Overcoming ability's power transmission line walking type deicing robot

Abstract

The present application relates to the technical field of power system operation and maintenance equipment, in particular to a power transmission line walking type deicing robot with obstacle crossing capability, comprising a power transmission line walking type deicing robot with obstacle crossing capability, an adaptive walking mechanism is arranged on the robot body, the adaptive walking mechanism comprises a plurality of walking arms and a walking assembly, the walking assembly is used for cooperating with the power transmission line and driving the robot body to walk along the power transmission line; a deicing mechanism is connected to the robot body and is used for removing the ice on the power transmission line; the present application not only realizes stable crossing for complex hardware obstacles and efficient removal for hard ice, but also guarantees long-term endurance through online power taking technology, in combination with an intelligent sensing system, can safely and efficiently complete the automatic operation and maintenance task of the power transmission line, and has very high popularization and application value.

Description

Technical Field

[0001] This invention relates to the field of power system operation and maintenance equipment technology, specifically to a transmission line walking de-icing robot with obstacle-crossing capabilities. Background Technology

[0002] During cold winters, overhead transmission lines are highly susceptible to icing due to freezing rain, wet snow, and other weather conditions. Icing on transmission lines not only increases the load on conductors but can also lead to galloping, flashover, line breaks, and even tower collapses, seriously threatening power grid safety. Current de-icing methods mainly involve DC short-circuit de-icing, which requires prolonged power outages and consumes a large amount of electrical energy.

[0003] De-icing methods for power transmission lines mainly include DC short-circuit de-icing, manual tower climbing de-icing, and mechanical de-icing. Among these, DC de-icing often requires power outages and consumes a large amount of energy; manual de-icing, on the other hand, presents problems such as high labor intensity, harsh working environments, and high safety risks. Therefore, using mobile robots that travel along the power line for mechanical de-icing has gradually become a research hotspot in the industry.

[0004] While some progress has been made in the publicly available de-icing robots for power transmission lines, they still face many technical bottlenecks in practical applications.

[0005] Firstly, regarding obstacle crossing, power transmission lines are dotted with hardware obstacles such as vibration dampers, spacers, and suspension clamps. Existing de-icing robots mostly use simple wheeled or tracked locomotives, which have weak obstacle crossing capabilities. When passing through complex hardware, they are prone to getting stuck, slipping, or even derailing and falling, making it difficult to ensure the continuity and stability of operations.

[0006] Secondly, in terms of de-icing operations, existing robots typically use rotating scrapers, which not only limit de-icing efficiency but also pose safety hazards because the high-speed rotating blades can easily damage the wire body during severe vibrations.

[0007] Furthermore, most robots rely solely on their onboard batteries for power, resulting in short battery life. This makes them unsuitable for the inspection and de-icing needs of long-distance power transmission lines, and frequent battery replacements significantly reduce operational efficiency.

[0008] Finally, existing equipment generally lacks the ability to perceive the working environment in real time, and mostly relies on manual blind operation. It cannot accurately identify obstacles or icing on the line, resulting in low intelligence and difficulty in achieving efficient autonomous operation. Summary of the Invention

[0009] In order to solve the above-mentioned technical problems, the present invention provides a power line walking de-icing robot with obstacle crossing ability, which realizes stable walking on power lines, automatic obstacle crossing, and efficient removal of various types of ice. At the same time, the de-icing robot also has environmental perception and autonomous decision-making capabilities.

[0010] This invention is achieved through the following technical solution:

[0011] A power line walking de-icing robot with obstacle-crossing capabilities includes:

[0012] The robot itself;

[0013] An adaptive walking mechanism is disposed on the robot body. The adaptive walking mechanism includes multiple walking arms and walking components. The walking components are mounted on the upper end of the walking arms. The lower end of the walking arms is rotatably connected to the robot body through a first drive mechanism. The walking components are used to cooperate with the power transmission line and drive the robot body to walk along the power transmission line.

[0014] A de-icing mechanism, connected to the robot body, is used to remove ice from the power transmission lines;

[0015] The central control system, located within the robot body, is electrically connected to both the adaptive walking mechanism and the de-icing mechanism, and is used to control the robot's operation.

[0016] Optionally, the walking assembly includes a drive wheel and anti-fall wheels. The drive wheel is rotatably mounted on the upper end of the walking arm for rolling on the power transmission line. The upper end of the walking arm is provided with a drive motor that is poweredly connected to the drive wheel and drives the drive wheel to rotate.

