A multifunctional power transmission line automatic obstacle crossing and clearing robot based on online power taking

Abstract

The application discloses a multifunctional power transmission line automatic obstacle crossing and clearing robot based on online power taking, and belongs to the technical field of power facility maintenance robots. The robot comprises a machine body, the machine body is provided with a walking and obstacle crossing module and a controller, the walking and obstacle crossing module comprises at least one set of wheel groups clamped on a power transmission line and at least one multi-degree-of-freedom mechanical arm, one end of the mechanical arm is connected with the machine body, and the machine body is further provided with a power taking and energy storage module. The power taking and energy storage module is used for supplying power to the robot in a mode of electromagnetic induction and capacitive coupling, is fixed on the machine body, and is internally provided with an electromagnetic induction power taking unit, a capacitive coupling power taking unit and a switching unit. The switching unit is used for switching power taking between the electromagnetic induction power taking unit and the capacitive coupling power taking unit according to the size of a current of the power transmission line. Through online power taking, all-weather operation is realized, and the problem that existing robots cannot be used for long-distance inspection is solved.

Description

Technical Field

[0001] This invention belongs to the field of power facility maintenance robot technology, specifically relating to a multifunctional automatic obstacle-crossing and obstacle-clearing robot for power transmission lines based on online power supply. Background Technology

[0002] With the continuous expansion of the power grid, the workload of transmission line inspection and maintenance is increasing daily. Traditional transmission line inspection relies on manual labor, which is not only labor-intensive and dangerous but also inefficient. Currently, some inspection robots capable of moving along transmission lines have emerged, but they have shortcomings: most robots are powered by their own batteries, resulting in limited endurance and failing to meet the needs of long-distance inspections. Their obstacle-crossing ability is insufficient; existing wheeled or tracked robots often struggle to cross large gaps in conductors or complex tension tower structures, easily getting stuck. Their functionality is limited; existing robots mainly focus on inspection and lack effective obstacle-clearing methods, unable to handle foreign objects snagging on the lines or perform simple fault repairs. Navigation accuracy is affected by interference; the complex electromagnetic environment near transmission lines makes single satellite or inertial navigation susceptible to interference, leading to positioning drift. Therefore, there is an urgent need for a multi-functional transmission line operation robot capable of online power supply, autonomous obstacle-crossing and clearing capabilities, and stable navigation. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multifunctional automatic obstacle-crossing and obstacle-clearing robot for power transmission lines based on online power supply, thus solving the technical problems mentioned in the background art.

[0004] The objective of this invention is achieved as follows: A multifunctional automatic obstacle-crossing and clearing robot for power transmission lines based on online power supply includes a body. The body is equipped with a walking and obstacle-crossing module and a controller. The walking and obstacle-crossing module includes at least one set of wheels clamped onto the power line and at least one multi-degree-of-freedom robotic arm. One end of the robotic arm is connected to the body. The body is also equipped with: a power supply and storage module for supplying power to the robot through electromagnetic induction and capacitive coupling. This module is fixed to the body and internally includes an electromagnetic induction power supply unit, a capacitive coupling power supply unit, and a switching unit. The switching unit is used to switch power supply between the electromagnetic induction power supply unit and the capacitive coupling power supply unit according to the magnitude of the power line current; an obstacle-clearing execution module integrated at the end of the robotic arm, including a laser cutting unit and a mechanical clamping unit; and an auxiliary crossing module fixedly connected to the top of the body, including a rotor and a drive device connected thereto, for enabling the robot to cross short distances across power lines where the walking and obstacle-crossing module cannot pass.

[0005] The robot employs a comprehensive operational approach, incorporating wheeled locomotion, robotic arm obstacle crossing, combined power supply, multi-functional obstacle clearing, and flight-based traversal. The robot moves along power lines via wheels, drawing power from the lines through both electromagnetic induction and capacitive coupling, and storing energy in a supercapacitor to ensure a stable power supply. When encountering obstacles, a laser or gripping device at the end of the robotic arm clears them; for large gaps that the wheels cannot traverse, the flight module on top is activated to cross them. In operation, the robot is attached to the power line via its wheels, activating the power supply module and automatically switching power supply modes based on the current in the power lines. The controller drives the wheels forward while simultaneously using onboard vision and radar systems to inspect the power lines. Upon detecting foreign objects or defects, the robotic arm locates the problem and invokes the obstacle clearing module for handling. When encountering common accessories (such as vibration dampers), the robotic arm assists the wheels in overcoming obstacles. For large-span broken strands or structures that cannot be crossed, the auxiliary traversal module (rotor) deploys to fly to the other side. By drawing power online, the robot achieves all-weather operation, solving the problem of existing robots' inability to conduct long-distance inspections.

