Ultrasonic non-contact power transmission line de-icing device and method

Abstract

This invention relates to an ultrasonic non-contact de-icing device and method for power transmission lines, belonging to the field of power grid safety operation and maintenance. It aims to solve the problems of existing de-icing technologies, such as requiring contact with conductors, easily damaging lines, high energy consumption, and environmental unfriendliness. The device includes an air-coupled ultrasonic wave generator module, a vibration characteristic sensing module, and a control module. The method first collects vibration signals from the transmission conductors through the vibration characteristic sensing module. The control module performs modal analysis and assesses the icing status. When the icing reaches a threshold, the ultrasonic frequency and power are adaptively adjusted. Using air as a medium, non-contact ultrasonic excitation is applied to the conductors and icing, causing the icing to break up and fall off. The de-icing process involves continuous closed-loop feedback and dynamic parameter adjustment until the icing is completely removed. This invention eliminates the need for contact with conductors and coupling agents, avoiding conductor damage. It can be deployed via drones for mobile de-icing or fixed on-line de-icing on towers. It possesses advantages such as intelligence, high efficiency and energy saving, environmental friendliness, and flexible deployment, significantly improving the safety and reliability of transmission line icing control.

Description

Technical Field

[0001] This invention relates to the field of power grid safety and operation and maintenance technology, and in particular to an ultrasonic non-contact de-icing device and method for power transmission lines. Background Technology

[0002] In power transmission and distribution systems, transmission lines serve as the core channels for power transmission, and their safe and stable operation directly affects the overall reliability and power supply quality of the power grid. However, under extreme weather conditions, such as snow, ice, and freezing rain, transmission lines and their fittings are highly susceptible to icing, posing a serious threat to the safe operation of the power grid. Icing not only significantly increases the weight of conductors, causing conductor galloping, tower tilting, and even collapse, but it can also lead to major accidents such as line breaks and fitting damage, resulting in widespread power outages and causing incalculable losses to the national economy and people's lives.

[0003] Currently, various de-icing and de-icing technologies have been developed in the industry to address the problem of icing on transmission lines, mainly including thermal de-icing, mechanical de-icing, chemical de-icing, and contact ultrasonic de-icing. However, these technologies all have certain limitations in practical applications: Thermal ice melting technology: This technology uses the thermal effect of electric current to melt ice by configuring a large-capacity power source or modifying the power grid structure. However, its system is complex and costly, and some solutions require power outages or changes to the power grid's operation, significantly impacting the grid's normal operation. Furthermore, thermal ice melting also presents certain problems in terms of energy consumption and emissions, which does not align with the development trend of green power grids.

[0004] Mechanical de-icing technology primarily relies on physical methods such as scraping and tapping to forcibly remove ice from power lines. While this method is direct and effective, it easily causes wear and damage to the surface of the power lines and hardware, shortening the lifespan of the equipment and increasing maintenance costs. Furthermore, mechanical de-icing operations are labor-intensive, inefficient, and pose significant safety risks when operating on high-altitude or long-span power lines. For example, CN119209369A discloses an intelligent de-icing system for power lines installed using drones, which mentions using drones to improve flexibility, but it does not completely solve the potential damage to power lines caused by mechanical de-icing.

[0005] Chemical de-icing technology involves spraying chemical agents to lower the freezing point, causing the ice to melt and detach. However, these chemicals can corrode conductor materials and cause environmental pollution, which is inconsistent with the trend of green power grid development. Furthermore, the effectiveness of chemical de-icing is greatly affected by ambient temperature, making long-term management impossible. All existing chemical de-icing solutions fail to address the long-term environmental impact of chemical residues. For example, while the transmission line de-icing device disclosed in CN120377159A does not directly involve chemical de-icing, it does not propose an alternative environmentally friendly solution.

[0006] Contact ultrasonic de-icing technology utilizes an ultrasonic transducer fixed to the surface of the conductor by a clamp, relying on a coupling agent to transmit sound energy. Ultrasonic vibration breaks down and removes the ice. However, in low-temperature, rainy, snowy, and strong wind environments, the coupling state easily deteriorates, leading to a decrease in de-icing efficiency. Simultaneously, long-term vibration can cause fatigue damage to the conductor, affecting power grid safety. Furthermore, contact ultrasonic de-icing devices have complex structures, poor deployment flexibility, and are difficult to adapt to non-contact operation scenarios such as drone-mounted systems. Specifically, CN119209369A discloses an intelligent power line de-icing system installed using a drone. While using the drone for image acquisition and de-icing operations improves operational flexibility and safety, it still requires contact de-icing of the power line through an ultrasonic de-icing unit, posing a risk of contact damage. Moreover, it is difficult to automatically adjust the ultrasonic frequency according to the ice thickness, limiting its adaptive capability. CN119695761A discloses a drone-based synchronous resonance de-icing device and method, achieving efficient de-icing through synchronous resonance technology. However, it also relies on direct contact with the conductor, and the accuracy and response speed of the resonance frequency detection device may be affected by environmental factors. The impact of these factors leads to unstable de-icing effects. CN120377159A discloses a power transmission line de-icing device that uses a vibration module and a pressure detection module for de-icing. However, the vibration module needs to act directly on the power transmission line, posing a risk of damaging the conductors. Furthermore, the accuracy and response speed of the pressure detection module may be affected by ambient temperature and humidity, resulting in low de-icing efficiency. CN223858804U discloses a drone with a de-icing device that uses high-frequency vibrations generated by ultrasonic waves and microwaves to heat and crack the ice layer, achieving non-contact de-icing. However, the accuracy and stability of the resonant frequency detection device and adjustment components still need further improvement to adapt to the complex and ever-changing power grid environment.

