A high voltage transmission and transformation line obstacle clearing device

Abstract

The present invention discloses a high-voltage power transmission and transformation line obstacle clearing device, which belongs to the technical field of high-voltage power transmission and transformation line maintenance equipment, and comprises a clearing device installed on the power transmission and transformation line and a dynamic adjustment device for pulling the clearing device on the power transmission and transformation line to clear obstacles; the clearing device comprises at least two sleeves mounted on the power transmission and transformation line, and the sleeves are provided with an opening and closing mechanism; a rear cover is installed on one side of the sleeve and a pressure sensor is provided on the rear cover, and a pushing mechanism is provided on the other side of the sleeve; the dynamic adjustment device comprises a drone, and a camera is obliquely arranged on the front side of the lower part of the drone, and the camera is used to capture the video of the power transmission and transformation line, and an angle measurement mechanism is arranged at the bottom of the drone. Efficient obstacle clearing can be achieved for a single long high-voltage power transmission and transformation line, and obstacles can also be avoided from being ignited.

Description

Technical Field

[0001] The invention belongs to the technical field of high-voltage power transmission and transformation line maintenance equipment, and in particular relates to a high-voltage power transmission and transformation line obstacle clearing device. Background Art

[0002] High-voltage transmission and transformation lines are used to transmit electricity generated by power plants to local distribution stations. They are usually supported by elevated poles and towers, which reduces the floor space required for their installation. In addition, the elevated support provides greater safety.

[0003] Although the high-voltage transmission lines supported by higher poles and towers can avoid contact with heavier obstacles such as tree branches, some lighter obstacles will be entangled on the high-voltage transmission lines due to the influence of wind, and the most common ones are: plastic bags, cloth strips, kite strings, etc.; since the high-voltage transmission lines between adjacent poles and towers are long, clearing these obstacles mounted on the high-voltage transmission lines by slowly moving manually on the high-voltage transmission lines is not only inconvenient to operate, but also has certain safety hazards, and the clearance speed is slow.

[0004] At present, many places have introduced high-voltage transmission and transformation circuit obstacle clearing devices to complete the task. The first method is to use drones carrying flamethrower facilities to clear obstacles. Ground personnel remotely control the drone to reach the area close to the obstacle, remotely control the flamethrower facilities to ignite and pressurize the burning oil, and spray open flames to the obstacles, so that the obstacles burn quickly and fall off the high-voltage transmission and transformation lines; the second method is to use laser obstacle clearing equipment to complete it. When the equipment placement area is selected, the laser emission lens of the laser obstacle clearing equipment is aimed at the obstacles on the high-voltage transmission and transformation lines, and the obstacles are caused to self-ignite and detach by emitting light of a specific wavelength and extremely high energy; the third method is to use obstacle clearing robots to climb on the transmission lines, and use cutting methods along the way to separate the obstacles from the high-voltage transmission and transformation lines.

[0005] For the first type of obstacle clearing equipment, it uses the method of spraying open flames to clear obstacles. For high-voltage transmission and transformation lines in some areas, when there are many obstacles hanging and distributed on the high-voltage transmission and transformation lines, more fuel is consumed, and when the obstacles burn and fall to the ground, they are easy to ignite combustibles on the ground; for the second type of obstacle clearing equipment, when it is similar to the first type, the burning obstacles are also easy to ignite combustibles on the ground; for the third type of obstacle clearing equipment, it is suitable for clearing some high-voltage transmission and transformation lines laid in parallel, and the clearance speed is slower.

[0006] Therefore, it is necessary to provide a clearing device that can efficiently clear obstacles for a single long high-voltage transmission and transformation line and avoid igniting obstacles during the clearing process. Summary of the invention

[0007] The purpose of the present invention is to provide a high-voltage transmission and transformation line obstacle clearing device to solve the problems existing in the prior art.

[0008] To achieve the above-mentioned object, the present invention provides the following technical solutions: a high-voltage power transmission and transformation line obstacle clearing device, comprising a clearing device installed on the power transmission and transformation line and a dynamic adjustment device for towing the clearing device to move and clear obstacles on the power transmission and transformation line;

[0009] The cleaning device comprises at least two sleeves mounted on the power transmission and transformation line, the sleeves are provided with an opening and closing mechanism, the opening and closing mechanism is used to drive the sleeves to be inserted into and removed from the power transmission and transformation line; a rear cover is installed on one side of the sleeve and a pressure sensor is provided on the rear cover, and a pushing and cutting mechanism is provided on the other side of the sleeve, the pressure sensor is used to sense the reverse pressure exerted by the pushing and cutting mechanism when pushing and cutting obstacles; the pushing and cutting mechanism is used to axially cut obstacles on the power transmission and transformation line, and can perform thermal cutting on obstacles when cutting is difficult;

