A high-altitude line patrol robot

Abstract

The present invention belongs to the technical field of high-altitude line patrol equipment, and discloses a high-altitude line patrol robot, which includes a shell and a mobile module, a foreign matter removal module, a mobile control module, an observation module and a controller arranged on the shell. The mobile module can support the shell on a cable and drive the shell to move along the length direction of the cable. The foreign matter removal module includes a hook arranged on the shell, and the hook is used to hook and remove foreign matter on the cable. The mobile control module is connected to the controller in communication, and the controller can control the mobile control module so that the mobile control module controls the mobile module to drive the shell to move along the length direction of the cable. The observation module can record the picture of the shell on the side facing the hook, and send the recorded picture to a remote display terminal. The high-altitude line patrol robot provided by the present invention can effectively remove foreign matter on the cable during the line patrol process, and ensure the reliability and effectiveness of the line patrol work.

Description

Technical Field

[0001] The invention relates to the technical field of high-altitude line inspection equipment, and in particular to a high-altitude line inspection robot. Background Art

[0002] Overhead transmission lines are usually several kilometers to hundreds of kilometers long. The line equipment is exposed to the natural environment for a long time and is subject to various climatic conditions and other external damage. All these factors endanger the safe operation of the line at any time. Once a line fails, it takes a long time to repair and transmit power, which will cause losses of varying degrees. In order to ensure the safe operation of the line, it is necessary to strengthen the inspection and inspection of the line during the operation of the line, to find out the defects of the equipment and the factors that endanger the safe operation of the line at any time, so as to timely repair and eliminate the hidden dangers, and formulate safety measures.

[0003] At present, there are two main methods for inspecting transmission lines: manual inspection and helicopter inspection. Among them, manual inspection is labor-intensive, has a harsh and dangerous working environment, and the cost of helicopter inspection is very high. In addition, some manufacturers have also developed bionic robots that can patrol the lines by themselves, but they are still unable to identify and clean foreign objects on the lines by themselves, and all cleaning work still needs to be done manually. Summary of the invention

[0004] The purpose of the present invention is to provide a high-altitude line patrol robot, which can effectively remove foreign objects on the line during the line patrol process.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A high-altitude line patrol robot comprises a shell and a mobile module, a foreign matter removal module, a mobile control module, an observation module and a controller arranged on the shell; wherein:

[0007] The moving module can support the housing on the cable and drive the housing to move along the length direction of the cable;

[0008] The foreign matter removal module comprises a hook disposed on the housing, and the hook is used to hook and remove foreign matter on the cable;

[0009] The movement control module is in communication with the controller, and the controller is capable of controlling the movement control module so that the movement control module controls the movement module to drive the housing to move along the length direction of the cable;

[0010] The controller is capable of controlling the moving module so that the moving module drives the housing to move along the length direction of the cable;

[0011] The observation module is in communication connection with the remote display terminal, and the observation module can record the image of the shell on the side facing the hook, and send the recorded image to the remote display terminal.

[0012] Optionally, the mobile module includes:

[0013] A rotating wheel is rotatably disposed on the housing, the number of the rotating wheels is set to at least two, and at least two of the rotating wheels are arranged at intervals along a first direction;

[0014] A clamping device is arranged on the housing, and the clamping device can clamp the cable together with the rotating wheel to support the housing on the cable. The movement control module is transmission-connected to one of the rotating wheels and can control the rotation of the rotating wheel.

[0015] Optionally, the clamping device includes a clamping plate, a lifting rod, a locking wheel and an elastic member, the clamping plate is fixedly disposed on the shell, the first end of the lifting rod is rotatably disposed on the clamping plate, the second end of the lifting rod is connected to the locking wheel, and the elastic member is configured to provide a force forcing the lifting rod to rotate in a direction close to the rotating wheel so that the locking wheel and the rotating wheel jointly clamp the cable.

[0016] Optionally, the movement control module includes a transmission component and a drive device; wherein,

[0017] The transmission assembly includes a first gear, a second gear, a third gear, a fourth gear and a transmission rod, the first gear is connected to the driving device, the second gear and the third gear are respectively fixedly arranged at opposite ends of the transmission rod, the fourth gear is coaxially fixedly arranged with one of the rotating wheels, the transmission rod is rotatably arranged on the shell, the first gear and the second gear are meshingly connected, the third gear and the fourth gear are meshingly connected, the controller is communicatively connected to the driving device, and the controller can control the driving device so that the driving device drives the first gear to rotate.