[0007] To address the numerous problems existing in the prior art, this invention proposes an ultrasonic non-contact de-icing device and method for power transmission lines. This invention aims to achieve precise sensing and on-demand de-icing of icing conditions through non-contact energy transfer, avoiding physical contact and damage to conductors, overcoming the limitations of liquid or solid coupling media, and improving operational safety and applicability. This invention provides a novel technical solution for managing power transmission line icing, and is of great significance for ensuring the safe and stable operation of the power grid, reducing economic losses, and promoting the construction of a green power grid. Its proposal is based on urgent background needs, has significant practical implications, and is necessary. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide an ultrasonic non-contact de-icing device and method for power transmission lines, which overcomes the defects of existing power transmission line de-icing technologies such as complex structure, easy damage to conductors by contact operation, high energy consumption, and environmental unfriendliness, and realizes accurate perception of icing status, efficient non-contact de-icing and adaptive closed-loop control, thereby improving the safety of power grid operation and the level of intelligent operation and maintenance.

[0009] To achieve the above technical objectives, the present invention adopts the following technical solution: An ultrasonic non-contact power transmission line de-icing device is provided, comprising an air-coupled ultrasonic wave generating module, a vibration characteristic sensing module, and a control module; the control module is electrically connected to the air-coupled ultrasonic wave generating module and the vibration characteristic sensing module respectively.

[0010] 1. Air-coupled ultrasonic generator module Composed of an ultrasonic transducer array and a driving circuit, the array contains multiple air-coupled ultrasonic transducer units. Each unit is provided with a backing layer, a piezoelectric element, and at least one acoustic impedance matching layer in sequence. The acoustic impedance decreases stepwise from the piezoelectric element to the air, thereby improving the acoustic energy radiation efficiency. The array adopts a planar array or an arc array. The driving circuit can independently adjust the phase, amplitude, frequency, and power of each unit to achieve beam directivity control and energy focusing, and radiate ultrasonic waves to the power transmission line non-contactly through the air medium.

[0011] 2. Vibration characteristic sensing module It consists of sensors and data acquisition circuits. The sensors are selected from accelerometers, fiber Bragg grating sensors or laser Doppler vibration sensors to collect vibration response signals of power transmission lines. The data acquisition circuit amplifies, filters and converts the signals from analog to digital before transmitting them to the control module.

[0012] 3. Control Module It integrates a microprocessor, memory, and communication interface; the microprocessor extracts dynamic characteristic parameters of the transmission line through modal analysis to evaluate the icing thickness and icing state; the memory stores reference parameters and control algorithms; the communication interface enables data interaction with the UAV flight control system and ground monitoring platform, and adaptively adjusts the working parameters of the air-coupled ultrasonic generator module according to the icing state.

[0013] This device can be lightweight and integrated into the payload compartment and carried by a drone to form a mobile de-icing structure; it can also be fixedly installed on a power transmission tower via a support platform to form a fixed online de-icing structure. The power supply can be provided by battery packs, solar power, or power source from power transmission lines.

[0014] An ultrasonic non-contact de-icing method for power transmission lines is also provided, which is implemented using an ultrasonic non-contact power transmission line de-icing device, and the steps are as follows: Step 1: The vibration characteristic sensing module collects the vibration signal of the transmission line in real time and transmits it to the control module.

[0015] Step 2: The control module performs spectrum and modal analysis on the vibration signal to obtain dynamic characteristic parameters such as natural frequency and spectrum distribution. It compares these parameters with those of the un-iced baseline to accurately assess the icing thickness and icing status.

[0016] Step 3: When the ice thickness reaches the preset de-icing threshold, the control module determines the optimal ultrasonic working frequency through frequency scanning, adjusts the frequency and power of the air-coupled ultrasonic generator module, and radiates ultrasonic waves to the transmission line in a resonant excitation or interface shear stress maximization manner, so that the ice breaks and falls off.

[0017] Step 4: During the de-icing process, the vibration characteristic sensing module continuously collects feedback signals, and the control module adjusts the ultrasonic parameters in real time to form a closed-loop control until the ice is cleared to a safe range and ultrasonic excitation is stopped.

[0018] The ultrasonic non-contact de-icing device and method for power transmission lines provided by this invention have the following beneficial effects: 1. This invention effectively solves the key technical problem of icing on transmission lines in the field of power transmission and distribution. Existing methods such as thermal de-icing, mechanical de-icing, chemical de-icing, and contact ultrasonic de-icing generally suffer from problems such as large and complex structures, reliance on direct contact with conductors, insufficient environmental friendliness, and poor adaptability. They are unable to automatically adjust operating parameters according to changes in ice thickness to achieve on-demand de-icing, resulting in low de-icing efficiency and low energy utilization. This invention overcomes the specific limitations of the aforementioned existing technologies, improving the efficiency and safety of transmission line de-icing.

[0019] 2. This invention effectively solves the problems of existing thermal ice melting systems being complex, costly, and requiring power outages or changes in operation mode for some solutions, thereby reducing power grid operating costs and risks.

[0020] 3. This invention effectively solves the problems of mechanical de-icing causing wear and damage to the surface of the wires and fittings, high labor intensity, low efficiency and high safety risks, and improves work efficiency and safety.