[0006] Furthermore, the system also includes a detection module and a controller. The detection module, fixed to the fuselage, includes a vision detection unit and a 3D scanning unit. The controller, fixed inside the fuselage, has its signal terminals connected via a bus to the power supply and storage module, the obstacle-crossing module, the obstacle-clearing execution module, the auxiliary crossing module, and the detection module. The controller is configured to control the obstacle-clearing execution module to complete the obstacle-clearing action based on data from the detection module. The controller is the core, communicating with all modules (power supply, walking, obstacle clearing, flight, and detection) via a high-speed bus. The detection module provides environmental perception data, and the controller makes decisions based on a preset algorithm, issuing real-time commands to coordinate the actions of each module. Based on the recognition results, the controller sends "cut" or "grab" commands to the obstacle-clearing execution module, and simultaneously sends motion trajectory commands to the robotic arm. This achieves a fully automated closed loop from detection to processing, requiring no human intervention.

[0007] Furthermore, the electromagnetic induction power extraction unit includes an open magnetic core and a coil wound on the magnetic core. The open magnetic core is sleeved on the outside of the transmission line and locked with bolts. The capacitive coupling power extraction unit includes an annular foil electrode coaxially sleeved on the outside of the transmission line, with an insulating sleeve separating the electrode from the line. The switching unit includes a current sampling element, a comparator, and two switching devices. The comparator controls the on / off state of the two switching devices based on the comparison result of the current sampling value and a preset threshold, so as to realize the switching of the power extraction mode.

[0008] Using the magnitude of the conductor current as the criterion, electromagnetic induction (extremely efficient) is employed for high currents, while capacitive coupling (unrestricted by current magnitude) is used for low currents. The switching unit achieves rapid, delay-free mode switching via a hardware comparator. During implementation, the current sampling element monitors the conductor current in real time. The comparator compares the sampled value with a preset threshold (e.g., 100A). When the current exceeds the threshold, the electromagnet switch is activated, the magnetic core attracts the conductor, and the coil generates electricity. When the current is less than the threshold, the electromagnet is deactivated, and power is inductively drawn using the capacitance effect between the foil electrodes and the conductor. A single device is compatible with the power needs of high-current main lines and low-load branch / older lines, demonstrating strong adaptability. The hardware-level comparator responds faster than software-based judgment, avoiding power interruptions caused by mode switching delays.

[0009] Furthermore, the preset threshold is 100A. When the conductor current is ≥100A, the electromagnetic induction power extraction unit is activated; when the conductor current is <100A, the capacitive coupling power extraction unit is activated. The power output, after voltage regulation, is 24V±5V, and the power extraction range is 50-100W. Under the condition of conductor current ≥100A, the electromagnetic induction effect is significant. By optimizing the number of coil turns and the cross-sectional area of ​​the magnetic core, high-power energy extraction is achieved. The output power is processed by a voltage regulator circuit to ensure the safety of the downstream electronic equipment. When the robot is located at the substation outlet or a high-load line section, the system automatically locks into electromagnetic induction mode, providing 50-100W of power output at full load for robot operation and supercapacitor charging. This meets the power requirements of high-energy-consuming actions such as robot climbing and heavy-load robotic arm operations.

[0010] Furthermore, the power extraction and energy storage module also includes an energy storage unit, which is a lithium titanate supercapacitor array consisting of 16 individual cells in a 4-series, 4-parallel configuration. The module also includes an energy management unit, which is a Buck-Boost converter. Its input side is connected to the output of the switching unit, and its output side is connected to the power supply terminals of the energy storage unit and the controller. The lithium titanate supercapacitor array, employing a 4-series, 4-parallel configuration, combines the high power density of lithium batteries with the ultra-long cycle life of supercapacitors. The Buck-Boost converter is responsible for efficient DC-DC conversion under different input voltages and load requirements. The electrical energy generated by the power extraction module charges the array of 16 supercapacitors. When the robot is stationary or performing obstacle clearing operations (power extraction decreases), the Buck-Boost converter releases the energy from the capacitors to maintain system voltage stability.

