阅读说明：本技术 基于无人机的线路除冰装置 (Circuit defroster based on unmanned aerial vehicle ) 是由 杨洋 李孟 赵蓂冠 王红霞 庄文兵 董新胜 郑子梁 刘威 雷泽阳 马建功 于 2021-08-13 设计创作，主要内容包括：本发明公开了基于无人机的线路除冰装置,包括无人机,所述无人机底部设置有安装支架,安装支架上设置有除冰装置,所述除冰装置包括固定框架、顶面除冰机构、侧面除冰机构、控制箱、摄像头一和摄像头二；所述固定框架包括两组对称设置的横梁和纵梁；所述顶面除冰机构设置在固定框架的内部,且通过销轴活动连接在两组纵梁之间；所述侧面除冰机构包括传动机构、两组对称设置的连接杆和第二刮板,第二刮板设置在连接杆的底部,连接杆的顶部通过传动机构固定在固定框架的内部；所述摄像头一与摄像头二用于识别线缆路径以及观测线缆的除冰状态；本发明实现了线路在带电运行状态下的除冰作业,除冰装置结构设计简单,易于操作。(The invention discloses a line deicing device based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, wherein the bottom of the unmanned aerial vehicle is provided with an installation support, a deicing device is arranged on the installation support, and the deicing device comprises a fixed frame, a top surface deicing mechanism, a side surface deicing mechanism, a control box, a first camera and a second camera; the fixed frame comprises two groups of cross beams and longitudinal beams which are symmetrically arranged; the top surface deicing mechanism is arranged in the fixed frame and is movably connected between the two groups of longitudinal beams through a pin shaft; the side deicing mechanism comprises a transmission mechanism, two groups of connecting rods and a second scraper which are symmetrically arranged, the second scraper is arranged at the bottom of each connecting rod, and the top of each connecting rod is fixed inside the fixed frame through the transmission mechanism; the first camera and the second camera are used for identifying a cable path and observing the deicing state of the cable; the invention realizes the deicing operation of the line under the electrified operation state, and the deicing device has simple structure design and easy operation.)

1. Circuit defroster based on unmanned aerial vehicle, including unmanned aerial vehicle, the unmanned aerial vehicle bottom is provided with the installing support, be provided with defroster, its characterized in that on the installing support: the deicing device comprises a fixed frame, a top surface deicing mechanism, a side surface deicing mechanism, a control box, a first camera and a second camera;

the fixed frame comprises two groups of cross beams and longitudinal beams which are symmetrically arranged, and the two groups of cross beams are respectively arranged between the two groups of longitudinal beams and are positioned at the front ends and the rear ends of the two groups of longitudinal beams;

the top surface deicing mechanism is arranged in the fixed frame and is movably connected between the two groups of longitudinal beams through a pin shaft, the other end of the pin shaft is connected with a hinge block at the bottom of the longitudinal beams, and the hinge blocks are arranged on the bottom surfaces of the two groups of longitudinal beams in two groups;

the side deicing mechanism comprises a transmission mechanism, two groups of connecting rods and a second scraper blade, wherein the two groups of connecting rods are symmetrically arranged, the second scraper blade is arranged at the bottom of each connecting rod, and the top of each connecting rod is fixed in the fixed frame through the transmission mechanism and is positioned in front of the rear cross beam;

the control box is arranged outside the fixed frame and is positioned in the middle of the front side cross beam;

the first camera is arranged in the middle of the back of the front side cross beam, and the second camera is arranged in the middle of the bottom of the back side cross beam;

the first camera and the second camera are used for identifying a cable path and observing the deicing state of the cable.

2. The unmanned-aerial-vehicle-based line de-icing apparatus of claim 1, wherein: the top surface deicing mechanism comprises two groups of symmetrically arranged bent connecting rods and a first scraper, and the middle parts of the two groups of bent connecting rods are movably connected to the opposite surfaces of the two groups of hinged blocks through pin shafts respectively;

and two ends of the first scraper are fixed at the inner bent openings of the two groups of bent connecting rods in a welding mode.

