High-altitude cable obstacle removing robot

Abstract

The invention discloses a high-altitude cable obstacle removing robot which comprises a left mounting frame and a right mounting frame, the left mounting frame and the right mounting frame are through in the front-back direction, openings of the left mounting frame and the right mounting frame face downwards, and the left mounting frame and the right mounting frame are of an inverted-V-shaped structure on the whole. A vertical rotary type hot melting power source is arranged in the middle of the right installation frame, installation frames are arranged on the left installation frame and the right installation frame and located above the front idler wheels, a high-definition camera and an image wireless transmission module are arranged on the installation frames, and an electrical assembly is arranged on the left side of the left installation frame. According to the invention, the unmanned aerial vehicle technology and the intelligent identification and temperature control technology are combined, and intelligence, automation and safety of high-altitude cable obstacle removal are realized. The innovative design and technical advantages solve the problems of high risk, low efficiency and the like of a traditional obstacle clearing mode, have remarkable social benefits and economic benefits, and are suitable for rapid maintenance requirements in the fields of electric power, communication and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of high-altitude cable obstacle removal, and in particular relates to a high-altitude cable obstacle removal robot. Background Art

[0002] Foreign objects (such as kites, plastic bags, etc.) hanging on high-altitude cables (such as high-voltage lines, communication cables, etc.) may cause safety accidents such as short circuits and fires, threatening public safety and the normal operation of power and communication systems. For example, when clearing overhead transmission lines, workers need to work at high altitudes, which is not only extremely dangerous, but also usually requires power outages during operation, affecting users' lives and production. At present, high-altitude cable clearance technology in existing technologies is crucial in the fields of electricity, communications, etc. Related research at home and abroad mainly focuses on traditional clearance methods, mechanical clearance equipment, drone clearance, and laser clearance.

[0003] Traditional obstacle removal methods: Early obstacle removal work was mostly done manually, which was not only labor-intensive and inefficient, but also highly dangerous.

[0004] Mechanical obstacle removal equipment: In order to improve obstacle removal efficiency and safety, a variety of mechanical obstacle removal equipment has emerged. For example, in 2021, the Pingyuan County Power Supply Company of the State Grid Shandong Electric Power Company invented an obstacle removal device for high-altitude cables, including a shell with cutting blades and propellers, which can facilitate users to clean up debris on the cables and surrounding plant branches and leaves. In 2024, Changdafeng Electric Power Technology Co., Ltd. obtained a patent for "a high-altitude cable operation and maintenance deicer". The device sets up a new type of mobile deicing structure and uses the propulsion movement of the mobile drive component on the cable surface to ensure that the ice layer on the entire cable surface is completely melted.

[0005] Drone obstacle removal: Using drones to carry obstacle removal tools for obstacle removal has been a research hotspot in recent years. Drones are flexible and efficient, and can avoid the dangers of manual obstacle removal. For example, some drones are equipped with cutting tools and flamethrowers to clean up debris on high-altitude cables. However, drone obstacle removal also has problems such as being greatly affected by the environment and limited load capacity.

[0006] Laser obstacle removal: Laser obstacle removal technology has the advantages of long distance and non-contact, and can effectively remove foreign objects on high-altitude cables. In 2024, Leshan Electric Power Jiajiang Company used laser obstacle removal technology for the first time in power line maintenance, and successfully cleared the problem of plastic bag entanglement on the 35 kV Xingan Line No. 45 pole in Ganjiang Town, Jiajiang County. The staff fired the laser through the APP control system on the tablet computer, and the foreign objects instantly caught fire and fell, effectively eliminating the hidden dangers of electricity. Compared with the traditional manual cleaning method of climbing the pole during power outages, laser obstacle removal is safe and efficient, and does not require power outages on the line, which can ensure safer operation of the power grid. However, laser obstacle removal requires aiming every time the obstacle is cleared, and the efficiency will be reduced when there are more debris on the cable. Summary of the Invention

[0007] The object of the present invention is to provide an aerial cable obstacle clearing robot with scientific principle, convenient operation, safety and high efficiency.

