Obstacle removing device and obstacle removing method

Abstract

The invention relates to the technical field of electric power operation and maintenance, in particular to an obstacle clearing device and an obstacle clearing method. The obstacle clearing device comprises an unmanned aerial vehicle body and an obstacle clearing mechanism, the unmanned aerial vehicle body is used for transferring the obstacle clearing mechanism to a cable, the obstacle clearing mechanism comprises a mounting part, a walking assembly, a balance assembly and an obstacle clearing assembly, and the walking assembly is configured to drive the mounting part, the balance assembly and the obstacle clearing assembly on the mounting part to move on the cable. The balancing assembly is configured to enable the walking assembly to keep balance on the cable, and the obstacle clearing assembly is configured to clear foreign matter. The obstacle clearing mechanism can walk along the cable through the walking assembly, full-view coverage of the cable is achieved, good position and view angle guarantee is provided for the obstacle clearing assembly, and the operation range of the obstacle clearing assembly is widened; through the balance assembly, the obstacle clearing mechanism is prevented from falling off from the cable during advancing, foreign matter is cleared through the obstacle clearing set, automatic clearing of the foreign matter is achieved, safety and high efficiency are achieved, and the labor intensity of working personnel is remarkably reduced.

Description

Technical Field

[0001] The present invention and the field of electric power operation and maintenance technology particularly relate to an obstacle clearing device and an obstacle clearing method. Background Art

[0002] Outdoor power transmission and distribution cables are often interfered by different types of foreign objects, such as tree barriers, kites, advertising cloths, fishing nets, sunshade nets, balloons, sky lanterns, dust nets, plastic films and bird nests. The presence of foreign objects not only interferes with the normal operation of power transmission and distribution cables, but may also cause major safety accidents such as short circuits and fires. Therefore, removing these foreign obstacles is crucial to ensure the long-term safe operation of the power grid.

[0003] At present, most obstacles are cleared manually, which relies on workers to directly reach the obstacle point and use tools to manually clear the obstacles. Since power transmission and distribution cables often span a wide area, including mountains, rivers and urban buildings, workers must work in various complex terrains and inclement weather conditions. Not only is the work inefficient, difficult and labor-intensive, but there are also greater safety risks.

[0004] Therefore, there is an urgent need for an obstacle clearing device and an obstacle clearing method to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide an obstacle clearing device and an obstacle clearing method, which can realize automatic removal of foreign objects on cables, safely and efficiently, and significantly reduce the labor intensity of workers.

[0006] In order to achieve the above objectives, the following technical solutions are provided:

[0007] The obstacle clearing device comprises an unmanned aerial vehicle body and an obstacle clearing mechanism, wherein the unmanned aerial vehicle body is used to transfer the obstacle clearing mechanism to a cable, and the obstacle clearing mechanism comprises:

[0008] A mounting member, a traveling component, a balancing component and an obstacle clearing component, wherein the traveling component is configured to drive the mounting member and the balancing component and the obstacle clearing component thereon to move on the cable, the balancing component is configured to keep the traveling component balanced on the cable, and the obstacle clearing component is configured to clear foreign objects.

[0009] As an optional solution, the walking assembly includes:

[0010] A first driving member, disposed on the mounting member;

[0011] A walking wheel is rotatably connected to the mounting member and abuts against the cable. The walking wheel is connected to an output end of the first driving member, and the first driving member can drive the walking wheel to rotate.

[0012] As an optional solution, the travel wheel is made of insulating material;

[0013] And / or, the walking assembly further includes:

[0014] An insulating member is arranged on a side of the traveling wheel facing the cable.

[0015] As an optional solution, the balancing component includes:

[0016] A second driving member, disposed on the mounting member;

[0017] A momentum frame, disposed at an output end of the second driving member;

[0018] A momentum wheel and a third driving member, wherein the momentum wheel is rotatably connected to the momentum frame, the momentum wheel is connected to the output end of the third driving member, the third driving member can drive the momentum wheel to rotate around a vertical direction, and the second driving member can drive the momentum frame and the momentum wheel and the third driving member thereon to rotate around a first direction, wherein the first direction is perpendicular to the extension direction of the cable and perpendicular to the vertical direction.

