Automatic obstacle removing device for distribution network line and laser obstacle removing intelligent system

Abstract

The utility model relates to an automatic obstacle clearing device and a laser obstacle clearing intelligent system for a distribution network line, which comprise a chassis motion platform, a horizontal motion platform, a vertical motion platform, a rotary motion platform, a plurality of groups of visual inspection cameras, laser obstacle clearing equipment, a pitching motion mechanism and edge control equipment, the chassis motion platform comprises a crawler belt and a chassis arranged on the crawler belt, the edge control equipment is arranged in a groove reserved in the side face of the chassis, the visual detection cameras are arranged on the edges of the chassis respectively, the horizontal motion platform is arranged on the chassis, and the vertical motion platform is arranged on the horizontal motion platform. The vertical movement platform is installed on the horizontal movement platform to move in the horizontal direction under driving of the horizontal movement platform, the vertical movement platform is installed on the rotary movement platform, the pitching movement mechanism is installed on the rotary movement platform, and the laser obstacle removing equipment is installed on the pitching movement mechanism. According to the technical scheme of the utility model, a worker does not need to hold the laser obstacle clearing instrument by hand for field operation, and automatic obstacle clearing can be accurately realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to transmission and distribution network line obstacle removing technical field especially relates to a kind of automatic obstacle removing device and laser obstacle removing intelligent system for distribution network line. BACKGROUND

[0002] With the sustained high-speed development of domestic economy, the influence of power transmission and railway operation safety on people's life and enterprise production is also more and more big, but in the process of power grid or railway operation, there are often kites, balloons, mulch and other floating objects on overhead lines to affect the safety of electric wire, and there are often bird nests on circuit iron tower to affect the use of equipment, when the trees under high-voltage line grow to a certain height, they will contact the high-voltage line, these conditions will affect the safety of power grid or railway operation, so it can be seen that the floating foreign matter and tree barrier of overhead transmission line are the main hidden trouble source of line trip and power failure, which poses a serious threat to the safe operation of the line.

[0003] In view of the characteristics of laser obstacle removing instrument, such as good directivity, tight beam, concentrated energy and extremely powerful, it can effectively melt and cut non-metallic substances within a certain range, based on this, laser obstacle removing instrument is currently used in power grid or railway in normal state. Without work permit, equipment power failure and personnel climbing pole tower, workers can hold laser obstacle removing instrument to remove foreign matter on line in time, quickly and safely at a distance, greatly improving the work efficiency of foreign matter removal of transmission line or railway line, reducing the labor intensity of workers and shortening the hidden trouble processing time.

[0004] However, since the workers need to hold laser obstacle removing instrument on site and operate obstacle removing personally, they need to have skilled operation experience, otherwise it is likely to cause great loss to the transmission line equipment within the range of vision, and at the same time, the extremely powerful laser irradiation will also cause strong harm to the workers. UTILITY MODEL CONTENTS

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] Therefore, the purpose of the utility model is to provide an automatic obstacle removing device and laser obstacle removing intelligent system for distribution network line, which can realize automatic obstacle removing without workers holding laser obstacle removing instrument on site.

[0007] To achieve the above object, the utility model provides a kind of automatic obstacle clearing device for network line, including chassis movement platform, horizontal movement platform, vertical movement platform, rotary movement platform, multiple groups of visual detection camera, laser obstacle clearing equipment, pitch movement mechanism and edge control equipment, the chassis movement platform includes the movement frame with track and is equipped with the chassis on the movement frame, the edge control equipment is equipped in the groove reserved in the side of chassis, each group of visual detection camera is respectively equipped at the edge of chassis, to detect the obstacle in target area, the horizontal movement platform is set on chassis, the vertical movement platform is installed on horizontal movement platform, to be driven along the horizontal direction of chassis under the horizontal movement platform, the vertical movement platform is installed on the rotary movement platform, to drive the rotary movement platform realizes the movement of vertical direction, the rotary movement platform is installed on the pitch movement mechanism, to drive the pitch movement mechanism realizes rotary motion, the pitch movement mechanism is installed on the laser obstacle clearing equipment, to drive the laser obstacle clearing equipment realizes pitch movement;

[0008] The laser obstacle clearing equipment, the chassis movement platform, the horizontal movement platform, the vertical movement platform, the rotary movement platform, multiple groups of visual detection camera, the laser obstacle clearing equipment and the pitch movement mechanism are electrically connected with the edge control equipment, to drive the laser obstacle clearing equipment to automatically clean the obstacle in the target area under the control of the edge control equipment.

