Unmanned aerial vehicle based power distribution line bird nest removal device and method of use

Abstract

The application discloses a power distribution line bird nest removing device based on a unmanned aerial vehicle and a use method thereof, and belongs to the technical field of power transmission line maintenance, and solves the problems of high danger and low operation efficiency of manual pole climbing and bird nest dismantling in the prior art. The device mainly comprises a unmanned aerial vehicle, the unmanned aerial vehicle comprises a fuselage and rotors arranged around the fuselage, a landing gear is arranged below the fuselage, a bird repelling structure is arranged on the landing gear, a boom is connected to the bottom of the fuselage, a cleaning structure is arranged at the bottom of the boom, the cleaning structure comprises a controller I, a clamping assembly and a rotary drilling assembly, the rotary drilling assembly is connected to the clamping assembly in a matched mode, the controller I is connected to the clamping assembly and the rotary drilling assembly respectively, and a power supply battery is arranged in the controller I. The integrated clamping and rotary drilling assembly can deal with bird nests with different tightness, and the cooperative operation of the clamping jaw and the drill bit can ensure that the bird nest is removed, thereby solving the problem of incomplete removal of the bird nest by the traditional simple clamping jaw.

Description

Technical Field

[0001] This invention relates to the field of power transmission line maintenance technology, and more specifically, to a device for removing bird nests from power distribution lines based on unmanned aerial vehicles (UAVs) and its usage method. Background Technology

[0002] Due to their structural characteristics, power transmission line towers often become ideal nesting sites for birds. Bird nests can not only cause power outages such as short circuits and tripping, but the metal wires and other materials used in their construction can also directly lead to grounding faults, seriously threatening the safe and reliable operation of the power grid. Currently, removing bird nests from power lines mainly relies on manual removal from the towers. This method is not only inefficient and costly, but also poses significant safety risks of falls from heights and electric shock. To replace manual labor, some technical solutions have begun to utilize drone platforms. However, existing technologies often have significant drawbacks. For example, application CN106941246A discloses a drone for removing bird nests from power transmission and distribution networks. Its advantages lie in its non-contact operation, avoiding the risk of electric shock from close-range manual operation. It is adaptable to various scenarios such as transmission and distribution towers and utility poles, requiring only two operators to complete the operation, increasing efficiency by more than three times compared to manual labor. The limitations are that the high-pressure gas cylinder weighs 3-5 kg, increasing the burden on the drone's endurance; the gas impact force is insufficient for bird nests with tightly intertwined branches, resulting in a success rate of only 60%-70%; and it relies on ground-based vehicle-mounted devices, limiting its mobility in complex terrain. Currently, there is a lack of a safe and efficient bird nest removal device suitable for power line scenarios. Summary of the Invention

[0003] The purpose of this invention is to provide a drone-based device for removing bird nests from power distribution lines and its usage method, in order to solve the problems of high risk and low efficiency of manual pole climbing to remove bird nests in the prior art.

[0004] This invention is achieved through the following technical solution: A drone-based bird nest removal device for power distribution lines includes a drone, which has a fuselage and rotors arranged around the fuselage. A landing gear is located under the fuselage, and a bird-repelling structure is mounted on the landing gear. A boom is connected to the bottom of the fuselage, and a cleaning structure is located at the bottom of the boom. The cleaning structure includes a controller I, a clamping assembly, and a rotary cutting assembly, with the rotary cutting assembly and the clamping assembly connected in cooperation. The controller I is connected to both the clamping assembly and the rotary cutting assembly, and a power supply battery is located within the controller I.

[0005] Furthermore, the clamping assembly includes a mounting platform, on which a drive cylinder is fixed, and the drive cylinder is electrically connected to a power supply battery; a mounting seat is provided on the piston rod of the drive cylinder, and several connecting rods are hinged to the mounting seat; each of the several connecting rods is hinged to a gripper; several hinge seats are provided on the mounting platform, and the grippers are connected to the mounting platform through the hinge seats; the several grippers open and close under the action of the up and down movement of the mounting seat, and a rotary cutting assembly is provided at the bottom of the mounting seat.

[0006] Furthermore, the rotary cutting assembly includes a drive motor, which is electrically connected to a power supply battery. The drive motor is fixed to the bottom of the mounting base, and a drill bit is provided on the output shaft of the drive motor.