[0011] Furthermore, the power extraction and energy storage module is surrounded by a three-layer temperature management structure, from the inside out: a heating element attached to the energy storage unit and coil frame; an aerogel insulation layer covering the entire power extraction and energy storage module; and aluminum heat dissipation fins and a micro fan located on the back conductor of the coil. A temperature sensor is attached to the energy storage unit and coil frame, and its signal terminal is connected to the controller. To address the temperature differences caused by high-voltage lines crossing different altitudes and seasons, a three-level management system of heating, insulation, and heat dissipation is constructed. The temperature sensor provides real-time data feedback, and the controller dynamically adjusts the working status of the heating element or fan. During implementation, at low temperatures (<-10℃): the heating element is activated to prevent electrolyte solidification and capacity reduction. At high temperatures (>60℃): the cooling fan provides forced ventilation, and the aluminum fins increase the heat dissipation area. At a constant temperature: the aerogel layer blocks the intrusion of external cold air. This ensures the robot's uptime and energy storage efficiency in the frigid conditions of Northeast China or the scorching heat of Southern China.

[0012] Furthermore, the multi-degree-of-freedom robotic arm is a 7-axis carbon fiber tube structure, with adjacent tube segments hinged together by harmonic reducers. Each joint integrates a torque sensor, the output of which is electrically connected to the feedback of the corresponding servo driver. This 7-axis redundant degree-of-freedom design provides one more degree of freedom than the conventional 6-axis design, combined with the high strength and low weight characteristics of carbon fiber. The harmonic reducer provides high-precision angle control, and the torque sensor provides real-time force feedback. When the robotic arm avoids or clears obstacles, it can utilize the 7th axis for obstacle avoidance, preventing interference between the arm and wires or other attachments. Simultaneously, it automatically adjusts its center of gravity when grasping heavy objects. This redundant degree of freedom significantly improves the robotic arm's operating range in confined spaces.

[0013] Furthermore, the wheelset is a polyurethane wheelset with anti-slip textured rims; the visual inspection unit of the detection module includes a 4K camera and an infrared thermal imager, both fixed side-by-side on the same tilting platform; the 3D scanning unit is a lidar, fixed to the front of the robot body, used to scan axes perpendicular to the direction of the conductor and tilted downwards at 30°; the controller has a pre-installed YOLOv8 target detection model and a ResNet50 classification model for identifying potential line hazards from images. The working principle is as follows: the visual inspection unit provides high-resolution images (4K) and thermal distribution maps (infrared), while the 3D scanning unit provides precise spatial distance information. YOLOv8 is responsible for quickly locating targets, and ResNet50 is responsible for deep classification. The robot moves and takes pictures simultaneously, and the AI ​​model analyzes the images in real time. YOLOv8 selects suspected foreign objects, and ResNet50 determines whether it is a bird's nest, a hanging object, or a heat-generating defect, and sends the coordinates to the obstacle removal module.

[0014] Furthermore, the controller stores an inspection and obstacle removal linkage control program. After the detection module identifies an obstacle, the three-dimensional scanning unit measures the obstacle coordinates and sends them to the controller. The controller selects a laser cutting unit or a mechanical clamping unit according to the obstacle material, and calculates the rotation angle parameters of each joint of the robotic arm and sends them to the servo driver via the bus. The drive and control obstacle removal execution module completes the cutting or gripping action.

[0015] Based on 3D coordinate calculations, the controller inversely solves the angles of each joint of the robotic arm (inverse kinematics). According to the material database, the system automatically matches the optimal obstacle removal solution (laser cutting for hard and brittle objects, mechanical gripping for soft objects). During implementation, the lidar acquires the obstacle coordinates, the controller calculates the robotic arm path, the bus sends commands to the servo driver, the robotic arm moves into position, and the laser head or gripper is activated to complete the task. No manual remote control is required, eliminating the uncertainties of manual operation.

[0016] Furthermore, a navigation module is included, fixed to the top of the robot body. This module comprises a BeiDou positioning antenna, an IMU (Inertial Measurement Unit), and a visual odometry camera. The navigation module employs a federated Kalman filter architecture. The BeiDou positioning antenna, IMU, and visual odometry camera serve as the observation inputs for three local filtering subsystems. The main filter performs global fusion of the local estimates to output the pose. When the BeiDou signal is lost due to strong electromagnetic interference, the controller switches to a combined IMU and visual odometry navigation mode. Preferably, a federated Kalman filter algorithm is used to fuse data from BeiDou (absolute positioning), IMU (relative acceleration / angular velocity), and visual odometry (relative displacement). When the BeiDou signal is lost due to strong electromagnetic interference from high-voltage lines, the system seamlessly switches to the IMU-based visual relative positioning mode. This ensures the robot does not drift in complex electromagnetic environments, prevents falls, and solves the problem of satellite signal loss near high-voltage lines.

