A flying de-icing robot and control system thereof

Abstract

The application relates to the technical field of high-voltage power transmission line operation and maintenance equipment and special operation robots, in particular to a flying deicing robot and a control system thereof. The flying deicing robot comprises a main body frame, a flying system, a walking mechanism, a wire pressing mechanism, a deicing system and an emergency unlocking mechanism, the main body frame is a box type bearing frame, the flying system is installed on the two sides of the main body frame and is used for providing flying power to realize autonomous take-off and landing and spatial displacement of the robot. The application has the beneficial effects of solving the technical problems of poor terrain adaptability, insufficient on-line adhesion stability, lack of emergency rescue mechanism, low deicing efficiency and insufficient control integration and safety of the existing deicing equipment.

Description

Technical Field

[0001] This invention relates to the field of high-voltage transmission line maintenance equipment and special operation robots, specifically to a transmission line de-icing robot with both flight deployment and line walking operation capabilities, as well as a supporting control system and control method. Background Technology

[0003] In high-altitude and cold regions, thick layers of ice easily form on the surface of high-voltage transmission lines. If not removed promptly, this can lead to serious accidents such as excessive line load, tower deformation, conductor galloping, and even line breaks and tower collapses, threatening the safe and stable operation of the power grid. Currently, transmission line de-icing mainly relies on manual knocking, mechanical vibration, laser melting, or chemical spraying. Manual de-icing is extremely inefficient and carries very high safety risks due to working at heights; fixed mechanical de-icing equipment is difficult to deploy and has poor terrain adaptability; laser and chemical de-icing suffer from high energy consumption, limited effectiveness, and potential line pollution. Existing technologies include crawling de-icing robots or drones equipped with de-icing mechanisms. Some solutions combine drone lifting and line-walking capabilities, using wheels and line-pressing mechanisms to achieve line movement and de-icing operations. However, these technologies generally suffer from the following drawbacks: The pressing mechanism is mostly a vertical pressing structure, which makes the pressing and detaching operations complicated. It also has insufficient adhesion on icy lines, making it prone to slipping or falling off. The lack of an effective emergency safety mechanism means that when the robot malfunctions on the line, runs out of power, or gets stuck, it cannot be retrieved quickly and safely, often requiring manual climbing of the tower for handling, which poses a high safety risk. The de-icing method is singular, relying solely on knocking or cutting, which has poor adaptability to ice of different thicknesses and hardnesses, and low efficiency in removing thick ice. The control system lacks sufficient automation, flight and de-icing operations are disconnected, there is a lack of safety closed-loop verification and emergency manual intervention mechanisms, and the reliability of operations in complex high-altitude environments is insufficient.

[0004] Therefore, this invention proposes a flying de-icing robot that balances mobility, online operation stability, emergency recovery safety, and efficient de-icing effect, and is equipped with an integrated and highly reliable control system, thereby effectively solving the above-mentioned problems and difficulties. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a flying de-icing robot and its control system, thereby solving the technical problems of poor terrain adaptability, insufficient online attachment stability, lack of emergency rescue mechanisms, low de-icing efficiency, and insufficient control integration and safety of existing de-icing equipment.