[0019] As an optional solution, the obstacle removal component includes:

[0020] A moving part connected to the mounting part;

[0021] An obstacle clearing member is arranged at the output end of the moving member, the obstacle clearing member is configured to clear the foreign matter on the cable, and the moving member is configured to adjust the posture of the obstacle clearing member so that the obstacle clearing member is aimed at the foreign matter.

[0022] As an optional solution, the obstacle removal mechanism also includes:

[0023] The clamping assembly is connected to the mounting component and is located at a side of the cable away from the traveling assembly. The clamping assembly and the traveling assembly clamp the cable together.

[0024] As an optional solution, the clamping assembly includes:

[0025] a fourth driving member, disposed on the mounting member;

[0026] The clamping member is arranged at the output end of the fourth driving member, and the fourth driving member can drive the clamping member to rotate around a second direction to clamp or release the cable, and the second direction is parallel to the extension direction of the cable.

[0027] As an optional solution, the obstacle removal mechanism also includes:

[0028] The guide frame is arranged on one side of the mounting member along a first direction, and the guide frame is arranged to be tilted downward, and the first direction is perpendicular to the extension direction of the cable and perpendicular to the vertical direction.

[0029] As an optional solution, the obstacle removal mechanism also includes:

[0030] A hanging frame is connected to the mounting member, and the hanging frame is detachably connected to the drone body.

[0031] The obstacle removal method is performed using the above obstacle removal device, comprising the following steps:

[0032] S100, connecting a hoisting frame to a drone body, and after the drone body hoists the obstacle removal mechanism onto the cable, the drone body is detached from the hoisting frame;

[0033] S200, the walking component is turned on, and the walking component drives the balancing component and the obstacle removal component to move on the cable, and at the same time, the balancing component maintains the balance of the obstacle removal mechanism on the cable;

[0034] S300: The visual mechanism identifies foreign matter, and the obstacle removal component clears the foreign matter.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The obstacle clearing device provided by the present invention can enable the obstacle clearing mechanism to move along the cable through the walking component, thereby achieving full field of view coverage of the cable, providing good position and viewing angle guarantees for the obstacle clearing component, and improving the operating range of the obstacle clearing component; the balance of the walking component during movement is ensured through the balancing component, thereby preventing the obstacle clearing mechanism from falling from the cable during movement, and foreign objects are cleared by the obstacle clearing group, thereby achieving automated cleaning of foreign objects, which is safe and efficient, and significantly reduces the labor intensity of the staff.

[0037] The obstacle clearing method provided by the present invention realizes automatic removal of foreign objects on cables by applying the obstacle clearing device, and expands the operating range of the obstacle clearing component, is safe and efficient, and significantly reduces the labor intensity of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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 of the present invention. 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 the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0039] Figure 1 A first view of an obstacle removal mechanism provided by an embodiment of the present invention;

[0040] Figure 2 A second view of the obstacle removal mechanism provided by the embodiment of the present invention;

[0041] Figure 3 A cross-sectional view of a walking assembly provided by an embodiment of the present invention;

[0042] Figure 4 A schematic diagram of the structure of the installation box and the obstacle removal assembly provided by an embodiment of the present invention;

[0043] Figure 5 A partial structural schematic diagram of an obstacle removal mechanism provided by an embodiment of the present invention;

[0044] Figure 6 A cross-sectional view of a balancing assembly provided by an embodiment of the present invention;

[0045] Figure 7 A schematic structural diagram of a clamping assembly provided in an embodiment of the present invention.

[0046] Reference numerals:

[0047] 100. Obstacle removal agencies;

[0048] 10. Mounting parts;

[0049] 20. Traveling assembly; 21. First driving member; 22. Traveling wheel; 23. Insulating member;

[0050] 30. Balance assembly; 31. Second drive member; 32. Momentum frame; 33. Momentum wheel; 34. Third drive member; 35. Transmission wheel; 36. Transmission belt; 37. Cover;

[0051] 40. obstacle clearing component; 41. moving part; 42. obstacle clearing part;

[0052] 50. Clamping assembly; 51. Fourth driving member; 52. Clamping member; 53. Clamping sleeve;

[0053] 60. Lifting frame;

[0054] 70. Guide frame;

[0055] 80. Installation box;

