Supercooled fog dispersal device mounted on unmanned aerial vehicle and fog dispersal method of supercooled fog dispersal device

Abstract

The invention provides a supercooled fog dispersal device mounted on an unmanned aerial vehicle. The supercooled fog dispersal device comprises a structural support, a flexible suspension module, a dynamic gravity center adjusting module, a gas cylinder module and a sensing control module, the structural support is used for providing a bearing platform; the flexible suspension module is connected with the unmanned aerial vehicle and the structure support and used for absorbing attitude disturbance; the dynamic gravity center adjusting module comprises a guide mechanism, a movable chassis and a driving unit, the guide mechanism is arranged in the structural support, and the movable chassis is slidably arranged on the guide mechanism and connected with the driving unit; the gas cylinder module comprises a supporting pad with a fixed inclination angle and a gas cylinder with an outlet downwards fastened on the supporting pad, the supporting pad is fixed on the movable chassis, the outlet of the gas cylinder is connected with a low-temperature-resistant soft guide pipe, and the other end of the soft guide pipe extends out of the structural support; and the sensing control module comprises a horizontal tilt angle sensor fixed on the structural support, and a weight detection unit and a control unit which are symmetrically distributed in the structural support.

Description

Technical Field

[0001] This invention belongs to the field of drone fog removal technology, specifically a supercooled fog removal device and its fog removal method mounted on a drone. Background Technology

[0002] Fog, a common severe weather phenomenon, significantly reduces visibility, posing a serious threat to the safe operation of aviation, shipping, and road transportation. It also presents maintenance challenges for power transmission lines in specific scenarios; for example, fog-induced visibility impairment can hinder maintenance work on ultra-high-voltage (UHV) transmission line corridors affected by icing. Artificial fog dispersal technology, as an effective means of dealing with fog, plays an irreplaceable role in the safe operation and maintenance of critical infrastructure.

[0003] However, existing core technologies have limitations. Traditional defogging devices such as turbine heating systems and vehicle-mounted liquid nitrogen sprayers are all based on ground deployment, and their operating height is limited by the equipment's spray range, typically ≤50 meters. In contrast, the supercooled fog layer in ultra-high voltage transmission line corridors can span hundreds of meters vertically, making it impossible for ground-based equipment to effectively cover the core area of ​​the fog layer, resulting in a sharp drop in defogging efficiency.

[0004] Meanwhile, the cylinder posture requires a certain degree of precision when distributing liquid carbon dioxide. According to the conclusions of Fan Peng et al. in "Research on Artificial Defogging Technology of Liquid Carbon Dioxide" (2005), to ensure distributing efficiency and effectiveness, the cylinder opening must be in a low position and completely submerged in the internal liquid carbon dioxide during spraying to ensure that liquid rather than gaseous carbon dioxide is sprayed. This requires the cylinder to maintain an angle of approximately 10° with the horizontal, meaning the cylinder's central axis must be at a 10° angle to the horizontal, and the nozzle must be lower than the bottom of the cylinder.

[0005] Therefore, when attempting to mount a liquid carbon dioxide dispersing device onto a drone, the following technical contradictions were exposed:

[0006] 1. Existing rigid mounting solutions cannot compensate for changes in the center of gravity in real time, nor can they isolate the attitude disturbances of the UAV, resulting in the gas cylinder attitude not meeting the requirements, which restricts the reliability and accuracy of aerial fog dispersal operations.

[0007] 2. If a flexible mounting scheme is adopted, the continuous consumption of liquid carbon dioxide during operation, coupled with the tilted placement of the gas cylinders, causes the center of gravity of the device to shift non-linearly with the consumption. The maneuvering flight of the drone further amplifies the risk of instability of the center of gravity, which may result in deviation of the dispersal angle, affecting the fog elimination efficiency, or even cause the gas cylinders to tip over.

