An unmanned aerial vehicle deicing device with optical flow tracking

Abstract

The utility model discloses an unmanned plane deicing device with light flow tracking function mainly relates to unmanned plane deicing field. Including unmanned plane main part with camera, the unmanned plane main part is carried with big dipper positioning module, light flow tracking module, and the unmanned plane main part bottom is connected with resonance deicing mechanism, the resonance deicing mechanism includes the installation shell, be equipped with motor on the installation shell, the both sides of installation shell are rotatably equipped with a plurality of eccentric wheels through eccentric wheel axle, the inside of installation shell is equipped with transmission mechanism, and the motor is respectively connected with a plurality of eccentric wheel axle drive through transmission mechanism, and the installation shell bottom is equipped with wire clamp. The utility model has the beneficial effect that: through unmanned plane drive deicing equipment to high altitude cable deicing, the inertia of eccentric wheel rotation is transmitted to the cable on vibration deicing through wire clamp, and the deicing efficiency is higher, and carries big dipper positioning module and light flow tracking module, makes the positioning and identification of unmanned plane in the deicing process more accurate.

Description

Technical Field

[0001] This utility model relates to the field of drone de-icing, specifically a drone de-icing device with optical flow tracking function. Background Technology

[0002] The impact of power line icing accidents on the power system and socio-economic situation cannot be ignored. Icing-induced transmission line faults not only cause power outages, disrupting people's normal lives and work, but can also lead to serious consequences such as equipment damage and production interruptions, resulting in huge economic losses to society. Therefore, de-icing operations are particularly important in addressing the problem of power line icing.

[0003] Existing mechanical de-icing methods require operators to manually knock off the ice, scrape it with a steel knife, or use other handheld de-icing equipment, depending on the type of ice. Although this method is simple and easy to implement, and the strong vibration during use can also remove the ice, it can damage the conductor itself. It also requires manual high-altitude work, is slow in de-icing speed, has low efficiency, and is highly dangerous. Utility Model Content

[0004] The purpose of this invention is to provide a drone de-icing device with optical flow tracking function. It uses a drone to drive a de-icing device to de-ice high-altitude cables. The inertia generated by the rotation of the eccentric wheel is transmitted to the cable through the cable clamp for vibration de-icing, resulting in higher de-icing efficiency. Furthermore, it is equipped with a Beidou positioning module and an optical flow tracking module, which makes the positioning and identification of the drone more accurate during the de-icing process.

[0005] To achieve the above objectives, this utility model employs the following technical solution:

[0006] A drone de-icing device with optical flow tracking function includes a drone body with a camera, a Beidou positioning module and an optical flow tracking module mounted on the drone body, and a resonant de-icing mechanism connected to the bottom of the drone body;

[0007] The resonant de-icing mechanism includes a mounting shell, on which a motor is mounted. Multiple eccentric wheels are rotatably mounted on both sides of the mounting shell via eccentric wheel shafts. A transmission mechanism is provided inside the mounting shell. The motor is connected to the multiple eccentric wheel shafts via the transmission mechanism. A wire clamp is provided at the bottom of the mounting shell.

[0008] Furthermore, the transmission mechanism includes a transmission shaft rotatably disposed at the central shaft inside the mounting housing, the output shaft of the motor is connected to the transmission shaft by meshing bevel gears, and the transmission shaft is also connected to multiple eccentric wheel shafts on both sides by meshing bevel gears.

[0009] Furthermore, the optical flow tracing module includes a large displacement sub-network and a small displacement sub-network. The large displacement sub-network is composed of a FlowNetC and two FlowNetS basic networks stacked together, and the small displacement sub-network is obtained by fine-tuning the FlowNetS basic network.

[0010] Furthermore, an eccentric oscillator is connected to the outer side of the eccentric wheel.

[0011] Furthermore, the eccentric oscillator is fan-shaped.

[0012] Furthermore, the eccentric wheels at both ends of the forward direction of the drone body rotate in opposite directions.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] 1. This patent uses a drone to bring the resonant de-icing mechanism to the high-altitude cable, fixing the cable clamp to the cable. The motor outputs power, which is transmitted to multiple eccentric wheel shafts on both sides through a transmission mechanism. The rotation of the eccentric wheel shafts drives the eccentric wheels on them to rotate, generating inertial force. The inertial force is then transmitted to the cable through the cable clamp, causing the cable to resonate, thereby performing de-icing operations on the cable. The de-icing effect is better, avoiding the need for workers to perform high-altitude operations, which can greatly improve the safety of workers and also improve the de-icing efficiency.

