Connecting device and method for melting ice of ground wire of overhead transmission line

Abstract

The invention discloses a connecting device and method for melting ice of a ground wire of an overhead transmission line, and relates to the technical field of transmission lines, the connecting device comprises a static contact, a moving contact, a lifting mechanism, a moving base and a controller, the moving contact comprises a mounting seat, an insulating connecting piece, a connecting contact finger, an in-place detection assembly and a camera assembly; wherein the mounting seat is fixedly connected with the lifting mechanism, the mounting seat is fixedly connected with the connecting contact finger through the insulating connecting piece, and the connecting contact finger is used for being connected with the static contact in an abutting mode and electrically connected with a ground wire. The in-place detection assembly and the camera assembly are both installed on the insulation connecting piece. The in-place detection assembly and the camera assembly are electrically connected with the controller. The top of the lifting mechanism is in sliding connection with the movable base, the movable base is fixedly installed on the power transmission frame body, the controller is used for controlling the lifting mechanism to execute the lifting action and controlling the movable base to execute the moving action, and the problem that the connection rate of traditional movable and static contact wiring is low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission lines, and particularly relates to a connecting device and method for deicing the ground wire of an overhead transmission line. Background Art

[0002] Icing on transmission lines is one of the major natural disasters threatening the power grid. Severe icing can lead to a large-scale paralysis of the power grid. Currently, power grid companies achieve deicing of incoming and outgoing conductors by installing DC deicing devices in hub substations. However, for the ground wire, since the ground wire itself does not conduct current and cannot resist freezing by the heat generated by its own load current, icing is more likely to occur on its surface.

[0003] At present, three types of ground wire deicing connection devices are generally used:

[0004] One is a handheld type. However, this device requires operators to manually connect the deicing equipment to the overhead ground wire. This device relies on an external power source or a self - contained power source to generate heat to melt the ice on the ground wire. However, the handheld type has disadvantages such as long time consumption, high danger, and great difficulty in docking.

[0005] One is a fixed - type automatic connection device. This device is pre - installed at a specific position and automatically starts when deicing is required. It contains a heating element or other forms of energy sources inside, which directly act on the ground wire to melt the ice through heat conduction. However, it has disadvantages such as heavy weight, great construction difficulty, inability to automatically correct, and easy sintering of moving contacts.

[0006] One is a front - end insulated automatic connection device. It is designed to have good insulation performance to ensure safe operation. At the same time, it can automatically complete the connection with the ground wire and start the deicing process, and use electric heating or other forms of energy conversion methods to heat the ground wire. However, this device generally has disadvantages such as large size of the device body and poor adaptability.

[0007] Chinese Patent with Publication No. CN219592029U discloses a ground wire deicing automatic connection device. By equipping an offset correction component, it can automatically adjust the offset of the moving contact according to the position of the static contact, so that the moving contact can stably and effectively contact the static contact. It is equipped with a vision camera, which can not only automatically analyze the offset amount of the static contact, but also take pictures of the contact situation between the moving and static contacts and upload them to the substation control personnel for confirmation. However, installing the moving contact on a long insulating connecting piece will cause a large force on the moving contact end of the insulating connecting piece when the moving contact is not connected to the static contact, easily resulting in the situation that the insulating connecting piece sags and bends, thus making it difficult to align the moving contact and the static contact during subsequent connection, affecting the success rate of wiring.

[0008] Therefore, a connecting device with a high wiring success rate and low docking difficulty is needed. Summary of the Invention

[0009] The object of the present invention is to provide a connection device and method for melting ice on a ground wire of an overhead power transmission line, which is used to solve the problem of low connection rate of traditional moving and static contact wiring.

[0010] The present invention is achieved through the following technical solutions:

[0011] A connection device for melting ice on an overhead power transmission line ground wire, comprising a static contact, a moving contact, a lifting mechanism, a movable base and a controller, wherein the static contact is mounted on a jumper series connection board;

[0012] The movable contact comprises a mounting seat, an insulating connector, a connecting contact, an in-place detection assembly and a camera assembly; wherein the mounting seat is fixedly connected to the lifting mechanism, the mounting seat is fixedly connected to the connecting contact through the insulating connector, the connecting contact is used to contact and connect with the static contact, and the connecting contact is electrically connected to the ground wire; the in-place detection assembly and the camera assembly are both mounted on the insulating connector, and the in-place detection assembly is used to detect the contact between the connecting contact and the conductive copper tube, and the camera assembly is used to detect the position of the conductive copper tube; the in-place detection assembly and the camera assembly are both electrically connected to the controller;

[0013] The top of the lifting mechanism is slidably connected to the mobile base, the mobile base is fixedly installed on the power transmission frame, and the controller is used to control the lifting mechanism to perform lifting actions and control the mobile base to perform moving actions.

