Semi-automatic remote control intelligent cleaning device for high-altitude foreign matters

Abstract

The invention provides a semi-automatic remote-control intelligent cleaning device for high-altitude foreign matters. The semi-automatic remote-control intelligent cleaning device comprises a capturing and shearing mechanical unit, an electric unit, an insulating and voltage-resisting unit, a remote control unit, a handset unit and a base unit, according to the device, a semi-automatic device can be designed through remote signaling, remote sensing and remote control, and an oil pressure lifting mechanism, a servo electric intelligent control system, an automatic capturing, shearing, lifting and other linkage mechanisms connected with a body and a remote control system started under manual positioning are arranged in the mechanical head. The foreign matter removing tool is convenient, small and exquisite and easy to operate, the foreign matter removing method is safe, simple and reliable, the foreign matter removing tool is suitable for various power transmission lines, and the application range is wide.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid foreign body removal, in particular to a semi-automatic remote-controlled intelligent cleaning device for high-altitude foreign body. Background Art

[0002] Currently, there are three common methods for removing foreign objects from power grids. The first involves using drones equipped with flamethrowers to spray flames at suspended foreign objects on transmission lines, causing them to burn and effectively dispose of them. This method can quickly remove flammable materials from cables. The second method involves manual removal of flammable materials from distribution lines with low voltage ratings. The third method involves robotic removal technology, which allows robots to crawl along the wires or, with the assistance of an operator, follow the wires to locate the suspended foreign object and effectively remove it. Depending on the type of object, appropriate removal techniques are used, such as cutting, shearing, sawing, or burning. A fourth method is that, in recent years, a new laser technology has been widely used for clearing foreign objects from power systems. This technology, derived from military laser cannons, is highly directional and can effectively destroy and decontaminate any object, thereby purifying the environment. This method utilizes instantaneous high-energy, directional, and long-distance transmission technology to illuminate distant foreign objects in the power grid, enabling the rapid and safe removal of suspended foreign objects and effectively preventing environmental pollution.

[0003] The existing technology still has the following technical defects:

[0004] Disadvantage 1: Drones of the first type are susceptible to electromagnetic interference near transmission lines. Severe electromagnetic interference can easily cause the drone to lose control and collide with power lines or towers, or even crash, resulting in unnecessary safety incidents and economic losses. Furthermore, when using drones for jetting, foreign matter can burn and adhere to the surface of the wires, making it difficult to completely remove.

[0005] Disadvantage 2: The second technology can only achieve certain application effects in lower distribution network lines. It is not applicable to ultra-high voltage lines with high height and high voltage resistance level. In addition, there are very serious personal safety hazards when working with live wires under harsh conditions such as humid climate and light rain.

[0006] Disadvantage 3: The third technology has achieved some success, but operating the robot requires a high level of operator skill. Proficiency in operating the robot requires training and practice. Furthermore, there are issues such as high costs and risks for operators.

[0007] Disadvantage 4: The fourth laser ablation method still has problems such as damage to high-voltage transmission lines. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a semi-automatic remote-controlled intelligent cleaning device for high-altitude foreign objects. The remote control system of this device can be activated under manual positioning, so that the mechanical arm at a safe distance drives the foreign object removal tool to the appropriate position to remove the foreign objects. It is convenient, compact and easy to operate. The method for removing foreign objects is safe, simple and reliable. It is suitable for various power transmission lines and has a wide range of applications.

[0009] To achieve the above-mentioned object, the present invention adopts the following technical solution: a semi-automatic remote-controlled intelligent cleaning device for high-altitude foreign matter, comprising a capture and shearing mechanical unit, an electric unit, an insulation and voltage-resistant unit, a remote control unit, a handheld unit and a base unit;

[0010] The capture and shearing mechanical unit includes a capture and shearing mechanism, an electric push rod, and an insulating rod; the insulating rod is connected to the capture and shearing mechanism, and the electric push rod drives the capture and shearing mechanism to capture and shear foreign objects on the cable;

[0011] The electric unit includes a rotating device, a remote control unit control circuit, a power supply circuit, an electric telescopic rod and a servo motor;

[0012] The insulation and voltage-resistant unit includes a main insulating column, an electric insulating telescopic rod, an insulating body of a rotating device, an electric insulating push rod, an electric insulating push rod and an insulating rod body of a swing arm;

[0013] The remote control unit includes an Android control circuit with a 4G card, a transmitting circuit, a decoding circuit, an electric push rod, a rotating device, an electric control circuit of the remote control unit, a power supply circuit, an electric telescopic rod and a servo motor;

[0014] The base unit includes a movable base, adjustable feet and a rotary indexing plate.

