Urban rail transit overhead line system foreign matter cleaning device based on unmanned aerial vehicle

Abstract

The invention discloses an urban rail transit contact network foreign matter cleaning device based on an unmanned aerial vehicle, and relates to the technical field of urban rail transit, the urban rail transit contact network foreign matter cleaning device comprises an unmanned aerial vehicle main body and a cleaning mechanism, the cleaning mechanism is fixedly mounted at the bottom of the unmanned aerial vehicle main body, and the cleaning mechanism comprises a mounting plate and a rectangular frame; the device comprises a rectangular frame, two symmetrically-distributed sliding blocks are slidably mounted in the rectangular frame, connecting plates are fixedly connected to the bottoms of the sliding blocks, clamping blocks are fixedly connected to the opposite sides of the lower ends of the two connecting plates, and a driving assembly used for driving the sliding blocks to slide is arranged in the rectangular frame. A knocking assembly used for cleaning ice blocks is arranged on one side of the connecting plate. The device has the technical effects that by arranging the cleaning mechanism, remote cleaning of the overhead line system can be achieved, manpower is saved, the operation difficulty is reduced, safety risks are avoided, the remote deicing function of the overhead line system can be achieved in winter, and safe and efficient operation of urban rail transit is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of urban rail transit technology, specifically to a drone-based device for cleaning foreign objects from urban rail transit overhead contact lines. Background Technology

[0002] Urban rail transit lines widely use overhead contact lines to supply power to the trains. These contact lines are typically erected above the track and are exposed to the outdoor environment for extended periods. Because some urban rail transit lines are either ground-level or elevated, and there is frequent pedestrian activity around the lines, lightweight debris such as clothing, discarded plastic bags, balloons, and ropes can easily be carried by air currents and adhere to the contact lines. Especially in low winter temperatures, ice can easily form on the contact line surface, affecting the pantograph's ability to collect current and potentially causing power outages or train accidents.

[0003] Current methods for handling foreign objects or ice buildup on overhead contact lines mainly rely on manual cleaning at height or the use of track maintenance vehicles. Manual cleaning typically requires the use of lifting platforms or specialized aerial work equipment, which is not only inefficient and labor-intensive, but also poses significant safety hazards as workers are exposed to live or near live electrical equipment at height. Track maintenance vehicle operations often require closing the line or shutting down the power supply, disrupting normal line operations and failing to meet the maintenance needs of urban rail transit systems operating at high density and frequency.

[0004] With the development of drone technology, the use of drones for power line inspection or simple cleaning operations has gradually attracted attention. However, as a flexible power supply structure, the overhead contact line has a small wire diameter and limited rigidity. When drones operate in the air, they are easily affected by airflow disturbances, resulting in poor attitude stability. If cleaning is carried out solely by scraping, friction, or continuous force, the cleaning effect is likely to be poor, and it may even cause wear or damage to the contact line itself. In addition, drones are not suitable for carrying high-power, heavy-duty cleaning equipment due to limitations in payload capacity and energy consumption.

[0005] Therefore, there is an urgent need for a contact network foreign object removal device suitable for drone platforms. This device can reliably locate the contact network while ensuring the flight stability of the drone, and effectively remove attached foreign objects or ice layers in a way that consumes less energy and has a shorter working time, thereby improving the operation and maintenance efficiency and safety of urban rail transit contact networks. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] In view of the fact that the existing technology for cleaning foreign objects from urban rail transit contact wires mainly relies on manual climbing operations or track operation equipment, which has the problems of cumbersome operation process, high labor intensity, low operation efficiency and significant safety risks, this invention provides an urban rail transit contact wire foreign object cleaning device based on drones, so as to realize remote cleaning of foreign objects and ice on the contact wires, improve operation and maintenance efficiency and reduce operation safety risks.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, the present invention adopts the following technical solution: a drone-based device for cleaning foreign objects from urban rail transit overhead contact lines, comprising a drone body and a cleaning mechanism, wherein the cleaning mechanism is fixedly installed at the bottom of the drone body and is used to clean foreign objects from the urban rail transit overhead contact lines;