[0015] 2. This patent provides the UAV with accurate positioning information by incorporating a Beidou positioning module, enabling the UAV to accurately land the de-icing mechanism on the icy line even in complex environments. This improves the positioning accuracy and stability of the UAV, provides better assistance for de-icing operations, and ensures good de-icing results.

[0016] 3. By incorporating an optical flow tracking module, this patent can demonstrate better performance in recognizing and processing moving targets in real-world scenarios. Through strategies such as deepening the network structure and adding small-displacement subnetworks, it can provide UAVs with more reliable moving target detection technology, ensuring the safety of UAVs during flight and thus ensuring the smooth progress of de-icing operations. Attached Figure Description

[0017] Appendix Figure 1 This is a schematic diagram of the structure of this utility model.

[0018] Appendix Figure 2 This is a schematic diagram of the resonant de-icing mechanism of this utility model.

[0019] Appendix Figure 3 This is a schematic diagram of the internal structure of the mounting shell of this utility model.

[0020] Appendix Figure 4 This is a schematic diagram of the working principle of this utility model.

[0021] The following are the labels in the attached diagram: 1. UAV body; 2. Mounting shell; 3. Motor; 4. Eccentric wheel; 5. Cable clamp; 6. Drive shaft; 7. Bevel gear; 8. Eccentric vibrator; 9. Camera; 10. Beidou positioning module; 11. Optical flow tracking module. Detailed Implementation

[0022] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the present invention, and these equivalent forms also fall within the scope defined in this application.

[0023] This utility model describes a drone de-icing device with optical flow tracking function. The main structure includes a drone body 1 equipped with a camera 9. Existing common drone equipment can be selected, as it is a commonly used technology. The drone body 1 is equipped with a Beidou positioning module 10, which provides accurate positioning information for the drone body 1. This allows the drone body 1 to accurately land the resonant de-icing mechanism on the icing line even in complex environments, improving the positioning accuracy and stability of the drone body 1 and providing better assistance for de-icing operations. The optical flow tracking module 11, combined with the camera 9, can exhibit better performance in recognizing and processing moving targets in real-world scenarios. By deepening the network structure and adding small-displacement sub-networks, it can provide more reliable moving target detection technology for the drone, ensuring the safety of the drone during flight. The drone body 1 is connected to the bottom of the resonant de-icing mechanism.

[0024] The resonant de-icing mechanism includes a mounting shell 2, as shown in the attached image. Figure 1 As shown, the top of the mounting shell 2 is suspended from the bottom of the drone body 1 by steel bars or traction ropes, as attached. Figure 2-3 As shown, a motor 3 is vertically mounted on the top of the mounting shell 2. Multiple eccentric wheels 4 are rotatably mounted on the openings on both sides of the mounting shell 2 via eccentric wheel shafts. A transmission mechanism is provided inside the mounting shell 2. The motor 3 is connected to the multiple eccentric wheel shafts via the transmission mechanism. A cable clamp 5 is provided at the bottom of the mounting shell 2. The cable is clamped and connected to the high-altitude cable via the cable clamp 5, and the cable is slidably connected to the cable clamp 5. This allows the main body of the drone 1 to drive the resonant de-icing mechanism to move along the cable. The motor 3 outputs power, which is transmitted to the multiple eccentric wheel shafts on both sides through the transmission mechanism. This causes the eccentric wheel shafts to rotate, driving the eccentric wheels 4 on them to rotate and generating inertial force. The inertial force is then transmitted to the cable via the cable clamp 5, causing the cable to resonate and break the ice on the cable, thereby performing the de-icing operation on the cable.

[0025] Preferred options are listed below. Figure 2-3As shown, the transmission mechanism includes a transmission shaft 6 rotatably mounted on the central shaft inside the mounting housing 2. The output shaft of the motor 3 is connected to the transmission shaft 6 via meshing bevel gears 7. The transmission shaft 6 is also connected to multiple eccentric wheel shafts on both sides via meshing bevel gears 7. The meshing connection of two or more bevel gears 7 is a basic transmission structure in the mechanical field. Specific meshing connection schemes can be obtained by referring to the attached drawings. The output shaft of the motor 3 is perpendicular to the transmission shaft 6, and the transmission shaft 6 is also perpendicular to the multiple eccentric wheel shafts. The power of the motor 3 is transmitted through the transmission shaft 6 and the meshing bevel gears 7. When the bevel gears 7 of the transmission shaft 6 drive the bevel gears 7 on both sides to rotate, the two bevel gears 7 on both sides will rotate in opposite directions, that is, rotate simultaneously towards or away from each other. This makes the rotation directions of the two eccentric wheels 4 on both sides opposite, which can make the inertial force generated by the rotation of the eccentric wheels 4 disordered, thereby improving the resonance force.