[0008] Current defogging technologies lack adaptability to high-altitude and dynamic operational scenarios. Specifically: ground equipment cannot reach the core fog layer of power transmission lines; when drones carry traditional gas cylinders, the consumption of liquid carbon dioxide and the requirement for a fixed tilt angle jointly cause center of gravity drift, and there is no real-time adjustment mechanism; the center of gravity shift causes dynamic changes in the cylinder tilt angle, breaking the immersion condition of the cylinder opening, resulting in gaseous injection and catalytic failure. These deficiencies severely hinder the application of drones in defogging scenarios such as ultra-high voltage power transmission lines. Summary of the Invention

[0009] The main objective of this invention is to provide a supercooled fog dispersing device and its dispersing method that combines dynamic center of gravity stability with fixed tilt angle protection for UAVs.

[0010] The supercooled fog dissipation device for UAVs provided by this invention includes a structural support, a flexible suspension module, a dynamic center of gravity adjustment module, a gas cylinder module, and a sensing and control module. The structural support provides a load-bearing platform. The flexible suspension module connects the UAV to the structural support and absorbs attitude disturbances. The dynamic center of gravity adjustment module includes a guide mechanism, a movable chassis, and a drive unit. The guide mechanism is located within the structural support, and the movable chassis is slidably mounted on the guide mechanism and connected to the drive unit. The gas cylinder module includes a support pad with a fixed tilt angle and a gas cylinder with its outlet facing downward and fastened to the support pad. The support pad is fixed to the movable chassis, and the gas cylinder outlet is connected to a low-temperature resistant flexible conduit, the other end of which extends out of the structural support. The sensing and control module includes a horizontal tilt sensor fixed to the structural support, a weight detection unit symmetrically distributed within the structural support, and a control unit. The control unit, based on feedback signals from the horizontal tilt sensor and the weight detection unit, causes the drive unit to adjust the position of the movable chassis to maintain the horizontal attitude of the device.

[0011] In one embodiment of the above-mentioned device, the support pad has a 10° inclined working surface, and the working surface is provided with an anti-slip and shock-absorbing layer; the gas cylinder outlet is fastened to the support pad with a clamp facing downward.

[0012] In one embodiment of the above-described device, the structural support includes a carbon fiber mounting plate and a metal frame, with the mounting plate fixed to the bottom of the frame.

[0013] In one embodiment of the above-mentioned device, the guiding mechanism is a high-precision slide rail, which is symmetrically arranged on the mounting plate via two connecting parts. The movable chassis slides with the slide rail via a slider. The driving unit is an electric telescopic push rod, with one end fixed to the slide rail and the other end connected to the movable chassis.

[0014] In one embodiment of the above device, the weight detection unit is a pressure sensor symmetrically arranged at both ends of the guide mechanism.

[0015] In one embodiment of the above-mentioned device, the flexible conduit is made of Teflon material, with one end connected to the gas cylinder outlet and the other end connected to the anti-fogging spray component and extending out of the frame through the conduit support.

[0016] In one embodiment of the above-mentioned device, the flexible suspension module includes a connecting bearing and multiple cables. The lower ends of each cable are connected to the top edge of the structural support frame via a locking buckle, and the upper ends converge at the connecting bearing. The connecting bearing is detachably connected to the connecting seat on the UAV.

[0017] In one embodiment of the above device, the center of gravity adjustment judgment of the control unit is to simultaneously judge whether center of gravity adjustment is needed based on the feedback signals of the horizontal tilt angle sensor and the weight detection unit; when the horizontal tilt angle is greater than a preset threshold, center of gravity adjustment is triggered; or when the weight difference between the two ends of the device is greater than a set tolerance, center of gravity adjustment is triggered; when center of gravity adjustment is triggered, the movable chassis is driven to move to the opposite side of the tilt direction or to the side with the lighter weight at both ends of the device until balance is restored.

[0018] A method for eliminating fog using the above-mentioned device includes the following steps:

[0019] First, attach the device to the UAV interface; start the control unit, calibrate the horizontal tilt sensor to the horizontal reference of the device, and zero the weight difference at both ends of the weight detection unit; second, the UAV flies to the target fog area on the UHV transmission line and opens the gas cylinder valve to release liquid carbon dioxide; third, simultaneously collect the feedback signals from the horizontal tilt sensor and the weight detection unit to determine whether center of gravity adjustment is needed; when center of gravity adjustment is triggered, drive the movable chassis to move to the opposite side of the tilt direction or to the lighter side of the device to compensate for the center of gravity; finally, repeat the judgment steps until the gas cylinder is exhausted or the fogging operation is completed.