[0015] In a preferred embodiment, the capture and shearing mechanical unit is further provided with an electric rod and a nylon king sheath; the nylon king sheath is arranged in alignment with the cable; the electric rod on the motor pushes the blade to clamp the static blade operating head to achieve capture and shearing of foreign objects on the cable.

[0016] In a preferred embodiment, the servo motor includes a first servo motor, a second servo motor and a third servo motor.

[0017] In a preferred embodiment, the remote control command 1 is used, and the first servo motor is started to deliver all units on the equipment except the base unit to a position approximately 80% of the distance from the working surface; secondly, the handheld device is used to press the remote control command 2, and the second servo motor is started to deliver the capture and shearing unit on the equipment to the vicinity of the cable through the swing arm mechanism, and accurately matches it in place with human assistance; thirdly, the handheld device is used to press the remote control command 3, and the third servo motor is used to start the electric push rod to push and pull the capture and shearing mechanism to perform the capture operation. If the capture is not in place at one time, the handheld device is used to press the remote control command 5 and the remote control command 3 to repeatedly operate until the high-altitude foreign objects are basically collected and can be sheared; fourthly, the handheld device is used to press the remote control command 4, and the third servo motor is used to start the electric push rod to push and pull the capture and shearing mechanism to perform the shearing operation. If the shearing is not in place at one time, the handheld device is used to press the remote control command 5 and the remote control command 4 to repeatedly operate until the high-altitude foreign objects are basically sheared; fifthly, the handheld device is used to press the remote control command 6, and the first servo motor, the second servo motor, and the third servo motor are started at the same time to restore the equipment to its original state before the operation through the electric unit.

[0018] In a preferred embodiment, the remote control unit has two operating modes:

[0019] On-site operation of the remote control: The transmitting system is integrated into the operator's handheld device, and the receiving and unloading system is installed in the swing arm counterweight integrated box. Before operation, ensure that the distance between the transmitting system and the receiving and unloading system is within 100 meters and there are no obstacles between them. During operation, operate directly according to the panel mark on the remote control according to the requirements.

[0020] On-site operation method of the handheld unit: the transmitting system is integrated into the base box of the equipment in this case, the receiving and unloading system is installed in the swing arm counterweight integrated box, and the remote control operation APP is installed on the power PDA dedicated handheld unit; during operation, operations are performed directly on the virtual keyboard prompted on the handheld unit according to requirements.

[0021] In a preferred embodiment, the base platform is leveled using the level gauge provided with the base. Next, the main column is adjusted perpendicular to the operating cable using the X and Y axis handwheels. The rotary indexing plate is adjusted to align the vertical plane of the swing arm with the cable. Finally, the various adjustment mechanisms and fastening mechanisms are locked. These steps on the base unit complete the equipment's initial state before starting to remove foreign objects.

[0022] Compared with the existing technology, the present invention has the following beneficial effects: the device can be designed as a semi-automatic device through remote signaling, remote sensing and remote control, wherein the mechanical head is provided with an electric motor transmission mechanism, a servo electric intelligent control system, and automatic capture, shearing and lifting linkage mechanisms connected to the main body. The remote control system is activated under manual positioning, so that the mechanical arm at a safe distance drives the foreign object removal tool to the appropriate position to remove the foreign object. The device is convenient, compact and easy to operate. The method for removing foreign objects is safe, simple and reliable. It is applicable to various power transmission lines and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic structural diagram of a preferred embodiment of the present invention;

[0024] Figure 2 This is a control topology diagram of the electric unit circuit according to a preferred embodiment of the present invention;

[0025] Figure 3 A working topology diagram of a remote control unit according to a preferred embodiment of the present invention;

[0026] Figure 4 This is a working topology diagram of the handset unit according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0029] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application; as used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form, and it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0030] refer to Figure 1-4 , a semi-automatic remote-controlled intelligent cleaning device for high-altitude foreign objects, including a capture and shearing mechanical unit, an electric unit, an insulation and voltage-resistant unit, a remote control unit, a handheld unit and a base unit;

[0031] The capture and shearing mechanical unit consists of a capture and shearing mechanism, a replaceable fixture, an electric push rod power transmission mechanism, etc.

