Novel high-voltage line icebreaking robot and control method thereof

Abstract

The invention relates to the technical field of deicing, and discloses a novel high-voltage line icebreaking robot and a control method thereof.The novel high-voltage line icebreaking robot comprises an obstacle avoidance mechanism, a clamping mechanism, a driving wheel mechanism, an icebreaking mechanism and an information processing control module; the deicing front end and the deicing rear end of the obstacle avoidance mechanism are each provided with a clamping mechanism, the clamping mechanisms are located above the obstacle avoidance mechanism, the driving wheel mechanism and the ice breaking mechanism are both installed on the clamping mechanisms, and the ice breaking mechanism is used for breaking ice on a cable. The driving wheel mechanism is used for walking and moving on the cable; and the obstacle avoidance mechanism is matched with the clamping mechanisms at the two ends of the obstacle avoidance mechanism to cross obstacles on the cable. According to the scheme, through mutual cooperation of the multi-joint mechanical arm and the multifunctional icebreaking clamping mechanism, the robot can achieve multi-line switching and obstacle avoidance in a complex high-voltage line, damage of an existing icebreaking robot to the high-voltage line during icebreaking operation is reduced, the icebreaking effect of the high-voltage line is improved, and the deicing operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of de-icing technology, specifically to a novel high-voltage line ice-breaking robot and its control method. Background Technology

[0002] During the cold winter, high-voltage transmission lines are highly susceptible to icing hazards. Icing on lines can easily lead to line tripping, wire breaks, and even tower collapses, causing large-scale power outages and severely impacting the safe and stable operation of the power system and social production and daily life. Traditional de-icing methods, such as manual knocking and drone strikes, have limitations in efficiency, cost, safety, and applicability. Furthermore, current ice-breaking robots often use fixed-torque ice-breaking devices and have limitations in avoiding obstacles such as insulators on high-voltage lines, thus significantly reducing de-icing efficiency. Summary of the Invention

[0003] The present invention aims to provide a novel high-voltage line ice-breaking robot and its control method to solve the problem of low ice-breaking efficiency in traditional de-icing methods.

[0004] To achieve the above objectives, this invention provides a novel high-voltage line ice-breaking robot, comprising: an obstacle avoidance mechanism, a clamping mechanism, a drive wheel mechanism, an ice-breaking mechanism, and an information processing and control module; the obstacle avoidance mechanism has clamping mechanisms at both its de-icing front end and de-icing rear end, with the clamping mechanisms located above the obstacle avoidance mechanism; the drive wheel mechanism and the ice-breaking mechanism are both mounted on the clamping mechanisms; the ice-breaking mechanism is used to break ice on the cable; the drive wheel mechanism is used to move along the cable; the obstacle avoidance mechanism and its clamping mechanisms at both ends cooperate to cross obstacles on the cable; the obstacle avoidance mechanism includes a bending shaft, a first robotic arm, and a second robotic arm, which are mounted on the bending shaft; the first robotic arm controls the rotation and direction of rotation of the clamping mechanism at the de-icing front end, and the second robotic arm controls the rotation and direction of rotation of the clamping mechanism at the de-icing rear end; the control mechanisms of the first and second robotic arms are connected to the information processing and control module, and the control mechanisms of the clamping mechanism, drive wheel mechanism, and ice-breaking mechanism are also connected to the information processing and control module.

[0005] First, the clamping mechanism is controlled to clamp and fix the entire device onto the cable. Then, the drive wheel mechanism and ice-breaking mechanism are controlled to operate. The drive wheel mechanism is in close contact with the cable and rotates relative to it. The drive wheel mechanism rotates and moves forward on the cable, controlling the entire device to move on the cable. The separate clamping mechanism and drive wheel mechanism make the device more stable during movement. At the same time, the ice-breaking mechanism is controlled to clean the ice on the cable. When encountering obstacles such as insulators, the information processing control module controls the corresponding clamping mechanism to release and the robotic arm to rotate to cross the obstacle. There is no need for manual handling of the equipment to cross obstacles, improving de-icing efficiency. Moreover, moving the equipment by crossing reduces damage to the cable structure. In addition, the robotic arm can be turned to switch lines and complete the cleaning of ice on different lines, with high cleaning efficiency.

