A power line clearing system and method

Abstract

The application discloses a power transmission line obstacle removing system and method. The system comprises a sensing modeling unmanned aerial vehicle, a load-carrying unmanned aerial vehicle and a working robot. The working robot comprises a working robot body, a vibration suppression platform and a remote laser emitter. The sensing modeling unmanned aerial vehicle is used for determining a flight trajectory according to position information of a target obstacle on a power transmission line, a point cloud map around the power transmission line and flight position information of the unmanned aerial vehicle. The flight trajectory is an actual movement trajectory between a ground operation position and a ground line habitat position. The load-carrying unmanned aerial vehicle is used for mounting the working robot on the ground line habitat position along the flight trajectory. The vibration suppression platform is arranged on the working robot body, and the remote laser emitter is arranged on the vibration suppression platform. The vibration suppression platform is used for guiding and stabilizing a pointing angle of the remote laser emitter so that the remote laser emitter removes a target obstacle on a power transmission line by remote laser.

Description

Technical Field

[0001] This invention relates to the field of power grid transmission line technology, and more particularly to a transmission line obstacle clearing system and method. Background Technology

[0002] With the rapid development and continuous expansion of the power industry, the safety risk management of power operations faces unprecedented challenges. Particularly concerning the safe operation of transmission lines, the increasing number of floating foreign objects has become a prominent issue. These objects may include kites, advertising banners, fishing nets, shade nets, balloons, sky lanterns, dust nets, and plastic films. These objects not only affect the normal operation of transmission lines but may also lead to serious safety accidents such as short circuits and fires. Clearing obstructions from transmission lines is crucial for the long-term safe operation of the power grid. Currently, the removal of these foreign objects mainly relies on manual methods, which are not only inefficient but also difficult, labor-intensive, and pose high safety risks. For example, workers need to reach the obstruction point to use tools for clearing, which is particularly dangerous at high altitudes or in remote areas. To improve clearance efficiency and reduce safety risks, the power industry is exploring and adopting automated and intelligent solutions.

[0003] Currently, laser removal equipment is commonly used to remove floating debris from power transmission lines. This equipment can remotely remove floating objects suspended on power lines from the ground without contacting the lines. However, the use of laser removal equipment requires specific weather conditions and strict safety control measures, such as elevation angle control. Manually assisted laser removal equipment is greatly affected by the working environment, relying on stable and reliable support points. Especially in mountainous areas, dense forests, and other areas difficult for personnel to access, its operational scope is limited by obstructed views, limiting its adaptability. It is unable to remove obstructed angles or restricted obstacles, thus hindering effective elevation angle control. This restricts its further application and significantly impacts the efficiency of laser operations, necessitating further research and development of new intelligent equipment. Summary of the Invention

[0004] This invention provides a power transmission line obstacle clearing system and method that overcomes the limitations of the viewing angle of the original ground-fixed laser, greatly improves the range and viewing angle of laser operations, significantly improves the efficiency of laser operations, reduces the labor intensity of operations, and provides a guarantee for power transmission line obstacle clearing operations and safe operation.

[0005] To achieve the above objectives, in a first aspect, embodiments of the present invention provide a power transmission line obstacle clearing system, the system comprising: a perception modeling drone, a load-bearing drone, and a work robot; the work robot comprises a work robot body, a vibration suppression platform, and a remote laser emitter;

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

[0007] The heavy-duty drone is used to attach the work robot to the ground line habitat along the flight trajectory.

[0008] The vibration suppression platform is installed on the robot body, and the remote laser emitter is installed on the vibration suppression platform; the vibration suppression platform is used to guide and stabilize the aiming angle of the remote laser emitter so that the remote laser emitter can remotely laser-clear target obstacles on the power transmission line.

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

[0010] The first drive 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 stabilize and control the tilt of the robot body; the first battery unit is used to provide driving energy for the first drive unit, the first gripping module, the first momentum wheel stabilization control unit and the vibration suppression platform.

[0012] Optionally, the system may also include: an energy robot;

[0013] The payload drone is also used to return to the ground operation location along the flight path; and to attach the energy robot to the ground-based resting location along the flight path again so that the energy robot can provide driving energy to the operation robot.

[0014] Optionally, the energy robot includes a second drive unit, a second gripping module, a second momentum wheel stabilization control unit, and a second battery unit; the work robot body also includes an electrical connection unit.

