A four-split conductor de-icing robot based on four-rotor autonomous online

Abstract

This invention discloses a quadcopter-based autonomous cable de-icing robot, relating to the field of cable de-icing technology. It includes an unmanned aerial vehicle (UAV) unit, a de-icing unit, and an aerodynamic correction unit positioned above the UAV unit. The aerodynamic correction unit comprises: a support shell fixed above the UAV unit; four pairs of retractable support rods, each pair having one fixed end within the support shell and the other free end, the four pairs of support rods symmetrically and evenly distributed around the support shell; and four drag wings, each drag wing being trapezoidal. The beneficial effects of this invention are: when the robot accidentally detaches from the cable, the support rods drive the drag wings and directional wings to deploy. Through passive aerodynamic correction, combined with the active power correction of the UAV unit's rotor, the robot achieves three-axis full attitude recovery and autonomous re-flight during the fall, preventing the robot from crashing and being damaged.

Description

Technical Field

[0001] This invention relates to the field of cable de-icing technology, and in particular to a four-split conductor de-icing robot based on a quadcopter autonomously mounted system. Background Technology

[0002] Icing on power transmission lines is one of the major natural disasters threatening the safe and stable operation of the power grid. Currently, various de-icing robots have been proposed, such as a four-split conductor de-icing robot with a dual mounting base and walking wheel structure. In terms of the method of deployment, existing technologies include using drones to hoist the de-icing robot to the conductor position, or using drones to suspend the hook module behind the conductor for the robot to climb onto the line.

[0003] However, existing de-icing robots lack effective means of recovering their attitude in mid-air after accidentally detaching from the guide wire. Although some existing drone crash protection devices have pop-out aerodynamic surfaces, their function is limited to increasing air resistance to slow down the descent speed. This is a passive deceleration device and cannot actively correct the pitch, roll, and yaw attitude of the falling drone. When the drone yaws during the fall, the gyroscope data will drift severely, and the flight control system will not be able to accurately determine the true attitude, causing the rotor to fail to start normally or to go out of control after starting, thus causing the machine to fall and resulting in property damage. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above and / or existing quadrotor-based autonomous four-split wire de-icing robots, this invention is proposed.

[0006] Therefore, the problem to be solved by this invention is to perform full attitude correction in three dimensions—pitch, roll, and yaw—on a falling aircraft, so that the aircraft can restore a stable attitude during the fall and provide an accurate attitude reference for rotor start-up, thereby achieving autonomous go-around in the air and avoiding robot crashes.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a four-split wire de-icing robot based on autonomous quadcopter deployment, comprising an unmanned aerial vehicle (UAV) unit, a de-icing unit, and an aerodynamic correction unit disposed above the UAV unit; The pneumatic correction unit includes: A support shell, which is fixed above the unmanned aerial vehicle (UAV) unit; Four pairs of retractable support rods, each pair of support rods has one fixed end fixed inside the support shell and the other end free. The four pairs of support rods are symmetrically and evenly distributed with the support shell as the center. Four drag fins, each drag fin is trapezoidal, with a long side and a short side. The two corners of the long side of each drag fin are fixed to the free ends of a corresponding pair of support rods, and the short side and its two corners are fixed to the surface of the support shell. A storage mechanism is provided on the four sides of the support shell for storing the drag wing when the support rod is in the retracted state; A limiting mechanism is provided inside the support shell to limit the support rod to a retracted state when the support rod is retracted; An elastic mechanism, disposed within the support rod, is used to apply an extensional driving force to the support rod; A drive mechanism, disposed within the support housing, is used to simultaneously release the limiting mechanism's restriction on the support rod and the retracting mechanism's retraction of the drag wing upon receiving a trigger signal, causing the support rod to extend under the drive of the elastic mechanism and thus deploying the drag wing; and A locking mechanism is provided to lock the drive mechanism and prevent the support rod from popping out accidentally.

[0008] As a preferred embodiment of the quadcopter-based autonomous de-icing robot for four-split wires described in this invention, the storage mechanism includes a support plate and a clamping plate fixed to the surface of the support shell. A support base is fixed inside the support shell, and a pressure strip is rotatably connected to the support base. The pressure strip is provided with reinforcing ribs. A first spring is fixed to the side of the pressure strip near the clamping plate, and the other end of the first spring is fixed to the inner wall of the support shell. A clamping block that cooperates with the pressure strip is provided on the surface of the support plate.

[0009] As a preferred embodiment of the four-split wire de-icing robot based on autonomous quadcopter deployment described in this invention, the limiting mechanism includes a limiting rod fixed to the free end of the support rod, and the limiting rod is located inside the fixed end of the support rod.

[0010] As a preferred embodiment of the quadcopter-based autonomous four-split wire de-icing robot of the present invention, the limiting mechanism further includes a fixed seat fixed to the inner wall of the support shell, a support ring fixed to the top of the fixed seat, a limiting pin sliding inside the support ring, a second spring provided inside the limiting pin, a pin head provided at the other end of the second spring, the pin head sliding inside the limiting pin, and a slot provided on the surface of the limiting rod, the pin head being able to be inserted into the slot.

