Icing classification self-adaptive de-icing method for adapting to inclined conductor, medium and product

Abstract

The application relates to an icing grading self-adaptive deicing method suitable for an inclined conductor, a medium and a product, a deicing operation robot is a robot integrating an unmanned aerial vehicle and a deicing robot, and the method comprises the steps of starting flight, data acquisition, icing judgment, icing type and thickness identification, parking on the conductor and deicing operation. The application adopts an integrated structure of the unmanned aerial vehicle and the deicing robot, combines multi-modal sensor data acquisition and icing judgment logic, realizes accurate identification and differential response of an icing area, solves the problem of traditional deicing "non-differential action", avoids energy consumption and conductor damage when there is no ice, and improves deicing efficiency and equipment safety. The application can realize full-process autonomous control without manual intervention, solve the problem of traditional deicing relying on manual operation and insufficient automation, greatly reduce the operation risk in extreme weather, and guarantee the stability of the power grid and energy supply.

Description

Technical Field

[0001] This invention relates to the field of anti-icing and de-icing of power transmission lines, specifically to an adaptive de-icing method, medium, and product for graded icing removal of inclined conductors. Background Technology

[0002] Currently, high-altitude infrastructure such as power systems, communication base stations, and wind turbines often face severe icing problems under extreme weather conditions such as freezing rain and snowstorms. This leads to increased equipment load, decreased mechanical performance, and even structural collapse, threatening power grid safety and energy supply stability. For example, severe icing on transmission lines can cause excessive stress on conductors, galloping, and even line breakage. Traditional de-icing methods have significant shortcomings. Manual climbing, thermal melting, or mechanical knocking are not only inefficient but also extremely risky, and personnel safety cannot be guaranteed in extreme weather conditions. Specifically, manual or helicopter de-icing is highly dangerous, and the current-based de-icing method consumes a huge amount of energy and affects power grid safety.

[0003] Traditional robotic de-icing also has many shortcomings. It generally lacks intelligent recognition capabilities, often performing de-icing indiscriminately regardless of whether there is ice or not, resulting in low efficiency and easy damage to the conductors. Its limited ability to crawl along the line leads to poor maneuverability. Furthermore, it lacks integrated flight and de-icing equipment, hindering its ability to respond flexibly and quickly to icing situations. It also lacks the ability to handle localized icing, lacks targeted de-icing strategies, and cannot achieve fully autonomous detection, positioning, and de-icing. In addition, it lacks intelligent recognition of icing types (such as frost, rime, and mixed ice) and the ability to adaptively handle conductor tilt angles, resulting in low energy utilization and unstable de-icing effects.

[0004] Therefore, there is an urgent need for a de-icing method that can adapt to conductor tilt and icing type, and achieve autonomous operation of the entire process from detection and positioning to de-icing, so as to effectively address the icing problem of high-altitude infrastructure. Summary of the Invention

[0005] The purpose of this application is to provide an adaptive de-icing method, medium, and product for icing graded de-icing of inclined conductors, which solves the problem of adaptive and stable de-icing of iced conductors.

[0006] To achieve the above objectives, according to a first aspect of the present invention, an adaptive de-icing method for icing classification of tilted conductors is provided, applied to a de-icing robot. The de-icing robot is a robot integrating a drone and a de-icing robot. The drone includes a multimodal sensor and a rotor tilting module, and the de-icing robot includes a conductor clamping module and a conductor de-icing module. The method includes the following steps:

[0007] Flight initiated: The de-icing robot flies above the conductor;

[0008] Data acquisition: Multimodal sensors are used to collect data on ice accretion on the conductor above the conductor.

[0009] Icing detection: Based on the collected data, determine whether the conductor is covered with ice. If it is covered with ice, stop the conductor. If it is not covered with ice, collect data on icing on the next section of the conductor or return to base.

[0010] Icing type and icing thickness identification: Based on the collected data, identify the icing type and icing thickness of the conductor;

[0011] Docking with the guide wire: Based on the collected data, the tilt angle of the guide wire is determined, and the aircraft gradually lands and docks with the guide wire. The rotor tilt angle is adjusted by the rotor tilt module to compensate for the fuselage tilt angle, and the guide wire is clamped by the guide wire clamping module.

[0012] De-icing operation: De-icing is carried out using a wire de-icing module, depending on the type and thickness of the ice.

[0013] In one embodiment, the multimodal sensor includes at least one of a camera and a radar, wherein the radar is one or more of a lidar, infrared radar, or ultrasonic radar.

[0014] In one embodiment, during the icing detection process, the thickness of the ice on the conductor is used to determine whether icing has occurred.

[0015] If the ice thickness is greater than or equal to the first set value, it is judged as ice accumulation;

[0016] If the ice thickness is less than the first set value, it is judged as not being covered with ice.

[0017] In one embodiment, in the identification of icing type and icing thickness, if the first set value ≤ icing thickness < the second set value, and the icing is a single type of ice layer, then it is classified as one type of ice.

[0018] If the second set value is less than or equal to the ice thickness, and the ice layer is of a single type, then it is classified as Class II ice.