[0006] The technical solution of this invention to solve the above-mentioned technical problems is as follows: A flying de-icing robot includes a main frame, a flight system, a walking mechanism, a wire pressing mechanism, a de-icing system, and an emergency unlocking mechanism. The main frame is a box-shaped load-bearing frame; the flight system is installed on both sides of the main frame to provide flight power for the robot's autonomous take-off, landing, and spatial displacement; the walking mechanism is installed on the lower part of the main frame and includes at least two walking wheels arranged along the line direction and a walking drive assembly to drive the robot to roll along the power transmission line; the wire pressing mechanism is a lateral rotating wire pressing mechanism, installed on the side of the main frame, and includes a rotation drive assembly, a rotating wheel frame, and a wire pressing wheel; the rotation... The drive assembly drives the pressure wheel to rotate from the side and press it against the lower part of the transmission line via a rotating wheel frame, forming a clamping structure for the transmission line in conjunction with the traveling wheels below. The de-icing system is installed at the front, rear, and middle of the main frame and is used to impact, break, and scrape away ice on the surface of the transmission line. The emergency unlocking mechanism includes a rescue ring and a linkage unlocking assembly. The rescue ring is located at the top of the main frame, and the linkage unlocking assembly is mechanically connected between the rescue ring and the pressure mechanism. When the rescue ring is subjected to an external lifting force, the linkage unlocking assembly triggers and releases the circumferential transmission connection between the rotation drive assembly and the rotating wheel frame, allowing the pressure wheel to rotate freely and detach from the transmission line. A control system for a flying de-icing robot includes a robot-side control unit and a ground-based remote control unit. The robot-side control unit includes a main control MCU, a flight control module, a motor drive module, a sensor array, a remote control receiver module, and an image acquisition module. The main control MCU, as the system control core, is electrically connected to the flight control module, motor drive module, sensor array, remote control receiver module, and image acquisition module. The flight control module calculates flight attitude and position data and outputs control signals to the flight propulsion components to achieve stable flight control of the robot. The motor drive module is connected to the walking motor, ice-breaking motor, wire-pressing motor, and flight motor. The electromechanical connection is used to drive each motor to operate according to set parameters based on the control signals of the main control MCU; the sensor group is used to collect the robot's posture, rotation angle, and spatial position status data, and transmit them to the main control MCU for fusion processing; the remote control receiving module is used to receive control commands sent by the ground remote control unit, decode them, and transmit them to the main control MCU; the image acquisition module includes multiple cameras for collecting image and video data of the work site; the ground remote control unit includes a remote control body, a flight control APP, and a de-icing operation APP, used to send control commands to the robot and receive status data and image and video data returned by the robot. A flight de-icing control method, the method specifically includes the following steps: Step 1: System power-on self-test; After the control system is powered on and started, it performs a functional integrity test on the main control MCU, sensor group, motor drive module, communication module and power system; if the self-test passes, it proceeds to the next process; if the self-test fails, a fault alarm is issued. Step 2: Working mode determination: The main control MCU determines whether the current working mode is flight control mode or de-icing operation mode based on the settings of the ground remote control unit; Step 3: Flight control mode execution, specifically including: Step 301: Real-time acquisition of remote control commands and attitude and position data collected by sensors; Step 302: The main control MCU combines the remote control command and sensor data to determine whether the command is within the safe flight range; if it can be executed, it outputs a control signal to the motor drive module to drive the flight motor and execute the corresponding action; if it cannot be executed, it returns to step 301 to reacquire data. Step 303: During execution, monitor the status of the remote joystick in real time. If the joystick position changes, return to step 301 to update the control command; otherwise, maintain the current execution state. Step 4: Execute the de-icing operation mode; specifically including: Step 401: Obtain the preset de-icing operation parameters and the real-time status data collected by the sensors; Step 402: The main control MCU combines the operation parameters and sensor data to determine whether the current conditions meet the requirements for de-icing operation; if it can be executed, it outputs a control signal to the motor drive module to drive the ice-breaking motor, wire-pressing motor, and walking motor to work together to perform the de-icing operation; if it cannot be executed, it automatically adjusts the parameters or returns to step 401 to reacquire data. Step 403: During the operation, monitor the status of the remote control joystick in real time. If the joystick position changes and the system is in automatic de-icing mode, switch to manual de-icing mode and take over control manually; otherwise, maintain the current de-icing operation status and execute it in a loop. Step 5: The control flow terminates upon completion of the task.

[0007] The beneficial effects of this invention are: 1) This invention integrates the functions of drone flight and line walking. It can autonomously fly to the target line and land accurately on the line to switch to line walking operation. It not only solves the problems of difficult deployment and poor terrain adaptability of traditional crawling robots, but also avoids the defects of insufficient stability and poor de-icing effect of pure flight de-icing platforms. In addition, it adopts a side-rotating line pressing mechanism to press the line from the side, forming a stable three-point clamping configuration with the two walking wheels below. It has strong adhesion and can adapt to different line diameters and line slopes, effectively avoiding slippage and falling off on icy lines. Thus, it achieves a composite operation mode that combines mobility and stability with the innovative effect of side-rotating line pressing and stable and reliable clamping.

[0008] 2) The top rescue hook and the wire-pressing mechanism of this invention are mechanically linked through an unlocking line. In case of failure, an external drone can pull the hook to mechanically unlock the wire-pressing mechanism without relying on the device's own power. This allows for quick and safe retrieval of the malfunctioning robot, completely avoiding the safety risks of manual tower climbing rescue. Purely mechanical emergency unlocking ensures safe retrieval. Furthermore, the dual-mode integrated control provides a high degree of safety and automation. The control system integrates flight and de-icing modes, adopts a unified control framework, and has simple operation logic. Safety checks are performed before each step, forming a closed-loop control. In automatic de-icing mode, it supports joystick-triggered manual emergency intervention, balancing the reliability of automated operation and emergency control.

[0009] 3) This invention integrates an ice hammer and front and rear ice blades, combining impact crushing and scraping removal methods to efficiently handle ice of different thicknesses and hardnesses; with the small ice blade at the front of the line pressing wheel, the thoroughness of de-icing and smoothness of movement are further improved. The combined hammering and cutting de-icing method has high removal efficiency.

[0010] Based on the above technical solution, the present invention can be further improved as follows.

[0011] Furthermore, the main frame is a closed box-shaped frame formed by splicing together a front side plate, a rear side plate, a left side plate, a right side plate, an upper cover plate, and a lower cover plate; the flight system includes multiple sets of folding arms and propeller assemblies, one end of each folding arm is fixedly connected to the left and right side plates of the main frame, and the other end is equipped with a propeller assembly; an antenna and a positioning module are installed on the top surface of the upper cover plate for signal transmission and spatial positioning of the robot; cameras are respectively installed on the front side plate, the rear side plate, and the lower cover plate of the main frame, forming multiple image acquisition nodes.

[0012] Furthermore, the two traveling wheels of the traveling mechanism are arranged at intervals along the extension direction of the power transmission line, and the wheel surface of the traveling wheel is provided with a V-shaped groove that matches the outer contour of the power transmission line; the traveling drive assembly includes at least one traveling motor, which is fixedly installed on the side plate of the main frame, and its output shaft is connected to the traveling wheel for driving the traveling wheel to rotate.

