Power transmission line obstacle clearing system and method

Abstract

The invention discloses a power transmission line obstacle clearing system and method. The system comprises a sensing modeling unmanned aerial vehicle, a loading unmanned aerial vehicle and an operation robot. The operation robot comprises an operation robot body, a vibration suppression platform and a remote laser transmitter; the perception modeling unmanned aerial vehicle is used for determining a flight path according to the position information of a target obstacle on the power transmission line, the point cloud map around the power transmission line and the flight position information of the unmanned aerial vehicle; wherein the flight track is an actual motion track between a ground operation position and a ground line inhabitation position; the load-carrying unmanned aerial vehicle is used for mounting the operation robot at the ground wire inhabiting position along the flight path; the vibration suppression platform is arranged on the operation robot body, and the remote laser transmitter is arranged on the vibration suppression platform; and the vibration suppression platform is used for guiding and stabilizing the aiming angle of the remote laser transmitter so as to enable the remote laser transmitter to carry out remote laser removal on a target obstacle on the power transmission line.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of power grid transmission lines, and in particular to a transmission line obstacle clearing system and method. Background Art

[0002] With the rapid development and continuous expansion of the power industry, the safety risk management of power operations faces unprecedented challenges. In particular, in terms of the safe operation of transmission lines, the increase in floating foreign objects has become a prominent problem. These foreign objects may include kites, advertising cloths, fishing nets, sunshade nets, balloons, sky lanterns, dust nets and plastic films. These objects not only affect the normal operation of transmission lines, but may also cause serious safety accidents such as short circuits and fires. Removing obstacles from transmission lines is of great significance to the long-term safe operation of power grids. At present, the removal of these foreign objects mainly relies on manual methods, which is not only inefficient, but also difficult to operate, with a large workload and high safety risks. For example, workers need to reach the obstacle point and use tools to clear the obstacles, which is particularly dangerous at high altitudes or in remote areas. In order to improve the efficiency of obstacle removal and reduce safety risks, the power industry is exploring and adopting automated and intelligent solutions.

[0003] Usually, laser removal equipment is used in the existing technology to remove floating foreign objects from power transmission lines. This equipment can remotely remove floating objects hanging on power transmission lines on the ground without touching the power transmission lines. The use of laser removal equipment needs to meet certain meteorological conditions, and strict safety control measures are required during operation, such as elevation angle control. However, since manually assisted laser removal equipment is greatly affected by the operating environment and needs to rely on stable and reliable fulcrums, especially in mountainous areas, dense forests and other areas that are difficult for personnel to reach, the obstruction of vision limits the breadth of its operating scenes, and its adaptability is limited. It is unable to eliminate angle obstructions and restricted obstacles, and it is also impossible to achieve good elevation angle control, which limits its further application and greatly affects the efficiency of laser operations. Further research and development of new intelligent equipment is urgently needed. Summary of the invention

[0004] The present invention provides a transmission line obstacle clearing system and method, which breaks through the viewing angle limitation of the original ground-fixed laser, greatly improves the scope and viewing angle limitation of laser operations, greatly improves the efficiency of laser operations, reduces the labor intensity of operations, and provides guarantees for transmission line obstacle clearing operations and safe operations.

[0005] To achieve the above objectives, in a first aspect, an embodiment of the present invention provides a transmission line obstacle clearing system, the system comprising: a perception modeling drone, a load-carrying drone and an operating robot; the operating robot comprises an operating robot body, a vibration suppression platform and a remote laser transmitter;

[0006] The perception modeling UAV is used to determine the flight trajectory according to the location information of the target obstacle on the transmission line, the point cloud map around the transmission line and the UAV flight position information; wherein the flight trajectory is the trajectory between the ground operation position and the ground line habitat;

[0007] The load-carrying drone is used to mount the working robot on the ground habitat along the flight trajectory;

[0008] The vibration suppression platform is arranged on the working robot body, and the remote laser transmitter is arranged on the vibration suppression platform; the vibration suppression platform is used to guide and stabilize the aiming angle of the remote laser transmitter so that the remote laser transmitter can perform remote laser clearance of target obstacles on the transmission line.