[0010] The bottom of one of the sleeve frames is connected to a protection box via a connecting column, and a transport control mechanism is provided on the protection box;

[0011] The dynamic adjustment device includes a drone, a camera is obliquely arranged on the front side of the lower part of the drone, the camera is used to capture the video of the power transmission and transformation line, an angle measuring mechanism is arranged on the bottom of the drone, the angle measuring mechanism is connected to the sleeve frame through a traction soft rope, the angle measuring mechanism is used to measure the longitudinal angle information of the drone pulling the sleeve frame through the traction soft rope, and the measured longitudinal angle information and the video information of the power transmission and transformation line are wirelessly transmitted to the operation control mechanism, the operation control mechanism analyzes the two, and obtains the control signal for controlling the heading of the drone, and the operation control mechanism also controls the heating operation of the pushing and cutting mechanism by judging the pressure value information of the real-time receiving pressure sensor.

[0012] Preferably, the opening and closing mechanism comprises side panels respectively connected to the upper sleeve frame and the lower sleeve frame, the upper side panel is provided with an electric telescopic rod, and the top rod of the electric telescopic rod is connected to the lower side panel.

[0013] Preferably, the pushing and cutting mechanism comprises an insulating ring arranged on one side of the sleeve frame, a heat conducting plate is inserted in the insulating ring, one end of the heat conducting plate is connected to the frame plate through a heat conducting mounting plate, a clip is arranged on one side of the frame plate and a blade is arranged on the clip, one end of the blade is provided with a cutting edge, a side of the cutting edge close to the power transmission cable is provided with an arc-shaped blade, and a pick is arranged on the end side of the frame plate;

[0014] The pressure sensing surface of the pressure sensor is provided with a support tube, a sliding rod is inserted into one end of the support tube and a pressure plate is provided at one end of the sliding rod, a spring is provided in the support tube and both ends of the spring are elastically supported on one side of the pressure plate and the support tube, the other end of the sliding rod is connected to a connecting plate and a heating plate is provided through the connecting plate, the heating surface of the heating plate is provided with a heat-conducting insulation layer and is connected to a heat-conducting connecting plate through the heat-conducting insulation layer, and the other end of the heat-conducting plate is connected to the heat-conducting connecting plate.

[0015] Preferably, a battery is arranged in the protection box, and the battery is fixedly supported on the bottom of the protection box through a mounting frame plate, and the protection box is connected to each of the sleeve frames through an insulating soft wire tube.

[0016] Preferably, the operation control mechanism comprises a development board 1 arranged on a mounting frame, an antenna is arranged on the front side of the protection box, a driver is arranged on one side of the protection box, a thermostat is installed on the inner top of the protection box, an electric control button is arranged on one side of the protection box, an electric control output end of the electric control button is connected to an electric signal input end of the driver through a cable, a main power input end of the driver is connected to a power output end of a battery through a cable, and a power control output end of the driver is connected to an electric control input end of an electric telescopic rod through a cable;

[0017] The power output end of the battery is connected to the power input end of the power converter through a power line, the power output end of the power converter is connected to a terminal on one side of a touch switch arranged on one side of the protection box through a cable, and the other terminal on the touch switch is connected to a power access pin of the development board through a cable.

[0018] Preferably, the development board 1 includes a pressure value receiving module, an analysis and processing module, a temperature control module, a control signal processing module, a signal matching processing module and a wireless signal transceiver module 1, wherein the pressure value receiving module is used to receive the pressure information input by the pressure sensor in real time and convert the pressure information into pressure data; the pressure value receiving module is connected to the analysis and processing module, and the analysis and processing module is used to compare and analyze the pressure data obtained in real time with the action pressure value stored therein;

[0019] The analysis and processing module is connected to a temperature control module and a control signal processing module in transmission. The temperature control module is used to input the temperature control signal to the signal input terminal of the temperature controller in real time. The control signal processing module is used to plan the heading of the UAV in combination with the longitudinal angle information of the angle measurement mechanism and the video information of the power transmission and transformation line, and obtain the temporary control signal of the UAV through heading calculation; the control signal processing module is bidirectionally connected to a signal matching processing module, and the signal matching processing module is bidirectionally connected to a wireless signal transceiver module 1. The wireless signal transceiver module 1 is used to receive the longitudinal angle information and the video information of the power transmission and transformation line sent by the angle measurement mechanism with the help of an antenna, and send the calculated temporary control signal to the wireless flight control signal receiving unit of the UAV.