[0013] Furthermore, the rotary drive assembly of the pressing mechanism includes a pressing motor, a motor mounting base, and a motor bushing. The motor mounting base is fixedly connected to the pressing wheel frame and then integrally mounted on the side plate of the main frame. The pressing motor is fixedly mounted on the motor mounting base, and the motor bushing is fixedly fitted onto the output shaft of the pressing motor. The rotating wheel frame is rotatably fitted onto the outside of the motor bushing, and the outer end of the rotating wheel frame is rotatably mounted with a pressing wheel via the pressing wheel shaft. A keyway is provided at the corresponding position of the motor bushing and the rotating wheel frame, and a pluggable connecting key is provided in the keyway. When the connecting key is inserted into the keyway, the motor bushing and the rotating wheel frame are circumferentially fixed, and the pressing motor can drive the rotating wheel frame to rotate synchronously. When the connecting key is pulled out of the keyway, the motor bushing and the rotating wheel frame are circumferentially disengaged, and the rotating wheel frame can rotate freely.

[0014] Furthermore, an angle sensor is connected to the end of the output shaft of the pressing motor via a coupling. The angle sensor is fixed on an angle sensor mounting base and is used to detect the rotation angle of the rotating wheel frame in real time. A small front ice blade is fixedly installed in front of the pressing wheel to pre-break the ice covering the lower part of the transmission line before the pressing wheel moves.

[0015] Furthermore, the linkage unlocking component of the emergency unlocking mechanism includes a hanging ring fixing component, a hanging ring connecting component, and an unlocking line; one end of the rescue hanging ring is fixed to the top of the main frame through the first hanging ring fixing component, and the other end is movably connected to the second hanging ring fixing component through the hanging ring connecting component; the unlocking line is limited along the main frame through multiple unlocking line fixing seats, one end of the unlocking line is connected to the hanging ring fixing component, and the other end is connected to the connecting key; when the rescue hanging ring is pulled upward, the unlocking line is pulled by the tension, causing the connecting key to be pulled out from the keyway between the motor shaft sleeve and the rotating wheel frame, realizing the purely mechanical emergency unlocking of the pressing line mechanism.

[0016] Furthermore, the de-icing system includes an ice hammer assembly, a front ice blade, and a rear ice blade; the front and rear ice blades are respectively fixedly installed on the front and rear side plates of the main frame, with the blades facing the surface of the power transmission line, for scraping and removing the broken ice; the ice hammer assembly is installed inside the main frame and includes an ice hammer motor, an ice hammer motor bracket, a hammer shaft, a hammer rod assembly, and an ice hammer; the ice hammer motor is fixed inside the main frame through the ice hammer motor bracket, and its output shaft is connected to the hammer shaft for transmission; the hammer shaft is connected to the ice hammer through the hammer rod assembly; the ice hammer motor drives the ice hammer to oscillate periodically to impact and break the ice on the surface of the power transmission line.

[0017] Furthermore, the hammer rod assembly includes a middle section and a final section. One end of the middle section is fixed to the hammer shaft, and the other end is fixedly connected to the final section. The ice hammer can be slidably mounted on the final section to adapt to power transmission lines of different wire diameters and ensure stable striking force.

[0018] Furthermore, the main frame is equipped with a detachable battery compartment, which includes a battery box, a battery box cover, and a locking pin. The battery box is fixed between the front and rear side plates of the main frame, and a battery base plate is provided at the bottom of the battery box. The battery box cover slides with the main frame through a sliding groove provided on the front and rear side plates. The battery box cover and the corresponding position of the battery box are provided with locking holes, and the locking pin is inserted into the locking holes to lock and fix the battery box cover.

[0019] Furthermore, the flight control system has built-in attitude control mode and stationary control mode; in attitude control mode, the joystick output signal of the remote control unit corresponds to control the robot's pitch, roll and yaw attitude angles; in stationary control mode, the robot locks its current spatial position based on the positioning module, and the joystick only controls horizontal displacement and fine-tuning of altitude.

[0020] Furthermore, the de-icing system has built-in manual and automatic operation modes, and is equipped with an operation parameter setting module. In the manual operation mode, the robot fully responds to the real-time control commands of the remote control body. In the automatic operation mode, the main control MCU automatically controls the walking mechanism and the de-icing system to perform continuous de-icing tasks based on preset operation parameters and sensor feedback data.