[0009] Optionally, the working robot body includes: a first driving unit, a first clamping module, a first momentum wheel stabilization control unit and a first battery unit;

[0010] The first driving unit is used to drive the working robot to move along the ground wire; the first clamping module is used to control the working robot to clamp the ground wire;

[0011] The first momentum wheel stabilization control unit is used to stably control the inclination of the working robot body; the first battery unit is used to provide driving energy for the first driving unit, the first clamping module, the first momentum wheel stabilization control unit and the vibration suppression platform.

[0012] Optionally, the system further comprises: an energy robot;

[0013] The load-carrying UAV is also used to return to the ground operation site along the flight trajectory; and to mount the energy robot on the ground habitat again along the flight trajectory so that the energy robot can supply driving energy to the working robot.

[0014] Optionally, the energy robot includes a second driving unit, a second clamping module, a second momentum wheel stabilization control unit and a second battery unit; the working robot body also includes: an electrical connection unit;

[0015] The second driving unit is used to drive the energy robot to move along the ground line so that the energy robot can dock with the working robot through the electrical connection unit;

[0016] The second clamping module is used to control the energy robot to clamp the ground wire; the second momentum wheel stabilization control unit is used to control the balance of the energy robot body;

[0017] The second battery unit is used to provide driving energy for the second driving unit, the second clamping module and the second momentum wheel stabilization control unit; and is also used to provide energy replenishment for the first battery when the energy robot is coupled and docked with the working robot.

[0018] Optionally, the vibration suppression platform includes a first inertial measurement unit, a first controller and a three-axis driving module;

[0019] The first inertial measurement unit is used to provide real-time feedback of the attitude information of the three-axis drive module;

[0020] The first controller is used to perform Kalman filtering on the posture information, and determine the target posture information of the three-axis driving module according to the filtered posture information;

[0021] The three-axis driving module is used to perform balance compensation control on the three-axis driving module according to the target posture information;

[0022] The first momentum wheel stabilization control unit includes a second inertial measurement unit, a second controller and a first momentum wheel control module;

[0023] The second inertial measurement unit is used to provide real-time feedback of the posture information of the working robot;

[0024] The second controller is used to determine the target posture information of the first momentum wheel control module according to the posture information of the working robot;

[0025] The first momentum wheel control module is used to perform balance compensation control on the working robot body according to the target posture information.

[0026] Optionally, the perception modeling drone is also used to determine the first position of the flight trajectory based on the flight trajectory and the ground line; the load-carrying drone switches from the automatic control mode to the manual control mode when it is at the first position of the flight trajectory to mount the working robot on the ground line habitat.

[0027] Optionally, the perception modeling drone is also used to determine the second position of the flight trajectory based on the flight trajectory and the ground line; the load-carrying drone switches from the automatic control mode to the manual control mode when at the second position of the flight trajectory to mount the energy robot on the ground line habitat.

[0028] Optionally, the load-carrying UAV includes: a first positioning module, an image sensor and a control module;

[0029] The first positioning module is used to determine the position information of the load-carrying UAV in real time; the image sensor is used to detect the surrounding environment information of the load-carrying UAV when it moves;

[0030] The control module is used to control the movement of the load-carrying drone according to the position information of the load-carrying drone and the surrounding environment information in the manual control mode;

[0031] The control module is also used to load the flight trajectory output by the perception modeling UAV; and in the automatic control mode, control the movement of the load-carrying UAV according to the flight trajectory.

[0032] Optionally, the perception modeling drone includes: a second positioning module, a multi-line laser radar and a modeling module;

[0033] The second positioning module is used for the flight position information of the UAV and the position information of the target obstacle on the transmission line; the multi-line laser radar is used to determine the point cloud map around the transmission line;

[0034] The modeling module is used to determine the flight trajectory based on the location information of the target obstacle on the transmission line, the point cloud map around the transmission line and the flight position information of the UAV.