[0007] Furthermore, the drill bit is provided with a plurality of spiral blades, which are distributed in a spiral pattern around the drill bit; an alloy head is provided at the bottom end of the drill bit.

[0008] Furthermore, the bird deterrent structure includes a bird deterrent platform, on which a bird deterrent device and an ultrasonic generator are mounted; the bird deterrent device is connected to a controller II, which contains a power supply battery; the bird deterrent device includes a sound and a warning light; and the ultrasonic generator is electrically connected to the controller II.

[0009] Furthermore, the bird deterrent platform is equipped with a medicine tank, and the medicine tank is connected to several nozzles through pipelines. A booster pump and an electric flow valve are installed on the pipelines; the several nozzles are fixed to the bottom of the bird deterrent platform.

[0010] Furthermore, the boom is formed by hinged chain blocks; the bottom of each chain block is provided with an ear plate, the ear plate is provided with a through hole, and the top of each chain block is provided with a connecting hole; the chain blocks are hinged by connecting pins passing through the through hole and the connecting hole of the adjacent chain block.

[0011] Furthermore, the top of the boom is connected to the fuselage via a damping connector.

[0012] Furthermore, the controller I is connected to a camera, which is fixed to one side of the mounting platform.

[0013] A method for using a drone-based bird nest removal device for power distribution lines includes the following steps: S1. Survey and Location: Use drone cameras to identify and locate bird nests along the route, and take multi-angle photos of the nests for archiving. S2. Approach and Hover: Control the drone to fly near the Bird's Nest and hover stably, with the ground terminal communicating wirelessly with Controller I and Controller II; align the cleaning structure with the target; S3. Repelling and Prevention: Use sound and light, ultrasound, or bird repellent sprays to prevent birds from staying in the nest; S4. Grab and remove: Control the opening and closing of the grippers to hold and fix the bird's nest; at the same time, start the drive motor to rotate the drill bit, destroy the bird's nest structure and remove it; S5. Final Return: Retrieve the device, return the drone to base, and check the clearance results.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention utilizes a drone platform to carry the operating mechanism, avoiding the risks of falls and electric shock associated with manual tower climbing, thus improving operational safety. The integrated gripping and rotary drilling components can handle bird nests of varying tightness, especially stubborn nests tightly bound with materials such as wire and vines. The coordinated operation of the grippers and drill bit effectively grasps, loosens, and breaks the nest, ensuring its complete and thorough removal, thus solving the problem of incomplete removal by traditional simple grippers.

[0015] 2. This invention integrates the bird-repelling structure and the bird-clearing structure onto the same operating platform, enabling the simultaneous removal of bird nests and the activation of multiple bird-repelling methods, including sound, light, ultrasound, and pesticide spraying. This immediate intervention significantly reduces harm to birds, discourages their return to their original locations, and avoids the danger of birds attacking drones.

[0016] 3. The insulating rod of the present invention adopts a hinged chain structure, which maintains rigidity in the direction of motor torsion to ensure that the torque is effectively transmitted to the rotating clamp, and can be flexibly folded and retracted in the vertical direction, making it convenient for drones to carry and adjust the working angle. Attached Figure Description

[0017] Figure 1 This is the front view of the present invention; Figure 2 This is the left view of the present invention; Figure 3 yes Figure 1 Enlarged view of section A; Figure 4 This is a schematic diagram of the chain block structure of the present invention.

[0018] In the diagram: 1. Fuselage; 2. Rotor; 3. Landing gear; 4. Boom; 5. Nozzle; 6. Agent tank; 7. Bird deterrent device; 8. Controller II; 9. Clamping assembly; 10. Rotary cutting assembly; 11. Mounting platform; 12. Drive cylinder; 13. Hinge seat; 14. Gripper; 15. Mounting base; 16. Drive motor; 17. Drill bit; 18. Chain block; 19. Ear plate; 20. Connecting pin; 21. Bird deterrent platform; 22. Ultrasonic generator; 23. Controller I; 24. Camera. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the invention.

[0020] The present invention will now be further described in conjunction with the accompanying drawings.