[0015] The second drive unit is used to drive the energy robot to move along the ground line so that the energy robot docks with the work 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 drive unit, the second clamping module and the second momentum wheel stabilization control unit; it is also used to provide energy replenishment to the first battery when the energy robot and the work robot are coupled and docked.

[0018] Optionally, the vibration suppression platform includes a first inertial measurement unit, a first controller, and a three-axis drive 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 configured to perform Kalman filtering on the attitude information and determine the target attitude information of the three-axis drive module based on the filtered attitude information.

[0021] The three-axis drive module is used to perform balance compensation control on the three-axis drive module according to the target attitude 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 on the attitude information of the robot.

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

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

[0026] Optionally, the perception modeling UAV is further configured to determine the first position of the flight trajectory based on the flight trajectory and the ground line; the payload UAV, specifically at the first position of the flight trajectory, switches from automatic control mode to manual control mode to move so as to mount the work robot at the ground line resting place.

[0027] Optionally, the perception modeling UAV is further configured to determine a second position of the flight trajectory based on the flight trajectory and the ground line; the payload UAV, specifically at the second position of the flight trajectory, switches from automatic control mode to manual control mode to move so as to mount the energy robot at the ground line resting place.

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

[0029] The first positioning module is used to determine the location information of the payload drone in real time; the image sensor is used to detect the surrounding environment information when the payload drone is moving.

[0030] The control module is used to control the movement of the payload drone in manual control mode based on the location information of the payload drone and the surrounding environment information.

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

[0032] Optionally, the perception modeling UAV includes: a second positioning module, a multi-line lidar, and a modeling module;

[0033] The second positioning module is used to obtain the UAV's flight position information and the position information of the target obstacle on the power transmission line; the multi-line lidar is used to determine the point cloud map around the power transmission line.

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

[0035] Secondly, embodiments of the present invention also provide a method for clearing obstructions from power transmission lines, which is applied to the power transmission line obstruction clearing system described in the first aspect above; the method for clearing obstructions from power transmission lines includes:

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

[0037] The heavy-duty drone carries the work robot to the ground line resting place along the flight trajectory;

[0038] The remote laser emitter performs remote laser removal of target obstacles on the power transmission line based on the aiming angle guided by the vibration suppression platform.

[0039] In this embodiment of the invention, the perception-modeling UAV determines its flight trajectory based on the location information of the target obstacle on the power transmission line, the point cloud map around the power transmission line, and the UAV's flight position information. The flight trajectory is between the ground operation point and the ground-line resting point. The payload UAV carries the work robot to the ground-line resting point along the flight trajectory. The vibration suppression platform guides and stabilizes the aiming angle of the remote laser emitter, allowing the remote laser emitter to remotely clear the target obstacle on the power transmission line according to the aiming angle. By mounting the remote laser emitter to the ground line, the limitation of the field of view of the original ground-fixed laser is overcome, significantly increasing the range of laser operations, greatly improving the efficiency of laser operations, reducing the labor intensity of operations, and providing a guarantee for power transmission line obstacle clearing operations and safe operation.

[0040] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of a power transmission line clearing system provided in an embodiment of the present invention;

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

[0044] Figure 3 This is a schematic diagram of another power transmission line obstacle clearing system provided in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of another power transmission line obstacle clearing system provided in an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of another power transmission line obstacle clearing system provided in an embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of another power transmission line obstacle clearing system provided in an embodiment of the present invention;

[0048] Figure 7 This is a flowchart illustrating a method for clearing obstacles from power transmission lines provided in an embodiment of the present invention. Detailed Implementation

[0049] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0051] Figure 1 This is a structural block diagram of a power transmission line clearing system provided in an embodiment of the present invention; Figure 2 This is an application scenario diagram of a power transmission line obstacle removal system provided in an embodiment of the present invention; for example... Figure 1-2 As shown, the system includes: a perception modeling drone 10, a payload drone 20, and a work robot 30; the work robot 30 includes a work robot body 31, a vibration suppression platform 32, and a remote laser emitter 33.

[0052] The perception modeling drone 10 is used to determine the flight trajectory L1 based on the location information of the target obstacle on the power line, the point cloud map around the power line, and the drone's flight position information; wherein, the flight trajectory L1 is the actual movement trajectory between the ground operation point P0 and the ground line resting point P1; the load-bearing drone 20 is used to mount the operation robot 30 at the ground line resting point P1 along the flight trajectory L1.

