Insulator drone de-icing system

Abstract

The application discloses an unmanned aerial vehicle deicing system for insulators. The ground equipment in the system comprises a mobile carrier and a control system and a laser generating assembly for 2μm laser emission arranged thereon, and the aerial equipment comprises an unmanned aerial vehicle and an optical conversion assembly and a detection and identification assembly connected with the unmanned aerial vehicle; the optical conversion assembly is connected with the laser generating assembly through an optical fiber; the detection and identification assembly collects insulator information in real time, and the insulator information comprises a 3D image of the insulator and a temperature distribution image on the insulator; the control system is wirelessly connected with each assembly, and is used for obtaining insulator types, icing areas, icing layer thicknesses and temperature distribution data according to the insulator information, and then adjusting laser parameters of the laser generating assembly, a position of the unmanned aerial vehicle and a spot size and shape of output laser of the optical conversion assembly in real time. The technical scheme of the application can optimize deicing effects on insulators made of different materials, improve deicing efficiency and prevent damage to the insulators.

Description

Technical Field

[0001] This application relates to the field of insulator de-icing technology, and in particular to an insulator unmanned aerial vehicle (UAV) de-icing system. Background Technology

[0002] De-icing of power transmission lines is a crucial step in ensuring the reliability and stability of power transmission. Currently, some traditional de-icing methods, such as thermal de-icing, mechanical de-icing, and DC de-icing technology, have been applied to some extent in power transmission systems. However, these traditional methods generally suffer from drawbacks such as low efficiency, high energy consumption, and the potential for damage to insulators. Furthermore, these methods typically require power outages, which can affect the continuity and stability of the power transmission system.

[0003] Past research has often employed laser technology with wavelengths of 1µm or 10.6µm. However, ice and water have low absorption coefficients near 1µm, resulting in insufficient de-icing efficiency. In contrast, 10.6µm wavelength CO2 lasers are efficiently absorbed by ice and water, but these devices are more sensitive to environmental disturbances and require frequent maintenance, such as periodic replacement of the CO2 gas. Furthermore, insulators are typically made of ceramic, glass, or composite materials, and 1µm or 10.6µm wavelength lasers may cause thermal shock to the insulator material or coating, potentially leading to material aging or damage, especially during prolonged operation.

[0004] Therefore, how to improve the de-icing effect on insulators, and even more so on insulators made of different materials, while ensuring that the insulators are not damaged as much as possible, is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] This application provides an insulator de-icing system for drones, which aims to solve the problems of unsatisfactory de-icing effect and easy damage to insulators in the prior art.

[0006] To achieve the above objectives, this application proposes an insulator drone de-icing system, which includes:

[0007] Ground equipment includes a mobile vehicle and a control component and a laser generating component disposed on the mobile vehicle, the laser generating component being used to emit a de-icing laser with a wavelength of 2μm;

[0008] The aerial equipment includes a drone and an optical conversion component and a detection and identification component connected to the drone; the optical conversion component is connected to the laser generating component via an optical fiber and is used to convert the laser emitted by the laser generating component and then emit it; the detection and identification component is used to collect insulator information in real time, the insulator information including a 3D image of the insulator and temperature distribution data on the insulator;

[0009] The control component is wirelessly connected to the drone, the detection and identification component, the optical conversion component, and the laser generating component. The control component is used to obtain data on insulator type, icing area, icing layer thickness, and temperature distribution based on the feedback insulator information, and then adjust the laser parameters of the laser generating component, the position of the drone, and the size and shape of the laser spot output by the optical conversion component in real time.

[0010] In some embodiments, the control component includes a master controller and a component connected to the master controller:

[0011] The data processing module is used to perform real-time analysis on the insulator information collected by the detection and identification component and generate a de-icing strategy.

[0012] The mission planning module is used to set the flight path of the UAV by importing the 3D coordinates of the insulator;

[0013] The remote control module is used to receive operation instructions and send control signals to the drone, the optical conversion component and the laser generation component to achieve precise de-icing.

