Overhead cable anti-icing coating emergency off-line method and anti-icing coating robot

Abstract

The invention belongs to the technical field of power robots. According to the anti-icing coating emergency off-line method for the overhead cable and the anti-icing coating robot, when a lower coating assembly cannot be separated from the overhead cable, or the lower coating assembly cannot move to a set off-line position although the lower coating assembly is separated from the overhead cable, it is judged that the lower coating assembly is in an emergency off-line state; in the emergency off-line state, the emergency lifting appliance is pulled through the unmanned aerial vehicle, and the synchronous belt is driven to act so that the lower coating assembly can move in the direction away from the upper coating assembly; and when the lower coating assembly moves to a set off-line position, emergency off-line is completed. The problem that the anti-icing coating device lacks an emergency off-line structure support is solved, the pertinence and timeliness of emergency response are improved, and the risk that the device is detained in the cable due to the fact that the off-line operation is delayed because the emergency state cannot be judged is avoided.

Description

Technical Field

[0001] This invention relates to the field of power robot technology, and in particular to an emergency disconnection method for anti-icing coating of overhead cables and an anti-icing coating robot. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Overhead power lines, as the core medium for long-distance power transmission, are widely used in power systems. In low-temperature winter conditions, overhead lines are prone to icing, a problem that has become a significant threat to the safe and stable operation of the power grid. This can lead to conductor galloping and, in severe cases, even major ice-related accidents such as tower collapse and line breakage. To address the problem of line icing, the industry has developed two main technical approaches: active de-icing and passive protection. Passive coating, due to its economic and practical advantages, has gradually become one of the mainstream protection methods. Traditional manual climbing and painting methods suffer from poor safety and low efficiency, failing to meet the needs of large-scale line protection. Therefore, the development of anti-icing coating robots has become an urgent need for industry development. Currently, various anti-icing coating devices for transmission lines have emerged in related technical fields. These devices mostly adopt an open-and-close structure design, using nozzles to spray coatings, and are equipped with functional modules such as drying and residual material recovery. Some devices also integrate de-icing mechanisms, achieving integrated de-icing and coating operations, providing diverse technical solutions for line anti-icing.

[0004] Although existing anti-icing coating devices possess basic coating functions, numerous technical shortcomings remain in practical applications that urgently need to be addressed. For example, existing coating devices generally lack an emergency opening function; in the event of an emergency power outage, they cannot promptly open the cavity to release the cable, potentially leading to cable entrapment and safety risks. Furthermore, in terms of adaptability, existing anti-icing coating devices struggle to automatically match cables of various diameters, requiring frequent adjustments for different cable specifications, severely impacting operational efficiency. In situations involving lateral cable entry and detachment by the robot, the structural design of existing anti-icing coating devices makes operation inconvenient, hindering rapid cable connection and disconnection. Moreover, existing anti-icing coating devices lack robust control logic and limit protection mechanisms, making closed-loop control difficult and posing a risk of motor stall and damage. Their poor self-recovery capability after damage further exacerbates safety hazards during operation, hindering the promotion and application of anti-icing coating technology. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an emergency disconnection method for anti-icing coating of overhead cables and an anti-icing coating robot. This solves the problem of the lack of emergency disconnection structural support in anti-icing coating devices, improves the pertinence and timeliness of emergency response, and avoids the risk of cable entrapment caused by delays in disconnection operations due to the inability to determine the emergency status.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an emergency disconnection method for anti-icing coating of overhead cables.

[0007] An emergency cable disconnection method for anti-icing coating of overhead cables is applied to an anti-icing coating device. The anti-icing coating device includes an upper coating component, a lower coating component, and a frame component. The lower coating component is connected to a synchronous belt on the frame component and can move up and down under the drive of the synchronous belt to cooperate with the upper coating component to cover the overhead cable. An emergency lifting device is connected to the synchronous belt. If the coating component cannot detach from the overhead cable, or if the lower coating component detaches from the overhead cable but cannot move to the designated disconnection position, it is determined to be in an emergency disconnection state. In an emergency disconnection situation, an emergency lifting device is pulled by a drone, which drives the synchronous belt to move the lower coating component away from the upper coating component; Emergency de-corrosion is completed when the coating component moves to the set de-corrosion position.

[0008] In one optional implementation of the first aspect of the present invention, in an emergency disconnection state, the controller of the anti-icing coating device automatically sends an emergency disconnection request to the drone, so that the drone pulls the emergency lifting device through the suspended boom according to the received request.