[0021] 4. This invention effectively solves the problems of chemical de-icing agents corroding wire materials and causing environmental pollution, thus protecting the environment and wire materials.

[0022] 5. This invention effectively solves the problems of the coupling state of contact ultrasonic de-icing easily deteriorating in low temperature, rain, snow and strong wind environments, fatigue damage to the conductor caused by long-term vibration, complex device structure and poor deployment flexibility, and improves the stability and flexibility of de-icing.

[0023] 6. This invention adopts an air-coupled non-contact de-icing method, using air as the coupling medium. There is no mechanical contact or need for coupling agent, which fundamentally avoids wear, fatigue and damage to power transmission lines and fittings, eliminates the risk of mechanical wear or fatigue damage, and significantly improves operational safety and the service life of the lines.

[0024] 7. This invention achieves accurate identification of icing status through vibration signal analysis, adaptively adjusts ultrasonic parameters, and removes ice as needed, greatly improving energy utilization and de-icing efficiency, realizing adaptive intelligent de-icing, and reducing energy consumption.

[0025] 8. The device of the present invention can be carried by drones to realize mobile emergency de-icing, or it can be fixed on poles to realize long-term online monitoring. It is flexible in deployment, adaptable to complex terrain and various scenarios, and has high adaptability and flexibility to meet the needs of different scenarios.

[0026] 9. This invention involves no chemical agents or pollutant emissions throughout the entire process, making it environmentally friendly, non-corrosive to conductor materials, meeting the requirements for green operation and maintenance of power grids, and conforming to the requirements for green operation of transmission lines.

[0027] 10. This invention requires no power outage work, does not change the line operation mode, uses intelligent closed-loop control, reduces operation and maintenance risks, improves the power grid's resistance to ice disasters and operational safety, and ensures the stable operation of the power grid.

[0028] 11. The signal processing and control module of the present invention can automatically adjust the ultrasonic emission parameters according to the ice thickness, realize on-demand de-icing, improve energy utilization and de-icing efficiency, reduce manual intervention, and improve operational reliability.

[0029] 12. The air-coupled ultrasonic generator module of the present invention includes an ultrasonic transducer array composed of multiple air-coupled ultrasonic transducer units and its driving circuit. By controlling the phase and amplitude of different transducer units, the directivity control of the sound beam and energy focusing are achieved, thereby improving the de-icing effect.

[0030] 13. The vibration characteristic sensing module of the present invention collects vibration signals of power transmission lines through sensors. The sensor types include contact accelerometers, fiber Bragg grating sensors, or non-contact laser Doppler vibration sensors, which can accurately sense the icing state.

[0031] 14. The control module of the present invention determines the dynamic characteristic parameters of the transmission line based on the vibration signal, evaluates the icing state, and controls the air-coupled ultrasonic generator module to perform non-contact ultrasonic excitation on the iced line when the de-icing conditions are met, thereby achieving adaptive de-icing and improving the accuracy of the operation.

[0032] 15. The de-icing device of the present invention can be integrated into a payload compartment and carried by a drone to achieve mobile de-icing operations, or installed on the support structure of a power transmission tower to achieve fixed online de-icing. The device has a compact structure and is easy to operate. Attached Figure Description

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall structure of the device of the present invention; Figure 2 These are schematic diagrams of the UAV mounting schemes in embodiments 2 and 4 of the present invention. Figure 3 These are schematic diagrams of the fixed installation schemes in embodiments 3 and 6 of the present invention; In the diagram: Generating module 1, Control module 2, Sensing module 3, Support platform 4, Transmission line 5, Transmission tower 6. Detailed Implementation

[0034] The technical solutions of the present invention will be further described below with reference to the embodiments and accompanying drawings: Example 1 like Figure 1 As shown, this embodiment of the present invention provides an ultrasonic non-contact power transmission line de-icing device, which is specifically described as follows: like Figure 1 As shown, the ultrasonic non-contact power transmission line de-icing device mainly includes: power transmission conductor 5, air-coupled ultrasonic wave generating module 1, vibration characteristic sensing module 3, and control module 2.

[0035] The air-coupled ultrasonic generator module 1 is positioned at a certain distance from the transmission line 5. Using air as the coupling medium, it non-contactly radiates high-frequency acoustic energy onto the transmission line and its icing layer. The vibration characteristic sensing module 3 is used to collect the vibration response signal of the transmission line 5 under environmental excitation or ultrasonic exploratory excitation. The control module 2 is electrically connected to the air-coupled ultrasonic generator module 1 and the vibration characteristic sensing module 3, respectively, and is used to complete the generation of drive signals, vibration signal processing, icing state identification, and adaptive adjustment of ultrasonic excitation parameters.

[0036] During operation, the vibration characteristic sensing module 3 first collects the vibration signal of the transmission conductor 5 under the current working condition and sends it to the control module 2. The control module 2 performs spectrum analysis on the vibration signal to obtain dynamic parameters such as the conductor's natural frequency and spectrum distribution characteristics, and assesses the degree of icing based on the difference from the baseline parameters under the non-icing condition. When the degree of icing reaches the preset de-icing threshold, the control module 2 calculates the required ultrasonic working frequency and power, outputs a drive command to the air-coupled ultrasonic wave generator module 1, and excites the conductor and the ice layer through air-coupled ultrasonic waves, generating shear stress at the conductor-ice layer interface or cracks inside the ice layer, causing the ice to break and fall off. During the de-icing process, the control module 2 continuously updates the excitation parameters based on the vibration characteristic feedback, and stops the excitation when the dynamic characteristics of the conductor return to the set safe range.