[0026] Preferably, the optical flow tracing module 11 includes a large displacement sub-network and a small displacement sub-network. The large displacement sub-network is composed of a FlowNetC and two FlowNetS basic networks stacked together. It can receive optical flow, brightness error, the k-th frame image, the (k+1)-th frame image and its compensated image as input. After calculation by two network layers, it outputs the optical flow value of the moving target with a large displacement. By increasing the network depth, the large displacement sub-network can improve the accuracy of optical flow calculation. The small displacement sub-network is obtained by fine-tuning the FlowNetS basic network. By adjusting the stride and size of the convolution kernel and adding convolutional layers in the decoder to smooth noise, the small displacement sub-network can effectively handle moving targets with small displacements. Finally, the optical flow values ​​calculated by the large displacement sub-network and the small displacement sub-network are fused to obtain the final optical flow result, providing a more reliable moving target detection technology for the UAV body 1 and ensuring the safety of the UAV during flight.

[0027] Preferably, an eccentric vibrator 8 is connected to the outer side of the eccentric wheel 4. The eccentric vibrator 8 is fan-shaped, which can further amplify the inertial force generated by the rotation of the eccentric wheel 4, improve the vibration when the cable resonates, and ensure a better de-icing effect.

[0028] Preferably, the eccentric wheels 4 at both ends of the forward direction of the drone body 1 rotate in opposite directions. This can be achieved by setting the bevel gears 7 at both ends of the transmission shaft 6 in opposite directions. In conjunction with the different rotation directions of the two eccentric wheels 4, the inertial force generated by the rotation of the eccentric wheels 4 becomes more disordered, thereby further improving the strength of cable resonance and ensuring a better de-icing effect.

[0029] This patent utilizes a drone to bring a resonant de-icing mechanism to high-altitude cables. The inertial force generated by the rotation of the eccentric wheel 4 causes the cable to resonate, thus de-icing the cable. This results in better de-icing performance, avoids the need for workers to perform high-altitude operations, significantly improves worker safety, and increases de-icing efficiency. By incorporating a Beidou positioning module 10, the drone is provided with precise positioning information, improving its positioning accuracy and stability, and providing better assistance for de-icing operations. Furthermore, the inclusion of an optical flow tracking module 11 enhances performance in identifying and processing moving targets in real-world scenarios, providing more reliable moving target detection technology for the drone, ensuring its flight safety, and thus ensuring the smooth progress of the de-icing operation.

Claims

1. A drone de-icing device with optical flow tracking function, comprising a drone body (1) with a camera (9), characterized in that: The main body (1) of the drone is equipped with a Beidou positioning module (10) and an optical flow tracking module (11), and the bottom of the main body (1) of the drone is connected to a resonant de-icing mechanism; The resonant de-icing mechanism includes a mounting shell (2), a motor (3) is provided on the mounting shell (2), multiple eccentric wheels (4) are provided on both sides of the mounting shell (2) through eccentric wheel shafts, a transmission mechanism is provided inside the mounting shell (2), the motor (3) is connected to the multiple eccentric wheel shafts through the transmission mechanism, and a wire clamp (5) is provided at the bottom of the mounting shell (2).

2. The UAV de-icing device with optical flow tracking function according to claim 1, characterized in that: The transmission mechanism includes a transmission shaft (6) rotatably disposed at the central shaft inside the mounting housing (2). The output shaft of the motor (3) is connected to the transmission shaft (6) by a meshing bevel gear (7). The transmission shaft (6) is also connected to multiple eccentric wheel shafts on both sides by meshing bevel gears (7).

3. The UAV de-icing device with optical flow tracking function according to claim 1, characterized in that: The optical flow tracing module (11) includes a large displacement subnetwork and a small displacement subnetwork. The large displacement subnetwork is composed of a FlowNetC and two FlowNetS basic networks stacked together, and the small displacement subnetwork is obtained by fine-tuning the FlowNetS basic network.

4. The UAV de-icing device with optical flow tracking function according to claim 1, characterized in that: An eccentric oscillator (8) is connected to the outside of the eccentric wheel (4).

5. The UAV de-icing device with optical flow tracking function according to claim 4, characterized in that: The eccentric oscillator (8) is fan-shaped.

6. The UAV de-icing device with optical flow tracking function according to claim 1, characterized in that: The eccentric wheels (4) at both ends of the forward direction of the main body (1) of the UAV rotate in opposite directions.

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