Unmanned aerial vehicle and deicing device and deicing method thereof

Abstract

The invention relates to the technical field of high-voltage line deicing, and discloses an unmanned aerial vehicle and a deicing device and method thereof, the deicing device comprises a deicing bar, a plurality of grating sensors are embedded in the deicing bar, the plurality of grating sensors are connected in series through an optical fiber, and the top end of the optical fiber extends out of the deicing bar; one end of the traction rope is connected with the top of the deicing bar; one end of the optical cable is connected with the optical fiber, and the other end of the optical cable is connected with a demodulator in the unmanned aerial vehicle body; the deicing bar is driven by the traction rope to move to knock ice on the high-voltage line, and meanwhile, the current knocking position of the deicing bar is determined based on the real-time wavelengths of the multiple grating sensors so as to adaptively adjust the flight attitude, height and the like of the unmanned aerial vehicle body, or the height of the deicing bar is adjusted through the winding mechanism, so that the unmanned aerial vehicle is more intelligent. Therefore, the stability and the reliability of knocking ice on the high-voltage line are improved, and the deicing efficiency and the deicing safety are further improved.

Description

Technical Field

[0001] This invention relates to the field of high-voltage power line de-icing technology, specifically to a drone and its de-icing device and method. Background Technology

[0002] High-voltage transmission lines are an important part of the power system, but in cold and humid environments (such as high altitudes and mountainous areas in winter), high-voltage lines are prone to icing due to rain, snow and ice. Icing can lead to increased mechanical loads and decreased electrical performance, among other problems.

[0003] Traditional manual de-icing methods, such as manually striking or using de-icing tools, are not only inefficient but also pose multiple safety risks to workers. Summary of the Invention

[0004] The purpose of this invention is to overcome the problems of low efficiency and low safety of manual de-icing in the existing technology, and to provide a drone and its de-icing device and method, which have the functions of improving de-icing efficiency and safety.

[0005] To achieve the above objectives, the present invention provides a de-icing device for a drone, comprising: An ice removal rod, wherein multiple grating sensors are embedded inside the ice removal rod, and the multiple grating sensors are connected in series via optical fibers, the tips of which extend out of the ice removal rod; A tow rope, one end of which is connected to the top of the de-icing rod; The optical cable is connected at one end to the optical fiber and at the other end to the demodulator in the UAV body; A winding mechanism is mounted on the frame of the UAV body and connected to the other end of the traction rope, for winding and pulling the traction rope. A cutting mechanism is installed on the frame of the UAV body and sleeved on the outside of the traction rope and the optical cable, for cutting the traction rope and the optical cable.

[0006] Optionally, a plurality of the grating sensors are arranged in an array along the extension direction of the de-icing rod.

[0007] Optionally, the optical cable includes an armored optical cable.

[0008] Optionally, the winding mechanism includes: Mounting plate, mounted on the frame; A servo motor is mounted on the mounting plate. The rope winding rod is connected to the output end of the servo motor via a coupling, and the other end of the traction rope is wound around the rope winding rod and connected to the rope winding rod.

[0009] Optionally, the winding mechanism further includes two sets of bearing seats, which are disposed on the mounting plate and respectively sleeved on both ends of the winding rod.

[0010] Optionally, the shearing mechanism includes: A shearing unit is mounted on the frame; Two sets of blade holders are symmetrically and slidably arranged on the shearing seat. The traction rope and the optical cable move through the two sets of blade holders. The opposite sides of the two sets of blade holders are provided with cutting blades that cooperate with each other. A drive assembly, disposed on the same side of the two sets of cutter holders and connected to the two sets of cutter holders, is used to drive the two sets of cutter holders to move relative to each other to cut the traction rope and the optical cable.

[0011] Optionally, the driving component includes: Two sets of gears are rotatably connected to the shear seat via a first rotating shaft, and the two sets of gears are meshed together. Two sets of eccentric shafts are symmetrically arranged on the top edges of the two sets of gears. Two sets of drive shafts are symmetrically arranged on top of the two sets of tool holders; Two sets of rockers, each with a waist hole at one end and in the middle. The waist hole at one end of the rocker is fitted onto the outside of the corresponding drive shaft, and the waist hole in the middle of the rocker is fitted onto the outside of the corresponding eccentric shaft. The other ends of the two sets of rockers are close to each other and are rotatably connected to the shear seat through a second rotating shaft. A servo motor is mounted on the shear seat, and the output end of the servo motor is connected to one of the first sets of rotating shafts.

[0012] Optionally, an insulating buffer layer is provided on the outside of the de-icing rod.

[0013] On the other hand, the present invention also provides a drone, comprising: The drone body includes a frame and a demodulator, with the frame located at the bottom of the drone body; The de-icing device described above is mounted on the frame.