[0021] Furthermore, the ground remote control unit also includes a status display module and an image display module; the status display module is used to display battery power, flight attitude, power of each motor, operating status and fault alarm data in real time; the image display module is used to display high-definition images of the operating site transmitted back by the image acquisition module in real time. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the flying de-icing robot of the present invention; Figure 2 This is a front structural diagram of the main frame and flight system of the present invention; Figure 3 This is a schematic diagram of the bottom structure of the main frame of the present invention; Figure 4 This is a schematic diagram of the structure of the ice hammer assembly of the present invention; Figure 5 This is a schematic diagram of the mounting structure of the front and rear ice skates of the present invention; Figure 6 This is a schematic diagram of the battery compartment structure of the present invention; Figure 7 This is a schematic diagram of the overall structure of the wire pressing mechanism and the emergency unlocking mechanism of the present invention; Figure 8 This is a cross-sectional schematic diagram of the transmission and unlocking structure of the wire pressing mechanism of the present invention; Figure 9This is a schematic diagram of the robot's online state when it flies to the top of the line according to the present invention; Figure 10 This is a schematic diagram of the robot's wire pressing operation according to the present invention; Figure 11 This is the overall architecture of the control system of the present invention; Figure 12 This is a structural block diagram of the robot end control system of the present invention; Figure 13 This is a functional block diagram of the ground remote control unit of the present invention; Figure 14 This is a flowchart of the flight de-icing control method of the present invention; Icon labels: 1. Main frame; 2. Flight system; 3. Walking mechanism; 4. Wire pressing mechanism; 5. De-icing system; 6. Emergency unlocking mechanism; 7. Camera; 8. Battery compartment; 11. Front side panel; 12. Rear side panel; 13. Left side panel; 14. Right side panel; 15. Top cover; 16. Bottom cover; 17. Antenna; 18. GPS positioning module; 21. Folding arm; 22. Propeller assembly; 31. Walking wheel; 32. Walking motor; 41. Wire pressing motor; 42. Motor mounting bracket; 43. Wire pressing wheel bracket; 44. Wire pressing wheel bracket; 45. Rotating wheel bracket; 46. Connecting key; 47. Wire pressing wheel axle; 48. Wire pressing wheel; 481. Small ice blade; 49. Angle sensor; 492. Angle sensor mounting bracket; 51. Ice-knocking motor; 52. Knocking... 53. Ice motor bracket; 54. Hammer shaft; 55. Hammer middle section; 56. Hammer end section; 57. Front ice blade; 58. Rear ice blade; 69. Ice hammer; 60. Rescue hook; 61. First hook fixing piece; 62. Second hook fixing piece; 63. Hook connector; 64. Unlocking wire; 65. Unlocking wire fixing seat; 86. Battery box; 87. Battery base plate; 88. Battery box cover; 89. Locking pin; 80. Slide groove; 81. Lock hole. Detailed Implementation