[0020] In the determination step, the tilt angle sampling frequency is ≥10Hz, and the gas cylinder always maintains a fixed tilt angle of 10°.

[0021] The beneficial effects of this invention are as follows:

[0022] 1. The flexible suspension absorbs the impact of the drone's attitude change, avoiding damage to the rigid structure, while isolating the impact of high-frequency vibration on the device's horizontal reference; the lightweight design reduces the load, making it suitable for small and medium-sized drones and improving the endurance.

[0023] 2. By combining the support pad with the movable chassis, the gas cylinder can always maintain the optimal dispersing angle relative to the device chassis, ensuring that the cylinder opening is always submerged in liquid carbon dioxide, avoiding gaseous spraying, and ensuring dispersing efficiency; at the same time, the gas cylinder can move in the horizontal plane, which is compatible with dynamic center of gravity adjustment, and avoids device tipping caused by changes in the center of gravity of the gas cylinder during use.

[0024] 3. A sensing network consisting of a horizontal tilt sensor and symmetrically arranged pressure sensors is adopted. The horizontal tilt sensor monitors the device's attitude in real time, while the symmetrical pressure sensors detect the weight difference between the two ends of the slide rail. The control unit integrates the two types of data and drives the electric push rod to move the gas cylinder to the light-load side. It compensates for center of gravity shifts caused by catalyst consumption, wind, or drone movement in real time, and performs adaptive stabilization. It maintains the device's horizontal attitude, ensuring that the nozzle is continuously aligned with the fog area, improving fog elimination efficiency and operational accuracy. It eliminates the risk of sudden changes in the center of gravity and reduces the probability of the device tipping over. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present invention.

[0026] Reference numerals: 1. Gas cylinder; 2. Gas cylinder fastener; 3. Support pad; 4. Flexible tubing; 5. Tubing bracket; 6. Connector; 7. Slide rail; 8. Movable chassis; 9. Pressure sensor; 10. Telescopic push rod; 11. Signal line; 12. Control unit; 13. Horizontal tilt sensor; 14. Mounting plate; 15. Frame; 16. Cable; 17. Connecting bearing; 18. Connecting seat. Detailed Implementation

[0027] The relevant technical solutions will now be clearly and completely described with reference to the accompanying drawings of the embodiments of the present invention. The described embodiments are only a part of the embodiments, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] like Figure 1 As shown, the supercooled fog dissipation device for UAVs disclosed in this embodiment includes a structural support, a flexible suspension module, a dynamic center of gravity adjustment module, a gas cylinder module, and a sensing and control module.

[0029] The structural support serves as the basic framework. A flexible suspension module is located at the top of the structural support and hangs below the UAV, keeping the structural support in a horizontal position. The dynamic center of gravity adjustment module is located inside the structural support, and the gas cylinder module is located on the dynamic center of gravity adjustment module. The sensing and control module is electrically connected to each module. The dynamic center of gravity adjustment module and the sensing and control module work together to achieve dynamic center of gravity adjustment of the device during UAV flight. The gas cylinder module fixes the gas cylinder with a support pad to maintain the optimal tilt angle of the gas cylinder.

[0030] The structural support and flexible suspension modules form the basic connection frame of the device.

[0031] The structural support includes a frame 15 and a mounting plate 14. The frame is made of aluminum alloy or stainless steel welded to form a rigid support structure; the mounting plate is made of multi-layer carbon fiber prepreg hot-pressed, which has the characteristics of high strength and lightweight; the mounting plate is fixed to the bottom of the metal frame, providing a lightweight load-bearing platform.

[0032] The flexible suspension module includes a cable 16, a connecting bearing 17, and a connecting seat 18.

[0033] The cable 16 is made of high-strength galvanized steel wire rope. The lower ends of each cable are connected to the top edge of the frame 15 through a locking buckle, and the upper ends converge to the connecting bearing 17. The connecting bearing is directly connected to the connecting seat 18 on the UAV.