[0014] Furthermore, the present invention also provides a de-icing method using any of the de-icing devices described above, comprising: Control the drone's flight and movement to drive the de-icing rod to strike the high-voltage line; Obtain the wavelength of each grating sensor in the de-icing rod; The current striking position of the de-icing rod is determined based on the wavelength of each of the grating sensors; Adjust the drone's flight altitude according to the current striking position of the de-icing rod; Determine whether the current traction rope or optical cable is entangled with the high-voltage line; If it is determined that the current traction rope or optical cable is entangled with the high-voltage line, the cutting mechanism is activated to cut the traction rope and optical cable; If it is determined that the current traction rope or optical cable is not entangled with the high-voltage line, the drone body is returned to control its flight movement to drive the de-icing rod to strike the high-voltage line.

[0015] Through the above technical solution, the drone and its de-icing device and method provided by the present invention control the flight of the drone body and move the de-icing rod through the traction rope to knock down the ice on the high-voltage line. At the same time, based on the real-time wavelength of multiple grating sensors, the current knocking position of the de-icing rod is determined, so as to adaptively adjust the flight attitude and altitude of the drone body, or adjust the height of the de-icing rod through the winding mechanism, so as to improve the stability and reliability of knocking down the ice on the high-voltage line, thereby improving the efficiency and safety of de-icing. When the traction rope or optical cable is entangled with the high-voltage line, the shearing mechanism can be activated to cut off the traction rope and optical cable, so that the drone body can get free, thereby effectively protecting the drone body and improving the ability to handle emergency situations. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a de-icing device for a drone according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the frame structure in a de-icing device for a drone according to an embodiment of the present invention; Figure 3 This is a schematic diagram showing the connection between the shear seat and the mounting plate in a de-icing device for a drone according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the rope winding rod in a de-icing device for a drone according to an embodiment of the present invention. Figure 5 This is a schematic diagram of the shearing mechanism in a de-icing device for a drone according to an embodiment of the present invention. Figure 6 This is a schematic diagram showing the distribution of grating sensors in a de-icing device for a drone according to an embodiment of the present invention. Figure 7 This is a schematic diagram of the positioning principle of a grating sensor in a de-icing device for a drone according to an embodiment of the present invention. Figure 8 This is a block diagram of the demodulator structure in a de-icing device for a drone according to an embodiment of the present invention; Figure 9 This is a flowchart of a de-icing method for a drone de-icing device according to an embodiment of the present invention; Figure 10 This is a schematic diagram illustrating the fabrication of a grating sensor in a de-icing device for a drone according to an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures 1. UAV body; 2. Frame; 3. Tow rope; 4. De-icing rod; 5. Shearing seat; 6. Servo motor; 7. Servo motor; 8. Mounting plate; 9. Bearing housing; 10. Rope winding rod; 11. Coupling; 12. Joystick; 13. Gear; 14. Eccentric shaft; 15. Second rotating shaft; 16. Waist hole; 17. Drive shaft; 18. Tool holder; 19. Grating sensor. Detailed Implementation

[0018] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0019] Figure 1 This is a schematic diagram of the structure of a de-icing device for a drone according to one embodiment of the present invention. Figure 2 This is a schematic diagram of the frame structure in a de-icing device for a drone according to an embodiment of the present invention. Figure 6 This is a schematic diagram showing the distribution of grating sensors in a de-icing device for a drone according to an embodiment of the present invention. Figure 1 , Figure 2 and Figure 6 The de-icing device may include a de-icing rod 4, a traction rope 3, an optical fiber, a winding mechanism, and a cutting mechanism. Specifically, the de-icing rod 4 may include multiple grating sensors 19 and optical fibers. Specifically, the optical fiber is not shown in the figure. The optical fiber may be distributed in parallel with the traction rope 3 or its end connected to the de-icing rod may be bundled together. The connection end of the optical fiber to the demodulator is a long redundant configuration, which can be released along with the traction rope.

[0020] The de-icing rod 4 has multiple embedded grating sensors 19 connected in series via optical fibers, with the top of the optical fibers extending out of the de-icing rod 4. One end of the traction rope 3 is connected to the top of the de-icing rod 4, one end of the optical cable is connected to the optical fiber, and the other end of the optical cable is connected to the demodulator in the UAV body 1. A winding mechanism is mounted on the frame 2 of the UAV body 1 and connected to the other end of the traction rope 3 for winding and pulling the traction rope 3. A cutting mechanism is mounted on the frame 2 of the UAV body 1 and sleeved on the outside of the traction rope 3 and the optical cable for cutting the traction rope 3 and the optical cable. Specifically, the total weight of the de-icing rod 4 and the traction rope 3 may be less than or equal to 20 kg.