[0018] Optionally, the driving device is configured as a motor, and the first gear is fixedly sleeved on an output shaft of the motor.

[0019] Optionally, it also includes an obstacle monitoring module and an alarm module, both of which are communicatively connected to the controller. The obstacle monitoring module can send an alarm signal to the controller when it detects that there are foreign objects that have not been removed in time along the moving direction of the shell. After receiving the alarm signal, the controller controls the alarm module to alarm.

[0020] Optionally, the obstacle monitoring module includes:

[0021] Foreign object baffles are arranged in pairs on two opposite sides of the housing along the moving direction, and the foreign object baffles are retractably arranged on the housing;

[0022] A pressure sensor is arranged on the shell and corresponds to the foreign object baffle plate one by one. The pressure sensor is communicatively connected to the controller. The pressure sensor is connected to the corresponding foreign object baffle plate and can monitor in real time the thrust of the foreign object that is not cleared in time on the corresponding side of the corresponding foreign object baffle plate during the movement of the shell.

[0023] Optionally, the alarm module is configured as a buzzer and / or a warning light.

[0024] Optionally, the observation module includes a camera, which is fixedly disposed on the shell along a side facing the hook, and the camera is communicatively connected to the remote display terminal.

[0025] Optionally, the observation module further includes a searchlight, which is fixed to the shell along a side facing the hook.

[0026] Beneficial effects:

[0027] The high-altitude line patrol robot provided by the present invention has a moving module that can support the shell on the cable, and a relevant operator controls the controller to control the moving control module, so that the moving control module controls the moving module, and then the moving module drives the shell to move along the length direction of the cable. During the movement, the observation module can record the picture of the side of the shell facing the hook and send it to the remote display end in real time, so that the relevant operator can effectively observe the cable status through the remote display end, and the hook in the foreign matter removal module can effectively hook and remove foreign matter on the cable during the line patrol process, effectively preventing the foreign matter on the cable from affecting the line patrol work of the high-altitude line patrol robot, and ensuring the reliability and effectiveness of the line patrol work. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic structural diagram of a high-altitude line patrol robot from one perspective provided in Embodiment 1 of the present invention;

[0029] Figure 2 This is a schematic structural diagram of the high-altitude line patrol robot provided by the first embodiment of the present invention from another perspective;

[0030] Figure 3 1 is a schematic structural diagram of the high-altitude line patrol robot provided in the first embodiment of the present invention from another perspective;

[0031] Figure 4 This is a schematic diagram of a part of the internal structure of the high-altitude line patrol robot provided in the first embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of another part of the internal structure of the high-altitude line patrol robot provided in the first embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of another part of the internal structure of the high-altitude line patrol robot provided in the first embodiment of the present invention;

[0034] Figure 7 It is a schematic diagram of a partial structure inside the high-altitude line patrol robot provided in the second embodiment of the present invention.

[0035] In the figure:

[0036] 100. housing; 110. antenna;

[0037] 200, moving module; 210, rotating wheel; 221, clamping plate; 222, lifting rod; 223, locking wheel; 224, lifting cylinder;

[0038] 300, foreign matter removal module; 310, hook;

[0039] 400, mobile control module; 411, first gear; 412, second gear; 413, third gear; 414, fourth gear; 415, transmission rod; 420, driving device;

[0040] 500, observation module; 510, camera; 520, searchlight;

[0041] 600, obstacle monitoring module; 610, foreign body baffle; 611, through slot; 620, telescopic shaft;

[0042] 700. Alarm module. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0044] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0047] Embodiment 1

[0048] This embodiment provides a high-altitude line patrol robot. Figures 1 to 6 As shown, the high-altitude line inspection machine includes a shell 100 and a mobile module 200, a foreign object removal module 300, a mobile control module 400, an observation module 500 and a controller (not shown) arranged on the shell 100, wherein the mobile module 200 can support the shell 100 on the cable and drive the shell 100 to move along the length direction of the cable, the foreign object removal module 300 includes a hook 310 arranged on the shell 100, and the hook 310 is used to hook and remove foreign objects on the cable, the mobile control module 400 is communicatively connected to the controller, and the controller can control the mobile control module 400 so that the mobile control module 400 controls the mobile module 200 to drive the shell 100 to move along the length direction of the cable, and the observation module 500 is communicatively connected to the remote display terminal, and the observation module 500 can record the picture of the shell 100 on the side facing the hook 310, and send the recorded picture to the remote display terminal.