[0014] Furthermore, the static contact includes a connecting plate, a wire clamp, a metal protective cover and a conductive copper tube, wherein the connecting plate is fixedly connected to the jumper series plate of the overhead transmission line, and the bottom surface of the connecting plate is fixedly connected to the top surface of the metal protective cover; an opening is provided on the top of the metal protective cover, the head end of the wire clamp is located above the metal protective cover, and the diameter of the head end is larger than the opening, the tail end of the wire clamp passes through the opening and is connected to the conductive copper tube, and the conductive copper tube is located inside the metal protective cover.

[0015] Furthermore, the connecting contact includes two conductive rods and lead terminals, wherein the two conductive rods are fixedly mounted on the insulating connector, the two conductive rods are used to clamp the conductive copper tube, and a plurality of lead terminals are arranged on the two conductive rods, and the plurality of lead terminals are respectively in contact with the ground wire through a lead wire.

[0016] Further, the lifting mechanism includes a top mounting plate, a bottom mounting plate and a middle scissor-type structure, wherein the top mounting plate and the bottom mounting plate are each provided with two slide rails, the top and bottom of the middle scissor-type structure are each provided with two sliders located on the same side, and two fixed blocks located on the other side, the two slide rails of the top mounting plate are respectively slidably connected with the two top sliders of the middle scissor-type structure, and the two top fixed blocks of the middle scissor-type structure are fixedly connected with the top mounting plate;

[0017] Two screw motors are installed on the top mounting plate. A moving block is provided on the screw part of each of the two screw motors. The two moving blocks are respectively fixedly connected to the two top sliders of the middle scissor structure, and are used to drive the two top sliders of the middle scissor structure to move along the slide rail;

[0018] The two slide rails of the bottom mounting plate are slidably connected to the two bottom sliders of the middle scissor structure. The two bottom fixing blocks of the middle scissor structure are fixedly connected to the bottom mounting plate, and the bottom mounting plate is fixedly connected to the mounting seat of the moving contact correspondingly.

[0019] Further, the screw motor adopts a quick-release motor.

[0020] A connection method for de-icing the ground wire of an overhead transmission line specifically includes:

[0021] Obtain the spatial position of the moving contact;

[0022] Using the lifting mechanism and the moving base, control the moving contact to be located below the static contact;

[0023] Adopt a visual detection algorithm to judge the relative position between the moving contact and the static contact, and plan the moving path of the moving contact;

[0024] Based on the moving path of the moving contact, control the moving contact to be in corresponding contact connection with the conductive copper tube of the static contact.

[0025] Further, use GPS or Beidou positioning technology to obtain the spatial position of the moving contact.

[0026] Further, the specific steps of the visual detection algorithm for judging the relative position between the moving contact and the static contact are as follows:

[0027] The camera takes an image of the area of the static contact;

[0028] Obtain the internal parameter matrix and external parameter matrix of the camera;

[0029] Preprocess the captured image;

[0030] According to the preprocessed image, identify the pixel coordinates of the conductive copper tube;

[0031] Convert the pixel coordinates into actual space coordinates;

[0032] Based on the actual space coordinates of the conductive copper tube, plan the moving path of the moving contact.

[0033] Further, the specific steps of converting the pixel coordinates into actual space coordinates are as follows:

[0034] Based on the internal parameter matrix of the camera, convert the pixel coordinates into coordinates in the normalized camera coordinate system;

[0035] Based on the known installation height of the static contact, the depth value is solved by combining the translation component and the rotation matrix in the external parameter matrix;

[0036] Substitute the depth value into the extrinsic matrix to calculate the actual spatial coordinates of the conductive copper tube.

[0037] Furthermore, the moving path planning steps of the moving contact are specifically as follows:

[0038] Determine the spatial coordinates of the moving contact and the conductive copper tube, as well as the moving speed of the lifting mechanism and the moving base;

[0039] Calculate the horizontal displacement component and vertical displacement component of the moving contact, as well as the time constraints of the horizontal displacement and vertical displacement respectively;

[0040] Plan the horizontal and vertical paths of the moving contact separately to determine the moving path.