[0014] In some embodiments, the laser generating assembly includes a laser, which is a 2μm thulium-doped fiber laser.

[0015] In some embodiments, the laser generating assembly further includes a water-cooling module; and the heat dissipation substrate of the laser is connected to the inlet and outlet pipes of the water-cooling module through metal water channels or cold plates to form a closed loop.

[0016] In some embodiments, a flight platform is also included, which is detachably connected to the UAV and has an installation structure therein for mounting the optical conversion component and the detection and recognition component;

[0017] The flight platform is equipped with anti-slip pads at the bottom and has a UV-resistant coating on its surface.

[0018] In some embodiments, the detection and identification component includes a binocular camera and an infrared thermal imager. The binocular camera is used to acquire 3D images of the insulator in real time, and the infrared thermal imager is used to acquire temperature distribution images on the insulator; or...

[0019] The detection and recognition components include a lidar, a monocular camera, and a multispectral camera. The lidar is used to emit a laser beam to generate three-dimensional point cloud data, and is combined with the monocular camera to acquire an image of the insulator. The multispectral camera is used to acquire an image of the temperature distribution on the insulator.

[0020] In some embodiments, the optical conversion assembly includes an optical fiber collimator, a plano-convex lens, and a plano-concave lens arranged sequentially along the optical axis.

[0021] In some embodiments, the optical fiber is of type nufern LMA-25 / 400, one end of which is connected to the optical fiber collimator, and the outer periphery of the optical fiber is wrapped with a protective layer that is resistant to high temperature, waterproof and tensile strength.

[0022] In some embodiments, the drone is a multi-rotor drone, including a flight control system, a GPS / RTK positioning module, a built-in battery, and a power system. The flight control system has dual modes of autonomous flight and manual control to ensure accurate positioning. The GPS / RTK positioning module is used to provide high-precision navigation, and the built-in battery is used to support the drone's endurance. The power system includes multiple motors and propellers, with the motors driving the propellers to rotate through a high-efficiency transmission system.

[0023] In some embodiments, the mobile vehicle includes off-road trucks, engineering vehicles, all-terrain vehicles, rail-mounted mobile platforms, and shipboard platforms.

[0024] This application proposes an insulator drone de-icing system. Based on the structural design of the aforementioned insulator drone de-icing system, this system offers the following advantages: Firstly, it employs a 2μm wavelength laser for de-icing. Given the high absorption rate of laser light in the 2μm wavelength band by ice and water, laser energy can be effectively converted into heat energy, thereby improving de-icing efficiency. Furthermore, since insulators are typically made of ceramics, glass, or composite materials, which have low absorption rates for 2μm wavelength laser light, damage to the insulator body can be reduced. Secondly, the control component, based on feedback from the insulator, can adjust the laser parameters of the laser generating component, the drone's position, and the size and shape of the laser spot output by the optical conversion component in real time. This allows the 2μm laser to gradually reach a dynamic equilibrium of heat transfer when irradiating the ice layer on the insulator, improving de-icing efficiency while avoiding damage to the insulator material. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0026] Figure 1 This is a schematic diagram of the structure of an insulator-based unmanned aerial vehicle (UAV) de-icing system according to an embodiment of this application;

[0027] Figure 2 This is a schematic diagram of the module structure of a detection and recognition component according to an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of the module structure of an optical conversion component according to an embodiment of this application. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0030] It should be noted that, unless otherwise stated or limited, all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0031] It should also be noted that, unless otherwise stated or limited, when an element is referred to as "fixed to" or "set on" another element, it may be directly on the other element or there may be an intervening element present. When an element is referred to as "connected to" another element, it may be directly connected to the other element or there may be an intervening element present.

[0032] Furthermore, unless otherwise stated or limited, the descriptions involving "first," "second," etc., in this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0033] See Figure 1 As shown, this application proposes an insulator drone de-icing system, which includes ground equipment and aerial equipment, and is designed to achieve de-icing operations on high-altitude insulators 200 through synergistic action.

