A power grid inspection transportation rescue robot and a use method thereof

Abstract

The application relates to a power grid inspection, transportation and rescue robot and a use method, and belongs to the technical field of intelligent operation and maintenance and emergency rescue of power equipment. The robot is mainly used for solving the problems that the existing technology does not specially arrange an independent insulation walking steel cable, and the robot walking and electrical function cables are shared, which causes double risks of safety and structure. The technical scheme is as follows: a connecting frame is a force bearing framework, and ten subsystems of an integrated walking system, a power system, a sensing and searching system, an obstacle removing system, a multifunctional sealed cabin system, a meteorological and communication system, a power supply system, a safety protection system, a sensor self-cleaning system and a control system are arranged in the connecting frame. The robot walks along the special walking steel cable which is arranged to be tensioned between each iron tower along the overhead transmission line and is independent of the power transmission conductor and the overhead ground wire. The special insulation walking steel cable is specially arranged between the iron towers, the robot walking is completely isolated from the live conductor, and the risk of live contact is fundamentally eliminated.

Description

Technical Field

[0001] This invention relates to the field of intelligent operation and maintenance and emergency rescue technology for power equipment, and in particular to a power grid inspection, transportation and rescue robot and its usage method. Background Technology

[0002] The Xinjiang power grid is geographically laid out in a closed loop, with both ends of the transmission lines converging at the same substation or forming inter-substation closed loops. A single section of the line can supply power from two directions. This characteristic allows inspection robots to complete a full loop inspection in one direction without needing to turn back, greatly improving efficiency. However, many of Xinjiang's loop lines are located in sparsely populated areas, posing multiple complex challenges to maintenance and emergency response: (1) Extremely complex terrain: mountains, canyons, Gobi and desert appear alternately, ground vehicles cannot reach, traditional manual inspection is extremely costly and has great safety risks; (2) Harsh climate conditions: extreme low temperatures (-40℃) and high temperatures (+50℃) alternate, sandstorms occur frequently, with an average of more than 50 sandstorm days per year, and extremely high requirements for equipment protection; (3) Lack of communication coverage: A large number of lines pass through the heart of the desert and uninhabited mountainous areas, where mobile phone and mobile network signals are completely lost. Existing remote control relies on wireless communication, and once interrupted, it will lose control. (4) Difficulty in emergency rescue: When natural disasters cause ground transportation to be interrupted, it is extremely difficult to quickly and directionally transport emergency supplies and personnel, and the existing line patrol equipment does not have emergency rescue capabilities at all; (5) Foreign objects on the line pose a great hazard: tree obstacles, kite strings, plastic film and other foreign objects frequently get caught on the line and need to be removed quickly online, but the existing robots can only take pictures and cannot carry out the removal.

[0003] Existing overhead line inspection robots all rely on existing cables on the line to move, and are mainly divided into three categories: First, those that directly clamp onto live transmission conductors, such as the inspection robot that moves along a 110kV conductor disclosed in Chinese Patent CN1658460A, and the rope-assisted conductor climbing robot disclosed in Chinese Patent CN111725734A. These solutions all require direct contact with live conductors, have extremely high insulation protection requirements, and pose significant safety risks. Second, those that clamp onto existing overhead ground wires (lightning protection wires), such as those in Chinese Patents CN206417094U and C. Although the walking mechanism disclosed in N203632109U does not directly contact the live conductor, the overhead ground wire is a component of the power grid facility. Its wire diameter, sag, and load-bearing capacity are designed according to electrical functions, not for carrying heavy inspection robots. Adding a heavy robot poses a risk of overload deformation and affecting the function of the ground wire. Thirdly, climbing along the track of the tower body, such as the anti-fall track climbing robot disclosed in Chinese patent CN111591933B, can only climb on the tower body and cannot achieve continuous walking inspection across the span between towers.

[0004] In addition, there are cableway robot solutions in domestic and foreign literature that use existing ground wires as walking tracks (such as ETHZurich Cable Crawler), but these solutions still use existing ground wires instead of independently setting up dedicated walking channels, and none of them have comprehensive functions such as foreign object removal, sealing protection and differential lifting.

[0005] In summary, all existing technical solutions share the following shortcomings: the lack of a dedicated, independently insulated walking cable and the sharing of electrical functional cables pose both safety and structural risks. Summary of the Invention

[0006] The purpose of this invention is to address the problems existing in the background technology by proposing a power grid inspection, transportation, and rescue robot and its usage method. The robot relies on a dedicated walking steel cable that is independently erected and tensioned between each tower of the overhead transmission line, and uses a connecting frame as the load-bearing skeleton. It integrates ten subsystems: a walking system, a power system, a sensing and retrieval system, a obstacle clearing system, a multi-functional sealed cabin system, a meteorological and communication system, a power supply system, a safety protection system, a sensor self-cleaning system, and a control system.

[0007] The technical solution of this invention: On one hand, the present invention provides a power grid inspection, transportation, and rescue robot, comprising: A dedicated traveling steel cable is installed between two adjacent iron towers; The connecting frame includes a support frame, a connecting rod, and a base frame. The connecting rod is disposed between the support frame and the base frame. The connecting frame is equipped with a walking mechanism for moving on a dedicated walking steel cable. The traveling mechanism is provided in two sets, both of which are mounted on the connecting frame and are distributed along the front and rear. The traveling mechanism includes a traveling pulley, a drive disc, and a drive motor. The traveling pulley is rotatably mounted on the support frame and a driven disc is mounted on the traveling pulley. The driven disc is coaxially mounted with the traveling pulley. The drive motor is mounted on the base frame and the drive disc is mounted on the output shaft of the drive motor. A belt is provided between the drive disc and the driven disc, and the drive disc and the driven disc are connected by a transmission. The multi-functional sealed chamber is suspended below the base plate by suspension ropes and suspension hooks. The multi-functional sealed chamber is equipped with a lifting winch motor, and the output end of the lifting winch motor is equipped with a lifting winch. The lifting winch motor drives the lifting winch to wind up and unwind the suspension ropes to raise and lower the multi-functional sealed chamber. The control system is located in a multi-functional sealed chamber and is connected to the drive motor and the lifting winch motor. The power supply system is located at the bottom of the multi-functional sealed chamber and is electrically connected to the control system, drive motor, and lifting winch motor.

[0008] Preferably, the multi-functional sealed cabin is equipped with a partition that divides it into a material compartment and an equipment control compartment, with the equipment control compartment located below the material compartment. The equipment control compartment houses a sealed cabin environmental control unit, which includes a heating module, a heat dissipation and ventilation module, and a HEPA-grade air filtration unit. The control system is connected to the sealed cabin environmental control unit, and the power supply system is electrically connected to it. The material compartment is equipped with an emergency rescue kit rack, on which an emergency rescue kit is mounted. A lifting ladder is hinged to the bottom of the multi-functional sealed cabin. A wind deflector for protecting the lifting winch motor is installed on the windward side of the outer side of the equipment control compartment.