[0053] A vibration suppression platform 32 is installed on the robot body 31, and a remote laser emitter 33 is installed on the vibration suppression platform 32. The vibration suppression platform 32 is used to guide and stabilize the aiming angle of the remote laser emitter 33 so that the remote laser emitter 33 can remotely laser clear the target obstacle on the power transmission line.

[0054] The point cloud map around the power transmission line can include the power transmission line and its surrounding transmission towers and obstacles, corresponding to the ground wire to be mounted. Generally, the ground wire is located in the space above the power transmission line. The ground wire to be mounted can be determined based on the location information of the target obstacles on the power transmission line. The UAV flight position information is the position information of each position during the theoretical motion trajectory of the UAV from the ground operation point to the ground wire resting point P1 during the modeling process. The perception modeling UAV 10 can determine the flight path online or offline based on the location information of the target obstacles on the power transmission line, the point cloud map around the power transmission line, and the UAV flight position information. The trajectory L1; where the flight trajectory L1 is the actual movement trajectory between the ground operation point P0 and the ground wire dwelling point P1 (the ground wire dwelling point P1 is generally located near the top of the transmission tower); it can be understood that when the position information of the target obstacle on the transmission line changes, the ground wire dwelling point P1 may be located at the top of another transmission tower. At this time, the flight trajectory L1 may be from the ground operation point P0 to the ground wire dwelling point P1, and then through the cross-tower line L2 to reach another ground wire dwelling point P1; it may also be that the ground operation point P0 directly leads to another ground wire dwelling point P1. This embodiment does not specifically limit this.

[0055] The heavy-duty drone 20 can mount the work robot 30 at the ground wire resting point P1 along the flight trajectory L1. Since the ground wire is located above the power transmission line, the laser emission angle of the remote laser emitter 33 on the work robot 30 is almost unrestricted and has a large emission angle range. The control method for the heavy-duty drone 20 to mount the work robot 30 at the ground wire resting point 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 emitter 33, thus enabling the tracking of different target points during laser operations.

[0056] In this embodiment of the invention, a flight trajectory is determined by a perception-modeling UAV 10, which is the trajectory between the ground operation point and the ground wire resting point. A payload UAV 20 carries a work robot along the flight trajectory to the ground wire resting point P1. A vibration suppression platform 32 guides and stabilizes the aiming angle of a remote laser emitter 33. The remote laser emitter 33 then performs remote laser removal of target obstacles on the power transmission line according to the aiming angle. By mounting the remote laser emitter 33 on the ground wire, the laser emission angle of the remote laser emitter 33 is widened, breaking through the limitations of the original ground-fixed laser, greatly increasing the range of laser operations, significantly improving the efficiency of laser operations, reducing the labor intensity of operations, and providing a guarantee for power transmission line obstacle removal operations and safe operation.

[0057] Optionally, based on the above embodiments, the robot body 31 and the vibration suppression platform 32 can be further refined. Figure 3This is a structural block diagram of another power transmission line obstacle clearing system provided in an embodiment of the present invention; as shown below. Figure 3 As shown, the robot body 31 includes: a first drive unit 311, a first clamping module 312, a first momentum wheel stabilization control unit 313, and a first battery unit 314; the first drive unit 311 is used to drive the robot 31 to move along the ground wire; the first clamping module 312 is used to control the robot 31 to clamp the ground wire; the first momentum wheel stabilization control unit 313 is used to stabilize and control the tilt of the robot 31; the first battery unit 314 is used to provide driving energy for the first drive 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 heavy-duty drone 20 attaches the work robot 30 to the ground line resting point P1, it provides driving energy to the first drive unit 311, the first clamping module 312, the first momentum wheel stabilization control unit 313, and the vibration suppression platform 32 through the first battery unit 314. In this way, the first drive unit 311 can drive the work robot 31 to move along the ground line, thereby adjusting the horizontal stability of the work robot. At the same time, the first clamping module 312 can adjust its clamping force to control the work robot 31 to clamp the ground line, so that the work robot is always in a closed structural loop on the ground line, effectively reducing the risk of falling. In addition, the first momentum wheel stabilization control unit 313 can stably control the tilt of the work robot 31, which also prevents the work robot 31 from falling. This ensures the obstacle clearing process of the remote laser transmitter.

[0059] Of course, in some embodiments, the robot body 31 also includes a visual inspection camera and a remote image transmission system; this can monitor the surrounding environment of the robot in real time, and provide information to the ground operator in a synchronous manner to ensure that the 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 provide real-time feedback of the attitude information of the three-axis drive module 323. 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 based on the filtered attitude information. The three-axis drive module 323 is used to perform balance compensation control on the three-axis drive module based on the target attitude information. Thus, in this embodiment, the first inertial measurement unit 321, the first controller 322, and the three-axis drive module 323 are used to guide and stabilize the aiming angle of the remote laser transmitter, thereby completing vibration suppression during the operation of the remote laser transmitter.