[0034] Specifically, the ground equipment includes a mobile vehicle 10 and a control system 20 and a laser generating component 30 mounted on the mobile vehicle 10. The laser generating component 30 is used to emit a de-icing laser with a wavelength of 2μm. The aerial equipment includes a drone 40 and an optical conversion component 60 and a detection and identification component 50 connected to the drone 40. The optical conversion component 60 is connected to the laser generating component 30 via an optical fiber 80 and is used to convert and emit the laser emitted by the laser generating component 30. The detection and identification component 50 is used to collect insulator information in real time. The insulator information includes a 3D image of the insulator 200 and a temperature distribution image on the insulator 200. The control system 20 has wireless communication connections with the drone 40, the detection and identification component 50, the optical conversion component 60, and the laser generating component 30. Therefore, the basic scheme for de-icing operations on insulator 200 in this application is as follows: A mobile vehicle 10 transports all components to the vicinity of the insulator 200. The control system 20 coordinates the takeoff of a drone 40, which in turn drives the laser generating component 30 and the detection and identification component 50 connected to the drone 40 to a predetermined position. The laser generating component 30 then emits a de-icing laser. The laser is transmitted through an optical fiber 80 to an optical conversion component 60. After the optical conversion component 60 adjusts the size and shape of the laser spot, it irradiates the ice layer on the surface of the insulator 200 to perform de-icing operations. The detection and identification component 50 detects and obtains the de-icing effect in real time. The mobile vehicle 10 includes off-road trucks, engineering vehicles, all-terrain vehicles, rail-mounted mobile platforms, and ship-borne platforms, enhancing environmental adaptability.

[0035] Thus, the technical solution of this application employs a 2μm wavelength laser for de-icing. Based on the high absorption rate of laser light in the 2μm wavelength band by ice and water, the laser energy can be effectively converted into heat energy, thereby improving de-icing efficiency. Furthermore, the insulator 200 is typically made of ceramic, glass, or composite materials, which have low absorption rates for 2μm wavelength laser light. Therefore, the laser primarily targets the ice layer adhering to the insulator surface without damaging the insulator itself.

[0036] More specifically, the control system 20 can obtain data on insulator type, icing area, icing layer thickness, and temperature distribution based on the feedback insulator information, and thus can adjust the laser parameters of the laser generating component 30, the position of the drone 40, and the size and shape of the laser spot output by the optical conversion component 60 in real time. Understandably, as a high-performance power system insulation component, the insulator 200's chemical composition and microstructure vary depending on the application requirements. For example, based on differences in chemical composition and physical properties, porcelain insulators can be classified into two main categories: ordinary porcelain and special porcelain. Alumina porcelain, zirconia porcelain, and cordierite porcelain are several representative materials among special porcelain insulators, widely used in harsh power environments due to their excellent physical and chemical stability. Reference data shows that the parameter data for the four types of insulators are shown in Table 1.

[0037] Table 1

[0038]

[0039] Furthermore, when irradiated with a 2µm laser on four different types of ceramic insulator materials, alumina ceramic exhibited the highest thermal conductivity, indicating its superior heat transfer efficiency. It effectively conducts the heat generated by laser irradiation, resulting in the lowest center temperature under the same laser irradiation conditions. Conversely, ordinary ceramic, with its lowest thermal conductivity and lower heat transfer efficiency, exhibited the highest center temperature after laser irradiation. As the laser irradiation time increased, the heat accumulated inside the alumina ceramic gradually increased, causing the center temperature to rise continuously. However, the rate of temperature increase gradually decreased over time because heat transfer gradually reached a dynamic equilibrium; that is, the laser energy absorbed by the alumina ceramic surface and the heat lost to the interior and surrounding environment through thermal conduction tended to balance. Regarding stress, although the overall stress level increased with increasing temperature, the rate of increase also decreased over time. This increase in thermal stress is related to changes in the internal temperature gradient; as the temperature gradient gradually decreases, the non-uniform stress caused by thermal expansion also decreases.