[0041] The technical solution of the present invention has at least the following advantages and beneficial effects:

[0042] The present invention discloses a connection device and method for melting ice on a ground wire of an overhead power transmission line. The movable contact is driven to move in a horizontal direction by a movable base, and the movable contact is driven to move in a vertical direction by a lifting mechanism, so that there is no need for a too long connecting rod between the movable contact and the lifting mechanism, so that the spatial position of the movable contact is relatively stable, thereby ensuring that the subsequent docking action of the movable contact is easier and reducing the difficulty of wiring.

[0043] In addition, through the camera assembly and visual detection algorithm, the moving contact and the static contact can be automatically matched to improve the wiring success rate;

[0044] In addition, the relative distance between the current conductive copper tube and the connecting contact finger can be obtained through the visual detection algorithm, so as to plan the movement path of the connecting contact finger and automatically control the movement of the connecting contact finger in the direction of the conductive copper tube, so as to finally achieve the resistance connection between the two, improve the automation degree of the connection device, reduce manual intervention, and effectively improve the success rate of the connection. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A structural schematic diagram of the present invention;

[0046] Figure 2 It is a schematic diagram of the static contact structure of the present invention;

[0047] Figure 3 It is a schematic diagram of the conductive copper tube structure of the present invention;

[0048] Figure 4 It is a schematic diagram of the structure of the moving contact of the present invention;

[0049] Figure 5 Structural schematic diagram of the lifting mechanism of the present invention;

[0050] Figure 6 Structural schematic diagram of the lead screw motor of the present invention;

[0051] Figure 7 Schematic flow chart of a method of the present invention.

[0052] Reference numerals: 1, static contact; 11, connecting plate; 12, wire taking clamp; 13, metal protective cover; 14, conductive copper tube; 2, moving contact; 21, mounting seat; 22, insulating connecting piece; 23, connecting finger; 231, conductive rod; 232, lead terminal; 24, in-place detection component; 25, camera component; 3, lifting mechanism; 31, top mounting plate; 32, bottom mounting plate; 33, slide rail; 34, middle scissor structure; 35, slider; 36, fixed block; 37, lead screw motor; 4, moving base; 5, controller; 6, jumper series board; 7, wire; 8, frame. Detailed implementation manners

[0053] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0054] Embodiment 1

[0055] As Figure 1 shown, a connecting device for de-icing the ground wire of an overhead transmission line includes a static contact 1, a moving contact 2, a lifting mechanism 3, a moving base 4 and a controller 5. The static contact 1 is installed on a jumper series board 6; the static contact 1 can utilize the transmission line to provide the voltage and current required for de-icing the ground wire. Among them, the line voltage level is 500 KV line, and the device will be distinguished by series models according to the line voltage level;

[0056] In addition, a closing device is provided between the static contact 1 and the jumper series board 6. Only after the closing device is closed will the static contact 1 be powered on, avoiding damage to the static contact 1 caused by too long power-on time;

[0057] The moving contact 2 includes a mounting seat 21, an insulating connector 22, a connecting contact 23, an in-position detection component 24 and a camera component 25; wherein the mounting seat 21 is fixedly connected to the lifting mechanism 3, and the mounting seat 21 is fixedly connected to the connecting contact 23 through the insulating connector 22, and the connecting contact 23 is used to contact and connect with the static contact 1, and the connecting contact 23 is electrically connected to the ground wire; that is, the lifting action of the lifting mechanism 3 can drive the moving contact 2 to move synchronously, and the connecting contact 23 can contact and connect with the static contact 1 under the drive of the lifting mechanism 3 and the movable base 4, thereby guiding the current of the static contact 1 to the ground wire, thereby realizing ice melting of the ground wire;

[0058] The in-place detection component 24 and the camera component 25 are both mounted on the insulating connector 22, and the in-place detection component 24 is used to detect the interference between the connecting contact 23 and the conductive copper tube 14, and the camera component 25 is used to detect the position of the conductive copper tube 14; the in-place detection component 24 and the camera component 25 are both electrically connected to the controller 5;