[0009] In the above technical solution, preferably, the rotary movement platform includes a rotating support seat, a rotating disc, a rotating motor and a rotating shaft, the rotating support seat is installed on the vertical movement platform and can move along the vertical direction of the chassis under the driving of the vertical movement platform;The rotating motor is fixedly installed on the rotating support seat, the output end of the rotating motor is connected with the rotating shaft, the output end of the rotating shaft is installed on the rotating disc to drive the rotating disc to rotate, and the pitch movement mechanism is installed on the rotating disc.

[0010] In the above technical solution, preferably, the horizontal movement platform includes a support frame, a horizontal moving motor, a horizontal support seat, guide rails, a horizontal moving screw and a nut;Each guide rail is installed on the two sides of the support frame, the horizontal moving screw is arranged between the two guide rails along the length direction of the guide rail, the nut is arranged on the horizontal moving screw, the end of the horizontal moving screw is connected with the horizontal moving motor, and under the driving of the horizontal moving motor, the horizontal moving screw drives the nut to move along the length direction of the horizontal moving screw while rotating, the horizontal support seat is installed on the nut, and the vertical movement platform is installed on the horizontal support seat, and the horizontal moving motor is electrically connected with the edge control equipment to rotate under the control of the edge control equipment.

[0011] In any of the above technical solutions, preferably, the laser obstacle clearing device comprises a transformer, a laser switch, an obstacle clearing shell, a driver, a power regulator, a laser generator, a collimating mirror, a laser focusing lens group, a filter and a focusing assembly for adjusting the distance between the laser focusing lens group and the laser generator; the transformer, the driver, the laser switch, the obstacle clearing shell, the driver, the power regulator, the laser generator, the collimating mirror, the laser focusing lens group, the filter and the focusing assembly are all arranged in the obstacle clearing shell.

[0012] In the above technical solution, preferably, one end of the laser switch is connected with the battery, the other end is connected with the transformer, the transformer is connected with the driver, and the driver is connected with the laser generator.

[0013] The power regulator is arranged on one side of the laser generator and connected with the laser generator, the collimating mirror is arranged on the light emitting side of the laser generator to convert the laser emitted by the laser generator into a parallel light beam, the laser focusing lens group is arranged on the light emitting side of the collimating mirror, the laser focusing lens group is installed on the focusing assembly, so that the position of the laser focusing lens group can be adjusted under the adjustment of the focusing assembly, and the filter is arranged on the light emitting side of the laser focusing lens group to filter out the noise of the laser.

[0014] In the above technical solution, preferably, the power regulator, the laser switch and the focusing assembly are all electrically connected with the edge control device, so as to control the laser switch to open or close the laser generator to emit laser and control the focusing assembly to adjust the distance between the laser focusing lens group and the laser generator through the edge control device.

[0015] In the above technical solution, preferably, the focusing assembly comprises a focusing motor, a focusing slide provided with a threaded hole and a focusing screw.

[0016] The focusing motor, the focusing slide provided with the threaded hole and the focusing screw are all arranged in the obstacle clearing shell.

[0017] The output end of the focusing motor is sleeved with the focusing screw, the focusing slide is sleeved on the focusing screw, the focusing motor drives the focusing slide to move along the length direction of the focusing slide through the focusing screw, and the end of the focusing slide away from the threaded hole is installed with the laser focusing lens group.

[0018] In the above technical solution, preferably, the focusing motor is electrically connected with the edge control device, so as to be opened or closed under the regulation and control of the edge control device, to control the movement position of the focusing slide relative to the focusing screw, so as to change the distance between the laser focusing lens group and the collimating mirror.

[0019] In any of the above technical solutions, preferably, a solar panel, a battery and a power controller are further included, the solar panel is arranged on the support frame, the battery is arranged on the support frame, and the power controller is connected between the solar panel and the battery.

[0020] In any of the above technical solutions, preferably, the laser obstacle clearing device is further provided with an emergency stop switch to forcibly control the laser obstacle clearing device to emit laser light through the emergency stop switch.