[0056] 200. Cables. DETAILED DESCRIPTION

[0057] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0058] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0059] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0061] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0062] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0063] like Figure 1-Figure 4 As shown, this embodiment provides an obstacle clearing device, which includes a drone body (not shown in the figure) and an obstacle clearing mechanism 100. The drone body is used to transfer the obstacle clearing mechanism 100 to the cable 200. The obstacle clearing mechanism 100 includes a mounting member 10, a walking assembly 20, a balancing assembly 30 and an obstacle clearing assembly 40. The walking assembly 20 is configured to drive the mounting member 10 and the balancing assembly 30 and obstacle clearing assembly 40 thereon to move on the cable 200. The balancing assembly 30 is configured to keep the walking assembly 20 balanced on the cable 200. The obstacle clearing assembly 40 is configured to clear foreign objects. Among them, foreign objects include but are not limited to tree obstacles, kites, advertising cloths, fishing nets, sunshade nets, balloons, Kongming lanterns, dustproof nets, plastic films, bird nests, etc.

[0064] The obstacle clearing device provided in this embodiment can enable the obstacle clearing mechanism 100 to move along the cable 200 through the walking component 20, so as to achieve full field coverage of the cable 200, provide a good position and viewing angle guarantee for the obstacle clearing component 40, and improve the operation range of the obstacle clearing component 40; the balance component 30 is used to ensure the balance of the walking component 20 when moving, so as to prevent the obstacle clearing mechanism 100 from falling from the cable 200 when moving, and the obstacle clearing component 40 is used to clear foreign objects, so as to realize automatic cleaning of foreign objects, which is safe and efficient, and significantly reduces the labor intensity of the staff.

[0065] In this embodiment, the cable 200 is a power distribution line. In other embodiments, the cable 200 can also be a rope or the like.

[0066] Optionally, the obstacle removal mechanism 100 further includes a control component, and the walking component 20, the balancing component 30 and the obstacle removal component 40 are electrically connected to the control component respectively to coordinate and control the cooperation between the various mechanisms. The control component controls the walking component 20 to move to a preset position, and keeps the balancing component 30 balanced during the movement of the walking component 20, and then controls the obstacle removal component 40 to clear the foreign matter. It should be noted that the control component is a prior art, and any control component that can achieve the above functions can be used in this embodiment.

[0067] Optionally, the obstacle removal mechanism 100 further includes a power supply component and an installation box 80, the installation box 80 is connected to the installation member 10, the power supply component and the control component are both arranged in the installation box 80, and the power supply component can supply power to the walking component 20, the balancing component 30, the control component and the obstacle removal component 40 to ensure the continuity of the obstacle removal work. Among them, the power supply component can be a lithium battery, which has the advantages of small size, light weight, high energy density, etc.

[0068] Optionally, the obstacle clearing mechanism 100 further includes a hoisting frame 60, which is fixed to the mounting member 10, and the hoisting frame 60 is detachably connected to the drone body. Specifically, the hoisting frame 60 is connected to the drone body by a buckle, and the drone body is a multi-rotor load-carrying drone. When in use, the hoisting frame 60 is connected to the multi-rotor load-carrying drone, and after the multi-rotor load-carrying drone transports the obstacle clearing mechanism 100 to the cable 200, the obstacle clearing mechanism 100 is mounted on the cable 200 by disengaging, so that the obstacle clearing mechanism 100 is automatically mounted on the cable 200, avoiding manual high-altitude operations and reducing safety risks.

[0069] Combination Figure 1-Figure 3 The specific structure of the walking assembly 20 is described as follows. Figure 1-Figure 3 As shown, the walking assembly 20 includes a first driving member 21 and a walking wheel 22. The first driving member 21 is arranged on the mounting member 10. The walking wheel 22 is rotatably connected to the mounting member 10 and abuts against the cable 200. The walking wheel 22 is connected to the output end of the first driving member 21. The first driving member 21 can drive the walking wheel 22 to rotate so that the obstacle removal mechanism 100 walks on the cable 200. Among them, the first driving member 21 can be a rotary motor.

[0070] Optionally, the travel wheel 22 has a V-shaped groove, which is formed by the outer circumference of the travel wheel 22 being recessed inwardly, and the cable 200 is located in the V-shaped groove of the travel wheel 22 to ensure the stability of the travel wheel 22 running on the cable 200 .