[0017] The anti-fall wheel is disposed at the upper end of the walking arm and located on one side of the drive wheel, and is used to prevent the walking assembly from detaching from the power transmission line.

[0018] Optionally, the drive wheel is a U-shaped rubber-coated wheel;

[0019] The anti-fall wheel is provided with multiple grooves, which are used to cooperate with the conductor spacer or the tower insulator attachment point, so that the walking component can cross the conductor spacer or the tower insulator attachment point.

[0020] Optionally, the adaptive walking mechanism includes four walking arms, which are arranged in a rectangular shape on the robot body.

[0021] Optionally, the first drive mechanism includes a swing drive assembly disposed on the robot body, and the output end of the swing drive assembly is connected to the lower end of the walking arm;

[0022] The swing drive assembly is used to drive the walking arm to rotate relative to the robot body with its lower end as the axis, so that the walking assembly can move closer to and be attached to the power line, or move away from and separate from the power line.

[0023] Optionally, the de-icing mechanism includes a de-icing arm and a de-icing assembly. The lower end of the de-icing arm is rotatably connected to the robot body via a second drive mechanism, and the de-icing assembly is installed at the upper end of the de-icing arm.

[0024] The de-icing assembly includes a de-icing motor and a de-icing actuator. The middle part of the de-icing actuator is connected to the torque output shaft of the de-icing motor. The de-icing motor is used to drive the de-icing actuator to swing back and forth, so that the two ends of the de-icing actuator strike the ice on the power transmission line.

[0025] Optionally, the second drive mechanism is mounted on the robot body;

[0026] The second drive mechanism is used to drive the de-icing arm to rotate around its lower end and control the de-icing mechanism to switch between a folded state and a working state;

[0027] The folded state refers to the state in which the de-icing mechanism is stored on the back of the robot body;

[0028] The working state is when the de-icing arm forms an angle with the back of the robot body, and the de-icing component is close to the power transmission line.

[0029] Optionally, the central control system includes a main controller, a power module, and a sensing module;

[0030] The power module includes a lithium battery pack disposed within the robot body, the lithium battery pack being used to provide operating power to the robot;

[0031] The sensing module is electrically connected to the main controller and is used to collect environmental information of the power transmission line;

[0032] The main controller is used to control the actions of the adaptive walking mechanism and the de-icing mechanism based on the data collected by the sensing module.

[0033] Furthermore, the de-icing robot also includes an online energy harvesting device;

[0034] The online energy harvesting device includes an energy harvesting arm and an openable energy harvesting transformer. The lower end of the energy harvesting arm is rotatably connected to the robot body through a third drive mechanism, and the openable energy harvesting transformer is installed at the upper end of the energy harvesting arm.

[0035] The switchable energy harvesting transformer is electrically connected to the power module. The switchable energy harvesting transformer is used to cover the transmission line and sense and obtain electrical energy to charge the lithium battery pack.

[0036] Optionally, the third drive mechanism is mounted on the robot body;

[0037] The third driving mechanism is used to drive the energy harvesting arm to rotate around its lower end, and is used to control the online energy harvesting device to switch between the storage state and the energy harvesting state.

[0038] The storage state is when the energy harvesting arm is close to or retracted to the robot body;

[0039] The energy harvesting state is that the energy harvesting arm is extended, so that the openable energy harvesting transformer is fitted onto the transmission line.

[0040] Compared with the prior art, the present invention has the following features and beneficial effects:

[0041] This invention improves the robot's obstacle-crossing ability and walking stability through an adaptive walking mechanism, solving the problem of wheeled mechanisms easily getting stuck or derailing in the prior art; by setting up a reciprocating swing de-icing mechanism, the alternating striking action at both ends of the actuator breaks the ice, avoiding the risk of the cutter head damaging the wires while ensuring the de-icing effect; by integrating an online energy harvesting device, the robot can obtain power through inductive induction by covering the power transmission line, providing continuous power replenishment for the lithium battery pack.

[0042] This invention also introduces a sensing module, thereby giving the robot autonomous environmental perception capabilities. By collecting environmental information of the power transmission line in real time, the robot can accurately identify the type of obstacle and the thickness of the ice layer in front of it, thereby deciding when to open the walking arm or adjust the de-icing force. This changes the traditional equipment's reliance on blind manual operation and improves the level of intelligence and control precision of the operation.