[0037] 1. Air-coupled ultrasonic generator module 1 The core component of the air-coupled ultrasonic generator module 1 is the ultrasonic transducer array and its driving circuit. The transducer array consists of multiple air-coupled ultrasonic transducer units, and the entire array is installed in a housing. An acoustic window is set at the front end of the housing. The material and thickness of the acoustic window are optimized according to the operating frequency to reduce the attenuation of ultrasonic propagation.

[0038] Each transducer unit, from back to front, comprises a backing layer, a piezoelectric element, and one or more acoustic impedance matching layers. The backing layer absorbs the acoustic energy propagating backward, the piezoelectric element converts electrical signals into mechanical vibrations, and the acoustic impedance matching layer gradually transitions the acoustic impedance from the piezoelectric element to the air, improving the acoustic energy radiation efficiency.

[0039] The transducer array can be designed as a planar array or an arc array. A planar array is suitable for scenarios where the relative distance and angle between the device and the conductor need to be electronically scanned and adjusted. The phase and amplitude of different transducer units are independently controlled by the control module 2 to achieve electronic scanning and focusing of the sound beam direction. An arc array, on the other hand, uses the array geometry to achieve passive focusing on a fixed target area, which is suitable for scenarios where the relative position between the device and the conductor is basically fixed.

[0040] The drive circuit is electrically connected to the transducer array and is used to convert DC power into a high-frequency drive signal that meets the operating frequency and power requirements. It also adjusts the output frequency, duty cycle and output power according to the instructions of the control module 2 to achieve energy regulation under different operating conditions.

[0041] 2. Vibration characteristic sensing module 3 The vibration characteristic sensing module 3 includes sensors and data acquisition circuits. Depending on the deployment method and site conditions, different types of sensors can be selected: when using a fixed installation, an accelerometer or fiber Bragg grating sensor can be installed on the power transmission line 5 and fixed by mechanical clamps or adhesive structures; when using a drone-borne method, a non-contact laser Doppler vibration sensor is preferred, which can achieve long-distance measurement by aligning the optical path with the conductor.

[0042] The data acquisition circuit is responsible for amplifying, filtering, and converting the signals output by the sensor into digital data, and then sending the digitized vibration data to the control module 2 for processing. To adapt to complex field environments, the sensor body and its mounting structure are designed to be waterproof and dustproof, and to ensure reliable fixation without damaging the wires.

[0043] 3. Control Module 2 and Adaptive Control Strategy The control module 2 is housed within a sealed housing, on which interfaces for connecting to the air-coupled ultrasonic wave generator module 1, the vibration characteristic sensing module 3, and external systems are led out. The internal circuit board of the control module 2 integrates a microprocessor, memory, and communication interfaces.

[0044] The microprocessor is used to execute the icing identification and de-icing control algorithm. It calculates parameters such as the natural frequency and spectral distribution of the conductor based on the collected vibration signals, compares them with the reference data in the non-icing state, determines whether the icing meets the de-icing conditions, and generates corresponding ultrasonic excitation control commands. The memory is used to store the reference parameters, control program and historical data. The communication interface is used to upload the monitoring results to the ground monitoring platform or UAV flight control system and receive external control commands.

[0045] The adaptive control strategy includes: acquiring baseline vibration characteristics under un-iced or lightly iced conditions; monitoring conductor vibration characteristics online, determining icing and estimating the degree of icing when changes in natural frequency, spectral characteristic shifts, or increased damping reach preset thresholds; adaptively selecting ultrasonic excitation mode and operating frequency based on conductor physical parameters and estimated icing thickness, radiating ultrasonic energy to the iced conductor through air-coupled ultrasonic generator module 1; continuously monitoring vibration characteristics during de-icing, adjusting frequency and power based on feedback, and terminating de-icing when the conductor dynamic characteristics return to a set safe range.

[0046] Example 2 In another preferred embodiment, based on Embodiment 1, this embodiment provides an ultrasonic non-contact power transmission line de-icing device, which is suitable for mobile de-icing of power transmission lines crossing complex terrains such as mountainous areas and valleys carried by drones.

[0047] 1. Mechanical and Installation Structure In this embodiment, as Figure 2 As shown, the air-coupled ultrasonic wave generator module 1, the vibration characteristic sensing module 3, and the control module 2 are integrated into a lightweight payload cabin. The payload cabin adopts a streamlined shape design, and the shell material is preferably carbon fiber composite material or aluminum-magnesium alloy to reduce the impact on the flight performance of the UAV.

[0048] The payload bay is secured to the underside of the UAV support platform 4 via a specially designed mounting bracket. The mounting bracket is equipped with vibration damping and quick-locking mechanisms, ensuring reliable structural connection during flight while facilitating ground maintenance and replacement.

[0049] 2. Attitude and Distance Control During flight operations, the UAV support platform 4 cruises slowly along the power transmission line 5, either to the side or below. A distance measurement sensor (such as a laser rangefinder or millimeter-wave radar) is installed at the front of the payload bay to measure the distance between the device and the target power line in real time. The control module 2 transmits the distance information to the UAV flight control system via a data link, enabling the UAV to automatically maintain appropriate lateral and longitudinal spacing, thereby ensuring the energy focusing effect of air-coupled ultrasonic waves.