[0011] As a preferred embodiment of the four-rotor autonomous online four-split wire de-icing robot of the present invention, wherein: the elastic mechanism is a third spring fixed to the inner wall of the fixed end of the support rod, the other end of the third spring is fixed to the free end of the support rod, a groove is provided on the surface of the fixed end of the support rod, and a slider is fixed on the surface of the free end of the support rod, and the slider slides in the groove.

[0012] As a preferred embodiment of the four-rotor autonomous de-icing robot based on the present invention, the driving mechanism includes a rotating ring rotatably connected to the support ring, an insert block sliding inside the rotating ring, a fourth spring fixed inside the insert block, the other end of the fourth spring fixed to the inner wall of the rotating ring, a positioning groove formed on the surface of the limiting pin, a fifth spring fixed inside the limiting pin, the other end of the fifth spring fixed to the inner wall of the support ring, an unlocking block also fixed to the inner wall of the rotating ring, the surface of the unlocking block being provided with a pressing surface, and the unlocking block being located on one side of the pressure strip.

[0013] As a preferred embodiment of the four-rotor autonomous de-icing robot based on the present invention, the driving mechanism further includes a driving motor fixed to the inner wall of the support shell, a driving plate fixed to the output end of the driving motor, a sixth spring fixed to both sides of the driving plate, a support block fixed to the other end of the sixth spring, the support block fixed inside the rotating ring, and a positioning block for positioning the driving plate fixed inside the rotating ring.

[0014] As a preferred embodiment of the quadcopter-based autonomous four-split wire de-icing robot of the present invention, the locking mechanism includes a positioning post sliding within the rotating ring, a sealing cover fixed to the surface of the support shell by bolts, the positioning post sliding within the sealing cover, the ends of the two positioning posts being fixedly connected by a crossbar, a seventh spring fixed to the surface of the positioning post, the other end of the seventh spring being fixed to the inner wall of the sealing cover, a limiting seat rotatably connected to the surface of the sealing cover, a limiting groove being formed on the crossbar, the limiting seat being able to engage within the limiting groove, a blocking block sliding within the limiting seat, and an eighth spring being provided between the blocking block and the limiting seat.

[0015] As a preferred embodiment of the quadcopter-based autonomous de-icing robot for four-split wires described in this invention, the pneumatic correction unit further includes a reset mechanism disposed on the sealing cover. The reset mechanism includes a reset rod that slides within the sealing cover and the support ring. The end of the reset rod is located within the limiting pin. A pressure plate is fixed to the other end of a plurality of reset rods. A ninth spring is fixed to one side of the pressure plate, and the other end of the ninth spring is fixed to the surface of the sealing cover.

[0016] As a preferred embodiment of the quadcopter-based autonomous four-split wire de-icing robot of the present invention, the aerodynamic correction unit further includes a stabilizing mechanism disposed on the support rod. The stabilizing mechanism includes an extension rod hinged to the free end of the support rod. A torsion spring is disposed at the hinge point between the extension rod and the free end of the support rod. A detection block is fixed to the other end of the extension rod. A directional wing is fixed between the two extension rods. The directional wing is disposed perpendicular to the ground.

[0017] The beneficial effects of this invention are as follows: when the robot accidentally detaches from the guide wire, the drag wing and directional wing are deployed by the support rod. After passive aerodynamic correction, combined with the active power correction of the UAV rotor, the robot can achieve three-axis full attitude recovery and autonomous re-flight during the fall, thus avoiding the robot from crashing and being damaged. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a scene diagram of the drag wing storage of a quadrotor-based, autonomously developed four-split wire de-icing robot.

[0020] Figure 2 This is a structural diagram of the aerodynamic correction section of a quadcopter-based autonomous de-icing robot with four split wires.

[0021] Figure 3 For a four-split wire de-icing robot based on quadcopter autonomous production line Figure 2 Enlarged view of a portion of point A in the middle.

[0022] Figure 4 For a four-split wire de-icing robot based on quadcopter autonomous production line Figure 2 Enlarged view of the structure at point B in the middle.

[0023] Figure 5 This is a cross-sectional view of the limiting seat of a quadrotor-based autonomous de-icing robot with four-split wires.

[0024] Figure 6 This is a cross-sectional view of the support shell of a quadrotor-based autonomous de-icing robot with four split wires.

[0025] Figure 7 This is a diagram of the internal structure of the support shell of a quadrotor-based autonomous de-icing robot with four-split wires.

[0026] Figure 8This is a diagram of the rotating ring structure of a quadrotor-based autonomous de-icing robot with a four-split wire.

[0027] Figure 9 This is a partial cross-sectional view of the support rod of a quadrotor-based autonomous de-icing robot with a four-split wire guide.

[0028] Figure 10 This is a structural diagram of the support rod for a quadcopter-based autonomous de-icing robot with four split wires.

[0029] Figure 11 For a four-split wire de-icing robot based on quadcopter autonomous production line Figure 10 Enlarged view of the structure at point C.

[0030] Figure 12 This is a diagram of the insert structure of a quadcopter-based autonomous de-icing robot with four split wires.

[0031] Figure 13 This is a scene diagram showing the deployment of the drag wing of a quadrotor-based, autonomously launched four-split wire de-icing robot.