[0061] Optionally, the first momentum wheel stabilization control unit 313 can be further refined. 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 attitude information of the working robot 30. The second controller is used to determine the target attitude information of the first momentum wheel control module (the target attitude information includes the target angular velocity and the target angular acceleration) based on the attitude information of the working robot 30. The first momentum wheel control module is used to perform balance compensation control on the body of the working robot based on the target attitude information. Specifically, the first momentum wheel control module generates a gyroscopic torque based on the target attitude information to counteract the tilt of the working robot under the actual attitude information, thereby achieving the stability of the body of the perched working robot and ensuring the obstacle clearing stability of the remote laser emitter.

[0062] Optionally, this embodiment further optimizes the power transmission line obstacle removal system. Figure 4 This is a structural block diagram of another power transmission line obstacle clearing system provided in an embodiment of the present invention; as shown below. Figure 2 , 4 As shown, the power transmission line clearing system also includes: an energy robot 40; a heavy-duty drone 20, which is also used to return to the ground operation point P0 along the flight trajectory L3, and then attach the energy robot 40 to the ground wire resting point P1 along the flight trajectory L1 so that the energy robot 40 can replenish the energy of the operation robot 30.

[0063] In this embodiment, considering that the first battery unit 314 inside the working robot may run out of power during the actual obstacle clearing process, causing the working robot 30 to be unable to work, an energy robot 40 is also included. When the first battery unit 314 inside the working robot 30 runs out of power, the load-bearing drone 20 returns to the ground operation point P0 along the flight path L3, and then attaches the energy robot 40 to the ground wire resting point P1 along the flight path L1. In this way, the energy robot 40 replenishes the energy of the working robot 30. After that, the load-bearing drone 20 returns to the ground operation point P0. In this way, the reliability of the power transmission line obstacle clearing robot system is ensured by adding the energy robot 40.

[0064] In some embodiments, the ground operation point P0 also includes an energy replenishment mobile platform; after the payload drone 20 returns to the ground operation point P0 along the landing trajectory L3, its internal battery can be replaced, so that the payload drone 20 can again carry the energy robot 40 to the ground line resting point P1 along the flight trajectory L1; however, it is understood that the size of the battery in the payload drone can be set according to actual needs, and it may not need to be replenished through the energy replenishment mobile platform.

[0065] Optionally, this embodiment further refines the energy robot 40 and describes how the energy robot 40 replenishes the energy of the work robot 30; Figure 5 This is a structural block diagram of another power transmission line obstacle clearing system provided in an embodiment of the present invention; as shown below. Figure 5 As shown, the energy robot 40 includes a second drive unit 41, a second clamping module 42, a second momentum wheel stabilization control unit 43, and a second battery unit 44; the robot body 31 also includes an electrical connection unit 315.

[0066] The second drive unit 41 is used to drive the energy robot 40 to move along the ground wire so that the energy robot 40 docks with the work 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 wire; the second momentum wheel stabilization control unit 43 is used to control the balance of the energy robot 40; the second battery unit 44 is used to provide driving energy for the second drive unit 41, the second clamping module 42 and the second momentum wheel stabilization control unit 43; and is also used to provide energy replenishment to the first battery unit 314 when the energy robot 40 and the work robot 30 are coupled and docked.

[0067] Specifically, after the payload drone 20 attaches the energy robot 40 to the grounding point P1, it provides driving energy to the second drive unit 41, the second clamping module 42, and the second momentum wheel stabilization control unit 43 through the second battery unit 44. In this way, the second drive unit 41 drives the energy robot 40 to move along the ground line. The energy robot 40 docks with the work robot 30 through the electrical connection unit 312. When the energy robot 40 and the work robot 30 are coupled and docked, the second battery unit 44 provides energy to the first battery unit 314. At the same time, the second clamping module 42 can adjust its clamping force to control the energy robot 40 to clamp the ground line. This ensures that the energy robot 40 is always in a closed structural loop on the ground line, effectively reducing the risk of falling. In addition, the second momentum wheel stabilization control unit 43 can stably control the tilt of the energy robot 40, which also prevents the energy robot 40 from falling.