[0035] In a second aspect, an embodiment of the present invention further provides a transmission line obstacle clearing method, which is applied to the transmission line obstacle clearing system described in the first aspect above; the transmission line obstacle clearing method comprises:

[0036] The perception modeling UAV determines a flight trajectory based on the location information of the target obstacle on the transmission line, the point cloud map around the transmission line and the UAV flight location information; wherein the flight trajectory is a trajectory between the ground operation position and the ground line habitat;

[0037] The load-carrying drone mounts the working robot on a ground habitat along the flight trajectory;

[0038] The remote laser transmitter performs remote laser removal of target obstacles on the transmission line according to the guidance and aiming angle of the vibration suppression platform.

[0039] In an embodiment of the present invention, the perception modeling drone determines a flight trajectory according to the position information of the target obstacle on the transmission line, the point cloud map around the transmission line and the drone flight position information; wherein the flight trajectory is a trajectory between a ground operation position and a ground line habitat; the load-carrying drone mounts the working robot on the ground line habitat along the flight trajectory; the vibration suppression platform guides and stabilizes the aiming angle of the remote laser transmitter, so that the remote laser transmitter performs remote laser clearance of the target obstacle on the transmission line according to the aiming angle. By mounting the remote laser transmitter on the ground line, the viewing angle limitation of the original ground-fixed laser is broken through, the range of laser operations is greatly improved, the efficiency of laser operations is greatly improved, the labor intensity of operations is reduced, and protection is provided for transmission line clearance operations and safe operations.

[0040] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 It is a structural schematic diagram of a transmission line obstacle removal system provided by an embodiment of the present invention;

[0043] Figure 2 This is a diagram of a practical application scenario of a transmission line obstacle removal system provided by an embodiment of the present invention;

[0044] Figure 3 is a structural schematic diagram of another transmission line obstacle removal system provided by an embodiment of the present invention;

[0045] Figure 4 is a structural schematic diagram of another transmission line obstacle removal system provided by an embodiment of the present invention;

[0046] Figure 5 is a structural schematic diagram of another transmission line obstacle removal system provided by an embodiment of the present invention;

[0047] Figure 6 is a structural schematic diagram of another transmission line obstacle removal system provided by an embodiment of the present invention;

[0048] Figure 7 It is a flow chart of a transmission line obstacle clearing method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0050] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0051] Figure 1 It is a structural block diagram of a transmission line obstacle removal system provided by an embodiment of the present invention; Figure 2 is an application scenario diagram of a transmission line obstacle removal system provided by an embodiment of the present invention; Figure 1-2 As shown, the system includes: a perception modeling drone 10, a load-carrying drone 20 and a working robot 30; the working robot 30 includes a working robot body 31, a vibration suppression platform 32 and a remote laser transmitter 33;

[0052] The perception modeling drone 10 is used to determine the flight trajectory L1 according to the location information of the target obstacle on the transmission line, the point cloud map around the transmission line and the flight position information of the drone; wherein the flight trajectory L1 is the actual motion trajectory between the ground operation position P0 and the ground line habitat P1; the load-carrying drone 20 is used to mount the working robot 30 at the ground line habitat P1 along the flight trajectory L1;

[0053] A vibration suppression platform 32 is provided on the working robot body 31, and a remote laser transmitter 33 is provided on the vibration suppression platform 32; the vibration suppression platform 32 is used to guide and stabilize the aiming angle of the remote laser transmitter 33 so that the remote laser transmitter 33 can perform remote laser removal of target obstacles on the transmission line.

[0054] Among them, the point cloud map around the transmission line may include the transmission line corresponding to the ground wire and its surrounding transmission towers and obstacles; generally, the ground wire is located in the spatial position above the transmission line; the ground wire that needs to be carried can be determined based on the position information of the target obstacle on the transmission line; the UAV flight position information is the various position information of the UAV during the theoretical motion trajectory from the ground operation point to the ground wire habitat P1 during the modeling process; the perception modeling UAV 10 can determine the flight position based on the position information of the target obstacle on the transmission line, the point cloud map around the transmission line and the UAV flight position information online or offline modeling Trajectory L1; wherein, the flight trajectory L1 is the actual motion trajectory between the ground operation position P0 and the ground line perch P1 (the ground line perch P1 is generally close to the top position of the transmission tower); it can be understood that when the position information of the target obstacle on the transmission line changes, the ground line perch P1 may be at the top position of other transmission towers, at this time, the flight trajectory L1 may be from the ground operation position P0 to the ground line perch P1, and then reach another ground line perch P1 through the cross-tower line L2; it may also be from the ground operation position P0 directly to another ground line perch P1, which is not specifically limited in this embodiment;