[0050] 3. Power and Energy Management In this embodiment, an independent battery pack is installed inside the payload compartment to power the air-coupled ultrasonic wave generator module 1, the vibration characteristic sensing module 3, and the control module 2. Alternatively, the device can be powered via an external power interface provided by the UAV support platform 4, simplifying the power supply design within the payload compartment. The control module 2 has a built-in energy management unit that can monitor battery level and output power in real time and provide protection.

[0051] 4. Work Process After the UAV support platform 4, equipped with the aforementioned devices, arrives at the icing area, it first activates the vibration characteristic sensing module 3 to detect the vibration characteristics of the target conductor. The control module 2 then determines, based on the identification results, whether de-icing is necessary and which sections require priority de-icing. For conductor sections confirmed to require de-icing, the control module 2 calculates appropriate ultrasonic excitation parameters and drives the air-coupled ultrasonic wave generator module 1, utilizing the UAV's mobility to sequentially perform non-contact de-icing at multiple icing points along the line.

[0052] This embodiment features rapid deployment, high mobility, and suitability for emergency de-icing, making it particularly suitable for power transmission lines in complex terrains where manual access is difficult.

[0053] Example 3 In another preferred embodiment, based on Embodiment 1, this embodiment provides an ultrasonic non-contact transmission line de-icing device, which is a fixed online monitoring and de-icing device installed on transmission towers, suitable for long-term deployment in key sections or sections prone to icing.

[0054] 1. Mechanical installation structure In this embodiment, as Figure 1 and Figure 3 As shown, the air-coupled ultrasonic generator module 1 and the control module 2 are integrated into a single housing and mounted on the support platform 4 on the crossarm of the transmission tower 6. The support platform 4 is typically a steel structure that can be rigidly connected to the tower 6 by bolts or clamps, and has a certain angle adjustment mechanism to precisely adjust the transducer array to point towards the target conductor 5.

[0055] In this embodiment, the vibration characteristic sensing module 3 preferably uses a contact accelerometer or an FBG (Fiber Bragg Grating Sensor), which is fixed to the transmission line 5 using a special clamp. The sensor output cable is laid along the insulator string and tower components, and finally connected to the control module 2.

[0056] 2. Power supply and communication The device's power supply can be obtained from the transmission line through energy harvesting devices at the tower (such as CT (Current Transformer Power Extraction) technology), and after isolation transformation and voltage stabilization, it can supply power to each module; alternatively, solar panels and battery packs can be used to form an independent power supply system. Control module 2 communicates with the dispatch center or regional monitoring terminal via fiber optic, microwave, 4G / 5G (Fourth Generation Mobile Communication Technology / Fifth Generation Mobile Communication Technology) or dedicated wireless links to achieve remote data uploading and control command issuance.

[0057] 3. Long-term online monitoring and automatic de-icing In this embodiment, the device can operate as an online monitoring device for extended periods when not in de-icing mode: the vibration characteristic sensing module 3 periodically collects conductor vibration signals, and the control module 2 analyzes the data, assesses the icing trend in real time, and generates early warning information. When the icing degree of a certain conductor section reaches the specified de-icing initiation threshold, the system automatically activates the air-coupled ultrasonic generator module 1, implements de-icing according to a preset or adaptive strategy, and automatically shuts down after de-icing is completed.

[0058] Compared with Example 2, this example has the advantages of not requiring frequent manual intervention, being suitable for long-term monitoring of key sections, and having a high degree of integration with the online monitoring system for power transmission lines.

[0059] Example 4 In another preferred embodiment, based on embodiments 1 and 2, this embodiment provides an ultrasonic non-contact power transmission line de-icing device, which is suitable for mobile de-icing of power transmission lines crossing complex terrains such as mountainous areas and valleys carried by drones.

[0060] like Figure 2As shown, this embodiment is a non-contact adaptive de-icing device for power transmission lines based on air-coupled ultrasonic waves, mounted on a UAV. The device is integrated into a lightweight payload compartment and fixed to the underside of a multi-rotor UAV via a vibration-damping bracket. The payload compartment integrates an air-coupled ultrasonic wave generator module 1, a vibration characteristic sensing module 3, and a control module 2, and is powered by an independent battery pack. The vibration characteristic sensing module 3 uses a non-contact laser Doppler vibration sensor. During operation, the UAV cruises along the power transmission line 5, and the sensor non-contactly collects the vibration signal of the line and transmits it to the control module 2. The control module 2 extracts the dynamic characteristic parameters of the line through modal analysis and compares them with the parameters of a non-iced baseline to evaluate the icing state. When the icing thickness reaches a preset threshold, it outputs a drive command to the air-coupled ultrasonic wave generator module 1 to adjust the frequency, power, and focusing parameters of the ultrasonic transducer array, radiating focused ultrasonic waves into the power transmission line 5 using air as a medium. The resonant excitation causes the icing to break and fall off. During the de-icing process, the vibration characteristic sensing module 3 continuously collects feedback signals, and the control module 2 adjusts the ultrasonic parameters in real time in a closed loop until the icing is cleared to a safe range, at which point the excitation automatically stops. This device is mobile and flexible, and is suitable for emergency de-icing operations on power transmission lines in complex terrains such as mountainous areas and river valleys.

