System and method for erecting or removing lead at crossing position

Abstract

The invention relates to the technical field of electric power engineering, in particular to a system and a method for erecting or removing a lead at a crossing position. Comprising a telescopic wire bearing module; a power driving module; a closed-loop tension control system module; a guiding and stabilizing module; a remote control module; the modular telescopic design is adopted, the multistage nested carbon fiber telescopic rod is matched with the servo motor / hydraulic pump driving of the power driving module, and the time for constructing a traditional crossing frame is shortened from 3-5 days to several hours. According to the design, an optimal telescopic track is generated in real time through a dynamic path planning algorithm built in the central control module, the unfolding speed is increased by more than 30%, the winch speed is synchronously adjusted by combining a closed-loop tension control system and the action of the telescopic rod, repeated adjustment is reduced, the operation time is comprehensively shortened to 1-2 hours, the efficiency is improved by more than 80% compared with a traditional method, and the cost is reduced. The erecting efficiency is improved by 40%, and the problems that a traditional crossing frame is long in erecting time and complex in process are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power engineering, in particular to a system and method for erecting or dismantling conductors at a crossing. Background Art

[0002] The installation and maintenance of transmission lines is crucial in modern power grid infrastructure construction. When faced with obstacles like roads, railways, rivers, and buildings, the installation or removal of conductors becomes a particularly complex and risky step in the entire construction process.

[0003] Currently, there are two main methods for installing or removing conductors across obstacles. The first involves constructing a spanning frame, which requires building steel pipe racks or wooden structures on both sides of the spanning point as support platforms. This method is time-consuming and labor-intensive (typically taking 3-5 days), with high material transportation and labor costs. Furthermore, spanning frames can interfere with traffic or the environment below, requiring additional approvals and safety precautions, significantly impacting construction efficiency and cost control. The second method involves using a dedicated spanning vehicle. While this vehicle-mounted spanning equipment is relatively efficient for directly installing conductors, the equipment is extremely expensive to purchase and maintain (over one million yuan per unit). Furthermore, it has poor adaptability to terrain, making it difficult to operate effectively in specialized scenarios such as narrow mountainous areas or on soft ground.

[0004] The above methods have the following common problems: 1. Low efficiency: The construction and dismantling of the spanning frame takes a lot of time, seriously delaying the construction progress; 2. High cost: Huge investment in materials, equipment and manpower, heavy economic burden; 3. Poor safety: High-altitude operations are risky, the stability of the spanning frame depends on manual experience, and there are many potential safety hazards; 4. Insufficient adaptability: Complex terrain or special environments are difficult to cover, and cannot meet diverse construction needs; Therefore, there is an urgent need for a new type of spanning construction solution that is efficient, low-cost, lightweight and highly adaptable to solve the many drawbacks of existing technologies and improve the safety, economy and environmental adaptability of transmission line construction. Summary of the Invention

[0005] The object of the present invention is to provide a system and method for installing or removing conductors at a crossing point, so as to solve the problems raised in the above-mentioned background technology.

[0006] In order to solve the above technical problems, one of the objectives of the present invention is to provide a system for installing or removing a conductor at a crossing, comprising: Telescopic conductor carrying module, used to support the conductor across obstacles and provide a guide channel; A power drive module, used to drive the expansion and contraction of the telescopic rod and provide system power, and is mechanically connected to the telescopic wire carrying module through a rack and pinion mechanism; Closed-loop tension control system module, used to monitor and adjust conductor tension in real time to ensure stability during installation or removal; Guidance and stabilization module, used to adapt to complex terrain and improve system stability; Remote control module, used to achieve contactless operation and monitor the working environment, with three-dimensional space perception and obstacle detection functions; The central control module establishes data transmission with the power drive module, closed-loop tension control system module, guidance and stability module and remote control module through the CAN bus protocol, dynamically plans the telescopic path based on real-time data and synchronously adjusts the winch retraction and extension speed.

[0007] As a further improvement of the present technical solution, the telescopic wire carrying module includes: The multi-stage telescopic unit includes a multi-stage nested carbon fiber telescopic rod with a high-density polyethylene guide groove and pulley set on the rod body to support the wire to cross obstacles and provide a guide channel; The wind-resistant unit comprises a foldable wind-resistant balance wing installed in the middle of the telescopic rod.

[0008] Through the above-mentioned setting method, the design combines lightweight and high-strength characteristics, while enhancing wind resistance and improving the stability of the overall structure in complex environments.

[0009] As a further improvement of the present technical solution, the telescopic wire carrying module further includes an end-effector, and the end-effector includes: 360° rotating electromagnetic lock hook for quick locking of the opposite anchor point; Adaptive clamping jaws with adjustable clamping force of 2-10kN, suitable for wires of different diameters; The multi-sensor fusion unit monitors the hook angle, gripper pressure and three-dimensional spatial displacement data in real time.

[0010] Through the above-mentioned setting method, the design integrates mechanical structure (rotating hook, adjustable clamp) and intelligent monitoring (multi-sensor) to realize the "perception-control-execution" closed loop, providing data support and execution basis for the system's intelligent control (such as dynamic path planning and tension coordination adjustment), promoting the development of transmission line construction towards automation and precision, and reducing the risk of human intervention.

[0011] As a further improvement of the present technical solution, the wind-resistant balance wings are symmetrically distributed at 120° after being unfolded, and the ratio of wingspan length to rod diameter is 3:1 to 5:1, which is used to suppress the vibration of the rod caused by wind load.

[0012] Through the above-mentioned setting method, the design can effectively suppress the pole vibration caused by wind load, optimize the wind resistance performance, and enhance the stability and reliability of the system in windy environments.

[0013] As a further improvement of this technical solution, the power drive module includes: The drive component unit is driven by a servo motor or hydraulic pump, supporting thrust and speed adjustment to meet the telescopic movement requirements under different loads; The power supply component unit is equipped with a lithium battery pack or a generator set to provide power support for continuous operation of the system and support long-term field construction.

[0014] The aforementioned setup, driven by a servo motor or hydraulic pump, significantly improves the system's adaptability to complex operating environments (such as varying conductor weights and wind loads). The dual power supply configuration also enhances the system's ability to operate continuously in the absence of a stable power supply, broadening its scope of application.