[0055] The load-carrying UAV 20 can mount the working robot 30 at the ground line perch P1 along the flight trajectory L1. Since the ground line is located in the space above the transmission line, the working robot 30 is mounted at the ground line perch P1. The laser emission angle of the remote laser transmitter 33 on the subsequent working robot 30 is almost unrestricted, and the emission angle range is large. Among them, the control method of the load-carrying UAV 20 mounting the working robot 30 at the ground line perch P1 along the flight trajectory L1 is not limited; the vibration suppression platform 32 can guide and stabilize the aiming angle of the remote laser transmitter 33, so that the tracking of different working target points can be achieved during laser operation;

[0056] In the embodiment of the present invention, the flight trajectory is determined by modeling the perception modeling UAV 10; wherein, the flight trajectory is the trajectory between the ground operation position and the ground line habitat; and the operating robot is mounted on the ground line habitat P1 along the flight trajectory by the load-carrying UAV 20; the vibration suppression platform 32 guides and stabilizes the aiming angle of the remote laser transmitter 33, so that the remote laser transmitter 33 performs remote laser clearance on the target obstacle on the transmission line according to the aiming angle, and thus by mounting the remote laser transmitter 33 on the ground line, the laser emission viewing angle range of the remote laser transmitter 33 is large, breaking through the viewing angle limitation of the original ground fixed laser, greatly improving the range of laser operation, greatly improving the efficiency of laser operation, reducing the labor intensity of operation, and providing guarantee for transmission line clearance operation and safe operation.

[0057] Optionally, based on the above embodiment, the working robot body 31 and the vibration suppression platform 32 are further refined. Figure 3is a structural block diagram of another transmission line obstacle removal system provided by an embodiment of the present invention; Figure 3 As shown, the working robot body 31 includes: a first driving unit 311, a first clamping module 312, a first momentum wheel stabilization control unit 313 and a first battery unit 314; the first driving unit 311 is used to drive the working robot 31 to move along the ground line; the first clamping module 312 is used to control the working robot 31 to clamp the ground line; the first momentum wheel stabilization control unit 313 is used to stably control the inclination of the working robot 31; the first battery unit 314 is used to provide driving energy for the first driving unit 311, the first clamping module 312, the first momentum wheel stabilization control unit 313 and the vibration suppression platform 32.

[0058] Specifically, after the load-carrying drone 20 mounts the working robot 30 on the ground line habitat P1, the first battery unit 314 provides driving energy to the first driving unit 311, the first clamping module 312, the first momentum wheel stabilization control unit 313 and the vibration suppression platform 32, so that the first driving unit 311 can drive the working robot 31 to move along the ground line; in this way, the horizontal stability of the working robot is adjusted; at the same time, the first clamping module 312 can control the working robot 31 to clamp the ground line by adjusting its clamping force, so that the working robot is always in a closed structural loop on the ground line, effectively reducing the risk of its falling; in addition, the first momentum wheel stabilization control unit 313 can stably control the inclination of the working robot 31 fuselage, and also avoid the working robot 31 from falling; in this way, the obstacle clearance process of the remote laser transmitter is guaranteed.

[0059] Of course, in some embodiments, the working robot body 31 also includes a visual detection camera and a remote image transmission system; this can monitor the surrounding environment of the working robot in real time to simultaneously provide information to the ground operator to ensure that the working robot 30 operates normally.