[0032] The remote control and manually assisted lifting and rotating main mechanism are used to deliver the capture and shearing mechanism to the cable where the foreign object is located through the insulating rod, so that the nylon king sheath on the capture and shearing mechanical mechanism and the cable are aligned; secondly, another remote control instruction is used to move the electric push-pull rod to push the blade clamping static blade operating head to realize the capture and shearing function of foreign objects on the cable. It is worth mentioning that this device is divided into two steps of capture and shearing during the operation process. Unlike ordinary mechanical operations, there is no problem of mechanical aging, clamping loss and other problems, which greatly improves the fixation and removal ability of floating objects.

[0033] The electric unit consists of an electric push rod, a rotating device, a remote control unit electric control circuit, a power supply circuit, an electric telescopic rod and a servo motor, as shown in Table 1:

[0034] Table 1 Interface function correspondence table

[0035]

[0036]

[0037] Introduction to the working principle of the electric unit: Based on the advantages of high precision, high response speed and high reliability, the servo motor control methods include PID control, speed control, torque control, position control, pressure control and other industrial applications. These control methods can be selected and applied according to different application scenarios and needs. This case uses a closed-loop servo electric control system such as Figure 2 The closed-loop control and logic of the electric unit are shown in Table 1.

[0038] The following describes the normal working steps of sequential control operation:

[0039] First, use the handheld device to press remote control instruction 1, and motor 1 starts to deliver all units on the equipment except the base unit to a position nearly 80% of the distance from the working surface; second, use the handheld device to press remote control instruction 2, and motor 2 starts to deliver the capture and shearing unit on the equipment to the vicinity of the cable through the swing arm mechanism, and accurately matches it in place with human assistance; third, use the handheld device to press remote control instruction 3, and motor 3 starts the electric push rod to push and pull the capture and shearing mechanism to perform the capture operation. If the capture is not in place at one time, use the handheld device to press remote control instruction 5 and remote control instruction 3 to repeat the operation until the high-altitude foreign objects are basically collected and can be sheared; fourth, use the handheld device to press remote control instruction 4, and motor 3 starts the electric push rod to push and pull the capture and shearing mechanism to perform the shearing operation. If the shearing is not in place at one time, use the handheld device to press remote control instruction 5 and remote control instruction 4 to repeat the operation until the high-altitude foreign objects are basically sheared; fifth, use the handheld device to press remote control instruction 6, and motors 1, 2, and 3 are started at the same time to restore the equipment to its original state before the operation through the electric unit.

[0040] The following describes the specific steps for abnormal status of sequential control operations:

[0041] If the moving or stationary blades become slightly entangled with foreign matter during the capture process and require shearing assistance, press remote control commands 2, 4, and 5 simultaneously to activate the minor shearing assistance mode. Press remote control command 4 to initiate a cycle of capture, semi-cutter, and capture. Once the problem is resolved, press remote control command 5 to resume capture. If the moving or stationary blades become significantly entangled with foreign matter during the capture process and require shearing assistance, press remote control commands 3, 4, and 5 simultaneously to activate the major shearing assistance mode. Press remote control command 4 to initiate a cycle of capture, full shear, and capture. Once the problem is resolved, press remote control command 5 to resume capture. The initial setting is that the center of the moving blade enters the stationary blade perpendicularly (the angle at this point is 90 degrees). At this point, the overlap between the moving and stationary blades is in a semi-cutter state, and when they fully overlap, they are in a full-cutter state. The purpose of the swing arm fine-tuning lowering / lifting and swing arm lowering / lifting settings is to provide a slight lift (less than the lowering value) after strong tensioning to prevent the foreign matter from locking during the shearing process and to facilitate adjustment of the shearing angle for various foreign matter types. If the small increase is greater than the decrease, the moving blade may easily damage the power feeder.

[0042] During the shearing process, if the shearing of a small area of foreign matter is not smooth, the swing arm mechanism needs to assist: press remote control instructions 2, 4, and 5 at the same time to start the swing arm fine-tuning and lifting auxiliary mode. Press remote control instruction 2 to form a shearing-swing arm fine-tuning and lowering-shearing-swing arm fine-tuning and small lifting (less than the lowering value)-shearing-swing arm fine-tuning and lowering cycle operation mode until the shearing head is free from the entanglement of foreign matter. Press remote control instruction 5 to return to the swing arm lifting and lowering alignment stage, and carry out the second step of the normal state of the sequential control operation.