[0015] As a further improvement of this technical solution, the closed-loop tension control system module includes: High-precision tension sensor, used to monitor the conductor pulling force in real time. When the tension fluctuation exceeds the tension setting threshold of ±15%, the reverse compensation mechanism is triggered to ensure stable conductor tension. Automatic winch, which is synchronized with the telescopic rod, adjusts the wire release length in real time through a closed-loop control algorithm; in this closed-loop control algorithm, the winch adjusts the speed The formula , calculated, where is the adjustment coefficient, is the set wire tension value, The actual tension value of the current conductor.

[0016] Through the above setting method, a closed-loop algorithm is used to match the winch release or recovery speed with the pole extension and retraction rate in real time (error ≤ 5%), eliminating the problem of wire stress concentration caused by asynchronous movements in traditional manual operations, thereby improving work efficiency and accuracy.

[0017] As a further improvement of this technical solution, the guidance and stabilization module includes: Hydraulic outriggers and high-precision inclination sensors adapt to complex terrain with slopes ≤ 30°; The wind-resistant balance wing control unit is linked to the central control module and automatically adjusts the wing angle based on the wind speed sensor data integrated in the module.

[0018] Through the above-mentioned setting method, the design can effectively suppress the vibration of the pole caused by wind load, improve the stability of the system in strong wind environment, reduce the impact of wind-induced vibration on the installation or removal of wires, and ensure the smooth progress of the operation and the safety of the equipment.

[0019] As a further improvement of this technical solution, the remote control module includes: 3D perception unit: Through laser ranging, camera and obstacle detection device, it provides real-time feedback on the pole posture, operation picture and surrounding obstacle information; Handheld remote control: supports wireless remote control, realizes mode switching, speed adjustment and emergency braking, and displays system status parameters in real time to ensure operator safety.

[0020] Through the above-mentioned setting method, the three-dimensional perception unit integrates laser ranging, cameras and obstacle detection devices, which can collect working environment information in real time and multi-dimensionally; the handheld remote control realizes non-contact operation, and there is no need to approach high-altitude, electrified or collision-prone working areas. The task can be completed through wireless remote control, reducing the risk of personal injury.

[0021] As a further improvement of the present technical solution, the central control module has a built-in dynamic path planning algorithm, which generates the telescopic rod deployment trajectory based on real-time data and controls the precise docking of the end.

[0022] Through the above-mentioned setting method, not only can the telescopic path be dynamically planned for real-time data, but the winch retraction and extension speed can also be adjusted synchronously. Combined with the feedback of the end-effector (such as the hook angle and gripper pressure data of the multi-sensor fusion unit), precise docking control of the telescopic rod end can be achieved (with an accuracy of up to ±5mm), ensuring high precision and stability in wire installation or removal operations.

[0023] A second object of the present invention is to provide a method for installing or removing a conductor at a crossing, based on the above-mentioned system for installing or removing a conductor at a crossing, comprising the following steps: 1. System deployment and initial calibration; S1. Transport the system to the work site, use the laser rangefinder, camera, and obstacle detection device of the remote control module to perceive the environment, and perform three-dimensional modeling of the work environment to identify obstacle locations and terrain slopes; S2. Activate the hydraulic legs of the guidance and stabilization module, use a high-precision tilt sensor to monitor the inclination of the rod in real time, complete leveling and fixation on terrain with a slope of ≤30°, and simultaneously unfold the foldable wind-resistant stabilizer to a 120° symmetrical position to establish initial stable support; 2. Telescopic rod deployment and path planning; S3: The central control module calls the dynamic path planning algorithm to generate the telescopic rod deployment trajectory based on the obstacle height and span requirements, drives the servo motor or hydraulic pump of the power drive module, and gradually deploys 3-5 telescopic rods through the gear rack transmission mechanism to achieve a span adjustment of 15-25 meters; S4. During the deployment process, the high-precision tension sensor of the closed-loop tension control system module synchronously monitors the initial wire pre-tension to provide reference data for subsequent tension adjustment; 3. Wire docking and fixation; S5. When the end of the telescopic rod reaches the target position, the 360° rotating electromagnetic lock hook of the end effector automatically aligns with the opposite anchor point and locks, while the adaptive clamping claw adjusts the clamping force according to the wire diameter to clamp the wire; S6: The multi-sensor fusion unit provides real-time feedback of hook angle, gripper pressure, and end displacement data to the central control module. Based on the feedback data, the hook angle and gripper clamping force are adjusted to confirm that the docking accuracy reaches ±5mm before initial fixation is completed. 4. Tension adjustment and intelligent coordinated control; S7. During erection operation: The automatic winch releases the wire synchronously with the expansion of the telescopic rod, and calculates the winch adjustment speed in real time according to the closed-loop control algorithm. When the tension fluctuation exceeds the tension threshold of ±15%, the reverse compensation mechanism is triggered to ensure the stability of the wire tension. S8. During demolition operations: First, the wire is pre-tightened by the winch to eliminate slack, and then the telescopic rod is retracted in stages. The winch retraction speed is synchronously adjusted to match the rod retraction rate to avoid excessive stretching of the wire. 5. Remote monitoring and environmental adaptation; S9. The operator uses a handheld remote control to view the mast posture, operation screen, and obstacle distance fed back by the 3D sensing unit in real time. When encountering sudden strong winds, the wind-resistant balance wing control unit automatically adjusts the wing angle according to the wind speed sensor data to suppress the mast vibration caused by wind loads. S10, the central control module continuously integrates the tension sensor, tilt sensor and obstacle detection data to dynamically optimize the telescopic rod's motion trajectory; 6. Operation completion and system recovery; S11. After the installation is completed: cut off the power supply of the electromagnetic lock to release the hook, fold the wind-resistant balance wings, and retract the hydraulic legs to complete the system removal; S12. After dismantling is completed: first tighten the wires in stages using the winch to within the tension threshold (wire tensile strength 30%-50%) to ensure that the wires are not loose and are in a controllable state; then retract the telescopic rod in the reverse path of S2, and synchronously adjust the winch retraction speed to match the rod body retraction rate to avoid excessive stretching or residual stress in the wires; the lithium battery pack or generator set enters low-power standby mode.