[0006] Preferably, the first robotic arm includes: a connecting rod, a connecting member, a first servo motor, and a first joint servo motor. One end of the connecting rod is symmetrically arranged on the outside of the bending shaft and hinged to the bending shaft. The two output shafts of the first servo motor are perpendicular to the cable routing. The two output shafts of the first servo motor are respectively connected to the corresponding connecting rod. The housing of the first servo motor is fixedly connected to the bottom of the clamping mechanism. The first joint servo motor is arranged inside the bending shaft, and its two end output shafts are connected to the connecting rod. The second robotic arm includes: a third servo motor and a fourth servo motor. The fourth servo motor is used to drive the clamping mechanism to rotate up and down. The third servo motor is mounted on the bending shaft and is used to drive the fourth servo motor to rotate. The rotation direction of the third servo motor is perpendicular to the rotation direction of the fourth servo motor. When encountering an insulator obstacle or needing to adjust the line, the clamping mechanism at the front end of the de-icing device first releases the cable. Then, the first joint servo and the first servo control the current clamping mechanism to move downwards, while the third and fourth servos rotate relative to each other, causing the third servo, the bending shaft, the first robotic arm, and the current clamping mechanism to rotate left and right to cross the obstacle. After crossing the obstacle, the current clamping mechanism is fixed to the cable. Subsequently, the clamping mechanism at the rear end of the de-icing device is released, and then, under the action of the third and fourth servos, it rotates up, down, left, and right to control the clamping mechanism to rotate and cross the obstacle. After crossing the obstacle, the current clamping mechanism is fixed to the cable.

[0007] Preferably, the ice-breaking mechanism includes a first ice-breaking mechanism, a second ice-breaking mechanism, and a third ice-breaking mechanism. The first ice-breaking mechanism is mounted on the clamping mechanism at the front end of the obstacle avoidance mechanism's ice-breaking section, while the second and third ice-breaking mechanisms are mounted on the clamping mechanism at the rear end of the obstacle avoidance mechanism's ice-breaking section. In this embodiment, the three ice-breaking mechanisms can respectively employ an ice-breaking hammer, an ice-breaking wheel, and an ice-breaking brush. By setting up multiple ice-breaking mechanisms for cleaning, the power transmission safety of high-voltage lines is greatly ensured, thereby guaranteeing stable power supply for residential life, industrial production, and various sectors of society, and reducing economic losses and social impacts caused by power outages.

[0008] Preferably, the system also includes a visual recognition module and an ultrasonic detection module, both of which are connected to the information processing and control module. The visual recognition module and ultrasonic detection module identify obstacles and ice thickness during icebreaking operations to automatically control the movement and de-icing of the entire equipment, reducing manual operation, automatically controlling cable cleaning and de-icing, and improving de-icing efficiency.

[0009] Preferably, the clamping mechanism includes a base, grippers, and an angle adjustment component. The grippers are symmetrically arranged along the cable path, and each gripper is V-shaped with its openings facing each other. The top of the grippers covers the cable. The angle adjustment component is used to adjust the relative position of the drive wheel mechanism and the cable, and to control the rotation angle of the grippers in a vertical plane perpendicular to the cable path. The clamping mechanism is placed on the cable from bottom to top, and then the relative position of the drive wheel mechanism and the cable is adjusted using the angle adjustment component to ensure close contact between the drive wheel mechanism and the side of the cable. Simultaneously, the symmetrical grippers move closer together to attach and fix the entire structure to the cable, completing the installation of the clamping mechanism and the drive wheel mechanism. The clamping force and walking posture can be automatically adjusted according to the thickness of the cable to ensure stable operation of the entire device on high-voltage lines.

[0010] Preferably, the angle adjustment component includes a linkage unit and a power unit. The top linkage of the linkage unit is hinged to the intersection with the gripper head, and the middle linkage of the linkage unit is hinged to the base. The power unit controls the vertical movement of the bottom linkage of the linkage unit. The linkage unit and the gripper head form a four-bar linkage structure, and the base is fixedly connected to the obstacle avoidance mechanism. The power unit controls the vertical movement of the bottom linkage of the linkage unit, thereby causing the gripper head to rotate outward or inward to accommodate clamping cables of different thicknesses or to remove the entire device.

