Wrecking device and method

Abstract

The application and power operation and maintenance technical field, especially relate to a kind of clearing device and clearing method.Clearing device includes unmanned aerial vehicle body and clearing mechanism, unmanned aerial vehicle body is used to transfer clearing mechanism to cable, clearing mechanism includes mounting piece, walking assembly, balancing assembly and clearing assembly, walking assembly is configured as driving mounting piece and its balancing assembly and clearing assembly on it move on cable, balancing assembly is configured as making walking assembly keep balance on cable, clearing assembly is configured as cleaning foreign matter.Through walking assembly, clearing mechanism can walk along cable, realize full field of view coverage to cable, provide good position and visual angle guarantee for clearing assembly, improve the operating range of clearing assembly;Through balancing assembly, avoid clearing mechanism to drop from cable when advancing, clean foreign matter through clearing assembly, realize the automatic cleaning of foreign matter, safe, efficient, and significantly reduce the labor intensity of staff operation.

Description

Technical Field

[0001] This invention relates to the field of power operation and maintenance technology, and particularly to a clearing device and a clearing method. Background Technology

[0002] Outdoor power transmission and distribution cables are frequently interfered with by various types of foreign objects, such as tree branches, kites, advertising banners, fishing nets, shade nets, balloons, sky lanterns, dust nets, plastic films, and bird nests. The presence of these foreign objects not only disrupts the normal operation of the power transmission and distribution cables but can also cause major safety accidents such as short circuits and fires. Therefore, removing these obstructions is crucial to ensuring the long-term safe operation of the power grid.

[0003] Currently, most obstacle removal is done manually. This method relies on workers directly reaching the obstacle point and manually clearing it using tools. Since power transmission and distribution cables often cross vast areas, including mountains, rivers, and urban buildings, workers must work in various complex terrains and adverse weather conditions. This not only results in low efficiency, high difficulty, and a large workload, but also poses significant safety risks.

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

[0005] The purpose of this invention is to provide a clearing device and method that can automatically remove foreign objects from cables in a safe, efficient and effective manner, and significantly reduce the labor intensity of workers.

[0006] To achieve the above objectives, the following technical solution is provided:

[0007] The obstacle clearing device includes a drone body and an obstacle clearing mechanism. The drone body is used to transfer the obstacle clearing mechanism onto a cable. The obstacle clearing mechanism includes:

[0008] The mounting component, the walking component, the balancing component, and the obstacle removal component are configured to drive the mounting component and the balancing component thereon to move along the cable. The balancing component is configured to keep the walking component balanced along the cable, and the obstacle removal component is configured to remove foreign objects.

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

[0010] A first driving component is disposed on the mounting component;

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

[0012] As an optional feature, the wheels are made of insulating material;

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

[0014] An insulating component is provided on the side of the walking wheel facing the cable.

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

[0016] A second driving component is disposed on the mounting component;

[0017] A momentum rack is installed at the output end of the second driving element;

[0018] A momentum wheel and a third driving component are provided. The momentum wheel is rotatably connected to the momentum frame and connected to the output end of the third driving component. The third driving component can drive the momentum wheel to rotate about a vertical direction. The second driving component can drive the momentum frame, the momentum wheel on it, and the third driving component to rotate about a first direction. 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 clearing component includes:

[0020] A movable component, connected to the mounting component;

[0021] A clearing component is disposed at the output end of the movable component. The clearing component is configured to clear the foreign object on the cable. The movable component is configured to adjust the posture of the clearing component so that the clearing component aims at the foreign object.

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

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

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

[0025] The fourth driving component is disposed on the mounting component;

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

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

[0028] A guide frame is disposed on one side of the mounting component along a first direction, and the guide frame is inclined downward. 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 hoisting frame is connected to the mounting component, and the hoisting frame is detachably connected to the UAV body.

[0031] The obstacle removal method, using the aforementioned obstacle removal device, includes the following steps:

[0032] S100. The hoisting frame is connected to the UAV body. After the UAV body hoists the obstacle removal mechanism onto the cable, the UAV body is detached from the hoisting frame.