3. The unmanned-aerial-vehicle-based line de-icing apparatus of claim 2, wherein: the bending type connecting rod is characterized in that a first connecting column is arranged on one end side face of the bending type connecting rod, a second connecting column is arranged on one end side face of the longitudinal beam, and a spring is arranged between the first connecting column and the second connecting column.

4. The unmanned-aerial-vehicle-based line de-icing apparatus of claim 1, wherein: the transmission mechanism comprises a stepping motor, a bidirectional screw rod and two groups of sliding blocks, a motor shaft of the stepping motor is connected with one end of the bidirectional screw rod through a coupler, the two groups of sliding blocks are respectively sleeved on two sides of the bidirectional screw rod, the bidirectional screw rod is respectively fixed on the front surface of a cross beam at the rear side through a screw rod connecting seat, and the bottom surfaces of the two groups of sliding blocks are respectively fixedly connected with the top surface of the connecting rod.

5. The unmanned-aerial-vehicle-based line de-icing apparatus of claim 1, wherein: the connecting rod is fixedly connected with the second scraper through a set screw.

6. The unmanned-aerial-vehicle-based line de-icing apparatus of claim 2, wherein: the first scraper is of an arc-shaped structure, the bottom of the first scraper is provided with an installation groove, and a scraper is installed inside the installation groove;

one end of the second scraper is of an arc-shaped structure, and an arc-shaped scraper is glued to the inner wall of one end of the arc-shaped surface of the second scraper.

7. The unmanned-aerial-vehicle-based line de-icing apparatus of claim 1, wherein: the two ends of the top surface of the longitudinal beams are respectively provided with a second screw hole, a first screw hole is formed in the position, corresponding to the second screw hole, of the mounting bracket, and the mounting bracket and the deicing device are fixedly connected through a screw rod penetrating through the first screw hole and a nut matched with the second screw hole.

8. The unmanned-aerial-vehicle-based line de-icing apparatus of claim 1, wherein: the control box is characterized in that a control panel and a lithium battery are arranged inside the control box, the control panel is fixed on the rear side face of the control box through screws, and the lithium battery is arranged on the inner bottom face of the control box.

9. The unmanned-aerial-vehicle-based line de-icing apparatus of claim 8, wherein: the control circuit of the control panel comprises an ARM processor, a 4G module, a motor driving circuit and a power management circuit, wherein the ARM processor is connected with the 4G module, the first camera and the second camera through USB interfaces respectively, and the ARM processor is connected with the control end of the stepping motor through the motor driving circuit.

Technical Field

The invention relates to the technical field of power transmission line deicing, in particular to a line deicing device based on an unmanned aerial vehicle.

Background

With the continuous development of an electric power system, the electric power scale is gradually enlarged, the operation environment of a power transmission line is complex and changeable, the interruption of the line operation is often caused by severe weather conditions, and particularly, large-area power failure accidents are caused by the conditions of tripping, tower falling, line breaking and the like caused by ice coating of the line.

In order to eliminate the icing disaster of the power transmission line, the deicing modes mainly adopted in the prior art are an artificial deicing mode and a direct-current deicing mode, but both the two deicing modes require the line to be operated in an uncharged state, the deicing process consumes a long time, and the national economic loss is large due to long-time power failure.

Therefore, the deicing technology based on the unmanned aerial vehicle can be used for deicing in a live line operation state, and the safe operation of the power transmission line is ensured.

Disclosure of Invention

The invention aims to solve the technical problems that the existing line deicing technology adopts manual deicing and direct-current deicing modes to be carried out in an uncharged state, the deicing process consumes long time, and long-time power failure causes national economic loss.

