an engineering application perspective, the transmission line anti-icing device provided in this embodiment features a modular structure that allows for factory prefabrication and rapid on-site installation without line shutdown. Installation and dismantling are completed collaboratively by drones and line operation robots under energized conditions, significantly reducing the risks associated with manual tower climbing. Furthermore, the device is reusable, has a long service life, and low maintenance costs. Compared to traditional electric heating anti-icing methods, it requires no additional power supply, significantly improving energy efficiency while avoiding the adverse effects of high-temperature baking on the mechanical properties of the conductors. Through a cloud-based data management platform, maintenance personnel can remotely monitor the line's anti-icing status, dynamically adjust deployment strategies, and achieve digital and intelligent anti-icing management.

[0063] In summary, this embodiment combines the self-limiting temperature characteristics of low Curie point ferromagnetic materials with the long-range transportation capabilities of drones and the automatic installation capabilities of line maintenance robots on power lines, achieving rapid deployment and retrieval of anti-icing devices. This overcomes the problems of traditional anti-icing solutions, such as difficult maintenance of fixed structures, high energy consumption, and insufficient flexibility. The overall design features lightweight construction, vibration resistance, high reliability, and adaptive control, making it suitable for multi-scenario anti-icing applications in high-voltage, ultra-high-voltage, and extra-high-voltage transmission lines. It can also significantly improve the operational reliability of the power grid under extreme climatic conditions, demonstrating broad application value and promising engineering prospects.

[0064] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. 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 detachable power transmission line anti-icing device based on a drone, characterized in that, The utility model relates to a kind of power line ice prevention module, including: Detachable connecting mechanism, can be operated by line robot (5) Clamping or separating operation, to be clamped in the working state in transmission line (3) outside; Ferromagnetic ice prevention module (2), is ferromagnetic material, and Curie point can cover ice melting working temperature, the ferromagnetic ice prevention module (2) constitutes the shell main body of the detachable connecting mechanism, and is set outside transmission line (3) in the working state of the detachable connecting mechanism when clamping.

2. The detachable anti-icing device for power transmission lines based on UAV according to claim 1, characterized in that, The ferromagnetic ice prevention module (2) is divided into first ring segment and second ring segment in circumferential direction; The first ring segment forms dovetail tongue (6) in its end surface along the axial direction; The second ring segment forms dovetail mortise (8) matched with the dovetail tongue (6) in its corresponding end surface along the axial direction, and the dovetail tongue and dovetail mortise are all completely arranged in shell wall thickness range, so as to keep the shell outer circumferential surface continuous circular after assembly; Line operation robot (5) end effector can be pushed along the axial direction after the two ring segments are radially close, so that the dovetail tongue (6) is inserted into dovetail mortise (8), so that the first ring segment and the second ring segment are locked.

3. The detachable anti-icing device for power transmission lines based on UAV according to claim 2, characterized in that, The end of the dovetail mortise (8) is provided with a shoulder (7), when the dovetail tongue (6) slides into the dovetail mortise (8) along the circumferential direction and abuts against the shoulder (7), a locking state is formed by the extrusion fit between the dovetail tongue and the shoulder and the friction force between the dovetail sides; When disassembling, line operation robot (5) is pushed along the opposite circumferential direction, so that the dovetail tongue (6) exits the dovetail mortise (8), so that the two ring segments are radially separated.

4. The detachable anti-icing device for power transmission lines based on UAV according to claim 1, characterized in that, The material of the ferromagnetic ice prevention module (2) is one of Ni-Cu, Fe-Ni, Fe-Ni-Cr alloy, and the Curie temperature of the ferromagnetic ice prevention module (2) ranges from 30℃ to 80℃.

5. The detachable anti-icing device for power transmission lines based on UAV according to claim 1, wherein, The ferromagnetic ice prevention module (2) is coated with an electrically insulating protective layer.

6. The detachable anti-icing device for power transmission lines based on UAV according to any one of claims 1-5, characterized in that, It also includes a UAV execution unit; The UAV execution unit includes a UAV body (1), a flight control system, a positioning camera, an infrared temperature measuring device and a mechanical arm. The UAV execution unit is used to transport the ferromagnetic ice prevention module (2) in the open state to the line operation robot (5) position and interface with the line operation robot (5).

7. The detachable anti-icing device for power transmission lines based on UAV according to claim 6, characterized in that, The flight control system includes a global positioning system and can automatically plan the path and control the UAV body (1) to hover according to the transmission line GIS data.

8. The detachable anti-icing device for power transmission lines based on UAV according to claim 6, characterized in that, It also includes a control module, which can realize UAV scheduling, task instruction issuing and system data return according to meteorological monitoring data, line temperature information and UAV state signal.

9. The detachable anti-icing device for power transmission lines based on UAV according to claim 2, characterized in that, Also included is a line operation robot (5) capable of straddling and walking along a power transmission wire (3), the line operation robot including a pair of circular ring-shaped walking rollers installed above the line operation robot for rolling contact with the power transmission wire, and a support arm-type end effector provided on both sides of the line operation robot, the end effector being capable of receiving a ferromagnetic anti-icing module (2) handed over by a drone and completing closed installation and locking of the module on the periphery of the power transmission wire (3).

10. The detachable power line de-icing device based on UAV according to claim 9, wherein, The end effector includes a spreadable clamping claw and a pushing structure arranged in the circumferential direction of the ferromagnetic anti-icing module (2), the line operation robot (5) entering the power transmission wire (3) between a first ring segment and a second ring segment through the end effector, driving the first ring segment and the second ring segment to close and push in the axial direction, and enabling the detachable connecting mechanism to be locked.

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