[0023] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0024] The present invention provides the following preferred embodiments. like Figure 1-10 As shown, a flying de-icing robot mainly consists of six parts: main frame, flight system, walking mechanism, wire pressing mechanism, de-icing system, and emergency unlocking mechanism. The main frame is a closed box-shaped frame constructed from front, rear, left, right, top, and bottom panels, serving as the mounting base for all functional components. The flight system includes four sets of folding arms and propeller assemblies. The inner ends of the folding arms are fixedly connected to the left and right side panels, while the outer ends are fitted with propeller assemblies, forming a foldable quadcopter flight platform. Folding facilitates transportation and storage. An antenna and GPS positioning module are installed on the top surface of the top panel, used for wireless signal transmission and spatial positioning, respectively. Cameras are installed on the front, rear, and bottom panels, forming three visual acquisition nodes (front, rear, and bottom) to provide multi-view images for remote control. The traveling mechanism is installed at the bottom of the main frame and includes two traveling wheels and two traveling motors. The two traveling wheels are arranged back and forth at intervals along the extension direction of the power transmission line. The wheel surface of the traveling wheels is machined with V-shaped grooves that are adapted to the outer contour of the power transmission line, which can increase the contact area with the line and improve the anti-slip performance. The two traveling motors are fixedly installed on the right side plate, and the output shafts are respectively connected to the two traveling wheels. The dual drive design ensures the traveling power on the icy line. The wire pressing mechanism is a side-rotating structure, integrally mounted on the left side plate. It includes a wire pressing motor, a motor mounting base, a wire pressing wheel bracket, a motor bushing, a rotating wheel bracket, a connecting key, a wire pressing wheel axle, and a wire pressing wheel. The motor mounting base and the wire pressing wheel bracket are fixedly connected as one unit and then bolted to the inner wall of the left side plate. The wire pressing motor is fixedly mounted on the motor mounting base, with its output shaft horizontally arranged. A motor bushing is fixedly fitted onto the shaft. The root of the rotating wheel bracket is rotatably mounted on the outside of the motor bushing via a bearing. The outer end of the rotating wheel bracket is rotatably mounted with a wire pressing wheel via the wire pressing wheel axle. Radial keyways are correspondingly formed at the root of the motor bushing and the rotating wheel bracket, and pluggable connecting keys are installed within these keyways. When the connecting key is inserted into the keyway, the motor bushing and the rotating wheel frame are circumferentially locked together. The rotation of the wire pressing motor drives the rotating wheel frame to swing synchronously around the motor axis, causing the wire pressing wheel to rotate from the side and press firmly against the lower part of the power transmission line. At this time, the wire pressing wheel and the two walking wheels below form a three-point clamping structure, which stably clamps the robot on the power transmission line and effectively prevents slippage and fall. An angle sensor is connected to the output shaft of the wire pressing motor via an angle sensor coupling. The angle sensor is fixed on an angle sensor mounting base and can detect the swing angle of the rotating wheel frame in real time, thereby precisely controlling the pressing force of the wire pressing wheel. A small front ice blade is also fixedly installed in front of the wire pressing wheel, which can pre-break the ice on the underside of the line as the robot moves, ensuring effective contact between the wire pressing wheel and the line surface. The emergency unlocking mechanism is linked to the wire pressing mechanism, including a rescue hook and a linkage unlocking component. The linkage unlocking component consists of a first hook fixing component, a second hook fixing component, a hook connecting component, an unlocking line, and multiple unlocking line fixing seats. The rescue hook is arched above the upper cover plate, with one end fixed to the top surface of the upper cover plate by the first hook fixing component, and the other end movably connected to the second hook fixing component by the hook connecting component. The unlocking line is a high-strength flexible cable, with multiple unlocking line fixing seats providing limiters along the inside of the frame. The upper end of the unlocking line is connected to the first hook fixing component, and the lower end is connected to the outer end of the connecting key. When the robot malfunctions on the line, such as running out of power or a stuck motor, and is unable to detach itself, an external rescue drone can be controlled to fly above the robot, hook onto the rescue ring, and pull it upwards. At this time, the first ring fixing component drives the unlocking line upwards, and the pulling force acts directly on the connecting key, pulling the connecting key out of the keyway. After the connecting key is pulled out, the circumferential lock between the motor shaft sleeve and the rotating wheel frame is released, the rotating wheel frame can swing freely, the pressure wheel loses its clamping force, and the rescue drone can then lift the robot off the line as a whole, completing the safe recovery. The entire unlocking process is purely mechanically driven, does not rely on the device's own power supply, and has extremely high reliability. The de-icing system adopts a combined de-icing method of hammering and cutting, including an ice hammer assembly, a front ice blade and a rear ice blade. The front ice blade is fixedly installed on the upper part of the front side plate, and the rear ice blade is fixedly installed on the upper part of the rear side plate. The blades are all facing the surface of the power transmission line. As the robot moves, it can scrape and remove the broken ice residue on the surface of the line. The ice hammer assembly is installed inside the main frame, between two traveling wheels. It includes an ice hammer motor, an ice hammer motor bracket, a hammer shaft, a middle section of the hammer, a final section of the hammer, and the ice hammer. The ice hammer motor bracket is vertically fixed between the lower and upper cover plates. The ice hammer motor is fixed on the ice hammer motor bracket, and its output shaft is connected to the hammer shaft. One end of the middle section of the hammer is fixed on the hammer shaft, and the other end is fixedly connected to the final section of the hammer. The ice hammer can be slidably mounted on the final section of the hammer along the axial direction. When the ice hammer motor is running, it drives the hammer rod assembly to swing back and forth through the hammer shaft, so that the ice hammer periodically strikes the ice on the surface of the line to achieve impact breaking. The floating design of the ice hammer can adapt to lines of different diameters to ensure that the striking force is stably applied to the ice surface. The main frame also features a removable battery compartment for powering the entire unit. The battery compartment includes a battery box, a battery base plate, a battery box cover, and a locking pin. The battery box is fixedly installed between the front and rear side panels, supported at the bottom by the battery base plate. Corresponding grooves are provided on the inner walls of the front and rear side panels, allowing the battery box cover to slide along these grooves and latch onto the battery box. Coaxial locking holes are provided at corresponding positions on the battery box cover and battery box. After inserting the battery, inserting the locking pin into the locking hole locks the battery box cover. This design facilitates easy assembly and disassembly, making on-site battery replacement convenient.

[0025] Example 2: like Figure 11-14 As shown, a control system for a flying de-icing robot consists of two parts: a robot-side control unit and a ground-based remote control unit. The robot's end control unit is based on the main control MCU, and is connected to the flight control module, motor drive module, sensor group, remote control receiver module and image acquisition module. The main control MCU serves as the control center of the system, responsible for overall logic operations, task scheduling, and multi-source data fusion processing, and coordinating the collaborative work of various functional units; The flight control module is connected to the main control MCU, receives attitude and position sensor data and remote control commands, calculates flight control quantities, and outputs PWM signals to the flight motor drive circuit to realize the robot's stable take-off, hovering, heading adjustment and precise landing. The motor drive module is electrically connected to the flight motor, walking motor, ice-breaking motor, and wire-pressing motor respectively. It drives each motor to operate at the set speed and torque according to the control signal output by the main control MCU. At the same time, it integrates overcurrent and overtemperature protection circuits to ensure the safe operation of the motor. The sensor array includes an inertial measurement unit (IMU), angle sensors, and a GPS positioning unit. The IMU is used to collect the robot's three-axis attitude angles and acceleration data; the angle sensors are used to detect the rotation angle of the wire pressing mechanism; and the GPS positioning unit is used to acquire the robot's spatial position information. All sensor data is preprocessed by the sensor data receiving unit and then transmitted to the main control MCU for fusion processing. The remote control receiver module is a wireless receiver used to receive control commands sent by the ground remote control unit, decode them, and then transmit them to the main control MCU. The image acquisition module includes multiple high-definition cameras, which capture video footage of the work site and transmit it back to the ground remote control terminal in real time via the image transmission unit. The ground-based remote control unit uses the remote control unit as its hardware carrier and has a built-in wireless communication module to establish a two-way data link with the robot. The remote control unit runs a flight control app and a de-icing operation app, and integrates status display and image display functions. The flight control app has two built-in control sub-modes: Attitude mode: Joystick input directly corresponds to the robot's pitch, roll, and yaw attitude angles, which is suitable for precise alignment, obstacle avoidance, and other refined operations; Fixed-point mode: The robot locks its spatial position based on GPS / RTK and automatically maintains a stable hovering position. The joystick only controls horizontal displacement and fine-tuning of height, which is suitable for fixed-point operation scenarios. The de-icing operation app has two built-in operation sub-modes and parameter setting functions: Manual mode: The robot fully responds to real-time control via joystick and buttons. All de-icing actions are triggered manually, making it suitable for flexible operation in complex terrain and obstacle sections. Automatic mode: After the operator presets parameters such as walking speed, tapping frequency, and low battery threshold, the robot automatically performs continuous walking and de-icing operations based on sensor feedback, without the need for real-time control; Operation parameter setting module: Used to configure key parameters for de-icing operations, including motor power, walking speed, tapping frequency, safety threshold, etc. The status display module is used to display the robot's operational data in real time, including battery level, flight attitude, power of each motor, operating status and fault alarm information, so that operators can keep track of the equipment status. The image display module is used to display high-definition video feeds from multiple cameras in real time, assisting operators in observing the ice thickness, de-icing effect, and surrounding environment.