[0024] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention utilizes a modular telescopic design, utilizing multi-stage nested carbon fiber telescopic rods (3-5 telescopic segments enable span adjustment of 15-25 meters), coupled with the servo motor / hydraulic pump drive of the power drive module. This reduces the traditional 3-5 days required to construct a span to just a few hours. The central control module incorporates a built-in dynamic path planning algorithm that generates the optimal telescopic trajectory in real time, increasing deployment speed by over 30%. This, combined with a closed-loop tension control system that synchronizes winch speed with the telescopic rod movement, reduces repeated adjustments and reduces operation time to 1-2 hours. This represents an 80% improvement in efficiency compared to traditional methods, and a 40% increase in erection efficiency. This addresses the time-consuming and complex process associated with traditional spanning structures. 2. This invention utilizes a lightweight structure. Its carbon fiber telescopic rods and high-density polyethylene guide troughs reduce weight by 60% compared to traditional steel pipe racks, lowering transportation costs by 50% and equipment costs by 60%. The dual power supply configuration of a lithium battery pack and a generator set adapts to off-grid environments, reducing fuel consumption and maintenance costs. The modular design allows for rapid assembly and disassembly and reuse, saving 70% in material costs compared to traditional spanning racks, lowering the cost per construction and overcoming the high investment in materials, equipment, and labor. 3. This design utilizes closed-loop tension control, with a high-precision sensor monitoring tension in real time. A threshold of ±15% triggers reverse compensation, preventing conductor overload, breakage, or loosening, reducing the accident rate by 90%. Folding, wind-resistant stabilizers (span-to-diameter ratio 3:1-5:1) are integrated with a wind speed sensor to adjust the wing angle, suppressing vibration amplitudes to ≤5cm / s². A three-dimensional sensing unit (laser ranging + obstacle detection) and a handheld remote control enable contactless remote control, reducing the risk of personnel exposure to high altitudes and live electrical environments, eliminating the risks of working at height and the potential for instability in the spanning structure. 4. This design utilizes hydraulic outriggers and a high-precision inclination sensor (MEMS level calibrator) to support leveling and fixation on terrain with slopes ≤30°, covering complex areas such as mountainous areas and soft soils. Its lightweight design is suitable for mountainous and swampy terrain. Compatible with multiple scenarios, the adaptive gripper (with an adjustable gripping force of 2-10kN) accommodates wire diameters from 10-50mm, meeting the diverse requirements of laying transmission lines and optical cables. Strong environmental awareness, 3D modeling, and obstacle detection (with an accuracy of ±5mm) ensure a clearance of ≥7m when crossing highways and railways, overcoming limitations in complex terrain and specialized scenarios.

[0025] 5. Driven by intelligent algorithms, dynamic path planning, and PID closed-loop control algorithms enable "one-click" operation, with operational accuracy improved to ±5mm. A low-power design, a lithium battery standby mode, and a graded winch recovery strategy (with a tension threshold of 30%-50% of the conductor's tensile strength) reduce energy waste and extend equipment life. Furthermore, the use of lightweight materials and a ground-free telescopic structure minimizes vegetation damage and traffic disruption, meeting green construction requirements and promoting the advancement of power transmission construction technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a system framework diagram of the present invention; Figure 2 FIG. 4 is a diagram of a telescopic wire carrying module according to the present invention. DETAILED DESCRIPTION

[0027] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0028] Example 1 like Figure 1 As shown, this embodiment provides a system for installing or removing conductors at a crossing point, comprising: a telescopic conductor supporting module 1 for supporting the conductors to cross obstacles and provide a guide channel; In this embodiment, the telescopic conductor support module 1 comprises a multi-stage telescopic unit, comprising a nested carbon fiber telescopic rod with high-density polyethylene guide grooves and pulleys, which support the conductors across obstacles and provide a guiding path. A wind-resistant unit comprises foldable wind-resistant balance wings mounted in the middle of the telescopic rod. This design utilizes a nested carbon fiber telescopic rod, combining lightweight and high strength. The high-density polyethylene guide grooves and pulleys ensure stable conductor guidance. The addition of foldable wind-resistant balance wings in the middle enhances wind resistance and improves the overall structure's stability in complex environments.

[0029] In this embodiment, if Figure 2As shown, the telescopic conductor carrier module 1 also includes an end effector unit (EFU), which includes a 360° rotatable electromagnetic lock hook for rapid locking of the contralateral anchor point; an adaptive clamping jaw with an adjustable clamping force of 2-10kN to accommodate conductors of varying diameters; and a multi-sensor fusion unit for real-time monitoring of hook angle, clamping jaw pressure, and 3D spatial displacement data. The 360° rotatable electromagnetic lock hook enables rapid and precise locking of the contralateral anchor point; the adaptive clamping jaw has an adjustable clamping force (2-10kN) to accommodate conductors of varying diameters, expanding its application range. The multi-sensor fusion unit monitors hook angle, clamping jaw pressure, and 3D spatial displacement data in real time to ensure docking accuracy and operational safety, improving operational reliability.

[0030] In this embodiment, the wind-resistant balance wings are symmetrically distributed across 120° when deployed, with a span-to-rod diameter ratio of 3:1 to 5:1. These wings are designed to suppress wind-induced vibrations. These foldable balance wings can be attached to the center of the telescopic pole via hinges or a rotating shaft. This scientific structural design effectively suppresses wind-induced vibrations, optimizes wind resistance, and enhances system stability and reliability in windy environments.

[0031] As a further illustration of this embodiment, the guide grooves are arranged along the axis of the rod, and the pulley diameter to wire diameter ratio is 5:1-8:1. This pulley diameter-to-wire diameter ratio significantly reduces the bending radius of the wire as it passes through the pulley, thereby reducing bending stress within the wire. For example, when the wire diameter is 10mm, a pulley diameter of 50-80mm can control the bending stress to within 20% of the wire's tensile strength, thus avoiding the risk of fracture due to metal fatigue. Furthermore, the symmetrical distribution of the guide grooves along the axis, combined with the high-density polyethylene material, reduces the friction coefficient at the contact surface between the wire and the pulley to below 0.1.