[0009] Preferably, it also includes a sensing and retrieval system for monitoring the line and identifying foreign objects. The sensing and retrieval system is mounted on the connecting frame and includes a variable-focus high-definition camera, an image recognition sensing module, and a pinhole camera integrated into the laser cleaning head. The variable-focus high-definition camera is mounted on the base frame, and the image recognition sensing module is mounted at the bottom of the base frame. The image recognition sensing module automatically identifies foreign objects and performs binocular ranging. The variable-focus high-definition camera zooms to verify the identified foreign objects. The controller is communicatively connected to the image recognition sensing module and the variable-focus high-definition camera. The power supply system is electrically connected to the image recognition sensing module and the variable-focus high-definition camera.

[0010] Preferably, it also includes a clearing system, which includes a robotic arm cabin installed on the connecting frame, a robotic arm that can be stored in the robotic arm cabin and can be deployed for operation, a laser cleaning head installed at the end of the robotic arm and integrating a pinhole camera, and an insulating joint assembly located at the joint of the robotic arm; the laser cleaning head removes foreign objects by ablation in a non-contact manner, and the robotic arm maintains a safe distance from live wires when clearing obstacles.

[0011] Preferably, it also includes a meteorological detection and communication system, which includes a meteorological detection module, a Beidou positioning module, and a communication relay module installed on the connecting frame; the communication relay module integrates a Beidou short message communication unit and a wireless relay module, activates wireless relay in areas without terrestrial network coverage, and reports the robot's position and status via Beidou short message.

[0012] Preferably, it also includes a security protection system, which includes a self-test control unit. The self-test control unit is equipped with a problem classification judgment module and an inspection record generation module. The problem classification judgment module triggers the obstacle clearing system to automatically handle simple problems and only triggers evidence collection and recording for complex problems. The inspection record generation module controls the taking of photos for evidence and records the problem coordinates through the Beidou positioning module, packages them into a structured inspection record package, and reports it to the power grid internal operation and maintenance management system through the communication relay module. When there is a network signal, the full amount of data is uploaded in real time. When there is no network signal, a location alarm code is first sent via Beidou short message and the complete data packet is automatically retransmitted after reaching a location with a signal.

[0013] Preferably, it also includes a sensor self-cleaning module; the sensor self-cleaning module automatically cleans the exposed sensor mirror and probe at regular intervals; the control system adopts a two-level distributed architecture of main control unit and sub-control unit, the main control unit is an integrated control board and communicates with each motor driver and functional module via CAN bus; the control system supports three control modes: fully autonomous, semi-autonomous and manual remote control, and the three modes can be switched in real time and are mutually backups.

[0014] Preferably, the robotic arm cabin is equipped with an electromagnetic locking mechanism and a guide rail, which locks the robotic arm when moving and unlocks it electromagnetically when working; the connecting frame and each functional module are assembled using a modular assembly with bolts and fixing slots.

[0015] Preferably, the two ends of the dedicated walking steel cable are fixed to the crossarm of the tower by wedge-shaped tension clamps and adjusting turnbuckles, and the walking cable frame is installed on the crossarm of the tower by cable frame brackets and cable frame fixing bolts. The dedicated walking steel cable is continuously passed through the walking cable frame and connected end to end along the loop line to form a closed walking channel. The outer edge of the traveling pulley is provided with an arc-shaped groove to fit the special traveling steel cable and roll along it. Each set of traveling pulleys has a pair of rollers on the top and bottom to form a four-point constraint support for the special traveling steel cable. The traveling mechanism is also provided with an anti-slip braking device. The drive disc keeps the special traveling steel cable pressed by a spring and an electromagnetic mechanism, and works with the electromagnetic brake of the drive motor to apply a clamping braking force to the special traveling steel cable when stopping on a slope or when the power is cut off.

[0016] On the other hand, the present invention provides a method for using a power grid inspection and transportation rescue robot, comprising the following steps: S1. The robot travels unidirectionally along the dedicated walking steel cable, and the sensing system identifies foreign objects on the line in real time. S2. When a foreign object is detected, the robot slows down and stops, takes photos from multiple angles to collect evidence, and records the geographical coordinates of the problem. S3. Classify problems: simple foreign objects are automatically removed and photographed again after treatment to form a before-and-after comparison of the repair; complex problems are only collected as evidence and not automatically treated. S4. Package the problem type, coordinates, photos and handling results into a structured inspection record package and report it to the outside world. When there is a network signal, the complete record package is uploaded in real time. When there is no network signal, a compressed location alarm code is sent first, and the complete data package is automatically retransmitted after reaching a location with a signal. S5. Upon receiving an emergency rescue order, the multi-functional sealed cabin, loaded with supplies, moves parallel to the target tower. Four lifting winch motors, in conjunction with a three-axis gyroscope differential control, lower the cabin to deploy supplies while maintaining a horizontal error of no more than ±2°. Alternatively, the elevator at the bottom of the multi-functional sealed cabin can be deployed for personnel to climb and transfer. Compared with the prior art, the present invention has the following beneficial technical effects: 1. This invention completely eliminates the risk of contact with live wires by installing specially insulated walking steel cables between towers; 2. This invention achieves automatic foreign object detection through an image recognition sensing module, and realizes online non-contact safe removal through a robotic arm cabin for storage and protection and a dual-mode obstacle removal system of robotic arm + laser cleaning head; 3. This invention achieves reliable protection and communication assurance through a fully sealed multi-functional sealed cabin, meteorological detection linkage self-locking, fully autonomous / semi-autonomous / manual remote control multi-mode redundant control, and Beidou short message communication; 4. This invention uses four lifting winch motors in conjunction with a three-axis gyroscope sensor to implement independent differential speed control, so that the sealed cabin always remains horizontal (error ≤ ±2°) above an inclined line with a slope of no more than 30°, fundamentally solving the technical problems of cargo box tilting, material slippage and inability of hatch to open and close normally on inclined terrain. 5. This invention enables the transportation of heavy-duty (not less than 500kg) materials and the accompaniment of maintenance personnel through a fully sealed IP65 multi-functional sealed cabin. It also supports the precise and targeted delivery of emergency supplies in complex terrain by combining a lift and a powered lift for deployment. 6. This invention achieves a closed-loop management mechanism of problem detection, photo location, hierarchical handling, and structured reporting, enabling immediate recording upon discovery, immediate repair of simple problems, and automatic reporting of complex problems to the power grid's internal operation and maintenance management system, thus forming a traceable digital inspection file. Attached Figure Description

[0017] Figure 1 This is a partial cross-sectional view of one embodiment of the present invention.

[0018] Figure 2 This is an exploded view of one embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the robot body in operation according to one embodiment of the present invention.

[0020] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle.

[0021] Reference numerals: 1. Walking pulley; 2. Connecting frame; 3. Camera; 4. Robotic arm cabin; 5. Robotic arm; 6. Emergency rescue kit; 7. Emergency rescue kit frame; 8. Elevator; 9. Communication relay module; 10. Self-test control unit; 11. Sealed cabin environmental control unit; 12. Sensor self-cleaning module; 13. Beidou positioning module; 14. Drive disk; 15. Drive motor; 16. M5 bolt; 17. Integrated control board; 18. M8 bolt; 19. Lifting device wind deflector; 20. Meteorological detection module; 21. Laser cleaning head; 22. Lifting winch motor; 23. Insulated joint assembly; 24. Multifunctional sealed cabin; 25. Dedicated walking steel cable; 26. Battery pack; 27. Image recognition and sensing module; 28. Suspension rope hook; 29. ​​Suspension rope; 30. Lifting winch; 31. Walking cable frame; 32. Cable frame bracket; 33. Cable frame fixing bolt. Detailed Implementation

[0022] like Figure 1 and Figure 2 As shown, the present invention proposes a power grid inspection and transportation rescue robot, which includes a connecting frame 2, a dedicated walking steel cable 25, a multi-functional sealed cabin 24, a control system, and a power supply system. The control system is located inside the multi-functional sealed cabin 24 and is connected to the drive motor 15 and the lifting winch motor 22. The power supply system is located at the bottom of the multi-functional sealed cabin 24 and is electrically connected to the control system, the drive motor 15, and the lifting winch motor 22.