[0040] Therefore, by classifying the materials of insulator 200, the response behavior of the materials to laser irradiation can be predicted. Based on the thermal conductivity, coefficient of thermal expansion, and thermal stress characteristics of different insulator 200 materials, different laser parameter settings are required for different materials. Specifically, for alumina ceramic with high thermal conductivity, a higher power laser can be used for rapid scanning to fully utilize its heat diffusion capacity. For ordinary ceramic with low thermal conductivity, the laser power needs to be reduced and the scanning time extended to avoid overheating in the central area. Thus, after the UAV 40 takes off and collects insulator information through the detection and identification component 50, the control system 20 first determines the material type of the insulator 200 based on this information and, combined with a preset laser parameter database, intelligently adjusts the power and scanning speed of the de-icing laser (the displacement speed of the UAV 40) to ensure optimal laser processing effects on different materials.

[0041] Furthermore, during the laser de-icing process, the detection and identification component 50 monitors the temperature distribution on the surface and inside of the insulator 200 in real time. When the heat diffusion efficiency is high and the infrared thermal imager 52 shows a uniform temperature distribution, the control system 20 can appropriately increase the laser power to accelerate the de-icing speed. When the heat diffusion efficiency is low and the temperature in the central area rises too quickly, the control system 20 needs to dynamically reduce the laser power through a feedback mechanism to reduce local heat accumulation. In this way, the 2µm laser gradually reaches a dynamic equilibrium of heat transfer when irradiating the ice layer of the insulator, improving the de-icing efficiency while avoiding damage to the insulator 200.

[0042] Therefore, the technical solution of this application, on the other hand, based on the acquisition of insulator information, can dynamically match appropriate laser parameters before and during laser de-icing, so as to achieve precise and efficient de-icing operation, while ensuring the long-term stability and safety of insulator 200. This improves the intelligence level and operation efficiency of the UAV 40 de-icing system and provides a strong guarantee for the reliable operation of the power system.

[0043] In some embodiments, the control system 20 includes a main controller and a data processing module, a task planning module, and a remote control module connected to the main controller.

[0044] The data processing module is used to analyze the insulator information collected by the detection and recognition component 50 in real time and generate a de-icing strategy. This module is equipped with a high-performance graphics processing unit (GPU) or a dedicated AI acceleration chip to accelerate the real-time analysis and processing of insulator information. It also has sufficient memory and storage space to store the collected data and analysis results. Furthermore, it integrates various image processing and data analysis algorithms, such as object detection algorithms (YOLO, Faster R-CNN, etc.), image segmentation algorithms (U-Net, Mask R-CNN, etc.), and deep learning algorithms (for insulator 200 state assessment and de-icing strategy generation). By continuously optimizing algorithm parameters, the accuracy and efficiency of data analysis are improved. A data interface connecting the main controller and the detection and recognition component 50 is further configured to ensure that the insulator information collected by the detection and recognition component 50 can be received in real time, and the analyzed and generated de-icing strategy can be sent to the main controller. This de-icing strategy includes adjustments to laser parameters, the position of the UAV 40, and the size and shape of the laser spot output by the optical conversion component 60.

[0045] The mission planning module is used to set the flight path of the UAV 40 by importing the 3D coordinates of the insulator 200. This module is typically equipped with an input device such as a touchscreen or keyboard and mouse to facilitate the import of the insulator 200's 3D coordinate data. It also supports data import via external storage devices (such as USB flash drives) or network transmission. Furthermore, it integrates advanced path planning algorithms, such as A* algorithm, Dijkstra's algorithm, and genetic algorithm, to generate the optimal flight path based on the imported 3D coordinates of the insulator 200, combined with the UAV 40's performance parameters (such as flight speed, endurance, and maximum turning radius) and environmental information (such as obstacle distribution, wind speed, and wind direction). Then, through an output interface connected to the main controller and the UAV 40, the planned flight path is sent to the main controller, which then controls the UAV 40 to fly according to the planned path.