[0017] The beneficial effects of this invention are as follows: It employs a comprehensive working method integrating wheeled walking, robotic arm obstacle crossing, combined power supply, multi-functional obstacle clearing, and flight-based crossing. The robot moves along the power line via wheels, drawing power from the line using both electromagnetic induction and capacitive coupling, and storing energy through a supercapacitor to ensure a stable power supply. When encountering obstacles, a laser or gripping device at the end of the robotic arm clears them; when encountering large gaps that the wheels cannot traverse, the flight module on top is activated to cross them. In use, the robot is attached to the power line via its wheels, activates the power supply module, and automatically switches the power supply mode according to the current in the power line. The controller drives the wheels forward while simultaneously using the onboard vision and radar systems to inspect the line. When foreign objects or defects are detected, the robotic arm locates them and invokes the obstacle clearing module for processing. When encountering common accessories (such as vibration dampers), the robotic arm assists the wheels in overcoming obstacles. When encountering large-span broken strands or structures that cannot be crossed, the auxiliary crossing module (rotor) deploys to fly to the other side. This solves the problem of limited endurance in current robots, which cannot meet the needs of long-distance inspection. Crossing obstacles is easier, avoiding jamming, and the robot now has additional obstacle-clearing capabilities, allowing for timely removal of foreign objects on power lines. This ensures the robot does not drift in complex electromagnetic environments, preventing falls, resolving satellite signal loss issues near high-voltage lines, and improving navigation accuracy. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0019] Figure 2 This is a top view of the structure of the present invention;

[0020] Figure 3 This is a schematic diagram of the left-side structure of the present invention;

[0021] Figure 4 This is a front-view stereoscopic structural diagram of the present invention;

[0022] Figure 5 This is a rear-view stereoscopic structural diagram of the present invention.

[0023] In the diagram: 1. Fuselage, 2. Wheelset, 3. Robotic arm, 4. Power supply and storage module, 5. Mechanical clamping unit, 6. Laser cutting unit, 7. Rotor, 8. Detection module, 9. LiDAR, 10. Navigation module, 11. Power transmission line. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings. It should be noted that all directional terms such as up, down, front, back, left, and right appearing in the present invention are not intended to limit the present invention, but are only used to more clearly explain and interpret the present invention.

[0025] Example 1

[0026] like Figure 1-5 As shown, this embodiment discloses a multifunctional automatic obstacle-crossing and clearing robot for power transmission lines based on online power supply. It includes a body 1, which is equipped with a walking and obstacle-crossing module and a controller. The walking and obstacle-crossing module includes at least one set of wheels 2 clamped onto the power line and at least one multi-degree-of-freedom robotic arm 3. One end of the robotic arm 3 is connected to the body 1. The body 1 also includes: a power supply and storage module 4, used to supply power to the robot through electromagnetic induction and capacitive coupling, fixed to the body 1, which internally includes an electromagnetic induction power supply unit, a capacitive coupling power supply unit, and a switching unit. The switching unit is used to switch power supply between the electromagnetic induction power supply unit and the capacitive coupling power supply unit according to the magnitude of the power line current; an obstacle-clearing execution module, integrated at the end of the robotic arm 3, including a laser cutting unit 6 and a mechanical clamping unit 5; and an auxiliary crossing module, fixedly connected to the top of the body 1, including a rotor 7 and a drive device connected thereto, used to enable the robot to cross short distances across power lines where the walking and obstacle-crossing module cannot pass.

[0027] The robot employs a comprehensive operational approach, incorporating wheeled locomotion, obstacle crossing by a robotic arm (3), combined power supply, multi-functional obstacle clearing, and flight-based traversal. The fuselage (1) moves along the power line via wheels (2), drawing power from the line using both electromagnetic induction and capacitive coupling, and storing energy through a supercapacitor to ensure stable power supply. When encountering obstacles, the laser or gripping device at the end of the robotic arm (3) clears them; when encountering large gaps that wheels (2) cannot traverse, the flight module on top is activated to cross them. In operation, the robot is attached to the power line (11) via wheels (2), activating the power supply module and automatically switching power supply modes based on the current in the power line. The controller drives wheels (2) forward while simultaneously using the onboard vision and radar systems to inspect the power line. Upon detecting foreign objects or defects, the robotic arm (3) locates the object and invokes the obstacle clearing module for processing. When encountering common accessories (such as anti-vibration hammers), the robotic arm (3) assists wheels (2) in overcoming obstacles. When encountering large-span broken strands or structures that cannot be crossed, the auxiliary traversal module (rotor (7)) deploys to fly to the opposite side. By drawing power online, it can operate around the clock, solving the problem that existing robots cannot perform long-distance inspections.