[0011] Preferably, the drive wheel mechanism includes a drive ice-breaking wheel and a drive motor that drives the drive ice-breaking wheel to rotate horizontally. The drive motor is mounted at the bottom of the gripper head, and the shape of the drive ice-breaking wheel matches the cable. This allows the drive ice-breaking wheel to further compress the ice on the cable when it contacts it, ensuring a better subsequent ice-breaking effect.

[0012] Preferably, the driving ice-breaking wheel includes symmetrical circular frustums, the sides of which are outwardly arc-shaped, with the smaller end of the frustum abutting against the ground. This allows the driving ice-breaking wheel to adapt to and fit cables of different thicknesses, thus increasing its adaptability.

[0013] To achieve the above objectives, the present invention also provides a novel control method for a high-voltage line ice-breaking robot, comprising: Obtain information on icing conditions on high-voltage lines; The information processing and control module controls the clamping mechanism to hold the cable, and at the same time controls the drive wheel mechanism and the ice-breaking mechanism to move on the cable and clean the ice on the cable. When there is an obstacle ahead, the information processing module first controls the gripping mechanism at the front of the obstacle avoidance mechanism to release, and then controls the current gripping mechanism to rotate through the corresponding robotic arm to cross the obstacle; then it controls another robotic arm and gripping mechanism to continue to cross the current obstacle.

[0014] Preferably, during the de-icing process, the information processing and control module is also used to adjust the frequency and rotation speed of the ice-breaking mechanism according to the thickness of the ice on the line.

[0015] Advantages of this solution: The use of visual recognition and ultrasonic detection modules for precise obstacle identification and ice thickness detection during high-voltage line ice-breaking operations enables timely removal of ice from high-voltage lines. Simultaneously, it allows for precise ice removal, fundamentally saving energy and significantly improving ice-breaking efficiency. The coordinated operation of the multi-jointed robotic arm and multi-functional ice-breaking gripper mechanism allows the robot to perform multi-target trajectory planning and obstacle avoidance in complex high-voltage lines, solving the problem of damage to high-voltage lines caused by current ice-breaking robots. This improves the ice-breaking effect, increases de-icing efficiency, and ensures the stability of the national power supply. The combination of multiple ice-breaking mechanisms greatly ensures the transmission safety of high-voltage lines, thereby guaranteeing stable power supply for residents, industrial production, and various sectors of society, and reducing economic losses and social impacts caused by power outages. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the obstacle avoidance structure according to an embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram of the clamping mechanism according to an embodiment of the present invention.

[0019] Figure 4 This is a front view schematic diagram of an embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of the left side of an embodiment of the present invention.

[0021] Figure 6 This is a front view schematic diagram of an embodiment of the present invention.

[0022] Figure 7 This is a schematic diagram of the gripper and connecting rod unit according to an embodiment of the present invention. Detailed Implementation

[0023] The following detailed description illustrates the specific implementation method: The reference numerals in the accompanying drawings include: obstacle avoidance mechanism 1, first robotic arm 11, link 111, connector 112, first servo motor 113, second robotic arm 12, third servo motor 121, fourth servo motor 122, moving rail 123, curved shaft 13, clamping mechanism 2, base 21, gripper 22, angle adjustment component 23, first link 231, second link 232, third link 233, fourth link 234, fifth link 235, screw 3, drive wheel mechanism 4, drive icebreaking wheel 41, drive motor 42, and icebreaking mechanism 5.

[0024] Example: A new type of high-voltage line ice-breaking robot, such as Figures 1-7 The system includes: obstacle avoidance mechanism 1, clamping mechanism 2, drive wheel mechanism 4, ice breaking mechanism 5, visual recognition module, ultrasonic detection module, and information processing and control module.

[0025] The clamping mechanism 2 is used to clamp onto the cable. The obstacle avoidance mechanism 1 is connected to the clamping mechanism 2 and located below the clamping mechanism 2. The obstacle avoidance mechanism 1 is used to move the clamping mechanism 2 to cross obstacles such as insulators on the high-voltage line. This solves the problem of damage to high-voltage lines by ice-breaking robots during ice-breaking operations, thereby improving the ice-breaking effect of high-voltage lines, increasing the efficiency of de-icing operations, and ensuring the stability of the national power supply.