[0032] As a further illustration of this embodiment, the multi-level nested carbon fiber telescopic rods are connected by precision slides and locking devices, ensuring smooth expansion and contraction and precise positioning. It is worth noting that the technical principles of this embodiment's multi-level nested carbon fiber telescopic rods are consistent with those of conventional multi-level telescopic rods (such as firefighting and rescue telescopic rods and photography tripods). The precise slides and locking devices achieve stable expansion and contraction, and the principles behind this are well known in the art and will not be elaborated upon here.

[0033] As a further illustration of this embodiment, a high-density polyethylene guide groove is bolted to the rod surface, and an internal pulley assembly is installed at a specific position in the guide groove via an axle pin, forming a sliding guide structure for the wire, reducing frictional resistance. A 360° rotatable electromagnetic lock hook is connected to the end of the telescopic rod via a rotating bearing, allowing flexible rotation to align with the opposite anchor point. When energized, the electromagnetic lock generates a magnetic force to quickly lock the anchor point. The adaptive gripper is driven by a hydraulic or electric push rod, which connects the push rod to the gripper via a linkage mechanism. Adjusting the push rod stroke varies the clamping force (adjustable from 2 to 10 kN) to accommodate wires of varying diameters (e.g., 10 to 50 mm). In the multi-sensor fusion unit, an angle sensor is integrated into the hook's rotating axis, a pressure sensor is embedded in the gripper's contact surface, and a three-dimensional displacement sensor is mounted on the end effector frame. Each sensor is connected to the central control module 6 via wiring, transmitting real-time hook angle, gripper pressure, and three-dimensional displacement data. Through the above-mentioned connection method and structural design, each module works closely together to form a complete and efficient system for installing or removing conductors at crossings, ensuring that operations are completed stably, safely and accurately in complex environments.

[0034] Furthermore, the power drive module 2 is used to drive the expansion and contraction of the telescopic rod and provide system power, and is mechanically connected to the telescopic wire carrying module 1 through a rack and pinion mechanism; In this embodiment, the power drive module 2 comprises a drive assembly unit, driven by a servo motor or hydraulic pump, with thrust and speed adjustment to meet the telescopic movement requirements under different loads; and a power supply assembly unit, equipped with a lithium battery pack or generator set, which provides power support for continuous system operation and supports long-term field operations. Driven by a servo motor or hydraulic pump, the unit features thrust and speed adjustment, enabling real-time and precise output adjustments based on varying loads, ensuring smooth and precise expansion and contraction of the telescopic rod under various operating conditions. This significantly improves the system's adaptability to complex operating environments (such as varying conductor weights and wind loads), ensuring operational efficiency and stability. The unit is equipped with a lithium battery pack or generator set. The lithium battery pack is suitable for short-duration, low-noise operations (such as those in urban areas), while the generator set is suitable for long-term field operations without a power source. This dual power supply configuration enhances the system's ability to operate continuously even in environments without a stable power source, broadening its application range.

[0035] As a further illustration of this embodiment, the servo motor is rigidly connected to the gear shaft via a high-precision reducer. The reducer reduces speed and increases torque, ensuring stable power transmission and meeting the telescopic rod's required extension and retraction force. The gear and rack precisely mesh, and the rack is fixed along the length of the telescopic rod. The extension and retraction of the telescopic rod are achieved through the forward and reverse rotation of the motor. If driven by a hydraulic pump, the pump delivers high-pressure oil to the hydraulic cylinder. The piston rod of the hydraulic cylinder is fixed to the rack via high-strength bolts. The linear reciprocating motion of the piston rod drives the rack, thereby achieving the extension and retraction of the telescopic rod. The hydraulic system is equipped with components such as a relief valve to prevent damage to components due to excessive pressure. Furthermore, the power drive module housing is constructed of high-strength aluminum alloy. Internally, cooling fans or heat sinks are installed for heat-generating components such as the servo motor and hydraulic pump to ensure that the module maintains a reasonable temperature range (e.g., ≤60°C) during long-term operation. The entire module is secured to the system base with vibration-damping bolts. Rubber shock-absorbing pads are installed between the base and the module to reduce the impact of operational vibration on the telescopic rod's precision and other modules, thereby improving system stability.

[0036] Furthermore, a closed-loop tension control system module 3 is used to monitor and adjust the conductor tension in real time to ensure a stable erection or removal process; In this embodiment, the closed-loop tension control system module 3 includes: a high-precision tension sensor for real-time monitoring of the wire pulling force, which triggers a reverse compensation mechanism when the tension fluctuation exceeds the tension setting threshold of ±15% to ensure the stability of the wire tension; an automatic capstan, which is synchronized with the telescopic rod and adjusts the wire release length in real time through a closed-loop control algorithm; in this closed-loop control algorithm, the capstan adjusts the speed The formula , calculated, where is the adjustment coefficient, is the set wire tension value, The actual tension value of the current conductor. In this design, a high-precision tension sensor collects the conductor traction force in real time, providing accurate feedback data for tension control, avoiding the risk of conductor overload or slack due to tension monitoring lag, and ensuring operational safety. When the tension fluctuation exceeds the set threshold (±15%), reverse compensation is automatically triggered. By adjusting the winch retraction and extension speed, the tension deviation is quickly corrected, suppressing the tension fluctuation amplitude to ≤10%, ensuring that the conductor remains stable during installation or removal, and avoiding wire breakage or equipment damage caused by sudden tension changes. The automatic winch and telescopic rod movement are synchronized, and a closed-loop algorithm is used to match the winch release or retraction speed with the rod extension and retraction rate in real time (error ≤5%), eliminating the conductor stress concentration problem caused by asynchronous movement in traditional manual operation, thereby improving operational efficiency and accuracy.