[0068] Optionally, this embodiment further optimizes the control method of the heavy-duty UAV, referring to... Figure 2 The perception modeling drone 10 is also used to determine the first position P2 of the flight trajectory L1 based on the flight trajectory L1 and the ground line; the load-bearing drone 20, specifically at the first position P2 of the flight trajectory, switches from automatic control mode to manual control mode to move so as to mount the work robot 30 at the ground line resting position P1.

[0069] Specifically, based on the flight trajectory L1, a first plane is selected at a certain distance vertically upward from the ground line. The first plane intersects with the flight trajectory L1 to obtain the first position P2. When the load-bearing drone 20 is at the first position P2 of the flight trajectory L1, it switches from automatic control mode to manual control mode to move and attach the work robot 30 to the ground line resting position P1. This allows for flexible adjustment of the control mode of the load-bearing drone 20, avoiding the inability to effectively control sudden on-site situations when the load-bearing drone 20 is always in automatic control mode. This ensures the reliability and effectiveness of power line clearing.

[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-bearing drone 20, specifically at the second position P4 of the flight trajectory L1, switches from automatic control mode to manual control mode to move so as to mount the energy robot 40 at the ground line resting position P1.

[0071] Specifically, based on the flight trajectory L1, a second plane is selected at a certain distance vertically upward from the ground line. The second plane intersects with the flight trajectory L1 to obtain position P3. Starting from position P3, a line segment is drawn that is parallel to the tangent of the ground line at P1 and has a certain length (e.g., 3m). The endpoint is the second position P4. When the payload drone 20 is at the second position P4 of the flight trajectory, it switches from automatic control mode to manual control mode to move and attach the energy robot to the ground line at the resting point P1. This allows for flexible adjustment of the control mode of the payload drone 20, avoiding the inability to effectively control sudden on-site situations when the payload drone 20 is always in automatic control mode. This ensures the reliability and effectiveness of power line clearing.

[0072] Optionally, this embodiment provides more specific details for the heavy-duty drone 20. Figure 6 This is a structural block diagram of another power transmission line obstacle clearing system provided in an embodiment of the present invention; as shown below. Figure 6 As shown, the heavy-duty drone 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 heavy-duty drone 20 in real time; the image sensor 22 is used to detect the surrounding environment information when the heavy-duty drone 20 is moving; the control module 23 is used to control the movement of the heavy-duty drone 20 according to the position information and surrounding environment information of the heavy-duty drone 20 in manual control mode; the control module 23 is also used to load the flight trajectory L1 output by the perception modeling drone 10; and in automatic control mode, control the movement of the heavy-duty drone 20 according to the flight trajectory L1.

[0073] The first positioning module 21 may include an RTK locator and / or a GPS locator; the payload drone 20 may also include a visual camera and a laser rangefinder; the visual camera can also detect surrounding environmental information in real time, and the laser rangefinder can detect 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 payload drone 20 can be controlled to move according to the flight trajectory in automatic control mode; at the same time, the control module 23 can control the movement of the payload drone 20 according to the position information and surrounding environmental information of the payload drone 20, thus realizing the manual control mode of the payload drone 20 and reducing the flight risk of the payload drone 20.

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

[0075] Specifically, the second positioning module 11 may include an RTK locator, a GPS locator, and an IMU; it can determine and output the UAV flight position information and the position information of the target obstacle on the power line based on the RTK locator, GPS locator, and IMU; the modeling module 13 determines the flight trajectory based on the position information of the target obstacle on the power line, the point cloud map around the power 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 rangefinder. During the modeling process, the visual camera and image sensor can monitor the environmental information around the perception modeling drone 10 in real time, and the laser rangefinder can monitor the information of surrounding obstacles in real time. 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 payload drone 20 can also be integrated into a single design.

[0078] Based on the same inventive concept, the present invention also provides a method for clearing obstructions from power transmission lines, which is applied to the power transmission line obstruction clearing system of the first aspect described above; Figure 7 This is a flowchart of a power transmission line clearing method provided in an embodiment of the present invention; as shown below. Figure 7 As shown, the method for clearing obstacles from power transmission lines includes:

[0079] S110, the perception modeling UAV determines its flight trajectory based on the location information of the target obstacle on the power line, the point cloud map around the power line, and the UAV's flight position information.

[0080] S120, a heavy-duty drone, carries the work robot along its flight path to the ground wire resting place;

[0081] S130: The remote laser emitter performs remote laser removal of target obstacles on the power transmission line based on the adjustment angle of the vibration suppression platform.