[0010] The cleaning mechanism includes a mounting plate fixedly installed on the bottom of the drone body. A rectangular frame is fixedly installed on the bottom of the mounting plate. Two symmetrically distributed sliders are slidably installed inside the rectangular frame. A connecting plate is fixedly connected to the bottom of the sliders. Clamping blocks are fixedly connected to the opposite sides of the lower ends of the two connecting plates. A driving component for driving the sliders to slide is provided inside the rectangular frame. A tapping component for cleaning ice on the contact wire is provided on one side of the connecting plate.

[0011] With the above technical solution, when foreign objects are detected on the overhead contact line, workers can control a drone to fly to the location of the foreign object using the drone control device, and activate the drive component to make the two sliders slide relative to each other, thereby driving the connecting plate and clamping block to move towards each other, clamping and fixing the foreign object. Then, the drone can be controlled to remove the foreign object from the overhead contact line, realizing remote cleaning of foreign objects on the overhead contact line, saving manpower, reducing operational difficulty, and avoiding safety risks. In winter, when the overhead contact line is covered with ice, workers can control the drone to place the two connecting plates on both sides of the ice block and activate the striking component to apply periodic impact force to the ice layer, thereby breaking and removing the ice block, realizing the remote de-icing function of the overhead contact line, ensuring the safe and efficient operation of urban rail transit, and effectively saving manpower.

[0012] Preferably, the drone body has wings at the four corners of the top, and landing supports on both sides of the bottom.

[0013] Through the above technical solution, the wings are used to ensure the normal flight of the drone body, and the landing brackets are used to support and protect the drone body during take-off, landing or parking.

[0014] Preferably, a first wide-angle camera is provided at the bottom of the front end of the drone body, and a second wide-angle camera is provided at the bottom of the rear end of the drone body.

[0015] Through the above technical solution, during the flight and operation of the drone, the first wide-angle camera is used to acquire image information of the area in front of the drone to help the staff quickly locate the location of foreign objects on the contact wire; the second wide-angle camera is used to acquire the operation scene around the cleaning mechanism so that the staff can observe the working status of the cleaning mechanism in real time.

[0016] Preferably, the clamping surface of the clamping block is provided with serrated anti-slip grooves.

[0017] Through the above technical solutions, the anti-slip groove can increase the friction between the clamping block and the foreign object, improve the clamping stability, and thus enhance the reliability of the cleaning operation.

[0018] Preferably, the drive assembly includes a bidirectional screw rotatably mounted within a rectangular frame and a first motor for driving the bidirectional screw to rotate. The first motor is fixedly mounted on one side of the rectangular frame, and the two sliders are respectively sleeved on both sides of the bidirectional screw and threadedly connected to the bidirectional screw.

[0019] With the above technical solution, when the driving slider clamps the foreign object, the first motor can be started, and the first motor drives the bidirectional screw to rotate, so that the bidirectional screw drives the two sliders to slide relative to each other.

[0020] Preferably, a guide rail is provided on the inner sidewall of the rectangular frame, and the slider is slidably connected to the guide rail.

[0021] Through the above technical solution, the guide rail plays a guiding and limiting role in the movement of the slider, which helps to improve the stability of the slider during the movement process.

[0022] Preferably, the striking assembly includes a housing fixedly mounted on one side of the connecting plate and a striking block slidably mounted on one side of the housing. A second motor is fixedly mounted inside the housing, and a cam is fixedly connected to the output end of the second motor. The cam abuts against one end of the striking block. Springs are fixedly mounted on both sides inside the housing, and one end of each spring abuts against the two sides of the striking block.

[0023] With the above technical solution, when cleaning the ice that has condensed on the contact wire, the second motor can be started to drive the cam to rotate. When the cam's convex end abuts against the striking block, it will push the striking block. When the cam's convex end leaves the striking block, the spring will rebound and reset the striking block, so that the striking block will continuously strike the ice, thereby breaking the ice on the contact wire.