[0071] Optionally, the traveling wheel 22 is made of insulating material; and / or, the traveling assembly 20 further includes an insulating member 23, which is disposed on a side of the traveling wheel 22 facing the cable 200 to ensure the safety of the obstacle clearing mechanism 100 and avoid short circuit between the obstacle clearing mechanism 100 and the cable 200.

[0072] In this embodiment, the number of the walking components 20 is two, and the two walking components 20 are arranged at intervals along the length direction of the cable 200 to achieve stable support for the mounting member 10 and the balancing component 30 and the obstacle removal component 40 thereon. In other embodiments, the number of the walking components 20 can also be one, three, four or more, which can be adaptively selected according to actual needs.

[0073] Combination Figure 1 , Figure 2 and Figure 4 The specific structure of the obstacle clearing component 40 is described. The obstacle clearing component 40 includes a moving part 41 and an obstacle clearing part 42. The moving part 41 is connected to the installation box 80. The obstacle clearing part 42 is arranged at the output end of the moving part 41. The moving part 41 is configured to adjust the posture of the obstacle clearing part 42 so that the obstacle clearing part 42 can aim at foreign objects. The obstacle clearing part 42 is configured to clear foreign objects on the cable 200. Specifically, the obstacle clearing part 42 is a laser obstacle clearer; the moving part 41 is a vibration suppression three-degree-of-freedom platform. The vibration suppression three-degree-of-freedom platform can adjust the posture and vibration suppression of the laser obstacle clearer so that the laser obstacle clearer can stably aim at foreign objects and achieve accuracy and efficiency in clearing foreign objects. It should be noted that the specific structure and working principle of the laser obstacle clearer and the vibration suppression three-degree-of-freedom platform are both existing technologies and will not be described in detail in this embodiment.

[0074] It is understandable that the laser obstacle remover has a certain range, so the obstacle removal mechanism 100 can not only remove foreign objects entangled on the cable 200, but also remove foreign objects near the cable 200 that are not in direct contact with the cable 200, such as tree obstacles near the cable 200, or bird nests on the crossarm. The walking component 20 carries the obstacle removal component 40 to operate on the cable 200, providing the obstacle removal component 40 with a high-altitude position and viewing angle, significantly expanding the scope of use of the laser obstacle remover and breaking the field of view limitation of traditional ground-fixed laser obstacle removers.

[0075] Optionally, the obstacle clearing mechanism 100 further includes a visual component, which is disposed on the mounting member 10. The visual component is used to identify foreign objects and their locations, and transmit the location signal of the foreign objects to the control member. The control member can control the moving member 41 according to the information identified by the visual component so that the obstacle clearing member 42 aims at the foreign objects, and the obstacle clearing member 42 clears the foreign objects. The visual component can be an existing camera that can realize the above functions.

[0076] Combination Figure 1 , Figure 2 , Figure 5 and Figure 6 The specific structure of the balancing assembly 30 is described as follows. Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the balancing assembly 30 includes a second driving member 31, a momentum frame 32, a momentum wheel 33 and a third driving member 34. The second driving member 31 is arranged on the mounting member 10, the momentum frame 32 is arranged at the output end of the second driving member 31, the momentum wheel 33 is rotatably connected with the momentum frame 32, the momentum wheel 33 is connected with the output end of the third driving member 34, the third driving member 34 can drive the momentum wheel 33 to rotate around the vertical direction, the second driving member 31 can drive the momentum frame 32 and the momentum wheel 33 and the third driving member 34 thereon to rotate around the first direction, the first direction is perpendicular to the extension direction of the cable 200 and perpendicular to the vertical direction. Among them, the second driving member 31 and the third driving member 34 are rotating motors respectively.

[0077] The balancing component 30 also includes an IMU (Inertial Measurement Unit) sensor, which is electrically connected to the control component. The IMU sensor transmits the posture of the obstacle clearing mechanism 100 during operation to the control component in real time. The control component can determine the direction and degree of inclination of the obstacle clearing mechanism 100 based on the data detected by the IMU sensor, and control the second driving member 31 and the third driving member 34 to output corresponding angular velocity and angular acceleration to generate a gyroscopic couple to offset the self-inclination of the obstacle clearing mechanism 100, thereby achieving the purpose of maintaining the body stability of the obstacle clearing mechanism 100.