The technical scheme adopted by the invention for solving the technical problems is as follows: circuit defroster based on unmanned aerial vehicle, including unmanned aerial vehicle, the unmanned aerial vehicle bottom is provided with the installing support, be provided with defroster, its characterized in that on the installing support: the deicing device comprises a fixed frame, a top surface deicing mechanism, a side surface deicing mechanism, a control box, a first camera and a second camera;

the fixed frame comprises two groups of cross beams and longitudinal beams which are symmetrically arranged, and the two groups of cross beams are respectively arranged between the two groups of longitudinal beams and are positioned at the front ends and the rear ends of the two groups of longitudinal beams;

the top surface deicing mechanism is arranged in the fixed frame and is movably connected between the two groups of longitudinal beams through a pin shaft, the other end of the pin shaft is connected with a hinge block at the bottom of the longitudinal beams, and the hinge blocks are arranged on the bottom surfaces of the two groups of longitudinal beams in two groups;

the side deicing mechanism comprises a transmission mechanism, two groups of connecting rods and a second scraper blade, wherein the two groups of connecting rods are symmetrically arranged, the second scraper blade is arranged at the bottom of each connecting rod, and the top of each connecting rod is fixed in the fixed frame through the transmission mechanism and is positioned in front of the rear cross beam;

the control box is arranged outside the fixed frame and is positioned in the middle of the front side cross beam;

the first camera is arranged in the middle of the back of the front side cross beam, and the second camera is arranged in the middle of the bottom of the back side cross beam;

the first camera and the second camera are used for identifying a cable path and observing the deicing state of the cable.

Preferably, the top surface deicing mechanism comprises two groups of symmetrically arranged bent connecting rods and a first scraper, and the middle parts of the two groups of bent connecting rods are movably connected to the opposite surfaces of the two groups of hinged blocks through pin shafts respectively;

and two ends of the first scraper are fixed at the inner bent openings of the two groups of bent connecting rods in a welding mode.

Preferably, a first connecting column is arranged on one end side face of the bent connecting rod, a second connecting column is arranged on one end side face of the longitudinal beam, and a spring is arranged between the first connecting column and the second connecting column.

Preferably, the transmission mechanism comprises a stepping motor, a bidirectional screw rod and two sets of sliding blocks, a motor shaft of the stepping motor is connected with one end of the bidirectional screw rod through a coupler, the two sets of sliding blocks are respectively sleeved on two sides of the bidirectional screw rod, the bidirectional screw rod is respectively fixed on the front surface of the rear side cross beam through a screw rod connecting seat, and the bottom surfaces of the two sets of sliding blocks are respectively fixedly connected with the top surface of the connecting rod.

Preferably, the connecting rod is fixedly connected with the second scraper through a set screw.

Preferably, the first scraper is of an arc-shaped structure, the bottom of the first scraper is provided with an installation groove, and a scraper is installed inside the installation groove;

one end of the second scraper is of an arc-shaped structure, and an arc-shaped scraper is glued to the inner wall of one end of the arc-shaped surface of the second scraper.

Preferably, the two ends of the top surface of each longitudinal beam are respectively provided with a second screw hole, a first screw hole is formed in the position, corresponding to the second screw holes, of the mounting bracket, and the mounting bracket and the deicing device are fixedly connected through a screw rod penetrating through the first screw holes and the second screw holes in a matched manner through nuts.

Preferably, the control box is internally provided with a control panel and a lithium battery, the control panel is fixed on the rear side face of the control box through a screw, and the lithium battery is arranged on the inner bottom face of the control box.

Preferably, the control circuit of the control panel comprises an ARM processor, a 4G module, a motor driving circuit and a power management circuit, the ARM processor is respectively connected with the 4G module, the first camera and the second camera through USB interfaces, and the ARM processor is connected with the control end of the stepping motor through the motor driving circuit.