[0049] In this embodiment, the mobile module 200 can support the shell 100 on the cable, and the relevant operator can control the controller to control the mobile control module 400, so that the mobile control module 400 controls the mobile module, and then the mobile module 200 drives the shell 100 to move along the length direction of the cable. During the movement, the observation module 500 can record the picture of the side of the shell 100 facing the hook 310 and send it to the remote display end in real time, so that the relevant operator can effectively observe the cable status through the remote display end, and the hook 310 in the foreign object removal module 300 can effectively hook and remove foreign objects such as plastic bags on the cable during the line patrol process, effectively preventing foreign objects on the cable from affecting the line patrol work of the high-altitude line patrol robot, and ensuring the reliability and effectiveness of the line patrol work.

[0050] In this embodiment, the length direction of the housing 100 is the moving direction of the housing 100 on the cable.

[0051] Specifically, the relevant operator controls the controller so that the mobile module 200 drives the shell 100 to move along the length direction of the cable. When the relevant operator observes foreign matter through the remote display terminal, the movement speed of the shell 100 is reduced, and then the mobile module 200 controls the shell 100 to move forward slowly. During the process, the relevant operator observes whether the hook 310 on the shell 100 hooks the foreign matter through the picture fed back to the remote display terminal by the observation module 500. When it is determined that the hook 310 successfully hooks the foreign matter, the mobile module 200 is controlled to make the shell 100 retreat a certain distance relative to the forward direction. In this way, the hook 310 drives the foreign matter to move on the cable. After retreating a certain distance, the mobile module 200 controls the shell 100 to move forward again. After repeated forward and backward movements, the foreign matter will fall under the action of its own gravity, thereby realizing the function of clearing foreign matter on the cable.

[0052] Optionally, the controller is preferably configured as a printed circuit board.

[0053] Optionally, the number of hooks 310 in the foreign matter removal module 300 is set to at least one. In this embodiment, the number of hooks 310 is set to two, and they are arranged at intervals along the width direction of the shell 100, and the hooks 310 are arranged in a J shape.

[0054] Continue to refer to Figure 1 to Figure 2 As shown, the observation module 500 includes a camera 510, which is fixedly arranged on the housing 100 along a side facing the hook 310, and the camera 510 is connected to the remote display terminal. The remote display terminal is not limited to display terminals such as mobile phones and computers, and the principle and process of the camera 510 sending the recorded image to the remote display terminal are prior art.

[0055] Furthermore, the observation module 500 further includes a searchlight 520, which is fixedly arranged on the housing 100 along a side facing the hook 310. When in a dark environment such as at night, the searchlight 520 can be turned on during the line inspection process, so that the relevant operators can easily and effectively observe the specific situation on the cable through the camera 510.

[0056] Optionally, a handle is further provided on the upper side of the shell 100 to facilitate relevant operators to grab and carry the high-altitude line inspection robot more conveniently and labor-savingly.

[0057] Specifically, refer to Figures 3 to 5 As shown, the mobile module 200 includes a rotating wheel 210 and a clamping device, wherein the rotating wheel 210 is rotatably disposed on the housing 100, the number of the rotating wheels 210 is set to at least two, and at least two rotating wheels 210 are arranged at intervals along the first direction, the clamping device is disposed on the housing 100, and the clamping device can clamp the cable together with the rotating wheel 210 to support the housing 100 on the cable, and the mobile control module 400 is transmission-connected to one of the rotating wheels 210 and can control the rotation of the rotating wheel 210. In this embodiment, the number of the rotating wheels 210 is set to two, and the first direction is preferably set to the length direction of the housing 100.