[0019] If the first set value ≤ ice thickness < the second set value, and the ice layer is a mixed type of ice, then it is classified into three types of ice;

[0020] If the second set value is less than or equal to the ice thickness, and the ice layer is a mixed type of ice, then it is classified into four types of ice.

[0021] In one embodiment, the icing is determined to be a single type of ice layer or a mixed type of ice layer by using radar reflection signals from a multimodal sensor and camera image information.

[0022] In one embodiment, during the de-icing operation, the wire de-icing module includes a de-icing wheel, a heat-melting unit, and a vibration unit. The de-icing wheel is used to provide squeezing and shearing forces to remove ice, the heat-melting unit is used to provide heat to melt ice, and the vibration unit can provide vibration to assist in de-icing.

[0023] For type 1 ice, start the de-icing wheel and move it along the conductor to remove the ice;

[0024] For Class II ice, the hot melting unit and de-icing wheel are activated to move along the guide wire to remove ice;

[0025] For the three types of ice, the vibration unit and de-icing wheel are activated to move along the guide wire to remove the ice;

[0026] For the four types of ice, the vibration unit, the hot melting unit, and the de-icing wheel are activated to move along the guide wire to remove ice.

[0027] In one embodiment, when docking with the guide wire, the rear end of the de-icing robot contacts the guide wire first, and then the front end of the de-icing robot gradually contacts the guide wire according to the tilt angle of the guide wire. The front end is the side of the de-icing robot equipped with a camera, and the side of the de-icing robot opposite to the front end is the rear end. During docking, the body of the de-icing robot tilts relative to the guide wire by less than or equal to 30°. The rotor tilting module adjusts the rotor tilting angle according to the body tilting angle to compensate for the body tilting angle, so that the rotor always maintains vertical upward lift.

[0028] After the front and rear ends of the de-icing robot come into contact with the wire, the wire clamping module is activated to clamp the wire according to its external dimensions.

[0029] In one embodiment, during the docking of the guide wire, the rotor tilting module includes a rotor, a rotor arm, a rotor motor, and an adjustable linkage module;

[0030] The adjustable linkage module includes a parallel linkage mechanism, a tilting motor, and a tilting synchronization mechanism. The parallel linkage mechanism consists of two sets, symmetrically arranged on both sides of the structural frame of the de-icing robot, and connected by the tilting synchronization mechanism. The tilting motor is mounted on the structural frame of the de-icing robot.

[0031] The parallel linkage mechanism includes a transmission link, a first swing rocker and a second swing rocker. The output shaft of the tilt motor is connected to one end of the first swing rocker and can drive the first swing rocker to rotate. The other end of the first swing rocker is connected to one end of the transmission link. The other end of the transmission link is connected to one end of the second swing rocker. The other end of the second swing rocker is connected to the structural frame of the de-icing robot.

[0032] The rotor arm is mounted on the transmission link and can swing with the transmission link. The rotor arm is equipped with a rotor and a rotor motor.

[0033] According to a second aspect of this application, a computer-readable medium is provided that stores a computer program / instructions thereon, which, when executed by a processor, implement the steps of the aforementioned method.

[0034] According to a third aspect of this application, a computer program product is provided, comprising a computer program / instructions that, when executed by a processor, implement the steps of the aforementioned method.

[0035] Compared with the prior art, this application has the following beneficial effects:

[0036] 1. This application adopts an integrated structure of drone and de-icing robot, combining multimodal sensor data acquisition and icing judgment logic. By using radar reflection signals from multimodal sensors and camera image information, it determines whether the icing is a single type of ice layer or a mixed type of ice layer, achieving accurate identification and differentiated response of icing areas. This solves the problem of "indiscriminate action" in traditional de-icing, avoids energy consumption and wire damage when there is no ice, and improves de-icing efficiency and equipment safety.

[0037] 2. This application enables fully autonomous control of the entire process, integrating automated steps from flight start-up, data acquisition, icing judgment, docking with the conductor to de-icing operations, without the need for manual intervention. This solves the problems of traditional de-icing relying on manual labor and insufficient automation, significantly reduces operational risks under extreme weather conditions, and ensures the stability of the power grid and energy supply.

[0038] 3. This application compensates for the tilt angle of the fuselage by rotating the rotor and adapts the clamping module to the wire size, so that the rotor always maintains vertical upward lift, enabling the robot to stop stably on the tilted wire, adapt to the tilt angle of the wire, and perform one-time de-icing from one end of the wire to the other, thus improving the adaptability of operation in complex line environments.