[0032] Figure 14 For a four-split wire de-icing robot based on quadcopter autonomous production line Figure 13 Enlarged view of the structure at point D.

[0033] Figure 15 This is a flowchart of a quadcopter-based autonomous de-icing robot with four split wires.

[0034] In the diagram: 1. Unmanned Aerial Vehicle (UAV) Unit; 2. De-icing Unit; 3. Aerodynamic Correction Unit; 31. Support Shell; 32. Support Rod; 33. Drag Wing; 34. Storage Mechanism; 35. Limiting Mechanism; 36. Elastic Mechanism; 37. Drive Mechanism; 38. Locking Mechanism; 341. Support Plate; 342. Clamping Plate; 343. Support Seat; 344. Pressure Strip; 345. First Spring; 341-1 Clamping Block; 351. Limiting Rod; 352. Fixing Seat; 353. Support Ring; 354. Limiting Pin; 355. Second Spring; 356. Pin Head; 351-1 Slot; 32-1 Sliding Groove; 32-2 Sliding Block; 371. Rotating Ring; 372. Insert Block; Fourth... Spring 373; Positioning groove 354-1; Fifth spring 374; Unlocking block 346; Pressing surface 346-1; Drive motor 375; Drive plate 376; Sixth spring 377; Support block 378; Positioning block 379; Positioning post 381; Sealing cover 382; Crossbar 383; Seventh spring 384; Limit seat 385; Limiting groove 383-1; Blocking block 386; Eighth spring 387; Reset mechanism 39; Reset rod 391; Pressure plate 392; Ninth spring 393; Stabilizing mechanism 310; Extension rod 3101; Detection block 3102; Directional wing 3103. Detailed Implementation

[0035] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0037] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0038] Example 1, referring to Figures 1-15 This is the first embodiment of the present invention. This embodiment provides a four-split wire de-icing robot based on quadcopter autonomous online deployment. The four-split wire de-icing robot based on quadcopter autonomous online deployment includes a drone unit 1, a de-icing unit 2, and an aerodynamic correction unit 3 disposed above the drone unit 1. The aerodynamic correction unit 3 includes a support shell 31 fixed above the drone unit 1.

[0039] Four pairs of telescopic support rods 32 are fixed on the support shell 31. One end of each pair of support rods 32 is fixed on the support shell 31, and the other end is free. The four pairs of support rods 32 are symmetrically and evenly distributed with the support shell 31 as the center.

[0040] Four pairs of support rods 32 support four drag wings 33. Each drag wing 33 is trapezoidal, with a long side and a short side. The two corners of the long side of each drag wing 33 are fixed to the free ends of the corresponding pair of support rods 32, and the short side and its two corners are fixed to the surface of the support shell 31. When the free ends of the support rods 32 extend, they can drive the long side of the drag wing 33 away from the short side, and cause the drag wing 33 to unfold. The four unfolded drag wings 33 can correct the direction of the falling robot by resisting air resistance. The four sides of the support shell 31 are provided with a storage mechanism 34, which is used to store the drag wing 33 when the support rod 32 is in the retracted state, so as to prevent the undeployed drag wing 33 from being affected by wind at high altitude and reducing the stability of the robot.

[0041] A limiting mechanism 35 is provided inside the support shell 31 to limit the support rod 32 to the retracted state when the support rod 32 is retracted, so that the drag wing 33 can remain in the undeployed state; The support rod 32 is provided with an elastic mechanism 36, which is used to apply an extension driving force to the support rod 32. When the limiting mechanism 35 releases the limiting of the support rod 32, the free end of the support rod 32 can drive the drag wing 33 to unfold under the push of the elastic mechanism 36. A drive mechanism 37 is provided inside the support housing 31, which is used to release the limit mechanism 35 from limiting the support rod 32 when a trigger signal is received, so that the free end of the support rod 32 can extend. While the drive mechanism 37 is in motion, the storage mechanism 34 can release the restriction on the storage of the drag wing 33, allowing the support rod 32 to extend under the drive of the elastic mechanism 36 and drive the drag wing 33 to unfold.

[0042] A locking mechanism 38 is provided on one side of the drive mechanism 37 to lock the drive mechanism 37. When the machine is not in use, or when the external wind force is too strong, the control of the drive mechanism 37 on the limit mechanism 35 can be turned off by the locking mechanism 38 to prevent the support rod 32 from popping out accidentally.

[0043] The drag wing 33 itself has a certain degree of elasticity to meet the deformation requirements when it is retracted.

[0044] In this embodiment, the control logic of the pneumatic correction unit 3 is as follows: Pressure sensors are installed on the wheels of the de-icing unit 2. The UAV unit 1 has a built-in gyroscope and altitude sensor. The flight control system of the UAV unit 1 has a built-in timing module. The pressure sensor, gyroscope and altitude sensor are respectively connected to the flight control system signal. The drive mechanism 37 is connected to the flight control system control.

[0045] When the robot walks normally on the guide, the pressure sensor at the walking wheel continuously detects the presence of pressure under the wheel, the pneumatic correction part 3 remains in the retracted state, and the locking mechanism 38 remains locked.