[0043] During the shearing process, large-scale shearing of foreign objects is difficult, and assistance from the swing arm mechanism and the main telescopic mechanism is required: press remote control instructions 1, 4, and 5 at the same time to start the swing arm descent and the main telescopic mechanism fine-tuning and lifting auxiliary mode (make sure that the swing arm descent is greater than the main telescopic mechanism lifting), and press remote control instructions 1 and 2 at the same time to form a shearing-swing arm descent-shearing-main telescopic mechanism fine-tuning and lifting-shearing-main telescopic mechanism fine-tuning descent-shearing cycle operation mode, until the shearing head is free from the entanglement of foreign objects, press remote control instruction 5 to return to the main telescopic mechanism alignment stage, and carry out the first step of the normal state of the sequential control operation. During positioning operations, personnel can quickly and easily operate the base unit and remotely control the nylon king guide groove on the capture and shearing unit to match the power feeder. Subsequent work basically revolves around the capture space and the correspondence between foreign objects. During the capture and shearing operations, personnel can operate remotely and use hands-free electronic surveillance visualization devices to conduct on-site collaborative operations (similar to using electronic navigation visualization mode when driving). This greatly reduces the difficulty of routine inspection operations and improves operation accuracy. It can be expanded to set up an operating platform on a handheld PDA, and can also develop towards unmanned operations.

[0044] Specifically, abnormal status includes the following two situations

[0045] (1) During the capture process, the moving and static blades are entangled by foreign objects of varying sizes:

[0046] At the work site, personnel used electronic surveillance equipment to visually observe the abnormalities (two types) that occurred when the movable blade closed from the initial horizontal state with the power feeder to the vertical direction with the power feeder to achieve the capture process. The main manifestations were the secondary entanglement of foreign objects and the exceeding of the capture range due to factors such as local wind during the capture process.

[0047] (2) During the shearing process, the shearing of large and small foreign bodies is not smooth:

[0048] At the work site, personnel use electronic surveillance equipment to visually observe the shearing anomalies (two types) caused by the dynamic blade changing from a vertical grasping state with the power feeder to overlapping with the static blade in the horizontal direction of the power feeder to achieve the shearing process. The main manifestation is the shearing anomaly of foreign objects caused by factors such as the texture of the local foreign material during the shearing process.

[0049] For different abnormal conditions, the control methods include:

[0050] (1) The first type of abnormal principle: It mainly manifests itself in that the main part of the foreign body must enter the capture space between the double moving blades, and ensure that the space is not entangled by foreign bodies (so that the capture and shearing unit can enter and exit without being restricted by foreign bodies). The specific application principle is explained in the following two points:

[0051] When the extension wire of a foreign object is slightly entangled, if it is difficult to cut the small wire simultaneously during the cutting process of the foreign object, it is necessary to cut off the extension wire around the foreign object in a small area first.

[0052] Because the foreign object is larger than the capture space, this mode can cut off the outer part of the foreign object in a small range until the main body of the foreign object can enter the capture space.

[0053] (2) The second major abnormal principle: It mainly manifests in the need to shear foreign objects in the capture space and there are two types of intelligent disposal methods. The specific application principles are explained in the following two points:

[0054] a. Due to the texture of the foreign material and deformation during the shearing process, the shearing process requires the use of a swing arm mechanism to pull the shear downward with a small force, and repeat this cycle until the operation is completed.

[0055] b. Due to reasons such as the size of the foreign object, the texture of the material being difficult to cut, or being in a special position, the shearing process requires the addition of a swing arm mechanism and a main telescopic mechanism to forcefully pull the shear downwards, and repeat this cycle.

[0056] The insulation and voltage-resistant unit consists of a main insulating column, an electric insulating telescopic rod, an insulating body of a rotating device, an electric insulating push rod, an electric insulating push rod, a swing arm insulating rod body, etc.

[0057] The insulation withstand voltage unit design of this case was formulated with reference to QGDW1799.1-2013 "Electric Power Safety Work Regulations - Substation Part", and the following three standards were applied:

[0058] According to Table 3 "Safety distance between normal working range of workers and live parts of equipment" in Section 7.2.1 of QGDW1799.1-2013 "Electric Power Safety Work Regulations for Substations", as follows:

[0059] As shown in Table 2.

[0060]

[0061]

[0062] Table 2 Safety distance between normal working range of workers and live parts of equipment

[0063] According to Table 4 "Safety distance between people and live parts during live work" in Chapter 9.2.1 of QGDW1799.1-2013 "Electric Power Safety Work Regulations - Substation Part", as shown in Table 3.