[0043] This invention not only enables stable crossing of complex hardware obstacles and efficient removal of hard icing, but also ensures long-term operation through online energy harvesting technology. Combined with an intelligent sensing system, it can safely and efficiently complete the automated operation and maintenance tasks of power transmission lines, and has extremely high value for promotion and application. Attached Figure Description

[0044] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the principles of the invention. These drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, but do not constitute a limitation on the embodiments of the present invention.

[0045] Figure 1This is a schematic diagram of the basic architecture of the power transmission line walking de-icing robot according to the present invention.

[0046] Reference numerals: 1-Robot body, 2-Walking arm, 3-Drive wheel, 4-Anti-fall wheel, 5-First drive mechanism, 6-De-icing arm, 7-De-icing motor, 8-De-icing actuator, 9-Second drive mechanism, 10-Energy harvesting arm, 11-Opening and closing energy harvesting transformer, 12-Third drive mechanism. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0048] It should also be noted that, for ease of description, only the parts relevant to the present invention are shown in the accompanying drawings.

[0049] Where there is no conflict, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0050] Example 1

[0051] like Figure 1 As shown in the figure, this embodiment describes the basic architecture of a power transmission line walking de-icing robot, which mainly consists of four core modules: robot body 1, adaptive walking mechanism, de-icing mechanism and central control system.

[0052] The robot body 1 provides an installation reference and support for other mechanisms.

[0053] An adaptive walking mechanism is mounted on the robot body 1. The adaptive walking mechanism includes multiple walking arms 2 and a walking component. The walking component is mounted on the upper end of the walking arm 2. The lower end of the walking arm 2 is rotatably connected to the robot body 1 through a first drive mechanism 5. The walking component is used to cooperate with the power transmission line and drive the robot body 1 to walk along the power transmission line.

[0054] Driven by the first drive mechanism 5, the walking arm 2 can rotate or swing around the connection point, thereby adjusting the opening and closing angle of the walking arm 2 so as to be mounted on the line or avoid obstacles.

[0055] The de-icing mechanism is connected to the robot body 1 and is used to remove ice from the power transmission line;

[0056] The central control system is located inside the robot body 1 and is electrically connected to both the adaptive walking mechanism and the de-icing mechanism, and is used to control the operation of the robot. The central control system is connected to the "adaptive walking mechanism" and the "de-icing mechanism" via circuits, and is responsible for sending commands to coordinate the robot's walking movements (such as movement and arm swing) and de-icing operations.

[0057] Example 2

[0058] The walking mechanism in this embodiment is described in detail.

[0059] The walking assembly includes a drive wheel 3 and a fall-prevention wheel 4. The drive wheel 3 is rotatably mounted on the upper end of the walking arm 2 for rolling on the power transmission line. The upper end of the walking arm 2 is provided with a drive motor that is poweredly connected to the drive wheel 3 and drives the drive wheel 3 to rotate.

[0060] Considering that the transmission line is cylindrical, flat-bottomed wheels are prone to slipping, while U-shaped grooves can increase the contact area and significantly improve lateral stability. Therefore, the drive wheel 3 adopts a U-shaped rubber-coated wheel. The rubber coating can increase friction to prevent slippage, and the flexibility of the rubber can prevent the metal wheel hub from hitting the conductor surface hard.

[0061] The anti-fall wheel 4 is disposed at the upper end of the walking arm 2 and located on one side of the drive wheel 3, and is used to prevent the walking assembly from detaching from the power transmission line.

[0062] The anti-fall wheel 4 is provided with multiple grooves, which are used to cooperate with the conductor spacer or the tower insulator hanging point, so that the walking component can cross the conductor spacer or the tower insulator hanging point.

[0063] The anti-fall wheel 4 is located on one side of the drive wheel 3. Its basic function is to act as a "baffle" to catch the wire and prevent derailment when the robot tilts. When the robot walks to protruding obstacles such as wire spacers or insulator attachment points, ordinary round wheels will be blocked. However, the grooved wheel is similar to a gear, allowing the protruding part of the obstacle to be embedded in the groove. As the wheel rotates, it "pushes" or "steps over" the obstacle, thus enabling continuous movement without the need for complex lifting actions.