[0026] Example 3: This embodiment provides a flight de-icing control method based on the above control system, and the specific steps are as follows: Step 1: System power-on and self-test; After the device is powered on, the main control MCU starts the initialization program, performing a comprehensive self-test on the MCU itself, sensor group, each motor drive channel, wireless communication module, and battery power system. If all modules function normally, the device enters the mode selection phase; if a fault is detected, a fault alarm is triggered, and power output is locked, awaiting manual troubleshooting. Step 2: Determine the working mode; The main control MCU receives the mode selection command from the ground remote control terminal and determines whether to enter flight control mode or de-icing operation mode. Step 3: Flight control mode execution; Data acquisition: Real-time reading of the position and button status of the remote control joystick, and simultaneous reading of attitude, altitude, and speed data collected by sensors such as the inertial measurement unit and GPS; Safety verification: The main control MCU compares the remote control command with the current flight status to determine whether the command is within the preset safe flight envelope (such as the maximum tilt angle, maximum climb rate, etc.). If the command is safe and feasible, it outputs a control signal to the motor drive module to drive the flight motor to perform the corresponding action; if the command exceeds the safe range, it discards the command, maintains the current state, and re-acquires data. Real-time response: The joystick status is continuously monitored during the execution of the action. Once the joystick position changes, the control command is updated immediately to ensure the real-time operation; if the joystick does not change, the current flight state is maintained. Step 4: Execute the de-icing operation mode; Parameter and status acquisition: Read the preset operation parameters (walking speed, tapping power, etc.) in the de-icing APP, and at the same time collect real-time sensor data such as pressing angle, walking speed, and battery level; Feasibility assessment: The main control MCU combines preset parameters and real-time status to determine whether the current conditions meet the safety requirements for operation. If they do, it drives the wire pressing motor to tighten the wire, starts the ice-breaking motor and the walking motor, and begins the de-icing process. If the conditions are not met (e.g., the wire is not properly pressed, or the battery is too low), it automatically adjusts the parameters or pauses the operation and re-checks the status. Emergency Intervention Detection: During the de-icing process, the remote control joystick status is continuously monitored. If the operator moves the joystick, the automatic de-icing process is immediately terminated, the flight control mode is switched back, and control is returned to the operator to deal with sudden obstacles or abnormal situations. If there is no joystick operation, the de-icing operation is repeated until the task is completed or the termination condition is triggered. Step 5: Process terminated; When the de-icing task is completed, the robot returns to the take-off and landing point, or the operator actively issues a termination command, the control system completes the shutdown process and the control program terminates.

[0027] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0029] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flying de-icing robot, characterized in that, It includes the main frame (1), flight system (2), walking mechanism (3), wire pressing mechanism (4), de-icing system (5), and emergency unlocking mechanism (6); The main frame (1) is a box-shaped load-bearing frame, and the flight system (2) is installed on both sides of the main frame (1) to provide flight power to realize the robot's autonomous take-off and landing and spatial displacement; The walking mechanism (3) is installed on the lower part of the main frame (1) and includes at least two walking wheels (31) arranged along the line direction and a walking drive assembly (32) for driving the robot to roll along the power transmission line; The wire pressing mechanism (4) is a lateral rotation type wire pressing mechanism, which is installed on the side of the main frame (1) and includes a rotation drive assembly (41), a rotating wheel frame (45) and a wire pressing wheel (48). The rotation drive assembly (41) drives the wire pressing wheel (48) to rotate from the side and press it against the lower part of the transmission line through the rotating wheel frame (45), and cooperates with the walking wheel (31) below to form a clamping structure for the transmission line. The de-icing system (5) is installed at the front, rear and middle of the main frame (1) and is used to impact, break and scrape away the ice on the surface of the transmission line. The emergency unlocking mechanism (6) includes a rescue ring (61) and a linkage unlocking component (65). The rescue ring (61) is located on the top of the main frame (1). The linkage unlocking component (65) is mechanically connected between the rescue ring (61) and the wire pressing mechanism (4). When the rescue ring (61) is subjected to an external lifting force, the linkage unlocking component (65) triggers and releases the circumferential transmission connection between the rotary drive component (41) and the rotary wheel frame (45), allowing the wire pressing wheel (48) to rotate freely to detach from the power transmission line.