[0060] Optional, continue to refer to Figure 3 The vibration suppression platform 32 includes a first inertial measurement unit 321, a first controller 322 and a three-axis drive module 323; the first inertial measurement unit 321 is used to feed back the attitude information of the three-axis drive module 323 in real time; the first controller 322 is used to perform Kalman filtering on the attitude information, and determine the target attitude information of the three-axis drive module 323 according to the filtered attitude information; the three-axis drive module 323 is used to perform balance compensation control on the three-axis drive module according to the target attitude information; in this way, this embodiment specifically guides and stabilizes the aiming angle of the remote laser transmitter through the first inertial measurement unit 321, the first controller 322 and the three-axis drive module 323, and completes vibration suppression during the operation of the remote laser transmitter.

[0061] Optionally, the first momentum wheel stabilization control unit 313 is further refined, and the first momentum wheel stabilization control unit 313 includes a second inertial measurement unit, a second controller and a first momentum wheel control module; the second inertial measurement unit is used to provide real-time feedback on the posture information of the working robot 30; the second controller is used to determine the target posture information of the first momentum wheel control module according to the posture information of the working robot 30 (the target posture information includes the target angular velocity and the target angular acceleration); the first momentum wheel control module is used to perform balance compensation control on the working robot body according to the target posture information; specifically, the first momentum wheel control module generates a gyroscopic couple according to the target posture information to offset the working robot's own tilt under the actual posture information, thereby achieving the body stability of the perched working robot, while ensuring the obstacle clearance stability of the remote laser transmitter.

[0062] Optionally, this embodiment further optimizes the transmission line obstacle removal system. Figure 4 is a structural block diagram of another transmission line obstacle removal system provided by an embodiment of the present invention; Figure 2 , 4 As shown, the transmission line obstacle clearing system also includes: an energy robot 40; a load-carrying drone 20, which is also used to return to the ground operation point P0 along the flight trajectory L3, and to mount the energy robot 40 on the ground line habitat P1 along the flight trajectory L1 again so that the energy robot 40 can supply energy to the working robot 30.

[0063] Among them, considering that during the actual obstacle clearing process, the power of the first battery unit 314 in the working robot is insufficient, resulting in the inability of the working robot 30 to operate; the present embodiment also includes an energy robot 40; when the power of the first battery unit 314 in the working robot 30 is insufficient, the load-carrying drone 20 returns to the ground operation point P0 along the flight trajectory L3, and again mounts the energy robot 40 on the ground habitat P1 along the flight trajectory L1, so that the energy robot 40 replenishes energy for the working robot 30, and then the load-carrying drone 20 returns to the ground operation point P0, thus ensuring the reliability of the power transmission line obstacle clearing robot system by adding the energy robot 40.

[0064] In some embodiments, the ground operation location P0 also includes an energy supply mobile platform; in this way, after the load-carrying drone 20 returns to the ground operation location P0 along the landing trajectory L3, its internal battery can be replaced, so that the load-carrying drone 20 can again mount the energy robot 40 on the ground habitat P1 along the flight trajectory L1; but it can be understood that the size of the battery in the load-carrying drone can be set according to actual needs, and it can also be replenished without the energy supply mobile platform.

[0065] Optionally, this embodiment further refines the energy robot 40 and describes the energy robot 40 supplying energy to the working robot 30; Figure 5 is a structural block diagram of another transmission line obstacle removal system provided by an embodiment of the present invention; Figure 5 As shown, the energy robot 40 includes a second driving unit 41, a second clamping module 42, a second momentum wheel stabilization control unit 43 and a second battery unit 44; the working robot body 31 also includes: an electrical connection unit 315;

[0066] The second driving unit 41 is used to drive the energy robot 40 to move along the ground line so that the energy robot 40 can dock with the working robot 30 through the electrical connection unit 315; the second clamping module 42 is used to control the energy robot 40 to clamp the ground line; the second momentum wheel stabilization control unit 43 is used to control the body balance of the energy robot 40; the second battery unit 44 is used to provide driving energy for the second driving unit 41, the second clamping module 42 and the second momentum wheel stabilization control unit 43; and is also used to provide energy replenishment for the first battery unit 314 when the energy robot 40 is coupled and docked with the working robot 30.