[0020] Preferably, the angle measuring mechanism comprises a bottom box arranged at the bottom of the drone, a development board 2 is arranged in the bottom box, a lower frame is installed at the bottom of the bottom box, a rotating column is rotatably arranged in the lower frame and a traction soft rope is connected to the rotating column, an encoder is arranged on the other side of the lower frame and a moving shaft of the encoder is connected to the center position of one end of the rotating column;

[0021] A top frame is arranged on the top of the upper sleeve frame, a rotary sleeve is rotatably arranged on the top frame, and the other end of the traction soft rope is connected to the rotary sleeve.

[0022] Preferably, the development board 2 includes a pulse signal receiving module, a video signal capturing module, an angle value conversion module and a wireless signal transceiver module 2, the pulse signal receiving module is used to receive the angular position pulse signal of the encoder in real time, the video signal receiving module is used to receive the video information output by the camera in real time, the pulse signal receiving module is connected to an angle value conversion module, the angle value conversion module is used to convert the angular position pulse signal into longitudinal angle value information in real time, the angle value conversion module and the video signal capturing module are connected to a wireless signal transceiver module 2, and the wireless signal transceiver module 2 is used to send longitudinal angle value information and power transmission and transformation line video information to the antenna.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] In the present invention, when the drone obliquely pulls the sleeve frame to move on the high-voltage transmission and transformation line, the push-cut mechanism is used to quickly cut off the obstacle winding area on the transmission and transformation line axially, and when the cutting reverse force reaches the action pressure value due to the induction of the pressure sensor, the operation control mechanism controls the push-cut mechanism to delay heating of its blade and controls the drone to hover. When the drone drives the sleeve frame to move on the transmission and transformation line again, the blade realizes the melting and hot cutting of the winding area. During the process, the diagonal brace is lifted by the pick head, so that the obstacle winding area is effectively stripped off the high-voltage transmission and transformation line. Therefore, efficient obstacle removal is achieved for a single long high-voltage transmission and transformation line, and the ignition of the obstacle can also be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front view schematic diagram of the cleaning device of the present invention;

[0026] Figure 2 for Figure 1 A partial cutaway diagram of

[0027] Figure 3 for Figure 1 Schematic diagram of the left side;

[0028] Figure 4 for Figure 2 A right view schematic diagram cut at AA of FIG.

[0029] Figure 5 It is a front view schematic diagram of the dynamic adjustment device of the present invention;

[0030] Figure 6 for Figure 5 A partial cutaway diagram of

[0031] Figure 7 This is a schematic diagram of the connection of each module in the development board 1 of the present invention;

[0032] Figure 8 This is a schematic diagram of the connection of each module in the development board 2 of the present invention.

[0033] In the figure: 1 frame, 2 insulating ring, 3 heat conductive plate, 4 heat conductive mounting plate, 5 frame plate, 6 clip, 7 blade, 8 cutting edge, 9 pick, 10 side plate, 11 electric telescopic rod, 12 heat conductive connecting plate, 13 back cover, 14 pressure sensor, 15 support tube, 16 slide bar, 17 pressure plate, 18 spring, 19 connecting plate, 20 heating plate, 21 heat conductive insulating layer, 22 connecting column, 23 protection box, 24 battery, 25 mounting frame plate, 26 development board one, 27 insulating soft wire tube, 28 antenna, 29 top frame, 30 rotary sleeve, 31 traction soft rope, 32 drone, 33 bottom box, 34 development board two, 35 lower frame, 36 rotary column, 37 encoder, 38 camera, 101 driver, 102 thermostat, 103 electric control button, 104 touch switch. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0035] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6, a high-voltage power transmission and transformation line obstacle clearing device, comprising a clearing device installed on the power transmission and transformation line and a dynamic adjustment device for towing the clearing device on the power transmission and transformation line to clear obstacles;

[0036] The cleaning device comprises two sleeves 1 which are slidably sleeved on the power transmission and transformation line. The sleeve 1 is a semicircular ring structure with an arc-shaped cavity inside. The sleeve 1 is made of ABS plastic. The inner wall of the sleeve 1 is coated with a heat insulation layer. An opening and closing mechanism is installed on the sleeve 1. The opening and closing mechanism is used to drive the sleeve 1 to be sleeved into and out of the power transmission and transformation line. The right side of the sleeve 1 is fixed with a rear cover 13 by screws, and a pressure sensor 14 is fixed with screws on the rear cover 13. The rear cover 13 is an arc-shaped plate, and the pressure sensor 14 is a pressure-sensitive pressure sensor. A pushing and cutting mechanism is installed on the left side of the sleeve 1. The pressure sensor 14 is used to sense the reverse pressure of the pushing and cutting mechanism when pushing and cutting obstacles. The pushing and cutting mechanism is used to axially cut off obstacles on the power transmission and transformation line, and can perform thermal cutting on obstacles when cutting is difficult.