[0021] When de-icing is required on high-voltage power lines, the drone body 1 is first controlled to fly near the power line, and the winding mechanism is activated to loosen the traction rope 3 to adjust the relative height between the de-icing rod 4 and the frame 2. Specifically, the length of the optical cable is redundantly set to accommodate different lengths of the traction rope 3, and the suspension force for the de-icing rod 4 is entirely provided by the traction rope 3. After the de-icing rod 4 is loosened to a certain height, the drone body 1 can be further controlled to fly, using the traction rope 3 to drive the de-icing rod 4 to knock down the ice on the high-voltage power line, thus achieving the purpose of de-icing. At the same time, when the de-icing rod 4 knocks down the ice on the high-voltage power line, the local hard braiding will change the period of the grating, causing the reflected wavelength to shift. Therefore, the grating wavelength change of the grating sensor 19 can be detected through the optical fiber to locate the current knocking position of the de-icing rod 4. Based on the current striking position, the position of the de-icing rod 4 can be adaptively adjusted for the next strike. This can be achieved by adjusting the flight attitude and altitude of the drone body 1 or by retracting or extending the traction rope 3 using the winding mechanism, thus achieving precise and reliable striking. Furthermore, if the traction rope 3 or fiber optic cable becomes entangled with high-voltage lines during the de-icing process, preventing the drone body 1 from flying away, a cutting mechanism can be activated to cut the traction rope 3 and fiber optic cable, allowing the drone body 1 to escape.

[0022] Traditional methods of de-icing high-voltage power lines involve manual tapping or the use of de-icing tools, which are not only inefficient but also pose safety hazards to workers. In this embodiment of the invention, a drone-driven de-icing rod 4 is used to tap the ice on the high-voltage line, enabling efficient and convenient de-icing. Furthermore, the precise positioning of the tapping location using multiple grating sensors 19 prevents structural fatigue damage, improving operational safety and efficiency. Simultaneously, a shearing mechanism is used to cut the traction rope 3 and the optical cable, allowing for timely rescue of the drone in emergency situations, thus protecting the drone. In addition, the strong electromagnetic field generated by high-voltage lines can distort signals from traditional electronic sensors, while the grating sensors 19, which transmit data via light waves, can stably output impact position information with millimeter-level accuracy. The grating sensors 19 can withstand temperatures as low as -40°C and corrosive environments such as rain and snow, far exceeding the temperature sensitivity of electronic sensors. Their safety meets the requirements of flammable and explosive environments, making them suitable for harsh outdoor conditions during high-voltage power line de-icing. With a fiber diameter of only 250μm, it can be embedded in a 4-structure (iron rod / de-icing rod) without affecting the drone's aerodynamic performance. Position data can be fed back to the drone's flight control system in real time, optimizing the wind-resistant trajectory algorithm and forming a "perception-decision-execution" closed loop, improving the single-trip de-icing success rate by more than 30%.

[0023] In this embodiment of the invention, the traction rope 3 may include a polyester braided nylon rope.

[0024] In this embodiment of the invention, such as Figure 6 As shown, the distribution of the multiple grating sensors 19 can include an array of multiple grating sensors 19 distributed along the extending direction of the de-icing rod 4. Specifically, the grating sensors 19 can be embedded by grooves etched on the surface of the de-icing rod 4.

[0025] For the grating sensor 19, a fiber Bragg grating (FBG) may be included. When the de-icing rod 4 is struck by a high-voltage line, the stress wave generated at the impact point propagates along the rod, causing axial strain in the fiber and resulting in a wavelength shift in the grating reflection. By uniformly arranging an FBG array along the axis of the de-icing rod 4, the wavelength change data of each grating is collected in real time. Combined with the time-domain reflectometry method (measuring the time difference of the stress wave arriving at different gratings) or the wavelength gradient analysis method (utilizing the correspondence between strain distribution and position), the spatial coordinates of the impact point can be accurately calculated. Simultaneously, a rod vibration model is established based on elastic wave theory. Through high-speed sampling and signal processing algorithms (such as wavelet transform denoising and pattern recognition) using a demodulator, millimeter-level positioning accuracy is achieved. Ultimately, an integrated dynamic monitoring system of "sensing-transmission-analysis-positioning" is constructed. The specific measurement principle can be described as follows: Figure 7 As shown.

[0026] In this embodiment of the invention, the optical cable may include an armored optical cable to improve the protection and reliability of the optical cable.

[0027] In this embodiment of the invention, such as Figure 3 , Figure 4 as well as Figure 5 As shown, the winding mechanism may include a mounting plate 8, a servo motor 7, and a winding rod 10.

[0028] Mounting plate 8 is mounted on frame 2, and servo motor 7 is mounted on mounting plate 8. Rope winding rod 10 is connected to the output end of servo motor 7 via coupling 11, and the other end of traction rope 3 is wound along rope winding rod 10 and connected to rope winding rod 10.

[0029] When it is necessary to wind up or unwind the traction rope 3, the servo motor 7 can be started, which drives the winding rod 10 to rotate forward or backward via the coupling 11. Using the servo motor 7 to drive the winding rod 10 allows for convenient and stable adjustment of the relative height between the de-icing rod 4 and the frame 2. Furthermore, the winding mechanism can also include, but is not limited to, electric winches, electric hoists, etc.