[0039] 4. This application classifies icing into four categories by identifying the type and thickness of icing and matching them with corresponding de-icing strategies, solving the problem of lack of targeted treatment for different types of icing, realizing "on-demand de-icing", and ensuring stable de-icing effect and high energy utilization. Attached Figure Description

[0040] Figure 1 This is a flowchart of a de-icing operation method according to an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the calculation of conductor icing thickness according to the present invention;

[0042] Figure 3 This is a three-dimensional structural diagram of the de-icing robot of the present invention;

[0043] Figure 4 This is a three-dimensional structural diagram of the rotor tilting module of the de-icing robot of the present invention;

[0044] Figure 5 This is a three-dimensional structural diagram of the wire clamping module and the wire de-icing module of the de-icing robot of the present invention;

[0045] Figure 6 This is a three-dimensional structural diagram of the wire de-icing module of the de-icing robot of the present invention;

[0046] Figure 7 This is a bottom view of the de-icing robot of the present invention. The arrows in the figure indicate the direction of movement during the de-icing operation.

[0047] In the picture:

[0048] 1. Drone; 1-3. Rotor; 1-4. Rotor arm; 1-5. LiDAR; 1-6. Gimbal camera; 1-7. RTK module; 1-10. Rotor motor; 1-11. Rotor protective frame; 1-12. Transmission linkage; 1-13. First swing rocker; 1-14. Second swing rocker; 1-15. Third swing rocker; 1-16. Tilting motor; 1-17. Angle sensor; 1-18. Connecting shaft;

[0049] 2. De-icing robot; 4. Wire clamping module; 4-1. Clamping motor; 4-2. Clamping motor fixing component; 4-3. Clamping large synchronous pulley; 4-4. Clamping small synchronous pulley; 4-5. Clamping synchronous belt; 4-6. Clamping upper lead screw; 4-7. Clamping guide shaft; 4-10. Upper lead screw support component; 4-11. Lower lead screw support component; 4-12. Clamping transmission synchronous pulley; 4-13. Clamping transmission synchronous belt; 4-14. Clamping lower lead screw; 4-15. Upper lead screw fixing component; 4-19. Radar receiver board; 4-20. Clamping lidar;

[0050] 5. Wire de-icing module; 5-1. De-icing gear; 5-1-1. De-icing tooth; 5-2. De-icing roller; 5-2-1. Outer rubber of de-icing roller; 5-5. De-icing motor. Detailed Implementation

[0051] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0052] According to one aspect of the present invention, a wire de-icing method based on a de-icing robot is provided. The de-icing robot is a robot integrating a drone and a de-icing robot. The drone includes a multimodal sensor and a rotor tilting module, and the de-icing robot includes a wire clamping module and a wire de-icing module. The method includes the following steps:

[0053] Flight Initiation: The de-icing robot takes off and flies above the conductor;

[0054] Data acquisition: Multimodal sensors are used to collect data on the icing condition of the conductor above the conductor;

[0055] Icing detection: Based on the collected data, determine whether the conductor is covered with ice. If it is covered with ice, land on the conductor; if it is not covered with ice, fly to the next section of the line to collect data or return to base.

[0056] Icing type and thickness identification: Based on the collected data, identify the type and thickness of ice accretion on the conductor;

[0057] Docking with the guide wire: Based on the collected data, the tilt angle of the guide wire is determined, and the aircraft gradually lands and docks with the guide wire. The rotor tilt angle is adjusted by the rotor tilt module to compensate for the fuselage tilt angle, and the guide wire is clamped by the guide wire clamping module.

[0058] De-icing operation: De-icing is carried out using a wire de-icing module, depending on the type and thickness of the ice covering the wire.

[0059] After de-icing is completed, the wire clamping module releases its grip on the wire, and the de-icing robot flies away from the wire to the next section of the wire or returns to standby.

[0060] This invention enables autonomous flight to power transmission lines (conductors) and hover or attach to them; it automatically identifies icing conditions, including location, thickness, and extent, through an identification module; it only activates the actuator to land and de-ice when icing is detected, maintaining monitoring even when no icing is present, without performing unnecessary actions; thus achieving efficient, safe, precise, and low-damage automated de-icing of power transmission lines. This invention features electromagnetic interference protection and high-voltage isolation; dual flight and clamping modes improve stability; and it can be remotely controlled or operate autonomously, adapting to rapid de-icing tasks on large-area lines.

[0061] The following is a detailed description of the implementation details of a wire de-icing method based on a de-icing robot in this embodiment. The following content is only for the convenience of understanding and is not necessary for implementing this solution.

[0062] One specific embodiment of the present invention is as follows: Figure 1 As shown. In some embodiments, during data acquisition, the multimodal sensor used includes at least one of a camera and radar, with the radar being one or more of lidar, infrared radar, or ultrasonic radar. During de-icing operations, the wire de-icing module includes a de-icing wheel, a heat-melting unit, and a vibration unit. The de-icing wheel provides compression and shearing forces for de-icing, the heat-melting unit provides heat for melting the ice, and the vibration unit provides vibration to assist in de-icing. Of course, the de-icing robot is also equipped with a positioning device.

[0063] During the icing detection process, the thickness d of the ice on the conductor is used to determine whether icing has occurred.

[0064] If the ice thickness d ≥ the first set value D1, then it is judged as ice accumulation;

[0065] If the ice thickness d < the first set value D1, then it is determined that there is no ice.