[0028] Example 2

[0029] like Figure 1-5As shown, this embodiment discloses a multifunctional automatic obstacle-crossing and clearing robot for power transmission lines based on online power supply. It includes a body 1, which is equipped with a walking and obstacle-crossing module and a controller. The walking and obstacle-crossing module includes at least one set of wheels 2 clamped onto the power line and at least one multi-degree-of-freedom robotic arm 3. One end of the robotic arm 3 is connected to the body 1. The body 1 also includes: a power supply and storage module 4, used to supply power to the robot through electromagnetic induction and capacitive coupling, fixed to the body 1, which internally includes an electromagnetic induction power supply unit, a capacitive coupling power supply unit, and a switching unit. The switching unit is used to switch power supply between the electromagnetic induction power supply unit and the capacitive coupling power supply unit according to the magnitude of the power line current; an obstacle-clearing execution module, integrated at the end of the robotic arm 3, including a laser cutting unit 6 and a mechanical clamping unit 5; and an auxiliary crossing module, fixedly connected to the top of the body 1, including a rotor 7 and a drive device connected thereto, used to enable the robot to cross short distances across power lines where the walking and obstacle-crossing module cannot pass.

[0030] The robot employs a comprehensive operational approach, incorporating wheeled locomotion, obstacle crossing by a robotic arm (3), combined power supply, multi-functional obstacle clearing, and flight-based traversal. The fuselage (1) moves along the power line via wheels (2), drawing power from the line using both electromagnetic induction and capacitive coupling, and storing energy through a supercapacitor to ensure stable power supply. When encountering obstacles, the laser or gripping device at the end of the robotic arm (3) clears them; when encountering large gaps that wheels (2) cannot traverse, the flight module on top is activated to cross them. In operation, the robot is attached to the power line (11) via wheels (2), activating the power supply module and automatically switching power supply modes based on the current in the power line. The controller drives wheels (2) forward while simultaneously using the onboard vision and radar systems to inspect the power line. Upon detecting foreign objects or defects, the robotic arm (3) locates the object and invokes the obstacle clearing module for processing. When encountering common accessories (such as anti-vibration hammers), the robotic arm (3) assists wheels (2) in overcoming obstacles. When encountering large-span broken strands or structures that cannot be crossed, the auxiliary traversal module (rotor (7)) deploys to fly to the opposite side. By drawing power online, it can operate around the clock, solving the problem that existing robots cannot perform long-distance inspections.

[0031] In this embodiment, a detection module 8 and a controller are also included. The detection module 8 is fixed to the fuselage 1 and includes a visual detection unit and a 3D scanning unit. The controller is fixed inside the fuselage 1, and its signal terminal is connected via a bus to the power supply and storage module 4, the obstacle-crossing module, the obstacle-clearing execution module, the auxiliary crossing module, and the detection module 8. The controller is configured to control the obstacle-clearing execution module to complete the obstacle-clearing action based on the data from the detection module 8. The controller is the core and communicates with all modules (power supply, walking, obstacle clearing, flight, and detection) via a high-speed bus. The detection module 8 provides environmental perception data, and the controller makes decisions based on a preset algorithm and issues commands in real time to coordinate the actions of each module. Based on the recognition results, the controller sends "cut" or "grab" commands to the obstacle-clearing execution module and simultaneously sends motion trajectory commands to the robotic arm 3. This achieves a fully automated closed loop from detection to processing, without human intervention.

[0032] In this embodiment, the electromagnetic induction power extraction unit includes an open magnetic core and a coil wound on the magnetic core. The open magnetic core is sleeved on the outside of the transmission line and locked with bolts. The capacitive coupling power extraction unit includes an annular foil electrode coaxially sleeved on the outside of the transmission line, with an insulating sleeve separating the electrode from the line. The switching unit includes a current sampling element, a comparator, and two switching devices. The comparator controls the on / off state of the two switching devices based on the comparison result of the current sampling value and a preset threshold, so as to realize the switching of the power extraction mode.