[0046] When the walking wheel detaches from the guide wire, the pressure under the wheel disappears. The pressure sensor detects the pressure value under the wheel in real time. When the duration of zero pressure under the wheel reaches a first preset time threshold, the flight control system determines that the robot has detached from the guide wire and entered a fall state. Preferably, the first preset time threshold is 2 seconds.

[0047] After the flight control system determines that the robot has entered a fall state, it releases the locking mechanism 38 from the drive mechanism 37, and the drive mechanism 37 enters the ready-to-trigger state. At the same time, the flight control system continuously monitors the tilt angle of the robot body through the gyroscope.

[0048] When the gyroscope detects that the body tilt angle is greater than the first preset angle threshold, the flight control system sends a trigger signal to the drive mechanism 37. Preferably, the first preset angle threshold is 25° to 35°, more preferably 30°. After receiving the trigger signal, the drive mechanism 37 acts, simultaneously releasing the limit mechanism 35 from limiting the support rod 32 and the storage mechanism 34 from storing the drag wings 33. The support rod 32 extends under the push of the elastic mechanism 36, causing the four drag wings 33 to deploy simultaneously. After the drag wings 33 are deployed, they passively correct the robot's body attitude under the action of air resistance, so that the body tilt angle gradually decreases.

[0049] After the drag wing 33 is deployed, the flight control system continuously monitors the change in the body tilt angle through the gyroscope. When the body tilt angle is detected to be stable at less than the second preset angle threshold within the second preset time threshold, the flight control system activates the rotor of the UAV unit 1, and the robot enters a controllable flight state. Subsequently, it can autonomously return to home or hover and wait for ground commands. Preferably, the second preset time threshold is 0.5 seconds to 2 seconds, more preferably 1 second; the second preset angle threshold is 10° to 15°, more preferably 15°.

[0050] Meanwhile, the flight control system is equipped with a height fallback protection logic. After the drag wing 33 is deployed, if the body tilt angle is still greater than or equal to the second preset angle threshold after the third preset time threshold, but the altitude sensor detects that the robot's ground clearance is less than the preset altitude threshold, the flight control system will forcibly activate the rotor of the unmanned aerial vehicle unit 1 to complete self-rescue before touching the ground. Preferably, the third preset time threshold is 2 to 4 seconds, more preferably 3 seconds; the preset altitude threshold is 5 to 15 meters, more preferably 10 meters.

[0051] After the rotor starts, the flight control system continuously monitors the rate of change of the aircraft's tilt angle through the gyroscope. If the aircraft's tilt angle does not continue to increase, the rotor maintains its current operating state; if the aircraft's tilt angle continues to increase, the flight control system increases the rotor's thrust to correct the attitude until the aircraft returns to stability.

[0052] The aerodynamic correction unit 3 and its control logic described in Embodiment 1 of the present invention, when the robot accidentally detaches from the guide wire, combine the passive aerodynamic correction of the drag wing 33 with the active power correction of the rotor of the UAV unit 1 to realize the robot's attitude recovery and autonomous re-flight during the fall, thus avoiding the robot's crash and damage.

[0053] Example 2, refer to Figures 1-15 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0054] Specifically, the storage mechanism 34 includes a support plate 341 and a clamping plate 342 fixed to the surface of the support shell 31. The support plate 341 and the clamping plate 342 limit the drag wing 33 in the vertical direction, thereby storing the drag wing 33. A support base 343 is fixed inside the support shell 31. A pressure strip 344 is rotatably connected to the support base 343. The pressure strip 344 is provided with reinforcing ribs to improve the strength of the pressure strip 344 and reduce the deformation of the pressure strip 344. A first spring 345 is fixed to the side of the pressure strip 344 near the clamping plate 342. The other end of the first spring 345 is fixed to the inner wall of the support shell 31. The first spring 345 is in a stretched state. The surface of the support plate 341 is provided with a clamping block 341-1 that cooperates with the pressure strip 344. Through the tension of the first spring 345, the end of the pressure strip 344 can be squeezed against the surface of the clamping block 341-1, so that the resistance wing 33 is confined between the support plate 341 and the clamping plate 342. Without the action of external force, the resistance wing 33 will not move out. When the resistance wing 33 is to be stored, the pressure strip 344 can be lifted and the resistance wing 33 can be moved between the support plate 341 and the clamping plate 342. At this time, the long side of the resistance wing 33 will be in a slightly taut state, and the resistance wing 33 is then stored.

[0055] The limiting mechanism 35 includes a limiting rod 351 fixed to the free end of the support rod 32. The limiting rod 351 is located inside the fixed end of the support rod 32. When the support rod 32 is in the retracted state, the end of the limiting rod 351 extends out of the fixed end of the support rod 32 and is suspended inside the support shell 31.

[0056] The limiting mechanism 35 also includes four fixing seats 352 fixed to the inner wall of the support shell 31. Each fixing seat 352 is fixed to one of the four surfaces of the inner wall of the support shell 31. A support ring 353 is fixed to the top of each fixing seat 352. A limiting pin 354 slides within the support ring 353, limiting the movement of the limiting pin 354 within the support ring 353. The number of limiting pins 354 corresponds to the number of limiting rods 351. A second spring 355 is provided inside the limiting pin 354. The second spring 355 is in a compressed state. A pin head 356 is provided at the other end of the second spring 355. The pin head 356 slides inside the limiting pin 354. A slot 351-1 is opened on the surface of the limiting rod 351. The pin head 356 can be inserted into the slot 351-1 to limit the limiting rod 351, so that the free end of the support rod 32 will not extend, thereby maintaining the retracted state of the drag wing 33.