[0034] The connector 18 uses a standard quick-release mount interface to enable rapid assembly with the drone.

[0035] This design allows the device to rotate around the axis of the connecting bearing 17, adapting to changes in the drone's flight attitude.

[0036] The dynamic center of gravity adjustment module is installed on the mounting plate 14 of the structural support. The module includes a connector 6, a slide rail 7, a movable chassis 8, and a telescopic push rod 10.

[0037] The slide rail 7 is symmetrically arranged on the mounting plate 14 via two connecting pieces 6. The movable chassis 8 has a slider structure at its bottom and is slidably mounted on the slide rail. The telescopic push rod 10 achieves its telescopic function through an electric motor, which is fixed to the slide rail. The end of its telescopic rod is connected to the movable chassis, which drives the chassis to reciprocate along the slide rail.

[0038] The slide rail 7 provides high-precision guidance, ensuring smooth movement.

[0039] The gas cylinder module is mounted on the movable chassis 8 of the dynamic center of gravity adjustment module. The module includes a gas cylinder 1, a gas cylinder fastener 2, a support pad 3, a flexible conduit 4, and a conduit support 5.

[0040] Gas cylinder 1 is used to store liquid carbon dioxide. Gas cylinder fastener 2 is a high-strength clamp structure that secures the gas cylinder outlet downwards to the support pad 3 to prevent the gas cylinder from shifting or shaking during drone flight and center of gravity adjustment.

[0041] The support pad 3 is fixed to the movable chassis 8 with screws and is made of lightweight plastic. The contact area between the gas cylinder and the top surface is made of rubber or other anti-slip and shock-absorbing materials. The slope of the support pad is 10° to ensure that the gas cylinder installed on it maintains the optimal tilt angle.

[0042] The flexible conduit 4 is made of a flexible material such as Teflon tubing that is resistant to low temperatures and high pressures, to prevent conduit rupture or media leakage caused by rigid connections. One end of the flexible conduit is connected to the outlet of gas cylinder 1, and the other end is connected to the anti-fogging spray component and extends out of frame 15. The conduit support 5 is fixed to the frame to support the gas cylinder flexible conduit and prevent it from bending or falling off.

[0043] The sensing and control module is integrated into the structural support. This module includes a pressure sensor 9, a signal line 11, a control unit 12, and a horizontal tilt sensor 13.

[0044] Two pressure sensors 9 are respectively installed between the two connectors 6 and the mounting plate 14 to monitor the weight distribution difference of the gas cylinder in real time.

[0045] The control unit 12 is fixed on the mounting plate 14, and the horizontal tilt sensor 13 is integrated on the control unit 12. The core of the horizontal tilt sensor is a micro-mechanical pendulum structure. When the device is tilted, the pendulum is displaced by gravity; the displacement of the pendulum causes a change in the distance between the capacitor plates, generating an electrical signal difference corresponding to the tilt angle; this analog signal is converted into a digital tilt angle value by the sensor's built-in analog-to-digital converter.

[0046] The control unit 12 connects to the telescopic push rod 10, pressure sensor 9, and horizontal tilt sensor 13 via signal lines 11, and supplies power to each component. The signal lines are made of shielded cables that are resistant to bending and interference.

[0047] The connections between the modules are as follows:

[0048] The structural support supports the entire device via frame 15. The flexible suspension module, consisting of cable 16 and connecting bearing 17, absorbs the impact of the UAV's attitude. The slide rail 7 of the dynamic center of gravity adjustment module is fixed to the pressure sensor 9 via connector 6. The gas cylinder module is slidably connected to the slide rail 7 via a movable chassis 8. The control unit 12 of the sensing and control module is electrically connected to the telescopic push rod 10, pressure sensor 9, and horizontal tilt sensor 13 via signal line 11.