[0021] In the second aspect, the utility model also provides a laser obstacle clearing intelligent system, the laser obstacle clearing intelligent system includes the automatic obstacle clearing device, wireless communication module, switching equipment and remote monitoring equipment for network line of any technical scheme provided in the first aspect of the utility model;

[0022] Wireless communication modules are arranged in the automatic obstacle clearing device and the remote monitoring equipment, and the automatic obstacle clearing device and the remote monitoring equipment are connected through the switching equipment based on the wireless communication modules.

[0023] In any of the above technical solutions, preferably, the emergency stop switch is electrically connected with the remote monitoring equipment, and the remote monitoring equipment controls opening or closing of the emergency stop switch.

[0024] In any of the above technical solutions, preferably, the power controller is electrically connected with the remote monitoring equipment, and the remote monitoring equipment controls the power controller to supply power to the automatic obstacle clearing device.

[0025] Compared with the prior art, the automatic obstacle clearing device for network line and the laser obstacle clearing intelligent system have the beneficial effects that: the staff does not need to personally hold the laser obstacle clearing instrument on site, and the staff does not need to approach the high-intensity laser light at close range, but the edge processor identifies image information captured by each camera, controls the motion platform and the angle adjusting equipment to drive the laser obstacle clearing device to emit laser light to realize automatic cutting of obstacles based on the identification result, so that the staff can accurately realize automatic obstacle clearing without holding the laser obstacle clearing instrument on site, and the staff can also avoid damage to the body and the equipment caused by on-site operation of the laser obstacle clearing instrument. BRIEF DESCRIPTION OF DRAWINGS

[0026] The above and / or additional aspects and advantages of the utility model will become apparent and more readily appreciated from the following description of the embodiments, with reference to the following drawings, in which:

[0027] Figure 1 A structure diagram of the automatic obstacle clearing device related to the embodiments of the utility model is shown;

[0028] Figure 2 A structure diagram of the laser obstacle clearing device related to the embodiments of the utility model is shown.

[0029] wherein, Figure 1 and Figure 2 The correspondence between the reference signs and the component names in the drawings is as follows:

[0030] 1, chassis moving platform; 11, track; 12, chassis; 2, horizontal moving platform; 21, support frame; 22, horizontal moving motor; 23, guide rail; 24, horizontal moving screw; 25, horizontal support seat; 3, vertical moving platform; 4, rotary moving platform; 41, rotary support seat; 42, rotating disc; 43, rotating shaft; 5, visual inspection camera; 6, laser obstacle clearing device; 61, transformer; 62, laser switch; 63, obstacle clearing shell; 64, driver; 65, power regulator; 66, collimating mirror; 67, laser focusing lens group; 68, filter; 69, focusing motor; 610, focusing slide; 611, focusing screw; 7, pitch moving mechanism; 8, edge control device. DETAILED DESCRIPTION

[0031] In order to more clearly understand the above purpose, features and advantages of the present application, the present application will be further described in detail below in conjunction with the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0032] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0033] As Figure 1As shown, the automatic obstacle cleaning device for network line distribution according to one embodiment of the utility model, including chassis movement platform 1, horizontal movement platform 2, vertical movement platform 3, rotating movement platform 4, multiple groups of visual detection camera 5, laser obstacle cleaning equipment 6, pitch movement mechanism 7 and edge control equipment 8, chassis movement platform 1 includes the movement frame of being equipped with track 11 and be installed on the chassis 12 of movement frame, edge control equipment 8 is installed in the groove reserved in the side of chassis 12, each group of visual detection camera 5 is installed at the edge of chassis 12 respectively to detect the obstacle in target area, horizontal movement platform 2 is arranged on chassis, vertical movement platform 3 is installed on horizontal movement platform 2 to move along the horizontal direction of chassis 12 under the drive of horizontal movement platform 2, vertical movement platform 3 is installed on rotating movement platform 4 to drive rotating movement platform 4 to realize the movement in vertical direction, rotating movement platform 4 is installed with pitch movement mechanism 7 to drive pitch movement mechanism 7 to realize rotating movement, pitch movement mechanism 7 is installed with laser obstacle cleaning equipment 6 to drive laser obstacle cleaning equipment 6 to realize pitch movement;

[0034] Laser obstacle cleaning equipment, chassis movement platform, horizontal movement platform, vertical movement platform, rotating movement platform, multiple groups of visual detection camera, laser obstacle cleaning equipment and pitch movement mechanism are all electrically connected with edge control equipment to drive laser obstacle cleaning equipment to automatically clean the obstacle in target area under the control of edge control equipment.