[0033] Using the magnitude of the conductor current as the criterion, electromagnetic induction (extremely efficient) is employed for high currents, while capacitive coupling (unrestricted by current magnitude) is used for low currents. The switching unit achieves rapid, delay-free mode switching via a hardware comparator. During implementation, the current sampling element monitors the conductor current in real time. The comparator compares the sampled value with a preset threshold (e.g., 100A). When the current exceeds the threshold, the electromagnet switch is activated, the magnetic core attracts the conductor, and the coil generates electricity. When the current is less than the threshold, the electromagnet is deactivated, and power is inductively drawn using the capacitance effect between the foil electrodes and the conductor. A single device is compatible with the power needs of high-current main lines and low-load branch / older lines, demonstrating strong adaptability. The hardware-level comparator responds faster than software-based judgment, avoiding power interruptions caused by mode switching delays.

[0034] In this embodiment, the preset threshold is 100A. When the conductor current is ≥100A, the electromagnetic induction power extraction unit is activated; when the conductor current is <100A, the capacitive coupling power extraction unit is activated. The power output, after voltage regulation, is 24V±5V, and the power extraction range is 50-100W. Under the condition of conductor current ≥100A, the electromagnetic induction effect is significant. By optimizing the number of coil turns and the cross-sectional area of ​​the magnetic core, high-power energy extraction is achieved. The output power is processed by a voltage regulator circuit to ensure the safety of the downstream electronic equipment. When the robot is located at the substation outlet or a high-load line section, the system automatically locks the electromagnetic induction mode, providing 50-100W of power output at full load for robot operation and supercapacitor charging. This meets the power requirements of high-energy-consuming actions such as robot climbing and heavy-load robotic arm operations.

[0035] In this embodiment, the power extraction and energy storage module 4 further includes an energy storage unit, which is a lithium titanate supercapacitor array consisting of 16 individual cells in a 4-series, 4-parallel configuration. The power extraction and energy storage module 4 also includes an energy management unit, which is a Buck-Boost converter. Its input side is connected to the output of the switching unit, and its output side is connected to the power supply terminals of the energy storage unit and the controller. The lithium titanate supercapacitor array using a 4-series, 4-parallel configuration combines the high power density of lithium batteries with the ultra-long cycle life of supercapacitors. The Buck-Boost converter is responsible for efficient DC-DC conversion under different input voltages and load requirements. The electrical energy generated by the power extraction module charges the array of 16 supercapacitors. When the robot is stationary or performing obstacle clearing operations (power extraction decreases), the Buck-Boost converter releases the electrical energy from the capacitors to maintain system voltage stability.

[0036] In this embodiment, the power extraction and storage module 4 is surrounded by a three-layer temperature management structure, from the inside out: a heating element attached to the energy storage unit and coil frame; an aerogel insulation layer covering the entire power extraction and storage module 4; and aluminum heat dissipation fins and a micro fan located on the back guide wire of the coil. A temperature sensor is attached to the energy storage unit and coil frame, and its signal terminal is connected to the controller. To address the temperature differences caused by high-voltage lines crossing different altitudes and seasons, a three-level management system of heating, insulation, and heat dissipation is constructed. The temperature sensor provides real-time data feedback, and the controller dynamically adjusts the working status of the heating element or fan. During implementation, at low temperatures (<-10℃): the heating element is activated to prevent electrolyte solidification and capacity reduction. At high temperatures (>60℃): the cooling fan provides forced ventilation, and the aluminum fins increase the heat dissipation area. At constant temperatures: the aerogel layer blocks the intrusion of external cold air. This ensures the robot's uptime and energy storage efficiency in the frigid Northeast or scorching South environments.

[0037] In this embodiment, the multi-degree-of-freedom robotic arm 3 is a 7-axis carbon fiber tube structure. Adjacent tube segments are hinged together by harmonic reducers. Each joint integrates a torque sensor, and the output of the torque sensor is electrically connected to the feedback of the corresponding servo driver. This 7-axis redundant degree-of-freedom design provides one more degree of freedom than a conventional 6-axis design, combined with the high strength and low weight characteristics of carbon fiber. The harmonic reducer provides high-precision angle control, and the torque sensor provides real-time force feedback. When avoiding or clearing obstacles, the robotic arm 3 can utilize the 7th axis for obstacle avoidance, preventing interference between the arm and wires or other attachments. Simultaneously, it automatically adjusts its center of gravity when grasping heavy objects. This redundant degree of freedom significantly improves the robotic arm 3's operating range in confined spaces.