[0033] S200, the walking component is activated, and the walking component drives the balancing component and the obstacle clearing component to move on the cable. At the same time, the balancing component maintains the balance of the obstacle clearing mechanism on the cable.

[0034] S300, the vision mechanism identifies foreign objects, and the obstacle removal component cleans the foreign objects.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] The obstacle removal device provided by this invention enables the obstacle removal mechanism to move along the cable via a walking component, achieving full field of view coverage of the cable and providing good position and viewing angle protection for the obstacle removal component, thereby increasing the working range of the obstacle removal component. The balancing component ensures the balance of the walking component during movement, preventing the obstacle removal mechanism from falling off the cable. The obstacle removal group removes foreign objects, achieving automated removal of foreign objects, which is safe, efficient, and significantly reduces the labor intensity of workers.

[0037] The obstacle removal method provided by the present invention achieves automated removal of foreign objects on cables by applying the above-mentioned obstacle removal device, expands the working range of the obstacle removal components, is safe and efficient, and significantly reduces the labor intensity of workers. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention 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 the content of the embodiments of the present invention and these drawings without creative effort.

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

[0040] Figure 2 A second view of the obstacle clearing mechanism provided in an embodiment of the present invention;

[0041] Figure 3 A cross-sectional view of the walking component provided in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the installation box and obstacle removal component provided in an embodiment of the present invention;

[0043] Figure 5 This is a partial structural schematic diagram of the obstacle clearing mechanism provided in an embodiment of the present invention;

[0044] Figure 6 A cross-sectional view of the balancing component provided in an embodiment of the present invention;

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

[0046] Figure label:

[0047] 100. Road clearing and maintenance agencies;

[0048] 10. Installation components;

[0049] 20. Walking assembly; 21. First drive unit; 22. Walking wheel; 23. Insulating component;

[0050] 30. Balancing assembly; 31. Second drive component; 32. Momentum rack; 33. Momentum wheel; 34. Third drive component; 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 drive component; 52. Clamping component; 53. Clamping sleeve;

[0053] 60. Lifting frame;

[0054] 70. Guide frame;

[0055] 80. Installation box;

[0056] 200. Cables. Detailed Implementation

[0057] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0058] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0059] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0061] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0062] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, 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 possible implementation.

[0063] like Figures 1-4 As shown, this embodiment provides a clearing device, which includes a drone body (not shown) and a clearing mechanism 100. The drone body is used to transfer the clearing mechanism 100 onto a cable 200. The clearing mechanism 100 includes a mounting component 10, a walking component 20, a balancing component 30, and a clearing component 40. The walking component 20 is configured to drive the mounting component 10 and its balancing component 30 and clearing component 40 to move on the cable 200. The balancing component 30 is configured to keep the walking component 20 balanced on the cable 200. The clearing component 40 is configured to clear foreign objects. These foreign objects include, but are not limited to, tree obstacles, kites, advertising banners, fishing nets, shade nets, balloons, sky lanterns, dust nets, plastic films, and bird nests.

[0064] The obstacle removal device provided in this embodiment enables the obstacle removal mechanism 100 to move along the cable 200 via the walking component 20, achieving full field of view coverage of the cable 200. This provides good position and viewing angle protection for the obstacle removal component 40, increasing its working range. The balancing component 30 ensures the balance of the walking component 20 during movement, preventing the obstacle removal mechanism 100 from falling off the cable 200. The obstacle removal component 40 removes foreign objects, achieving automated removal of foreign objects safely and efficiently, and significantly reducing the labor intensity of workers.

[0065] In this embodiment, the cable 200 is a power transmission line. In other embodiments, the cable 200 may also be a rope, etc.

[0066] Optionally, the obstacle removal mechanism 100 further includes a control component. The walking component 20, the balancing component 30, and the obstacle removal component 40 are electrically connected to the control component 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. Subsequently, it controls the obstacle removal component 40 to remove foreign objects. It should be noted that the control component is prior art, and any control component capable of achieving the above functions can be used in this embodiment.