[0008] To achieve the above object, the present invention adopts the following technical solutions: An aerial cable obstacle clearing robot includes a left mounting frame and a right mounting frame that are transparent front and back, open downward, and have an overall inverted V-shaped structure. There are a front roller and a rear roller between the upper parts of the left mounting frame and the right mounting frame. A traveling motor for driving the front roller and / or the rear roller is provided on the right mounting frame. A lifting ring is provided in the middle of the upper ends of the left mounting frame and the right mounting frame. A horizontally rotatable hot melting device is provided on the front side of the left mounting frame. A vertically rotatable hot melting power supply is provided in the middle of the right mounting frame. A traveling battery for supplying power to the traveling motor is provided at the lower part of the rear side of the left mounting frame. Mounting brackets are provided on the left mounting frame and the right mounting frame above the front roller. A high-definition camera and an image wireless transmission module are provided on the mounting brackets. An electrical component is provided on the left side of the left mounting frame.

[0009] The horizontally rotatable hot melting device includes a horizontal rotation motor mounted on the left mounting frame. The main shaft of the horizontal rotation motor is connected with a horizontally mounted plate. A ducted fan and two hot melting supports that are symmetric about the ducted fan left and right are mounted on the horizontally mounted plate. Each hot melting support is connected with a hot melting fork frame through two pins arranged at intervals up and down. The two hot melting fork frames extend forward and upward. Ceramic blocks are provided at both left and right ends of the hot melting fork frames. A ceramic rod parallel to the horizontally mounted plate is provided between the two ceramic blocks. An electric heating wire is wound around the ceramic rod. The winding density of the electric heating wire on the ceramic rod is large in the middle and small on both sides.

[0010] The vertically rotatable hot melting power supply includes a rotating frame, a hot melting battery, and a vertical rotation motor. The vertical rotation motor is fixed in the middle of the right mounting frame. The main shaft of the vertical rotation motor is horizontally arranged front and back. The main shaft of the vertical rotation motor is connected with the rotating frame. The hot melting battery is arranged on the rotating frame.

[0011] The high-definition camera is rotationally connected to the mounting bracket through a horizontally arranged shaft on the left and right. A camera adjustment motor is provided on the mounting bracket. The main shaft of the camera adjustment motor is connected with the shaft.

[0012] The electrical component includes a wireless receiver, an electronic speed controller, and a relay module. The wireless receiver is used to receive signal instructions sent by the hot melting on the ground. The signal output ends of the wireless receiver are respectively connected with the horizontal rotation motor, the vertical rotation motor, the traveling motor, the camera adjustment motor, the electronic speed controller, and the relay module. The electronic speed controller is used to adjust the rotation speed of the ducted fan. The relay module is connected with the electric heating wire. The high-definition camera is connected with the display screen on the hot melting remote control through the image wireless transmission module.

[0013] The outer circles of the front roller and the rear roller are both provided with annular wheel grooves that are wide outside and narrow inside, and the inner wall of the annular wheel groove is provided with a friction structure.

[0014] With the above technical solution, when the present invention works, a drone is first used. The drone is a prior art and can be purchased on the market. The drone, as the transportation tool of the present invention, is responsible for accurately deploying it on the cable and recycling it after the task is completed. The drone adopts high-precision positioning technology to ensure the accuracy of the deployment position. At the same time, the drone is equipped with an obstacle avoidance system to avoid collisions with cables or other obstacles during flight.

[0015] The drone hangs the sling of the present invention through a rope. The sling can also be used as a handle for the convenience of the user to carry by hand. When hoisting and transporting to the high-altitude cable, first start the horizontal rotation motor of the present invention. The horizontal rotation motor drives the horizontal rotation type hot melting device to rotate 90° from the front side to the left, so that the V-shaped groove between the left mounting frame and the right mounting frame is unobstructed from front to back, so as to facilitate the high-altitude cable to pass through. In order to keep the obstacle removal robot balanced, start the vertical rotation motor, and drive the vertical rotation type hot melting power supply of the horizontal rotation type hot melting device to rotate to the right. The vertical rotation type hot melting power supply plays a role of counterweight.