2. The flying de-icing robot according to claim 1, characterized in that, The main frame (1) is a closed box-shaped frame formed by splicing together a front side plate (11), a rear side plate (12), a left side plate (13), a right side plate (14), an upper cover plate (15), and a lower cover plate (16). The flight system (2) includes multiple sets of folding arms (21) and propeller assemblies (22). One end of the folding arm (21) is fixedly connected to the left side plate (13) and the right side plate (14) of the main frame (1), and the other end is equipped with a propeller assembly (22). An antenna (17) and a positioning module (18) are installed on the top surface of the upper cover plate (15) to realize the robot's signal transmission and spatial positioning. Cameras (7) are respectively installed on the front side plate (11), the rear side plate (12), and the lower cover plate (16) of the main frame (1), forming a multi-channel image acquisition node.

3. The flying de-icing robot according to claim 1, characterized in that, The two walking wheels (31) of the walking mechanism (3) are arranged at intervals along the extension direction of the power transmission line. The wheel surface of the walking wheel (31) is provided with a V-shaped groove that matches the outer contour of the power transmission line. The walking drive assembly (32) includes at least one walking motor. The walking motor is fixedly installed on the side plate of the main frame (1). Its output shaft is connected to the walking wheel (31) for driving the walking wheel (31) to rotate.

4. The flying de-icing robot according to claim 1, characterized in that, The rotary drive assembly of the wire pressing mechanism (4) includes a wire pressing motor (41), a motor mounting base (42), and a motor bushing (44); the motor mounting base (42) is fixedly connected to the wire pressing wheel frame base (43) and is integrally mounted on the side plate of the main frame (1); the wire pressing motor (41) is fixedly mounted on the motor mounting base (42), and the motor bushing (44) is fixedly fitted on the output shaft of the wire pressing motor (41); the rotary wheel frame (45) is rotatably fitted on the outside of the motor bushing (44), and the rotary wheel frame (45) has a... A pressure wheel (48) is rotatably mounted on the outer end via a pressure wheel shaft (47); a keyway is provided at the corresponding position of the motor bushing (44) and the rotating wheel frame (45), and a pluggable connecting key (46) is provided in the keyway; when the connecting key (46) is inserted into the keyway, the motor bushing (44) and the rotating wheel frame (45) are circumferentially fixed, and the pressure motor (41) can drive the rotating wheel frame (45) to rotate synchronously; when the connecting key (46) is pulled out of the keyway, the motor bushing (44) and the rotating wheel frame (45) are circumferentially disengaged, and the rotating wheel frame (45) can rotate freely.

5. The flying de-icing robot according to claim 4, characterized in that, An angle sensor (49) is connected to the end of the output shaft of the pressure motor (41) via an angle sensor coupling. The angle sensor (49) is fixed on the angle sensor mounting base (492) and is used to detect the rotation angle of the rotating wheel frame (45) in real time. A small ice blade (481) is fixedly installed in front of the pressure wheel (48) to pre-break the ice covering the lower part of the transmission line before the pressure wheel (48) moves.

6. The flying de-icing robot according to claim 4, characterized in that, The linkage unlocking component of the emergency unlocking mechanism (6) includes a hanging ring fixing component, a hanging ring connecting component (64), and an unlocking line (65); one end of the rescue hanging ring (61) is fixed to the top of the main frame (1) through the first hanging ring fixing component (62), and the other end is movably connected to the second hanging ring fixing component (63) through the hanging ring connecting component (64); the unlocking line (65) is limited along the main frame (1) through multiple unlocking line fixing seats (66), one end of the unlocking line (65) is connected to the hanging ring fixing component, and the other end is connected to the connecting key (46); when the rescue hanging ring (61) is pulled upward, the unlocking line (65) is pulled by the tension and the connecting key (46) is pulled out from the keyway of the motor bushing (44) and the rotating wheel frame (45), realizing the pure mechanical emergency unlocking of the pressing mechanism (4).

7. The flying de-icing robot according to claim 1, characterized in that, The de-icing system (5) includes an ice hammer assembly, a front ice blade (56), and a rear ice blade (57). The front ice blade (56) and the rear ice blade (57) are fixedly installed on the front side plate (11) and the rear side plate (12) of the main frame (1), respectively, with the blade facing the surface of the power transmission line, for scraping and removing the broken ice. The ice hammer assembly is installed inside the main frame (1) and includes an ice hammer motor (51), an ice hammer motor bracket (52), a hammer shaft (53), a hammer rod assembly, and an ice hammer (58). The ice hammer motor (51) is fixed inside the main frame (1) through the ice hammer motor bracket (52), and its output shaft is connected to the hammer shaft (53) for transmission. The hammer shaft (53) is connected to the ice hammer (58) through the hammer rod assembly. The ice hammer motor (51) drives the ice hammer (58) to swing periodically to impact and break the ice on the surface of the power transmission line.