[0030] In this embodiment of the invention, such as Figure 3 as well as Figure 4 As shown, the winding mechanism may also include two sets of bearing seats 9. Specifically, the two sets of bearing seats 9 are disposed on the mounting plate 8 and respectively sleeved on both ends of the winding rod 10. Specifically, the two sets of bearing seats 9 can improve the stability and reliability of the rotation of the winding rod 10 while supporting the winding rod 10.

[0031] In this embodiment of the invention, such as Figure 4 and Figure 5 As shown, the shearing mechanism may include a shearing seat 5, two sets of blade holders 18, and a drive assembly. Specifically, the blade holder 18 may include blades.

[0032] The shearing seat 5 is mounted on the frame 2. Two sets of cutter holders 18 are symmetrically and slidably arranged on the shearing seat 5. The traction rope 3 and the optical cable pass through the two sets of cutter holders 18. The opposite sides of the two sets of cutter holders 18 are provided with mutually cooperating cutting blades. The drive assembly is located on the same side of the two sets of cutter holders 18 and is connected to the two sets of cutter holders 18. It is used to drive the two sets of cutter holders 18 to move relative to each other to cut the traction rope 3 and the optical cable.

[0033] Before cutting the traction rope 3 and the optical cable, the two sets of cutter holders 18 are far apart, and the traction rope 3 and the optical cable pass between the two sets of cutter holders 18. When it is necessary to cut the traction rope 3 and the optical cable, the drive assembly is activated to drive the two sets of cutter holders 18 to slide closer to each other. The two sets of blades gradually approach each other and engage in cutting to cut the traction rope 3 and the optical cable.

[0034] In this embodiment of the invention, such as Figure 3 and Figure 4 As shown, the shearing seat 5 may include a U-shaped plate, a mounting plate 8 is set on the top of the U-shaped plate, a servo motor 7, two sets of bearing seats 9 and a rope winding rod 10 are set on the side of the mounting plate 8 near the U-shaped plate, and the shearing seat 5 is provided with holes that allow the traction rope 3 and optical cable to pass through.

[0035] In this embodiment of the invention, such as Figure 5 As shown, the drive assembly may include two sets of gears 13, two sets of drive shafts 17, two sets of rocker arms 12, and a servo motor 6. Specifically, the gears 13 may include a first rotating shaft and an eccentric shaft 14, and the rocker arms 12 may include two sets of waist holes 16 and a second rotating shaft 15.

[0036] Two sets of gears 13 are rotatably connected to the shearing seat 5 via a first rotating shaft, and the two sets of gears 13 are meshed together. Two sets of eccentric shafts 14 are symmetrically arranged on the top edges of the two sets of gears 13, and two sets of drive shafts 17 are symmetrically arranged on the top of the two sets of blade holders 18. A waist hole 16 is provided at one end and in the middle of the rocker arm 12. The waist hole 16 at one end of the rocker arm 12 is fitted onto the outside of the corresponding drive shaft 17, and the waist hole 16 in the middle of the rocker arm 12 is fitted onto the outside of the corresponding eccentric shaft 14. The other ends of the two sets of rocker arms 12 are close to each other and rotatably connected to the shearing seat 5 via a second rotating shaft 15. Specifically, the distance between the centers of the other ends of the two sets of rocker arms 12 can include the distance between the centers of the two sets of drive shafts 17 when the two sets of blade holders 18 / blades are shearing against each other, that is, when the two sets of blade holders 18 / blades are shearing against each other, the two sets of rocker arms 12 are parallel to each other. A servo motor 6 is mounted on the shearing seat 5, that is, at the bottom of the U-shaped plate, and the output end of the servo motor 6 is connected to one of the first rotating shafts.

[0037] When it is necessary to cut the traction rope 3 and the optical cable, the servo motor 6 is activated to drive the corresponding gear 13 to rotate through one of the first rotating shafts. The gear 13 meshing with the servo motor rotates in the opposite direction. Taking the two sets of cutter holders 18 in a state of being far apart as an example, the two sets of rocker arms 12 cooperate to form a V-shape, and the two sets of eccentric shafts 14 are far apart. When the two sets of gears 13 rotate in opposite directions, the two sets of eccentric shafts 14 follow the rotation and gradually approach each other. Through the corresponding waist hole 16, they drive the two sets of rocker arms 12 to rotate along their other ends and approach each other. Then, the waist hole 16 at one end of the rocker arm 12 acts on the corresponding drive shaft 17, so as to drive the two sets of cutter holders 18 and the blades to approach each other and cut the traction rope 3 and the optical cable. Meanwhile, as the two sets of gears 13 continue to rotate, the two sets of eccentric shafts 14 gradually approach and then gradually move away, so as to drive the two sets of rockers 12 to rotate towards each other and then move away from each other. That is, the included angle of the two sets of rockers 12 first becomes smaller and then becomes larger, and so on, thereby driving the two sets of cutter holders 18 to reciprocate to cut the traction rope 3 and the optical cable, improving the reliability and efficiency of cutting.