[0023] like Figure 3As shown, a dedicated walking steel cable 25 is installed between two adjacent towers. The dedicated walking steel cable 25 is erected independently of the power transmission line and the overhead ground wire, which is the fundamental difference between this invention and all existing inspection robot solutions: existing solutions all rely on the existing cables (power lines or ground wires) of the line for movement, while this invention has a dedicated independent steel cable that is completely separated from the electrical function cables as the robot's walking channel, which fundamentally eliminates the risk of electrical association between the walking system and the live cables, while not affecting the electrical function of the existing power transmission line and ground wire. The dedicated walking cable 25 uses Φ22mm high-strength galvanized steel wire rope (breaking force not less than 150kN), and is fully covered with a cross-linked polyethylene insulation sheath with a thickness of not less than 3mm (insulation resistance not less than 1000MΩ, power frequency withstand voltage not less than 35kV), so that the robot body and the live wire are completely electrically isolated. The safety factor of the whole machine for the dedicated walking cable 25 is not less than 12 (the breaking force of the dedicated walking cable 25 is not less than 150kN, and the total weight of the whole machine is about 1270kg). At the same time, the wire diameter, tensile strength and installation method of the dedicated walking cable 25 are specially designed to bear the total weight of the robot of this invention (about 1270kg), and there is no risk of exceeding the bearing capacity of the existing ground wire. The dedicated traveling steel cable 25 is laid in sequence along the crossarms of each tower of the ring transmission line, with the clearance between the installation position and the highest phase conductor not less than 1.5m. Both ends are fixed to the anchor points of the tower crossarm by wedge-shaped tension clamps and adjusting turnbuckles, and the sag is controlled within 1% of the span. At each tower crossarm, a traveling cable frame 31 is installed through the cable frame bracket 32 ​​and the cable frame fixing bolt 33. The dedicated traveling steel cable 25 is continuously passed through the support pulleys and pressure clamps on the traveling cable frame 31 to form a closed traveling channel consistent with the direction of the ring line.

[0024] like Figure 1 and Figure 2 As shown, the connecting frame 2 includes a support frame, a connecting rod, and a base frame. The connecting rod is located between the support frame and the base frame. The connecting frame 2 is equipped with a walking mechanism for moving on a dedicated walking steel cable 25. The connecting frame 2 is welded from 6061-T6 aluminum alloy profiles with an I-shaped cross-section and serves as the load-bearing skeleton of the entire machine. The upper section is fitted with two sets of front and rear walking pulleys 1, and the side is fitted with a drive disc 14. The top is connected to the upper plate of the connecting frame 2 by M8 bolts 18. The mechanical arm cabin 4 is installed in the middle of the upper plate, and a variable-focus high-definition camera 3 is installed at the front end. Steel rope anchor rings are set at the four corners of the upper plate. A meteorological detection module 20 and a Beidou positioning module 13 are installed at the top, and an image recognition and sensing module 27 is installed at the bottom. All joints between the outer shell of the connecting frame 2 and the upper plate are sealed with silicone sealing strips to prevent sand and dust from entering the internal equipment through structural gaps.

[0025] like Figure 1 and Figure 2As shown, there are two sets of traveling mechanisms, both mounted on the connecting frame 2, distributed front to back. Each traveling mechanism includes a traveling pulley 1, a drive disc 14, and a drive motor 15. The traveling pulley 1 is rotatably mounted on the support frame, and a driven disc is mounted on it, coaxially with the pulley 1. The drive motor 15 is mounted on the base frame, and the drive disc 14 is mounted on its output shaft. A belt connects the drive disc 14 and the driven disc, providing a driving connection. The outer edge of the traveling pulley 1 has an arc-shaped groove, lined with wear-resistant polyurethane (Shore). (A75~85, temperature resistance -45℃~+100℃), ensuring stable contact between the wheel groove and the dedicated walking steel cable 25, allowing the dedicated walking steel cable 25 to roll and move. The spring pre-tightening contact force is 8~12kN. Each set of walking pulleys 1 has a pair of rollers on the top and bottom, forming a four-point constraint support for the dedicated walking steel cable 25 to prevent derailment. The applicable diameter of the dedicated walking steel cable 25 is Φ18mm~Φ28mm. The center distance between the front and rear sets is not less than 450mm. The outer edge of the drive disc 14 is covered with high-friction rubber (μ≥0.6), which presses against the side of the dedicated walking steel cable 25 (contact pressure 15kN). The drive motor 15 is a DC brushless geared motor with a rated power of 2000W and a reduction ratio of 80:1. It drives the drive disc 14 via an HTD5M synchronous belt (transmission ratio 3:1). The maximum speed on flat roads is 0.5m / s, and the speed on a 30° slope is not less than 0.2m / s. The maximum climbing ability is not less than 30°. The walking mechanism is also equipped with anti-slip and braking devices: the drive disc 14 keeps the dedicated walking steel cable 25 pressed by the spring and electromagnetic mechanism, and works with the electromagnetic brake of the drive motor 15 to apply a clamping braking force to the dedicated walking steel cable 25 when the robot stops on the slope or when the power is cut off, to prevent the robot from sliding down the slope; in harsh environments, the control system triggers electromagnetic boosting to further increase the clamping force and achieve reliable self-locking.

[0026] like Figure 1 and Figure 2 As shown, the multi-functional sealed cabin 24 is suspended below the base plate by suspension ropes 29 and suspension hooks 28. A lifting winch motor 22 is installed inside the cabin, with a lifting winch 30 at its output end. The lifting winch motor 22 drives the lifting winch 30 to wind and unwind the suspension ropes 29 to raise and lower the multi-functional sealed cabin 24. A partition is installed inside the multi-functional sealed cabin 24, dividing it into a material compartment and an equipment control compartment, with the equipment control compartment located below the material compartment. A wind deflector 19 for protecting the lifting winch motor 22 is installed on the windward side of the equipment control compartment. The multi-functional sealed cabin 24 is the core component of this invention for material transportation and maintenance personnel accompanying operations, replacing traditional open cargo containers and achieving multi-functional integration of fully sealed protection, maintenance personnel accompanying operations, and emergency material transportation.