[0067] Specifically, after the load-carrying drone 20 mounts the energy robot 40 on the ground line habitat P1, the second battery unit 44 provides driving energy to the second drive unit 41, the second clamping module 42 and the second momentum wheel stabilization control unit 43; in this way, the second drive unit 41 drives the energy robot 40 to move along the ground line, and the energy robot 40 docks with the working robot 30 through the electrical connection unit 312, so that when the energy robot 40 is coupled and docked with the working robot 30, the second battery unit 44 provides energy replenishment for the first battery unit 314; at the same time, the second clamping module 42 can control the energy robot 40 to clamp the ground line by adjusting its clamping force, so that the energy robot 40 is always in a closed structural closed loop on the ground line, effectively reducing the risk of its falling; in addition, the second momentum wheel stabilization control unit 43 can stably control the tilt of the energy robot 40 fuselage, and also avoid the energy robot 40 from falling.

[0068] Optionally, this embodiment further optimizes the control method of the load-carrying drone, referring to Figure 2 The perception modeling drone 10 is also used to determine the first position P2 of the flight trajectory L1 according to the flight trajectory L1 and the ground line; the load-carrying drone 20 switches from the automatic control mode to the manual control mode when it is at the first position P2 of the flight trajectory to mount the working robot 30 on the ground line habitat P1.

[0069] Specifically, based on the flight trajectory L1, a first plane at a certain distance vertically upward from the ground line is selected, and the first plane intersects with the flight trajectory L1 to obtain a first position P2; when the load-carrying drone 20 is at the first position P2 of the flight trajectory L1, the automatic control mode is switched to the manual control mode to move the working robot 30 to the ground line habitat P1; in this way, the control method of the load-carrying drone 20 can be flexibly adjusted, avoiding the load-carrying drone 20 being unable to effectively control sudden on-site situations when the automatic control mode is always used; thus, the reliability and effectiveness of transmission line obstacle clearance are guaranteed.

[0070] Optionally, the perception modeling drone 10 is also used to determine the second position P3 of the flight trajectory L1 based on the flight trajectory L1 and the ground line; the load-carrying drone 20 switches from the automatic control mode to the manual control mode at the second position P4 of the flight trajectory L1 to mount the energy robot 40 on the ground line habitat P1.

[0071] Specifically, based on the flight trajectory L1, a second plane at a certain distance vertically upward from the ground line is selected, and the second plane intersects with the flight trajectory L1 to obtain a position P3; with position P3 as the starting point, a line segment is made that is parallel to the tangent of the ground line at P1 and has a certain length (such as: 3m), and the end point is the second position P4. When the load-carrying drone 20 is at the second position P4 of the flight trajectory, the automatic control mode is switched to the manual control mode to move the energy robot to the ground line habitat P1; in this way, the control mode of the load-carrying drone 20 can be flexibly adjusted, avoiding the load-carrying drone 20 being unable to effectively control sudden on-site situations when the automatic control mode is always adopted; thus, the reliability and effectiveness of the transmission line clearance are guaranteed.

[0072] Optionally, this embodiment specifically refines the load-carrying drone 20. Figure 6 is a structural block diagram of another transmission line obstacle removal system provided by an embodiment of the present invention; Figure 6 As shown, the load-carrying UAV 20 includes: a first positioning module 21, an image sensor 22 and a control module 23; the first positioning module 21 is used to determine the position information of the load-carrying UAV 20 in real time; the image sensor 22 is used to detect the surrounding environment information when the load-carrying UAV 20 moves; the control module 23 is used to control the movement of the load-carrying UAV 20 according to the position information and surrounding environment information of the load-carrying UAV 20 in manual control mode; the control module 23 is also used to load the flight trajectory L1 output by the perception modeling UAV 10; and in automatic control mode, control the movement of the load-carrying UAV 20 according to the flight trajectory L1.

[0073] Among them, the first positioning module 21 may include an RTK locator and / or a GPS locator; the load-carrying drone 20 may also include a visual camera and a laser ranging sensor; the visual camera can also detect the surrounding environment information in real time, and the laser ranging sensor can detect the surrounding obstacle information in real time; specifically, in this embodiment, the control module 24 can load the flight trajectory output by the perception modeling drone 10, so that the load-carrying drone 20 can be implemented in the automatic control mode, and the movement of the load-carrying drone is controlled according to the flight trajectory; at the same time, the control module 23 can control the movement of the load-carrying drone 20 according to the position information and surrounding environment information of the load-carrying drone 20, thereby realizing the manual control method of the load-carrying drone 20 and reducing the flight risk of the load-carrying drone 20.