[0078] In order to make the output force of the second driving member 31 more stable and reduce the mechanical impact on the momentum frame 32, the balancing assembly 30 also includes a transmission belt 36 and two transmission wheels 35, one of which is connected to the output end of the second driving member 31, and the other is connected to the momentum frame 32. The transmission belt 36 is arranged around the outer circumference of the two transmission wheels 35 and is tensioned by the two transmission wheels 35.

[0079] Optionally, the balancing assembly 30 further includes a cover shell 37 , which is disposed on the outer periphery of the momentum wheel 33 and is fixed to the momentum frame 32 , thereby protecting the momentum wheel 33 .

[0080] like Figure 1 , Figure 5-Figure 7 As shown, the obstacle clearing mechanism 100 also includes a clamping assembly 50, which is connected to the mounting member 10 and is located on the side of the cable 200 away from the traveling assembly 20. The clamping assembly 50 and the traveling assembly 20 jointly clamp the cable 200 to reduce the risk of the obstacle clearing mechanism 100 shaking and falling on the cable 200.

[0081] Optionally, the clamping assembly 50 includes a fourth driving member 51 and a clamping member 52, the fourth driving member 51 is arranged on the mounting member 10, and the clamping member 52 is arranged at the output end of the fourth driving member 51, the fourth driving member 51 can drive the clamping member 52 to rotate around the second direction to clamp or release the cable 200, and the clamping force of the clamping member 52 on the cable 200 can also be adjusted by the fourth driving member 51, and the second direction is parallel to the extension direction of the cable 200.

[0082] Optionally, the clamping member 52 extends along the first direction to increase the length of the cable 200 that the clamping member 52 can support, thereby preventing the cable 200 from escaping from the clamping member 52 and effectively reducing the risk of the obstacle removal mechanism 100 falling.

[0083] Optionally, there are multiple clamping members 52, which are arranged at intervals along the second direction to further ensure the stability of clamping the cable 200. It should be noted that the fourth driving member 51 is a dual-axis rotary motor, and the multiple clamping members 52 are evenly distributed on both sides of the dual-axis rotary motor along the second direction.

[0084] Optionally, in order to reduce the friction between the clamping member 52 and the cable 200 , the clamping assembly 50 further includes a clamping sleeve 53 , which is sleeved on the outer circumference of the clamping member 52 and rotatably connected to the clamping member 52 to roll and clamp the cable 200 .

[0085] Optionally, the obstacle clearing mechanism 100 also includes a guide frame 70, which is arranged on one side of the mounting member 10 along the first direction, and the guide frame 70 is arranged to be tilted downward. During the process of the drone body hoisting the obstacle clearing mechanism 100 to the cable 200, the guide frame 70 can provide a guiding function for the drone body, so as to facilitate the smooth placement of the walking wheel 22 on the cable 200.

[0086] This embodiment also provides an obstacle clearing method, which is performed using the above obstacle clearing device and includes the following steps:

[0087] S100, connecting the hoisting frame 60 to the drone body, and the drone body hoists the obstacle removal mechanism 100 onto the cable 200, and then the drone body is disconnected from the hoisting frame 60;

[0088] S200, the travel component 20 is turned on, and the travel component 20 drives the balancing component 30 and the obstacle removal component 40 to move on the cable 200. At the same time, the balancing component 30 keeps the obstacle removal mechanism 100 balanced on the cable 200;

[0089] S300, the visual mechanism identifies foreign matter, and the obstacle removal component 40 clears the foreign matter.

[0090] The above steps can realize automatic removal of foreign objects on the cable 200, and expand the operating range of the obstacle removal component 40, which is safe and efficient, and significantly reduces the labor intensity of the staff.

[0091] Optionally, in step S100, after the UAV body hoists the obstacle clearing mechanism 100 onto the cable 200, the fourth driving member 51 drives the clamping member 52 to rotate around the second direction so that the clamping member 52 and the walking wheel 22 jointly clamp the cable 200, thereby ensuring the stability of the obstacle clearing mechanism 100 on the cable 200 and preventing the obstacle clearing mechanism 100 from falling from the cable 200.