[0027] like Figure 1 and Figure 2 As shown, the multi-functional sealed cabin 24 is a welded aluminum alloy box with external dimensions of 2400mm×1500mm×1200mm, a wall thickness of 4mm, and a structural weight of approximately 260kg. The overall protection level of the cabin is IP65. All doors, observation windows, and cable penetrations are equipped with sealing silicone strips and dustproof seals to ensure that the equipment and personnel inside the cabin are protected from sandstorms under Xinjiang sandstorm conditions (wind speed not less than 30m / s, visibility ≤50m). The interior is divided into an upper personnel / material compartment (700mm clear height) and a lower equipment control compartment (450mm clear height) by partitions. The maximum rated load of the personnel / material compartment is: 2 maintenance personnel (each not exceeding 100kg, total not exceeding 200kg) + accompanying tools and equipment, or pure material mode (not exceeding 500kg). Maintenance personnel must comply with the requirements of the operation safety regulations. Φ12mm steel anchor rings are welded to the top of the four corners of the compartment. The suspension ropes 29 (breaking force >60kN, safety factor about 32) and suspension hooks 28 are connected to the power lifting device and suspended below the anchor rings at the four corners of the upper plate of the connecting frame.

[0028] like Figure 1 and Figure 2 As shown, the personnel / material compartment is equipped with two fixed seats, each with a four-point safety belt and a head protection pad; safety handrails are installed on the inner wall of the compartment; an emergency braking button (which can independently trigger the robot to stop) and an internal communication device are installed inside the compartment; the opening and closing of the compartment door is controlled by an electromagnetic lock, and a manual unlocking mechanism is also provided to ensure that personnel can open the door and leave the compartment by themselves in case of an emergency; emergency indicator lights and backup lighting are provided; overcrowding is strictly prohibited during use, and the weight of each person shall not exceed 100kg; maintenance personnel accompanying the operation must comply with the corresponding safety operating procedures.

[0029] like Figure 1 and Figure 2 As shown, the sealed chamber environmental control unit 11 is installed in the lower equipment control chamber and includes a heating module (rated power 800W, ensuring the chamber temperature is not lower than 0℃ and adaptable to extreme low temperatures of -40℃), a heat dissipation and ventilation module (rated power 200W, ensuring the chamber temperature is not higher than 35℃), and an air filtration unit (HEPA H13 grade filtration, filtration efficiency not less than 99.95%, effectively preventing sand and dust particles from entering); when the environmental control unit is working, it maintains a slight positive pressure (+50Pa) inside and outside the chamber to prevent sand and dust from seeping in through gaps; the total average power consumption of the environmental control unit is about 300W.

[0030] like Figure 1 and Figure 2As shown, the personnel / supplies compartment is equipped with an emergency rescue kit rack 7, which can hold no less than 6 standard emergency rescue kits 6 (including first aid medicines, food energy bars, and sun protection / cold protection equipment), each with a rated weight not exceeding 15kg, and uses a quick-release lock; the lower equipment control compartment is equipped with an emergency water supply compartment (effective volume not less than 200L, equipped with a liquid level sensor and a manual drain valve); the total weight of the above emergency supplies is approximately 290kg, which is included in the 500kg rated load.

[0031] like Figure 1 and Figure 2 As shown, the power lifting device includes four lifting winch motors 22 mounted at the four corners of the lower equipment control cabin via M8 bolts 18, and each lifting winch 30 driven by a motor 22. Each lifting winch motor 22 has a rated power of 750W, a built-in photoelectric encoder, and drives an 80mm diameter lifting winch 30 (with a rope capacity of not less than 5m) at its output end. Four suspension ropes 29 are led out through guide pulleys at the four corners of the lower cabin and fixed to the anchor rings at the four corners of the connecting frame via suspension rope hooks 28. The four lifting winch motors 22 are independently driven by the control system, and differential speed control is implemented in conjunction with a three-axis gyroscope sensor (accuracy ±0.1°): when the tilt exceeds ±1°, the speed of the four motors is automatically adjusted to ensure that the levelness error of the sealed cabin 24 does not exceed ±2°, and the maximum lifting stroke is 4m. The lifting device wind deflector 19 is installed on the windward side of the outer side of the lower equipment control cabin to prevent sand and airflow from interfering with the lifting winch mechanism. The elevator 8 is a 4-section folding aluminum alloy ladder, hinged to the bottom of the sealed compartment 24. When unfolded, the total length is not less than 4m, the rated load is 150kg, and it is driven by an electric push rod to unfold (≤8 seconds). Manual backup unfolding is also supported.

[0032] like Figure 1-2As shown, the sensing and retrieval system is used to monitor the line and identify foreign objects. The sensing and retrieval system is set on the connecting frame 2. The sensing and retrieval system includes a variable-focus high-definition camera 3, an image recognition sensing module 27, and a pinhole camera integrated into the laser cleaning head 21. The variable-focus high-definition camera 3 is set on the base frame, and the image recognition sensing module 27 is set at the bottom of the base frame. The image recognition sensing module 27 automatically identifies foreign objects and performs binocular ranging. The variable-focus high-definition camera 3 zooms to verify the identified foreign objects. The controller is communicatively connected to the image recognition sensing module 27 and the variable-focus high-definition camera 3. The power supply system is electrically connected to the image recognition sensing module 27 and the variable-focus high-definition camera 3. The zoomable HD camera 3 uses a 360° panoramic spherical camera with a built-in 20x optical zoom lens, enabling clear imaging of targets within a range of 0.5m to 500m; resolution is no less than 4K, frame rate is 30fps; it features night vision infrared illumination (wavelength 850nm), image stabilization, and autofocus; operating temperature is -40℃ to +70℃, and protection rating is IP67; image data is transmitted back to the operator's terminal in real time via a wireless module (latency not exceeding 200ms) and simultaneously stored in the onboard storage module for post-processing analysis. The zoom function allows operators to zoom in and confirm distant objects while the robot is moving, significantly improving inspection efficiency.

[0033] like Figure 1-2As shown, the image recognition and perception module 27 integrates a high-resolution binocular camera (baseline distance 150mm, monocular resolution 1080P, frame rate 30fps, field of view 120°, working distance 0.3m~50m) and an edge AI computing unit (NPU computing power not less than 4TOPS). Based on a deep learning target detection algorithm, and specifically trained on common road foreign object samples (tree branches, kite strings, nylon ropes, plastic film, ice, etc.) in Xinjiang, the image recognition and perception module 27 can analyze binocular parallax images in real time, automatically identifying foreign objects hanging on the road and obstacles on the path, with a target recognition confidence threshold of not less than 0.85. Simultaneously, it uses binocular parallax to calculate the distance between the target and the robot (accuracy ±5cm within 3m for close distances, coarse measurement at the decimeter level for distances beyond 3m, and precise measurement for distant targets using a zoomable high-definition camera 3). After determining the location and coordinates, the system automatically sends a deceleration and stop command to the control system and marks the target coordinates upon target detection. Simultaneously, the variable-focus camera 3 zooms in for precise confirmation, triggering the robotic arm to deploy and the laser cleaning operation. The image recognition and perception module 27 and the variable-focus camera 3 form a dual-perception closed loop of "AI coarse recognition + zoom for precise confirmation," achieving full automation of the entire process of automatic detection, location, and disposal command output for foreign objects. When a problem is detected, the variable-focus camera 3 automatically takes multiple photos (no less than 3, including a panoramic view and close-up details), while the pinhole camera simultaneously captures close-up high-definition images. All image data, along with the precise coordinates (accuracy ≤ 1m), timestamp, and problem description information provided by the Beidou positioning module 13, are written into the onboard storage module to form a structured inspection record package for subsequent reporting and traceability.