[0037] As a further illustration of this embodiment, in the closed-loop control algorithm of the closed-loop tension control system module 3, the winch adjusts the speed The formula , calculated, where is the adjustment coefficient (the value range is 0.01-0.1, which can be adaptively adjusted according to the system inertia parameters), The wire tension value is set (accurately preset according to the wire specifications, usually 30%-50% of the wire tensile strength). is the actual tension value of the current conductor (collected in real time by a high-precision tension sensor). Exceed Threshold, calculated by the formula negative , the automatic winch then performs the line-reeling operation to increase the tension; on the contrary, if Below the threshold, calculate the positive The winch pays out the wire to reduce tension. This precise calculation and control ensures that the wire tension remains stable within a reasonable range during installation or removal, avoiding risks such as wire breakage due to excessive tension or loosening and slipping due to insufficient tension, significantly improving the safety and stability of operations.

[0038] It should be noted that the tension sensor uses a spoke-type tension and compression sensor (such as the HBMU10M, with a range of 0-20 kN). It is connected in series between the conductor and the winch, or integrated into the force point of the end effector's gripper, to directly monitor the actual force applied to the conductor. The sensor is rigidly connected to the conductor connector via a high-strength pin to ensure zero force transmission. The surface is waterproof and corrosion-resistant (IP67 rating), making it suitable for use in damp and dusty outdoor environments. The winch motor uses a servo motor and planetary reducer combination (such as the Panasonic MINASA6 series, with a rated torque of 5-15 N·m). It supports dual-speed / torque control and is connected to the winch drum via a synchronous belt or gears. The drum diameter is adapted to the conductor diameter (recommended 300-500 mm) to ensure neat alignment of the conductor during retraction and retraction. Furthermore, the winch is hard-wired to the power drive module 2: when the telescopic boom is extended, the winch must be in "payout mode"; when the telescopic boom is retracted, the winch must be in "retraction mode" to avoid control signal conflicts. In the hydraulic drive scenario, a hydraulic motor + brake combination is used, and the flow is adjusted by a proportional valve to control the winch speed. The maximum retraction and extension speed is 0.5m / s (adjustable).

[0039] Furthermore, the guidance and stabilization module 4 is used to adapt to complex terrain and improve the system's stability; In this embodiment, the guidance and stabilization module 4 includes: hydraulic support legs and high-precision tilt sensors to adapt to complex terrain with slopes ≤30°; and a wind-resistant balance wing control unit that works in conjunction with the central control module 6 to automatically adjust the wing surface angle based on data from the wind speed sensor integrated into the module. The combination of the hydraulic support legs and the high-precision tilt sensor enables the system to adapt to complex terrain with slopes ≤30°. The hydraulic support legs can adjust their own height and, in conjunction with the high-precision tilt sensor, monitor the pole body's tilt angle in real time, enabling the system to be leveled and fixed on terrains with different slopes. This greatly expands the system's operating range and makes it suitable for areas such as mountainous areas and hills where traditional equipment is difficult to operate. The wind-resistant balance wing control unit works in conjunction with the central control module 6 to automatically adjust the wing surface angle based on data from the wind speed sensor. This function can effectively suppress pole body vibration caused by wind loads, improve the system's stability in strong winds, reduce the impact of wind-induced vibrations on wire installation or removal operations, and ensure the smooth progress of operations and the safety of the equipment.

[0040] As a further illustration of this embodiment, a high-precision inclination sensor can utilize a MEMS level calibrator. Using a MEMS level calibrator as a high-precision inclination sensor offers advantages such as high precision, high sensitivity, small size, and light weight. It can accurately measure the inclination of the pole, providing accurate data support for system leveling and ensuring the stability of the system on complex terrain. Furthermore, the MEMS level calibrator should be installed at the center of the pole or near its center of gravity to ensure that the measured inclination accurately reflects the actual state of the pole. During installation, the sensor should be securely connected to the pole to avoid measurement errors due to vibration or looseness.

[0041] As a further illustration of this embodiment, a high-precision inclination sensor monitors the mast's inclination in real time and transmits this data to the central control module 6. Based on a preset horizontal angle range, the central control module 6 calculates the required height adjustment for each hydraulic outrigger and controls the solenoid valves to activate the hydraulic cylinders, achieving automatic leveling of the system. During the leveling process, the system continuously monitors changes in inclination until the mast reaches a horizontal position.

[0042] As a further illustration of this embodiment, the wind speed sensor uses a high-precision, high-reliability ultrasonic anemometer that can accurately measure wind speed and wind direction in real time. The sensor is installed on the top of the wind-resistant balance wing or at a high point of the pole body to ensure the accuracy of the measurement data. The wind-resistant balance wing control unit calculates the optimal wing angle based on the data collected by the wind speed sensor, combined with the preset wind-resistant strategy and wing angle adjustment algorithm. The control unit adjusts the wing angle through the motor drive device so that the wind-resistant balance wing can generate the maximum wind-resistant torque and suppress the vibration of the pole body. The wind-resistant balance wing control unit and the central control module 6 exchange data through the communication interface. The central control module 6 can set parameters and issue instructions to the control unit according to the operating status and environmental conditions to achieve intelligent control of the wind-resistant balance wing. At the same time, when the wind speed exceeds the set safety threshold, the central control module 6 can issue an alarm signal and take corresponding safety measures, such as suspending operations, strengthening the support leg fixation, etc.

[0043] Furthermore, the remote control module 5 is used to realize non-contact operation and monitor the working environment, and has three-dimensional space perception and obstacle detection functions; In this embodiment, the remote control module 5 includes a three-dimensional perception unit that uses laser ranging, a camera, and an obstacle detection device to provide real-time feedback on the pole's posture, the work image, and surrounding obstacle information. A handheld remote control supports wireless remote control, enabling mode switching, speed adjustment, and emergency braking, and displays system status parameters in real time to ensure operator safety. The remote control module 5 features contactless operation, allowing operators to operate the machine from a distance, using the handheld remote control. This eliminates the need for operating in hazardous environments such as high altitudes and live electrical circuits, significantly enhancing operator safety. The three-dimensional perception unit utilizes laser ranging, a camera, and an obstacle detection device to provide real-time feedback on the pole's posture, the work image, and surrounding obstacle information. This allows operators to fully understand the working environment, proactively identify potential hazards, and promptly adjust their work strategies, thereby improving safety and accuracy. The handheld remote control supports wireless remote control, enabling operations such as mode switching, speed adjustment, and emergency braking, offering great flexibility. It also displays system status parameters in real time, allowing operators to monitor system operation at all times, ensuring stable and controllable operation.