[0049] The overall structure functions by dynamically adjusting the center of gravity to ensure the stable dissemination of liquid carbon dioxide in liquid form, thus eliminating supercooling mist. The principle is as follows:

[0050] During defogging operations, the consumption of liquid carbon dioxide in cylinder 1 causes a shift in the center of gravity. A horizontal tilt sensor 13 detects the device's tilt in real time. A pressure sensor 9 monitors the weight difference between the two ends of the slide rail 7. The control unit 12 integrates the sensor data, causing the telescopic push rod 10 to drive the movable chassis 8 to slide towards the side with a lighter load. The fixed 10° tilt angle of cylinder 1 is maintained by the cylinder support pad 3, ensuring that the cylinder opening is always submerged in liquid carbon dioxide. A flexible suspension module isolates the high-frequency vibrations of the drone, allowing the center of gravity adjustment to focus on load changes.

[0051] Ultimately, the device maintains a horizontal attitude, improving dissemination efficiency and flight safety.

[0052] A method for defogging ultra-high voltage transmission lines using a drone-mounted supercooled defogging device achieves efficient and stable dispersal of liquid carbon dioxide through the coordinated control of dynamic center of gravity adjustment and fixed tilt angle dispersal. The specific steps are as follows:

[0053] S1. Device mounting and initial calibration:

[0054] The device is mounted to the UAV underside interface via connector 18; the control unit 12 is activated, the horizontal tilt sensor 13 automatically calibrates the device's horizontal reference, the pressure sensor 9 is zeroed to the weight difference at both ends of the slide rail 7; the gas cylinder 1 is installed on the support pad 3 at a fixed tilt angle of 10°, ensuring that the cylinder opening is lower than the cylinder bottom, and the flexible conduit 4 is connected to the injection component after being fixed by the conduit bracket 5.

[0055] S2, Defogging operation initiated:

[0056] The drone flies to the target fog area on the ultra-high voltage transmission line and opens the valve of gas cylinder 1 to release liquid carbon dioxide; the flexible suspension module absorbs the impact of the drone's maneuvering and maintains the stability of the device's horizontal reference.

[0057] S3, Dynamic Center of Gravity Closed-Loop Adjustment:

[0058] The horizontal tilt sensor 13 monitors the tilt angle of the device in real time, with a sampling frequency ≥10Hz; the pressure sensor 9 synchronously detects the weight distribution at both ends of the slide rail 7; the control unit 12 fuses the sensor data and executes the center of gravity adjustment algorithm.

[0059] Simultaneously, the feedback signals from the horizontal tilt sensor and the pressure sensor are judged to determine whether center of gravity adjustment is needed. When the horizontal tilt angle monitored by the horizontal tilt sensor is greater than the preset threshold, center of gravity adjustment is triggered. Or when the weight difference between the two ends of the device monitored by the pressure sensor is greater than the set tolerance, center of gravity adjustment is triggered. When center of gravity adjustment is triggered, the direction of push rod movement is locked to the opposite side of the tilt direction or the side with lighter weight at both ends of the device.

[0060] The telescopic push rod 10 drives the movable chassis 8 to move along the slide rail 7 in the direction of push rod movement, and provides real-time feedback of pressure difference and tilt angle to the control unit until balance is restored and the push rod stops moving.

[0061] S4. Continuous Operation and Termination:

[0062] Step S3 is executed repeatedly to dynamically compensate for the center of gravity shift caused by gas cylinder consumption and wind disturbance; the gas cylinder valve is closed after the gas cylinder is exhausted or the defogging operation is completed, the drone returns to base, and the device is powered off and disassembled.

[0063] This method, through the coordinated design of flexible suspension and fixed tilt support, ensures that the device is horizontal and the gas cylinder always maintains the optimal tilt attitude, solving the problem of gas jetting caused by the loss of gas cylinder attitude when mounted on a traditional UAV. It ensures that liquid carbon dioxide is stably dispersed in liquid form, maximizing the catalytic defogging effect. At the same time, it compensates for the nonlinear center of gravity shift caused by gas cylinder consumption and wind disturbance through dynamic center of gravity adjustment, completely eliminating the risk of device tipping over. The dynamic center of gravity adjustment is monitored in conjunction with a horizontal tilt sensor and a symmetrical pressure sensor, providing accurate monitoring and rapid response.