[0037] Under such a setting, under the action of external traction, the push-cut mechanism can quickly cut off obstacles wound on the high-voltage transmission and transformation line longitudinally; and for some obstacles that exceed the general cutting pressure, the push-cut mechanism can heat the blade 7 to achieve thermal cutting and fusing of the winding part of the obstacle by the blade 7;

[0038] The bottom bolts of the lower sleeve frame 1 are used to fix the connecting column 22, and the bottom screws of the connecting column 22 are used to fix the protection box 23, on which the transport control mechanism is arranged;

[0039] The dynamic adjustment device includes a drone 32, and a camera 38 is installed obliquely on the front side of the lower part of the drone 32 using a U-shaped oblique frame. When the drone 32 is cruising horizontally, the camera 38 can shoot the high-voltage transmission and transformation line in front of it. The camera 38 is used to capture the image of the transmission and transformation line by video. An angle measuring mechanism is installed at the bottom of the drone 32. The angle measuring mechanism is connected to the sleeve frame 1 through a traction soft rope 31. The traction soft rope 31 is a nylon rope with a cross-sectional diameter of 0.5 cm. The length of the traction soft rope 31 is sufficient when the sleeve frame 1 is sleeved on the transmission and transformation line. The angle measuring mechanism is used to measure the longitudinal angle information of the drone 32 pulling the sleeve frame 1 through the traction soft rope 31, and wirelessly transmit the measured longitudinal angle information and the video information of the transmission and transformation line to the operation control mechanism. The operation control mechanism analyzes the two to obtain a control signal for controlling the heading of the drone 32. The operation control mechanism also controls the heating operation of the push-cut mechanism by judging the pressure value information of the real-time receiving pressure sensor 14.

[0040] See also Figure 1 , Figure 3 and Figure 4The opening and closing mechanism includes a side plate 10 integrally arranged on the upper casing 1 and the lower casing 1, and an electric telescopic rod 11 is screwed fixed to the upper side plate 10. The electric telescopic rod 11 is a stepper motor driven electric telescopic rod, and the top rod of the electric telescopic rod 11 is screwed fixed to the lower side plate 10.

[0041] By extending and retracting the top rod of the electric telescopic rod 11, the upper sleeve frame 1 and the lower sleeve frame 1 are driven to fit together and open, thereby realizing the opening and closing of the sleeve frame 1; it is worth noting that the setting size of the sleeve frame 1 is set according to the cross-sectional diameter of the national standard high-voltage transformer line, so that when the sleeve frames 1 fit together, the sleeve frames 1 can slide on the high-voltage transmission and transformation lines.

[0042] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 The push-cutting mechanism includes an insulating ring 2 embedded in the left side of the sleeve frame 1. The insulating ring 2 is an arc-shaped ring made of polyphenylene sulfide, has high strength, strong insulation, and is relatively wear-resistant; a heat-conducting plate 3 is slidably inserted in the insulating ring 2, and a heat-conducting mounting plate 4 is integrally provided at the left end of the heat-conducting plate 3. The materials of the heat-conducting plate 3 and the heat-conducting mounting plate 4 are heat-conducting aluminum alloy. The frame plate 5 is fixed with screws on the heat-conducting mounting plate 4. The material of the frame plate 5 is heat-conducting aluminum alloy. A clip 6 is integrally provided on the left side of the frame plate 5. The clip 6 is a U-shaped piece. A blade 7 is fixed with screws in the clip 6. The blade 7 is made of high-carbon steel. One side of the blade 7 The end is provided with a cutting blade 8, and the side of the cutting blade 8 close to the power transmission cable is provided with an arc-shaped blade. Such an arc-shaped blade can prevent the tip of the cutting blade 8 from contacting the inner concave of the stranded wire of the high-voltage power transmission and transformation line, and can effectively cut off the obstacles wound on the high-voltage power transmission and transformation line. The end side of the frame plate 5 is integrally provided with a pick head 9. When the frame plates 5 are attached to each other, the pick heads 9 are also attached to each other to form an oblique cone, and the tip of the pick head 9 is raised. The purpose of setting the pick head 9 is that when the obstacle wound on the high-voltage power transmission and transformation line is cut longitudinally by the blade 7, the pick head 9 is raised and supported, so that the obstacle winding area is effectively stripped off the high-voltage power transmission and transformation line;