[0046] The remote control module receives operating commands and sends control signals to the drone 40, optical conversion component 60, and laser generator component 30 to achieve precise de-icing. This remote control module employs wireless communication technologies such as 4G / 5G, Wi-Fi, and Bluetooth to communicate with a remote operating terminal. It is also equipped with a high-gain antenna to improve communication distance and signal strength, ensuring stable communication even in complex environments. By setting up control interfaces connected to the main controller, drone 40, optical conversion component 60, and laser generator component 30, it can accurately receive operating commands and send control signals to the corresponding devices, achieving precise control of the de-icing process.

[0047] In summary, the working principle of this application's technical solution is as follows: The detection and identification component 50 collects information such as images, temperature, and three-dimensional coordinates of the insulator 200 in real time and transmits this information to the data processing module. The data processing module analyzes the collected insulator information in real time, uses pre-trained models and algorithms to evaluate the icing area and icing thickness of the insulator 200, generates a corresponding de-icing strategy, and sends the strategy to the main controller. The operator imports the 3D coordinate data of the insulator 200 into the task planning module. Based on this data and the performance parameters of the UAV 40, the task planning module plans the flight path of the UAV 40 and sends the path information to the main controller. Based on the de-icing strategy generated by the data processing module and the flight path planned by the task planning module, the main controller controls the UAV 40 to fly along the predetermined path through the remote control module, and simultaneously controls the optical conversion component 60 and the laser generating component 30 to perform precise de-icing operations.

[0048] In some embodiments, the laser generating component 30 includes a laser, which is a 2μm thulium-doped fiber 80 laser. Combined with the de-icing strategy generated by the data processing module, the 2μm thulium-doped fiber 80 laser can dynamically adjust its power and waveform (e.g., QCW mode) to achieve precise energy delivery to the icing area of ​​the insulator 200, avoiding thermal damage. However, during operation, the 2μm thulium-doped fiber 80 laser's efficient conversion from electrical energy to light energy is not entirely ideal, resulting in a significant portion of energy being dissipated as heat. As the laser power increases, the generated heat increases dramatically. For example, in high-power continuous output mode, the internal temperature of the laser rises rapidly, and if not cooled in time, it can lead to a series of serious problems. A water-cooling module is further implemented; the laser's heat dissipation substrate is connected to the inlet and outlet pipes of the water-cooling module via metal water channels or cold plates, forming a closed loop. In this closed loop, the water-cooling module uses a pump to circulate cooling water within the loop. As the cooling water flows through the laser's heat dissipation substrate, it undergoes sufficient heat exchange with the substrate, quickly carrying away the heat generated by the laser. Metal water channels or cold plates have excellent thermal conductivity, which can quickly transfer the heat inside the laser to the cooling water, ensuring that the heat can be dissipated in time. This allows the laser to maintain stable performance for a longer period of time, reduces the frequency of laser replacement, and lowers the operating cost of the equipment.

[0049] In some embodiments, the system further includes a flight platform 70, which is detachably connected to the drone 40 and has an installation structure therein for mounting the optical conversion component 60 and the detection and identification component 50; wherein the bottom of the flight platform 70 is equipped with an anti-slip pad and its surface is coated with an anti-ultraviolet coating.

[0050] In this embodiment, the optical conversion component 60 and the detection and recognition component 50 are installed on the flight platform 70, facilitating the connection between the components and the drone 40. The flight platform 70 can employ a quick-locking system, such as spring clips or electromagnetic adsorption modules, to achieve a mechanical connection between the drone 40 and the flight platform 70. The connection strength must at least meet the requirements for withstanding a level 3 wind. This allows the flight platform 70 to be disassembled and repaired independently in case of a malfunction in the optical conversion component 60 or the detection and recognition component 50, reducing drone 40 downtime. Specifically, a connection interface module can be used to allow the same flight platform 70 to accommodate drones 40 with varying load capacities, improving system flexibility.