[0058] Furthermore, the clamping device includes a clamping plate 221, a lifting rod 222, a locking wheel 223 and an elastic member, the clamping plate 221 is fixedly arranged on the shell 100, the first end of the lifting rod 222 is rotatably arranged on the clamping plate 221, the second end of the lifting rod 222 is connected to the locking wheel 223, and the elastic member is configured to provide a force forcing the lifting rod 222 to rotate in a direction close to the rotating wheel 210, so that the locking wheel 223 and the rotating wheel 210 can clamp the cable together.

[0059] Specifically, refer to Figure 4As shown, the outer shape of the housing 100 is set in a "C" shape. When the housing 100 is supported on the cable, the runner 210 is supported above the cable, the locking wheel 223 is correspondingly arranged below the cable, and the lifting rod 222 is connected to the housing 100 through the clamping plate 221. When it is necessary to install the housing 100 onto the cable, the relevant operator pulls down the locking wheel 223, causing the locking wheel 223 to drive the lifting rod 222 to rotate away from the runner 210, so that an opening is formed between the runner 210 and the locking wheel 223 and the cable can be placed in it. During this process, the elastic member undergoes elastic deformation and gradually generates an elastic restoring force that drives the lifting rod 222 to rotate towards the runner 210. After the runner 210 is supported on the cable, the relevant operator releases the pull on the locking wheel 223, that is, removes the pulling force applied to the locking wheel 223, causing the lifting rod 222 to rotate towards the runner 210 under the action of the elastic restoring force of the elastic member. Furthermore, the runner 210 and the locking wheel 223 can jointly clamp the cable on the upper and lower sides of the cable, so that the housing 100 is reliably and stably supported on the cable.

[0060] Further, continue to refer to Figures 3 to 5 As shown, the movement control module 400 includes a transmission assembly and a driving device 420. The transmission assembly includes a first gear 411, a second gear 412, a third gear 413, a fourth gear 414 and a transmission rod 415. The first gear 411 is connected to the driving device 420. The second gear 412 and the third gear 413 are respectively fixedly arranged at opposite ends of the transmission rod 415. The fourth gear 414 is coaxially and fixedly arranged with one of the runners 210. The transmission rod 415 is rotatably arranged on the housing 100. The first gear 411 and the second gear 412 are meshed and connected. The third gear 413 and the fourth gear 414 are meshed and connected. The controller is communicatively connected to the driving device 420, and the controller can control the driving device 420 so that the driving device 420 drives the first gear 411 to rotate.

[0061] In this embodiment, the first gear 411, the second gear 412, the third gear 413 and the fourth gear 414 are all set as helical gears. Specifically, when the driving device 420 drives the first gear 411 to rotate, it can drive the second gear 412 meshed with the first gear 411 to rotate. The rotation of the second gear 412 can drive the third gear 413 to rotate through the transmission rod 415. The rotation of the third gear 413 can drive the fourth gear 414 meshed with it to rotate, thereby driving the runner 210 coaxially and fixedly arranged with the fourth gear 414 to rotate, and further being able to drive the housing 100 to move on the cable.

[0062] In this embodiment, the driving device 420 is set as a motor. The fixed end of the motor is fixedly arranged on the housing 100, and the first gear 411 is fixedly sleeved on the output shaft of the motor.

[0063] Continue to refer to Figures 1 to 3 As shown, the high-altitude line patrol robot also includes an obstacle monitoring module 600 and an alarm module 700. Both the obstacle monitoring module 600 and the alarm module 700 are communicatively connected to the controller. The obstacle monitoring module 600 can send an alarm signal to the controller when it detects that there are foreign objects that have not been removed in time along the moving direction of the shell 100. After receiving the alarm signal, the controller controls the alarm module 700 to alarm.

[0064] In this embodiment, the obstacle monitoring module 600 includes a foreign object baffle 610 and a pressure sensor (not shown). The foreign object baffle 610 is arranged in pairs on two opposite sides of the shell 100 along the moving direction. The foreign object baffle 610 is retractably arranged on the shell 100. The pressure sensor is arranged on the shell 100 and corresponds to the foreign object baffle 610 one by one. The pressure sensor is communicatively connected to the controller. The pressure sensor is connected to the corresponding foreign object baffle 610 and can monitor in real time the thrust of the corresponding foreign object baffle 610 received by the foreign objects that have not been cleared in time on the corresponding side during the movement of the shell 100.