[0044] As a further illustration of this embodiment: Laser rangefinders use high-precision, high-frequency laser rangefinders to ensure that distance information of surrounding objects can be obtained quickly and accurately. Laser rangefinders should be installed at multiple key locations on the pole, such as the top, middle, and bottom, to form a comprehensive distance monitoring network and avoid blind spots. The camera should be equipped with a high-definition, wide-angle camera to provide a clear and wide working picture. The camera should have functions such as autofocus and night vision to adapt to different lighting conditions and working environments. At the same time, the pan-tilt control technology can be used to realize the up-down and left-right rotation of the camera to expand the monitoring range. Obstacle detection devices, such as millimeter-wave radar or ultrasonic sensors, can detect the position, size, and motion status of surrounding obstacles in real time. The obstacle detection device should integrate data from the laser rangefinder and camera to improve the accuracy and reliability of obstacle detection.

[0045] The 3D sensing unit should also be equipped with a high-performance data processing chip to process and analyze data collected by the laser rangefinder, camera, and obstacle detection device in real time. The processed data is then transmitted to the handheld remote control via a wireless communication module (such as Wi-Fi, 4G / 5G, etc.) to ensure real-time data transmission.

[0046] Furthermore, central control module 6 establishes data transmission via the CAN bus protocol with the power drive module, closed-loop tension control system module, guidance and stabilization module, and remote control module. Based on real-time data, it dynamically plans the retraction and extension path and synchronously adjusts the winch retraction and extension speed. This CAN bus protocol enables rapid and stable collection of real-time data from each module (such as power parameters, tension values, terrain inclination, and environmental perception information). This provides comprehensive and timely data support for the system's intelligent decision-making and ensures smooth collaborative operation of each module.

[0047] In this embodiment, the central control module 6 incorporates a built-in dynamic path planning algorithm that generates the telescopic rod deployment trajectory based on real-time data and controls the end effector for precise docking. This dynamic path planning algorithm, stored in the central control module's non-transitory computer-readable storage medium, analyzes key information in the operating environment, such as obstacle locations (obtained via the remote control module's 3D sensing unit) and terrain slope (derived from the guidance and stabilization module's tilt sensor data), in real time. It dynamically generates the optimal telescopic rod deployment trajectory, avoiding collisions and adapting to complex terrain, significantly improving operational efficiency and environmental adaptability. Based on real-time data, it not only dynamically plans the telescopic rod deployment path but also synchronously adjusts the winch retraction and extension speed. Combined with feedback from the end effector (such as hook angle and gripper pressure data from the multi-sensor fusion unit), it achieves precise docking control of the telescopic rod end (with an accuracy of up to ±5mm), ensuring high precision and stability during wire installation or removal operations.

[0048] To further illustrate this embodiment, the CAN bus protocol is configured as follows: CAN 2.0B is used, with a baud rate of 500kbps, ensuring low data transmission latency (≤10ms) and high interference immunity. Each module functions as an independent node, with the central control module 6 serving as the master node. It regularly polls slave nodes for data (such as the motor status of the power drive module and the real-time tension value of the closed-loop tension control system). It also supports slave nodes proactively sending emergency data (such as when the guidance and stabilization module detects a slope exceeding a limit). Node addresses are unique and fixed to avoid communication conflicts.

[0049] As a further illustration of this embodiment, the collaborative control mechanism between the central control module 6 and other modules is as follows: when receiving the tension data from the closed-loop tension control system module 3, if the tension is close to the conductor tensile strength threshold, such as 80% (this design is based on the safety factor requirements for conductor tension in DL / T5154-2016 "Technical Code for Structural Design of Overhead Transmission Line Towers"), the telescopic rod deployment speed of the power drive module 2 is immediately reduced, and the winch reeling speed is accelerated to prevent the conductor from breaking; based on the obstacle detection data of the remote control module 5, if a new obstacle is found to enter the danger zone, the path planning is corrected in real time, and new speed and thrust instructions are sent to the power drive module 2 to adjust the movement of the telescopic rod.

[0050] As a further illustration of this embodiment, the dynamic path planning algorithm of this embodiment is integrated into the central control module 6. For power line crossing operations, based on real-time environmental data and physical constraints of the equipment, intelligent planning of the telescopic rod deployment trajectory is achieved. The specific steps are as follows: 1. Environmental and parameter input; Data source: The laser rangefinder, camera, and obstacle detection device of the remote control module 5 provide real-time information on the location of obstacles in the work area (such as highways and trees) and the terrain slope (data from the inclination sensor of the guidance and stabilization module 4). Preset system parameters include the total length of the telescopic pole (15-25 meters), the safe clearance distance of the conductor (≥7 meters, in compliance with power construction standards), and the bending strength limit of the pole. 2. Core planning logic; the algorithm generates a safe and feasible deployment trajectory through the following three dimensions: Obstacle avoidance: Ensure that the horizontal or vertical distance between the telescopic pole and the obstacle is ≥ the safe clearance distance. For example, when crossing a highway, the vertical distance from the road surface is automatically maintained at ≥5 meters (to meet the height limit requirements), and avoid fixed obstacles such as isolation belts. Terrain adaptability: Combined with the pole inclination data after the hydraulic legs are leveled (slope ≤30°), paths with flat terrain are given priority to reduce the additional stress caused by the inclination of the pole. Pole strength protection: The bending stress of the telescopic pole is estimated through the material mechanics model to avoid the stress exceeding the strength limit of the carbon fiber pole (150MPa) during the deployment process. For example, the deployment speed is automatically reduced during long-span operations to reduce the force on the cantilever end; 3. Dynamic adjustment mechanism; real-time data fusion: The central control module 6 receives sensor data every 50ms. If a new obstacle (such as an approaching vehicle during operation) or a sudden increase in wind speed is detected, the current path is immediately suspended and replanned based on the latest data. Priority strategy: When multiple constraints conflict, the priority adjustment is based on "safety > stability > efficiency": ① First, ensure a safe distance between the wire and the obstacle; ② Second, control the bending stress of the rod body within the safety threshold; ③ Finally, optimize the deployment speed to shorten the operation time; 4. The control command output sends the following commands to the power drive module 2 based on the planned path: the number of telescopic pole deployment stages (3-5) and the speed of each stage (0.2-0.3m / s, automatically reduced in complex terrain); the winch retraction and extension speed are synchronized with the pole extension and retraction (error ≤ 5%). For example, when deploying, the winch should pay out the line at a speed slightly faster than the pole to prevent the wire from slacking.