[0009] In one optional implementation of the first aspect of the present invention, in an emergency disconnection state, the controller of the anti-icing coating device sends an emergency disconnection request to the ground control terminal, so that the UAV controls the UAV to pull the emergency hoisting device according to the received request.

[0010] In one possible implementation of the first aspect of the present invention, in an emergency disconnection state, the emergency hoisting device is pulled by a drone directly through a ground control terminal.

[0011] Secondly, the present invention provides an anti-icing coating device for overhead cables.

[0012] An anti-icing coating device for overhead cables includes: an upper coating component, a lower coating component, a floating wheel component, and a frame component. The lower coating component is connected to a synchronous belt on the frame component and can move up and down under the drive of the synchronous belt to cooperate with the upper coating component to cover the overhead cables. An emergency lifting device is connected to the timing belt. The emergency lifting device is used to drive the timing belt in case of emergency disconnection, so that the lower coating assembly moves away from the upper coating assembly. The floating wheel assembly includes a support frame and floating wheels arranged on the support frame for traveling on overhead cables. The upper coating assembly is connected to the support frame, which is used to connect to the robot body of the anti-icing coating robot.

[0013] In one implementation of the second aspect of the present invention, the upper coating assembly includes: a first foam cover plate, a first foam, a first quick-connect connector, and an upper coating bracket. The first foam cover plate is fixed on the upper coating bracket, forming an upper inner cavity with the opening facing downwards. The first foam is fixed inside the upper inner cavity and is used to apply the coating to the overhead cable. One end of the first quick connector is connected to the coating supply system and is fixed on the upper coating bracket and communicates with the upper inner cavity.

[0014] In one implementation of the second aspect of the present invention, the floating wheel assembly includes: a locking pin, a support frame, a floating wheel, and a driver. The support frame includes a left connecting rod, a right connecting rod, and a driver fixing frame connected between the left connecting rod and the right connecting rod. The driver is fixed on the driver fixing frame. The floating wheel shaft fixes the floating wheel to the bottom of the drive frame, and the support frame is connected to the robot body of the coating robot by locking pins and can slide up and down along the robot body.

[0015] In one implementation of the second aspect of the present invention, the undercoating assembly includes: a sensor detection sheet, a belt pressure block, a slider fixing plate, a second quick-change connector, an undercoating bracket, a second foam, and a second foam cover plate. The second foam cover plate is fixed on the lower coating bracket to form an upward-opening lower inner cavity. The second foam is fixed inside the lower inner cavity and is used to apply the coating to the overhead cable. One end of the second quick connector is connected to the paint recovery system, and the other end of the second quick connector is fixed to the lower coating bracket and communicates with the lower inner cavity. One side of the slider fixing plate is fixed to the belt pressure block with bolts, and the other side of the slider fixing plate is fixedly connected to the lower coating bracket. The sensor detection plate is fixed to one side of the slider fixing plate and is used to detect the position of the lower coating component. A slider is connected to the slider fixing plate.

[0016] As a further limitation of the second aspect of the present invention, the frame assembly includes: a motor mounting plate, a linear guide rail, a synchronous belt, an idler wheel, an idler wheel shaft, an adjusting bolt mounting plate, an adjusting bolt, a synchronous belt pulley, a photoelectric switch, a drive motor, a guide rail pad, an idler wheel mounting bracket, and a mounting base plate. The drive motor is fixed to the motor mounting plate by bolts, and the motor mounting plate is fixed to the base plate. The synchronous pulley is fixed on the output shaft of the drive motor. The synchronous pulley is connected to the idler pulley through the synchronous belt. The idler pulley is fixed on the idler pulley fixing bracket through the idler pulley shaft. The linear guide is fixed on the guide pad and evenly distributed on both sides of the synchronous belt. The guide rail fixing block is fixed on the fixed base plate. The slider is slidably connected to the linear guide.

[0017] As a further limitation of the second aspect of the invention, the frame assembly also includes a sensor rail, which is fixed to one side of the rail pad, and at least two photoelectric switches are detachably fixed to the sensor rail for detecting the position of the lower coating component. The idler gear fixing bracket can slide up and down along the fixed base plate. The adjusting bolt fixing plate is fixed to the fixed base plate. By tightening or loosening the adjusting bolt on the adjusting bolt fixing plate, the distance between the idler gear fixing bracket and the adjusting bolt fixing plate can be adjusted, thereby tightening or loosening the timing belt.

[0018] Thirdly, the present invention provides an anti-icing coating robot.