Compared with the prior art, the invention has the beneficial effects that: the line deicing device based on the unmanned aerial vehicle realizes deicing operation of a line in a live operation state by installing the deicing device at the bottom of the unmanned aerial vehicle, ensures safe operation of a power transmission line, and is simple in structural design and easy to operate;

according to the cable deicing device, the spring, the pin shaft and the hinge block are arranged to movably connect the top surface deicing mechanism to the longitudinal beam, the spring is reset in the deicing process to drive the top surface deicing mechanism to reciprocate, and the cable scratching effect of a scraper at the bottom of the first scraper is avoided in the deicing process;

according to the invention, the plurality of second scraping plates are arranged according to the inner diameter of the arc-shaped surface, so that deicing operation on cables with different diameters can be met, and the second scraping plates and the connecting rod are fixed by the fastening screws, so that the second scraping plates are convenient to disassemble and assemble;

according to the invention, the first camera and the second camera which are arranged on the deicing device are used for identifying the path of the cable and observing the deicing state information of the cable, the data information collected by the first camera and the second camera is sent to the ARM processor through the USB interface, the ARM processor analyzes and processes the received data to realize the control of the stepping motor, meanwhile, the ARM processor sends the processed data information to a handle controlled by the unmanned aerial vehicle through the 4G module, and a ground operator realizes the control of the flight state of the unmanned aerial vehicle according to the received data.

Drawings

FIG. 1 is a front view of the overall structure of the present invention;

FIG. 2 is a top view of the deicing apparatus of the present invention;

FIG. 3 is a schematic front view of the side deicing mechanism of the present invention;

FIG. 4 is a perspective view of the ice detachment apparatus of the present invention;

FIG. 5 is a schematic cross-sectional view of the control box of the present invention;

FIG. 6 is a schematic block diagram of a control circuit of the present invention.

In the figure: 1. an unmanned aerial vehicle; 2. mounting a bracket; 3. a de-icing device; 4. a control box; 5. a first camera; 6. a second camera; 7. a screw; 8. a nut; 9. a cable;

31. a stringer; 32. a cross beam; 33. a hinged block; 34. a top surface de-icing mechanism; 35. a pin shaft; 36. a spring; 37. a side deicing mechanism;

311. a second screw hole; 312. a second connecting column;

341. a bent connecting rod; 342. a first squeegee; 343. a scraper; 344. a first connecting column;

371. a connecting rod; 372. a second squeegee; 373. a stepping motor; 374. a bidirectional lead screw; 375. a slider; 376. a lead screw connecting seat; 377. an arc-shaped scraper;

41. a control panel; 42. a lithium battery;

411. a control circuit; 412. an ARM processor; 413. a 4G module; 414. a motor drive circuit; 415. a power management circuit.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: the line deicing device based on the unmanned aerial vehicle comprises the unmanned aerial vehicle 1, wherein the bottom of the unmanned aerial vehicle 1 is provided with an installation support 2, a deicing device 3 is arranged on the installation support 2, and the deicing device 3 comprises a fixed frame, a top surface deicing mechanism 34, a side surface deicing mechanism 37, a control box 4, a first camera 5 and a second camera 6;

the fixed frame comprises two groups of cross beams 32 and longitudinal beams 31 which are symmetrically arranged, the two groups of cross beams 32 are respectively arranged between the two groups of longitudinal beams 31 and are positioned at the front ends and the rear ends of the two groups of longitudinal beams 31, the cross beams 32 and the longitudinal beams 31 are made of stainless steel materials, and the cross beams 32 and the longitudinal beams 31 are fixedly connected in a welding mode;

the top surface deicing mechanism 34 is arranged in the fixed frame and is movably connected between the two groups of longitudinal beams 31 through a pin shaft 35, the other end of the pin shaft 35 is connected with the hinge blocks 33 at the bottoms of the longitudinal beams 31, and the hinge blocks 33 are arranged on the bottom surfaces of the two groups of longitudinal beams 31 in two groups;

the side deicing mechanism 37 comprises a transmission mechanism, two groups of connecting rods 371 and second scrapers 372, wherein the two groups of connecting rods 371 and the second scrapers 372 are symmetrically arranged, the second scrapers 372 are arranged at the bottoms of the connecting rods 371, and the tops of the connecting rods 371 are fixed in the fixed frame through the transmission mechanism and are positioned in front of the rear cross beam 32;

the control box 4 is arranged outside the fixed frame and is positioned in the middle of the front side cross beam 32;

the camera I5 is arranged in the middle of the back of the front side cross beam 32, and the camera I5 corresponds to the top surface deicing mechanism 34;

the second camera 6 is arranged in the middle of the bottom surface of the rear cross beam 32, and the second camera 6 corresponds to the side deicing mechanism 37;

in this embodiment, the first camera 5 and the second camera 6 both use a camera with a USB interface, and the first camera 5 and the second camera 6 are used to identify a path of the cable and observe a deicing state of the cable.