[0024] Preferably, the end of the striking block away from the cam is provided with a plurality of spaced triangular blocks.

[0025] Through the above technical solution, the striking block can drive the triangular block to strike the ice block, and the sharp point of the triangular block can increase the ice removal efficiency.

[0026] Preferably, guide rods are fixedly installed on both sides inside the housing, and the spring and the striking block are movably sleeved on the guide rods.

[0027] Through the above technical solution, the guide rod plays a guiding and supporting role for the spring and the striking block, which can improve the stability of the spring and the striking block.

[0028] Preferably, the inner side of the connecting plate is provided with a receiving groove, and one end of the striking block is disposed in the receiving groove.

[0029] With the above technical solution, when no de-icing operation is being performed, the striking block can be stored in the receiving groove, reducing the risk of the striking block colliding with external structures.

[0030] (III) Beneficial Effects

[0031] Compared with the prior art, the present invention provides a drone-based device for cleaning foreign objects from urban rail transit overhead contact lines, which has the following advantages:

[0032] 1. This invention, by setting up a cleaning mechanism, allows workers to control a drone via a drone control handle when a foreign object is found on the overhead contact line. The drone is then positioned above the foreign object, and the drive assembly is activated. This drives two sliders to slide relative to each other, causing the sliders to move two connecting plates relative to each other. The connecting plates then move clamps to hold the foreign object, and the drone is then used to remove the foreign object from the overhead contact line. This achieves remote cleaning of the overhead contact line, saving manpower, reducing operational difficulty, and avoiding safety risks.

[0033] 2. This invention, by incorporating a striking component, allows for remote de-icing of the contact wire network during winter when ice forms. Operators can control a drone via a drone control handle to position two connecting plates on either side of the ice block. Then, the first motor is activated, driving a bidirectional screw to rotate. This screw causes two sliders to slide relative to each other along a guide rail, bringing the connecting plates closer to the ice block. Next, the second motor is activated, rotating a cam. When the cam's convex end contacts the striking block, it pushes the striking block, causing it to drive a triangular block to strike the ice block. When the cam's convex end leaves the striking block, a spring returns the striking block to its original position, allowing it to continuously strike the ice block and break it up. This achieves remote de-icing, ensuring the safe and efficient operation of urban rail transit while effectively saving manpower.

[0034] 3. This invention, by setting up a first wide-angle camera, can capture and record video in front of the drone during flight. The operator can view the video footage from the first wide-angle camera in real time on the display screen on the drone's control handle, making it easier for the operator to quickly locate foreign objects on the contact wire. By setting up a second wide-angle camera, during the drone's foreign object removal process, the second wide-angle camera can capture and record video around the cleaning mechanism. The operator can view the video footage from the second wide-angle camera in real time on the display screen on the drone's control handle, making it easier for the operator to monitor the working status of the cleaning mechanism. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 This is a bottom-view structural diagram of the present invention;

[0037] Figure 3 This is a bottom view schematic diagram of the cleaning mechanism of the present invention;

[0038] Figure 4 This is a schematic diagram of the rectangular frame structure of the present invention;

[0039] Figure 5 This is a cross-sectional structural diagram of the striking component of the present invention;

[0040] Figure 6 This is a schematic diagram of the cam structure of the present invention.

[0041] In the picture:

[0042] 1. Drone body; 11. Wings; 12. Landing stand; 13. First wide-angle camera; 14. Second wide-angle camera;

[0043] 2. Cleaning mechanism; 21. Mounting plate; 22. Rectangular frame; 23. Slider; 24. Connecting plate; 25. Clamping block; 251. Anti-slip groove; 26. Drive assembly; 261. Bidirectional screw; 262. First motor; 263. Guide rail; 27. Striking assembly; 271. Housing; 272. Striking block; 273. Second motor; 274. Cam; 275. Spring; 276. Triangular block; 277. Guide rod; 28. Receiving groove. Detailed Implementation

[0044] In this invention, unless otherwise stated, the directional terms such as "up" and "down" generally refer to the directions shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0045] This invention provides a technical solution:

[0046] Please see Figures 1-6 A drone-based device for cleaning foreign objects from urban rail transit overhead contact lines includes a drone body 1 and a cleaning mechanism 2. The cleaning mechanism 2 is fixedly installed at the bottom of the drone body 1 to clean foreign objects from the urban rail transit overhead contact lines. The drone body 1 has wings 11 at each of the four corners at the top and landing supports 12 on both sides at the bottom of the drone body 1.