[0038] In this embodiment, the wheel set 2 is a polyurethane wheel set 2 with anti-slip textured rims; the visual detection unit of the detection module 8 includes a 4K camera and an infrared thermal imager, both fixed side-by-side on the same tilting platform; the three-dimensional scanning unit is a lidar 9, fixed to the front end of the body 1, used to scan the axis perpendicular to the direction of the conductor and tilted downwards at 30°; the controller is pre-loaded with a YOLOv8 target detection model and a ResNet50 classification model, used to identify potential hazards in the wiring from the images. The working principle is as follows: the visual detection unit provides high-resolution images (4K) and thermal distribution maps (infrared), while the three-dimensional scanning unit provides accurate spatial distance information. YOLOv8 is responsible for quickly locating the target, and ResNet50 is responsible for deep classification. The robot moves and takes pictures simultaneously, and the AI ​​model analyzes the images in real time. YOLOv8 selects suspected foreign objects, and ResNet50 determines whether it is a bird's nest, a hanging object, or a heat-generating defect, and sends the coordinates to the obstacle removal module.

[0039] In this embodiment, the controller stores an inspection and obstacle removal linkage control program. After the detection module 8 identifies an obstacle, the three-dimensional scanning unit measures the obstacle coordinates and sends them to the controller. The controller selects the laser cutting unit 6 or the mechanical clamping unit 5 according to the obstacle material, and calculates the rotation angle parameters of each joint of the robotic arm 3 and sends them to the servo driver via the bus. The drive and control obstacle removal execution module completes the cutting or gripping action.

[0040] Based on the calculation of three-dimensional coordinates, the controller inversely solves the angles of each joint of the robotic arm 3 (inverse kinematics). According to the material database, the system automatically matches the optimal obstacle removal scheme (laser cutting for hard and brittle objects, mechanical gripping for soft objects). During implementation, the lidar 9 acquires the coordinates of the obstacle, the controller calculates the path of the robotic arm 3, the bus sends commands to the servo driver, the robotic arm 3 moves into position, and the laser head or gripper is activated to complete the task. No manual remote control is required, eliminating the uncertainty of manual operation.

[0041] In this embodiment, a navigation module 10 is also included. The navigation module 10 is fixed to the top of the robot body 1 and includes a BeiDou positioning antenna, an IMU (Inertial Measurement Unit), and a visual odometry camera. The filtering architecture of the navigation module 10 is a federated Kalman filter. The BeiDou positioning antenna, IMU, and visual odometry camera serve as the observation inputs for three local filtering subsystems, respectively. The main filter performs global fusion of the local estimates to output the pose. When the BeiDou signal is lost due to strong electromagnetic interference, the controller switches to a combined IMU and visual odometry navigation mode. Preferably, a federated Kalman filter algorithm is used to fuse data from BeiDou (absolute positioning), IMU (relative acceleration / angular velocity), and visual odometry (relative displacement). When the BeiDou signal is lost due to strong electromagnetic interference from high-voltage lines, the system seamlessly switches to the IMU and visual relative positioning mode. This ensures that the robot does not drift in complex electromagnetic environments, prevents falls, and solves the problem of satellite signal loss near high-voltage lines.

[0042] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multifunctional automatic obstacle-crossing and clearing robot for power transmission lines based on online power supply, comprising a body, wherein the body is equipped with a walking obstacle-crossing module and a controller, the walking obstacle-crossing module comprising at least one set of wheels clamped to the power line and at least one multi-degree-of-freedom robotic arm, one end of the robotic arm being connected to the body, characterized in that, The body is also equipped with: The power extraction and energy storage module is used to power the robot through electromagnetic induction and capacitive coupling. It is fixed to the body and has an electromagnetic induction power extraction unit, a capacitive coupling power extraction unit and a switching unit inside. The switching unit is used to switch between the electromagnetic induction power extraction unit and the capacitive coupling power extraction unit according to the magnitude of the wire current. The obstacle clearing module, integrated at the end of the robotic arm, includes a laser cutting unit and a mechanical clamping unit; The auxiliary crossing module, fixedly connected to the upper part of the robot body, includes a rotor and a drive device connected thereto, and is used to enable the robot to cross short distances across guide lines where the walking obstacle crossing module cannot pass.

2. The multifunctional automatic obstacle-crossing and obstacle-clearing robot for power transmission lines based on online power supply as described in claim 1, characterized in that, It also includes a detection module and a controller. The detection module is fixed to the body and includes a vision detection unit and a three-dimensional scanning unit. The controller is fixed inside the body, and its signal terminal is connected to the power supply and energy storage module, the obstacle crossing module, the obstacle clearing execution module, the auxiliary crossing module and the detection module through a bus. The controller is configured to control the obstacle clearing execution module to complete the obstacle clearing action based on the data from the detection module.

