Control system and control method of power transmission line inspection and deicing robot

Abstract

The invention discloses a power line inspection and deicing robot control system, which is characterized in that it includes a controller, the controller includes an obstacle control module and a deicing control module; the obstacle control module is used to control the Detect the obstacle crossing of the deicing robot; the deicing control module is used to control the deicing of the patrolling deicing robot; the obstacle crossing control module is respectively connected with the first detection unit and the first driving unit; The modules are respectively connected to the second detection unit and the second drive unit; the first detection unit is used to detect obstacles and collect the position information of obstacles; the first drive unit is used to drive the support of the inspection robot respectively Arm swings and travel wheel turns. The obstacle surmounting structure of the present invention is simple, easy to operate, and high in obstacle surmounting efficiency; the deicing device combines mechanical ice breaking and ice melting, and can quickly deicing; can realize autonomous inspection, automatic obstacle surmounting and deicing.

Description

technical field [0001] The invention relates to the field of power line inspection, in particular to a power line inspection deicing robot control system and a control method thereof. Background technique [0002] In most parts of our country, there is a large amount of snowfall every year, resulting in the formation of ice on the transmission lines of a large number of high-voltage transmission lines. These ice coatings have caused serious harm to the cables and towers of high-voltage transmission lines, especially in recent years. The icing of high-voltage transmission lines caused cable breakage and tower collapse, resulting in large-scale power outages, seriously threatening the safe and stable operation of the power grid, and causing great losses to my country's economic construction and people's lives. [0003] At present, most of the deicing work on transmission lines in China still adopts manual deicing methods, and the deicing method is manually struck with sticks, w...

AI Technical Summary

Problems solved by technology

[0002] In most parts of our country, there is a large amount of snowfall every year, resulting in the formation of ice on the transmission lines of a large number of high-voltage transmission lines. These ice coatings have caused serious harm to the cables and towers of high-voltage transmission lines, especially in recent years. The icing of high-voltage transmission lines caused cable breakage and tower collapse, resulting in large-scale power outages, seriously threatening the safe and stable operation of the power grid, and causing great losses to my country's economic construction and people's lives.

[0003] At present, most of the deicing work on transmission lines in China still adopts manual deicing methods, and the deicing method is manually struck with sticks, which requires more personnel and resource input and cannot achieve the required efficiency. It is also very difficult To ensure the safety of deicing personnel; or to use high-voltage line melting ice, but high-voltage line melting ice consumes too much energy, and the energy consumption of mechanical deicing is much less than that of high-current melting ice

The high-current ice-melting method is more efficient, but it is costly and complicated to operate, which has a great impact on system safety

[0004] The mechanical deicing method directly acts on the ice layer of the transmission line through a mechanical device, usually using vibration, rolling, shoveling, hitting, etc. The mechanical deicing method is low in cost and pollution-free, but in order to avoid damage to the transmission line , often only the ice accumulated above a certain height from the transmission line can be removed, and the ice layer closely combined with the transmission line is left, which is difficult to clean thoroughly

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