[0021] Example 1: A drone-based bird nest removal device for power distribution lines, such as... Figures 1-4 As shown, the device includes a drone, which comprises a fuselage 1 and rotors 2 arranged around the fuselage 1. A landing gear 3 is located below the fuselage 1, and the landing gear 3 has a bird-repelling structure. A boom 4 is connected to the bottom of the fuselage 1, and a cleaning structure is located at the bottom of the boom 4. The cleaning structure includes a controller I, a gripping assembly 9, and a rotary cutting assembly 10, which are connected to the gripping assembly 9. The controller I is connected to both the gripping assembly 9 and the rotary cutting assembly 10. The controller I has a 24V / 3.5Ah power supply battery and integrates a wireless communication module for data interaction with a ground control terminal.

[0022] Example 2: A bird nest removal device for power distribution lines based on unmanned aerial vehicles (UAVs). The gripping assembly 9 includes a circular mounting platform 11. A drive cylinder 12 is fixed at the center of the mounting platform 11 and is electrically connected to a power supply battery. A mounting seat 15 is provided at the end of the piston rod of the drive cylinder 12, and four connecting rods are hinged to the mounting seat 15. Each of the four connecting rods has an arc-shaped gripper hinged to its end. A hinge seat 13 is provided on the edge of the mounting platform 11 corresponding to the position of each gripper 14, and each gripper 14 is connected to the mounting platform 11 through the hinge seat 13. When the drive cylinder 12 is activated, it drives the mounting seat 15 to move up and down, and through the connecting rods, drives all the grippers 14 to synchronously open and close around their respective hinge seats 13, thereby achieving the enveloping gripping or release of the bird nest. A rotary cutting assembly 10 is provided at the bottom of the mounting seat 15.

[0023] The rotary cutting assembly 10 includes a drive motor 16, which is electrically connected to a power supply battery. A drive board is provided between the drive motor 16 and the controller I. The drive board includes a Hall effect brushless motor driver and a WH148 speed controller, which can receive commands from the controller I to switch the motor's forward and reverse rotation directions and precisely adjust the motor speed through the speed controller. The drive motor 16 is a brushless motor with a power of 110W and a speed of 700 rpm. The low-speed, high-torque characteristics of the drive motor 16 ensure that it can penetrate the structure of the bird's nest while avoiding the flying of bird's nest debris due to excessive speed. The drive motor 16 is coaxially fixed directly below the mounting base 15. The output shaft of the drive motor 16 extends vertically downward and is fixedly connected to a drill bit 17. The drill bit 17 is located on the central axis of the space formed by all the grippers 14. The upper diameter of the drill bit 17 is 15-20cm, the pitch is 1.5cm, and the height is approximately 15cm.

[0024] The drill bit 17 is conical and has two spiral blades arranged in a spiral pattern. The spiral blades extend to the tip of the drill bit 17, and the tip of the drill bit 17 is inlaid with a breaking head made of hard alloy. The outer edge of the spiral blades can be designed as a sharp cutting edge for cutting the entangled material when rotating.

[0025] The bird deterrence structure includes a bird deterrence platform 21, on which a bird deterrence device 7 and an ultrasonic generator 22 are mounted. The bird deterrence device 7 is connected to a controller II 8, which contains a power supply battery and an integrated wireless communication module for receiving ground commands or operating according to a preset program. The bird deterrence device 7 includes a sound system and a warning light. The warning light is a high-brightness strobe LED. The sound system can play the calls of specific bird predators or alarm sounds. The ultrasonic generator 22 is electrically connected to the controller II 8.

[0026] The bird deterrent platform 21 is equipped with a sealed medicine tank 6. The medicine tank 6 is connected to four nozzles 5 through pipelines. The nozzles 5 are atomizing nozzles controlled by miniature solenoid valves. The atomizing nozzles 5 are evenly distributed around the bottom of the bird deterrent platform 21. A miniature booster pump and an electric flow valve are installed on the pipeline. The miniature booster pump is used to improve the spray range and atomization effect.

[0027] The boom 4 is formed by hinged links 18 made of high-strength plastic through connecting pins 20, forming a foldable flexible connecting rod; the main body of a single link 18 is T-shaped; one end of the link 18 is provided with two ear plates 19, and the other end is provided with a plug that mates with the ear plates 19 of the adjacent link 18. The ear plates 19 are provided with through holes, and the plug of the link 18 is provided with a connecting hole; the link 18 is hinged by the connecting pins 20 passing through the through holes and the connecting holes of the adjacent link 18.