3. The multifunctional automatic obstacle-crossing and obstacle-clearing robot for power transmission lines based on online power supply as described in claim 1, characterized in that, The electromagnetic induction power extraction unit includes an open magnetic core and a coil wound on the magnetic core. The open magnetic core is sleeved on the outside of the transmission line and locked with bolts. The capacitive coupling power extraction unit includes an annular foil electrode coaxially sleeved on the outside of the transmission line. The electrode is separated from the line by an insulating sleeve. The switching unit includes a current sampling element, a comparator, and two switching devices. The comparator controls the on / off state of the two switching devices based on the comparison result of the current sampling value and a preset threshold, so as to realize the switching of the power extraction mode.

4. The multifunctional automatic obstacle-crossing and obstacle-clearing robot for power transmission lines based on online power supply as described in claim 3, characterized in that, The preset threshold is 100A. When the conductor current is ≥100A, the electromagnetic induction power extraction unit is activated, and when the conductor current is <100A, the capacitive coupling power extraction unit is activated. The power output is 24V±5V after voltage regulation, and the power extraction range is 50-100W.

5. The multifunctional automatic obstacle-crossing and obstacle-clearing robot for power transmission lines based on online power supply as described in claim 1, characterized in that, The power extraction and energy storage module also includes an energy storage unit, which is a lithium titanate supercapacitor group consisting of 16 individual cells in a series of 4 series and parallel configurations. The power extraction and energy storage module also includes an energy management unit, which is a Buck-Boost converter. Its input side is connected to the output of the switching unit, and its output side is connected to the power supply terminals of the energy storage unit and the controller.

6. The multifunctional automatic obstacle-crossing and obstacle-clearing robot for power transmission lines based on online power supply as described in claim 5, characterized in that, The power extraction and energy storage module is surrounded by a three-layer temperature management structure, which consists of, from the inside out: a heating element attached to the energy storage unit and coil frame, an aerogel insulation layer covering the entire power extraction and energy storage module, and an aluminum heat dissipation fin and a micro fan located on the back guide of the coil; a temperature sensor is attached to the energy storage unit and coil frame, and its signal terminal is connected to the controller.

7. The multifunctional automatic obstacle-crossing and obstacle-clearing robot for power transmission lines based on online power supply as described in claim 1, characterized in that, The multi-degree-of-freedom robotic arm is a 7-axis carbon fiber tube structure. Adjacent tube segments are hinged together by harmonic reducers. Each joint integrates a torque sensor, and the output end of the torque sensor is electrically connected to the feedback end of the corresponding servo driver.

8. The multifunctional automatic obstacle-crossing and obstacle-clearing robot for power transmission lines based on online power supply according to claim 2, characterized in that, The wheelset is a polyurethane wheelset with anti-slip treads on the rim; the visual inspection unit of the detection module includes a 4K camera and an infrared thermal imager, which are fixed side-by-side on the same tilting platform; the three-dimensional scanning unit is a lidar, fixed at the front of the device, used to scan the axis perpendicular to the direction of the conductor and tilted downwards at 30°; the controller is pre-loaded with a YOLOv8 target detection model and a ResNet50 classification model, used to identify potential hazards in the wiring from the images.

9. The multifunctional automatic obstacle-crossing and obstacle-clearing robot for power transmission lines based on online power supply as described in claim 8, characterized in that, The controller stores a patrol and obstacle removal linkage control program. After the detection module identifies an obstacle, the three-dimensional scanning unit measures the obstacle coordinates and sends them to the controller. The controller selects a laser cutting unit or a mechanical clamping unit according to the obstacle material, and calculates the rotation angle parameters of each joint of the robotic arm and sends them to the servo driver via the bus. The drive and control obstacle removal execution module completes the cutting or gripping action.

10. The multifunctional automatic obstacle-crossing and obstacle-clearing robot for power transmission lines based on online power supply according to claim 1, characterized in that, It also includes a navigation module, which is fixed to the top of the fuselage and includes a Beidou positioning antenna, an IMU inertial measurement unit, and a visual odometry camera. The filtering architecture of the navigation module is a federated Kalman filter. The Beidou positioning antenna, the IMU inertial measurement unit, and the visual odometry camera serve as the observation inputs of three local filtering subsystems, respectively. The main filter performs global fusion of the local estimates and outputs the pose. When the Beidou signal is lost due to strong electromagnetic interference, the controller switches to the IMU and visual odometry combined navigation mode.

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