[0019] An anti-icing coating robot, comprising: The robot body and the cleaning module, clamping module, control terminal, walking wheel set, clamping image acquisition unit, coating image acquisition unit arranged on the robot body, as well as the overhead cable anti-icing coating device of the second aspect of the present invention. The cleaning module is located at the front of the robot body, the overhead line anti-icing coating device is located at the rear of the robot body, the clamping module is located in the middle of the robot body, and the walking wheel set includes a first wheel set and a second wheel set. The first wheel set is located between the cleaning module and the clamping module, and the second wheel set is located between the overhead line anti-icing coating device and the clamping module. The first wheel set and the second wheel set are driven by the walking motor on the robot body. The control terminal is communicatively connected to the cleaning module, the overhead line anti-icing coating device, the clamping module, the control terminal, the walking wheel set, the clamping image acquisition unit, and the coating image acquisition unit.

[0020] In one implementation of the third aspect of the present invention, the clamping module includes: a clamping wheel, a clamping motor, a first position switch and a second position switch. The clamping wheel can move up and down under the drive of the clamping motor to clamp or loosen the cable. The first position switch and the second position switch are arranged vertically. The first position switch is used to identify the clamping state and the second position switch is used to identify the loosening state.

[0021] Compared with the prior art, the beneficial effects of the present invention are: This invention innovatively designs an emergency disconnection method for anti-icing coating of overhead cables and develops an anti-icing coating device including an upper coating component, a lower coating component, a frame component, and a floating wheel component. In an emergency disconnection state, an emergency hoist is pulled by a drone, which drives the synchronous belt to move the lower coating component away from the upper coating component. This solves the emergency handling problem of the lower coating component being unable to properly disconnect from the overhead cable or failing to reach the required distance. It overcomes the pain points of difficult and inefficient disconnection operations in emergency situations, improves the emergency response capability and reliability of anti-icing coating operations, avoids equipment damage or work stoppage caused by disconnection failures, enhances the flexibility and applicability of emergency disconnection, and ensures that the coating device can still successfully complete the disconnection operation under complex working conditions.

[0022] This invention innovatively designs a triple limit control method for the lower coating component. Through pulse counting, photoelectric sensing, and mechanical limit, it solves the problems of inaccurate and unreliable limit during the up-and-down movement of the lower coating component. It overcomes the risks of easy failure and low safety of single limit methods, improves the accuracy and safety of the motion control of the lower coating component, ensures stable movement of the lower coating component within the set range, avoids component collision damage or abnormal coating operation caused by limit failure, and provides reliable limit protection for the stable operation of the anti-icing coating device.