[0066] During the icing type and thickness identification process, single-type and mixed-type ice layers are determined using radar reflection signals from multimodal sensors and camera image information; the icing thickness is calculated as follows (see [reference]). Figure 2 :

[0067]

[0068]

[0069]

[0070] in, For ice thickness, This is the shortest straight-line distance from the radar to the outer surface of the conductor. Let the bare radius of the conductor be 1. The angle between the radar and the tangent direction of the conductor. This is the distance from the radar to the point where it is tangent to the conductor.

[0071] Alternatively, the ice thickness can be calculated by directly comparing models created from radar scans of icy and uniced conductors.

[0072] If the first set value D1 ≤ ice thickness d < the second set value D2, and the ice is identified as a single type of ice layer, then it is classified as a type of ice (single type thin ice).

[0073] If the second set value D2 ≤ ice thickness d, and the ice is identified as a single type of ice layer, then it is classified as Class II ice (single type thick ice).

[0074] If the first set value D1 ≤ ice thickness d < the second set value D2, and the ice layer is identified as a mixed type of ice layer, then it is classified into three types of ice (mixed type thin ice).

[0075] If the second set value D2 ≤ ice thickness d, and it is identified as a mixed-type ice layer, then it is classified into four types of ice (mixed-type thick ice).

[0076] The thickness determination method is the same for both Type I and Type III ice, with Type III ice having a greater hardness than Type I ice. Similarly, the thickness determination method is the same for both Type II and Type IV ice, with Type IV ice having a greater hardness than Type II ice. Furthermore, the thickness of Type II and Type IV ice is greater than that of Type I and Type III ice.

[0077] The main types of icing on conductors include frost, rime, and mixed ice. Mixed ice has a stronger adhesion and is more difficult to remove than single-type ice (such as frost or rime). This invention combines the type and thickness of icing to classify icing into four categories and provides targeted de-icing methods.

[0078] For one type of ice, the de-icing wheel is activated to advance along the guide wire to remove ice; the de-icing wheel provides squeezing and shearing forces to advance along the guide wire to break the ice, for example, the de-icing wheel uses helical teeth;

[0079] For Class II ice, the hot melt unit and the de-icing wheel are activated to move along the guide wire to remove ice. The hot melt unit melts the ice layer, and the de-icing wheel scrapes it to move along the guide wire to remove ice. For example, two sets of de-icing wheels are set, one set with straight teeth and the other with helical teeth, which work with the hot melt unit to remove ice.

[0080] For the three types of ice, the vibration unit and de-icing wheel are activated to advance along the guide wire to remove ice; the de-icing wheel provides squeezing and shearing force to advance along the guide wire to break the ice, while the vibration unit works in conjunction to remove stubborn ice layers with strong adhesion.

[0081] For the four types of ice, the vibration unit, the hot melting unit, and the de-icing wheel are activated to move along the guide wire to remove ice. The four types of ice have strong adhesion and are relatively thick, so they are removed by a combination of vibration, ice melting, and cutting.

[0082] The de-icing force, gear pressure, and motor torque of the wire de-icing module can all be automatically adjusted to ensure that the wires are not damaged.

[0083] During docking with the guide wire, the rear end of the de-icing robot contacts the guide wire first. Then, depending on the tilt angle of the guide wire, the front end of the robot gradually contacts it. The front end is the side of the robot equipped with a camera, and the side opposite the front end is the rear end. During docking, the robot gradually tilts its body, with the body tilting at an angle of less than or equal to 30° relative to the guide wire. The rotor tilting module adjusts the rotor tilt angle according to the tilt angle to compensate for the tilt angle, ensuring that the rotor always maintains vertical upward lift. After both the front and rear ends of the robot contact the guide wire, the guide wire clamping module is activated to clamp the guide wire according to its external dimensions (guide wire external dimensions = wire diameter + twice the ice thickness).

[0084] During the docking process, the rotor tilting module includes a rotor, a rotor arm, a rotor motor, and an adjustable linkage module. The adjustable linkage module includes a parallel linkage mechanism, a tilting motor, and a tilting synchronization mechanism. Two sets of parallel linkage mechanisms are symmetrically arranged on both sides of the de-icing robot's structural frame and connected by the tilting synchronization mechanism. The tilting motor is mounted on the de-icing robot's structural frame. The parallel linkage mechanism includes a transmission link, a first swing rocker, and a second swing rocker. The output shaft of the tilting motor is connected to one end of the first swing rocker and can drive it to rotate. The other end of the first swing rocker is connected to one end of the transmission link, the other end of the transmission link is connected to one end of the second swing rocker, and the other end of the second swing rocker is connected to the de-icing robot's structural frame. The rotor arm is mounted on the transmission link and can swing with it. The rotor arm is equipped with a rotor and a rotor motor.

[0085] According to a second aspect of the present invention, a computer-readable medium is provided having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps of the aforementioned wire de-icing method based on a de-icing robot.

[0086] According to a third aspect of the present invention, a computer program product is provided, comprising a computer program / instructions that, when executed by a processor, implement the steps of the aforementioned wire de-icing method based on a de-icing robot.