[0026] The obstacle avoidance mechanism 1 includes a bending shaft 13, a first robotic arm 11, and a second robotic arm 12. The first robotic arm 11 and the second robotic arm 12 are mounted on the bending shaft 13. The first robotic arm 11 is used to control the rotation and rotation direction of the clamping mechanism 2 at the front end of the de-icing mechanism, and the second robotic arm 12 is used to control the rotation and rotation direction of the clamping mechanism 2 at the rear end of the de-icing mechanism. The control mechanisms of the first robotic arm 11 and the second robotic arm 12 are connected to the information processing control module. The control mechanisms of the clamping mechanism 2, the drive wheel mechanism 4, and the ice-breaking mechanism 5 are also connected to the information processing control module.

[0027] The first robotic arm 11 includes a connecting rod 111, a connector 112, a first servo motor 113, and a first joint servo motor. One end of the connecting rod 111 is symmetrically arranged on the outside of the curved shaft 13 and hinged to the curved shaft 13. Specifically, the curved shaft 13 has an opening facing the rear end of the de-icing mechanism, and circular holes are symmetrically arranged on both sides of the opening. The first joint servo motor is installed in the opening, and the two output shafts of the first joint servo motor correspond to the circular holes. The connecting rod 111 is connected to the output shaft of the first joint servo motor through a coupling, a rotating shaft, and a bearing. The first joint servo motor is used to drive the connecting rod 111 to rotate.

[0028] The first servo motor 113 is vertically arranged with its output end located at the top. The two output shafts of the first servo motor 113 are perpendicular to the cable routing. The housing of the first servo motor 113 is fixedly connected to the clamping mechanism 2 through the outer sleeve.

[0029] The second robotic arm 12 includes a third servo motor 121 and a fourth servo motor 122. The fourth servo motor 122 drives the clamping mechanism 2 to rotate up and down. The third servo motor 121 is mounted on the curved shaft 13 and drives the fourth servo motor 122 to rotate. The rotation direction of the third servo motor 121 is perpendicular to the rotation direction of the fourth servo motor 122. The fourth servo motor 122 drives the clamping mechanism 2 above it to rotate up and down through the moving rail 123 and rollers. Specifically, the moving rail 123 is inverted T-shaped, with symmetrical mounting holes for mounting rollers at both ends of its horizontal section. An outer sleeve is fitted on its vertical section, flush with the top surface of the vertical section, and fixedly connected to the clamping mechanism 2.

[0030] When encountering an insulator obstacle or needing to adjust the line, the clamping mechanism 2 at the front end of the de-icing device first releases the cable. Then, the first joint servo motor and the first servo motor 113 control the current clamping mechanism 2 to move downward. At the same time, the third servo motor 121 and the fourth servo motor 122 rotate relative to each other, causing the third servo motor 121, the bending shaft 13, the first robotic arm 11, and the current clamping mechanism 2 to rotate left and right to cross the obstacle. After crossing the obstacle, the current clamping mechanism 2 is fixed to the cable. Then, the clamping mechanism 2 at the rear end of the de-icing device is released. Then, under the action of the third servo motor 121 and the fourth servo motor 122, the clamping mechanism 2 is rotated up, down, left, and right to cross the obstacle. After crossing the obstacle, the current clamping mechanism 2 is fixed to the cable.

[0031] The clamping mechanism 2 includes a base 21, a gripper head 22, and an angle adjustment component 23. The base 21 includes a bottom plate, a top plate, and symmetrically arranged retaining rings on the bottom plate. The openings of the retaining rings face the cable routing. The bottom plate and retaining rings are integrally formed. The retaining rings are perpendicular to the cable routing. The openings of the retaining rings are vertically symmetrical hexagons. The top and bottom edges of the retaining ring openings are parallel, and the length of the top edge is greater than the length of the bottom edge. A third pin hole is provided at the intersection of the two sides of the two symmetrical retaining rings. A fourth pin hole is provided at the intersection of the upper side and the top edge of the retaining ring at the front end of the de-icing mechanism. The top plate is used to connect the two retaining rings. The top plate is located in the middle of the two retaining rings, and the top plate is used to connect the retaining rings to improve the stability of the structure.