[0047] Furthermore, a first wide-angle camera 13 is installed at the bottom front of the main body 1 of the drone. By installing the first wide-angle camera 13, the drone can capture and record video in front of it during flight. The operator can view the video captured by the first wide-angle camera 13 in real time through the display screen on the drone's control handle, which makes it easier for the operator to quickly find and locate foreign objects on the contact wire. A second wide-angle camera 14 is installed at the bottom rear of the main body 1 of the drone. By installing the second wide-angle camera 14, the drone can capture and record video around the cleaning mechanism 2 during the process of cleaning foreign objects. The operator can view the video captured by the second wide-angle camera 14 in real time through the display screen on the drone's control handle, which makes it easier for the operator to observe the working status of the cleaning mechanism 2.

[0048] Specifically, the cleaning mechanism 2 includes a mounting plate 21 fixedly installed at the bottom of the drone body 1. A rectangular frame 22 is fixedly installed at the bottom of the mounting plate 21. Two symmetrically distributed sliders 23 are slidably installed inside the rectangular frame 22. A connecting plate 24 is fixedly connected to the bottom of the sliders 23. A clamping block 25 is fixedly connected to the opposite side of the lower end of the two connecting plates 24. A driving component 26 for driving the sliders 23 to slide is set inside the rectangular frame 22. By setting up the cleaning mechanism 2, when a foreign object is found on the contact wire, the operator can control the drone through the drone control handle to move the drone above the foreign object. Then, the driving component 26 can be activated to drive the two sliders 23 to slide relative to each other. The sliders 23 drive the two connecting plates 24 to move relative to each other, and the connecting plates 24 drive the clamping blocks 25 to clamp the foreign object. Then, the drone can be controlled to remove the foreign object from the contact wire, realizing remote cleaning of the contact wire, saving manpower, reducing the difficulty of operation, and avoiding safety risks.

[0049] Specifically, the drive assembly 26 includes a bidirectional screw 261 rotatably mounted within a rectangular frame 22 and a first motor 262 for driving the bidirectional screw 261 to rotate. The first motor 262 is connected to the main controller and power supply inside the UAV body 1. The first motor 262 is fixedly mounted on one side of the rectangular frame 22. Two sliders 23 are respectively sleeved on both sides of the bidirectional screw 261 and threadedly connected to the bidirectional screw 261. A guide rail 263 is provided on the inner sidewall of the rectangular frame 22. The sliders 23 are slidably connected to the guide rail 263. By setting the drive assembly 26, when the sliders 23 are gripping foreign objects, the first motor 262 can be activated. The first motor 262 drives the bidirectional screw 261 to rotate, causing the bidirectional screw 261 to drive the two sliders 23 to slide relative to each other along the guide rail 263.

[0050] The clamping surface of the clamping block 25 is provided with a serrated anti-slip groove 251. By providing the anti-slip groove 251, the friction of the clamping surface of the clamping block 25 can be increased, making the clamping block 25 more stable when clamping foreign objects and improving cleaning efficiency.