[0051] In the specific installation of the optical conversion component 60 and the detection and recognition component 50, the optical conversion component 60 and the detection and recognition component 50 can be designed as independent modules, with standardized installation interfaces and guide rails set inside the flight platform 70. Each module can be inserted into the installation interface via a slide rail and fixed by clips or screws. For example, a shock absorption system, such as rubber shock-absorbing pads, spring shock absorbers, or air cushion shock absorbers, can also be installed between the optical conversion component 60 and the detection and recognition component 50 and the flight platform 70, thereby effectively isolating the vibrations generated during the flight of the UAV 40, reducing the impact of vibrations on the optical conversion component 60 and the detection and recognition component 50, and improving the accuracy and reliability of the detection data. Furthermore, for the optical conversion component 60, an adjustable mounting bracket is designed to adjust the angle and position of the component to achieve optimal optical performance. The angle and position can be adjusted by manual knobs, electric push rods, or gear transmission, etc., and the angle and position of the optical conversion component 60 can be adjusted according to actual detection needs to ensure that the required laser spot or size is obtained, thereby improving the de-icing effect.

[0052] Furthermore, the anti-slip pads on the bottom of the flight platform 70 can be made of high-friction rubber materials, such as nitrile rubber, neoprene rubber, or silicone rubber. These materials have good wear resistance, corrosion resistance, and elasticity, providing stable anti-slip performance in various environments. Various textures can be designed on the surface of the anti-slip pads, such as raised particles, stripes, grids, or waves. Different textures can increase the friction between the anti-slip pads and the contact surface, improving the anti-slip effect. This allows the anti-slip pads to effectively prevent the flight platform 70 from sliding or tipping when placed on the ground or other supporting surfaces, and to cushion the impact force generated during placement, reducing damage to the bottom of the flight platform 70 and the supporting surface, thus extending the service life of the equipment. Furthermore, the UV-resistant coating on the surface of the flight platform 70 can be made of coatings with good UV protection properties, such as acrylic coatings, polyurethane coatings, or fluorocarbon coatings. These coatings can effectively absorb or reflect ultraviolet rays, reducing UV damage to the surface of the flight platform 70 and extending its service life.

[0053] To obtain insulator information, such as Figure 2As shown, in some embodiments, the detection and recognition component 50 includes a binocular camera 51 and an infrared thermal imager 52. The binocular camera 51 is used to acquire images of the insulator 200 in real time, and the infrared thermal imager 52 is used to detect the temperature distribution image on the insulator 200. The binocular camera 51 simultaneously acquires two images of the insulator 200, and uses image processing algorithms (such as SIFT, SURF, and other feature point matching algorithms) to match feature points in the two images, calculating the disparity of each feature point. Based on the disparity and parameters such as the camera's baseline distance and focal length, the three-dimensional coordinates of each point on the surface of the insulator 200 are calculated using the principle of triangulation, thereby reconstructing the three-dimensional model of the insulator 200, obtaining its shape and position information, and further analyzing it to obtain the type of the insulator 200 and the icing area and thickness on it. The infrared thermal imager 52 detects the infrared radiation emitted by the surface of the insulator 200, converts it into an electrical signal, and then generates a temperature distribution image of the surface of the insulator 200 through signal processing and image reconstruction algorithms. Different temperature areas will appear in different gray levels or colors in the infrared image, so that the temperature anomalies of the insulator 200 can be seen intuitively.

[0054] Alternatively, in some other implementations, the detection and identification component 50 includes a lidar, a monocular camera, and a multispectral camera. The lidar emits a laser beam to generate three-dimensional point cloud data, which is then combined with the monocular camera to obtain the insulator type. The multispectral camera acquires an image of the temperature distribution on the insulator 200. Specifically, the lidar emits a laser beam onto the surface of the insulator 200; the laser beam is reflected back after encountering the insulator 200 and received by the lidar. By measuring the time difference between the emission and reception of the laser beam, the distance between the lidar and various points on the surface of the insulator 200 is calculated. Combined with the scanning angle information of the lidar, three-dimensional point cloud data of the insulator 200 surface is generated. By processing and analyzing the point cloud data, such as filtering, segmentation, and feature extraction, information such as the shape, size, and position of the insulator 200 can be obtained. Further analysis can then reveal the icing area and the thickness of the icing layer. The monocular camera acquires images of the insulator 200, and image processing and machine learning algorithms (such as convolutional neural networks) are used to identify and classify the insulator 200 in the images. A multispectral camera simultaneously acquires images of the insulator 200 in different spectral bands. By analyzing the changes in grayscale values ​​of the images in different bands, the spectral characteristic information of the insulator 200 is obtained. Simultaneously, using the thermal infrared band of the multispectral camera, a temperature distribution image of the insulator 200 surface can be generated to detect temperature anomalies.