[0082] In this embodiment of the invention, by mounting a remote laser transmitter on the ground wire, the limited field of view of the original ground-fixed laser is overcome, the range of laser operations is greatly increased, the efficiency of laser operations is greatly improved, the labor intensity of operations is reduced, and a guarantee is provided for power transmission line clearing operations and safe operation.

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

Claims

1. A power transmission line obstacle clearing system, characterized in that, include: A perception-modeling drone, a heavy-duty drone, and a work robot; the work robot includes a work robot body, a vibration suppression platform, and a remote laser emitter. The perception modeling UAV is used to determine the flight trajectory based on the location information of the target obstacle on the power line, the point cloud map around the power line, and the UAV's flight position information; wherein, the flight trajectory is the actual movement trajectory between the ground operation point and the ground line resting point; The heavy-duty drone is used to attach the work robot to the ground line habitat along the flight trajectory. The vibration suppression platform is installed on the robot body, and the remote laser emitter is installed on the vibration suppression platform; the vibration suppression platform is used to guide and stabilize the aiming angle of the remote laser emitter so that the remote laser emitter can remotely laser-clear target obstacles on the power transmission line. The robot body includes: a first drive unit, a first gripping module, a first momentum wheel stabilization control unit, and a first battery unit; The first drive 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 stabilize and control the tilt of the robot body; the first battery unit is used to provide driving energy for the first drive unit, the first gripping module, the first momentum wheel stabilization control unit, and the vibration suppression platform. Also includes: energy robots; The heavy-duty drone is also used to return to the ground operation site along the flight path; and to attach the energy robot to the ground-line resting place again along the flight path so that the energy robot can provide driving energy to the operation robot; The energy robot includes a second drive unit, a second clamping module, a second momentum wheel stabilization control unit, and a second battery unit; the work robot body also includes an electrical connection unit. The second drive unit is used to drive the energy robot to move along the ground line so that the energy robot docks with the work 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 drive unit, the second clamping module and the second momentum wheel stabilization control unit; it is also used to provide energy replenishment to the first battery when the energy robot and the work robot are coupled and docked.

2. The power transmission line obstacle clearing system according to claim 1, characterized in that, The vibration suppression platform includes a first inertial measurement unit, a first controller, and a three-axis drive 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 configured to perform Kalman filtering on the attitude information and determine the target attitude information of the three-axis drive module based on the filtered attitude information. The three-axis drive module is used to perform balance compensation control on the three-axis drive module according to the target attitude 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 on the attitude information of the robot. The second controller is used to determine the target attitude information of the first momentum wheel control module based on the attitude information of the working robot; The first momentum wheel control module is used to perform balance compensation control on the body of the working robot according to the target posture information.

3. The power transmission line obstacle clearing system according to claim 1, characterized in that, The perception modeling UAV is also used to determine the first position of the flight trajectory based on the flight trajectory and the ground line; the payload UAV, specifically at the first position of the flight trajectory, switches from automatic control mode to manual control mode to move so as to attach the operation robot to the ground line resting place.

4. The power transmission line obstacle clearing system according to claim 1, characterized in that, The perception modeling UAV is also used to determine the second position of the flight trajectory based on the flight trajectory and the ground line; the payload UAV, specifically at the second position of the flight trajectory, switches from automatic control mode to manual control mode to move so as to mount the energy robot at the ground line resting place.

5. The power transmission line obstacle clearing system according to claim 3 or 4, characterized in that, The payload drone includes: a first positioning module, an image sensor, and a control module; The first positioning module is used to determine the location information of the payload drone in real time; the image sensor is used to detect the surrounding environment information when the payload drone is moving. The control module is used to control the movement of the payload drone in manual control mode based on the location information of the payload drone and the surrounding environment information. The control module is also used to load the flight trajectory output by the perception modeling UAV; and in automatic control mode, to control the movement of the payload UAV according to the flight trajectory.

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

7. A method for clearing obstructions from power transmission lines, characterized in that, The transmission line clearing system is applied to any one of claims 1-6; the transmission line clearing method includes: The perception modeling UAV determines its flight trajectory based on the location information of the target obstacle on the power line, the point cloud map around the power line, and the UAV's flight position information; wherein, the flight trajectory is the trajectory between the ground operation point and the ground line resting point; The heavy-duty drone carries the work robot to the ground line resting place along the flight trajectory; The remote laser emitter performs remote laser removal of target obstacles on the power transmission line based on the aiming angle guided by the vibration suppression platform.

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