[0034] like Figure 1-2As shown, the obstacle removal system includes a robotic arm compartment 4 installed on the connecting frame 2, a robotic arm 5 that can be stored in the robotic arm compartment 4 and deployed for operation, a laser cleaning head 21 with a pinhole camera integrated at the end of the robotic arm 5, and an insulated joint assembly 23 located at the joint of the robotic arm 5. It supports dual-mode obstacle removal of mechanical removal and laser ablation. The laser cleaning head 21 removes foreign objects by ablation in a non-contact manner, and the robotic arm 5 maintains a safe distance from live wires during obstacle removal. The robotic arm compartment 4 is a rectangular aluminum alloy shell (IP65, dimensions 550mm×220mm×160mm), which is fixed to the middle of the upper plate of the connecting frame by M5 bolts 16. It is equipped with a linear guide rail and an electromagnetic locking mechanism. The robotic arm 5 is locked in place during movement and electromagnetically unlocked and deployed during operation (≤5 seconds). The robotic arm 5 is a six-axis serial configuration (rotation angles of each axis: ±170° / ±120° / ±145° / ±180° / ±120° / ±360°), with an effective end-effector load of not less than 2kg, a working radius of not less than 800mm, and a repeatability of ±1mm. Insulated joint components 23 (epoxy fiberglass composite material, insulation resistance not less than 1000MΩ, power frequency withstand voltage not less than 10kV, and its withstand voltage rating can be selected according to the line voltage level) are installed at key joints as additional insulation protection for the robot body, which is isolated from live wires by the dedicated insulated walking steel cable 25. When clearing obstacles, the robotic arm 5 maintains a specified safe distance from live wires and mainly removes foreign objects by non-contact method using the laser cleaning head 21, without directly contacting live wires.

[0035] like Figure 1-2 As shown, the laser cleaning head 21 integrates a high-power fiber laser (wavelength 1064nm, rated power 200W, spot diameter adjustable from 0.5 to 5mm), a 5mW auxiliary aiming laser (wavelength 650nm), and a pinhole camera (1080P, 120° viewing angle). The laser cleaning head 21 first uses a low-power aiming laser and a pinhole camera to accurately locate the target, and then uses a high-power fiber laser to remove foreign objects (plastics, ropes, dry plants, etc.) through thermal ablation, vaporization, or melting. No physical contact is required, making it suitable for thin, soft, thread-like foreign objects that are difficult for robotic arms to grip. Laser cleaning and robotic arm gripping complement each other: wires and thin films are preferentially cleaned by laser, while coarse and hard tree branches are preferentially removed by robotic arm gripping.

[0036] like Figure 1-2As shown, the meteorological detection and communication system includes a meteorological detection module 20, a Beidou positioning module 13, and a communication relay module 9 installed on the connecting frame 2. The communication relay module 9 integrates a Beidou short message communication unit and a wireless relay module 9. In areas without ground network coverage, it activates the wireless relay and reports the robot's position and status via Beidou short messages. The meteorological detection module 20 is installed on the top of the connecting frame 2 and integrates an ultrasonic wind speed and direction sensor (measurement range 0-60 m / s, accuracy ±0.3 m / s), a temperature and humidity sensor (temperature accuracy ±0.3℃, humidity accuracy ±3%RH), an atmospheric pressure sensor (accuracy ±0.5 hPa), and a visibility sensor (measurement range 10 m-10 km). Meteorological data is uploaded to the operating terminal and cloud platform in real time, and also serves as the environmental parameter input for the self-testing system: when the wind speed exceeds 25 m / s, it automatically triggers the severe environment self-locking protection. The meteorological detection module 20 can collect meteorological data in real time at each tower location along the line, forming a continuous monitoring profile of meteorological conditions along the line, providing meteorological reference for power grid dispatching. The Beidou positioning module 13 is installed on the top of the connecting frame 2. It adopts the Beidou-3 high-precision positioning chip and supports BD3 / GPS / GLONASS multi-system joint positioning. The single-point positioning accuracy is not less than 1m. It outputs the robot's position coordinates (latitude / longitude / elevation), walking speed and heading information in real time and uploads them to the operating terminal and cloud platform to realize the real-time visualization of the robot's position. It also provides accurate geographic coordinate records for foreign objects and fault locations, which facilitates subsequent manual positioning. The communication relay module 9 is installed on the top of the outer wall of the multi-functional sealed cabin 24. It integrates a Beidou short message communication unit (for emergency location reporting and short message sending and receiving in areas without mobile phone signal), a software-defined radio (SDR) module (configurable operating frequency band 400MHz~900MHz), an omnidirectional antenna array (gain not less than 5dBi), and a 4G / 5G module (automatic switching in areas with signal). When the robot is in a mobile phone signal dead zone, the communication relay module 9 automatically activates the UHF wireless relay function, significantly expanding the effective coverage range of the wireless remote control at the operator's end and ensuring stable transmission of remote control signals. At the same time, the communication relay module 9 can provide local communication extension for the handheld terminals of the same group of operators in emergency operation scenarios, improving the quality of team collaborative communication. The communication relay module 9 integrates a Beidou short message communication unit, which can report the robot's position and status information via Beidou satellite in the absence of any terrestrial network coverage, ensuring the bottom line of communication in extreme environments.The communication relay module 9 is also responsible for reporting the inspection record package to the internal operation and maintenance management system of the power grid. It adopts a dual-channel reporting strategy: when the 4G / 5G module detects a valid network signal, it uploads the complete inspection record package (including high-definition photos, precise coordinates, problem level, handling results, and other full data) in real time, with an upload delay of no more than 30 seconds; when the robot is in an area without network signal, the Beidou short message communication unit prioritizes sending compressed location alarm packets (including Beidou coordinates, timestamps, problem type codes, and severity levels, with a total data volume of no more than 140 bytes). When the robot moves to a location with a signal tower, the communication relay module 9 automatically triggers the retransmission of the cached complete data packet to ensure that all inspection records eventually arrive completely in the internal operation and maintenance management system of the power grid, without data loss due to communication interruption.

[0037] like Figure 1-2 As shown, the safety protection system includes a self-test control unit 10, which is configured with a problem classification judgment module and an inspection record generation module. The problem classification judgment module triggers the obstacle clearing system to automatically handle simple problems and only triggers evidence collection and recording for complex problems. The inspection record generation module controls the taking of photos for evidence and records the problem coordinates through the Beidou positioning module 13, packages them into a structured inspection record package, and reports it to the power grid internal operation and maintenance management system through the communication relay module 9. When there is a network signal, the full amount of data is uploaded in real time. When there is no network signal, the location alarm code is first sent via Beidou short message and the complete data packet is automatically retransmitted after reaching a location with a signal.

[0038] like Figure 1-2 As shown, the sensor self-cleaning module 12 automatically cleans the exposed sensor mirror and probe at regular intervals; the control system adopts a two-level distributed architecture of main control unit and sub-control unit, the main control unit is the integrated control board 17 and communicates with each motor driver and functional module via CAN bus; the control system supports three control modes: fully autonomous, semi-autonomous and manual remote control, and the three modes can be switched in real time and are mutually backups.