[0059] Among them, the insulating connector 22 can isolate the connecting contact 23 from the mounting base 21, the in-place detection component 24 and the camera component 25, so as to prevent the large current of the static contact 1 from causing impact on the in-place detection component 24, the camera component 25 and the lifting mechanism 3, thereby affecting the normal operation of these devices; the in-place detection component 24 can be set as a proximity switch. When the conductive copper tube 14 contacts the connecting contact 23, the conductive copper tube 14 will also contact the control end of the proximity switch synchronously, so that the proximity switch outputs an in-place signal to the controller 5, so that the logic program in the controller 5 can clearly know the current connection status between the connecting contact 23 and the static contact 1, so as to perform subsequent logic control; and the camera component 25 is used to shoot the conductive copper tube 14 of the static contact 1. The visual detection algorithm can judge the current relative distance between the conductive copper tube 14 and the connecting contact 23 based on the captured image data, so as to plan the moving path of the connecting contact 23, control the connecting contact 23 to move in the direction of the conductive copper tube 14, and finally realize the contact connection between the two.

[0060] The top of the lifting mechanism 3 is slidably connected to the mobile base 4, and the mobile base 4 is fixedly installed on the power transmission frame 8. The controller 5 is used to control the lifting mechanism 3 to perform the lifting action, and control the mobile base 4 to perform the moving action.

[0061] It should be noted that a protective cover is provided at the bottom of the movable base 4. When the lifting mechanism 3 is fully retracted, it can be completely located in the protective cover, so that the structure of the lifting mechanism 3 can be protected under normal circumstances.

[0062] Example 2

[0063] like Figures 2 - 3As shown, as an embodiment, the static contact 1 includes a connection plate 11, a wire-taking clamp 12, a metal protective cover 13, and a conductive copper tube 14. The connection plate 11 is fixedly connected to the jumper series plate 6 of the overhead transmission line. The bottom surface of the connection plate 11 is fixedly connected to the top surface of the metal protective cover 13. The metal protective cover 13 has an opening at the top. The head end of the wire-taking clamp 12 is located above the metal protective cover 13, and the diameter of the head end is greater than the opening. The tail end of the wire-taking clamp 12 passes through the opening and is connected to the conductive copper tube 14, and the conductive copper tube 14 is located inside the metal protective cover 13.

[0064] The metal protective cover 13 can not only protect the conductive copper tube 14 from being covered by ice and snow and ensure the safety of the conductive copper tube 14, but also act as a conductor to introduce the current of the jumper series plate 6 into the wire-taking clamp 12, and then the current is transmitted to the conductive copper tube 14. In addition, the large-diameter head end of the wire-taking clamp 12 is directly placed on the top of the metal protective cover 13. The wire-taking clamp 12 can be used as the wire 7 between the metal protective cover 13 and the conductive copper tube 14, so that the current of the jumper series plate 6 flows from the connection plate 11, through the metal protective cover 13 and the wire-taking clamp 12 to the conductive copper tube 14, and then flows to the ground wire through the connection finger 23 of the moving contact 2.

[0065] Embodiment 3

[0066] As Figure 4 shown, as an embodiment, the connection finger 23 includes two conductive rods 231 and a lead terminal 232. The two conductive rods 231 are fixedly installed on the insulating connector 22. The two conductive rods 231 are used to clamp the conductive copper tube 14, and a plurality of lead terminals 232 are arranged on the two conductive rods 231. The plurality of lead terminals 232 are respectively in contact with the ground wire through a lead.

[0067] The rod heads of the two conductive rods 231 have a certain bend, so that they form a horn shape after combination, which can make the connection between the two conductive rods 231 and the conductive copper tube 14 easier.

[0068] In addition, as Figures 5 - 6 shown, the lifting mechanism 3 adopts a scissor lifting structure.

[0069] It should be noted that the lifting mechanism 3 includes a top mounting plate 31, a bottom mounting plate 32, and a middle scissor structure 34. The top mounting plate 31 and the bottom mounting plate 32 are both provided with two slide rails 33. The top and bottom of the middle scissor structure 34 are respectively provided with two sliders 35 on the same side and two fixed blocks 36 on the other side. The two slide rails 33 of the top mounting plate 31 are respectively slidably connected to the two top sliders 35 of the middle scissor structure 34, and the two top fixed blocks 36 of the middle scissor structure 34 are fixedly connected to the top mounting plate 31.