[0043] The pressure-sensing surface of the pressure sensor 14 is fixed to the support tube 15 by screws, a sliding rod 16 is slidably inserted into the left end of the support tube 15, and the right end of the sliding rod 16 is fixed to the pressure plate 17 by screws, a spring 18 is installed in the support tube 15, and both ends of the spring 18 are elastically supported on one side of the pressure plate 17 and the support tube 15, and the initial compression rebound force of the spring 18 is 20 Newtons. Under the elastic support of the spring 18, the blade 7 can cut off the obstacle winding that can be cut off quickly, and for the obstacle winding that is difficult to cut off directly and quickly, when the blade 7 impacts the obstacle winding, an elastic buffer is formed. The left end of the slide bar 16 is screwed to fix the connecting plate 19, and the connecting plate 19 slides and contacts the inner wall of the sleeve frame 1. The material of the connecting plate 19 is polycarbonate. A heating plate 20 is screwed to the connecting plate 19. The heating plate 20 is a PTC heating plate. The heating surface of the heating plate 20 is provided with a thermally conductive insulating layer 21, and the thermally conductive insulating layer 21 is an aluminum oxide thermally conductive insulating layer. The thermally conductive connecting plate 12 is welded through the thermally conductive insulating layer 21, and the right end of the thermally conductive plate 3 is screwed to the thermally conductive connecting plate 12.

[0044] See also Figure 2 A battery 24 is installed in the protection box 23. The battery 24 is a 24V battery. A mounting frame 25 with a pile hole is pressed on the top of the battery 24. The mounting frame 25 fixes and supports the battery 24 on the bottom of the protection box 23. The pile hole on the mounting frame 25 is aligned with the power output end and the power input end of the battery 24. The power input end of the battery 24 is connected to the power output end of the AC-DC transformer through a cable, and is connected to the charging head on one side of the protection box 23 through the power input end of the transformer. The charger is connected to the charging head to power the battery 24. The protection box 23 is connected to each frame 1 through an insulating soft wire tube 27. The insulating soft wire tube 27 is made of rubber and is used to penetrate the transmission line of the pressure sensor 14 and the power line of the heating plate 20.

[0045] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 The operation control mechanism includes a development board 26 fixed on the mounting frame plate 25 by an insulating pad screw, an antenna 28 is fixed by screws on the front side of the protection box 23, and the purpose of setting the antenna 28 is to: enhance the wireless transmission strength; the driver 101 is fixed by screws on the upper left side of the protection box 23, the thermostat 102 is fixed by screws on the inner top of the protection box 23, and the electric control button 103 on the right side of the protection box 23, the electric control output end of the electric control button 103 is connected to the electric signal input end of the driver 101 through a cable, the main power input end of the driver 101 is connected to the power output end of the battery 24 through a cable, and the power control output end of the driver 101 is connected to the electric control input end of the electric telescopic rod 11 through a cable;

[0046] By operating the electric control button 103, a control electric signal is sent to each power control input terminal of the driver 101, so that the extension and retraction of the top rod of the electric telescopic rod 11 can be controlled.

[0047] The power output end of the battery 24 is connected to the power input end of the power converter through a power cord. The power converter is a 12V to 5V power converter. The power output end of the power converter is connected to the terminal on one side of the touch switch 104 fixed by screws on the left side of the protection box 23 through a cable. The other side of the touch switch 104 is connected to the power access pin 26 of the development board through a cable.

[0048] By operating the touch switch 104, the power on and off operation of the control development board 26 is realized.

[0049] When clearing high-voltage transmission and transformation lines between adjacent high-voltage line towers, it is necessary to ensure that the power supply of the drone 32 is sufficient to fly two round trips from one high-voltage line tower to another high-voltage tower; therefore, when foreign objects that are not suitable for removal appear on the high-voltage transmission and transformation lines, the frame 1 can be driven to return to the original high-voltage tower area.

[0050] See also Figure 7 The development board 26 includes a pressure value receiving module, an analysis and processing module, a temperature control module, a control signal processing module, a signal matching processing module and a wireless signal transceiver module. The pressure value receiving module is used to receive the pressure information input by the pressure sensor 14 in real time and convert the pressure information into pressure data; the pressure value receiving module is connected to the analysis and processing module, and the analysis and processing module is used to compare and analyze the real-time pressure data with the stored action pressure value. The action pressure value is set to 50 Newtons;

[0051] It is worth noting that the selection of UAV 32 must meet the following requirements: it can hover instantly at high altitude, its maximum load in equilibrium state is higher than 20 kg, and in the cutting state, the standard horizontal flight speed of UAV 32 is controlled at 35 kilometers per hour.

[0052] The analysis and processing module is connected to the temperature control module and the control signal processing module. The temperature control module is used to input the temperature control signal to the signal input end of the temperature controller 102 in real time. More specifically, the signal output pin of the temperature control module is connected to the signal input end of the temperature controller 102 through a signal line, the power output end of the temperature controller 102 is connected to the power line of the heating plate 20, and the power input end of the temperature controller 102 is connected to the power output end of the battery 24 through a cable; when the real-time pressure data reaches the action pressure value, the analysis and processing module issues a 230°C heating instruction to the temperature control module, and controls the heating plate 20 to heat quickly through the temperature controller 102. After that, when the real-time pressure data is lower than the action pressure value, a stop heating operation instruction is issued to the temperature control module after a delay of 10 minutes, and when the pressure data is higher than the action pressure value by 10 Newtons, no heating operation instruction is issued to the temperature control module.