[0038] In this embodiment of the invention, such as Figure 5 As shown, the shearing seat 5 is also provided with two sets of guide seats, which are symmetrically distributed and located at both ends of the two sets of cutter seats 18. The two ends of the cutter seats 18 are slidably connected to the two sets of guide seats, so that the two sets of cutter seats 18 can stably approach and cut the traction rope 3 and the optical cable.

[0039] In this embodiment of the invention, an insulating buffer layer may also be provided on the outer side of the de-icing rod 4 to reduce damage to the high-voltage line.

[0040] On the other hand, the present invention also provides a drone. Specifically, the drone may include a drone body 1 and a de-icing device. Specifically, the drone body 1 may include a frame 2 and a demodulator, and the de-icing device may include a de-icing rod 4, a traction rope 3, an optical cable, a winding mechanism, and a cutting mechanism. Specifically, the de-icing rod 4 may include multiple grating sensors 19 and optical fibers.

[0041] The frame 2 is located at the bottom of the drone body 1, the demodulator is located inside the drone body 1, and the de-icing device is located on the frame 2. Multiple grating sensors 19 are embedded inside the de-icing rod 4, and these sensors are connected in series via optical fibers, with the top of the optical fibers extending out of the de-icing rod 4. One end of the traction rope 3 is connected to the top of the de-icing rod 4, one end of the optical cable is connected to the optical fiber, and the other end of the optical cable is connected to the demodulator inside the drone body 1. A winding mechanism is located on the frame 2 of the drone body 1 and is connected to the other end of the traction rope 3 for winding and pulling the traction rope 3. A cutting mechanism is located on the frame 2 of the drone body 1 and is fitted over the traction rope 3 and the optical cable for cutting the traction rope 3 and the optical cable.

[0042] When de-icing is required on high-voltage power lines, the drone body 1 is first controlled to fly near the power line, and the winding mechanism is activated to loosen the traction rope 3 to adjust the relative height between the de-icing rod 4 and the frame 2. Specifically, the length of the optical cable is redundantly set to accommodate different lengths of the traction rope 3, and the suspension force for the de-icing rod 4 is entirely provided by the traction rope 3. After the de-icing rod 4 is loosened to a certain height, the drone body 1 can be further controlled to fly, using the traction rope 3 to drive the de-icing rod 4 to knock down the ice on the high-voltage power line, thus achieving the purpose of de-icing. At the same time, when the de-icing rod 4 knocks down the ice on the high-voltage power line, the local hard braiding will change the period of the grating, causing the reflected wavelength to shift. Therefore, the grating wavelength change of the grating sensor 19 can be detected through the optical fiber to locate the current knocking position of the de-icing rod 4. Based on the current striking position, the position of the de-icing rod 4 can be adaptively adjusted for the next strike. This can be achieved by adjusting the flight attitude and altitude of the drone body 1 or by retracting or extending the traction rope 3 using the winding mechanism, thus achieving precise and reliable striking. Furthermore, if the traction rope 3 or fiber optic cable becomes entangled with high-voltage lines during the de-icing process, preventing the drone body 1 from flying away, a cutting mechanism can be activated to cut the traction rope 3 and fiber optic cable, allowing the drone body 1 to escape.

[0043] In this embodiment of the invention, the drone body 1 may include a quadcopter-eight-propeller design.

[0044] In this embodiment of the invention, the grating sensor transmits the signal to the demodulator stored in the UAV body 1 via optical fiber. Since UAVs have high requirements for payload size, weight, and power consumption, this invention employs a lightweight, compact, and low-power fiber grating demodulation device. Specifically, the driving module, photoelectric conversion module, signal acquisition module, and signal processing module required for demodulation are integrated into one unit, using a very large-scale integrated chip to simplify the peripheral electronic circuitry, thereby enabling the hardware circuitry to meet the miniaturization requirements of the UAV.

[0045] The fiber optic demodulator and processing unit are used in conjunction with the aforementioned grating sensor. The fiber optic demodulator employs a demodulation principle based on the gradual increase in the narrowband wavelength of a tunable semiconductor laser output from low to high wavelengths. When the laser output and the spectrum of the fiber optic grating sensor overlap within a certain wavelength range, the intensity of the light reflected back through the coupler will significantly increase. The greater the overlap, the stronger the output light intensity, thus determining the center wavelength of the reflected light. The fiber optic demodulator mainly consists of several modules: a scannable narrowband light source, wavelength demodulation, data acquisition and scanning control, and some optical auxiliary devices. The fiber optic demodulator can calculate the wavelength information of fiber optic grating sensors and is a general-purpose calculation device for fiber optic grating sensors. The fiber optic demodulator is used for demodulating fiber optic grating sensors. It mainly consists of several parts, such as a scannable narrowband light source, wavelength demodulation, photoelectric conversion, and data acquisition. Figure 8 As shown.