[0057] The elastic mechanism 36 can be a third spring fixed to the inner wall of the fixed end of the support rod 32. The other end of the third spring is fixed to the free end of the support rod 32. The third spring is in a compressed state. A groove 32-1 is opened on the surface of the fixed end of the support rod 32. A slider 32-2 is fixed on the surface of the free end of the support rod 32. The slider 32-2 slides in the groove 32-1, so that there is no relative rotation between the free end and the fixed end of the support rod 32. This prevents the limiting rod 351 from rotating and ensures that the slot 351-1 can face the pin head 356.

[0058] After the limit rod 351 is released, the free end of the support rod 32 can extend out of its fixed end under the push of the elastic mechanism 36, thereby driving the drag wing 33 to deploy.

[0059] Example 3, referring to Figures 1-15 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0060] Specifically, the drive mechanism 37 includes a rotating ring 371 rotatably connected to the support ring 353. A plug 372 slides inside the rotating ring 371. The number of plugs 372 corresponds one-to-one with the limiting pins 354. A fourth spring 373 is fixed inside the plug 372. The other end of the fourth spring 373 is fixed to the inner wall of the rotating ring 371. The fourth spring 373 is in a compressed state. A positioning groove 354-1 is opened on the surface of the limiting pin 354. The plug 372 is inserted into the positioning groove 354-1 to position the limiting pin 354, so that the limiting pin 354 will not move away from the limiting rod 351, and the pin head 356 is kept in the limiting position of the limiting rod 351.

[0061] A fifth spring 374 is fixed inside the limiting pin 354. The other end of the fifth spring 374 is fixed to the inner wall of the support ring 353. The fifth spring 374 is in a stretched state. By rotating the rotating ring 371, the insert block 372 can be moved out of the positioning groove 354-1, thereby releasing the limitation on the limiting pin 354. Under the pull of the fifth spring 374, the limiting pin 354 can drive the pin head 356 away from the positioning groove 354-1, thereby simultaneously releasing the limitation on all the limiting rods 351.

[0062] An unlocking block 346 is also fixed to the inner wall of the rotating ring 371. The surface of the unlocking block 346 is provided with a pressing surface 346-1. The unlocking block 346 is located on one side of the pressure bar 344. When the rotating ring 371 rotates to release the limit rod 351, it can drive the unlocking block 346 to press the pressure bar 344, so that the other end of the pressure bar 344 moves away from the clamping block 341-1. Thus, when the free end of the support rod 32 extends, it can drive the drag wing 33 to unfold.

[0063] The drive mechanism 37 also includes a drive motor 375 fixed to the inner wall of the support shell 31. A drive plate 376 is fixed to the output end of the drive motor 375. The output end of the drive motor 375 can drive the drive plate 376 to rotate. A sixth spring 377 is fixed to both sides of the drive plate 376. A support block 378 is fixed to the other end of the sixth spring 377. The support block 378 is fixed inside the rotating ring 371. The sixth spring 377 is in a compressed state. A positioning block 379 for positioning the drive plate 376 is also fixed inside the rotating ring 371.

[0064] When the drive motor 375 receives the trigger signal, it drives the drive plate 376 to rotate, further compressing the sixth spring 377. At this time, the sixth spring 377 can push the support block 378 in the opposite direction, thereby driving the rotating ring 371 to rotate. This causes the rotating ring 371 to drive multiple inserts 372 to move out of the positioning groove 354-1, thereby releasing the limit pin 354. At this time, the free end of the support rod 32 can drive the drag wing 33 to unfold.

[0065] The locking mechanism 38 includes two positioning pins 381 that slide within the rotating ring 371. A sealing cover 382 is fixed to the surface of the support shell 31 by bolts. The positioning pins 381 slide within the sealing cover 382. The ends of the two positioning pins 381 are fixedly connected by a crossbar 383. The positioning pins 381 can limit the angle of the rotating ring 371. At this time, the sixth spring 377 pushes the support block 378 in the opposite direction, which prevents the rotating ring 371 from rotating. Even if the output end of the drive motor 375 rotates unexpectedly at this time, the free end of the support rod 32 cannot be unlocked.

[0066] A seventh spring 384 is fixed to the surface of the positioning post 381. The other end of the seventh spring 384 is fixed to the inner wall of the sealing cover 382. The seventh spring 384 is in a stretched state. The seventh spring 384 can drive the positioning post 381 away from the rotating ring 371 and release the limit on the angle of the rotating ring 371. A limiting seat 385 is rotatably connected to the surface of the sealing cover 382. A limiting groove 383-1 is formed on the crossbar 383, and the limiting seat 385 can be engaged in the limiting groove 383-1 to limit the position of the crossbar 383, so that the positioning pin 381 is stably inserted into the rotating ring 371. A blocking block 386 slides in the limiting seat 385, and an eighth spring 387 is provided between the blocking block 386 and the limiting seat 385. The blocking block 386 is pushed by the eighth spring 387 to stop the movement of the crossbar 383. Part of the stop block 386 can be located outside the limit seat 385, so that the limit seat 385 will not accidentally exit the limit groove 383-1. By pressing the stop block 386, the stop block 386 can be retracted into the limit seat 385. At this time, the limit seat 385 can be moved out of the limit groove 383-1, releasing the limitation on the limit seat 385. At this time, under the pulling force of the seventh spring 384, the positioning pin 381 can be driven away from the rotating ring 371, releasing the limitation on the angle of the rotating ring 371.