[0028] The top of the boom 4 is connected to the fuselage 1 via a damping connector. The damping connector adopts a circular damper design and connects the insulated boom 4 to the UAV via a fixed base. To determine the optimal installation position, a torque wrench is used to install the damping connector at the top and bottom of the boom 4 respectively. The damping connector contains an elastic element that provides appropriate return torque and a damping medium that dissipates vibration energy to prevent the fuselage 1 from shaking or being damaged.

[0029] The controller I is connected to a camera capable of 50m image transmission, equipped with a high-definition night vision red lens and a 4.3-inch IPS screen. The camera is fixed to one side of the installation platform 11. The camera is mounted on the upper side of the installation platform 11 via a pan-tilt mechanism, and its lens direction is adjustable to ensure clear capture of the relative positions of the gripper 14, drill bit 17, and the bird's nest, as well as the entire operation process. The video stream is transmitted in real-time to the ground control terminal, providing the operator with first-person visual feedback. On one hand, image acquisition accurately locates the bird's nest; on the other hand, it monitors the working posture, operating status, and surrounding environment of the auger drill bit 17 in real time. The image transmission distance reaches 50 meters, ensuring the demolition process is visualized and controllable.

[0030] Everything else is the same as in Example 1.

[0031] A method for using a drone-based bird nest removal device for power distribution lines includes the following steps: S1. Preliminary Survey and Mission Planning: The operator controls the drone to fly along the predetermined inspection route, using its own image transmission camera and high-definition cameras on the cleaning structure to scan the power line towers from multiple angles, identify and accurately locate the position, size, and spatial relationship of the bird's nest with key equipment such as conductors and insulators, avoiding damage to the conductors. The images, coordinates, and environmental information of the bird's nest are photographed, archived, and entered into the mission system.

[0032] S2. Safe Approach and Precise Hovering: Based on the information obtained in S1, plan a safe approach path. Control the drone to a safe airspace near the target bird's nest, then slowly and precisely adjust the drone's position and attitude so that the cleaning structure at the bottom of boom 4 is aligned with the main body of the bird's nest. The ground control terminal establishes a stable connection with controllers I and II8 via wireless communication, preparing to send operational commands.

[0033] S3. Repelling and prevention: Use sound and light, ultrasound or spray bird repellent to prevent birds from staying in the nest; Pre-operation bird deterrence and safety inspection: Before physical contact with the bird nest, a command is sent via the ground terminal to activate the bird deterrence structure. Controller II8 controls the operation of the sound and light bird deterrent device 7 (sound and light) and the ultrasonic generator 22 to drive away any birds that may be roosting there. At the same time, it can control the atomizing nozzle 5 to spray a small amount of environmentally friendly bird deterrent agent onto the bird nest and its surroundings, further ensuring that there are no live birds to disturb the operation and protecting the safety and welfare of the animals.

[0034] S4. Collaborative Grabbing and Rotary Cutting Removal: After confirming safety, the operator sends instructions to controller I via the ground terminal. First, the drive cylinder 12 is controlled to open the gripper 14 to an angle sufficient to surround the bird's nest. Then, the drone's position is finely adjusted so that the bird's nest enters the inner cavity of the opened gripper 14. Next, the drive cylinder 12 is controlled to press down, causing the gripper 14 to close synchronously, firmly grasping the main body of the bird's nest. Immediately afterward or simultaneously, the drive motor 16 is started, driving the drill bit 17 to rotate at high speed. The sharp spiral blade and alloy demolition head, in conjunction with the gripping force, drill, cut, and break the bond between the bottom of the bird's nest and the tower crossarm, as well as the tough entanglement inside the nest, completely dismantling its structural adhesion. Under real-time camera monitoring, the operator can control the gripper 14 to apply lifting force to remove the loosened or partially broken bird's nest as a whole. For large or particularly stubborn bird's nests, an iterative method of partial breaking, gripping, and then breaking can be used to complete the removal.

[0035] S5. Disposal and Effectiveness Evaluation: The drone is controlled to transport the cleared bird nest debris to the designated harmless disposal area and release it by opening its gripper 14. Subsequently, the drive motor 16 is stopped, the gripper 14 resets, and the bird-repelling structure can briefly reactivate to reinforce the deterrent effect. Finally, the drone is controlled to return to base. During the return journey or after landing, the operation video can be reviewed to compare the before and after images, evaluate the removal effect, and generate an operation report, completing the mission loop.