[0039] like Figure 1-2 As shown, the robotic arm compartment 4 is equipped with an electromagnetic locking mechanism and a guide rail. When moving, the robotic arm 5 is retracted and locked, and when working, it is electromagnetically unlocked and deployed. The connecting frame 2 and each functional module are connected by a modular assembly with bolts and fixed slots.

[0040] like Figure 1-2As shown, the outer edge of the traveling pulley 1 is provided with an arc-shaped groove to fit the special traveling steel cable 25 and roll along it. Each set of traveling pulleys 1 has a pair of rollers on the top and bottom to form a four-point constraint support for the special traveling steel cable 25. The traveling mechanism is also provided with an anti-slip braking device. The drive disc 14 keeps the special traveling steel cable 25 pressed by a spring and an electromagnetic mechanism, and cooperates with the electromagnetic brake of the drive motor 15 to apply a clamping braking force to the special traveling steel cable 25 when stopping on a slope or when the power is cut off.

[0041] Working principle: Circular Line Inspection and Clearance Mode After the robot is installed on the dedicated walking steel cable 25, the operator selects the control mode and sets the inspection direction and walking speed through the integrated control board 17. The drive motor 15 drives the drive disk 14 via the synchronous belt, and the robot moves in a unidirectional cycle along the steel cable. When it reaches the charging pile tower, it automatically replenishes the power. The variable zoom high-definition camera 3 continuously performs 360° panoramic scanning, and the image recognition and perception module 27 analyzes the binocular images in front in real time. When the perception and retrieval system detects a line problem, the robot automatically decelerates and stops, executing a standardized closed-loop procedure: the variable-focus camera 3 automatically takes multiple photos (at least 3), the pinhole camera simultaneously captures close-up images, and the Beidou positioning module 13 simultaneously records the precise coordinates of the problem; the self-inspection control unit 10 determines the problem level—for simple problems, the obstacle clearing system is triggered: the laser cleaning head 21 ablates wires and thin film-like foreign objects with laser, the robotic arm 5 grasps and removes tree branches, and the insulating joint assembly 23 provides additional insulation and maintains a safe distance. After the procedure, photos are taken again to create a before-and-after comparison file; for complex problems (line damage, broken strands, etc.), only photos are taken for evidence without automatic handling; finally, the self-inspection control unit 10 packages the problem type, level, photos, Beidou coordinates, and handling results, and reports them to the power grid's internal operation and maintenance management system via the communication relay module 9—uploading in real time when there is a 4G / 5G signal, and sending a location alarm code via Beidou short message when there is no signal, automatically retransmitting the complete data packet after reaching a tower with a signal; the robotic arm 5 is retracted into the robotic arm compartment 4 and locked, and the robot continues to move forward.

[0042] Emergency rescue and material delivery model Upon receiving an emergency rescue order, the multi-functional sealed cabin 24 loads an emergency rescue kit 6, drinking water, and other supplies (pure supplies mode, maximum 500kg); or it enters maintenance escort mode (maximum 2 maintenance personnel + supplies). After the maintenance personnel fasten their four-point safety belts, the cabin door closes; the robot travels along the steel cable to the top of the target tower and stops. Depending on the situation on site: in the lifting and lowering mode, four lifting winch motors 22 rotate synchronously forward, and the gyroscope differential control keeps the multi-functional sealed cabin 24 level (error ≤ ±2°). The multi-functional sealed cabin 24 descends smoothly to a suitable height, the electromagnetic lock opens the cabin door, and the affected personnel retrieve supplies; in the elevator climbing mode, the elevator 8 is deployed, and personnel climb the ladder to retrieve supplies or complete personnel transfer; the two modes can be flexibly combined.

[0043] Communication relay and meteorological detection mode When the robot stops at a tower in a cell phone signal dead zone, the communication relay module 9 automatically activates the UHF wireless relay function, extending the remote control coverage of the operator terminal and providing local communication extension for the handheld terminals of the same group of workers. At the same time, it reports the robot's location and status to the outside world via Beidou short message. The meteorological detection module 20 continuously collects meteorological data along the line and reports it to the dispatch center via the communication relay module 9 or Beidou, providing real-time meteorological reference for power grid operation and rescue command.

[0044] The specific embodiments of the present invention will be described in detail below through three examples, in conjunction with the accompanying drawings.

[0045] Example 1 Complete machine assembly, steel cable installation and system integration like Figure 3 and Figure 4 As shown, the dedicated walking steel cable 25 is made of Φ22mm high-strength galvanized steel wire rope (breaking force 150kN), with an outer 3mm thick cross-linked polyethylene insulation sheath (power frequency withstand voltage 35kV). Wedge-shaped tension clamps and turnbuckles are used to tension the tower crossarm anchoring bracket (fixed with M20 bolts). The walking cable frame 31 is installed on the tower crossarm via cable frame bracket 32 ​​and cable frame fixing bolts 33 as a steel cable support channel. The sag is controlled within 1% of the span, and the clearance between the installation position and the highest phase conductor is not less than 1.5m.

[0046] like Figure 1As shown, the connecting frame 2 (6061-T6 aluminum alloy, total weight about 35kg) is equipped with a set of walking pulleys 1 at the front and rear (with polyurethane lining in the wheel grooves and a spring pre-tightening force of about 10kN). The drive disc 14 (Φ25mm drive shaft, rubber outer edge, contact pressure 15kN) is installed on the side of the connecting frame 2. The drive motor 15 (2000W, reduction ratio 80:1) is fixed by M5 bolts 16 and T-slots, and drives the drive disc 14 via an HTD5M synchronous belt (transmission ratio 3:1). The seams of the connecting frame 2 housing are sealed with silicone sealing strips. The upper plate of the connecting frame 2 is connected to the top of the connecting frame 2 by 8 M8 bolts 18; the variable zoom high-definition camera 3 (20x optical zoom, 4K, IP67) is assembled at the front end of the upper plate through an L-shaped fixing slot; the robotic arm cabin 4 (550mm×220mm×160mm, IP65) is fixed to the middle of the upper plate by 6 M5 bolts 16; the image recognition and perception module 27 (binocular camera, baseline 150mm, working distance 0.5~20m, NPU computing power ≥4TOPS) is fixed to the bottom of the connecting frame 2, facing forward; the meteorological detection module 20 is fixed to the top of the connecting frame 2; the Beidou positioning module 13 is fixed to the top of the connecting frame 2; the insulated joint assembly 23 is installed at the 4th, 5th, and 6th axes of the robotic arm 5; the laser cleaning head 21 (1064nm, 200W) is installed at the end of the robotic arm 5.