[0070] Two screw motors 37 are installed on the top mounting plate 31. A moving block is provided on the screw part of each of the two screw motors 37. The two moving blocks are respectively fixedly connected to the two top sliders 35 of the middle scissor structure 34, and are used to drive the two top sliders 35 of the middle scissor structure 34 to move along the slide rail 33;

[0071] The two slide rails 33 of the bottom mounting plate 32 are slidably connected to the two bottom sliders 35 of the middle scissor structure 34. The two bottom fixing blocks 36 of the middle scissor structure 34 are fixedly connected to the bottom mounting plate 32, and the bottom mounting plate 32 is fixedly connected to the mounting seat 21 of the moving contact 2 correspondingly;

[0072] The operation process of the scissor lifting mechanism 3 is that the two screw motors 37 rotate forward synchronously, thereby driving the two moving blocks to move respectively, and then driving the top sliders 35 of the middle scissor structure 34 to move along the slide rail 33, realizing the unfolding of the middle scissor structure 34. Thus, the bottom mounting plate 32 moves away from the top mounting plate 31, that is, driving the moving contact 2 to descend, and vice versa driving the moving contact 2 to ascend; it should be noted that the use of the scissor structure makes the overall connection device lightweight, and the volume of the scissor structure when folded is smaller, thus reducing the floor area of the connection device.

[0073] In addition, both of the two screw motors 37 are quick-release motors, which are convenient for disassembly, thus facilitating maintenance and debugging.

[0074] Embodiment 4

[0075] Such as Figure 7 shown, a connection method for deicing the ground wire of an overhead transmission line specifically includes:

[0076] Obtain the spatial position of the moving contact 2;

[0077] Specifically, use GPS or Beidou positioning technology to obtain the spatial position of the moving contact 2;

[0078] Use the lifting mechanism 3 and the moving base 4 to control the moving contact 2 to be located below the static contact 1;

[0079] This step is the first-stage movement of the moving contact 2. The specific operation process of this stage is: first, the lifting mechanism 3 drives the moving contact 2 to descend to the lowest position, and then the moving base 4 moves to the limit position. At this time, the moving contact 2 is located below the static contact 1, but the two are still in a non-connected state, but the camera assembly 25 of the moving contact 2 can capture the static contact 1;

[0080] Adopt a visual detection algorithm to judge the relative position between the moving contact 2 and the static contact 1, and plan the moving path of the moving contact 2;

[0081] Based on the moving path of the moving contact 2, the moving contact 2 is controlled to be in corresponding contact connection with the conductive copper tube 14 of the static contact;

[0082] Based on the image of the static contact 1 taken by the camera assembly 25 of the moving contact 2, the relative position of the moving contact 2 and the static contact 1 is judged, so as to plan the moving path of the moving contact 2, and finally control the corresponding contact connection between the conductive copper tube 14 of the moving contact 2 and the static contact according to the moving path.

[0083] Example 5

[0084] As an embodiment, the specific steps of the visual detection algorithm for determining the relative position of the moving contact 2 and the static contact 1 are as follows:

[0085] The camera captures an image of the stationary contact area;

[0086] Get the camera's intrinsic and extrinsic matrix;

[0087] The internal parameter matrix where f x and f y are the horizontal focal length and the vertical focal length, c x and c y are the principal points of the camera respectively;

[0088] The external parameter matrix is [R|T], which represents the rotation and translation relationship from the camera coordinate system to the world coordinate system, that is, R is the rotation matrix and T is the translation matrix;

[0089] Preprocessing the captured images;

[0090] The method includes a denoising process using a Gaussian filter and an edge enhancement process using a Canny operator, which can enhance the image clarity and facilitate subsequent extraction of image features, thereby identifying the pixel coordinates of the conductive copper tube 14;

[0091] According to the preprocessed image, the pixel coordinates of the conductive copper tube 14 are identified;

[0092] Locate the pixel coordinates (u, v) of the stationary contact through an image recognition algorithm;

[0093] Convert pixel coordinates to real space coordinates. The specific steps are:

[0094] Based on the camera's intrinsic parameter matrix, the pixel coordinates are converted to coordinates in the normalized camera coordinate system;

[0095] The specific calculation formula is:

[0096]

[0097] Among them, x n and nare the pixel abscissa and pixel ordinate of the conductive copper tube 14, respectively, f x and f y are the horizontal focal length and vertical focal length, respectively, c x and c y are the principal points of the camera, respectively;

[0098] Based on the known installation height Z of the static contact w , combined with the translation component T in the external parameter matrix z and the rotation matrix R, calculate the depth value z;

[0099] Assume that the static contact is located on the plane Z = Z of the world coordinate system w ,

[0100] Z w = R 31 (x n ·z) + R 32 (y n ·z) + R 33 ·z + T z

[0101] where R 31 , R 32 and R 33 are the elements of the third row of the rotation matrix, respectively;

[0102] Substitute the depth value into the external parameter matrix to calculate the actual spatial coordinates of the conductive copper tube 14;

[0103]

[0104] where R ij is the element of the rotation matrix, T x and T y are the horizontal components of the translation vector;

[0105] Thus, obtain the actual coordinates (X w , Y w , Z w ) of the static contact in the world coordinate system.