[0032] The angle adjustment component 23 includes a linkage unit and a power unit. The linkage unit is located between symmetrically arranged retaining rings, and both the linkage unit and the symmetrically arranged retaining rings are hinged. The power unit is mounted on the base plate and controls the bottom linkage 111 of the linkage unit to move up and down, thereby causing the gripper head 22 to rotate outward or inward to accommodate clamping cables of different thicknesses or to remove the entire device. The symmetrically arranged retaining rings make the position of the linkage unit more stable and easier to control during deformation.

[0033] The linkage unit comprises, from bottom to top, a first linkage 231, a second linkage 232, and a third linkage 233, which are hinged sequentially. The second linkage 232 is symmetrically arranged on the first linkage 231 with respect to the cable routing. The third linkage 233 is V-shaped, with its top end hinged to the gripper 22 and its intersection point hinged to the retaining ring. Specifically, the first linkage 231 has symmetrically arranged longitudinally penetrating U-shaped openings at both ends, and symmetrically arranged pin holes on the sidewalls of the U-shaped openings. The lower end of the second linkage 232 is mounted on the first linkage 231 via a first pin and a nut. The first pin passes through the second linkage 232 and is rotatably connected to it. The intersection of the third link 233 is provided with a through hole that matches the third pin hole. The third link 233 is installed at the third pin hole by a pin and a nut. The third link 233 is located between the two side plates. The bottom inner end of the third link 233 is provided with a U-shaped opening. Pin holes are symmetrically provided on the side wall of the U-shaped opening. The upper end of the second link 232 is installed on the third link 233 by a pin and a nut. The second link 232 and the third link 233 are rotatably connected.

[0034] It also includes a fourth link 234, which is located at the de-icing front end of the gripper head 22. The fourth link 234 is located outside the retaining ring. The lower end of the fourth link 234 is rotatably connected to the retaining ring through a pin, nut, and a fourth pin hole. The upper end of the fourth link 234 is rotatably connected to the gripper head 22 through a pin and nut. The position of the gripper head 22 is controlled by the first link 231 and the fourth link 234, which allows for more stable adjustment of the gripper head 22 position and reduces the shaking phenomenon of the gripper head 22.

[0035] It also includes a fifth link 235, which is located outside the retaining ring at the rear end of the de-icing process. A slot is provided at the intersection of the gripper head 22 above the fifth link 235. The side wall of the slot is symmetrically provided with fifth pin holes. The upper end of the fifth link 235 is rotatably connected to the gripper head 22 through a pin, nut and fifth pin hole. The lower end of the fifth link 235 is rotatably connected to the side plate through a pin, nut and third pin hole. The position of the gripper head 22 is controlled by the third link 233, the fourth link 234 and the fifth link 235, so as to adjust the position of the gripper head 22 more stably and reduce the shaking phenomenon of the gripper head 22.

[0036] The power unit includes a screw 3 and a servo motor that drives the screw 3 to rotate. The servo motor is mounted on the base plate. The screw 3 passes through the first connecting rod 231 and is rotatably connected to the top plate. The screw 3 is threadedly connected to the first connecting rod 231. When the screw 3 rotates forward and backward, it controls the first connecting rod 231 to move up and down, thereby causing the second connecting rod 232, the third connecting rod 233, and the gripper head 22 to rotate relative to each other, thus adjusting the position of the gripper head 22 and the position of the drive wheel mechanism 4. Specifically, the head of the screw 3 is connected to the output shaft of the servo motor, and the tail end of the screw 3 passes through the base plate and the first connecting rod 231 and is located inside the top plate. There are no threads at the connection points between the screw 3 and the top and bottom plates, so that the screw 3 and the top and bottom plates can rotate relative to each other. The top and bottom plates constrain the screw 3, preventing the tail end of the screw 3 from swinging freely, and ensuring that the force on the screw 3 is evenly distributed, avoiding stress concentration. In this embodiment, the head of the screw 3 is connected to the output shaft of the third joint servo motor or the output shaft of the fourth joint servo motor. The servo motor is located inside the outer casing, and the base plate is fixed to the outer casing. The first joint servo motor, the first servo motor 113, and the power unit servo motor all use STS3215_03a servo motors, each with an output shaft at both ends.