[0065] Specifically, the foreign object baffle 610 is connected to a telescopic shaft 620, which can be telescoped in the shell 100 along the moving direction of the shell 100. The foreign object baffle 610 can block foreign objects on the cable to prevent foreign objects that are not cleaned in time from entering the shell 100 during the movement of the shell 100 and jamming the internal components of the mobile module 200 or the mobile control module 400. When the relevant operator neglects the foreign matter on the cable due to negligence, as the housing 100 moves, the foreign matter that is not removed in time will accumulate on the side of the foreign matter baffle 610 away from the housing 100. If only a small amount of foreign matter accumulates on the foreign matter baffle 610, the foreign matter will not have much impact on the movement of the housing 100. As the high-altitude line patrol robot runs on the same cable for a longer time, more and more foreign matter will accumulate on one side of the foreign matter baffle 610, thereby hindering the movement of the housing 100. At this time, the accumulated foreign matter will generate a thrust on the foreign matter baffle 610, which will cause the pressure sensor to monitor the thrust through the telescopic shaft 620. When the thrust is greater than the preset value, the pressure sensor will send an alarm signal to the controller, and the controller will activate the alarm module 700 after receiving the alarm signal. After the relevant operator clears the foreign matter, the alarm module 700 will automatically release the alarm because the pressure sensor cannot monitor the value.

[0066] The pressure monitoring principle of the pressure sensor, the communication process between the pressure sensor and the controller, and the communication process between the controller and the alarm module 700 are all prior arts.

[0067] Preferably, the foreign matter baffle plate 610 is further provided with a through slot 611 , and the provision of the through slot 611 can provide a reliable passing space for the cable.

[0068] Furthermore, the alarm module 700 is configured as a buzzer and / or a warning light. When too much foreign matter is accumulated in front of the foreign matter baffle 610, the pressure sensor will send an alarm signal to the controller, and then the controller will activate the buzzer after receiving the alarm signal, so that the buzzer sounds, or activate the warning light so that the warning light lights up or flashes, to remind the on-site operator to observe it in time, so that the on-site operator can find it easily.

[0069] In this embodiment, an antenna is further provided on the housing 100. The provision of the antenna can more stably and effectively transmit various communication signals of the controller, thereby preventing the communication control process of the controller from failing due to poor signal transmission at high altitude.

[0070] Embodiment 2

[0071] The difference between this embodiment and the high-altitude line-patrolling robot provided in Embodiment 1 is that the clamping device includes a clamping plate 221, a lifting rod 222, a locking wheel 223 and a lifting cylinder 224, the clamping plate 221 is fixedly arranged on the shell 100, the first end of the lifting rod 222 is rotatably arranged on the clamping plate 221, the second end of the lifting rod 222 is connected to the locking wheel 223, the fixed end of the lifting cylinder 224 is fixedly arranged on the shell 100, and the telescopic end of the lifting cylinder 224 is hinged to the lifting rod 222.

[0072] Specifically, when the housing 100 needs to be installed on the cable, the relevant operator controls the telescopic end of the lifting cylinder 224 to retract relative to the fixed end, so that the lifting rod 222 drives the locking wheel 223 to rotate in a direction away from the rotating wheel 210, so that the space between the rotating wheel 210 and the locking wheel 223 is opened and the cable can be inserted. After the rotating wheel 210 is supported on the cable, the relevant operator controls the telescopic end of the lifting cylinder 224 to extend relative to the fixed end, so that the lifting rod 222 drives the locking wheel 223 to rotate in a direction close to the rotating wheel 210, and then the rotating wheel 210 and the locking wheel 223 can clamp the cable together at the upper and lower sides of the cable, so that the housing 100 is reliably and stably supported on the cable.

[0073] In this embodiment, the lifting cylinder 224 is in communication connection with the controller, and the controller can control the telescopic end of the lifting cylinder 224 to telescope relative to the fixed end.