[0087] The structure of the de-icing robot used in this invention will be described in detail below. This description is only for ease of understanding and is not necessary for implementing this solution. The de-icing robot can also be any other structure capable of implementing the aforementioned method.

[0088] A de-icing robot, such as Figures 3 to 7 As shown, the system includes a drone 1 and a de-icing robot 2, which are integrated into one unit. The de-icing robot 2 includes a control module, a wire clamping module 4, and a wire de-icing module 5. The drone 1 includes a multimodal sensor and a rotor tilting module. The multimodal sensor can identify the type of ice on the wire to be de-iced and can also identify the tilt angle of the wire or the tilt angle of the fuselage. The wire de-icing module 5 is mounted on the wire clamping module 4 and located on both sides of the wire to be de-iced, and can move with the wire clamping module 4. The control module connects the wire clamping module 4, the wire de-icing module 5, the multimodal sensor, and the rotor tilting module. The control module can instruct the wire clamping module 4 and the wire de-icing module 5 to operate according to the type of ice, and can instruct the rotor tilting module to tilt according to the tilt angle of the wire or the tilt angle of the fuselage.

[0089] With the assistance of its own multimodal sensors, the de-icing robot flies to the icy guide wire (the guide wire to be de-iced) of the drone 1, identifies the guide wire, and then begins to land. This invention can directly start de-icing from the end of the guide wire. Due to gravity, both ends of the guide wire are tilted. After the de-icing robot lands on the guide wire, its body is tilted. To maintain balance after landing, the control module instructs the rotor tilt module to adjust the tilt angle of its own rotor arms 1-4 according to the tilt angle of the de-icing robot's attitude to compensate for the tilt angle of the body, thereby ensuring that the lift generated by the rotors 1-3 is always perpendicular to the ground and vertically upward, maintaining the stability of the body and thus ensuring the stability of the de-icing operation. Then, according to the type and thickness of the ice on the guide wire and the size of the guide wire (mainly the wire diameter), the guide wire clamping module 4 is activated to clamp the guide wire, ensuring that the guide wire clamping module 4 keeps the icy guide wire firmly clamped. Next, de-icing is performed via the conductor de-icing module 5. First, the robot descends a slope, then, after passing through a relatively stable section in the middle of the icy conductor, it begins its ascent. Under clamping force, the de-icing robot climbs to the end of the conductor, completing the de-icing operation for the entire conductor. After de-icing, it needs to fly away from the conductor. During this process, the control module adjusts the rotor arms 1-4 according to the robot's attitude commands to ensure vertical lift. It then commands the conductor clamping module 4 to release the clamp, allowing the robot to fly away from the current conductor and proceed to the next icy conductor for de-icing. Ideally, the drone 1 remains in a dormant state during the de-icing process.

[0090] Traditionally, drones carrying de-icing devices land in the middle of the conductor because the conductor is stable and has no tilt angle. This means that only one side (from the middle to one end of the conductor) can be de-iced. Then, the drone docks with the conductor and flies back to the middle of the conductor, repeating the process to de-ic the other side (from the middle to the other end of the conductor). This method is cumbersome, consumes a lot of energy from the drone, and requires highly skilled drone pilots.

[0091] By incorporating a rotor tilt module, the de-icing robot can land at the end of an inclined guide wire, enabling de-icing operations along the entire guide wire from one end to the other. The tilt of the rotor tilt module primarily compensates for the robot's body tilt, ensuring that rotors 1-3 remain unaffected by the body tilt and maintain vertical upward lift, thus maintaining overall body balance. This prevents rotors 1-3 from tilting (and the lift direction from being perpendicular to the ground) as the body tilts. The body tilt angle is influenced by the guide wire tilt angle; therefore, the rotor tilt module can adjust the tilt angle based on the guide wire tilt angle (either directly or by converting the guide wire tilt angle into a body tilt angle), or it can adjust the tilt angle based on the body tilt angle.

[0092] The integrated design of the drone 1 and the de-icing robot 2 effectively solves the problem of cumbersome and inefficient operation caused by the repeated connection and separation of drones and de-icing robots in the past. It can also achieve efficient and stable de-icing operations on icy conductors in severe weather. Through the entire automated process, the robot automatically identifies and takes off and lands on the icy conductor. According to the tilt angle of the icy conductor, it adjusts its own posture to maintain the stability of the entire robot on the conductor. It can achieve direct de-icing operations from one end of the conductor to the other. Then, through the cooperation of the conductor clamping module 4 and the conductor de-icing module 5, it can efficiently complete the de-icing operation on the icy conductor, providing a reliable and efficient solution for de-icing in severe weather.

[0093] like Figure 3 As shown, the multimodal sensor includes a lidar 1-5, a gimbal camera 1-6, and an RTK module 1-7 (Real-Time Kinematic, or RTK for short, refers to real-time dynamic carrier phase differential technology, a high-precision positioning technology). The lidar 1-5, gimbal camera 1-6, and RTK module 1-7 are all mounted on the outer casing. The lidar 1-5 is responsible for scanning and modeling complex terrain, the gimbal camera 1-6 is responsible for scanning the image information ahead, and the RTK module 1-7 is responsible for high-precision positioning of the UAV 1. These high-precision sensors can perform functions such as automatic flight of the UAV 1, identification of conductor icing type, and identification of conductor tilt angle.