[0067] Optionally, the obstacle removal mechanism 100 also includes a power supply component and a mounting box 80. The mounting box 80 is connected to the mounting component 10. Both the power supply component and the control component are housed within the mounting box 80. The power supply component can provide power to the walking component 20, the balancing component 30, the control component, and the obstacle removal component 40 to ensure the continuity of obstacle removal operations. The power supply component can be a lithium battery, which has advantages such as small size, light weight, and high energy density.

[0068] Optionally, the obstacle clearing mechanism 100 also includes a lifting frame 60, which is fixed to the mounting component 10 and detachably connected to the drone body. Specifically, the lifting frame 60 is snap-fitted to the drone body, which is a multi-rotor heavy-duty drone. In use, the lifting frame 60 is connected to the multi-rotor heavy-duty drone. After the multi-rotor heavy-duty drone transports the obstacle clearing mechanism 100 to the cable 200, it is released and mounted on the cable 200, thus achieving automated mounting of the obstacle clearing mechanism 100 on the cable 200, avoiding manual high-altitude operations and reducing safety risks.

[0069] Combination Figures 1-3 The specific structure of the walking component 20 is described below, such as... Figures 1-3 As shown, the walking assembly 20 includes a first drive member 21 and a walking wheel 22. The first drive member 21 is mounted 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 drive member 21. The first drive member 21 can drive the walking wheel 22 to rotate, so that the obstacle clearing mechanism 100 walks on the cable 200. The first drive member 21 can be a rotary motor.

[0070] Optionally, the traveling wheel 22 has a V-groove, which is formed by the inward indentation of the outer circumference of the traveling wheel 22. The cable 200 is located in the V-groove of the traveling wheel 22 to ensure the stability of the traveling wheel 22 as it travels on the cable 200.

[0071] Optionally, the walking wheel 22 is made of insulating material; and / or, the walking assembly 20 also includes an insulating element 23, which is disposed on the side of the walking wheel 22 facing the cable 200, to ensure the safety of the obstacle clearing mechanism 100 and prevent the obstacle clearing mechanism 100 from short-circuiting with the cable 200.

[0072] In this embodiment, there are two walking components 20, which are arranged at intervals along the length of the cable 200 to provide stable support for the mounting component 10 and its balancing component 30 and obstacle clearing component 40. In other embodiments, the number of walking components 20 may be one, three, four or more, which can be adapted according to actual needs.

[0073] Combination Figure 1 , Figure 2 and Figure 4 The specific structure of the obstacle removal component 40 is described below. The obstacle removal component 40 includes a movable component 41 and an obstacle removal component 42. The movable component 41 is connected to the mounting box 80. The obstacle removal component 42 is located at the output end of the movable component 41. The movable component 41 is configured to adjust the attitude of the obstacle removal component 42 so that the obstacle removal component 42 aims at the foreign object. The obstacle removal component 42 is configured to clean the foreign object on the cable 200. Specifically, the obstacle removal component 42 is a laser obstacle removal device; the movable component 41 is a vibration suppression three-degree-of-freedom platform. The vibration suppression three-degree-of-freedom platform can adjust the attitude and vibration suppression of the laser obstacle removal device so that the laser obstacle removal device can stably aim at the foreign object, achieving accuracy and efficiency in cleaning the foreign object. It should be noted that the specific structure and working principle of the laser obstacle removal device and the vibration suppression three-degree-of-freedom platform are existing technologies, and will not be described in detail in this embodiment.

[0074] Understandably, laser obstacle removal devices have a certain range. Therefore, 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 it, such as tree obstructions near the cable 200 or bird nests located on the crossarm. The traveling component 20, carrying the obstacle removal component 40, operates on the cable 200, providing the obstacle removal component 40 with a high-altitude position and field of view, significantly expanding the application range of the laser obstacle removal device and breaking the field-of-view limitations of traditional ground-fixed laser obstacle removal devices.

[0075] Optionally, the obstacle removal mechanism 100 also includes a vision component mounted on the mounting member 10. The vision component is used to identify foreign objects and their location, and transmits the location signal of the foreign object to the control component. The control component can control the moving member 41 according to the information identified by the vision component so that the obstacle removal member 42 aims at the foreign object, and the obstacle removal member 42 removes the foreign object. The vision component can be an existing camera that can perform the above functions.