[0046] The grating sensor network demodulation system uses an FPGA system to control the output current of the current control circuit, thereby controlling the tunable semiconductor laser to generate periodically changing scanning pulses. The pulsed excitation light passes through an isolator and an optical circulator before being input into the FBG sensor network. The reflected light pulses from the FBG pass through the optical circulator and enter the photoelectric conversion module, where they are converted into analog electrical signals. The analog electrical signals output from the photoelectric conversion module are sampled by an analog-to-digital converter (ADC) and then sent to the FPGA module. The FPGA transmits the acquired spectral data to the host computer via Ethernet using a transmission control protocol. The host computer analyzes the acquired data using a Gaussian fitting algorithm, calculates the center wavelength of the FBG, and stores and displays the relevant data.

[0047] A scanning pulse with periodically varying wavelength is input to the FBG (Fast-Induced Light Generator). Because the FBG reflects light pulses of different wavelengths with varying power, the reflected light from a pulse closer to the FBG's center wavelength is stronger. When the input pulse is close to the FBG's center wavelength, the reflected light pulse waveform after photoelectric conversion is acquired using an oscilloscope. Conversely, the reflected light from a pulse farther from the FBG's center wavelength is weaker. When the input pulse is farther from the FBG's center wavelength, the reflected light pulse waveform after photoelectric conversion is acquired using an oscilloscope.

[0048] In this embodiment of the invention, for the de-icing rod 4, a uniform groove with a depth of 2.5 mm and a width matching the grating sensor 19 can be formed along its axial direction. The fiber Bragg grating array is embedded in the groove and fixed using silicone or polyurethane elastic material to ensure stress transmission efficiency. The elastic material can buffer vibration to protect the optical fiber. Furthermore, a metal layer is formed on the surface of the optical fiber by chemical plating or electroplating to enhance high-temperature resistance and tensile strength. The metallized fiber Bragg grating is then brazed to the surface of the iron rod to ensure mechanical strength and signal transmission. Specifically, the fiber Bragg grating array can be arranged at 10 cm intervals along the 2m long de-icing rod 4.

[0049] Furthermore, the present invention also provides a de-icing method using the above-mentioned de-icing device, such as... Figure 9 As shown, the de-icing method may include: In step S1, the drone body 1 is controlled to fly and move, thereby driving the de-icing rod 4 to strike the high-voltage line. This can be achieved by first adjusting the relative distance between the de-icing rod 4 and the frame 2 using a winding mechanism, and then controlling the drone's flight to drive the de-icing rod 4 to strike the high-voltage line.

[0050] In step S2, the wavelength of each grating sensor 19 in the de-icing rod 4 is obtained. The fiber Bragg grating (FBG) utilizes the photosensitivity of the fiber material to generate a periodic change in refractive index along the fiber core axis through laser exposure, thereby forming a permanent spatial phase grating. Its function is essentially to form a narrowband filter or reflector within the fiber core. When a broadband beam of light passes through the fiber grating, wavelengths that satisfy the FBG Bragg condition are reflected, while the remaining wavelengths continue to propagate through the FBG.

[0051] When light encounters an FBG (Fiber Bragg Gap) while propagating in an optical fiber, it reflects the incident light wave that satisfies the Bragg wavelength condition, coupling the core mode propagating forward along the fiber to the core mode propagating backward. The remaining wavelengths continue to propagate forward along the original path. The absolute measurement of the temperature or strain of an object in the measured environment can be achieved by detecting the narrowband Bragg spectrum reflected back from the FBG. Specifically, the center wavelength of the reflected light satisfies the Bragg condition shown in formula (1). (1) in, The center wavelength of the reflected light. The effective refractive index in fiber mode. The period of the fiber grating is given. According to formula (1), the FBG wavelength is mainly determined by the period of the fiber grating. Effective refractive index of fiber mode It is determined by two physical parameters. Therefore, when either of these two physical parameters changes, it will cause a shift in the FBG wavelength.

[0052] Furthermore, when the de-icing rod 4 strikes the high-voltage line, the most direct effect is that the local strain and vibration of the de-icing rod 4 will change. When the FBG is subjected to force, whether it is squeezed or stretched, the FBG period will change. Since the FBG itself has an elasto-optic effect, its effective refractive index will also change with the change of external stress state. Specifically, the wavelength drift of the FBG caused by strain can be shown in formula (2). (2) in, This refers to the elastic deformation of the FBG itself under stress. Due to the elasto-optic effect of optical fibers, different external stress conditions lead to... and The changes are different. Therefore, strain and vibration cause changes in the wavelength of the grating. By demodulating the wavelength, the physical parameter information sensed by the sensor can be monitored, and the location of the strain change can be further determined.