[0067] The pneumatic correction unit 3 also includes a reset mechanism 39 disposed on the sealing cover 382. The reset mechanism 39 includes a reset rod 391 that slides within the sealing cover 382 and the support ring 353. The end of the reset rod 391 is located within the limiting pin 354. The other end of the multiple reset rods 391 is fixed to a pressure plate 392. A ninth spring 393 is fixed to one side of the pressure plate 392. The other end of the ninth spring 393 is fixed to the surface of the sealing cover 382. The ninth spring 393 is in its natural state. When the insert block 372 releases the limiting pin 354, the limiting pin 354 rises under the tension of the fifth spring 374. At this time, the inner wall of the limiting pin 354 will squeeze the end of the reset rod 391. When the limiting pin 354 needs to be reset, the reset rod 391 can be pushed against the limiting pin 354 by pressing the pressure plate 392, so that the insert block 372 can be inserted into the positioning groove 354-1 to position the limiting pin 354.

[0068] The pneumatic correction unit 3 also includes a stabilizing mechanism 310 disposed on the support rod 32. The stabilizing mechanism 310 includes an extension rod 3101 hinged to the free end of the support rod 32. Two extension rods 3101 are symmetrically disposed in the free end of each support rod 32. A torsion spring is disposed at the hinge point between the extension rod 3101 and the free end of the support rod 32. The spring force of the torsion spring can make the other ends of the two extension rods 3101 move away from each other. A detection block 3102 is fixed to the other end of the extension rod 3101. The detection block 3102 slides in the fixed end of the support rod 32. When the detection block 3102 moves out of the fixed end of the support rod 32, the two extension rods 3101 will open under the spring force of the torsion spring.

[0069] A directional wing 3103 is fixed between the two extension rods 3101. The directional wing 3103 is set perpendicular to the ground. When the two extension rods 3101 are opened, the directional wing 3103 can be deployed. This allows the directional wing 3103, which is set perpendicular to the ground, to suppress the horizontal rotation (yaw) around the vertical axis Z when the robot falls, making the robot's falling attitude more stable and creating favorable conditions for the correction of the drag wing 33 and the UAV's go-around.

[0070] When in use, the support rod 32 and the drag wing 33 are initially in the retracted state. At this time: The slot 351-1 of the limiting rod 351 engages with the pin head 356 of the limiting pin 354, limiting the support rod 32 to the storage state; The drag wing 33 is housed between the support plate 341 and the clamping plate 342. The pressure bar 344 presses and fixes the drag wing 33 through the clamping block 341-1 under the tension of the first spring 345. The insert block 372 is inserted into the positioning groove 354-1 of the limiting pin 354 under the push of the fourth spring 373, locking the limiting pin 354 in the limiting position; The positioning pin 381 is inserted into the rotating ring 371, and the limiting seat 385 is engaged in the limiting groove 383-1 of the crossbar 383 to lock the rotating ring 371 and prevent the drive mechanism 37 from malfunctioning. The extension rod 3101 is housed inside the free end of the support rod 32, and the directional wing 3103 is in a folded state.

[0071] Before the robot needs to walk normally on the guide rail, the limit on the crossbar 383 is released, allowing the rotating ring 371 to rotate. When working on the guide rail, the pressure sensor at the walking wheel of the de-icing unit 2 continuously detects the presence of pressure under the wheel, the pneumatic correction unit 3 maintains the above-mentioned storage state, and the locking mechanism 38 remains locked.

[0072] When the walking wheel detaches from the guide wire, the pressure under the wheel disappears. The pressure sensor detects the pressure value under the wheel in real time. When the duration of zero pressure under the wheel reaches the first preset time threshold, the flight control system determines that the robot has entered a fall state. At the same time, the flight control system continuously monitors the body tilt angle through the gyroscope. When the gyroscope detects that the body tilt angle is greater than the first preset angle threshold, the flight control system sends a trigger signal to the drive mechanism 37.

[0073] After receiving the trigger signal, the drive mechanism 37 starts the drive motor 375, which drives the drive plate 376 to rotate, further compressing the sixth spring 377. The sixth spring 377 pushes the support block 378 in the opposite direction, causing the rotating ring 371 to rotate. When the rotating ring 371 rotates, the following two synchronous actions are generated: First, the insert 372 moves out of the positioning groove 354-1 of the limiting pin 354 as the rotating ring 371 rotates, releasing the limiting pin 354 from its position. The fifth spring 374 pulls the limiting pin 354 and the pin head 356 away from the slot 351-1 of the limiting rod 351, simultaneously releasing the limiting rods 351 from their positions. Second, the unlocking block 346 rotates with the rotating ring 371, and its pressing surface 346-1 presses the pressure bar 344, causing the end of the pressure bar 344 to overcome the tension of the first spring 345 and move away from the clamping block 341-1, while releasing the storage limit on the four resistance wings 33.