[0023] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0025] Figure 1 A schematic diagram of the structure of an overhead line anti-icing coating device provided as an exemplary embodiment of the present invention. Figure 1 ; Figure 2 A schematic diagram of the structure of an overhead line anti-icing coating device provided as an exemplary embodiment of the present invention. Figure 2 ; Figure 3 A schematic diagram of the upper coating component structure is provided for an exemplary embodiment of the present invention; Figure 4 A schematic diagram of the undercoating component structure provided in an exemplary embodiment of the present invention; Figure 5 A schematic diagram of a floating wheel assembly structure is provided for an exemplary embodiment of the present invention; Figure 6 A schematic diagram of the framework component structure provided for an exemplary embodiment of the present invention; Figure 7 A schematic diagram of an emergency opening component provided as an exemplary embodiment of the present invention; Figure 8 A schematic diagram of a coating control process is provided as an exemplary embodiment of the present invention; Figure 9 A schematic diagram of a triple limit control method provided as an exemplary embodiment of the present invention; Figure 10 A schematic diagram of the communication connection of the control components is provided for an exemplary embodiment of the present invention; Figure 11 A schematic flowchart of an emergency disconnection method for anti-icing coating of overhead power lines, provided as an exemplary embodiment of the present invention; Figure 12 A schematic diagram of the structure of an anti-icing coating robot provided as an exemplary embodiment of the present invention; in, 1-1 Control assembly; 1-2 Upper coating assembly; 1-3 Lower coating assembly; 1-4 Floating wheel assembly; 1-5 Frame assembly; 1-6 Emergency opening assembly; 2-1. Foam cover plate; 2-2. Foam; 2-3. Quick-connect connector; 2-4. Upper coating bracket; 3-1. Sensor detection plate; 3-2. Belt pressure block; 3-3. Slider fixing plate; 3-4. Quick-change connector; 3-5. Lower coating bracket; 3-6. Foam cover plate; 3-7. Second foam; 4-1 Locking pin; 4-2 Driver mounting bracket; 4-3 Floating wheel; 4-4 Left connecting rod; 4-5 Right connecting rod; 4-6 Driver; 4-7 Floating wheel shaft; 5-1. Motor mounting plate; 5-2. Linear guide rail; 5-3. Synchronous belt; 5-4. Idler pulley; 5-5. Idler pulley shaft; 5-6. Adjusting bolt mounting plate; 5-7. Adjusting bolt; 5-8. Synchronous belt pulley; 5-9. Photoelectric switch; 5-10. Drive motor; 5-11. Guide rail pad; 5-12. Sensor guide rail; 5-13. Idler pulley mounting bracket; 5-14. Mounting base plate; 6-1. Belt clamp; 6-2. Emergency pull ring; 7-1. Overhead line anti-icing coating device; 7-2. Coating image acquisition unit; 7-3. Opening and closing motor; 7-4. Upper photoelectric switch; 7-5. Lower photoelectric switch; 7-6. Upper and lower line hoisting mechanism; 7-7. Walking motor; 7-8. Cleaning module; 7-9. Cleaning image acquisition unit; 7-10. Pressing image acquisition unit; 7-11. Pressing module; 7-12. Upper position detection switch; 7-13. Lower position detection switch; 7-14. Control terminal; 7-15. Coating supply system; 7-16. Pressing motor; 7-17. Pressing wheel. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0028] Overhead power lines are widely used as the primary medium for long-distance power transmission. However, with the northward shift of precipitation lines, these lines experience varying degrees of icing in winter, seriously jeopardizing power grid safety and causing phenomena such as conductor galloping, and in severe cases, even tower collapses and line breaks. Active de-icing methods are numerous and vary significantly in cost; passive coating appears to be more economical and practical. Conventional coating methods involve manual climbing of overhead lines to apply the coating, which compromises safety and is inefficient. Therefore, the development of anti-icing coating robots is urgently needed. In view of this, this implementation proposes an anti-icing coating device for overhead cables, such as... Figure 1 and Figure 2 As shown, it includes: an upper coating component 1-2, a lower coating component 1-3, an emergency opening component 1-6, a floating wheel component 1-4, and a frame component 1-5. The lower coating component 1-3 is connected to the synchronous belt 5-3 on the frame component 1-5 and can move up and down under the drive of the synchronous belt 5-3 to cooperate with the upper coating component 1-2 to cover the overhead cable.

[0029] like Figure 3 As shown, the upper coating assembly 1-2 includes a first foam cover plate 2-1, a first foam 2-2, a first quick-connect connector 2-3, and an upper coating bracket 2-4. The first foam cover plate 2-1 is fixed on the upper coating bracket 2-4 to form the upper inner cavity of the upper coating assembly 1-2. The first foam 2-2 is fixed in the upper inner cavity and is used to evenly apply the coating to the upper half of the cable. One end of the first quick-connect connector is connected to the coating supply system, and the other end of the first quick-connect connector is fixed on the upper coating bracket 2-4 and communicates with the upper inner cavity.

[0030] like Figure 4As shown, the lower coating assembly 1-3 includes a sensor detection piece 3-1, a first belt pressure block 3-2, a slider fixing plate 3-3, a second quick-connect connector 3-4, a lower coating bracket 3-5, a second foam cover plate 3-6, and a second foam 3-7. The second foam cover plate 3-6 is fixed to the lower coating bracket 3-5, forming the lower inner cavity of the lower coating assembly 1-3. The second foam 3-7 is fixed inside the lower inner cavity and is used to evenly apply the coating to the lower half of the cable. One end of the second quick connector is fixed to the lower coating bracket 3-5 and communicates with the lower cavity. The other end of the second quick connector is connected to the coating recovery system. The timing belt 5-3 is fixed to the first belt pressure block 3-2 on one side of the slider fixing plate 3-3 by bolts. The lower coating bracket 3-5 is fixed on the other side of the slider fixing plate 3-3, and a slider is fixed on the slider fixing plate 3-3. The sensor detection piece 3-1 is fixed to one side of the slider fixing plate 3-3 and is used to detect the position of the lower coating assembly 1-3.