[0016] Control the drone to hoist and transport the robot above the high-altitude cable, and then slowly lower it until the high-altitude cable extends into the annular wheel grooves of the front roller and the rear roller. Then start the horizontal rotation motor and the vertical rotation motor at the same time, and rotate the horizontal rotation type hot melting device 90° from the right front respectively, that is, the horizontal rotation type hot melting device returns to its original position, in front of the left mounting frame and the right mounting frame. The vertical rotation motor folds the vertical rotation type hot melting power supply upward to fit with the right mounting frame. At this time, the center of gravity of the whole robot and the high-altitude cable are in the same plane, and the hook of the drone detaches from the sling on the upper part of the robot, and the robot starts to work.

[0017] The obstacle removal work process of the robot is specifically as follows: The operator controls the hot melting remote controller on the ground, and transmits the control to each component through the wireless receiver to open and close. First, start the walking motor, and the two walking motors rotate synchronously and at the same speed, driving the front roller and the rear roller to move forward on the high-altitude cable. The high-definition camera transmits the situation on the high-altitude cable to the display screen of the hot melting through the image wireless transmission module. When the operator sees obstacles such as plastic bags on the high-altitude cable on the display screen and the heating wire touches the plastic bag, the walking motor stops and the robot pauses to move. Then start the relay module, the heating wire is powered on, and the heating wire heats up to melt the obstacle. Then close the relay module, and then start the ducted fan. The high-pressure air blown by the ducted fan blows off the part still hanging on the high-altitude cable. If the wind force is not enough, adjust the rotation speed of the ducted fan through the electronic speed controller. Close the ducted fan, and then start the walking motor. The front roller and the rear roller continue to move forward on the high-altitude cable, repeating the above process of hot melting and cleaning obstacles.

[0018] After the cleaning operation is completed, the robot is retrieved. The specific process is as follows: Start the drone. The hook of the drone hangs on the hanging ring at the upper part of the robot. Keep the drone stationary in the air. Then operate the hot melt remote control, and at the same time start the horizontal rotation motor and the vertical rotation motor. Rotate the horizontal rotation type hot melt device 90° to the left rear respectively, that is, the horizontal rotation type hot melt device unfolds to the left. The vertical rotation motor drives the vertical rotation type hot melt power supply to rotate downward and unfold to play a role in maintaining the balance of the whole robot. Finally, start the drone, first lift the robot upward to a height higher than the high-altitude cable, then fly left or right, and then land at the designated location.

[0019] Compared with the prior art, the present invention has the following innovations and beneficial effects: 1. The horizontal rotation type hot melt device has the function of left and right rotation deformation. Since the hot melt device must perform hot melt cutting below the cable, and at the same time it is necessary to use the drone to complete the delivery and recovery, a deformation structure (horizontal rotation) is required to achieve the front and rear penetration of the V-shaped passage during deployment. That is, the hot melt device needs to move out of the way. At the same time, in order to ensure the horizontal of the trolley in the suspended state, the vertical rotation type hot melt power supply on the right needs to be deformed (rotated) to achieve the center of gravity balance.

[0020] 2. A thin electric heating wire is used as the heater. The thin electric heating wire has a fast heating rate, and the temperature can meet the requirements for cutting common combustible foreign objects. And it consumes little power and allows long-term operation. The heating resistance wire can accurately control the temperature to avoid causing a fire during the cutting process. The deployment and recovery of the drone avoid the risks of electric shock and high-altitude fall caused by manual operation.

[0021] 3. A structure using ceramic rods to support the thin electric heating wire is adopted. After the electric heating wire is heated, it will become longer and softer, resulting in a change in the cutting position and being easily damaged. Winding the electric heating wire around the ceramic rod effectively solves the above problems.

[0022] 4. Innovation in the winding form of the electric heating wire. Dense in the middle and sparse on both sides. Dense in the middle (the middle part of the electric heating wire is located directly below the high-altitude line with a large density, and this is the position of the obstacle) is mainly to make it easier to contact and cut the combustible foreign object. Sparse on both sides is to shorten the heating time and improve the hot melt efficiency.