[0094] like Figure 4 As shown, the rotor tilting module includes rotor 1-3, rotor arm 1-4, rotor motor 1-10, and adjustable linkage module; the adjustable linkage module includes parallel linkage mechanism, tilt motor 1-16, and tilt synchronization mechanism. The parallel linkage mechanism consists of two sets, symmetrically arranged on both sides of the structural frame of the de-icing robot 2, and connected by the tilt synchronization mechanism. The tilt motor 1-16 is mounted on the structural frame of the de-icing robot 2. The parallel linkage mechanism includes transmission linkage 1-12, a first swing rocker 1-13, and a second swing rocker 1-14. The output shaft of the tilt motor 1-16 is connected to the first swing rocker 1-14. One end of the -13 can drive the first swinging rocker arm 1-13 to rotate. The other end of the first swinging rocker arm 1-13 is connected to one end of the transmission link 1-12. The other end of the transmission link 1-12 is connected to one end of the second swinging rocker arm 1-14. The other end of the second swinging rocker arm 1-14 is connected to the structural frame of the de-icing robot 2. The rotor arm 1-4 is mounted on the transmission link 1-12 and can swing with the transmission link 1-12. The rotor arm 1-4 is equipped with a rotor 1-3 and a rotor motor 1-10. The rotor motor 1-10, the tilt motor 1-16, and the angle sensor 1-17 are connected to the control module. Preferably, the other end of the second swinging rocker arm 1-14 is equipped with an angle sensor 1-17.

[0095] The number of rotors 1-3 in the rotor tilting module is not limited. For example, it includes four rotors 1-3, which are mounted in the middle of the de-icing robot 2 via four rotor arms 1-4. Preferably, rotors 1-3 are equipped with rotor protection frames 1-11, which can help maintain the flight attitude of rotors 1-3 in severe weather such as strong winds, and prevent the fuselage from shaking due to airflow impact. On the other hand, it can prevent ice blocks and debris generated during de-icing from hitting and damaging rotors 1-3. For example, the tilting synchronization mechanism includes a connecting shaft 1-18 and two third swinging rockers 1-15. The third swinging rockers 1-15 are connected to the parallel linkage mechanisms on both sides of the structural frame of the de-icing robot 2. The two ends of the connecting shaft 1-18 are connected to one end of the two third swinging rockers 1-15, and the other ends of the two third swinging rockers 1-15 are connected to the transmission linkages 1-12 on both sides of the structural frame of the de-icing robot 2. The connecting shaft 1-18 is set on the structural frame of the de-icing robot 2 and connected to the structural frame of the de-icing robot 2 through a bushing.

[0096] The working principle of the rotor tilting module is as follows: the control module commands the tilting motor 1-16 to transmit the output torque to the first swing arm 1-13 according to the tilt angle of the guide wire or the tilt angle of the fuselage. The first swing arm 1-13 rotates, which in turn drives the transmission link 1-12 to swing and the second swing arm to rotate synchronously. Through the tilting synchronization mechanism, the rotors 1-3 on both sides of the structural frame of the de-icing robot 2, which are connected to the transmission link 1-12, swing synchronously and uniformly to achieve tilting. Specifically, the other end of the third swing arm 1-15 receives the transmission link 1-12. The swing of the second swing lever 1-14 causes it to rotate around the other end of the third swing lever 1-15, which in turn drives the connecting shaft 1-18 to rotate. This, in turn, drives the third swing lever 1-15 on the other side of the structural frame of the de-icing robot 2 to rotate, which in turn drives the transmission link 1-12 on the other side of the structural frame of the de-icing robot 2 to swing. This transfers motion from one side of the structural frame of the de-icing robot 2 to the other side. Since the parallel linkage mechanisms on both sides are symmetrically arranged, they can swing synchronously, thereby achieving synchronous tilting of the rotors 1-3 on both sides. The angle sensor 1-17 at the end of the second swing lever 1-14 can collect the actual swing angle data of the parallel linkage mechanism in real time and feed it back to the control module to achieve closed-loop correction of swing angle deviation.

[0097] like Figures 5 to 7As shown, the conductor de-icing module 5 includes a de-icing wheel, a heat-melting unit, and a vibration unit (not shown in the figure). The de-icing wheel is connected to the conductor clamping module 4 and can clamp and release the conductor as the conductor clamping module 4 moves. The de-icing wheel includes a de-icing gear 5-1 and a de-icing roller 5-2, and is driven by a de-icing motor 5-5. The de-icing gear 5-1 has de-icing teeth 5-1-1 capable of cutting ice. The de-icing teeth 5-1-1 have both helical and straight teeth, and by clamping in opposite directions, multiple de-icing cutting points (horizontal or inclined) can be formed on the conductor, thereby more effectively removing the ice on the conductor. The de-icing roller 5-2 is coated with rubber to form the outer rubber 5-2-1. This not only crushes and removes residual ice after the de-icing gear 5-1 breaks the ice, but also increases the friction with the wire. The longitudinal section of the de-icing roller 5-2 is conical. This conical design provides greater tolerance for the wire's dimensions, preventing it from detaching and ensuring a tight clamping grip. This is especially important because the wire's dimensions change before and after de-icing (before de-icing, the wire's dimensions = wire diameter + twice the ice thickness; after de-icing, the wire's dimensions are the wire diameter, and the dimensions also change during the de-icing process). This also prevents relative slippage caused by vibration during de-icing, ensuring a tight grip. Two de-icing gears 5-1 form a group, and there may be one or more groups. Two de-icing rollers 5-2 form a group, and there may be one or more groups.