[0035] It should be noted that the movement between chassis movement platform 1, horizontal movement platform 2, vertical movement platform 3, rotating movement platform 4 and pitch movement mechanism 7 is independent of each other, that is, the movement of chassis movement platform 1 and horizontal movement platform 2 is independent of each other. Laser obstacle cleaning equipment 6 can be driven by chassis movement platform 1, horizontal movement platform 2, vertical movement platform 3, rotating movement platform 4 and pitch movement mechanism 7 to move arbitrarily with chassis movement platform 1, to realize horizontal movement with horizontal movement platform 2 relative to chassis movement platform 1, to realize vertical movement with vertical movement platform 3 relative to chassis movement platform 1, to realize rotating movement with rotating movement platform 4 relative to chassis movement platform 1, and to realize pitch movement with pitch movement mechanism 7 relative to chassis movement platform 1. In this embodiment, the chassis movement platform 1 moves smoothly and is not easy to slip, has strong obstacle crossing and crossing ability, and can complete the obstacle cleaning task even in the south and northwest with many mountains and gullies. Strong climbing ability and not easy to tip over make the automatic obstacle cleaning device can also perform obstacle cleaning task on uneven ground.

[0036] Each visual detection camera 5 is arranged at a specified position capable of capturing the line in a set area, wherein the set area is an area in which the laser obstacle removing device 6 can remove the line obstacle under the driving of the motion platform, and the area captured by each camera is different; the chassis motion platform 1, the horizontal motion platform 2, the vertical motion platform 3, the rotary motion platform 4 and the pitching motion mechanism 7 are electrically connected with the edge control device 8, wherein the edge control device 8 is used to identify whether the image information captured by each visual detection camera 5 exists obstacle, and in the case that the edge control device 8 identifies that the image information captured by the visual detection camera 5 exists obstacle, the position information of the obstacle is determined, the chassis motion platform 1, the horizontal motion platform 2, the vertical motion platform 3 and the rotary motion platform drive the laser obstacle removing device 6 to move to the position at which the laser can cut the obstacle captured by the target visual detection camera 5, and after stopping, the pitching motion mechanism 7 is further adjusted according to the position information, so that the laser emission end of the laser obstacle removing device 6 is aligned with the obstacle, the edge control device 8 starts the laser emission of the laser obstacle removing device 6 until the image information captured by the target visual detection camera 5 is identified to be free of obstacle, and the laser obstacle removing device 6 is turned off, wherein the target visual detection camera 5 is the camera that captures the image information existing obstacle.

[0037] In the embodiment, the visual detection camera 5 is fixedly installed, and the range captured by each visual detection camera 5 is consistent. In some embodiments, the edge control device 8 processes the image information in the following manner: for each visual detection camera 5, the image information captured by the camera is acquired, and the image information is preprocessed to obtain preprocessed image information, the preprocessed image information is input into the trained foreign matter recognition model to obtain the recognition result of whether the image information exists obstacle, if the recognition result is the recognition result of existing obstacle, the target position information of the obstacle is determined according to the image information and the set original image information, the motion platform and the pitching motion mechanism 7 drive the laser obstacle removing device 6 to move to the position of the obstacle at which the laser can cut the target position information, and the laser obstacle removing device 6 is started to emit, until the image information captured by the target camera is identified to be free of obstacle, and the laser obstacle removing device 6 is turned off.

[0038] In some embodiments, the laser obstacle removing device is further provided with an emergency stop switch (not shown) to forcibly control the laser obstacle removing device to emit laser through the emergency stop switch, so as to realize the emergency shutdown of the automatic obstacle removing device and avoid some sudden accidents.

[0039] In some embodiments, the rotating motion platform 4 comprises a rotating support base 41, a rotating disc 42, a rotating motor and a rotating shaft 43. The rotating support base 41 is installed on the vertical motion platform 3 and can move along the vertical direction of the chassis under the driving of the vertical motion platform 3. The rotating motor is fixedly installed on the rotating support base 41. The output end of the rotating motor is connected with the rotating shaft 43. The output end of the rotating shaft 43 is installed on the rotating disc 42 to drive the rotating disc 42 to rotate. The pitching motion mechanism 7 is installed on the rotating disc 42.