[0064] This embodiment clarifies that the adaptive walking mechanism includes four walking arms 2, which are rectangularly distributed on the robot body 1. The four-point support structure prevents the robot from shaking violently during de-icing operations (such as when striking).

[0065] The first drive mechanism 5 includes a swing drive assembly disposed on the robot body 1, and the output end of the swing drive assembly is connected to the lower end of the walking arm 2;

[0066] The swing drive assembly is used to drive the walking arm 2 to rotate relative to the robot body 1 with its lower end as the axis, so that the walking assembly can move closer to and be attached to the power line, or move away from and separate from the power line.

[0067] Swinging inwards allows the upper traveling component to approach and attach to the conductor (working state).

[0068] Swinging outwards can move the walking component away from and disconnect the wire (inactive state).

[0069] The robot uses a swing drive assembly to drive four rectangularly distributed walking arms 2 to retract inwards, causing the U-shaped rubber drive wheels 3 at the top to engage and attach to the power transmission lines. Driven by a motor, the drive wheels 3 roll, enabling the robot to move. When encountering obstacles such as conductor spacers, the anti-fall wheels 4 located on the sides of the drive wheels 3 use their specially designed groove structure to engage with the obstacles, allowing the robot to smoothly cross them while simultaneously preventing derailment.

[0070] Example 3

[0071] This embodiment provides a detailed description of the de-icing mechanism.

[0072] The de-icing mechanism includes a de-icing arm 6 and a de-icing assembly. The lower end of the de-icing arm 6 is rotatably connected to the robot body 1 through a second drive mechanism 9, and the de-icing assembly is installed on the upper end of the de-icing arm 6.

[0073] The de-icing assembly includes a de-icing motor 7 and a de-icing actuator 8. The middle part of the de-icing actuator 8 is connected to the torque output shaft of the de-icing motor 7. The de-icing motor 7 is used to drive the de-icing actuator 8 to swing back and forth, so that the two ends of the de-icing actuator 8 strike the ice on the power transmission line.

[0074] The de-icing motor 7 does not rotate continuously 360 degrees, but instead drives the actuator to "reciprocate." By making the actuator swing back and forth rapidly within a small angle range, the two ends impact the ice on the power transmission line. Compared to rotary scraping, the striking method utilizes instantaneous impact force, making it easier to break up hard ice and less likely to be jammed by ice.

[0075] The second drive mechanism 9 is mounted on the robot body 1 and controls the rotation of the root of the de-icing arm 6.

[0076] The second drive mechanism 9 is used to drive the de-icing arm 6 to rotate around its lower end, and to control the de-icing mechanism to switch between a folded state and a working state;

[0077] The folded state refers to the state in which the de-icing mechanism is stored on the back of the robot body 1;

[0078] The working state is when the de-icing arm 6 forms an angle with the back of the robot body 1, and the de-icing component is close to the power transmission line.

[0079] During operation, the de-icing mechanism rises to a position perpendicular to the robot body 1. The length of the de-icing actuator 8 is slightly larger than the spacing between the split conductors. Driven by a motor, it rotates at high speed, knocking away the ice on the conductors. When crossing the spacer bars, the de-icing mechanism automatically descends and returns to its upright working position after passing through. For power transmission lines with severe icing, the de-icing actuator 8 can be replaced with a specially designed de-icing blade to improve the de-icing effect.

[0080] Example 4

[0081] This embodiment describes a central control system that provides power supply, sensing, decision-making, and control functions.

[0082] The central control system includes a main controller, a power module, and a sensing module;

[0083] The power module includes a lithium battery pack disposed within the robot body 1. The lithium battery pack is used to provide working power to the robot (including motors, sensors, controllers, etc.) to ensure that it can move freely without dragging external cables.

[0084] The sensing module is electrically connected to the main controller and is used to collect environmental information of the power transmission line. The main controller is used to control the actions of the adaptive walking mechanism and the de-icing mechanism based on the data collected by the sensing module. When the sensing module detects an obstacle ahead, the main controller calculates the distance to the obstacle, instructs the walking mechanism to slow down and perform a crossing action; when ice is detected, it instructs the de-icing mechanism to deploy and begin knocking.

[0085] The robot body 1 is equipped with a multimodal perception module, including a lidar, high-definition camera, infrared thermal imager, and tilt sensor, which is used to detect obstacles ahead, ice thickness, ambient temperature, robot posture, and whether de-icing is in progress in real time. In the non-iced state, the device can also be used for line and passage inspection.