[0098] like Figure 5As shown, the wire clamping module 4 includes a clamping motor 4-1, an upper clamping screw 4-6, a lower clamping screw 4-14, a left clamping assembly, a right clamping assembly, and an upper and lower synchronization device. Both the left and right clamping assemblies include an upper screw support 4-10 and a lower screw support 4-11. The clamping motor 4-1 is connected to either the upper clamping screw 4-6 or the lower clamping screw 4-14. The upper clamping screw 4-6 and the lower clamping screw 4-14 are connected via the upper and lower synchronization device. The upper clamping screw 4-6 has positive and negative screws on its left and right sides. The upper screw support 4-10 of the left clamping assembly and the right clamping assembly are respectively connected to the two positive and negative threads. The lower screw support 4-11 is correspondingly arranged below the upper screw support 4-10. The upper screw support 4-10 and the lower screw support 4-11 form the installation position of the wire de-icing module 5. The outer side of the lower screw support 4-11 is connected to the upper and lower synchronization device through the clamping lower screw 4-14. The clamping lower screw 4-14 is arranged parallel to the clamping upper screw 4-6. The clamping motor 4-1 is connected to the control module. The wire clamping module 4 further includes a clamping guide shaft 4-7, which is connected to the upper lead screw support 4-10 of the left clamping assembly and the right clamping assembly respectively, and is arranged parallel to the clamping upper lead screw 4-6; the wire clamping module 4 also includes a distance measuring device, which can measure the distance moved by the upper lead screw support 4-10, and the distance measuring device is connected to the control module; the upper and lower synchronization device includes a clamping transmission synchronous belt 4-13 and a clamping transmission synchronous wheel 4-12, and clamping transmission synchronous wheels 4-12 are respectively provided on the clamping upper lead screw 4-6 and the clamping lower lead screw 4-14, and are connected by the clamping transmission synchronous belt 4-13.

[0099] The clamping motor 4-1 can be connected to either the upper clamping screw 4-6 or the lower clamping screw 4-14. The specific connection is adjusted according to the internal installation space of the de-icing robot 2. The output shaft of the clamping motor 4-1 can be directly connected to either the upper clamping screw 4-6 or the lower clamping screw 4-14, or it can be connected to either the upper clamping screw 4-6 or the lower clamping screw 4-14 via a clamping timing belt 4-5. For example, the clamping motor 4-1 is fixed to the structural frame of the de-icing robot 2 via a clamping motor fixing component 4-2. A small clamping timing pulley 4-4 is fixed to the output shaft of the clamping motor 4-1. The upper clamping screw 4-6 is connected to a large clamping timing pulley 4-3. The small clamping timing pulley 4-4 and the large clamping timing pulley 4-3 are connected via a clamping timing belt 4-5. The small clamping timing pulley 4-4 and the large clamping timing pulley 4-3 have a reduction ratio, which reduces the speed and increases the torque of the clamping motor 4-1. The type of ranging device is not limited, as long as it can measure the distance that the upper lead screw support 4-10 moves, that is, the distance that it moves when clamped and released. For example, a radar receiver 4-19 is provided on the upper lead screw support 4-10, and a clamping laser radar 4-20 is provided on the upper lead screw fixing part 4-15. The two together constitute a ranging device.

[0100] In this invention, when directional terms such as "up," "down," "left," "right," "bottom," and "top" are used, they are defined relative to the directions shown in the accompanying drawings and are used only to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. These or other directional terms should not be construed as restrictive terms.

[0101] In this invention, the use of terms such as "a," "an," "an," "the," etc., does not indicate a quantity limitation and may represent singular or plural. The terms "comprising," "including," "having," and any variations thereof used in this invention are intended to cover non-exclusive inclusion; the terms "first," "second," "third," etc., used in this invention are merely to distinguish similar objects and do not represent a specific ordering of objects.

[0102] In this invention, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0103] Furthermore, this invention does not discuss in detail the technologies and equipment known to those skilled in the art, but where appropriate, such technologies and equipment should be considered part of the specification.