[0031] like Figure 5 As shown, the floating wheel assembly 1-4 includes a locking pin 4-1, a driver mounting bracket 4-2, a floating wheel 4-3, a left connecting rod 4-4, a right connecting rod 4-5, a driver 4-6, and a floating wheel shaft 4-7. The driver 4-6 is fixed to the driver mounting bracket 4-2 and is used to process motor parameters and sensor signals. The left connecting rod 4-4 and the right connecting rod 4-5 are bolted to both sides of the driver mounting bracket 4-2 to form a support frame. The floating wheel shaft 4-7 fixes the floating wheel 4-3 to the bottom of the driver mounting bracket 4-2, supporting the coating mechanism and cable alignment. For cables of different diameters, by replacing the floating wheels 4-3 with different diameters and the inner core diameters of the upper and lower coating assemblies 1-3, it can adapt to various cable diameters and perform coating operations. The driver mounting bracket 4-2 is connected to the robot body of the anti-icing coating robot via the locking pin 4-1 and can slide up and down the robot body.

[0032] like Figure 6 As shown, the frame assembly 1-5 includes a motor mounting plate 5-1, a linear guide rail 5-2, a synchronous belt 5-3, an idler pulley 5-4, an idler pulley shaft 5-5, an adjusting bolt mounting plate 5-6, adjusting bolts 5-7, a synchronous pulley 5-8, a photoelectric switch 5-9, a drive motor 5-10, a guide rail pad 5-11, a sensor guide rail 5-12, an idler pulley mounting bracket 5-13, and a fixed base plate 5-14. The drive motor 5-10 is fixed to the motor mounting plate 5-1 with bolts. The motor mounting plate 5-1 is fixed to the fixed base plate 5-14. The synchronous pulley 5-8 is fixed to the output shaft of the drive motor 5-10 and connected to the idler pulley 5-4 via the synchronous belt 5-3. The idler pulley 5-4 is fixed to the idler pulley mounting bracket 5-13 via the idler pulley shaft 5-5. The idler pulley mounting bracket 5-13 can slide up and down along the fixed base plate 5-14.

[0033] Adjusting bolt fixing plate 5-6 is fixed to fixed base plate 5-14. By tightening or loosening adjusting bolt 5-7, the distance between idler wheel fixing bracket 5-13 and adjusting bolt fixing plate 5-6 is adjusted, thereby achieving tensioning of synchronous belt 5-3. Linear guide rails 5-2 are evenly distributed on both sides of synchronous belt 5-3. They are made to be on the same plane as synchronous belt 5-3 by guide rail pads 5-11 (guide rail pads 5-11 are fixed to fixed base plate 5-14). Sensor guide rail 5-12 is fixed to one side of guide rail pad 5-11 by bolts. At the same time, photoelectric switch 5-9 is fixed to sensor guide rail 5-12 for detecting the position of lower coating component 1-3.

[0034] like Figure 7 As shown, the emergency opening component 1-6 includes a second belt pressure block 6-1 and an emergency pull ring 6-2 (i.e., a lifting device, or a hook). The emergency pull ring 6-2 fixes the synchronous belt 5-3 to the second belt pressure block 6-1 with bolts. The drone lifts the emergency lifting device on the robot through the insulating rod suspended at the bottom, and pulls the emergency pull ring 6-2 upward through the wire rope, which drives the synchronous belt 5-3 to rotate clockwise, causing the lower coating component 1-3 to move downward accordingly, thus opening the anti-icing coating device for the overhead line and realizing emergency disconnection.

[0035] The overhead line anti-icing coating device of this implementation can achieve controllable upper and lower limits for the lower coating components 1-3, realizing closed-loop control. For example... Figure 8 As shown, the system first initializes and reads the original configuration parameters, then waits to receive control commands from drive motors 5-10; next, it checks whether an opening or closing command has been received. If not, it continues to wait for control commands from drive motors 5-10; if received, it executes the opening or closing operation of drive motors 5-10, then checks whether drive motors 5-10 are in position. If not, it continues to check; if in position, it executes the stopping operation of drive motors 5-10, and then returns to the step of waiting for control commands from drive motors 5-10.

[0036] Specifically, when control component 1-1 receives a closing command, drive motor 5-10 drives synchronous pulley 5-8 to rotate, causing synchronous belt 5-3 to rotate counterclockwise. The lower coating component 1-3, mounted on synchronous belt 5-3, moves upwards. Figure 9 As shown, triple limit control logic is executed: The first layer of logic involves the motor starting from its initial position and automatically stopping after counting the number of pulses corresponding to the position between the upper and lower limits. Drivers 4-6 then feed back the position status to the terminal interface (e.g., ...). Figure 9 (including upper and lower flow limit protections) to facilitate the next step of the operation; The second layer of logic involves the coating component moving upwards, triggering the upper limit photoelectric sensor (e.g., the photoelectric detection sheet on it) to activate the upper limit photoelectric sensor. Figure 9(The upper and lower photoelectric switches in the middle) After the driver 4-6 collects the signal, the driver 4-6 controls the drive motor 5-10 to stop and feeds back the sensor status to the terminal interface for the next step of operation; The third layer of logic involves the coating component moving upwards and contacting a mechanical limit plate (e.g., the upper end of a linear guide 5-2), causing the motor to stall. The control board collects this stall information, stops the motor, and feeds back the stall status to the terminal interface for further processing. For example... Figure 9 In this case, a time-delay protection method can be used for limit control.