[0051] For example, taking a highway spanning 20 meters in width as an example: The system uses laser ranging to identify road boundaries and height-restricted areas, marking the middle 10 meters as a "low-risk passage zone"; The algorithm generates a straight line deployment trajectory, with the terminal height set to 5.5 meters (meeting the 5-meter height limit + 0.5-meter safety margin); During the deployment process, the mast stress is monitored in real time. If a force 6 wind (13.8m / s) occurs, the angle of the wind-resistant balance wing is automatically adjusted, and the deployment speed is reduced to 0.25m / s to ensure stability.

[0052] Example 2 This embodiment provides a method for installing or removing a conductor at a crossing, based on the system for installing or removing a conductor at a crossing in the first embodiment, including the following steps: 1. System deployment and initial calibration; S1. Transport the system to the work site, use the laser rangefinder, camera, and obstacle detection device of the remote control module 5 to perceive the environment, and perform three-dimensional modeling of the work environment to identify the location of obstacles and the slope of the terrain; S2. Start the hydraulic legs of the guidance and stabilization module 4, and use the high-precision tilt sensor to monitor the inclination of the pole in real time. Complete the leveling and fixation on the terrain with a slope of ≤30°. At the same time, unfold the foldable wind-resistant balance wings to a 120° symmetrical position to establish the initial stable support. 2. Telescopic rod deployment and path planning; S3, the central control module 6 calls the dynamic path planning algorithm to generate the telescopic rod deployment trajectory according to the obstacle height and span requirements, drives the servo motor or hydraulic pump of the power drive module 2, and gradually deploys the 3-5 telescopic rods through the gear rack transmission mechanism to achieve a span adjustment of 15-25 meters; S4. During the deployment process, the high-precision tension sensor of the closed-loop tension control system module 3 synchronously monitors the initial wire pre-tension, providing reference data for subsequent tension adjustment; 3. Wire docking and fixation; S5. When the end of the telescopic rod reaches the target position, the 360° rotating electromagnetic lock hook of the end effector automatically aligns with the opposite anchor point and locks, while the adaptive clamping claw adjusts the clamping force according to the wire diameter to clamp the wire; S6, the multi-sensor fusion unit feeds back the hook angle, gripper pressure, and end displacement data to the central control module 6 in real time, and adjusts the hook angle and gripper clamping force based on the feedback data to confirm that the docking accuracy reaches ±5mm before completing the initial fixation; 4. Tension adjustment and intelligent coordinated control; S7. During erection operation: The automatic winch releases the wire synchronously with the expansion of the telescopic rod. The winch adjustment speed is calculated in real time based on the closed-loop control algorithm. When the tension fluctuation exceeds the tension threshold of ±15%, the reverse compensation mechanism is triggered to ensure stable wire tension. S8. During demolition operations: First, the wire is pre-tightened by the winch to eliminate slack, and then the telescopic rod is retracted in stages. The winch retraction speed is synchronously adjusted to match the rod retraction rate to avoid excessive stretching of the wire. 5. Remote monitoring and environmental adaptation; S9. The operator uses a handheld remote control to view the mast posture, operation screen, and obstacle distance in real time from the 3D sensing unit. In the event of a sudden strong wind, the wind-resistant balance wing control unit automatically adjusts the wing angle based on the wind speed sensor data to suppress the mast vibration caused by wind load. S10, the central control module continuously integrates the tension sensor, tilt sensor and obstacle detection data to dynamically optimize the telescopic rod's motion trajectory; 6. Operation completion and system recovery; S11. After the installation is completed: cut off the power supply of the electromagnetic lock to release the hook, fold the wind-resistant balance wings, and retract the hydraulic legs to complete the system removal; S12. After dismantling is completed: first tighten the wires in stages using the winch to within the tension threshold (wire tensile strength 30%-50%) to ensure that the wires are not loose and are in a controllable state; then retract the telescopic rod in the reverse path of S2, and synchronously adjust the winch retraction speed to match the rod body retraction rate to avoid excessive stretching or residual stress in the wires; the lithium battery pack or generator set enters low-power standby mode.

[0053] Those skilled in the art will appreciate that the process of implementing all or part of the steps of the above embodiments may be accomplished by hardware, or by instructing related hardware through a program, which may be stored in a computer-readable storage medium.

[0054] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A system for installing or removing conductors at a crossing, characterized in that: include: A telescopic conductor carrying module (1) for supporting the conductor to cross obstacles and provide a guide channel; A power drive module (2), used for driving the expansion and contraction of the telescopic rod and providing system power, and mechanically connected to the telescopic wire carrying module (1) via a rack and pinion mechanism; A closed-loop tension control system module (3) for real-time monitoring and adjustment of conductor tension to ensure a stable installation or removal process; Guidance and stabilization module (4), used to adapt to complex terrain and improve system stability; A remote control module (5) is used to realize non-contact operation and monitor the working environment, and has three-dimensional space perception and obstacle detection functions; The central control module (6) establishes data transmission with the power drive module, the closed-loop tension control system module, the guidance and stabilization module and the remote control module via the CAN bus protocol, dynamically plans the telescopic path based on real-time data and synchronously adjusts the winch retraction and extension speed.

2. The system for installing or removing conductors at crossings according to claim 1, characterized in that: The telescopic wire carrying module (1) comprises: The multi-stage telescopic unit includes a multi-stage nested carbon fiber telescopic rod with a high-density polyethylene guide groove and pulley set on the rod body to support the wire to cross obstacles and provide a guide channel; The wind-resistant unit comprises a foldable wind-resistant balance wing installed in the middle of the telescopic rod.