[0023] 5. The high-definition camera can adjust the pitch angle for remotely monitoring the obstacles on the high-altitude cable, which is convenient for the functional operation of the hot melt remote control. The high-definition camera supports real-time image transmission to ensure the recognition accuracy of the obstacles. Image recognition algorithm: Based on deep learning technology, train a foreign object recognition model with a recognition accuracy of ≥95%. Positioning system: Combine the camera and GPS positioning technology to accurately locate the position of the foreign object to ensure the accuracy of cutting.

[0024] 6. The use of a ducted fan can blow the residual foreign objects after hot melting off the cable.

[0025] 7. Each hot-melt support is connected with a hot-melt fork frame through two pins arranged at upper and lower intervals. When not in use, one of the lower pins can be pulled out, and with the upper pin as the fulcrum, the hot-melt fork frame can be rotated to the upper right to fit with the left installation frame, thus saving more space.

[0026] In summary, the present invention combines unmanned aerial vehicle technology, intelligent recognition and temperature control technology to achieve the intelligence, automation and safety of high-altitude cable clearance. Its innovative design and technical advantages solve the problems of high risk and low efficiency of traditional clearance methods, and have significant social and economic benefits, and are applicable to the rapid maintenance needs in the fields of electric power, communication, etc. Brief Description of the Drawings

[0027] Figure 1 is a three-dimensional structural schematic diagram of the present invention in the working state; Figure 2 is a three-dimensional structural schematic diagram of the present invention when the unmanned aerial vehicle hoists, drops and retrieves; Figure 3 is a front view of the present invention in the working state; Figure 4 is a front view of the present invention when the unmanned aerial vehicle hoists, drops and retrieves. Detailed Embodiment

[0028] As Figures 1 - 4 shown, a high-altitude cable clearance robot of the present invention includes a left installation frame 1 and a right installation frame 2 which are transparent front and back, open downward and integrally in an inverted V-shaped structure. There are a front roller 3 and a rear roller 4 between the upper parts of the left installation frame 1 and the right installation frame 2. A traveling motor 5 for driving the front roller 3 and / or the rear roller 4 is arranged on the right installation frame 2. A lifting ring 6 is arranged in the middle of the upper ends of the left installation frame 1 and the right installation frame 2. A horizontal rotary hot-melt device is arranged on the front side of the left installation frame 1. A vertical rotary hot-melt power supply is arranged in the middle of the right installation frame. A traveling battery 7 for supplying power to the traveling motor 5 is arranged at the lower part of the rear side of the left installation frame 1. Mounting frames 8 are arranged on the left installation frame 1 and the right installation frame 2 above the front roller 3. A high-definition camera 9 and an image wireless transmission module 10 are arranged on the mounting frame 8. An electrical component 25 is arranged on the left side of the left installation frame 1.

[0029] The horizontal rotary hot melt device includes a horizontal rotary motor 11 installed on the left mounting frame 1. The main shaft of the horizontal rotary motor 11 is connected to a horizontally installed plate 12. A ducted fan 13 and two hot melt supports 14 that are symmetric about the ducted fan 13 left and right are installed on the horizontally installed plate 12. Each hot melt support 14 is connected to a hot melt fork 16 through two pins 15 arranged at intervals up and down. The two hot melt forks 16 extend forward and upward. Ceramic blocks 17 are provided at both left and right ends of the hot melt fork 16. A ceramic rod 18 parallel to the horizontally installed plate 12 is provided between the two ceramic blocks 17. An electric heating wire 19 is wound around the ceramic rod 18, and the winding density of the electric heating wire 19 on the ceramic rod 18 is large in the middle and small on both sides.

[0030] The vertical rotary hot melt power supply includes a rotary frame 21, a hot melt battery 22, and a vertical rotary motor 23. The vertical rotary motor 23 is fixed in the middle of the right mounting frame 8. The main shaft of the vertical rotary motor 23 is horizontally arranged front and back. The main shaft of the vertical rotary motor 23 is connected to the rotary frame 21, and the hot melt battery 22 is arranged on the rotary frame 21.