[0074] After the two limit switches are released simultaneously, the free end of the support rod 32 extends out of its fixed end under the push of the elastic mechanism 36, and the slider 32-2 slides along the slide groove 32-1 to ensure that there is no relative rotation between the free end and the fixed end of the support rod 32. When the support rod 32 extends, it drives the long side of the drag wing 33 away from the short side, and the four drag wings 33 unfold at the same time.

[0075] At the same time, when the free end of the support rod 32 extends to the point where the detection block 3102 moves out of the fixed end of the support rod 32, the extension rod 3101 opens under the elastic force of the torsion spring, causing the directional wing 3103 fixed between the two extension rods 3101 to unfold, and the directional wing 3103 is set perpendicular to the ground.

[0076] After the drag wing 33 and the directional wing 3103 are deployed, they passively correct the robot's body attitude under the action of air resistance. The drag wing 33 mainly corrects the body's pitch and roll attitude, while the directional wing 3103 mainly suppresses the body's yaw rotation, so that the body tilt angle gradually decreases.

[0077] After the drag wing 33 is deployed, the flight control system continuously monitors changes in the fuselage tilt angle via gyroscopes, and simultaneously monitors the ground clearance via altitude sensors. When the body tilt angle is detected to be stable at less than the second preset angle threshold within the second preset time threshold, the flight control system starts the rotor of the UAV unit 1, and the robot enters a controllable flight state. Subsequently, it can return to home autonomously or hover and wait for ground instructions.

[0078] After the drag wing 33 is deployed, if the tilt angle of the aircraft is still greater than or equal to the second preset angle threshold after the third preset time threshold, but the altitude sensor detects that the robot's height above the ground is less than the preset altitude threshold, the flight control system will forcibly activate the rotor of the unmanned aerial vehicle unit 1 to complete self-rescue before touching the ground.

[0079] After the rotor starts, the flight control system continuously monitors the rate of change of the aircraft's tilt angle using gyroscopes. If the tilt angle does not continue to increase, the rotor maintains its current operating state. If the tilt angle continues to increase, the flight control system increases the rotor thrust to correct the attitude until the aircraft returns to stability.

[0080] After the pneumatic correction unit 3 completes one action, it can be manually reset through the reset mechanism 39: Press the pressure plate 392, the pressure plate 392 pushes the reset rod 391 to slide along the sealing cover 382 and the support ring 353, the end of the reset rod 391 pushes the limit pin 354 to reset, until the insert block 372 is re-inserted into the positioning groove 354-1 under the push of the fourth spring 373, at the same time the support rod 32 is manually pushed back to the retracted state, so that the pin head 356 is re-engaged in the slot 351-1, and the drag wing 33 is re-stored between the support plate 341 and the clamping plate 342, the robot returns to the initial storage state, waiting for the next use.

[0081] When a robot accidentally detaches from the guide wire, the present invention achieves three-axis full attitude recovery and autonomous re-flight during the fall by using the passive aerodynamic correction of the drag wing 33 and the directional wing 3103 of the aerodynamic correction unit 3, combined with the active power correction of the rotor of the unmanned aerial vehicle unit 1, thus avoiding the robot from crashing and being damaged.

[0082] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A four-split wire de-icing robot based on quadcopter autonomous deployment, comprising an unmanned aerial vehicle (UAV) unit (1) and a de-icing unit (2), characterized in that: It also includes an aerodynamic correction unit (3) disposed above the unmanned aerial vehicle unit (1); The pneumatic correction unit (3) includes: Support shell (31), the support shell (31) is fixed above the unmanned aerial vehicle (1); Four pairs of retractable support rods (32), one end of each pair of support rods (32) is a fixed end, fixed inside the support shell (31), and the other end is a free end. The four pairs of support rods (32) are symmetrically and evenly distributed with the support shell (31) as the center. Four drag wing (33), each drag wing (33) is trapezoidal, with a long side and a short side, the two corners of the long side of each drag wing (33) are respectively fixed to the free ends of the corresponding pair of support rods (32), and the short side and its two corners are fixed to the surface of the support shell (31); A storage mechanism (34) is provided on the four sides of the support shell (31) for storing the drag wing (33) when the support rod (32) is in the retracted state. A limiting mechanism (35) is provided inside the support shell (31) to limit the support rod (32) to a retracted state when the support rod (32) is retracted; An elastic mechanism (36) is disposed within the support rod (32) for applying an extension driving force to the support rod (32); A drive mechanism (37), disposed within the support shell (31), is used to simultaneously release the limiting mechanism (35) from limiting the support rod (32) and the retracting mechanism (34) from retracting the drag wing (33) upon receiving a trigger signal, so that the support rod (32) extends under the drive of the elastic mechanism (36) and drives the drag wing (33) to unfold; and A locking mechanism (38) is used to lock the drive mechanism (37) to prevent the support rod (32) from popping out accidentally.