[0037] Conversely, when the lower coating components 1-3 are released, the same triple logic control is used. The anti-icing coating robot achieves limit protection closed-loop control through this triple logic coupling control, making the position of the lower coating components 1-3 controllable.

[0038] Figure 10 The communication control logic of control component 1-1 is also shown. Control component 1-1 is connected to the control terminal of the anti-icing coating robot via CAN bus. Control component 1-1 is powered by battery. Control component 1-1 is connected to drive motor 5-10 and photoelectric switch 5-9 (including upper photoelectric switch 7-4 and lower photoelectric switch 7-5).

[0039] In summary, this invention provides an anti-icing coating device for overhead lines adapted to various wire diameters, improving the robot's applicability, based on the complex and variable working conditions on site. It proposes an emergency opening strategy using the 5-3 synchronous belt's opposite-side reversal principle, allowing the coating mechanism to be opened in reverse to release the robot's locked state. A coating up-and-down motion structure is constructed, employing a 5-3 synchronous belt structure and a 5-2 linear guide rail structure, improving the stability of the coating operation. Multiple sensors are integrated to construct a multi-coupled, highly reliable multi-protection logic for the coating mechanism's limit positions, overcoming the shortcomings of existing limit methods such as poor stability and susceptibility to malfunctions, improving operational safety and stability, and enhancing the robot's coating effect.

[0040] Based on the above-mentioned overhead line anti-icing coating device, Figure 11 An emergency disconnection method for anti-icing coating on overhead power lines is shown, comprising the following steps: S1101: The current coating component cannot detach from the overhead cable, or the lower coating component, although detached from the overhead cable, cannot move to the set disconnection position, and is determined to be in an emergency disconnection state. S1102: In an emergency disconnection situation, an emergency lifting device is pulled by a drone, which drives the synchronous belt to move the lower coating component away from the upper coating component; S1103: Emergency de-coring is completed when the current coating component moves to the set de-coring position.

[0041] In S1102 of this implementation, depending on the different control subjects, multiple control methods may be included, specifically including: Method 1: In emergency disconnection state, the controller of the anti-icing coating device (or the controller shared with the anti-icing coating) automatically sends an emergency disconnection request to the drone, so that the drone can pull the emergency lifting device through the suspended boom according to the received request; Method 2: In the emergency disconnection state, the controller of the anti-icing coating device (or the controller shared with the anti-icing coating) sends an emergency disconnection request to the ground control terminal, so that the UAV can control the UAV to pull the emergency lifting equipment according to the received request; Method 3: In the event of an emergency disconnection, the emergency lifting equipment can be pulled by a drone directly through a ground control terminal.

[0042] This implementation proposes an anti-icing coating robot, such as Figure 12 As shown, it includes: a robot body and a cleaning module 7-8, an overhead line anti-icing coating device 7-1, a clamping module 7-11, a control terminal 7-14, a walking wheel set, a clamping image acquisition unit 7-10 (achieved through a camera), and a coating image acquisition unit 7-2 (achieved through a camera) arranged on the robot body. The cleaning module 7-8 is located at the front end of the robot body, the overhead line anti-icing coating device 7-1 is located at the rear end of the robot body, the clamping module 7-11 is located in the middle of the robot body, and the walking wheel set includes a first wheel set and a second wheel set. The first wheel set is located between the cleaning module 7-8 and the clamping module 7-11, and the second wheel set is located between the overhead line anti-icing coating device 7-1 and the clamping module 7-11. The first wheel set and the second wheel set are driven by the walking motor 7-7 on the robot body. The control terminal 7-14 is connected to the cleaning module 7-8, the overhead line anti-icing coating device 7-1, the clamping module 7-11, the control terminal 7-14, the walking wheel set, the clamping image acquisition unit 7-10, and the coating image acquisition unit 7-2.