[0031] The high-definition camera 9 is rotatably connected to the mounting frame 8 through a horizontally arranged left and right rotating shaft. A camera adjustment motor 24 is provided on the mounting frame 8, and the main shaft of the camera adjustment motor 24 is connected to the rotating shaft.

[0032] The electrical component 25 includes a wireless receiver, an electronic speed controller, and a relay module. The wireless receiver is used to receive signal instructions sent by the hot melt on the ground. The signal output terminals of the wireless receiver are respectively connected to the horizontal rotary motor 11, the vertical rotary motor 23, the traveling motor 5, the camera adjustment motor 24, the electronic speed controller, and the relay module. The electronic speed controller is used to adjust the rotation speed of the ducted fan 13. The relay module is connected to the electric heating wire 19. The high-definition camera 9 is connected to the display screen on the hot melt remote control through the image wireless transmission module 10.

[0033] The outer circles of the front rollers 3 and the rear rollers 4 are both provided with annular grooves that are wide outside and narrow inside, and friction structures are provided on the inner walls of the annular grooves.

[0034] When the present invention works, a drone is first required. The drone is a prior art and can be purchased on the market. The drone, as the transportation tool of the present invention, is responsible for accurately deploying it on the cable and recovering it after the task is completed. The drone adopts high-precision positioning technology to ensure the accuracy of the deployment position. At the same time, the drone is equipped with an obstacle avoidance system to avoid collisions with cables or other obstacles during flight.

[0035] The unmanned aerial vehicle (UAV) suspends the lifting ring 6 of the present invention through a rope. The lifting ring 6 can also be used as a handle, facilitating the user to carry it by hand. When hoisting and transporting to an overhead cable at high altitude, first start the horizontal rotation motor 11. The horizontal rotation motor 11 drives the horizontally rotating hot melting device to rotate 90° from the front side to the left, making the V-shaped groove between the left mounting frame 1 and the right mounting frame 2 unobstructed from front to back, so as to facilitate the overhead cable to pass through. In order to keep the obstacle-removing robot balanced, start the vertical rotation motor 23, and drive the vertically rotating hot melting power supply of the horizontally rotating hot melting device to rotate to the right. The vertically rotating hot melting power supply plays a role of counterweight.

[0036] Control the UAV to hoist and transport the robot above the overhead cable, and then slowly lower it until the overhead cable extends into the annular grooves of the front roller 3 and the rear roller 4. Then start the horizontal rotation motor 11 and the vertical rotation motor 23 at the same time, and rotate the horizontally rotating hot melting device 90° from the right front respectively, that is, the horizontally rotating hot melting device returns to its original position, in front of the left mounting frame 1 and the right mounting frame 2. The vertical rotation motor 23 folds the vertically rotating hot melting power supply upward to fit with the right mounting frame 2. At this time, the center of gravity of the whole robot and the overhead cable are in the same plane, and the hook of the UAV detaches from the lifting ring 6 on the upper part of the robot, and the robot starts to work.

[0037] The obstacle-removing working process of the robot is as follows: The operator controls the hot melting remote controller on the ground, and through the wireless receiver, controls the opening and closing of each component. First, start the traveling motor 5. The two traveling motors 5 rotate synchronously and at the same speed, driving the front roller 3 and the rear roller 4 to move forward on the overhead cable. The high-definition camera 9 transmits the situation on the overhead cable to the display screen of the hot melting device through the image wireless transmission module 10. When the operator sees on the display screen that there are obstacles such as plastic bags on the overhead cable and the heating wire 19 touches the plastic bag, the traveling motor 5 stops and the robot pauses to move. Then start the relay module, and the heating wire 19 is powered on. The heating wire 19 heats up to melt the obstacle. Then turn off the relay module, and then start the ducted fan 13. The high-pressure air blown by the ducted fan 13 blows off the part still hanging on the overhead cable. If the wind force is not enough, adjust the rotation speed of the ducted fan 13 through the electronic speed controller. Turn off the ducted fan 13, and then start the traveling motor 5. The front roller 3 and the rear roller 4 continue to move forward on the overhead cable, repeating the above process of hot melting and cleaning obstacles.