2. The four-split wire de-icing robot based on autonomous quadcopter deployment as described in claim 1, characterized in that: The storage mechanism (34) includes a support plate (341) and a clamping plate (342) fixed to the surface of the support shell (31). A support base (343) is fixed inside the support shell (31). A pressure strip (344) is rotatably connected to the support base (343). A reinforcing rib is provided on the pressure strip (344). A first spring (345) is fixed on the side of the pressure strip (344) near the clamping plate (342). The other end of the first spring (345) is fixed to the inner wall of the support shell (31). A clamping block (341-1) that cooperates with the pressure strip (344) is provided on the surface of the support plate (341).

3. The four-split wire de-icing robot based on autonomous quadcopter deployment as described in claim 2, characterized in that: The limiting mechanism (35) includes a limiting rod (351) fixed to the free end of the support rod (32), and the limiting rod (351) is located inside the fixed end of the support rod (32).

4. The four-split wire de-icing robot based on autonomous quadcopter deployment as described in claim 3, characterized in that: The limiting mechanism (35) further includes a fixed seat (352) fixed to the inner wall of the support shell (31). A support ring (353) is fixed to the top of the fixed seat (352). A limiting pin (354) slides in the support ring (353). A second spring (355) is provided in the limiting pin (354). A pin head (356) is provided at the other end of the second spring (355). The pin head (356) slides in the limiting pin (354). A slot (351-1) is opened on the surface of the limiting rod (351). The pin head (356) can be inserted into the slot (351-1).

5. The four-split wire de-icing robot based on autonomous quadcopter deployment as described in claim 4, characterized in that: The elastic mechanism (36) is a third spring fixed to the inner wall of the fixed end of the support rod (32). The other end of the third spring is fixed to the free end of the support rod (32). A groove (32-1) is provided on the surface of the fixed end of the support rod (32). A slider (32-2) is fixed on the surface of the free end of the support rod (32). The slider (32-2) slides in the groove (32-1).

6. The four-split wire de-icing robot based on autonomous quadcopter deployment as described in claim 5, characterized in that: The driving mechanism (37) includes a rotating ring (371) rotatably connected to the support ring (353), a sliding block (372) inside the rotating ring (371), a fourth spring (373) fixed inside the insert block (372), the other end of the fourth spring (373) fixed to the inner wall of the rotating ring (371), a positioning groove (354-1) is provided on the surface of the limiting pin (354), a fifth spring (374) is fixed inside the limiting pin (354), the other end of the fifth spring (374) is fixed to the inner wall of the support ring (353), an unlocking block (346) is also fixed on the inner wall of the rotating ring (371), the surface of the unlocking block (346) is provided with a pressing surface (346-1), and the unlocking block (346) is located on one side of the pressure strip (344).

7. The four-split wire de-icing robot based on autonomous quadcopter deployment as described in claim 6, characterized in that: The drive mechanism (37) further includes a drive motor (375) fixed to the inner wall of the support shell (31). A drive plate (376) is fixed to the output end of the drive motor (375). A sixth spring (377) is fixed to both sides of the drive plate (376). A support block (378) is fixed to the other end of the sixth spring (377). The support block (378) is fixed inside the rotating ring (371). A positioning block (379) for positioning the drive plate (376) is also fixed inside the rotating ring (371).

8. The four-split wire de-icing robot based on autonomous quadcopter deployment as described in claim 6 or 7, characterized in that: The locking mechanism (38) includes a positioning post (381) that slides within the rotating ring (371). A sealing cover (382) is fixed to the surface of the support shell (31) by bolts. The positioning post (381) slides within the sealing cover (382). The ends of the two positioning posts (381) are fixedly connected by a crossbar (383). A seventh spring (384) is fixed to the surface of the positioning post (381). The other end of the seventh spring (384) is fixed to the inner wall of the sealing cover (382). A limiting seat (385) is rotatably connected to the surface of the sealing cover (382). A limiting groove (383-1) is opened on the crossbar (383). The limiting seat (385) can be engaged within the limiting groove (383-1). A blocking block (386) slides within the limiting seat (385). An eighth spring (387) is provided between the blocking block (386) and the limiting seat (385).

9. The four-split wire de-icing robot based on autonomous quadcopter deployment as described in claim 8, characterized in that: The pneumatic correction unit (3) further includes a reset mechanism (39) disposed on the sealing cover (382). The reset mechanism (39) includes a reset rod (391) that slides within the sealing cover (382) and the support ring (353). The end of the reset rod (391) is located within the limiting pin (354). The other end of the plurality of reset rods (391) is fixed to a pressure plate (392). A ninth spring (393) is fixed to one side of the pressure plate (392). The other end of the ninth spring (393) is fixed to the surface of the sealing cover (382).

10. The four-split wire de-icing robot based on autonomous quadcopter deployment as described in claim 1 or 9, characterized in that: The pneumatic correction unit (3) further includes a stabilizing mechanism (310) disposed on the support rod (32). The stabilizing mechanism (310) includes an extension rod (3101) hinged to the free end of the support rod (32). A torsion spring is disposed at the hinge of the extension rod (3101) and the free end of the support rod (32). A detection block (3102) is fixed to the other end of the extension rod (3101). A directional wing (3103) is fixed between the two extension rods (3101). The directional wing (3103) is disposed perpendicular to the ground.

Images