[0036] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. A device for clearing bird nests from power distribution lines based on unmanned aerial vehicles (UAVs), comprising a UAV, the UAV including a fuselage (1) and rotors (2) arranged around the fuselage (1); a landing gear (3) is provided below the fuselage (1), characterized in that: The landing gear (3) is provided with a bird deterrent structure; the fuselage (1) is connected to a boom (4) at the bottom, and the boom (4) is provided with a cleaning structure at the bottom. The cleaning structure includes a controller I (23), a clamping assembly (9) and a rotary cutting assembly (10). The rotary cutting assembly (10) is connected to the clamping assembly (9). The controller I (23) is connected to the clamping assembly (9) and the rotary cutting assembly (10) respectively. The controller I (23) is provided with a power supply battery.

2. The drone-based bird nest removal device for power distribution lines according to claim 1, characterized in that: The clamping assembly (9) includes a mounting platform (11), on which a drive cylinder (12) is fixed, and the drive cylinder (12) is electrically connected to a power supply battery; the piston rod of the drive cylinder (12) is provided with a mounting seat (15), and a plurality of connecting rods are hinged on the mounting seat (15); the plurality of connecting rods are respectively hinged with grippers (14); the mounting platform (11) is provided with a plurality of hinge seats (13), and the grippers (14) are connected to the mounting platform (11) through the hinge seats (13); the plurality of grippers (14) open and close under the action of the up and down movement of the mounting seat (15); the bottom of the mounting seat (15) is provided with a rotary cutting assembly (10).

3. The drone-based bird nest removal device for power distribution lines according to claim 2, characterized in that: The rotary cutting assembly (10) includes a drive motor (16), which is electrically connected to a power supply battery. The drive motor (16) is fixed to the bottom of the mounting base (15), and a drill bit (17) is provided on the output shaft of the drive motor (16).

4. The drone-based bird nest removal device for power distribution lines according to claim 3, characterized in that: The drill bit (17) is provided with a plurality of spiral blades, which are distributed in a spiral pattern around the drill bit (17); the bottom end of the drill bit (17) is provided with an alloy head.

5. The drone-based bird nest removal device for power distribution lines according to claim 1, characterized in that: The bird deterrence structure includes a bird deterrence platform (21), on which a bird deterrence device (7) and an ultrasonic generator (22) are provided; the bird deterrence device (7) is connected to a controller II (8), which is equipped with a power supply battery; the bird deterrence device (7) includes a sound and a warning light; the ultrasonic generator (22) is electrically connected to the controller II (8).

6. The drone-based bird nest removal device for power distribution lines according to claim 5, characterized in that: The bird deterrence platform (21) is equipped with a medicine box (6), and the medicine box (6) is connected to several nozzles (5) through a pipeline. A booster pump and an electric flow valve are installed on the pipeline. Several nozzles (5) are fixed at the bottom of the bird deterrence platform (21).

7. The drone-based bird nest removal device for power distribution lines according to claim 1, characterized in that: The boom (4) is made of several chain blocks (18) hinged together; the bottom of the chain block (18) is provided with an ear plate (19), the ear plate (19) is provided with a through hole, and the top of the chain block (18) is provided with a connecting hole; the chain block (18) is hinged by a connecting pin (20) passing through the through hole and the connecting hole of the adjacent chain block (18).

8. The drone-based bird nest removal device for power distribution lines according to claim 1, characterized in that: The top of the boom (4) is connected to the body (1) via a damping connector.

9. The drone-based bird nest removal device for power distribution lines according to claim 1, characterized in that: The controller I (23) is connected to a camera (24), which is fixed on one side of the mounting platform (11).

10. A method for using a drone-based bird nest removal device for power distribution lines, characterized in that: The method of using the drone-based power line bird nest removal device according to any one of claims 1-9 includes the following steps: S1. Survey and location: Use the drone camera (24) to identify and locate bird nests along the route, and take multi-angle photos of the bird nests for archiving. S2. Approach and Hover: Control the drone to fly near the Bird's Nest and hover stably. The ground terminal communicates wirelessly with controller I (23) and controller II (8); align the cleaning structure with the target; S3. Repelling and Prevention: Use sound and light, ultrasound, or bird repellent sprays to prevent birds from staying in the nest; S4. Grab and remove: Control the opening and closing of the gripper (14) to hold the bird's nest in place; at the same time, start the drive motor (16) to drive the drill bit (17) to rotate, destroy the bird's nest structure and remove it; S5. Final Return: Retrieve the device, return the drone to base, and check the clearance results.

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