[0043] The clamping module 7-11 includes: a clamping roller 7-17, a clamping motor 7-16, an upper position detection switch 7-12 (i.e., a first position switch), and a lower position detection switch 7-13 (i.e., a second position switch). The clamping roller 7-17 can move up and down under the drive of the clamping motor 7-16 to clamp or loosen the cable. The upper position detection switch 7-12 and the lower position detection switch 7-13 are arranged vertically. The upper position detection switch 7-12 is used to identify the clamping state, and the lower position detection switch 7-13 is used to identify the loosening state.

[0044] The overhead line anti-icing coating device 7-1 includes: a coating opening and closing module, an opening and closing motor 7-3, an upper photoelectric switch 7-4 (i.e., a first limit switch), and a lower photoelectric switch 7-5 (i.e., a second limit switch). The coating opening and closing module can move up and down under the drive of the opening and closing motor 7-3 to approach or move away from the cable to be coated for coating (the nozzle is arranged on the inner wall of the two segments of the coating opening and closing module). The first limit switch and the second limit switch are arranged vertically. The first limit switch is used to limit the upper limit position of the coating opening and closing module, and the second limit switch is used to limit the lower limit position of the coating opening and closing module.

[0045] The upper part of the robot body is connected to a lifting mechanism 7-6 for use in conjunction with a drone to achieve loading and unloading.

[0046] Based on the aforementioned anti-icing coating robot, this implementation proposes a control method for the anti-icing coating robot, including the following process: After the anti-icing coating robot is hoisted onto the cable, the control clamping module performs a clamping action. Based on the image after the clamping action is completed and the pre-trained first deep learning model, a clamping judgment result is generated. When the clamping judgment result is that the robot has been clamped, the anti-icing coating robot is online and ready to go. The cleaning module is started, and the anti-icing coating robot is controlled to walk along the cable. The overhead line anti-icing coating device 7-1 is controlled to coat the cleaned cable. Based on the image after coating and the pre-trained second deep learning model, the coating effect recognition result is generated. The coating effect recognition result is dynamically adjusted according to the coating effect recognition result. After the anti-icing coating robot completes its coating action, the control clamping module performs a release action. Based on the image after the release action is completed and the pre-trained first deep learning model, a release judgment result is generated. When the release judgment result is that the release has been completed, the anti-icing coating robot is hoisted off the production line.

[0047] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for emergency disconnection of overhead cables with anti-icing coating, characterized in that, It is used in anti-icing coating devices, which include an upper coating component, a lower coating component, and a frame component. The lower coating component is connected to a synchronous belt on the frame component and can move up and down under the drive of the synchronous belt to cooperate with the upper coating component to cover overhead cables. An emergency lifting device is connected to the synchronous belt. If the coating component cannot detach from the overhead cable, or if the lower coating component detaches from the overhead cable but cannot move to the designated disconnection position, it is determined to be in an emergency disconnection state. In an emergency disconnection situation, an emergency lifting device is pulled by a drone, which drives the synchronous belt to move the lower coating component away from the upper coating component; Emergency de-corrosion is completed when the coating component moves to the set de-corrosion position.

2. The emergency disconnection method for anti-icing coating of overhead cables as described in claim 1, characterized in that, In emergency disconnection mode, the controller of the anti-icing coating device automatically sends an emergency disconnection request to the drone, so that the drone can pull the emergency lifting device through the suspended boom according to the received request; Alternatively, in an emergency disconnection state, the controller of the anti-icing coating device sends an emergency disconnection request to the ground control terminal, so that the drone can control the drone to pull the emergency hoisting device according to the received request. or, In an emergency disconnection situation, the emergency lifting equipment can be pulled by a drone directly through the ground control terminal.

3. An anti-icing coating device for overhead cables, characterized in that, include: The upper coating assembly, lower coating assembly, floating wheel assembly, and frame assembly are included. The lower coating assembly is connected to the synchronous belt on the frame assembly and can move up and down under the drive of the synchronous belt to cooperate with the upper coating assembly to cover the overhead cable. An emergency lifting device is connected to the timing belt. The emergency lifting device is used to drive the timing belt in case of emergency disconnection, so that the lower coating assembly moves away from the upper coating assembly. The floating wheel assembly includes a support frame and floating wheels arranged on the support frame for traveling on overhead cables. The upper coating assembly is connected to the support frame, which is used to connect to the robot body of the anti-icing coating robot.