[0061] Example 5 In another preferred embodiment, based on embodiments 1, 2, and 4, this embodiment provides an ultrasonic non-contact power transmission line de-icing method, applied to a drone-mounted mobile de-icing method using the ultrasonic non-contact power transmission line de-icing device described in embodiments 1, 2, and 4. The steps are as follows: The drone carrying the de-icing device flies to the target power transmission line 5, adjusts its flight attitude to keep the device at a preset safe distance from the conductor, activates the vibration characteristic sensing module 3, collects the real-time vibration signal of the power transmission line 5 in a non-contact manner, and transmits the signal to the control module 2. Control module 2 performs spectrum analysis and modal identification on the vibration signal, extracts dynamic characteristic parameters such as the conductor's natural frequency and spectrum distribution, and compares them with pre-stored non-icing benchmark parameters to accurately assess the icing thickness and icing status. When the ice thickness reaches the preset de-icing threshold, the control module 2 determines the optimal ultrasonic working frequency that is suitable for the current ice state through frequency scanning, adjusts the frequency, power and beam focusing parameters of the air-coupled ultrasonic generator module 1, and radiates focused ultrasonic waves to the power transmission line 5. The shear stress is generated at the interface between the line and the ice in the resonant excitation mode, which causes the ice to break and fall off. During the de-icing process, the vibration characteristic sensing module 3 continuously collects the vibration feedback signal of the conductor, and the control module 2 analyzes the progress of ice removal in real time and dynamically adjusts the ultrasonic parameters until the ice is removed to a safe range. Then, the ultrasonic excitation is stopped, and the drone cruises along the line to the next de-icing point. The above process is repeated to complete the de-icing operation of the entire line.

[0062] Example 6 In another preferred embodiment, based on embodiments 1 and 3, this embodiment provides an ultrasonic non-contact transmission line de-icing device, which is a fixed online monitoring and de-icing device installed on transmission towers, suitable for long-term deployment in key sections or sections prone to icing.

[0063] like Figure 1 and Figure 3 As shown, this embodiment is a non-contact adaptive de-icing device for transmission lines based on air-coupled ultrasonic waves, fixedly installed on transmission tower 6. The device is fixedly installed on the crossarm of transmission tower 6 via a support platform 4. The support platform 4 uses a steel structure bracket, and its installation angle is adjustable to accommodate transmission conductors 5 of different voltage levels. The device integrates an air-coupled ultrasonic wave generator module 1, a vibration characteristic sensing module 3, and a control module 2. Power is supplied by a combination of transmission line energy extraction and solar-assisted power supply, enabling long-term online operation. The vibration characteristic sensing module 3 collects vibration signals from the transmission conductor 5 in real time and transmits them to the control module 2 for icing status assessment. When icing reaches a threshold, the control module 2 drives the air-coupled ultrasonic wave generator module 1 to radiate ultrasonic waves onto the transmission conductor 5 using air as a medium, achieving non-contact de-icing. The de-icing process features closed-loop feedback and adaptive parameter adjustment, and automatically shuts down upon completion. This device is suitable for transmission lines in areas prone to icing disasters, enabling 24-hour online monitoring and automatic de-icing without manual intervention.

[0064] Example 7 In another preferred embodiment, based on embodiments 1, 3, and 6, this embodiment provides an ultrasonic non-contact transmission line de-icing method, applied to the pole-fixed online de-icing method of the ultrasonic non-contact transmission line de-icing device described in embodiments 1, 3, and 6, with the following steps: The device is fixedly installed on the transmission tower 6 via the support platform 4. The vibration characteristic sensing module 3 continuously collects the vibration signal of the transmission line 5 24 hours a day and transmits it to the control module 2 in real time. Control module 2 performs continuous modal analysis on the vibration signal to dynamically evaluate the ice thickness and ice status of the transmission line 5. When the ice thickness reaches the preset de-icing threshold, the de-icing process is automatically started. Control module 2 determines the optimal ultrasonic operating parameters through frequency scanning, and drives air-coupled ultrasonic wave generator module 1 to radiate ultrasonic waves to the power transmission line 5, so that the ice glaze separates from the line and breaks off in a way that maximizes resonant excitation or interface shear stress. During the de-icing process, the vibration characteristic sensing module 3 continuously collects feedback signals, and the control module 2 adjusts the ultrasonic frequency and power in real time to form a closed-loop control until the ice is cleared to a safe range. Then, the ultrasonic excitation is automatically stopped, the online monitoring state is restored, and the system waits for the next ice to trigger the de-icing process.

[0065] In a preferred embodiment, the air-coupled ultrasonic wave generating module 1 includes an ultrasonic transducer array and a driving circuit. The ultrasonic transducer array consists of multiple air-coupled ultrasonic transducer units, each of which includes a backing layer, a piezoelectric element, and at least one acoustic impedance matching layer, with the acoustic impedance decreasing progressively from the piezoelectric element towards the air. The driving circuit is used to adjust the phase, amplitude, frequency, and power of the transducer unit. By optimizing the acoustic impedance matching layer design, the above configuration can significantly improve the propagation efficiency of ultrasonic waves in the air and reduce energy loss. At the same time, the flexible adjustment capability of the driving circuit allows the ultrasonic parameters to be precisely adapted to different icing conditions, enhancing the de-icing effect.

[0066] In a preferred embodiment, the ultrasonic transducer array is either a planar array or an arc array. The planar array enables electronic scanning and focusing of the acoustic beam, while the arc array enables passive focusing in a fixed area. With these configurations, the planar array can quickly cover a large area of ​​the line through electronic scanning, improving detection efficiency, while the arc array can achieve local energy concentration through physical structure optimization, enhancing the de-icing capability of a specific area. The combination of the two can flexibly meet the needs of different scenarios.