[0038] After the cleaning operation is completed, the robot is retrieved, and the specific process is as follows: Start the drone, and the hook of the drone hangs on the hanging ring 6 on the upper part of the robot. Keep the drone stationary in the air, then operate the hot melt remote control, and at the same time start the horizontal rotation motor 11 and the vertical rotation motor 23, and rotate the horizontal rotary hot melt device 90° to the left rear respectively, that is, the horizontal rotary hot melt device is unfolded to the left, and the vertical rotation motor 23 drives the vertical rotary hot melt power supply to rotate downward and unfold to play a role in maintaining the balance of the whole robot. Finally, start the drone, lift the robot upward to a height higher than the high-altitude cable first, then fly left or right, and then land at the designated location.

[0039] The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that; still modifications or equivalent replacements can be made to the present invention, and any modification or partial replacement without departing from the spirit and scope of the present invention shall be covered by the scope of the claims of the present invention.

Claims

1. An aerial cable obstacle clearing robot, characterized in that: It includes a left mounting frame and a right mounting frame with a front-to-back through structure, an open end facing downward, and an overall inverted V-shaped structure. There are front rollers and rear rollers between the upper parts of the left mounting frame and the right mounting frame. A traveling motor for driving the front roller and / or the rear roller is provided on the right mounting frame. Lifting rings are provided in the middle of the upper ends of the left mounting frame and the right mounting frame. A horizontally rotatable hot melt device is provided on the front side of the left mounting frame. A vertically rotatable hot melt power supply is provided in the middle of the right mounting frame. A traveling battery for supplying power to the traveling motor is provided at the lower part of the rear side of the left mounting frame. Mounting brackets are provided on the left mounting frame and the right mounting frame above the front rollers. A high-definition camera and an image wireless transmission module are provided on the mounting brackets. An electrical component is provided on the left side of the left mounting frame.

2. The high-altitude cable obstacle clearing robot according to claim 1, characterized in that: The horizontally rotatable hot melt device includes a horizontal rotation motor mounted on the left mounting frame. The main shaft of the horizontal rotation motor is connected to a horizontally mounted plate. A ducted fan and two hot melt supports symmetrically arranged left and right with respect to the ducted fan are mounted on the horizontally mounted plate. Each hot melt support is connected to a hot melt fork through two pins arranged at intervals up and down. The two hot melt forks extend forward and upward. Ceramic blocks are provided at both the left and right ends of the hot melt forks. A ceramic rod parallel to the horizontally mounted plate is provided between the two ceramic blocks. An electric heating wire is wound around the ceramic rod. The winding density of the electric heating wire on the ceramic rod is large in the middle and small on both sides.

3. The high-altitude cable obstacle removal robot according to claim 1, wherein: The vertically rotatable hot melt power supply includes a rotating frame, a hot melt battery, and a vertical rotation motor. The vertical rotation motor is fixed in the middle of the right mounting frame. The main shaft of the vertical rotation motor is horizontally arranged front and back. The main shaft of the vertical rotation motor is connected to the rotating frame. The hot melt battery is provided on the rotating frame.

4. The high-altitude cable obstacle clearing robot according to claim 1, characterized in that: The high-definition camera is rotatably connected to the mounting bracket through a horizontally arranged shaft. A camera adjustment motor is provided on the mounting bracket. The main shaft of the camera adjustment motor is connected to the shaft.

5. The high-altitude cable obstacle clearing robot according to claim 1, characterized in that: The electrical component includes a wireless receiver, an electronic speed controller, and a relay module. The wireless receiver is used to receive signal commands sent from the ground during hot melting. The signal output terminals of the wireless receiver are respectively connected to the horizontal rotation motor, the vertical rotation motor, the traveling motor, the camera adjustment motor, the electronic speed controller, and the relay module. The electronic speed controller is used to adjust the rotation speed of the ducted fan. The relay module is connected to the electric heating wire. The high-definition camera is connected to the display screen on the hot melt remote control through the image wireless transmission module.

6. The high-altitude cable obstacle clearing robot according to claim 1, characterized in that: The outer circles of the front roller and the rear roller are both provided with an annular groove that is wide on the outside and narrow on the inside. The inner wall of the annular groove is provided with a friction structure.

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