[0037] The grab head 22 is symmetrically arranged along the cable route. The grab head 22 is V-shaped, and the openings of the symmetrical grab heads 22 face each other. The top of the grab head 22 covers the cable. The inner side of the top of the grab head 22 has an arc-shaped opening that matches the cable to avoid damaging the cable. This makes the overall structure more stable on the cable.

[0038] The ice-breaking mechanism 5 is mounted on the base 21 or the gripper head 22 and is used to remove ice from the cable. The ice-breaking mechanism 5 includes an ice-breaking component and an ice-breaking motor that drives the ice-breaking component to move. The ice-breaking component is in contact with the ice on the surface of the cable. The ice-breaking motor drives the ice-breaking component to move, and the ice-breaking component strikes or squeezes the ice on the surface of the cable to remove the ice.

[0039] The ice-breaking mechanism 5 includes a first ice-breaking mechanism, a second ice-breaking mechanism, and a third ice-breaking mechanism. The first ice-breaking mechanism is mounted on the clamping mechanism 2 at the front end of the obstacle avoidance mechanism 1, while the second and third ice-breaking mechanisms are mounted on the clamping mechanism 2 at the rear end of the obstacle avoidance mechanism 1. In this embodiment, the three ice-breaking mechanisms can respectively employ an ice-breaking hammer, an ice-breaking wheel, and an ice-breaking brush. By setting up multiple ice-breaking mechanisms 5 for cleaning, the power transmission safety of high-voltage lines is greatly ensured, thereby guaranteeing stable power supply for residents' lives, industrial production, and various sectors of society, and reducing economic losses and social impacts caused by power outages.

[0040] In this embodiment, the first ice-breaking mechanism consists of a bevel gear and a first motor that drives the bevel gear to rotate. The first motor is mounted on the gripper head 22. The edge of the bevel gear contacts the ice on the cable. The axis of the bevel gear is parallel to the cable's direction. When the first motor rotates, the bevel gear rotates and squeezes and cuts the ice on the cable. In this embodiment, the second ice-breaking mechanism consists of an ice-breaking hammer, a crank, a slider, and a second motor. The second motor is mounted on a retaining ring. The second motor, through the crank and slider, causes the ice-breaking hammer to rotate in a vertical plane, striking and removing the ice on the cable. In this embodiment, the third ice-breaking mechanism consists of a de-icing steel brush and a third motor that drives the de-icing steel brush to rotate. The axis of the de-icing steel brush is parallel to the cable's direction. The de-icing steel brush contacts the ice on the cable, and when the de-icing steel brush rotates, it removes the ice from the cable.

[0041] The drive wheel mechanism 4 is mounted on the gripper head 22 and is used to move along the cable. The drive wheel mechanism 4 includes a drive ice-breaking wheel 41 and a drive motor 42 that drives the drive ice-breaking wheel 41 to rotate horizontally. The drive motor 42 is mounted at the bottom of the gripper head 22. The shape of the drive ice-breaking wheel 41 matches the shape of the cable. When the drive ice-breaking wheel 41 contacts the cable, it further compresses the ice on the cable, ensuring a good subsequent ice-breaking effect. The drive motor 42 drives the drive ice-breaking wheel 41 to rotate, and the drive ice-breaking wheel 41 works in conjunction with the cable, driving the gripper head 22 and the entire structure to move along the cable while breaking the ice.

[0042] In this embodiment, the driving icebreaker wheel 41 includes symmetrical circular frustums, the sides of which are outwardly curved, with the smaller end of the circular frustum abutting against the ground. This allows the driving icebreaker wheel 41 to adapt to and fit cables of different thicknesses, thus increasing its adaptability.

[0043] It also includes a base plate and a retaining plate, positioned from top to bottom between the base plate and the outer casing. The base plate, retaining plate, and retaining ring are fixedly connected. The base plate is used to position the servo motor of the power unit at a suitable height. By setting the base plate and retaining plate, the servo motor is better secured, the force is evenly distributed, stress concentration is avoided, and the system rigidity is enhanced.