[0064]

[0065]

[0066] Table 3 Safety distance between people and live parts during live work According to QGDW1799.1-2013 "Electric Power Safety Work Regulations Part 9.2.2"

[0067] Table 5 "Minimum effective insulation length of insulating tools", as shown in Table 4.

[0068]

[0069]

[0070] Table 4 Minimum effective insulation length of insulating tools

[0071] Introduction to the working principle of insulation withstand voltage unit:

[0072] According to the above three substation power work standards, and based on the fact that the withstand voltage range of this project is 35kV-500kV in the ultra-high voltage company, the insulation withstand voltage unit structure design is divided into the following:

[0073] 1) Segmented operation mode: The lifting distance of the main body is designed to be 80% of the overall operating height to ensure strong support during operation and multiple combination treatment methods for entanglement problems during the shearing process.

[0074] 2) Fine-tuning swing arm operation mode: Based on the semi-automatic characteristics of this case, the guide slot of the capture head requires human assistance for alignment. Using the swing arm to lift and lower the position can solve the problem of accurate and labor-saving alignment, and it is not easy to cause damage to the electrical equipment by the mechanical head.

[0075] 3) Equipotential operation mode: One is based on the fine-tuning swing arm mode, which uses the principle of balanced lever to use the load-bearing power supply and energy storage part as the counterweight part, which not only solves the problem of remote and safe power supply, but also improves the complexity of the mechanical structure of the capture and shearing head. It introduces guide grooves, metal dynamic and static blades and high-power micro-motor transmission structures, so that the metal blade of the mechanical head will not damage the cable body during the positioning and capture and shearing process, and maintains a large force to solve the problem of difficult high-altitude operations.

[0076] 4) Based on the application of segmented lifting, swing arm alignment and equipotential mode, this case can set up standard lifting bodies and swing arm lifting mechanisms for various voltage resistance levels, and match them with different electric insulating telescopic rods and electric insulating push rods. The series are shown in Table 5.

[0077]

[0078] Table 5 Effective height of each lifting part series of semi-automatic remote control equipment

[0079] The remote control unit consists of an Android control circuit with a 4G card, a transmitting circuit, a decoding and receiving circuit, an electric push rod, a rotating device, an electric control circuit of the remote control unit, an energy storage power supply circuit, an electric telescopic rod and a servo motor.

[0080] The remote control unit is composed of three parts: a 4G Android control board, a transmitting system and a receiving system. It can work in two ways:

[0081] A) On-site operation of the remote control: The transmitting system is integrated into the operator's handheld device, and the receiving and unloading system is installed in the swing arm counterweight integrated box. Before operation, ensure that the transmitting system and the receiving and unloading system are within 100 meters and there are no obstacles between them. During operation, directly press the panel mark on the remote control according to the requirements.

[0082] B) On-site operation of the handheld unit (exclusively for the power PDA): The transmitting system is integrated into the base box of this device, the receiving and unloading system is installed in the swing arm counterweight integrated box, and a remote control operation app is installed on the power PDA-exclusive handheld unit; during operation, operations are performed directly on the virtual keyboard prompted on the handheld unit according to requirements.

[0083] The handheld unit can be used in two ways. Based on the fact that the use of power network terminals is restricted by time and process network security approval, it is used in the semi-automatic removal device of foreign objects in the high-altitude power grid in this case. In order to avoid maintaining a safe distance between humans and the device during operation, the remote control and remote sensing function of the operation is added. When using the handheld APP ground intelligent operation instructions, it is necessary to first transition to using a point-to-point remote control without network transmission function during output to realize the live remote control grabbing and cutting function.

[0084] The base unit consists of three parts: movable base, adjustable feet and rotating indexing plate, such as Figure 1 The bracket part shown in the figure; the movable base can be set to manually adjust the X and Y axes (set to 500*500 adjustable).

[0085] The working principle is as follows: First, place the equipment under the cable to be operated. Use the level gauge on the base to adjust the base feet to level the base platform. Next, use the X and Y handwheels to adjust the main column to be perpendicular to the operating cable. Finally, adjust the rotary indexing plate so that the vertical plane of the swing arm aligns with the cable. Finally, lock the various adjustment mechanisms and tightening mechanisms. These steps on the base unit complete the equipment's initial state before starting to remove foreign objects. When the telescopic body and swing arm are raised to the point where the nylon king guide slot of the shearing unit on the swing arm approaches the power feeder, the operator manually adjusts the rotary indexing plate to align the guide slot with the power feeder after the subsequent rise.