[0086] The central control system within the robot body 1 integrates an embedded processor and a wireless communication module. It receives sensor data and dynamically adjusts walking speed, clamping force, de-icing mode, and obstacle-crossing strategy based on preset algorithms. It can also interact with a remote monitoring platform via 4G / 5G networks. The specific algorithm can adopt currently available conventional multimodal fusion processing algorithms.

[0087] The robot body 1 is coated with a hydrophobic layer to reduce the probability of it becoming icy. The device contains a heating element, which can remove the ice buildup when the robot is icy.

[0088] To reduce the impact of corona discharge on the device, an equalizing outer shell is installed. The outer shell is made of lightweight aluminum and is arc-shaped, enclosing the robot body. Ice blocks that fall from the wires onto the robot body 1 can be expelled backward by the vibration of the robot during operation.

[0089] Example 5

[0090] In order to solve the problem that mobile robots cannot continue to work on long-distance power transmission lines due to battery depletion, this embodiment equips the de-icing robot with an online power harvesting device.

[0091] The online energy harvesting device includes an energy harvesting arm 10 and an openable energy harvesting transformer 11. The lower end of the energy harvesting arm 10 is rotatably connected to the robot body 1 through a third drive mechanism 12, and the openable energy harvesting transformer 11 is installed on the upper end of the energy harvesting arm 10.

[0092] The switchable energy harvesting transformer 11 is electrically connected to the power module. The switchable energy harvesting transformer 11 is used to cover the transmission line and sense and obtain electrical energy to charge the lithium battery pack.

[0093] Since the power transmission line is continuous, the robot cannot slip it onto the end. Therefore, the current transformer's core is designed with a clamp-like structure, which can open the jaws to enclose the conductor and then close to form a magnetic circuit. The current transformer is based on the principle of electromagnetic induction. When an alternating current flows through the transmission line, an alternating current is induced in the current transformer coil covering the conductor. This induced energy is then rectified, regulated, and supplied to the power module.

[0094] The third drive mechanism 12 is mounted on the robot body 1;

[0095] The third drive mechanism 12 is used to drive the energy harvesting arm 10 to rotate around its lower end, and to control the online energy harvesting device to switch between storage state and energy harvesting state.

[0096] The storage state refers to the energy harvesting arm 10 being close to or retracted to the robot body 1; this usually occurs when the robot needs to walk over obstacles (to avoid the mutual inductor colliding with obstacles) or when the task ends.

[0097] The energy harvesting state is when the energy harvesting arm 10 is extended, so that the openable energy harvesting transformer 11 is sleeved on the power transmission line; this usually occurs when the robot stops walking to perform fixed-point charging, or when it walks and charges on an unobstructed line segment (depending on the specific control strategy).

[0098] When the robot detects insufficient power or is in a suitable energy-harvesting section, the third drive mechanism 12 is activated, driving the energy harvesting arm 10 to rotate and unfold around its lower end, switching from a retracted state close to the robot body to an energy-harvesting state. During this process, the openable energy harvesting transformer 11 opens and closes, tightly covering (sleeving) the power transmission line. Subsequently, the transformer uses the principle of electromagnetic induction to obtain electrical energy from the high-voltage line and transmits it to the power module through the circuit to charge the lithium battery pack online.

[0099] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0100] Those skilled in the art should understand that the above embodiments are merely for illustrating the present invention and are not intended to limit the scope of the invention. Those skilled in the art can make other changes or modifications based on the above invention, and these changes or modifications still fall within the scope of the present invention.

Claims

1. A power transmission line walking de-icing robot with obstacle-crossing capability, characterized in that, include: Robot body (1); An adaptive walking mechanism is provided on the robot body (1). The adaptive walking mechanism includes multiple walking arms (2) and a walking component. The walking component is installed on the upper end of the walking arm (2). The lower end of the walking arm (2) is rotatably connected to the robot body (1) through a first drive mechanism (5). The walking component is used to cooperate with the power transmission line and drive the robot body (1) to walk along the power transmission line. A de-icing mechanism, which is connected to the robot body (1), is used to remove ice from the power transmission line; The central control system is located inside the robot body (1) and is electrically connected to the adaptive walking mechanism and the de-icing mechanism, respectively, for controlling the operation of the robot.