[0067] In a preferred embodiment, the vibration characteristic sensing module 3 includes a sensor and a data acquisition circuit; the sensor is one of an accelerometer, a fiber Bragg grating sensor, or a laser Doppler vibration sensor; the data acquisition circuit amplifies, filters, and converts the vibration signal to analog-to-digital before transmitting it to the control module 2; with the above configuration, multiple types of sensors can adapt to the vibration monitoring needs in different environments, and the high-precision processing capability of the data acquisition circuit ensures accurate capture of the vibration signal, providing reliable data support for icing thickness assessment.

[0068] In a preferred embodiment, the control module 2 includes a microprocessor, a memory, and a communication interface. The microprocessor is used for modal analysis, icing thickness assessment, and adaptive adjustment of ultrasonic parameters. The memory stores reference parameters and control algorithms. The communication interface is used for data interaction with the UAV flight control system or a ground monitoring platform. With these settings, the microprocessor's intelligent analysis capabilities can optimize the de-icing strategy in real time, the memory ensures the stable operation of the control logic, and the communication interface enables remote monitoring and collaborative operation, thereby improving the overall intelligence level of the system.

[0069] In a preferred embodiment, the ultrasonic non-contact power transmission line de-icing device is integrated into a lightweight payload compartment and mounted on a drone to form a mobile de-icing structure; or it is fixedly installed on the power transmission tower 6 and positioned by a support platform 4 to form a fixed online de-icing structure; the power supply method is a battery pack, solar power, or power source from the power transmission line; with the above configuration, the mobile structure can quickly respond to the de-icing needs of different line sections, while the fixed structure can achieve long-term online monitoring and automatic de-icing. Multiple power supply methods ensure the continuous operation of the device under conditions without external power, improving the system's applicability.

[0070] In the preferred embodiment, the dynamic characteristic parameters mentioned in step 2 include inherent frequency and spectral distribution characteristics. The control module 2 compares the current parameters with the non-icing baseline parameters to determine the degree of icing and estimate the icing thickness. With the above settings, through the precise analysis of dynamic characteristic parameters, real-time quantitative assessment of the icing state can be achieved, avoiding the subjective errors of traditional methods, providing a scientific basis for subsequent de-icing operations, and improving the accuracy of operations.

[0071] In the preferred embodiment, in step 3, the control module 2 determines the ultrasonic operating frequency suitable for the current icing state through frequency scanning and outputs the corresponding drive signal to the ultrasonic transducer array. With the above settings, the frequency scanning function can automatically match the optimal de-icing frequency, maximize the resonance effect between the ultrasonic wave and the icing layer, significantly improve the de-icing efficiency, reduce energy consumption, and extend the device's battery life.

[0072] In the preferred embodiment, the ultrasonic non-contact power transmission line de-icing method, in drone-borne mode, allows the device to cruise along the line with the drone, completing icing detection and non-contact de-icing section by section; in tower-fixed mode, the device relies on the power transmission tower 6 and support platform 4 for long-term online monitoring. When the icing reaches the standard, the air-coupled ultrasonic generator module 1 is automatically activated for de-icing, and automatically shuts down after completion. The above settings, with dual-mode design, can flexibly adapt to different scenario requirements. The drone mode enables rapid inspection and emergency handling, while the tower mode ensures long-term stable operation. The automatic start-stop function further reduces the need for manual intervention and improves the system's intelligence and reliability.

[0073] In summary, this invention proposes an ultrasonic non-contact de-icing device and method for power transmission lines, effectively solving the key technical challenges of icing on power transmission and distribution lines. Specifically, existing methods such as thermal melting, mechanical de-icing, chemical de-icing, and contact ultrasonic de-icing generally suffer from problems such as large and complex structures, reliance on direct contact with conductors, insufficient environmental friendliness, and poor adaptability. They also struggle to automatically adjust operating parameters according to changes in ice thickness to achieve on-demand de-icing, resulting in low de-icing efficiency and low energy utilization. This invention successfully overcomes these limitations, improving the efficiency and safety of power transmission line de-icing.

[0074] In terms of technical implementation, firstly, air-coupled ultrasonic technology is used to achieve non-contact de-icing of transmission lines, avoiding the physical damage to the lines and environmental impact caused by traditional mechanical or chemical de-icing. It also overcomes the limitations of liquid or solid coupling media, directly transmitting ultrasonic waves through the air, improving operational safety and expanding the scope of application. Secondly, it integrates multiple types of vibration sensors (accelerometers, fiber Bragg grating sensors, and laser Doppler vibration sensors) and dynamic characteristic parameter analysis. By comparing natural frequencies and spectral distribution characteristics, it quantifies the ice thickness, achieving real-time and accurate assessment of the ice condition, replacing the subjectivity of traditional visual or manual inspection. Furthermore, a dual-mode deployment structure (mobile UAV and fixed tower type) is designed, combined with a lightweight payload compartment and support platform 4-positioning technology. This allows the device to perform both rapid inspection and emergency de-icing, as well as long-term online monitoring and automatic triggering of de-icing, flexibly adapting to different scenario requirements and improving system practicality and response efficiency.