[0074] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A high-altitude line patrol robot, characterized in that: It comprises a housing (100), a moving module (200), a foreign matter removing module (300), a moving control module (400), an observation module (500) and a controller arranged on the housing (100); wherein: The moving module (200) can support the housing (100) on the cable and drive the housing (100) to move along the length direction of the cable; The foreign matter removal module (300) comprises a hook (310) arranged on the housing (100), and the hook (310) is used to hook and remove foreign matter on the cable; The movement control module (400) is in communication connection with the controller, and the controller is capable of controlling the movement control module (400) so that the movement control module (400) controls the movement module (200) to drive the housing (100) to move along the length direction of the cable; The observation module (500) is communicatively connected to a remote display terminal, and the observation module (500) can record a picture of the housing (100) on the side facing the hook (310), and send the recorded picture to the remote display terminal; The moving module (200) is capable of controlling the housing (100) to move back and forth on the cable; It also includes an obstacle monitoring module (600) and an alarm module (700), the obstacle monitoring module (600) and the alarm module (700) are both communicatively connected to the controller, the obstacle monitoring module (600) is capable of sending an alarm signal to the controller when detecting that the housing (100) has foreign matter that has not been removed in time along the moving direction, and the controller controls the alarm module (700) to sound an alarm after receiving the alarm signal; The obstacle monitoring module (600) comprises: A foreign object baffle (610), wherein the number of the foreign object baffles (610) is two, and the two foreign object baffles (610) are respectively arranged on two opposite sides of the housing (100) along the moving direction, and the foreign object baffles (610) are telescopically arranged on the housing (100); A pressure sensor is arranged on the shell (100) and is arranged one-to-one with the foreign object baffle (610), the pressure sensor is communicatively connected to the controller, the pressure sensor is connected to the corresponding foreign object baffle (610) and can monitor in real time the thrust of the foreign object that has not been cleared in time on the corresponding side of the corresponding foreign object baffle (610) during the movement of the shell (100).

2. The high-altitude line patrol robot according to claim 1, characterized in that: The mobile module (200) comprises: A rotating wheel (210) is rotatably disposed on the housing (100), the number of the rotating wheels (210) is set to at least two, and at least two of the rotating wheels (210) are arranged at intervals along a first direction; A clamping device is arranged on the housing (100), and the clamping device can clamp the cable together with the rotating wheel (210) to support the housing (100) on the cable. The movement control module (400) is transmission-connected to one of the rotating wheels (210) and can control the rotation of the rotating wheel (210).

3. The high-altitude line patrol robot according to claim 2, characterized in that: The clamping device comprises a clamping plate (221), a lifting rod (222), a locking wheel (223) and an elastic member, wherein the clamping plate (221) is fixedly arranged on the housing (100), the first end of the lifting rod (222) is rotatably arranged on the clamping plate (221), the second end of the lifting rod (222) is connected to the locking wheel (223), and the elastic member is configured to provide a force forcing the lifting rod (222) to rotate in a direction close to the rotating wheel (210), so that the locking wheel (223) and the rotating wheel (210) can clamp the cable together.

4. The high-altitude line patrol robot according to claim 2, characterized in that: The movement control module (400) comprises a transmission component and a driving device (420); wherein: The transmission assembly comprises a first gear (411), a second gear (412), a third gear (413), a fourth gear (414) and a transmission rod (415); the first gear (411) is connected to the driving device (420); the second gear (412) and the third gear (413) are respectively fixedly arranged at opposite ends of the transmission rod (415); the fourth gear (414) is coaxially fixedly arranged with one of the rotating wheels (210); the transmission rod (415) is rotatably arranged on the housing (100); the first gear (411) and the second gear (412) are meshingly connected; the third gear (413) and the fourth gear (414) are meshingly connected; the controller is communicatively connected to the driving device (420); and the controller is capable of controlling the driving device (420) so that the driving device (420) drives the first gear (411) to rotate.

5. The high-altitude line patrol robot according to claim 4, characterized in that: The driving device (420) is configured as a motor, and the first gear (411) is fixedly sleeved on an output shaft of the motor.

6. The high-altitude line patrol robot according to claim 1, characterized in that: The alarm module (700) is configured as a buzzer and / or a warning light.

7. The high-altitude line patrol robot according to claim 1, characterized in that: The observation module (500) comprises a camera (510), wherein the camera (510) is fixedly disposed on the housing (100) along a side facing the hook (310), and the camera (510) is communicatively connected to the remote display terminal.

8. The high-altitude line patrol robot according to claim 1, characterized in that: The observation module (500) further comprises a searchlight (520), wherein the searchlight (520) is fixedly disposed on the housing (100) along a side facing the hook (310).

Images