[0104] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An adaptive de-icing method for icing stages adapted to inclined conductors, characterized in that, This technology is applied to de-icing robots, which integrate drones and de-icing robots into one unit. The drone includes multimodal sensors and a rotor tilting module, while the de-icing robot includes a wire clamping module and a wire de-icing module. The process includes the following steps: Flight initiated: The de-icing robot flies above the conductor; Data acquisition: Multimodal sensors are used to collect data on ice accretion on the conductor above the conductor. Icing detection: Based on the collected data, determine whether the conductor is covered with ice. If it is covered with ice, stop the conductor. If it is not covered with ice, collect data on icing on the next section of the conductor or return to base. Icing type and icing thickness identification: Based on the collected data, identify the icing type and icing thickness of the conductor; Docking with the guide wire: Based on the collected data, the tilt angle of the guide wire is determined, and the aircraft gradually lands and docks with the guide wire. The rotor tilt angle is adjusted by the rotor tilt module to compensate for the fuselage tilt angle, and the guide wire is clamped by the guide wire clamping module. De-icing operation: De-icing is carried out using a wire de-icing module, depending on the type and thickness of the ice layer. When docking with the guide wire, the rear end of the de-icing robot contacts the guide wire first, and then the front end of the robot gradually contacts the guide wire according to the tilt angle of the guide wire. The front end is the side of the de-icing robot equipped with the camera, and the side of the de-icing robot opposite the front end is the rear end. During docking, the body of the de-icing robot tilts relative to the guide wire at an angle of less than or equal to 30°. The rotor tilting module adjusts the rotor tilting angle according to the tilt angle of the body to compensate for the tilt angle of the body, so that the rotor always maintains vertical upward lift. During the docking process, the rotor tilting module includes a rotor, rotor arm, rotor motor, and adjustable linkage module. The adjustable linkage module includes a parallel linkage mechanism, a tilting motor, and a tilting synchronization mechanism. There are two sets of parallel linkage mechanisms, which are symmetrically arranged on both sides of the structural frame of the de-icing robot and connected by the tilting synchronization mechanism. The tilting motor is set on the structural frame of the de-icing robot. The parallel linkage mechanism includes a transmission link, a first swing rocker and a second swing rocker. The output shaft of the tilt motor is connected to one end of the first swing rocker and can drive the first swing rocker to rotate. The other end of the first swing rocker is connected to one end of the transmission link. The other end of the transmission link is connected to one end of the second swing rocker. The other end of the second swing rocker is connected to the structural frame of the de-icing robot. The rotor arm is mounted on the transmission link and can swing with the transmission link. The rotor and rotor motor are mounted on the rotor arm.

2. The adaptive de-icing method for icing stages of inclined conductors according to claim 1, characterized in that, Multimodal sensors include at least one of cameras and radar, with the radar being one or more of lidar, infrared radar, or ultrasonic radar.

3. The adaptive de-icing method for icing stages of inclined conductors according to claim 1, characterized in that, During the icing detection process, the thickness of the ice on the conductor is used to determine whether icing has occurred. If the ice thickness is greater than or equal to the first set value, it is judged as ice accumulation; If the ice thickness is less than the first set value, it is judged as not being covered with ice.

4. The adaptive de-icing method for icing stages of inclined conductors according to claim 1, characterized in that, In the identification of icing type and icing thickness, if the first set value ≤ icing thickness < the second set value, and the icing is a single type of ice layer, it is classified as a type of ice. If the second set value is less than or equal to the ice thickness, and the ice layer is of a single type, then it is classified as Class II ice. If the first set value ≤ ice thickness < the second set value, and the ice layer is a mixed type of ice, then it is classified into three types of ice; If the second set value is less than or equal to the ice thickness, and the ice layer is a mixed type of ice, then it is classified into four types of ice.

5. The adaptive de-icing method for icing stages of inclined conductors according to claim 4, characterized in that, The radar reflection signals from multimodal sensors and camera image information are used to determine whether the icing is a single type of ice layer or a mixed type of ice layer.

6. The adaptive de-icing method for icing stages of inclined conductors according to claim 4, characterized in that, During the de-icing operation, the wire de-icing module includes a de-icing wheel, a heat-melting unit, and a vibration unit. The de-icing wheel is used to provide squeezing and shearing force to remove ice, the heat-melting unit is used to provide heat to melt ice, and the vibration unit can provide vibration to assist in de-icing. For type 1 ice, start the de-icing wheel and move it along the conductor to remove the ice; For Class II ice, the hot melting unit and de-icing wheel are activated to move along the guide wire to remove ice; For the three types of ice, the vibration unit and de-icing wheel are activated to move along the guide wire to remove the ice; For the four types of ice, the vibration unit, the hot melting unit, and the de-icing wheel are activated to move along the guide wire to remove ice.

7. The adaptive de-icing method for icing stages of inclined conductors according to claim 2, characterized in that, After the front and rear ends of the de-icing robot come into contact with the wire, the wire clamping module is activated to clamp the wire according to its external dimensions.

8. A computer-readable medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the adaptive de-icing method for icing classification of inclined conductors as described in any one of claims 1 to 7.

9. A computer program product, comprising a computer program / instructions, characterized in that, When executed by a processor, the computer program / instruction implements the steps of the adaptive de-icing method for icing classification of inclined conductors as described in any one of claims 1 to 7.

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