[0040] In some embodiments, the horizontal motion platform 2 comprises a support frame 21, a horizontal moving motor 22, a horizontal support base, guide rails 23, a horizontal moving screw 24 and a nut. Each guide rail 23 is arranged on the two sides of the support frame 21. The horizontal moving screw 24 is arranged in the middle of the two guide rails 23 along the length direction of the guide rails 23. The nut is arranged on the horizontal moving screw. The end of the horizontal moving screw is connected with the horizontal moving motor 22. Under the driving of the horizontal moving motor 22, the horizontal moving screw 24 drives the nut to move along the length direction of the horizontal moving screw 24 while rotating. The horizontal support base 25 is installed on the nut. The vertical motion platform 3 is installed on the horizontal support base 25. The horizontal moving motor 22 is electrically connected with the edge control device 8 to rotate under the control of the edge control device 8.

[0041] As shown in Figure 2 In some embodiments, the laser obstacle clearing device 6 comprises a transformer 61, a laser switch 62, an obstacle clearing shell 63, a driver 64, a power regulator 65, a laser generator, a collimating mirror 66, a laser focusing lens group 67, a filter 68 and a focusing assembly for adjusting the distance between the laser focusing lens group 67 and the laser generator. The transformer 61, the driver 64, the laser switch 62, the obstacle clearing shell 63, the driver 64, the power regulator 65, the laser generator, the collimating mirror 66, the laser focusing lens group 67, the filter 68 and the focusing assembly are all arranged in the obstacle clearing shell 63.

[0042] One end of the laser switch 62 is connected with a storage battery. The other end is connected with the transformer 61. The transformer 61 is connected with the driver 64. The driver 64 is connected with the laser generator.

[0043] The power regulator 65 is arranged on one side of the laser generator and connected with the laser generator, the collimating mirror 66 is arranged on the light emitting side of the laser generator to convert the laser emitted by the laser generator into parallel light beams, the light emitting side of the collimating mirror 66 is provided with a laser focusing lens group 67, the laser focusing lens group 67 is installed on a focusing assembly, so that the position of the laser focusing lens group 67 can be adjusted under the adjustment of the focusing assembly, so as to achieve better focusing effect according to the different distances of foreign matters, and the picture observed and displayed by the remote monitoring device can also be observed, and the filter 68 is arranged on the light emitting side of the laser focusing lens group 67 to filter out the noise of the laser.

[0044] The power regulator 65, the laser switch 62 and the focusing assembly are all electrically connected with the edge control device 8, so that the edge control device 8 can control the power regulator 65 to control the laser generator to emit laser beams with different powers, turn on or off the laser generator to emit laser beams through the laser switch 62, and adjust the distance between the laser focusing lens group 67 and the laser generator through the focusing assembly according to the type of the obstacle.

[0045] It can be seen that the laser obstacle removing device 6 provided in the embodiment can automatically adjust the distance of foreign matters to achieve better focusing effect, and can also control the laser generator to emit laser beams with different powers according to the different types of foreign matters to achieve energy saving effect.

[0046] In some embodiments, the focusing assembly comprises a focusing motor 69, a focusing slide 610 provided with a threaded hole and a focusing screw 611;

[0047] The focusing motor 69, the focusing slide 610 provided with a threaded hole and the focusing screw 611 are all arranged in the obstacle removing shell 63;

[0048] The output end of the focusing motor 69 is sleeved with the focusing screw 611, the focusing slide 610 is sleeved on the focusing screw 611, the focusing slide 610 is moved along the length direction of the focusing slide 610 by the focusing motor 69 through the focusing screw 611, and the laser focusing lens group 67 is installed on the end of the focusing slide 610 away from the threaded hole.

[0049] In the above technical solution, preferably, the focusing motor 69 is electrically connected with the edge control device 8, so that the focusing motor 69 can be turned on or off under the control of the edge control device 8 to control the movement position of the focusing slide 610 relative to the focusing screw 611, so as to change the distance between the laser focusing lens group 67 and the collimating mirror 66.

[0050] In some embodiments, the automatic obstacle clearing device further comprises a solar panel (not shown), a battery (not shown) and a power supply controller (not shown), the solar panel is arranged on the support frame 21, the battery is arranged on the support frame 21, the power supply controller is connected between the solar panel and the battery, when the electricity in the battery is greater than or equal to a first circuit threshold, the power supply controller cuts off the electrical connection between the solar panel and the battery, when the electricity in the battery is less than a second circuit threshold, the power supply controller connects the electrical connection between the solar panel and the battery. Wherein, the battery is used to supply power for the horizontal moving motor 22, the edge control device 8 and the laser obstacle clearing device 6.