3. The system for installing or removing conductors at crossings according to claim 1, characterized in that: The telescopic wire carrying module (1) further comprises an end execution unit, and the end execution unit comprises: 360° rotating electromagnetic lock hook for quick locking of the opposite anchor point; Adaptive clamping jaws with adjustable clamping force of 2-10kN, suitable for wires of different diameters; The multi-sensor fusion unit monitors the hook angle, gripper pressure and three-dimensional spatial displacement data in real time.

4. The system for installing or removing conductors at crossings according to claim 2, characterized in that: The wind-resistant balance wings are symmetrically distributed at 120° after being unfolded, and the ratio of wingspan length to rod diameter is 3:1 to 5:1, which is used to suppress the vibration of the rod caused by wind load.

5. The system for installing or removing conductors at crossings according to claim 1, characterized in that: The power drive module (2) comprises: The drive component unit is driven by a servo motor or hydraulic pump, supporting thrust and speed adjustment to meet the telescopic movement requirements under different loads; The power supply component unit is equipped with a lithium battery pack or a generator set to provide power support for continuous operation of the system and support long-term field construction.

6. The system for installing or removing conductors at crossings according to claim 1, characterized in that: The closed-loop tension control system module (3) comprises: High-precision tension sensor, used to monitor the conductor pulling force in real time. When the tension fluctuation exceeds the tension setting threshold of ±15%, the reverse compensation mechanism is triggered to ensure stable conductor tension. Automatic winch, which is synchronized with the telescopic rod, adjusts the wire release length in real time through a closed-loop control algorithm; in this closed-loop control algorithm, the winch adjusts the speed The formula , calculated, where is the adjustment coefficient, is the set wire tension value, The actual tension value of the current conductor.

7. The system for installing or removing conductors at crossings according to claim 1, characterized in that: The guidance and stabilization module (4) comprises: Hydraulic outriggers and high-precision inclination sensors adapt to complex terrain with slopes ≤ 30°; The wind-resistant balance wing control unit is linked to the central control module (6) and automatically adjusts the wing surface angle based on the wind speed sensor data integrated in the module.

8. The system for installing or removing conductors at crossings according to claim 1, characterized in that: The remote control module (5) comprises: 3D perception unit: Through laser ranging, camera and obstacle detection device, it provides real-time feedback on the pole posture, operation picture and surrounding obstacle information; Handheld remote control: supports wireless remote control, realizes mode switching, speed adjustment and emergency braking, and displays system status parameters in real time to ensure operator safety.

9. The system for installing or removing conductors at crossings according to claim 1, characterized in that: The central control module (6) has a built-in dynamic path planning algorithm, which generates the telescopic rod deployment trajectory based on real-time data and controls the precise docking of the end.

10. A method for installing or removing a conductor at a crossing, based on the system for installing or removing a conductor at a crossing according to any one of claims 1 to 9, characterized in that: The steps include:

1. System deployment and initial calibration; S1, transporting the system to the work site, using the laser rangefinder, camera and obstacle detection device of the remote control module (5) to perceive the environment, and performing three-dimensional modeling of the work environment to identify the location of obstacles and the slope of the terrain; S2, start the hydraulic legs of the guidance and stabilization module (4), combine with the high-precision inclination sensor to monitor the inclination of the pole body in real time, complete the leveling and fixing on the terrain with a slope of ≤30°, and at the same time unfold the foldable wind-resistant balance wings to a 120° symmetrical state to establish the initial stable support; 2. Telescopic rod deployment and path planning; S3, the central control module (6) calls the dynamic path planning algorithm to generate the telescopic rod deployment trajectory according to the obstacle height and span requirement, drives the servo motor or hydraulic pump of the power drive module (2), and gradually deploys 3-5 telescopic rods through the gear rack transmission mechanism to achieve 15-25 meters span adjustment; S4, during the unfolding process, the high-precision tension sensor of the closed-loop tension control system module (3) synchronously monitors the initial wire pre-tension to provide reference data for subsequent tension adjustment; 3. Wire docking and fixation; S5. When the end of the telescopic rod reaches the target position, the 360° rotating electromagnetic lock hook of the end effector automatically aligns with the opposite anchor point and locks, while the adaptive clamping claw adjusts the clamping force according to the wire diameter to clamp the wire; S6, the multi-sensor fusion unit feeds back the hook angle, gripper pressure and end displacement data to the central control module (6) in real time, and adjusts the hook angle and gripper clamping force based on the feedback data to confirm that the docking accuracy reaches ±5mm and completes the initial fixation; 4. Tension adjustment and intelligent coordinated control; S7. During erection operation: The automatic winch releases the wire synchronously with the expansion of the telescopic rod, and calculates the winch adjustment speed in real time according to the closed-loop control algorithm. When the tension fluctuation exceeds the tension threshold of ±15%, the reverse compensation mechanism is triggered to ensure the stability of the wire tension. S8. During demolition operations: First, the wire is pre-tightened by the winch to eliminate slack, and then the telescopic rod is retracted in stages. The winch retraction speed is synchronously adjusted to match the rod retraction rate to avoid excessive stretching of the wire.

5. Remote monitoring and environmental adaptation; S9. The operator uses a handheld remote control to view the mast posture, operation screen, and obstacle distance fed back by the 3D sensing unit in real time. When encountering sudden strong winds, the wind-resistant balance wing control unit automatically adjusts the wing angle according to the wind speed sensor data to suppress the mast vibration caused by wind loads. S10, the central control module continuously integrates the tension sensor, tilt sensor and obstacle detection data to dynamically optimize the telescopic rod's motion trajectory; 6. Operation completion and system recovery; S11. After the installation is completed: cut off the power supply of the electromagnetic lock to release the hook, fold the wind-resistant balance wings, and retract the hydraulic legs to complete the system removal; S12. After dismantling is completed: first, use the winch to tighten the wires in stages to within the tension threshold (wire tensile strength 30%-50%) to ensure that the wires are not loose and are in a controllable state; The telescopic rod is retracted according to the reverse path of S2, and the winch reeling speed is synchronously adjusted to match the rod body retraction rate to avoid excessive stretching or residual stress of the wire; the lithium battery pack or generator set enters low-power standby mode.

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