[0051] Furthermore, a striking assembly 27 for clearing ice is provided on one side of the connecting plate 24. The striking assembly 27 includes a housing 271 fixedly installed on one side of the connecting plate 24 and a striking block 272 slidably installed on one side of the housing 271. A second motor 273 is fixedly installed inside the housing 271. The second motor 273 is connected to the main controller and power supply inside the drone body 1. A cam 274 is fixedly connected to the output end of the second motor 273. The cam 274 abuts against one end of the striking block 272. Springs 275 are fixedly installed on both sides inside the housing 271. One end of each spring 275 abuts against the two sides of the striking block 272. Multiple spaced triangular blocks 276 are provided on the end of the striking block 272 away from the cam 274. By setting up the striking assembly 27, in winter, when the contact wire is icy, the operator can control the drone through the drone control handle. The drone is controlled to place the two connecting plates 24 on either side of the ice block. Then, the first motor 262 is activated, which drives the bidirectional screw 261 to rotate. The bidirectional screw 261 drives the two sliders 23 to slide relative to each other along the guide rail 263, causing the sliders 23 to bring the two connecting plates 24 closer to the ice block. Then, the second motor 273 is activated, which drives the cam 274 to rotate. When the convex end of the cam 274 abuts against the striking block 272, it pushes the striking block 272, causing the striking block 272 to drive the triangular block 276 to strike the ice block. When the convex end of the cam 274 leaves the striking block 272, the spring 275 will spring back the striking block 272 to reset, so that the striking block 272 continuously strikes the ice block, thereby breaking the ice on the contact wire. This realizes the remote de-icing function of the device, ensuring the safe and efficient operation of urban rail transit, while effectively saving manpower.

[0052] Guide rods 277 are fixedly installed on both sides inside the housing 271. Spring 275 and striking block 272 are movably sleeved on the guide rods 277. By setting the guide rods 277, the spring 275 and striking block 272 can be guided and supported, which can improve the stability of spring 275 and striking block 272.

[0053] The connecting plate 24 has an inner groove 28, and one end of the striking block 272 is placed in the groove 28. By setting the groove 28, when the striking block 272 is not needed for de-icing, it will be stored in the groove 28 to avoid collision.

[0054] In practical use, the working principle of this invention is as follows:

[0055] First, when in use, staff can control the drone using the drone control handle.

[0056] When a foreign object is found on the overhead contact line, the first wide-angle camera 13 can take pictures and record videos in front of the drone. The staff can view the footage captured by the first wide-angle camera 13 in real time through the display screen on the drone's control handle, which makes it easier for the staff to quickly find and locate the foreign object on the overhead contact line.

[0057] When a foreign object is detected, the drone can be maneuvered above the object. Then, the first motor 262 can be started, which drives the bidirectional screw 261 to rotate. The bidirectional screw 261 drives the two sliders 23 to slide relative to each other along the guide rail 263. The sliders 23 drive the two connecting plates 24 to move relative to each other. The connecting plates 24 drive the clamping block 25 to clamp the foreign object. Then, the drone can be controlled to remove the foreign object from the contact wire, thus realizing remote cleaning of the contact wire.

[0058] During the process of the drone clearing foreign objects, the second wide-angle camera 14 can take pictures and record videos around the cleaning mechanism 2. The staff can view the footage captured by the second wide-angle camera 14 in real time through the display screen on the drone control handle, so as to facilitate the staff to observe the working status of the cleaning mechanism 2.

[0059] In winter, when the contact wire freezes, a drone can be used to place two connecting plates 24 on either side of the ice block. Then, the first motor 262 can be started, which drives the bidirectional screw 261 to rotate. The bidirectional screw 261 drives the two sliders 23 to slide relative to each other along the guide rail 263, causing the sliders 23 to bring the two connecting plates 24 closer to the ice block. Then, the second motor 273 is started, which drives the cam 274 to rotate. When the convex end of the cam 274 abuts against the striking block 272, it pushes the striking block 272, causing the striking block 272 to drive the triangular block 276 to strike the ice block. When the convex end of the cam 274 leaves the striking block 272, the spring 275 will spring back the striking block 272 to reset, so that the striking block 272 continuously strikes the ice block, thereby breaking the ice on the contact wire and realizing the remote de-icing function of the device.