[0075] In terms of control strategy, an acoustic impedance gradient matching layer design for the ultrasonic transducer array is proposed. By progressively reducing the acoustic impedance, the propagation efficiency of ultrasonic waves in the air is optimized. Combined with the adaptive adjustment of the phase, amplitude, and frequency of the drive circuit, precise focusing and dynamic adaptation of ultrasonic energy are achieved, significantly improving the de-icing effect and reducing energy consumption. Simultaneously, an intelligent control strategy based on modal analysis and frequency scanning is developed. The ultrasonic operating frequency is optimized in real time by a microprocessor, enabling a resonance effect between the ultrasonic waves and the icing layer, maximizing energy transfer efficiency. Furthermore, the reference parameters and algorithms are stored in memory, ensuring the stability and scalability of the control logic.

[0076] Finally, a three-dimensional de-icing system was constructed that integrates drones and power transmission towers. Combined with wireless communication interfaces, data interaction with flight control systems or ground platforms was achieved, forming a fully automated closed loop of "detection-evaluation-de-icing-feedback". This broke through the traditional single-point operation mode and promoted the development of power transmission line de-icing technology towards intelligence and unmanned operation.

Claims

1. An ultrasonic non-contact power transmission line de-icing device, characterized in that: It includes a control module (2), which is electrically connected to an air-coupled ultrasonic generator module (1) and a vibration characteristic sensing module (3). The vibration characteristic sensing module (3) is used to collect the vibration signal of the power transmission line (5). The control module (2) determines the icing state based on the vibration signal. When the de-icing conditions are met, it controls the air-coupled ultrasonic generator module (1) to radiate ultrasonic waves to the power transmission line (5) through the air to achieve non-contact de-icing.

2. The ultrasonic non-contact power transmission line de-icing device according to claim 1, characterized in that: The air-coupled ultrasonic generator module (1) includes an ultrasonic transducer array and a driving circuit; the ultrasonic transducer array is composed of multiple air-coupled ultrasonic transducer units, each transducer unit includes a backing layer, a piezoelectric element and at least one acoustic impedance matching layer in sequence, and the acoustic impedance decreases step by step from the piezoelectric element to the air; the driving circuit is used to adjust the phase, amplitude, frequency and power of the transducer unit.

3. The ultrasonic non-contact power transmission line de-icing device according to claim 2, characterized in that: The ultrasonic transducer array can be a planar array or an arc array. The planar array enables electronic scanning and focusing of the acoustic beam, while the arc array enables passive focusing in a fixed area.

4. The ultrasonic non-contact power transmission line de-icing device according to claim 1, characterized in that: The vibration characteristic sensing module (3) includes a sensor and a data acquisition circuit; the sensor is one of an accelerometer, a fiber Bragg grating sensor or a laser Doppler vibration sensor; the data acquisition circuit amplifies, filters and converts the vibration signal to analog and digital before transmitting it to the control module (2).

5. The ultrasonic non-contact power transmission line de-icing device according to claim 1, characterized in that: The control module (2) includes a microprocessor, a memory, and a communication interface; the microprocessor is used for modal analysis, icing thickness assessment, and adaptive adjustment of ultrasonic parameters; the memory stores reference parameters and control algorithms; and the communication interface is used for data interaction with the UAV flight control system or ground monitoring platform.

6. The ultrasonic non-contact power transmission line de-icing device according to claim 1, characterized in that: The ultrasonic non-contact power transmission line de-icing device is integrated into a lightweight payload compartment and mounted on a drone to form a mobile de-icing structure; or it is fixedly installed on a power transmission tower (6) and positioned by a support platform (4) to form a fixed online de-icing structure; the power supply method is battery pack, solar power supply or power supply from power transmission line.

7. An ultrasonic non-contact transmission line de-icing method, applied to the ultrasonic non-contact transmission line de-icing device according to any one of claims 1 to 6, characterized in that, Includes the following steps: Step 1: The vibration characteristic sensing module (3) collects the vibration signal of the power transmission line (5) and transmits it to the control module (2); Step 2: The control module (2) performs modal analysis on the vibration signal, obtains dynamic characteristic parameters, and evaluates the icing state; Step 3: When the ice layer reaches the preset threshold, the control module (2) adjusts the ultrasonic frequency and power to radiate ultrasonic waves in a resonant excitation or interface shear stress maximization manner, so that the ice layer breaks and falls off. Step 4: During the de-icing process, continuous closed-loop feedback is provided, and ultrasonic parameters are adjusted in real time until the ice is removed to a safe range.

8. The ultrasonic non-contact de-icing method for transmission lines according to claim 7, characterized in that: The dynamic characteristic parameters mentioned in step 2 include the inherent frequency and spectral distribution characteristics. The control module (2) compares the current parameters with the non-icing reference parameters to determine the degree of icing and estimate the icing thickness.

9. The ultrasonic non-contact transmission line de-icing method according to claim 7, characterized in that: In step 3, the control module (2) determines the ultrasonic working frequency that is suitable for the current icing state through frequency scanning and outputs the corresponding driving signal to the ultrasonic transducer array.

10. The ultrasonic non-contact transmission line de-icing method according to claim 7, characterized in that: In the ultrasonic non-contact power transmission line de-icing method, in the UAV-equipped mode, the device cruises along the line with the UAV and completes the icing detection and non-contact de-icing section by section; in the tower fixed mode, the device monitors online for a long time, and automatically starts the air-coupled ultrasonic generation module (1) to de-ic when the icing reaches the standard, and automatically stops after completion.

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