8. The flying de-icing robot according to claim 7, characterized in that, The hammer assembly includes a middle section (54) and a end section (55). One end of the middle section (54) is fixed to the hammer shaft (53), and the other end is fixedly connected to the end section (55). The ice hammer (58) can be slidably mounted on the end section (55) along the axial direction to adapt to power transmission lines of different wire diameters and ensure stable striking force.

9. The flying de-icing robot according to claim 1, characterized in that, The main frame (1) is also provided with a detachable battery compartment (8), which includes a battery box (81), a battery box cover (83), and a locking pin (84). The battery box (81) is fixed between the front and rear side plates of the main frame (1), and a battery base plate (82) is provided at the bottom of the battery box (81). The battery box cover (83) slides with the main frame (1) through a sliding groove (85) provided on the front and rear side plates. The battery box cover (83) and the battery box (81) are provided with lock holes (86) at corresponding positions. The locking pin (84) is inserted into the lock hole (86) to lock and fix the battery box cover (83).

10. A control system for a flying de-icing robot as described in any one of claims 1-9, characterized in that: The system includes a robot-side control unit and a ground-based remote control unit. The robot-side control unit comprises a main control MCU, a flight control module, a motor drive module, a sensor array, a remote control receiver module, and an image acquisition module. The main control MCU serves as the system's control core and is electrically connected to the flight control module, motor drive module, sensor array, remote control receiver module, and image acquisition module. The flight control module calculates flight attitude and position data and outputs control signals to the flight propulsion components to achieve stable flight control of the robot. The motor drive module is electrically connected to the walking motor, ice-breaking motor, wire-pressing motor, and flight motor, and drives each motor to operate according to set parameters based on the control signals from the main control MCU. The sensor array collects the robot's attitude, rotation angle, and spatial position status data and transmits it to the main control MCU for fusion processing. The remote control receiver module receives control commands sent by the ground-based remote control unit, decodes them, and transmits them to the main control MCU. The image acquisition module includes multiple cameras for acquiring image and video data from the work site. The ground-based remote control unit includes a remote control unit, a flight control app, and a de-icing operation app, used to send control commands to the robot and receive status data and image / video data returned by the robot.

11. The control system of the flying de-icing robot according to claim 10, characterized in that: The flight control system has built-in attitude control mode and stationary control mode. In attitude control mode, the joystick output signal of the remote control unit corresponds to control the robot's pitch, roll and yaw attitude angles. In stationary control mode, the robot locks its current spatial position based on the positioning module, and the joystick only controls horizontal displacement and fine-tuning of altitude.

12. The control system of the flying de-icing robot according to claim 10, characterized in that: The de-icing system has built-in manual and automatic operation modes, and is equipped with an operation parameter setting module. In the manual operation mode, the robot fully responds to the real-time control commands of the remote control body. In the automatic operation mode, the main control MCU automatically controls the walking mechanism and the de-icing system to perform continuous de-icing tasks based on preset operation parameters and sensor feedback data.

13. The control system of the flying de-icing robot according to claim 10, characterized in that: The ground remote control unit also includes a status display module and an image display module; the status display module is used to display battery power, flight attitude, power of each motor, operation status and fault alarm data in real time; the image display module is used to display high-definition images of the operation site transmitted back by the image acquisition module in real time.

14. A flight de-icing control method based on the control system described in claims 10-13, characterized in that: The method specifically includes the following steps: Step 1: System power-on self-test; After the control system is powered on and started, it performs a functional integrity test on the main control MCU, sensor group, motor drive module, communication module and power system; if the self-test passes, it proceeds to the next process; if the self-test fails, a fault alarm is issued. Step 2: Working mode determination: The main control MCU determines whether the current working mode is flight control mode or de-icing operation mode based on the settings of the ground remote control unit; Step 3: Flight control mode execution, specifically including: Step 301: Acquire remote control commands and attitude and position data collected by sensors in real time; Step 302: The main control MCU combines the remote control command and sensor data to determine whether the command is within the safe flight range; if it is executable, it outputs a control signal to the motor drive module to drive the flight motor to perform the corresponding action; if it is not executable, it returns to step 301 to reacquire data. Step 303: During execution, monitor the status of the remote joystick in real time. If the joystick position changes, return to step 301 to update the control command; otherwise, maintain the current execution state. Step 4: Execute the de-icing operation mode; specifically including: Step 401: Obtain the preset de-icing operation parameters and the real-time status data collected by the sensors; Step 402: The main control MCU combines the operation parameters and sensor data to determine whether the current conditions meet the requirements for de-icing operation; if it can be executed, it outputs a control signal to the motor drive module to drive the ice-breaking motor, wire-pressing motor, and walking motor to work together to perform the de-icing operation; if it cannot be executed, it automatically adjusts the parameters or returns to step 401 to reacquire data. Step 403: During the operation, monitor the status of the remote control joystick in real time. If the joystick position changes and the system is in automatic de-icing mode, switch to manual de-icing mode and take over control manually; otherwise, maintain the current de-icing operation status and execute it in a loop. Step 5: The control flow terminates upon completion of the task.

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