[0064] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although detailed descriptions have been provided with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A supercooled fog dispersing device mounted on a drone, characterized in that: This includes structural support, flexible suspension module, dynamic center of gravity adjustment module, gas cylinder module, and sensor control module; The structural support provides a load-bearing platform; the flexible suspension module connects the UAV to the structural support and absorbs attitude disturbances; the dynamic center of gravity adjustment module includes a guide mechanism, a movable chassis, and a drive unit. The guide mechanism is located within the structural support, and the movable chassis is slidably mounted on the guide mechanism and connected to the drive unit; the gas cylinder module includes a support pad with a fixed tilt angle and a gas cylinder with its outlet facing downward and fastened to the support pad. The support pad is fixed to the movable chassis, and the gas cylinder outlet is connected to a low-temperature resistant flexible conduit, the other end of which extends out of the structural support; the sensing and control module includes a horizontal tilt sensor fixed to the structural support, a weight detection unit symmetrically distributed within the structural support, and a control unit; the control unit, based on feedback signals from the horizontal tilt sensor and the weight detection unit, causes the drive unit to adjust the position of the movable chassis to maintain the device's horizontal attitude.

2. The supercooled fog dispersing device mounted on a UAV as described in claim 1, characterized in that: The support pad has a 10° inclined working surface, and the working surface is provided with an anti-slip and shock-absorbing layer; the gas cylinder outlet is fixed to the support pad with a clamp facing downward.

3. The supercooled fog dispersing device mounted on a UAV as described in claim 1, characterized in that: The structural support includes a carbon fiber mounting plate and a metal frame, with the mounting plate fixed to the bottom of the frame.

4. The supercooled fog dispersing device mounted on a UAV as described in claim 3, characterized in that: The guiding mechanism is a high-precision slide rail, which is symmetrically arranged on the mounting plate via two connecting parts. The movable chassis slides with the slide rail via a slider. The driving unit is an electric telescopic push rod, with one end fixed to the slide rail and the other end connected to the movable chassis.

5. The supercooled fog dispersing device mounted on a UAV as described in claim 1, characterized in that: The weight detection unit consists of pressure sensors symmetrically arranged at both ends of the guide mechanism.

6. The supercooled fog dispersing device mounted on a UAV as described in claim 3, characterized in that: The flexible conduit is made of Teflon, with one end connected to the gas cylinder outlet and the other end connected to the anti-fogging spray component, extending out of the frame through the conduit support.

7. The supercooled fog dispersing device mounted on a UAV as described in claim 3, characterized in that: The flexible suspension module includes a connecting bearing and multiple cables. The lower ends of each cable are connected to the top edge of the structural support frame via a locking buckle, and the upper ends converge at the connecting bearing. The connecting bearing is detachably connected to the connecting seat on the UAV.

8. The supercooled fog dispersing device mounted on a UAV as described in claim 1, characterized in that: The control unit determines the center of gravity adjustment by simultaneously judging the feedback signals from the horizontal tilt sensor and the weight detection unit to determine whether center of gravity adjustment is needed. When the horizontal tilt angle is greater than a preset threshold, center of gravity adjustment is triggered; or when the weight difference between the two ends of the device is greater than a set tolerance, center of gravity adjustment is triggered. When center of gravity adjustment is triggered, the movable chassis is driven to move to the opposite side of the tilt direction or to the side with the lighter weight at both ends of the device until balance is restored.

9. A method for eliminating fog using the fog-eliminating device as described in any one of claims 1-8, characterized in that, The specific steps are as follows: First, attach the device to the UAV interface; start the control unit, calibrate the horizontal tilt sensor to the horizontal reference of the device, and zero the weight difference at both ends of the weight detection unit; second, the UAV flies to the target fog area on the UHV transmission line and opens the gas cylinder valve to release liquid carbon dioxide; third, simultaneously collect the feedback signals from the horizontal tilt sensor and the weight detection unit to determine whether center of gravity adjustment is needed; when center of gravity adjustment is triggered, drive the movable chassis to move to the opposite side of the tilt direction or to the lighter side of the device to compensate for the center of gravity; finally, repeat the judgment steps until the gas cylinder is exhausted or the fogging operation is completed.

10. The method as described in claim 9, characterized in that: In the determination step, the tilt angle sampling frequency is ≥10Hz, and the gas cylinder always maintains a fixed tilt angle of 10°.

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