[0047] The multi-functional sealed cabin 24 (aluminum alloy, 4mm wall thickness, IP65, weight approximately 260kg) has Φ12mm anchor rings welded to its four corners. Four Φ8mm suspension ropes 29 are wound around the lifting winch 30 driven by the lifting winch motor 22 (750W×4 units) via guide pulleys on the top of the cargo box, and are fixed to the anchor rings on the upper plate of the connecting frame via the other end of the suspension rope hooks 28. The wind deflector 19 of the lifting device is installed on the windward side of the lifting winch 30 by four M5 bolts 16. The lifting ladder 8 is hinged to the bottom of the multi-functional sealed cabin 24 by M8 bolts 18. The emergency rescue bag rack 7 is installed on the long side outer wall of the multi-functional sealed cabin 24 by M5 bolts 16. The integrated control board 17 and the self-test control unit 10 are installed on the multi-functional sealed cabin 24 by M5 bolts 16. Inside the lower equipment control compartment of cabin 24; battery pack 26 (48V / 150Ah) is fixed to the lower compartment via vibration damping brackets and M8 bolts 18; sealed cabin environmental control unit 11 is installed at the lower air inlet; communication relay module 9 is installed on the top of the outer wall of sealed cabin 24; personnel seats and safety belts are installed on both sides of the upper personnel compartment; each sub-unit of sensor self-cleaning module 12 is installed at the corresponding sensor: ultrasonic oscillation cleaner and compressed gas nozzle are installed on the edge of the mirror of variable zoom camera 3 and image recognition sensing module 27; electric cleaning brush is installed on the sensor probe of meteorological detection module 20; pneumatic dust cover is installed at the light outlet of laser cleaning head 21; PTFE antenna cover and vibration unit are installed at the antenna of Beidou positioning module 13.

[0048] Example 2 Comprehensive inspection and emergency clearing operations of Xinjiang circular railway line This embodiment describes the complete process of a robot performing a comprehensive inspection on a 110kV mountainous ring transmission line in Xinjiang (85km long, maximum gradient 28°, altitude 800-2200m, and more than 50 days of sandstorms per year).

[0049] After the robot is installed on the dedicated walking cable 25 of the starting tower, the Beidou positioning module 13 locks in the initial coordinates. The operator starts a clockwise inspection via a remote controller (433MHz, 1000m control distance), walking at a speed of 0.4m / s. The meteorological detection module 20 collects meteorological data along the route in real time. When it reaches the 10th tower (approximately 2.5km), the charging management module automatically connects to a charging pile (1500W), and after approximately 55 minutes of charging, it continues its journey. Upon reaching the 58th tower (approximately 14.5 km from the starting point), the image recognition and perception module (27) analyzes the binocular images in front in real time. At approximately 15 m from the target, it automatically identifies a section of nylon rope hanging on the conductor in front (category: rope, recognition confidence 0.92, binocular distance measurement approximately 12 m). The robot automatically slows down and stops, and the control system sends a target alarm to the operator, displaying the target type and approximately 12 m from the robot. The operator zooms in on the variable zoom camera 3 (approximately 10x) to verify the target, then unlocks the robotic arm compartment 4, and the robotic arm 5 unfolds for approximately 4.5 seconds. The laser cleaning head 21 first uses a 5mW laser and pinhole camera to confirm the target, then activates a 200W fiber laser, which burns and breaks the nylon rope in approximately 3 seconds, causing the rope section to fall off and the obstacle clearing to be completed. After the laser cleaning is completed, the variable zoom camera 3 takes another picture to record the state after repair, comparing it with the state before repair. The photos together form a comparative evidence archive (a total of 5 photos: 1 long shot before repair, 2 close-up shots, 1 long shot after repair, and 1 close-up shot after repair); the self-inspection control unit 10 judges the problem as a simple problem (already dealt with), and generates a structured inspection record package (including Beidou coordinates, timestamp, problem type [foreign object / removed], 5 pictures, and a total data of about 8MB); because there is no 4G signal at the tower, the communication relay module (9) first sends a compressed location alarm code (including Beidou coordinates, timestamp, problem type code and disposal mark, with a total data volume of no more than 140 bytes) via Beidou short message, and the complete data packet is cached for transmission; the robotic arm 5 retracts and locks, and the robot continues to move forward. When it reaches the 28th tower (about 7km away), the 4G signal is restored, and the communication relay module 9 automatically uploads the cached data packet to the power grid internal operation and maintenance management system to complete the closed loop of the fully traceable digital inspection record. When the weather detection module 20 travels to about 35km, it detects a sudden increase in wind speed to 28m / s (exceeding the 25m / s threshold). The self-test control unit 10 immediately triggers a harsh environment self-lock: the drive motor 15 brakes, the walking pulley 1 uses electromagnetic assistance to pressurize and tighten the steel cable, the robotic arm 5 is forcibly retracted, the sealed cabin 24 door is locked, and the system enters low-power standby. About 1.5 hours later, the wind speed drops to 18m / s, the self-test control unit 10 issues a recovery prompt, and after the operator manually unlocks the robot, it continues its inspection.

[0050] Example 3 Xinjiang mountain flood disaster maintenance personnel accompany and distribute supplies This embodiment describes a comprehensive rescue operation using robots in a mountainous area of ​​Xinjiang where floods have completely cut off all roads and isolated affected villages from the outside world.

[0051] Upon receiving the rescue order, the sealed cabin 24 loaded six emergency rescue kits (72kg each), 200L of drinking water (200kg), and approximately 100kg of food and medicine. One maintenance personnel (approximately 80kg) entered the maintenance work cabin, fastened their safety belts, and the cabin door was closed and locked. The total effective load was approximately 452kg (including personnel), within the 500kg rated load capacity. The robot traveled along the steel cable towards the iron tower above the disaster-stricken village, covering approximately 3.2km in about 8 minutes. The communication relay module 9 maintained its UHF relay function throughout the journey, and the maintenance personnel maintained communication with the control terminal via handheld terminal, simultaneously reporting location information via BeiDou short messages. Upon reaching the target iron tower, the robot stopped, and the BeiDou module 13 accurately recorded the arrival coordinates.

[0052] The gradient of this section of the line is approximately 15°. The gyroscope detected a tilt of approximately 14.8° in the sealed cabin 24. After approximately 3 seconds of differential speed control, the level of the sealed cabin 24 was within ±1.5°. The lifting and lowering process was initiated, and the robot descended to a height of approximately 2 meters above the ground in about 25 seconds. The electromagnetic lock opened the cabin door, and maintenance personnel descended the ladder to assist affected residents in retrieving emergency relief kits 6 and drinking water. Simultaneously, the elevator 8 was deployed to guide elderly and children to safety. Maintenance personnel conducted random on-site checks of the robot's status. After completion, the sealed cabin 24 was raised and reset, and the robot moved to the next rescue point. Throughout the operation, the weather monitoring module 20 continuously monitored the wind speed, which was normal (approximately 12 m / s), and the self-locking mechanism was not triggered.

[0053] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A power grid inspection, transportation, and rescue robot, characterized in that, include: A dedicated walking steel cable (25) is installed between two adjacent iron towers; The connecting frame (2) includes a support frame, a connecting rod and a base frame. The connecting rod is located between the support frame and the base frame. The connecting frame (2) is equipped with a walking mechanism for moving on a dedicated walking steel cable (25). The walking mechanism is provided in two sets, both of which are set on the connecting frame (2). The two sets of walking mechanisms are distributed along the front and back. The walking mechanism includes a walking pulley (1), a drive disc (14) and a drive motor (15). The walking pulley (1) is rotatably set on the support frame. A driven disc is set on the walking pulley (1). The driven disc is coaxial with the walking pulley (1). The drive motor (15) is set on the base frame. The drive disc (14) is set on the output shaft of the drive motor (15). A belt is set between the drive disc (14) and the driven disc. The drive disc (14) and the driven disc are connected in a transmission manner. The multi-functional sealed cabin (24) is suspended below the base plate by a suspension rope (29) and a suspension hook (28). The multi-functional sealed cabin is equipped with a lifting winch motor (22), and a lifting winch (30) is provided at the output end of the lifting winch motor (22). The lifting winch motor (22) drives the lifting winch (30) to wind up and unwind the suspension rope (29) to lift the multi-functional sealed cabin (24). The control system is located in the multi-functional sealed chamber (24) and is connected to the drive motor (15) and the lifting winch motor (22). The power supply system is located at the bottom of the multi-functional sealed chamber (24). The power supply system is electrically connected to the control system, the drive motor (15) and the lifting winch motor (22).