[0044] The visual recognition module and ultrasonic detection module are installed on the bending shaft 13. Specifically, a groove is provided at the de-icing front section of the bending shaft 13 to install the visual recognition module and ultrasonic detection module. Both the visual recognition module and ultrasonic detection module are connected to the information processing and control module. The information processing and control module controls the obstacle avoidance mechanism 1 based on the information recognized by the visual recognition module, enabling the overall structure to cross obstacles such as insulators and avoid damage to the cable. In this solution, visual recognition based on the YOLO algorithm is used to accurately identify the icing condition of the high-voltage line, allowing the high-voltage line ice-breaking robot to accurately remove ice when completing the high-voltage line ice-breaking task, fundamentally saving energy and greatly improving the efficiency of ice breaking. The ultrasonic detection module transmits and receives signals to measure the ice thickness, providing a basis for selecting the ice breaking method and controlling the ice breaking force. The information processing and control module controls the above-mentioned servo motors and motors to perform ice breaking and de-icing, as well as to move on the cable.

[0045] In addition, to ensure the safety of dual-line movement, this embodiment coats the robot's shell with a high-voltage resistant insulating coating, effectively preventing potential shifts from breaking down the internal circuitry, thus enabling autonomous ice-breaking operations between different high-voltage lines and enhancing the reliability of movement between the two lines.

[0046] A novel control method for a high-voltage line ice-breaking robot includes: Step 1: The visual recognition module and the ultrasonic detection module identify the icing condition on the high-voltage line.

[0047] Step 2: When the visual recognition module and ultrasonic detection module detect ice accumulation on the high-voltage line, the information processing and control module controls the ice-breaking wheel, ice-breaking hammer, and de-icing steel brush to operate. At the same time, it automatically adjusts the frequency and speed of the ice-breaking tools by recognizing the thickness of the ice accumulation on the line.

[0048] Step 3: When the vision recognition module detects obstacles such as insulators on the line ahead, the information processing and control module controls the obstacle avoidance mechanism 1 to move, so that the entire robot can safely cross the obstacle.

[0049] Step 4: When completing the ice-breaking task for a single route, move and adjust the angle of the robotic arm to complete the ice-breaking task for different routes.

[0050] This innovative solution employs a composite ice-breaking mode combining ice-breaking wheels, ice-breaking hammers, and de-icing steel brushes, significantly improving the clearing effect through triple ice-breaking. An adjustable, multi-functional ice-breaking mechanical clamp based on adaptive clamping technology was developed, achieving stable operation and reducing line damage, thus solving the problems of line damage and poor adaptability inherent in traditional ice-breaking robots. For complex line environments and obstacle avoidance requirements, a robotic arm and servo motor transmission technology were used, and an obstacle-crossing mechanism with joint adjustment and linkage units was designed, supplemented by a precise motion control system. This enables the robot to autonomously cross obstacles such as shock absorbers, wire clamps, and insulators, efficiently completing walking, turning, braking, and ice-breaking operations, eliminating reliance on drone transportation.

[0051] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention. In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A novel high-voltage line ice-breaking robot, characterized in that, include: The system includes an obstacle avoidance mechanism, a clamping mechanism, a drive wheel mechanism, an ice-breaking mechanism, and an information processing and control module. The obstacle avoidance mechanism has clamping mechanisms at both its de-icing front and rear ends, with the clamping mechanisms positioned above the obstacle avoidance mechanism. The drive wheel mechanism and the ice-breaking mechanism are both mounted on the clamping mechanisms. The ice-breaking mechanism is used to break up ice on the cable. The drive wheel mechanism is used to move along the cable. The obstacle avoidance mechanism and its clamping mechanisms at both ends cooperate to overcome obstacles on the cable. The obstacle avoidance mechanism includes a curved shaft, a first robotic arm, and a second robotic arm. The first and second robotic arms are mounted on the curved shaft. The first robotic arm controls the rotation and direction of the clamping mechanism at the front end of the de-icing process, and the second robotic arm controls the rotation and direction of the clamping mechanism at the rear end of the de-icing process. The control mechanisms of the first and second robotic arms are both connected to the information processing control module. The control mechanisms of the clamping mechanism, the drive wheel mechanism, and the ice-breaking mechanism are all connected to the information processing control module.