[0074] Optional, continue to refer to Figure 6 The perception modeling UAV 10 includes: a second positioning module 11, a multi-line laser radar 12 and a modeling module 13; the second positioning module 11 is used to output the UAV flight position information and the position information of the target obstacle on the transmission line; the multi-line laser radar 12 is used to determine the point cloud map around the transmission line; the modeling module 13 is used to determine the flight trajectory according to the position information of the target obstacle on the transmission line, the point cloud map around the transmission line and the UAV flight position information.

[0075] Specifically, the second positioning module 11 may include an RTK locator, a GPS locator and an IMU; the output UAV flight position information and the position information of the target obstacles on the transmission line can be determined based on the RTK locator, the GPS locator and the IMU; the modeling module 13 determines the flight trajectory based on the position information of the target obstacles on the transmission line, the point cloud map around the transmission line and the UAV flight position information.

[0076] Of course, the perception modeling drone 10 may also include a visual camera, an image sensor, and a laser ranging sensor. During the modeling process, the environmental information around the perception modeling drone 10 can be monitored in real time through the visual camera and the image sensor, and the surrounding obstacle information can be monitored in real time through the laser ranging sensor. In this way, the above information is sent to the ground operator, thereby reducing the flight risk of the perception modeling drone 10.

[0077] In some embodiments, the perception modeling drone 10 and the load-carrying drone 20 may also be designed in an integrated manner.

[0078] Based on the same inventive concept, an embodiment of the present invention further provides a transmission line obstacle clearing method, which is applied to the transmission line obstacle clearing system of the first aspect above; Figure 7 Flow chart of a method for clearing obstacles in a transmission line provided by an embodiment of the present invention; Figure 7 As shown, the transmission line obstacle clearing method comprises:

[0079] S110, the perception modeling UAV determines the flight trajectory according to the location information of the target obstacle on the transmission line, the point cloud map around the transmission line and the flight location information of the UAV;

[0080] S120, the load-carrying UAV mounts the working robot on the ground habitat along the flight trajectory;

[0081] S130. The remote laser transmitter performs remote laser removal of target obstacles on the transmission line according to the adjustment angle of the vibration suppression platform.

[0082] The embodiments of the present invention, by mounting a remote laser transmitter on a ground wire, break through the visual angle limitation of the original ground-fixed laser, greatly increase the range of laser operations, greatly improve the efficiency of laser operations, reduce the labor intensity of operations, and provide guarantees for transmission line clearance operations and safe operations.

[0083] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A transmission line obstacle removal system, characterized in that: include: Perception modeling drone, load-carrying drone and working robot; the working robot includes a working robot body, a vibration suppression platform and a remote laser transmitter; The perception modeling UAV is used to determine the flight trajectory according to the location information of the target obstacle on the transmission line, the point cloud map around the transmission line and the UAV flight position information; wherein the flight trajectory is the actual movement trajectory between the ground operation position and the ground line habitat; The load-carrying drone is used to mount the working robot on the ground habitat along the flight trajectory; The vibration suppression platform is arranged on the working robot body, and the remote laser transmitter is arranged on the vibration suppression platform; The vibration suppression platform is used to guide and stabilize the aiming angle of the remote laser transmitter so that the remote laser transmitter can perform remote laser clearance of target obstacles on the transmission line.

2. The power line obstacle removal system according to claim 1, characterized in that: The working robot body comprises: a first driving unit, a first clamping module, a first momentum wheel stabilization control unit and a first battery unit; The first driving unit is used to drive the working robot to move along the ground wire; the first clamping module is used to control the working robot to clamp the ground wire; The first momentum wheel stabilization control unit is used to stably control the inclination of the working robot body; the first battery unit is used to provide driving energy for the first driving unit, the first clamping module, the first momentum wheel stabilization control unit and the vibration suppression platform.