[0053] The control signal processing module is used to combine the longitudinal angle information of the angle measurement mechanism and the video information of the power transmission and transformation line, plan the heading of the UAV 32, and obtain the temporary control signal of the UAV 32 through heading calculation; the control signal processing module is bidirectionally connected to the signal matching processing module, and the signal matching processing module is bidirectionally connected to the wireless signal transceiver module 1, and the signal transceiver pin of the wireless signal transceiver module 1 is connected to the signal transceiver terminal of the antenna 28 through a signal line. The wireless signal transceiver module 1 is used to receive the longitudinal angle information and the video information of the power transmission and transformation line sent by the angle measurement mechanism with the help of the antenna 28, and send the calculated temporary control signal to the wireless flight control signal receiving unit of the UAV 32.

[0054] During the processing of the control signal processing module, the capture factor is released, the remaining boundaries of the power transmission and transformation line are removed, and then the capture factor is connected by drawing lines. The power transmission and transformation line is captured from the power transmission and transformation line video that has not passed through the frame 1 in the front to draw lines. When a lateral angle change occurs, the lateral change angle of the drawing is calculated, and the control modulus difference of the drone 32 in the original parallel state with the power transformation line is calculated according to the change angle at the current speed, and the difference is issued. At this time, the drone 32 transforms the original control modulus in the form of a difference until there is no angle change after correction;

[0055] For the longitudinal angle information, the longitudinal angle information uploaded in real time is compared with the standard longitudinal angle information, and the control modulus difference of the drone 32 under the state of pulling the traction soft rope 31 at the standard longitudinal angle is calculated according to the comparison angle difference and the change direction, and the difference is issued. At this time, the drone 32 transforms the original control modulus according to the difference until there is no angle change after correction;

[0056] Secondly, when the real-time uploaded pressure data reaches the action pressure value, the priority flight control command 1 will be issued to control the drone 32 to hover in the current state for 5 minutes. After 5 minutes of hovering, the flight can be controlled again, and the flight speed is limited to 90 meters / hour. When the real-time uploaded pressure data is higher than the action pressure value by 10 Newtons, the priority flight control command 2 will be issued to control the drone 32 to fly two meters backward and hover.

[0057] The signal matching processing module and the wireless control signal receiving unit reach a wireless signal transmission protocol, and the wireless signal transceiver module 1 performs wireless connection.

[0058] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The angle measuring mechanism includes a bottom box 33 fixed to the bottom of the drone 32 by bolts, and a development board 2 34 is fixed to the bottom box 33 by insulating pad screws. The power access pin of the development board 2 34 is connected to the auxiliary battery power terminal of the drone 32 through a cable. The bottom screw of the bottom box 33 fixes the lower frame 35. The lower frame 35 is a U-shaped frame structure. The left side of the lower frame 35 is inserted into the bearing through interference. The shaft rod integrally arranged at the center position of the left end of the rotating column 36 is inserted into the inner ring of the bearing through interference. The traction soft rope 31 is melted in the rope hole provided on the middle side of the rotating column 36. An encoder 37 is provided on the other side of the lower frame 35, and the moving shaft of the encoder 37 is connected to the center position of one end of the rotating column 36.

[0059] The top screw of the upper sleeve frame 1 is fixed with a top frame 29, which is a U-shaped frame with a connecting shaft fixed with a middle screw. The connecting shaft of the top frame 29 is slidably sleeved into a rotary sleeve 30, and the two ends of the rotary sleeve 30 slide in contact with the inner wall of the top frame 29. The lower end of the traction soft rope 31 is melted into a rope loop integrally provided on the middle side of the rotary sleeve 30.

[0060] Therefore, when the traction rope 31 changes its up and down swing direction, the moving shaft of the encoder 37 rotates, so that the encoder 37 generates an angular pulse signal.

[0061] See also Figure 8The development board 2 34 includes a pulse signal receiving module, a video signal capturing module, an angle value conversion module and a wireless signal transceiver module 2. The pulse signal receiving module is used to receive the angular pulse signal of the encoder 37 in real time. The video signal receiving module is used to receive the video information output by the camera 38 in real time. The signal line of the camera 38 is connected to the signal access pin of the video signal receiving module. The pulse signal receiving module is connected to the angle value conversion module. The signal line of the encoder 37 is connected to the signal input pin of the pulse signal receiving module. The angle value conversion module is used to convert the angular pulse signal into longitudinal angle value information in real time. The angle value conversion module and the video signal capturing module are connected to the wireless signal transceiver module 2. The wireless signal transceiver module 2 is used to send longitudinal angle value information and power transmission and transformation line video information to the antenna 28.