2. The novel high-voltage line ice-breaking robot according to claim 1, characterized in that: The first robotic arm includes: a connecting rod, a connecting member, a first servo motor, and a first joint servo motor. One end of the connecting rod is symmetrically arranged on the outside of the bending shaft and hinged to the bending shaft. The two output shafts of the first servo motor are perpendicular to the cable routing. The two output shafts of the first servo motor are respectively connected to the corresponding connecting rod. The housing of the first servo motor is fixedly connected to the bottom of the clamping mechanism. The first joint servo motor is arranged inside the bending shaft, and its two end output shafts are connected to the connecting rod. The second robotic arm includes: a third servo motor and a fourth servo motor. The fourth servo motor is used to drive the clamping mechanism to rotate up and down. The third servo motor is mounted on the bending shaft and is used to drive the fourth servo motor to rotate. The rotation direction of the third servo motor is perpendicular to the rotation direction of the fourth servo motor.

3. The novel high-voltage line ice-breaking robot according to claim 1, characterized in that: The ice-breaking mechanism includes a first ice-breaking mechanism, a second ice-breaking mechanism, and a third ice-breaking mechanism. The first ice-breaking mechanism is mounted on the clamping mechanism at the front end of the obstacle avoidance mechanism's ice removal, while the second and third ice-breaking mechanisms are mounted on the clamping mechanism at the rear end of the obstacle avoidance mechanism's ice removal.

4. The novel high-voltage line ice-breaking robot according to claim 1, characterized in that: It also includes a visual recognition module and an ultrasonic detection module, both of which are connected to the information processing and control module.

5. A novel high-voltage line ice-breaking robot according to claim 1, characterized in that: The clamping mechanism includes a base, a gripper head, and an angle adjustment component. The gripper head is symmetrically arranged along the cable direction and is V-shaped with the openings of the symmetrical gripper heads facing each other. The top of the gripper head covers the cable. The angle adjustment component is used to adjust the relative position of the drive wheel mechanism and the cable, and to control the rotation angle of the gripper head in a vertical plane perpendicular to the cable direction.

6. A novel high-voltage line ice-breaking robot according to claim 5, characterized in that: The angle adjustment component includes a linkage unit and a power unit. The top linkage of the linkage unit is hinged to the intersection of the top linkage and the gripper head. The middle linkage of the linkage unit is hinged to the base. The power unit is used to control the bottom linkage of the linkage unit to move up and down. The linkage unit and the gripper head form a four-bar linkage structure. The base and the obstacle avoidance mechanism are fixedly connected.

7. A novel high-voltage line ice-breaking robot according to claim 5, characterized in that: The drive wheel mechanism includes a drive icebreaker wheel and a drive motor that drives the drive icebreaker wheel to rotate horizontally. The drive motor is installed at the bottom of the gripper head, and the shape of the drive icebreaker wheel matches the cable.

8. A novel high-voltage line ice-breaking robot according to claim 7, characterized in that: The driving icebreaker wheel includes a circular frustum that is symmetrical on the top and bottom. The sides of the circular frustum are in an outward arc shape, and the smaller end of the circular frustum abuts against the ground.

9. The control method for a novel high-voltage line ice-breaking robot according to claim 1, characterized in that, include: Obtain information on icing conditions on high-voltage lines; The information processing and control module controls the clamping mechanism to hold the cable, and at the same time controls the drive wheel mechanism and the ice-breaking mechanism to move on the cable and clean the ice on the cable. When there is an obstacle ahead, the information processing module first controls the gripping mechanism at the front of the obstacle avoidance mechanism to release, and then controls the current gripping mechanism to rotate through the corresponding robotic arm to cross the obstacle; then it controls another robotic arm and gripping mechanism to continue to cross the current obstacle.

10. The control method for a novel high-voltage line ice-breaking robot according to claim 9, characterized in that: During the de-icing process, the information processing and control module is also used to adjust the frequency and rotation speed of the ice-breaking mechanism according to the thickness of the ice on the line.

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