[0055] like Figure 3As shown, in some embodiments, the optical conversion component 60 includes an optical fiber collimator 61, a plano-convex lens 62, and a plano-concave lens 63 arranged sequentially along the optical axis. The optical fiber collimator 61 converts the diverging beam in the optical fiber 80 into an approximately parallel beam output. Its core function is to use a lens (such as a self-focusing lens or an aspherical lens) to collimate the light emitted from the end face of the optical fiber 80. By precisely designing the radius of curvature, refractive index, and distance from the end face of the optical fiber 80, the divergence angle of the emitted beam can be controlled within a very small range (typically less than 1°). When parallel light is incident, the plano-convex lens 62 uses the refraction of its convex surface to focus the beam, and its focal length is determined by the radius of curvature and refractive index of the material. The plano-concave lens 63 has a flat surface and a concave surface, with the concave surface facing the direction of the incident light. The plano-concave lens 63 diverges the incident beam, and by adjusting its relative position to the plano-convex lens 62, the degree of divergence and the focusing position of the beam can be precisely controlled, achieving fine shaping and collimation adjustment of the beam. Among them, based on the design of the adjustable bracket inside the flight platform 70, the relative position and angle of the plano-convex lens 62 and the plano-concave lens 63 can be flexibly adjusted after being installed on the bracket (the control system 20 controls the bracket adjustment), thereby realizing continuous adjustment of the beam focusing position, divergence angle and spot size to meet the requirements of different application scenarios for beam parameters.

[0056] In some embodiments, the fiber optic cable 80 is of type nufern LMA-25 / 400, one end of which is connected to the fiber optic collimator 61, and the outer periphery of the fiber optic cable 80 is wrapped with a protective layer that is resistant to high temperature, waterproof and tensile strength.

[0057] In this embodiment, LMA-25 / 400 is a large mode area (LMA) double-clad fiber 80 with a core diameter of 25 μm, an inner cladding diameter of 400 μm, and a low numerical aperture (NA≈0.06) design, supporting high-power laser transmission (such as the 1060-1115 nm band) while reducing nonlinear effects (such as SBS and SRS). A protective layer is further added to improve the durability and stability of the fiber 80, ensuring reliable transmission in complex environments.

[0058] In some embodiments, the drone 40 is a multi-rotor drone 40, including a flight control system, a GPS / RTK positioning module, a built-in battery, and a power system. The flight control system has dual modes: autonomous flight and manual control. In autonomous flight mode, the drone 40 can automatically execute flight tasks according to preset routes and mission parameters without real-time human intervention, making it suitable for long-distance, repetitive, or hazardous operations. The manual control mode allows operators to directly control the drone 40 in real time via a remote controller, providing flexible response capabilities in complex environments or emergencies and ensuring flight safety. The GPS / RTK positioning module provides high-precision navigation, ensuring that the drone 40 can accurately fly along preset routes and achieve precise positioning. The built-in battery supports the drone 40's endurance, providing power to all electronic devices such as the flight control system, GPS / RTK positioning module, and power system, enabling the drone 40 to complete a full flight mission. The power system includes multiple motors and propellers. The motors drive the propellers to rotate through a high-efficiency transmission system, generating upward lift, enabling the drone 40 to take off, hover, and fly. Multi-rotor designs (such as quadcopters, hexacopterers, octocopters, etc.) improve the stability and maneuverability of UAVs.

[0059] In summary, the technical solution of this application can achieve precise control of beam parameters in complex environments, improve the operational efficiency of UAVs, ensure the stability and safety of high-power laser transmission, and meet diverse application needs.