[0076] Combination Figure 1 , Figure 2 , Figure 5 and Figure 6 The specific structure of the balancing component 30 is described below, such as... 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 mounted on the mounting member 10. The momentum frame 32 is located at the output end of the second driving member 31. The momentum wheel 33 is rotatably connected to the momentum frame 32 and connected to the output end of the third driving member 34. The third driving member 34 can drive the momentum wheel 33 to rotate in a vertical direction. The second driving member 31 can drive the momentum frame 32, the momentum wheel 33 on it, and the third driving member 34 to rotate in a first direction, which is perpendicular to the extension direction of the cable 200 and also perpendicular to the vertical direction. The second driving member 31 and the third driving member 34 are both rotary motors.

[0077] The balancing assembly 30 also includes an IMU (Inertial Measurement Unit) sensor. The IMU sensor is electrically connected to the control assembly. The IMU sensor transmits the attitude of the obstacle clearing mechanism 100 during operation to the control assembly in real time. The control assembly can determine the direction and degree of tilt of the obstacle clearing mechanism 100 based on the data detected by the IMU sensor, and control the second drive unit 31 and the third drive unit 34 to output corresponding angular velocities and angular accelerations to generate gyroscopic torques to counteract the tilt of the obstacle clearing mechanism 100, thereby achieving the purpose of maintaining the stability of the obstacle clearing mechanism 100.

[0078] In order to make the output force of the second drive 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 transmission wheel 35 is connected to the output end of the second drive member 31, and the other transmission wheel 35 is connected to the momentum frame 32. The transmission belt 36 is arranged around the outer periphery of the two transmission wheels 35 and is tensioned by the two transmission wheels 35 together.

[0079] Optionally, the balancing assembly 30 also includes a cover 37, which covers the outer periphery of the momentum wheel 33 and is fixed to the momentum frame 32 to protect the momentum wheel 33.

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

[0081] Optionally, the clamping assembly 50 includes a fourth drive member 51 and a clamping member 52. The fourth drive member 51 is disposed on the mounting member 10, and the clamping member 52 is disposed at the output end of the fourth drive member 51. The fourth drive member 51 can drive the clamping member 52 to rotate around a second direction to clamp or release the cable 200. The fourth drive member 51 can also adjust the clamping force of the clamping member 52 on the cable 200. 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, preventing the cable 200 from coming off the clamping member 52 and effectively reducing the risk of the obstacle clearing mechanism 100 falling.

[0083] Optionally, there may be multiple clamping members 52, which are arranged at intervals along the second direction to further ensure the stability of the clamped 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 periphery 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 disposed on one side of the mounting component 10 along the first direction and is inclined downward. During the process of the UAV body hoisting the obstacle clearing mechanism 100 to the cable 200, the guide frame 70 can provide guidance for the UAV body so that the walking wheels 22 can be smoothly placed on the cable 200.

[0086] This embodiment also provides a method for clearing obstacles, which is accomplished using the above-mentioned obstacle clearing device, and includes the following steps:

[0087] S100. Connect the hoisting frame 60 to the drone body. After the drone body hoists the obstacle clearing mechanism 100 onto the cable 200, the drone body is separated from the hoisting frame 60.

[0088] S200, the walking component 20 is activated, 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.

[0089] S300: The vision mechanism identifies foreign objects, and the obstacle removal component 40 removes the foreign objects.

[0090] The above steps enable automated removal of foreign objects from the cable 200, expand the working range of the obstacle removal component 40, and are safe, efficient, and significantly reduce the labor intensity of workers.

[0091] Optionally, in step S100, after the UAV body hoists the obstacle clearing mechanism 100 onto the cable 200, the fourth drive 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, ensuring the stability of the obstacle clearing mechanism 100 on the cable 200 and preventing the obstacle clearing mechanism 100 from falling off the cable 200.