[0062] The working principle of this embodiment is as follows: before use, a person wearing insulating clothing carries the obstacle removal device to climb the pole tower to load the transmission and transformation line, controls the opening and closing mechanism to open the two sleeve frames 1, and puts the sleeve frames 1 on the transmission and transformation line, and controls the opening and closing mechanism to drive the two sleeve frames 1 to fit together, and starts the development board 26;

[0063] When the ground personnel control the UAV 32 to operate and rise to a specified height through a remote controller and fly along the power transmission line, the angle measurement mechanism cooperates with the operation control mechanism to realize temporary control of the heading of the UAV 32, so that the pushing and cutting mechanism can cut obstacles wound on the high-voltage power transmission line more smoothly;

[0064] When the drone 32 obliquely pulls the sleeve frame 1 to move on the high-voltage transmission and transformation line, the pushing and cutting mechanism is used to quickly cut off the obstacle winding area on the transmission and transformation line axially. When the cutting reverse force reaches the action pressure value due to the induction of the pressure sensor 14, the operation control mechanism controls the pushing and cutting mechanism to delay the heating of its blade 7 and controls the drone 32 to hover. When the drone 32 drives the sleeve frame 1 to move on the transmission and transformation line again, the blade 7 realizes the melting and hot cutting of the winding area. During the process, the diagonal support is lifted by the lifting head 9, so that the obstacle winding area is effectively stripped off the high-voltage transmission and transformation line.

[0065] It can achieve efficient obstacle clearance for a single long high-voltage transmission and transformation line and avoid igniting the obstacle.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A high-voltage transmission and transformation line obstacle clearing device, characterized in that: It includes a clearing device installed on the power transmission and transformation line and a dynamic adjustment device used to pull the clearing device on the power transmission and transformation line to clear obstacles; The cleaning device comprises at least two sleeves (1) sleeved on the power transmission and transformation line, the sleeves (1) are provided with an opening and closing mechanism, the opening and closing mechanism is used to drive the sleeves (1) to be sleeved into the power transmission and transformation line and to be detached from the power transmission and transformation line; a rear cover (13) is installed on one side of the sleeve (1) and a pressure sensor (14) is provided on the rear cover (13); a pushing and cutting mechanism is provided on the other side of the sleeve (1), the pressure sensor (14) is used to sense the reverse pressure exerted on the pushing and cutting mechanism when pushing and cutting an obstacle; the pushing and cutting mechanism is used to axially cut off the obstacle on the power transmission and transformation line, and can perform thermal cutting on the obstacle when cutting is difficult; The bottom of one of the sleeve frames (1) is connected to a protection box (23) via a connecting column (22), and a transport control mechanism is provided on the protection box (23); The dynamic adjustment device comprises a drone (32), a camera (38) being obliquely arranged on the front side of the lower part of the drone (32), the camera (38) being used to capture video of the power transmission and transformation line, an angle measuring mechanism being arranged on the bottom of the drone (32), the angle measuring mechanism being connected to the sleeve frame (1) via a traction soft rope (31), the angle measuring mechanism being used to measure longitudinal angle information of the drone (32) pulling the sleeve frame (1) via the traction soft rope (31), and wirelessly transmitting the measured longitudinal angle information and the video information of the power transmission and transformation line to the operation control mechanism, the operation control mechanism analyzing the two to obtain a control signal for controlling the heading of the drone (32), the operation control mechanism also controlling the heating operation of the pushing and cutting mechanism by judging the pressure value information received in real time from the pressure sensor (14); The pushing and cutting mechanism comprises an insulating ring (2) arranged on one side of the sleeve frame (1), a heat conducting plate (3) being inserted in the insulating ring (2), one end of the heat conducting plate (3) being connected to a frame plate (5) via a heat conducting mounting plate (4), a clamping piece (6) being arranged on one side of the frame plate (5) and a blade (7) being arranged on the clamping piece (6), a cutting edge (8) being arranged on one end of the blade (7), a side of the cutting edge (8) close to the power transmission cable being provided with an arc-shaped blade, and a pick (9) being arranged on the end side of the frame plate (5); The pressure sensing surface of the pressure sensor (14) is provided with a support tube (15), one end of the support tube (15) is inserted with a slide rod (16), and one end of the slide rod (16) is provided with a pressure plate (17), a spring (18) is provided in the support tube (15), and both ends of the spring (18) are elastically supported on one side of the pressure plate (17) and the support tube (15), the other end of the slide rod (16) is connected to a connecting plate (19), and a heating plate (20) is provided on the connecting plate (19), the heating surface of the heating plate (20) is provided with a heat-conducting insulating layer (21), and the heat-conducting connecting plate (12) is connected to the heat-conducting connecting plate (12) through the heat-conducting insulating layer (21), and the other end of the heat-conducting plate (3) is connected to the heat-conducting connecting plate (12).