[0060] The above are only some or preferred embodiments of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. An insulator unmanned aerial vehicle (UAV) de-icing system, characterized in that, include: Ground equipment includes a mobile vehicle and a control component and a laser generating component disposed on the mobile vehicle, the laser generating component being used to emit a de-icing laser with a wavelength of 2μm; The aerial equipment includes a drone and an optical conversion component and a detection and identification component connected to the drone; the optical conversion component is connected to the laser generating component via an optical fiber and is used to convert and emit the laser emitted by the laser generating component; the detection and identification component is used to collect insulator information in real time, the insulator information including a 3D image of the insulator and a temperature distribution image on the insulator; The control component is wirelessly connected to the drone, the detection and identification component, the optical conversion component, and the laser generating component. The control component is used to obtain data on insulator type, icing area, icing layer thickness, and temperature distribution based on the feedback insulator information, and then adjust the laser parameters of the laser generating component, the position of the drone, and the size and shape of the laser spot output by the optical conversion component in real time.

2. The insulator unmanned aerial vehicle de-icing system according to claim 1, characterized in that, The control component includes a main controller and components connected to the main controller: The data processing module is used to perform real-time analysis on the insulator information collected by the detection and identification component and generate a de-icing strategy. The mission planning module is used to set the flight path of the UAV by importing the 3D coordinates of the insulator; The remote control module is used to receive operation instructions and send control signals to the drone, the optical conversion component and the laser generation component to achieve precise de-icing.

3. The insulator unmanned aerial vehicle de-icing system according to claim 2, characterized in that, The laser generating component includes a laser, which is a 2μm thulium-doped fiber laser.

4. The insulator unmanned aerial vehicle de-icing system according to claim 3, characterized in that, The laser generating assembly also includes a water-cooling module; and the heat dissipation substrate of the laser is connected to the inlet and outlet pipes of the water-cooling module through metal water channels or cold plates to form a closed loop.

5. The insulator unmanned aerial vehicle de-icing system according to claim 1, characterized in that, It also includes a flight platform, which is detachably connected to the UAV and has an installation structure therein for mounting the optical conversion component and the detection and recognition component; The flight platform is equipped with anti-slip pads at the bottom and has a UV-resistant coating on its surface.

6. The insulator unmanned aerial vehicle de-icing system according to claim 5, characterized in that, The detection and identification component includes a binocular camera and an infrared thermal imager. The binocular camera is used to acquire 3D images of the insulator in real time, and the infrared thermal imager is used to acquire temperature distribution images on the insulator; or... The detection and recognition components include a lidar, a monocular camera, and a multispectral camera. The lidar is used to emit a laser beam to generate three-dimensional point cloud data, and is combined with the monocular camera to acquire an image of the insulator. The multispectral camera is used to acquire an image of the temperature distribution on the insulator.

7. The insulator unmanned aerial vehicle de-icing system according to claim 6, characterized in that, The optical conversion assembly includes an optical fiber collimator, a plano-convex lens, and a plano-concave lens arranged sequentially along the optical axis.

8. The insulator unmanned aerial vehicle de-icing system according to claim 7, characterized in that, The optical fiber is of type nufern LMA-25 / 400, and one end is connected to the optical fiber collimator. The outer surface of the optical fiber is wrapped with a protective layer that is resistant to high temperature, waterproof and tensile strength.

9. The insulator unmanned aerial vehicle de-icing system according to claim 4, characterized in that, The drone is a multi-rotor drone, including a flight control system, a GPS / RTK positioning module, a built-in battery, and a power system. The flight control system has dual modes of autonomous flight and manual control to ensure accurate positioning. The GPS / RTK positioning module is used to provide high-precision navigation, and the built-in battery is used to support the drone's endurance. The power system includes multiple motors and propellers, with the motors driving the propellers to rotate through a high-efficiency transmission system.

10. The insulator unmanned aerial vehicle de-icing system according to claim 1, characterized in that, The mobile vehicles include off-road trucks, engineering vehicles, all-terrain vehicles, rail-mounted mobile platforms, and shipborne platforms.

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