[0106] Based on the actual spatial coordinates of the conductive copper tube 14, plan the movement path of the moving contact 2, specifically:

[0107] Determine the spatial coordinates (X0, Y0, Z0) of the moving contact 2 and the spatial coordinates (X w , Y w , Z w ) of the conductive copper tube 14, as well as the moving speed v h of the lifting mechanism 3 and the moving speed v m of the moving base 4;

[0108] Calculate the horizontal displacement component and vertical displacement component of the moving contact 2 respectively, as well as the time constraints of the horizontal displacement and vertical displacement;

[0109] The horizontal displacement component of the moving contact 2 is: ΔX = X w - X0, ΔY = Y w - Y0;

[0110] The vertical displacement component of the moving contact 2 is: ΔZ = Z w - Z0;

[0111] The time constraints of the horizontal displacement and vertical displacement are:

[0112] Wherein, is the time of the vertical displacement, is the time of the horizontal displacement;

[0113] Plan the horizontal path and vertical path of the moving contact 2 respectively, and determine the moving path.

[0114] The horizontal path of the moving contact 2 is:

[0115] The vertical path of the moving contact 2 is:

[0116] The moving path is U = (m, h).

[0117] For example: The starting point of the moving contact 2 is (0, 0, 1) m, and the static contact 1 is (3, 4, 2) m;

[0118] The speed v of the lifting mechanism 3 h = 0.5 m / s and the moving speed v of the moving base (4) m = 1 m / s;

[0119] The horizontal path of the moving contact 2: m = (0.6, 0.8) m;

[0120] The vertical path of the moving contact 2: h = 0.2 m;

[0121] The moving path is for the moving base 4: moving (0.6, 0.8) m per second, and the lifting mechanism 3: rising 0.2 m per second.

[0122] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A connecting device for ice melting of ground wires of overhead transmission lines, characterized in that, It comprises a static contact (1), a moving contact (2), a lifting mechanism (3), a movable base (4) and a controller (5), wherein the static contact (1) is mounted on a jumper series board (6); The movable contact (2) comprises a mounting seat (21), an insulating connector (22), a connecting contact (23), an in-position detection component (24) and a camera component (25); wherein the mounting seat (21) is fixedly connected to the lifting mechanism (3), the mounting seat (21) is fixedly connected to the connecting contact (23) via the insulating connector (22), the connecting contact (23) is used for contact connection with the static contact (1), and the connecting contact (23) is electrically connected to the ground wire; the in-position detection component (24) and the camera component (25) are both mounted on the insulating connector (22), the in-position detection component (24) is used for detecting the contact between the connecting contact (23) and the conductive copper tube (14), and the camera component (25) is used for detecting the position of the conductive copper tube (14); the in-position detection component (24) and the camera component (25) are both electrically connected to the controller (5); The top of the lifting mechanism (3) is slidably connected to the movable base (4), the movable base (4) is fixedly mounted on the power transmission frame (8), and the controller (5) is used to control the lifting mechanism (3) to perform a lifting action, and to control the movable base (4) to perform a moving action.

2. The connecting device for melting ice on the ground wire of the overhead transmission line according to claim 1, characterized in that: The static contact (1) comprises a connecting plate (11), a wire taking clamp (12), a metal protective cover (13) and a conductive copper tube (14), wherein the connecting plate (11) is fixedly connected to a jumper series plate (6) of an overhead power transmission line, and the bottom surface of the connecting plate (11) is fixedly connected to the top surface of the metal protective cover (13); an opening is provided at the top of the metal protective cover (13); the head end of the wire taking clamp (12) is located above the metal protective cover (13), and the diameter of the head end is larger than the opening; the tail end of the wire taking clamp (12) passes through the opening and is connected to the conductive copper tube (14); and the conductive copper tube (14) is located inside the metal protective cover (13).