[0060] In summary, this drone-based urban rail transit overhead contact line foreign object cleaning device, by setting up the cleaning mechanism 2, can not only achieve remote cleaning of the overhead contact line, saving manpower, reducing operational difficulty, and avoiding safety risks, but also achieve remote de-icing of the overhead contact line in winter, ensuring the safe and efficient operation of urban rail transit.

[0061] The above are merely specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on the present invention to solve essentially the same technical problems and achieve essentially the same technical effects are all covered within the protection scope of the present invention.

Claims

1. A drone-based device for cleaning foreign objects from urban rail transit overhead contact lines, comprising a drone body (1) and a cleaning mechanism (2), characterized in that: The cleaning mechanism (2) is fixedly installed at the bottom of the drone body (1) to clean foreign objects on the urban rail transit contact network; The cleaning mechanism (2) includes a mounting plate (21) fixedly installed at the bottom of the drone body (1). A rectangular frame (22) is fixedly installed at the bottom of the mounting plate (21). Two symmetrically distributed sliders (23) are slidably installed inside the rectangular frame (22). A connecting plate (24) is fixedly connected to the bottom of the slider (23). A clamping block (25) is fixedly connected to the opposite side of the lower end of the two connecting plates (24). A driving component (26) for driving the slider (23) to slide is provided inside the rectangular frame (22). A knocking component (27) for cleaning ice is provided on one side of the connecting plate (24).

2. The unmanned aerial vehicle (UAV)-based foreign object removal device for urban rail transit overhead contact lines according to claim 1, characterized in that: The drone body (1) has wings (11) at the four corners of the top, and landing supports (12) are provided on both sides of the bottom of the drone body (1).

3. The unmanned aerial vehicle (UAV)-based foreign object removal device for urban rail transit overhead contact lines according to claim 1, characterized in that: A first wide-angle camera (13) is provided at the bottom of the front end of the drone body (1), and a second wide-angle camera (14) is provided at the bottom of the rear end of the drone body (1).

4. The unmanned aerial vehicle (UAV)-based foreign object removal device for urban rail transit overhead contact lines according to claim 1, characterized in that: The clamping surface of the clamping block (25) is provided with a serrated anti-slip groove (251).

5. A drone-based foreign object removal device for urban rail transit overhead contact lines according to claim 1, characterized in that: The drive assembly (26) includes a bidirectional screw (261) rotatably mounted in a rectangular frame (22) and a first motor (262) for driving the bidirectional screw (261) to rotate. The first motor (262) is fixedly mounted on one side of the rectangular frame (22), and the two sliders (23) are respectively sleeved on both sides of the bidirectional screw (261) and threadedly connected to the bidirectional screw (261).

6. A drone-based foreign object removal device for urban rail transit overhead contact lines according to claim 5, characterized in that: A guide rail (263) is provided on the inner side wall of the rectangular frame (22), and the slider (23) is slidably connected to the guide rail (263).

7. A drone-based urban rail transit overhead contact line foreign object removal device according to claim 1, characterized in that: The striking assembly (27) includes a housing (271) fixedly installed on one side of the connecting plate (24) and a striking block (272) slidably installed on one side of the housing (271). A second motor (273) is fixedly installed inside the housing (271). A cam (274) is fixedly connected to the output end of the second motor (273). The cam (274) abuts against one end of the striking block (272). Springs (275) are fixedly installed on both sides inside the housing (271). One end of each of the two springs (275) abuts against both sides of the striking block (272).

8. A drone-based urban rail transit overhead contact line foreign object removal device according to claim 7, characterized in that: The striking block (272) has a plurality of spaced triangular blocks (276) at the end away from the cam (274).

9. A drone-based urban rail transit overhead contact line foreign object removal device according to claim 7, characterized in that: Guide rods (277) are fixedly installed on both sides inside the housing (271), and the spring (275) and the striking block (272) are movably sleeved on the guide rods (277).

10. A drone-based foreign object removal device for urban rail transit overhead contact lines according to claim 7, characterized in that: The inner side of the connecting plate (24) is provided with a receiving groove (28), and one end of the striking block (272) is set in the receiving groove (28).

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