[0092] Note that in the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0093] 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 road clearing device, characterized in that, Includes a drone body and a clearing mechanism (100), wherein the drone body is used to transfer the clearing mechanism (100) onto a cable (200), and the clearing mechanism (100) includes: The mounting component (10), the walking component (20), the balancing component (30), and the obstacle clearing component (40) are configured to drive the mounting component (10) and the balancing component (30) and the obstacle clearing component (40) thereon to move on the cable (200), the balancing component (30) is configured to keep the walking component (20) balanced on the cable (200), and the obstacle clearing component (40) is configured to clear foreign objects; The balancing component (30) includes: The second drive element (31) is disposed on the mounting element (10); A momentum rack (32) is disposed at the output end of the second drive element (31); Momentum wheel (33) and third drive member (34), 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 drive member (34), the third drive member (34) can drive the momentum wheel (33) to rotate about the vertical direction, the second drive member (31) can drive the momentum frame (32) and the momentum wheel (33) and the third drive member (34) on it to rotate about a first direction, the first direction is perpendicular to the extension direction of the cable (200) and perpendicular to the vertical direction; The balancing assembly (30) also includes a drive belt (36) and two drive wheels (35), one of which is connected to the output end of the second drive member (31) and the other is connected to the momentum frame (32). The drive belt (36) surrounds the two drive wheels (35) and is tensioned by the two drive wheels (35).

2. The obstacle clearing device according to claim 1, characterized in that, The walking component (20) includes: The first driving component (21) is disposed on the mounting component (10); The walking wheel (22) is rotatably connected to the mounting component (10) and abuts against the cable (200). The walking wheel (22) is connected to the output end of the first driving component (21), and the first driving component (21) can drive the walking wheel (22) to rotate.

3. The obstacle clearing device according to claim 2, characterized in that, The wheels (22) are made of insulating material; And / or, the walking assembly (20) further includes: An insulating element (23) is disposed on the side of the walking wheel (22) facing the cable (200).

4. The obstacle clearing device according to claim 1, characterized in that, The obstacle clearing component (40) includes: The movable part (41) is connected to the mounting part (10); A clearing component (42) is disposed at the output end of the moving component (41). The clearing component (42) is configured to clear the foreign object on the cable (200). The moving component (41) is configured to adjust the posture of the clearing component (42) so that the clearing component (42) aims at the foreign object.

5. The obstacle clearing device according to any one of claims 1-4, characterized in that, The obstacle removal mechanism (100) also includes: The clamping assembly (50) is connected to the mounting member (10) and is located on the side of the cable (200) away from the walking assembly (20). The clamping assembly (50) and the walking assembly (20) together clamp the cable (200).

6. The obstacle clearing device according to claim 5, characterized in that, The clamping assembly (50) includes: The fourth drive element (51) is disposed on the mounting element (10); A clamping member (52) is disposed at the output end of the fourth driving member (51). The fourth driving member (51) can drive the clamping member (52) to rotate around a second direction to clamp or release the cable (200). The second direction is parallel to the extension direction of the cable (200).

7. The obstacle clearing device according to any one of claims 1-4, characterized in that, The obstacle removal mechanism (100) also includes: A guide frame (70) is disposed on one side of the mounting member (10) along a first direction, and the guide frame (70) is inclined downward. The first direction is perpendicular to the extension direction of the cable (200) and perpendicular to the vertical direction.

8. The obstacle clearing device according to any one of claims 1-4, characterized in that, The obstacle removal mechanism (100) also includes: The hoisting frame (60) is connected to the mounting component (10), and the hoisting frame (60) is detachably connected to the UAV body.

9. A method for clearing obstacles, characterized in that, The process is completed using the obstacle clearing device as described in any one of claims 1-8, including the following steps: S100, The hoisting frame (60) is connected to the UAV body. After the UAV body hoists the obstacle clearing mechanism (100) onto the cable (200), the UAV body is detached from the hoisting frame (60). S200, the walking component (20) is activated, and the walking component (20) drives the balancing component (30) and the obstacle clearing component (40) to move on the cable (200). At the same time, the balancing component (30) maintains the balance of the obstacle clearing mechanism (100) on the cable (200). S300, the vision mechanism identifies foreign objects, and the obstacle removal component (40) removes the foreign objects.

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