3. The power transmission line obstacle removal system according to claim 2, characterized in that: Also includes: Energy Robot; The load-carrying UAV is also used to return to the ground operation location along the flight trajectory; The energy robot is mounted on the ground habitat again along the flight trajectory so that the energy robot can supply driving energy to the working robot.

4. The power transmission line obstacle clearing system according to claim 3, characterized in that: The energy robot includes a second driving unit, a second clamping module, a second momentum wheel stabilization control unit and a second battery unit; the working robot body also includes: an electrical connection unit; The second driving unit is used to drive the energy robot to move along the ground line so that the energy robot can dock with the working robot through the electrical connection unit; The second clamping module is used to control the energy robot to clamp the ground wire; the second momentum wheel stabilization control unit is used to control the balance of the energy robot body; The second battery unit is used to provide driving energy for the second driving unit, the second clamping module and the second momentum wheel stabilization control unit; and is also used to provide energy replenishment for the first battery when the energy robot is coupled and docked with the working robot.

5. The power transmission line obstacle clearing system according to claim 4, characterized in that: The vibration suppression platform includes a first inertial measurement unit, a first controller and a three-axis driving module; The first inertial measurement unit is used to provide real-time feedback of the attitude information of the three-axis drive module; The first controller is used to perform Kalman filtering on the posture information, and determine the target posture information of the three-axis driving module according to the filtered posture information; The three-axis driving module is used to perform balance compensation control on the three-axis driving module according to the target posture information; The first momentum wheel stabilization control unit includes a second inertial measurement unit, a second controller and a first momentum wheel control module; The second inertial measurement unit is used to provide real-time feedback of the posture information of the working robot; The second controller is used to determine the target posture information of the first momentum wheel control module according to the posture information of the working robot; The first momentum wheel control module is used to perform balance compensation control on the working robot body according to the target posture information.

6. The power line obstacle removal system according to claim 1, characterized in that: The perception modeling drone is also used to determine the first position of the flight trajectory based on the flight trajectory and the ground line; the load-carrying drone switches from the automatic control mode to the manual control mode when at the first position of the flight trajectory to mount the working robot on the ground line habitat.

7. The power line obstacle clearing system according to claim 3, characterized in that: The perception modeling drone is also used to determine the second position of the flight trajectory based on the flight trajectory and the ground line; the load-carrying drone switches from the automatic control mode to the manual control mode when it is at the second position of the flight trajectory to mount the energy robot on the ground line habitat.

8. The power transmission line obstacle clearing system according to claim 6 or 7, characterized in that: The load-carrying UAV comprises: a first positioning module, an image sensor and a control module; The first positioning module is used to determine the position information of the load-carrying UAV in real time; the image sensor is used to detect the surrounding environment information of the load-carrying UAV when it moves; The control module is used to control the movement of the load-carrying drone according to the position information of the load-carrying drone and the surrounding environment information in the manual control mode; The control module is also used to load the flight trajectory output by the perception modeling UAV; and in the automatic control mode, control the movement of the load-carrying UAV according to the flight trajectory.

9. The power line obstacle clearing system according to claim 1, characterized in that: The perception modeling UAV comprises: a second positioning module, a multi-line laser radar and a modeling module; The second positioning module is used for the flight position information of the UAV and the position information of the target obstacle on the transmission line; the multi-line laser radar is used to determine the point cloud map around the transmission line; The modeling module is used to determine the flight trajectory based on the location information of the target obstacle on the transmission line, the point cloud map around the transmission line and the flight position information of the UAV.

10. A method for clearing obstacles in a transmission line, characterized in that: The transmission line obstacle clearing system applied to any one of claims 1 to 9 above; the transmission line obstacle clearing method comprising: The perception modeling UAV determines a flight trajectory based on the location information of the target obstacle on the transmission line, the point cloud map around the transmission line and the UAV flight location information; wherein the flight trajectory is a trajectory between the ground operation position and the ground line habitat; The load-carrying drone mounts the working robot on a ground habitat along the flight trajectory; The remote laser transmitter performs remote laser removal of target obstacles on the transmission line according to the guidance and aiming angle of the vibration suppression platform.

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