[0092] Note that in the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0093] 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. Obstacle removal device, characterized in that: It comprises an unmanned aerial vehicle body and an obstacle clearing mechanism (100), wherein the unmanned aerial vehicle body is used to transfer the obstacle clearing mechanism (100) to a cable (200), and the obstacle clearing mechanism (100) comprises: A mounting member (10), a traveling member (20), a balancing member (30) and an obstacle clearing member (40); the traveling member (20) is configured to drive the mounting member (10) and the balancing member (30) and the obstacle clearing member (40) thereon to move on the cable (200); the balancing member (30) is configured to keep the traveling member (20) balanced on the cable (200); and the obstacle clearing member (40) is configured to clear foreign matter.

2. The obstacle removal device according to claim 1, characterized in that: The walking assembly (20) comprises: A first driving member (21) is arranged on the mounting member (10); A running wheel (22) is rotatably connected to the mounting member (10) and abuts against the cable (200); the running wheel (22) is connected to an output end of the first driving member (21); and the first driving member (21) can drive the running wheel (22) to rotate.

3. The obstacle removal device according to claim 2, characterized in that: The running wheel (22) is made of insulating material; And / or, the walking assembly (20) further includes: An insulating member (23) is arranged on a side of the traveling wheel (22) facing the cable (200).

4. The obstacle removal device according to claim 1, characterized in that: The balancing assembly (30) comprises: A second driving member (31) is arranged on the mounting member (10); A momentum frame (32) is arranged at the output end of the second driving member (31); A momentum wheel (33) and a third driving member (34), wherein the momentum wheel (33) is rotatably connected to the momentum frame (32), the momentum wheel (33) is connected to the output end of the third driving member (34), the third driving member (34) can drive the momentum wheel (33) to rotate around a vertical direction, and the second driving member (31) can drive the momentum frame (32) and the momentum wheel (33) and the third driving member (34) thereon to rotate around a first direction, wherein the first direction is perpendicular to the extension direction of the cable (200) and perpendicular to the vertical direction.

5. The obstacle removal device according to claim 1, characterized in that: The obstacle removal component (40) comprises: A moving part (41) connected to the mounting part (10); An obstacle clearing member (42) is arranged at the output end of the moving member (41), the obstacle clearing member (42) being configured to clear the foreign matter on the cable (200), and the moving member (41) being configured to adjust the posture of the obstacle clearing member (42) so that the obstacle clearing member (42) is aimed at the foreign matter.

6. The obstacle removal device according to any one of claims 1 to 5, characterized in that: The obstacle removal mechanism (100) further comprises: A clamping assembly (50) is connected to the mounting member (10) and is located on a side of the cable (200) that is away from the traveling assembly (20); the clamping assembly (50) and the traveling assembly (20) jointly clamp the cable (200).

7. The obstacle removal device according to claim 6, characterized in that: The clamping assembly (50) comprises: a fourth driving member (51) disposed on the mounting member (10); A clamping member (52) is arranged at an output end of the fourth driving member (51), and the fourth driving member (51) can drive the clamping member (52) to rotate around a second direction to clamp or release the cable (200), and the second direction is parallel to the extension direction of the cable (200).

8. The obstacle removal device according to any one of claims 1 to 5, characterized in that: The obstacle removal mechanism (100) further comprises: The guide frame (70) is arranged on one side of the mounting member (10) along a first direction, and the guide frame (70) is arranged to be tilted downward, and the first direction is perpendicular to the extension direction of the cable (200) and perpendicular to the vertical direction.

9. The obstacle removal device according to any one of claims 1 to 5, characterized in that: The obstacle removal mechanism (100) further comprises: A hanging frame (60) is connected to the mounting member (10), and the hanging frame (60) is detachably connected to the drone body.

10. The obstacle removal method, characterized in that: The method is completed using the obstacle removal device according to any one of claims 1 to 9, comprising the following steps: S100, connecting a hanging frame (60) to a drone body, and after the drone body hangs the obstacle removal mechanism (100) onto a cable (200), the drone body is detached from the hanging frame (60); S200, the walking component (20) is turned on, the walking component (20) drives the balancing component (30) and the obstacle clearing component (40) to move on the cable (200), and at the same time, the balancing component (30) maintains the balance of the obstacle clearing mechanism (100) on the cable (200); S300: The visual mechanism identifies foreign matter, and the obstacle removal component (40) removes the foreign matter.

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