3. The connecting device for melting ice on the ground wire of an overhead transmission line according to claim 1, characterized in that: The connecting contact finger (23) comprises two conductive rods (231) and lead terminals (232), wherein the two conductive rods (231) are fixedly mounted on the insulating connector (22), the conductive copper tube (14) is clamped between the two conductive rods (231), and a plurality of lead terminals (232) are arranged on the two conductive rods (231), and the plurality of lead terminals (232) are respectively in contact with a ground wire through a lead wire.

4. The connecting device for ice melting of the ground wire of the overhead transmission line according to claim 1, characterized in that: The lifting mechanism (3) comprises a top mounting plate (31), a bottom mounting plate (32) and a middle scissor-type structure (34), wherein the top mounting plate (31) and the bottom mounting plate (32) are each provided with two slide rails (33), the top and bottom of the middle scissor-type structure (34) are each provided with two sliders (35) located on the same side, and two fixed blocks (36) located on the other side, the two slide rails (33) of the top mounting plate (31) are respectively slidably connected to the two top sliders (35) of the middle scissor-type structure (34), and the two top fixed blocks (36) of the middle scissor-type structure (34) are fixedly connected to the top mounting plate (31); The top mounting plate (31) is equipped with two lead screw motors (37). A moving block is provided on the lead screw part of each of the two lead screw motors (37). The two moving blocks are respectively fixedly connected to the two top sliders (35) of the middle scissor structure (34) for driving the two top sliders (35) of the middle scissor structure (34) to move along the slide rail (33). The two slide rails (33) on the bottom mounting plate (32) are slidably connected to the two bottom sliders (35) of the middle scissor structure (34). The two bottom fixing blocks (36) of the middle scissor structure (34) are fixedly connected to the bottom mounting plate (32), and the bottom mounting plate (32) is fixedly connected to the mounting seat 21 of the moving contact 2 correspondingly.

5. The connecting device for ice melting of the ground wire of the overhead transmission line according to claim 4, characterized in that: The lead screw motor (37) adopts a quick-release motor.

6. A connection method for ice melting of the ground wire of an overhead transmission line, realizing the connection device for ice melting of the ground wire of an overhead transmission line as described in any one of claims 1-5, specifically including: Obtain the spatial position of the moving contact (2). Using the lifting mechanism (3) and the moving base (4), control the moving contact (2) to be located below the static contact (1). Adopt a visual detection algorithm to judge the relative position between the moving contact (2) and the static contact (1), and plan the moving path of the moving contact (2). Based on the moving path of the moving contact (2), control the moving contact (2) to be in corresponding abutting connection with the conductive copper tube (14) of the static contact.

7. The connection method for de-icing the ground wire of an overhead transmission line according to claim 6, characterized in that: Use GPS or Beidou positioning technology to obtain the spatial position of the moving contact (2).

8. The connection method for ice melting of the ground wire of an overhead transmission line according to claim 6, characterized in that: For the visual detection algorithm, the specific steps for judging the relative position between the moving contact (2) and the static contact (1) are: Take an image of the static contact area by a camera. Obtain the internal parameter matrix and external parameter matrix of the camera. Preprocess the taken image. According to the preprocessed image, identify the pixel coordinates of the conductive copper tube (14). Convert the pixel coordinates into actual space coordinates. Based on the actual space coordinates of the conductive copper tube (14), plan the moving path of the moving contact (2).

9. The connection method for de-icing the ground wire of an overhead transmission line according to claim 8, characterized in that: The specific steps for converting the pixel coordinates into actual space coordinates are: Based on the internal parameter matrix of the camera, convert the pixel coordinates into coordinates in the normalized camera coordinate system. Based on the known installation height of the static contact, combined with the translation component and rotation matrix in the external parameter matrix, solve the depth value. Substitute the depth value into the external parameter matrix to calculate the actual space coordinates of the conductive copper tube (14).

10. The connection method for deicing of the ground wire of an overhead transmission line according to claim 8, characterized in that: The moving path planning steps of the moving contact (2) are specifically: Determine the spatial coordinates of the moving contact (2) and the conductive copper tube (14), and the moving speeds of the lifting mechanism (3) and the moving base (4). Respectively calculate the horizontal displacement component and vertical displacement component of the moving contact (2), and the time constraints of the horizontal displacement and vertical displacement. Respectively plan the horizontal path and vertical path of the moving contact (2) to determine the moving path.

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