Claims

1. Semi-automatic remote control intelligent cleaning device for high altitude foreign matter, characterized by It includes a capture and shearing mechanical unit, an electric unit, an insulation and voltage resistance unit, a remote control unit, a handheld unit and a base unit; The capture and shearing mechanical unit includes a capture and shearing mechanism, an electric push rod, and an insulating rod; the insulating rod is connected to the capture and shearing mechanism, and the electric push rod drives the capture and shearing mechanism to capture and shear foreign objects on the cable; The electric unit includes a rotating device, a remote control unit control circuit, a power supply circuit, an electric telescopic rod and a servo motor; The insulation and voltage-resistant unit includes a main insulating column, an electric insulating telescopic rod, an insulating body of a rotating device, an electric insulating push rod, an electric insulating push rod and an insulating rod body of a swing arm; The remote control unit includes an Android control circuit with a 4G card, a transmitting circuit, a decoding circuit, an electric push rod, a rotating device, an electric control circuit of the remote control unit, a power supply circuit, an electric telescopic rod and a servo motor; The base unit includes a movable base, adjustable feet and a rotary indexing plate.

2. The semi-automatic remote-controlled intelligent cleaning device for high-altitude foreign objects according to claim 1 is characterized in that: The capture and shearing mechanical unit is also provided with an oil rod and a nylon king sheath; the nylon king sheath is arranged in alignment with the cable; the oil pressure pushes the piston to push the blade to clamp the static blade operating head to achieve capture and shearing of foreign objects on the cable.

3. The semi-automatic remote-controlled intelligent cleaning device for high-altitude foreign objects according to claim 1 is characterized in that: The servo motor includes a first servo motor, a second servo motor and a third servo motor.

4. The semi-automatic remote-controlled intelligent cleaning device for high-altitude foreign objects according to claim 3 is characterized in that: Remote control instruction 1, the first servo motor starts to deliver all units on the equipment except the base unit to a position nearly 80% of the distance from the working surface; second, use the handheld device to press remote control instruction 2, the second servo motor starts to deliver the capture and shearing unit on the equipment to the vicinity of the cable through the swing arm mechanism, and accurately matches it in place with human assistance; third, use the handheld device to press remote control instruction 3, the third servo motor starts the electric push rod to push and pull the capture and shearing mechanism to perform the capture operation. If the capture is not in place in one time, use the handheld device to press remote control instruction 5 and remote control instruction 3 to repeat the operation until the high-altitude foreign objects are basically collected and can be sheared; fourth, use the handheld device to press remote control instruction 4, the third servo motor starts the electric push rod to push and pull the capture and shearing mechanism to perform the shearing operation. If the shearing is not in place in one time, use the handheld device to press remote control instruction 5 and remote control instruction 4 to repeat the operation until the high-altitude foreign objects are basically sheared; fifth, use the handheld device to press remote control instruction 6, the first servo motor, the second servo motor, and the third servo motor are started at the same time to restore the equipment to its original state before the operation through the electric unit.

5. The semi-automatic remote-controlled intelligent cleaning device for high-altitude foreign objects according to claim 1 is characterized in that: The remote control unit has two operating modes: On-site operation of the remote control: The transmitting system is integrated into the operator's handheld device, and the receiving and unloading system is installed in the swing arm counterweight integrated box. Before operation, ensure that the distance between the transmitting system and the receiving and unloading system is within 100 meters and there are no obstacles between them. During operation, operate directly according to the panel mark on the remote control according to the requirements. On-site operation method of the handheld unit: the transmitting system is integrated into the base box of the equipment in this case, the receiving and unloading system is installed in the swing arm counterweight integrated box, and the remote control operation APP is installed on the power PDA dedicated handheld unit; during operation, operations are performed directly on the virtual keyboard prompted on the handheld unit according to requirements.

6. The semi-automatic remote-controlled intelligent cleaning device for high-altitude foreign objects according to claim 1 is characterized in that: In the base unit, adjust the base feet according to the level gauge equipped on the base to make the base platform level; secondly, adjust the main column to be perpendicular to the operating cable through the X and Y axis handwheels; again adjust the rotary indexing plate to make the vertical surface of the swing arm coincide with the cable, and finally lock the fastening mechanisms of each adjustment mechanism; only by completing these steps on the base unit can the original state requirements of the equipment before starting to clear foreign objects be completed.

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