2. The power grid inspection, transportation, and rescue robot according to claim 1, characterized in that, The multi-functional sealed cabin (24) is equipped with a partition, which divides the multi-functional sealed cabin (24) into a material compartment and an equipment control compartment. The equipment control compartment is located below the material compartment. The equipment control compartment is equipped with a sealed cabin environmental control unit (11), which includes a heating module, a heat dissipation and ventilation module and a HEPA-grade air filter unit. The control system is connected to the sealed cabin environmental control unit (11), and the power supply system is electrically connected to the sealed cabin environmental control unit (11). The material compartment is equipped with an emergency rescue bag rack (7), and an emergency rescue bag (6) is installed on the emergency rescue bag rack (7). The bottom of the multi-functional sealed cabin (24) is hinged with a lifting ladder (8). The windward side of the equipment control compartment is equipped with a lifting device wind deflector (19) to protect the lifting winch motor (22).

3. The power grid inspection, transportation, and rescue robot according to claim 2, characterized in that, It also includes a sensing and retrieval system for monitoring the line and identifying foreign objects. The sensing and retrieval system is set on the connecting frame (2). The sensing and retrieval system includes a variable-focus high-definition camera (3), an image recognition sensing module (27), and a pinhole camera integrated into the laser cleaning head (21). The variable-focus high-definition camera (3) is set on the base frame, and the image recognition sensing module (27) is set at the bottom of the base frame. The image recognition sensing module (27) automatically identifies foreign objects and performs binocular distance measurement. The variable-focus high-definition camera (3) zooms to verify the identified foreign objects. The controller is communicatively connected to the image recognition sensing module (27) and the variable-focus high-definition camera (3). The power supply system is electrically connected to the image recognition sensing module (27) and the variable-focus high-definition camera (3).

4. The power grid inspection, transportation, and rescue robot according to claim 3, characterized in that, It also includes a clearing system, which includes a robotic arm compartment (4) installed on the connecting frame (2), a robotic arm (5) that can be stored in the robotic arm compartment (4) and can be deployed for operation, a laser cleaning head (21) installed at the end of the robotic arm (5) and integrating a pinhole camera, and an insulating joint assembly (23) located at the joint of the robotic arm (5); the laser cleaning head (21) ablates and removes foreign objects in a non-contact manner, and the robotic arm (5) maintains a safe distance from live wires when clearing obstacles.

5. A power grid inspection, transportation, and rescue robot according to claim 4, characterized in that, It also includes a meteorological detection and communication system, which includes a meteorological detection module (20), a Beidou positioning module (13), and a communication relay module (9) installed on the connecting frame (2). The communication relay module (9) integrates a Beidou short message communication unit and a wireless relay module (9), activates wireless relay in areas without ground network coverage, and reports the robot's position and status via Beidou short message.

6. A power grid inspection, transportation, and rescue robot according to claim 5, characterized in that, It also includes a safety protection system, which includes a self-test control unit (10). The self-test control unit (10) is equipped with a problem classification judgment module and an inspection record generation module. The problem classification judgment module triggers the obstacle clearing system to automatically handle simple problems and only triggers evidence collection records for complex problems. The inspection record generation module controls the taking of photos for evidence and records the problem coordinates through the Beidou positioning module (13), packages them into a structured inspection record package, and reports it to the internal operation and maintenance management system of the power grid by the communication relay module (9). When there is a network signal, the full amount of data is uploaded in real time. When there is no network signal, the location alarm code is sent through Beidou short message first, and the complete data packet is automatically retransmitted after reaching the location with a signal.

7. A power grid inspection, transportation, and rescue robot according to claim 6, characterized in that, It also includes a sensor self-cleaning module (12); the sensor self-cleaning module (12) automatically cleans the exposed sensor mirror and probe at regular intervals; the control system adopts a two-level distributed architecture of main control unit and sub-control unit, the main control unit is a comprehensive control board (17) and communicates with each motor driver and functional module via CAN bus; the control system supports three control modes: fully autonomous, semi-autonomous and manual remote control, and the three modes can be switched in real time and are mutually backups.

8. A power grid inspection, transportation, and rescue robot according to claim 7, characterized in that, The robotic arm cabin (4) is equipped with an electromagnetic locking mechanism and a guide rail. When moving, the robotic arm (5) is retracted and locked, and when working, it is electromagnetically unlocked and unfolded. The connecting frame (2) and each functional module are assembled using a modular assembly with bolts and fixed slots.

9. A power grid inspection, transportation, and rescue robot according to claim 8, characterized in that, The two ends of the special walking steel cable (25) are fixed to the crossarm of the iron tower by wedge-shaped tension clamps and adjusting turnbuckles, and the walking cable frame (31) is installed on the crossarm of the iron tower by cable frame bracket (32) and cable frame fixing bolt (33). The special walking steel cable (25) is continuously passed through the walking cable frame (31) and connected end to end along the loop line to form a closed walking channel. The outer edge of the walking pulley (1) is provided with an arc-shaped wheel groove to fit the special walking steel cable (25) and roll along it. Each set of walking pulleys (1) is provided with a pair of rollers on the top and bottom to form a four-point constraint support for the special walking steel cable (25). The walking mechanism is also provided with an anti-slip braking device. The drive disc (14) keeps the special walking steel cable (25) pressed by the spring and electromagnetic mechanism, and cooperates with the electromagnetic brake of the drive motor (15) to apply a clamping braking force to the special walking steel cable (25) when stopping on the slope or when the power is cut off.

10. A method of using the power grid inspection, transportation, and rescue robot according to any one of claims 1-9, characterized in that, Includes the following steps: S1. The robot walks in a one-way loop along the dedicated walking steel cable (25), and the sensing system identifies foreign objects on the line in real time. S2. When a foreign object is detected, the robot slows down and stops, takes photos from multiple angles to collect evidence, and records the geographical coordinates of the problem. S3. Classify problems: simple foreign objects are automatically removed and photographed again after treatment to form a before-and-after comparison of the repair; complex problems are only collected as evidence and not automatically treated. S4. Package the problem type, coordinates, photos and handling results into a structured inspection record package and report it to the outside world. When there is a network signal, the complete record package is uploaded in real time. When there is no network signal, a compressed location alarm code is sent first, and the complete data package is automatically retransmitted after reaching a location with a signal. S5. When receiving an emergency rescue order, the multi-functional sealed cabin (24) is loaded with materials and moves to the top of the target iron tower. Four lifting winch motors (22) work together with the three-axis gyroscope differential control to lower and deploy the multi-functional sealed cabin (24) while maintaining the horizontal error of the multi-functional sealed cabin (24) within ±2°. Alternatively, the lifting ladder (8) located at the bottom of the multi-functional sealed cabin (24) can be deployed for personnel to climb and transfer.

Images