4. The overhead cable anti-icing coating device as described in claim 3, characterized in that, The upper coating assembly includes: a first foam cover plate, a first foam, a first quick-connect fitting, and an upper coating bracket; The first foam cover plate is fixed on the upper coating bracket, forming an upper inner cavity with the opening facing downwards. The first foam is fixed inside the upper inner cavity and is used to apply the coating to the overhead cable. One end of the first quick connector is connected to the coating supply system and is fixed on the upper coating bracket and communicates with the upper inner cavity.

5. The overhead cable anti-icing coating device as described in claim 3 or 4, characterized in that, A floating wheel assembly includes: a locking pin, a support frame, a floating wheel, and a drive unit. The support frame includes a left link, a right link, and a drive unit mounting bracket connected between the left link and the right link. The drive unit is fixed to the drive unit mounting bracket. The floating wheel shaft fixes the floating wheel to the bottom of the drive frame, and the support frame is connected to the robot body of the coating robot by locking pins and can slide up and down along the robot body.

6. The overhead cable anti-icing coating device as described in claim 3, characterized in that, The lower coating assembly includes: a sensor detection plate, a belt pressure block, a slider fixing plate, a second quick-change connector, a lower coating bracket, a second foam, and a second foam cover plate; The second foam cover plate is fixed on the lower coating bracket to form an upward-opening lower inner cavity. The second foam is fixed inside the lower inner cavity and is used to apply the coating to the overhead cable. One end of the second quick connector is connected to the paint recovery system, and the other end of the second quick connector is fixed to the lower coating bracket and communicates with the lower inner cavity. One side of the slider fixing plate is fixed to the belt pressure block with bolts, and the other side of the slider fixing plate is fixedly connected to the lower coating bracket. The sensor detection plate is fixed to one side of the slider fixing plate and is used to detect the position of the lower coating component. A slider is connected to the slider fixing plate.

7. The overhead cable anti-icing coating device as described in claim 6, characterized in that, The frame assembly includes: a motor mounting plate, a linear guide rail, a timing belt, an idler pulley, an idler pulley shaft, an adjusting bolt mounting plate, adjusting bolts, a timing belt pulley, a photoelectric switch, a drive motor, guide rail pads, an idler pulley mounting bracket, and a mounting base plate. The drive motor is fixed to the motor mounting plate by bolts, and the motor mounting plate is fixed to the base plate. The synchronous pulley is fixed on the output shaft of the drive motor. The synchronous pulley is connected to the idler pulley through the synchronous belt. The idler pulley is fixed on the idler pulley fixing bracket through the idler pulley shaft. The linear guide is fixed on the guide pad and evenly distributed on both sides of the synchronous belt. The guide rail fixing block is fixed on the fixed base plate. The slider is slidably connected to the linear guide.

8. The overhead cable anti-icing coating device as described in claim 7, characterized in that, The frame assembly also includes a sensor rail, which is fixed to one side of the rail pad, and at least two photoelectric switches are detachably fixed to the sensor rail for detecting the position of the lower coating component; The idler gear fixing bracket can slide up and down along the fixed base plate. The adjusting bolt fixing plate is fixed to the fixed base plate. By tightening or loosening the adjusting bolt on the adjusting bolt fixing plate, the distance between the idler gear fixing bracket and the adjusting bolt fixing plate can be adjusted, thereby tensioning or loosening the timing belt.

9. An anti-icing coated robot, characterized in that, include: The robot body and the cleaning module, clamping module, control terminal, walking wheel set, clamping image acquisition unit, coating image acquisition unit arranged on the robot body, and the overhead cable anti-icing coating device according to any one of claims 5-11. The cleaning module is located at the front end of the robot body, the overhead line anti-icing coating device is located at the rear end of the robot body, the clamping module is located in the middle of the robot body, and the walking wheel set includes a first wheel set and a second wheel set. The first wheel set is located between the cleaning module and the clamping module, and the second wheel set is located between the overhead line anti-icing coating device and the clamping module. The first wheel set and the second wheel set are driven by the walking motor on the robot body. The control terminal is communicatively connected to the cleaning module, the overhead line anti-icing coating device, the clamping module, the control terminal, the walking wheel set, the clamping image acquisition unit, and the coating image acquisition unit.

10. The anti-icing coated robot as described in claim 9, characterized in that, The clamping module includes: a clamping roller, a clamping motor, a first position switch, and a second position switch. The clamping roller can move up and down under the drive of the clamping motor to clamp or loosen the cable. The first position switch and the second position switch are arranged vertically. The first position switch is used to identify the clamping state, and the second position switch is used to identify the loosening state.

Images