2. The power line walking de-icing robot with obstacle-crossing capability according to claim 1, characterized in that, The walking assembly includes a drive wheel (3) and a fall protection wheel (4). The drive wheel (3) is rotatably mounted on the upper end of the walking arm (2) for rolling on the power transmission line. The upper end of the walking arm (2) is provided with a drive motor that is poweredly connected to the drive wheel (3) and drives the drive wheel (3) to rotate. The anti-fall wheel (4) is disposed at the upper end of the walking arm (2) and located on one side of the drive wheel (3) to prevent the walking assembly from detaching from the power transmission line.

3. The power line walking de-icing robot with obstacle-crossing capability according to claim 2, characterized in that, The drive wheel (3) is a U-shaped rubber-coated wheel; The anti-fall wheel (4) is provided with a plurality of grooves, which are used to cooperate with the conductor spacer or the tower insulator hanging point so that the walking component can cross the conductor spacer or the tower insulator hanging point.

4. The power line walking de-icing robot with obstacle-crossing capability according to claim 1, characterized in that, The adaptive walking mechanism includes four walking arms (2), which are rectangularly distributed on the robot body (1).

5. The power line walking de-icing robot with obstacle-crossing capability according to claim 1, characterized in that, The first drive mechanism (5) includes a swing drive assembly disposed on the robot body (1), and the output end of the swing drive assembly is connected to the lower end of the walking arm (2); The swing drive assembly is used to drive the walking arm (2) to rotate relative to the robot body (1) with its lower end as the axis, so that the walking assembly is close to and attached to the power transmission line, or away from and separated from the power transmission line.

6. The power line walking de-icing robot with obstacle-crossing capability according to claim 1, characterized in that, The de-icing mechanism includes a de-icing arm (6) and a de-icing assembly. The lower end of the de-icing arm (6) is rotatably connected to the robot body (1) through a second drive mechanism (9). The de-icing assembly is installed on the upper end of the de-icing arm (6). The de-icing assembly includes a de-icing motor (7) and a de-icing actuator (8). The middle part of the de-icing actuator (8) is connected to the torque output shaft of the de-icing motor (7). The de-icing motor (7) is used to drive the de-icing actuator (8) to swing back and forth, so that the two ends of the de-icing actuator (8) strike the ice on the power transmission line.

7. The power line walking de-icing robot with obstacle-crossing capability according to claim 6, characterized in that, The second drive mechanism (9) is mounted on the robot body (1); The second drive mechanism (9) is used to drive the de-icing arm (6) to rotate around its lower end and control the de-icing mechanism to switch between the folded state and the working state; The folded state refers to the state in which the de-icing mechanism is stored on the back of the robot body (1); The working state is when the de-icing arm (6) forms an angle with the back of the robot body (1) and the de-icing component is close to the power transmission line.

8. The power line walking de-icing robot with obstacle-crossing capability according to claim 1, characterized in that, The central control system includes a main controller, a power module, and a sensing module; The power module includes a lithium battery pack disposed within the robot body (1), the lithium battery pack being used to provide working power to the robot; The sensing module is electrically connected to the main controller and is used to collect environmental information of the power transmission line. The main controller is used to control the actions of the adaptive walking mechanism and the de-icing mechanism based on the data collected by the sensing module.

9. The power line walking de-icing robot with obstacle-crossing capability according to claim 8, characterized in that, It also includes online energy harvesting devices; The online energy harvesting device includes an energy harvesting arm (10) and an openable energy harvesting transformer (11). The lower end of the energy harvesting arm (10) is rotatably connected to the robot body (1) through a third drive mechanism (12), and the openable energy harvesting transformer (11) is installed on the upper end of the energy harvesting arm (10). The openable energy harvesting transformer (11) is electrically connected to the power module. The openable energy harvesting transformer (11) is used to cover the power transmission line and sense and obtain electrical energy to charge the lithium battery pack.

10. The power line walking de-icing robot with obstacle-crossing capability according to claim 9, characterized in that, The third drive mechanism (12) is mounted on the robot body (1); The third drive mechanism (12) is used to drive the energy harvesting arm (10) to rotate around its lower end, and to control the online energy harvesting device to switch between the storage state and the energy harvesting state. The storage state is when the energy harvesting arm (10) is close to or retracted to the robot body (1). The energy harvesting state is that the energy harvesting arm (10) is unfolded, so that the openable energy harvesting transformer (11) is sleeved on the power transmission line.

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