Referring to fig. 2 and 4, the top deicing mechanism 34 includes two symmetrically disposed curved connecting rods 341 and a first scraper 342, and the middle portions of the two curved connecting rods 341 are movably connected to the opposite surfaces of the two hinge blocks 33 through pins 35, respectively;

two ends of the first scraper 342 are fixed at the inner bend of the two groups of bent connecting rods 341 by welding.

Referring to fig. 4, a first connecting column 344 is disposed on a side surface of one end of the bent connecting rod 341, a second connecting column 312 is disposed on a side surface of one end of the longitudinal beam 31, and a spring 36 is disposed between the first connecting column 344 and the second connecting column 312.

In the embodiment, the spring 36, the pin shaft 35 and the hinge block 33 are arranged to movably connect the top surface deicing mechanism 34 to the longitudinal beam 31, and the spring 36 is reset to drive the top surface deicing mechanism 34 to reciprocate in the deicing process, so that the cable is prevented from being scratched by the scraper 343 at the bottom of the first scraper 342 in the deicing process.

Referring to fig. 2-4, the transmission mechanism includes a stepping motor 373, a bidirectional screw 374 and two sets of sliders 375, a motor shaft of the stepping motor 373 is connected with one end of the bidirectional screw 374 through a shaft coupling, the two sets of sliders 375 are respectively sleeved on two sides of the bidirectional screw 374, the bidirectional screw 374 is respectively fixed on the front surface of the rear cross beam 32 through a screw connecting seat 376, bottom surfaces of the two sets of sliders 375 are respectively fixedly connected with a top surface of the connecting rod 371, and a bottom of the slider 375 is fixedly connected with a top of the connecting rod 371 through a welding manner.

In this embodiment, a through hole is formed in the longitudinal beam 31 at a position corresponding to the stepping motor 373, a motor shaft extends into the longitudinal beam 31 through the through hole to be connected with one end of the coupler, and the periphery of the stepping motor 373 is fixed on the side surface of the longitudinal beam through a motor mounting seat.

Referring to fig. 3, the connecting rod 371 is fixedly connected to the second scraper 372 via a set screw, two sets of first set screw holes are transversely formed in the bottom of the connecting rod 371, a second set screw hole is formed in a position, corresponding to the first set screw hole, on one side of the connecting rod on the back of the second scraper, and the connecting rod 371 is fixedly connected to the second scraper 372 via the set screw passing through the first set screw hole and the second set screw hole.

In the embodiment, a plurality of second scraping plates 372 are arranged according to the inner diameter of the arc-shaped surface, so that deicing operation on cables with different diameters can be met, and the second scraping plates 372 and the connecting rods 371 are fixed through set screws, so that the cables are convenient to detach and install;

referring to fig. 1, two ends of the top surface of each of the two groups of longitudinal beams 31 are respectively provided with a second screw hole 311, a first screw hole is arranged on the mounting bracket 2 corresponding to the second screw hole 311, and the mounting bracket 2 and the deicing device 3 are fixedly connected with each other by a screw 7 penetrating through the first screw hole and the second screw hole 311 in cooperation with a nut 8.

Referring to fig. 2 and 4, the first scraper 342 is an arc-shaped structure, the bottom of the first scraper 342 is provided with an installation groove, a scraper 343 is installed inside the installation groove, and the scraper 343 and the installation groove are fixedly connected by gluing.

Referring to fig. 3, one end of the second scraper 372 is in an arc structure, an arc scraper 377 is glued to the inner wall of one end of the arc surface of the second scraper 372, and the arc scraper 377 is made of a high polymer hard material (e.g., hard plastic), so as to avoid scratching the cable skin during deicing and have insulating property.