2. A high-voltage power transmission and transformation line obstacle clearing device according to claim 1, characterized in that: The opening and closing mechanism comprises side panels (10) respectively connected to the upper sleeve frame (1) and the lower sleeve frame (1); an electric telescopic rod (11) is arranged on the upper side panel (10); and a top rod of the electric telescopic rod (11) is connected to the lower side panel (10).

3. A high-voltage power transmission and transformation line obstacle clearing device according to claim 2, characterized in that: A storage battery (24) is arranged in the protection box (23); the storage battery (24) is fixedly supported on the bottom of the protection box (23) via a mounting frame (25); the protection box (23) is connected to each of the sleeve frames (1) via an insulating soft wire tube (27).

4. A high-voltage power transmission and transformation line obstacle clearing device according to claim 3, characterized in that: The operation control mechanism comprises a development board (26) arranged on a mounting frame (25); an antenna (28) is arranged on the front side of the protection box (23); a driver (101) is arranged on one side of the protection box (23); a temperature controller (102) is installed on the inner top of the protection box (23); an electric control button (103) is arranged on one side of the protection box (23); an electric control output end of the electric control button (103) is connected to an electric signal input end of the driver (101) via a cable; a main power input end of the driver (101) is connected to a power output end of a storage battery (24) via a cable; and a power control output end of the driver (101) is connected to an electric control input end of an electric telescopic rod (11) via a cable; The power output end of the storage battery (24) is connected to the power input end of the power converter via a power line, the power output end of the power converter is connected to a connection terminal on one side of a touch switch (104) provided on one side of the protection box (23) via a cable, and the connection terminal on the other side of the touch switch (104) is connected to a power access pin of a development board (26) via a cable.

5. A high-voltage power transmission and transformation line obstacle clearing device according to claim 4, characterized in that: The development board 1 (26) comprises a pressure value receiving module, an analysis and processing module, a temperature control module, a control signal processing module, a signal matching processing module and a wireless signal transceiver module 1, wherein the pressure value receiving module is used to receive pressure information input in real time by the pressure sensor (14) and convert the pressure information into pressure data; the pressure value receiving module is connected to the analysis and processing module, and the analysis and processing module is used to compare and analyze the pressure data obtained in real time with the action pressure value stored therein; The analysis and processing module is connected to a temperature control module and a control signal processing module in transmission, the temperature control module is used to input the temperature control signal to the signal input end of the temperature controller (102) in real time, the control signal processing module is used to plan the heading of the UAV (32) in combination with the longitudinal angle information of the angle measurement mechanism and the video information of the power transmission and transformation line, and obtain a temporary control signal of the UAV (32) through heading calculation; the control signal processing module is connected to a signal matching processing module in bidirectional transmission, the signal matching processing module is connected to a wireless signal transceiver module 1 in bidirectional transmission, the wireless signal transceiver module 1 is used to receive the longitudinal angle information and the video information of the power transmission and transformation line sent by the angle measurement mechanism with the help of an antenna (28), and send the calculated temporary control signal to the UAV (32).

6. A high-voltage power transmission and transformation line obstacle clearing device according to claim 5, characterized in that: The angle measuring mechanism comprises a bottom box (33) arranged at the bottom of the drone (32), a development board 2 (34) being arranged in the bottom box (33), a lower frame (35) being installed at the bottom of the bottom box (33), a rotating column (36) being rotatably arranged in the lower frame (35) and a traction soft rope (31) being connected to the rotating column (36), an encoder (37) being arranged on the other side of the lower frame (35) and a moving shaft of the encoder (37) being connected to the center position of one end of the rotating column (36); A top frame (29) is arranged on the top of the upper sleeve frame (1), a rotary sleeve (30) is rotatably arranged on the top frame (29), and the other end of the traction soft rope (31) is connected to the rotary sleeve (30).

7. A high-voltage power transmission and transformation line obstacle clearing device according to claim 6, characterized in that: The development board 2 (34) comprises a pulse signal receiving module, a video signal capturing module, an angle value conversion module and a wireless signal transceiver module 2, wherein the pulse signal receiving module is used to receive the angular position pulse signal of the encoder (37) in real time, the video signal receiving module is used to receive the video information output by the camera (38) in real time, the pulse signal receiving module is connected to the angle value conversion module, the angle value conversion module is used to convert the angular position pulse signal into longitudinal angle value information in real time, the angle value conversion module and the video signal capturing module are connected to the wireless signal transceiver module 2, the wireless signal transceiver module 2 is used to send the longitudinal angle value information and the transmission and transformation line video information to the antenna (28).

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