[0053] Considering the environment in which the de-icing rod 4 is used, the fiber optic grating sensor 19 is etched using a femtosecond laser, resulting in a grating sensor 19 with superior sensing characteristics. Specifically, it can be as follows: Figure 10 As shown, the single-mode fiber is first pretreated by removing the coating, cleaning, and fixing it on a glass slide to ensure the fiber core is exposed and stable. Then, the femtosecond laser parameters are adjusted using a near-infrared femtosecond laser with a wavelength of 1030 nm and a pulse width of 300 fs. The laser is focused onto the fiber core through a high numerical aperture microscope objective, inducing periodic refractive index modulation using nonlinear absorption effects. Submicron-level precise positioning is achieved using a three-dimensional piezoelectric motion platform, and a grating array is formed by scanning point-by-point along the fiber axis. The scanning speed and grating period are dynamically matched through a program. During the process, the focusing state is monitored in real time using a CCD, and the laser energy is adjusted based on feedback from a spectrometer to ensure that the grating reflection wavelength and bandwidth meet the requirements. Finally, the uniformity of the grating structure is verified using a scanning electron microscope, and its stability and mechanical strength are tested. This method overcomes the limitation of traditional ultraviolet grating requiring hydrogen sensitization, enabling direct writing with coatings and large-scale roll-to-roll fabrication, providing an innovative solution for distributed fiber optic sensing in extreme environments.

[0054] In step S3, the current striking position of the de-icing rod 4 is determined based on the wavelength of each grating sensor 19. Since the wavelength change of the fiber optic grating is proportional to the stress, wavelength data can be acquired in real time using a demodulator and combined with an algorithm for localization. Specifically, wavelet denoising can be used to remove signal noise and improve the signal-to-noise ratio. Simultaneously, the oscillation energy and waveform indicators of the acoustic emission signal are extracted as features to train an SVM model for area localization.

[0055] Fiber Bragg grating (FBG) sensors detect strain changes by reflecting light of a specific wavelength. When an iron bar is struck, the vibration wave causes a change in the FBG grating pitch, resulting in a shift in the reflected wavelength. By demodulating the wavelength change, the spatiotemporal characteristics of the vibration signal can be obtained.

[0056] Specifically, the vibration waves in the iron rod propagate in the form of longitudinal and transverse waves, with the longitudinal wave velocity being much higher than that of the transverse wave. By measuring the time difference (TODA) of the vibration signal arriving at multiple FBG sensors and combining this with the wave velocity, a system of equations can be established to solve for the impact location. Specifically, at least four sensors are required in three-dimensional space. Algorithms and other optimization methods are used to improve accuracy, while simultaneously extracting features such as the arrival time, frequency, and amplitude of the vibration signal and filtering out noise interference.

[0057] Specifically, after obtaining the timestamps of the vibration signals detected by each sensor, the time difference between adjacent sensors can be calculated. An equation system is established based on the TDOA algorithm, and the coordinates of the impact point are solved by combining wave velocity, for example, for the sensor... and The equation can be shown in formula (3). (3) in, The coordinates of the click point. For sensors coordinates For sensors coordinates For wave speed, The time difference can be used to optimize the solution using algorithms or the least squares method, reducing errors and achieving a positioning accuracy of ±5 cm on a 2-meter-long de-icing rod 4.

[0058] In step S4, the flight altitude of the drone is adjusted according to the current striking position of the de-icing rod 4.

[0059] In step S5, it is determined whether the current traction rope 3 or optical cable is entangled with the high-voltage line. Whether the traction rope 3 or optical cable is entangled can be determined by driving the drone away and observing the magnitude of the traction force exerted by the traction rope 3 on the drone body 1.

[0060] In step S6, if it is determined that the current traction rope 3 or optical cable is entangled with the high-voltage line, the shearing mechanism is activated to cut the traction rope 3 and optical cable.

[0061] In step S7, if it is determined that the current traction rope 3 or optical cable is not entangled with the high-voltage line, the control of the drone body 1 to fly and move is returned to drive the de-icing rod 4 to strike the high-voltage line.

[0062] In steps S1 to S7, the drone is first controlled to fly and drive the de-icing rod 4 to strike the high-voltage line. Simultaneously, the wavelength of each grating sensor 19 is acquired to determine the current striking position of the de-icing rod 4. Based on the current striking position of the de-icing rod 4, the drone's flight attitude, altitude, or the relative height between the de-icing rod 4 and the frame 2 can be adjusted to ensure that the de-icing rod 4 can strike the high-voltage line stably and reliably, preventing structural fatigue damage. Further, it is determined whether the traction rope 3 or optical cable is entangled with the high-voltage line. If entangled, a shearing mechanism is activated to cut the traction rope 3 and optical cable, allowing the drone body 1 to free itself. Otherwise, the de-icing rod 4 continues to strike the high-voltage line, achieving efficient and safe de-icing.