Referring to fig. 5, a control board 41 and a lithium battery 42 are disposed inside the control box 4, the control board 41 is fixed to the rear side of the control box 4 by screws, and the lithium battery 42 is disposed on the inner bottom surface of the control box 4.

Referring to fig. 6, the control circuit 411 of the control board 41 includes an ARM processor 412, a 4G module 413, a motor driving circuit 414, and a power management circuit 415, the ARM processor 412 is connected to the 4G module 413, the first camera 5, and the second camera 6 through USB interfaces, respectively, and the ARM processor 412 is connected to the control end of the stepping motor 373 through the motor driving circuit 414.

In the embodiment, an ARM processor selects a 32-bit processor; the motor driving circuit 414 and the power management circuit 415 are conventional circuits, and are not described in detail herein.

In this embodiment, an input end of the power management circuit 415 is connected to an output end of the lithium battery 42, an output end of the power management circuit 415 is connected to power supply input ends of the ARM processor 412, the 4G module 413, the motor driving circuit 414, the stepping motor 373, the first camera 5 and the second camera 6, respectively, and the power management circuit 415 is configured to provide working voltages to the ARM processor 412, the 4G module 413, the motor driving circuit 414, the stepping motor 373, the first camera 5 and the second camera 6.

According to the embodiment, the cable path identified by the first camera 5 and the second camera 6 and the observed cable deicing state information are sent to the ARM processor 412 through the USB interface, the ARM processor 412 is used for carrying out analysis processing according to the received data, control over the stepping motor 373 is realized, meanwhile, the ARM processor 412 is used for sending the processed data information to the handle controlled by the unmanned aerial vehicle through the 4G module 413, an operator realizes control over the flight state of the unmanned aerial vehicle according to the received data, deicing operation of a line in a live operation state is realized, safe operation of a power transmission line is guaranteed, the deicing device is simple in structural design and easy to operate.

The implementation process of the invention comprises the following steps: firstly, a deicing device 3 is fixed on an installation support 2 at the bottom of an unmanned aerial vehicle 1 through a screw 7 and a nut 8, a power switch of the deicing device 3 is started before the unmanned aerial vehicle 1 takes off, when the unmanned aerial vehicle 1 flies to a line needing deicing, information of icing on a cable is collected according to a first camera 5 and a second camera 6, the cable path needing deicing is identified by the first camera 5 and the second camera 6 and is sent to an ARM processor 412 through a USB interface, the ARM processor 412 analyzes and processes the received data and then sends the data to a handle controlled by the unmanned aerial vehicle through a 4G module 413, and a ground operator controls the flying state of the unmanned aerial vehicle 1 according to the received data; when the information collected by the first camera 5 is the data of the contact between the bottom scraper 343 of the top surface deicing mechanism 34 and the ice layer on the top surface of the cable, and the information collected by the second camera 6 is the data of the arc-shaped scrapers 377 of the side surface deicing mechanism 37 corresponding to the two sides of the deicing cable, the information is analyzed and processed by the ARM processor 412, and then a control signal is sent to drive the stepping motor 373 to work, the stepping motor 373 drives the bidirectional screw 374 connected with the stepping motor 373 to rotate, so as to drive the sliders 375 sleeved on the two sides of the bidirectional screw 374 to move relatively, the connecting rod 371 at the bottom of the sliders 375 drives the second scrapers 372 to move relatively, when the arc-shaped scrapers 377 at the inner sides of the two groups of second scrapers 372 are in contact with the ice layer on the surface of the deicing cable, the information collected by the first camera 5 and the second camera 6 is fed back to the ARM processor 412 again, and the ARM processor 412 sends the information to the handle controlled by the 4G module after analyzing and processing according to the received data, the flight state of the unmanned aerial vehicle in the deicing process is controlled, the information of the deicing state of the cable is observed by the first camera 5 and the second camera 6 in the whole deicing process, the deicing operation of the line in the electrified operation state is realized, the safe operation of the power transmission line is ensured, and the deicing device is simple in structural design and easy to operate.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.