[0063] Through the above technical solution, the drone and its de-icing device and method provided by the present invention control the flight of the drone body 1, and drive the de-icing rod 4 to move via the traction rope 3 to knock down the ice on the high-voltage line. At the same time, based on the real-time wavelength of multiple grating sensors 19, the current knocking position of the de-icing rod 4 is determined, so as to adaptively adjust the flight attitude and altitude of the drone body 1, or adjust the height of the de-icing rod 4 through the winding mechanism, so as to improve the stability and reliability of knocking down the ice on the high-voltage line, thereby improving the efficiency and safety of de-icing. When the traction rope 3 or optical cable is entangled with the high-voltage line, the shearing mechanism can be activated to cut off the traction rope 3 and optical cable, so that the drone body 1 can get out of trouble, thereby effectively protecting the drone body 1 and improving the ability to handle emergency situations.

[0064] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0065] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A de-icing device for a drone, characterized in that, include: An ice removal rod, wherein multiple grating sensors are embedded inside the ice removal rod, and the multiple grating sensors are connected in series via optical fibers, the tips of which extend out of the ice removal rod; A tow rope, one end of which is connected to the top of the de-icing rod; The optical cable is connected at one end to the optical fiber and at the other end to the demodulator in the UAV body; A winding mechanism is mounted on the frame of the UAV body and connected to the other end of the traction rope, for winding and pulling the traction rope. A cutting mechanism is installed on the frame of the UAV body and sleeved on the outside of the traction rope and the optical cable, for cutting the traction rope and the optical cable.

2. The de-icing device according to claim 1, characterized in that, Multiple grating sensors are arrayed along the extension direction of the de-icing rod.

3. The de-icing device according to claim 1, characterized in that, The optical cable includes armored optical cable.

4. The de-icing device according to claim 1, characterized in that, The winding mechanism includes: Mounting plate, mounted on the frame; A servo motor is mounted on the mounting plate. The rope winding rod is connected to the output end of the servo motor via a coupling, and the other end of the traction rope is wound around the rope winding rod and connected to the rope winding rod.

5. The de-icing device according to claim 4, characterized in that, The winding mechanism also includes two sets of bearing seats, which are disposed on the mounting plate and respectively sleeved on both ends of the winding rod.

6. The de-icing device according to claim 4, characterized in that, The shearing mechanism includes: A shearing unit is mounted on the frame; Two sets of blade holders are symmetrically and slidably arranged on the shearing seat. The traction rope and the optical cable move through the two sets of blade holders. The opposite sides of the two sets of blade holders are provided with cutting blades that cooperate with each other. A drive assembly, disposed on the same side of the two sets of cutter holders and connected to the two sets of cutter holders, is used to drive the two sets of cutter holders to move relative to each other to cut the traction rope and the optical cable.

7. The de-icing device according to claim 6, characterized in that, The driving component includes: Two sets of gears are rotatably connected to the shear seat via a first rotating shaft, and the two sets of gears are meshed together. Two sets of eccentric shafts are symmetrically arranged on the top edges of the two sets of gears. Two sets of drive shafts are symmetrically arranged on top of the two sets of tool holders; Two sets of rockers, each with a waist hole at one end and in the middle. The waist hole at one end of the rocker is fitted onto the outside of the corresponding drive shaft, and the waist hole in the middle of the rocker is fitted onto the outside of the corresponding eccentric shaft. The other ends of the two sets of rockers are close to each other and are rotatably connected to the shear seat through a second rotating shaft. A servo motor is mounted on the shear seat, and the output end of the servo motor is connected to one of the first sets of rotating shafts.

8. The de-icing device according to claim 1, characterized in that, An insulating buffer layer is provided on the outside of the de-icing rod.

9. A drone, characterized in that, include: The drone body includes a frame and a demodulator, with the frame located at the bottom of the drone body; The de-icing device as described in any one of claims 1-8 is mounted on the frame.

10. A de-icing method using the de-icing device as described in any one of claims 1-8, characterized in that, include: Control the drone's flight and movement to drive the de-icing rod to strike the high-voltage line; Obtain the wavelength of each grating sensor in the de-icing rod; The current striking position of the de-icing rod is determined based on the wavelength of each of the grating sensors; Adjust the drone's flight altitude according to the current striking position of the de-icing rod; Determine whether the current traction rope or optical cable is entangled with the high-voltage line; If it is determined that the current traction rope or optical cable is entangled with the high-voltage line, the cutting mechanism is activated to cut the traction rope and optical cable; If it is determined that the current traction rope or optical cable is not entangled with the high-voltage line, the drone body is returned to control its flight movement to drive the de-icing rod to strike the high-voltage line.

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