[0051] Therefore, the automatic obstacle clearing device provided in the embodiment comprises a chassis moving platform 1, a horizontal moving platform 2, a vertical moving platform 3, a rotating moving platform 4, a visual detection camera 5, a laser obstacle clearing device 6, a pitch moving mechanism 7 and an edge control device 8; the chassis moving platform 1 is reserved with a groove for placing the edge control device 8, the horizontal moving platform 2 is arranged on the chassis moving platform 1, the vertical moving platform 3 is installed on the horizontal moving platform 2 to move along the horizontal direction under the driving of the horizontal moving platform 2, the rotating moving platform 4 is installed on the vertical moving platform 3 to drive the rotating moving platform 4 to move in the vertical direction, the pitch moving mechanism 7 is installed on the rotating moving platform 4 to drive the pitch moving mechanism 7 to rotate, and the laser obstacle clearing device 6 is installed on the pitch moving mechanism 7 to drive the laser obstacle clearing device 6 to pitch. When the edge control device 8 identifies that the image information captured by the target camera exists obstacles, the edge control device 8 controls the moving platform and the pitch moving mechanism 7 to drive the laser obstacle clearing device 6 to move to the position where the laser can cut the obstacles captured by the target camera, and then starts the laser obstacle clearing device 6 to emit, until the edge control device 8 identifies that the image information captured by the target camera does not exist obstacles, and then closes the laser obstacle clearing device 6. It can be seen that the technical solution provided in the embodiment does not require the staff to manually hold the laser obstacle clearing device on site, nor does it require the staff to approach the high-intensity laser at close range. Instead, the edge processor identifies the image information captured by each camera, controls the moving platform and the pitch moving mechanism 7 to drive the laser obstacle clearing device 6 to emit laser to automatically cut obstacles based on the identification result. It can be seen that the technical solution provided in the embodiment can accurately achieve automatic obstacle clearing without the staff manually holding the laser obstacle clearing device on site, which brings a good experience effect to the user.

[0052] On the other hand, the application also provides a laser obstacle clearing intelligent system, which comprises the automatic obstacle clearing device of any one of the above-mentioned embodiments, a wireless communication module, a switching device and a remote monitoring device; the automatic obstacle clearing device and the remote monitoring device are both provided with the wireless communication module, and the automatic obstacle clearing device and the remote monitoring device are connected by communication based on the wireless communication module through the switching device;

[0053] In some embodiments, the power supply controller is electrically connected with a remote monitoring device, and the remote monitoring device controls the power supply controller to supply power for the automatic barrier clearing device. In the case that the edge control device 8 identifies that there is a barrier, the remote monitoring device is sent with image information of the barrier and target position information of the corresponding barrier, so that the remote monitoring device can master the process of clearing the barrier in real time. If there is a mis-shot barrier, the staff can send a closing instruction to the laser barrier clearing device 6 in time, and the remote control closes the laser barrier clearing device 6.

[0054] In other embodiments, the laser barrier clearing device 6 is a laser barrier clearing device 6 provided with an emergency stop switch, and the emergency stop switch can be electrically connected with the remote monitoring device, and the remote monitoring device controls the opening or closing of the emergency stop switch; the laser barrier clearing device 6 is remotely and emergently closed.

[0055] In the present application, the term "a plurality of" refers to two or more, unless otherwise explicitly limited. The terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, "connecting" can be fixed connection, or detachable connection, or integrally connected; "connected" can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0056] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or units referred to must have a specific direction, be constructed and operated in a specific orientation, therefore, it cannot be understood as a limitation on the present application.

[0057] In the description of the present application, the terms "one embodiment", "some embodiments", "a specific embodiment" and the like mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0058] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic obstacle clearing device for a distribution line, characterized in that The device comprises a chassis moving platform, a horizontal moving platform, a vertical moving platform, a rotating moving platform, a plurality of visual detection cameras, a laser obstacle clearing device, a pitching moving mechanism and an edge control device. The chassis moving platform comprises a moving frame provided with a track and a chassis mounted on the moving frame, and the edge control device is mounted in a reserved groove on the chassis. Each set of visual detection cameras is mounted on the edge of the chassis for detecting obstacles in a target area. The horizontal moving platform is arranged on the chassis, and the vertical moving platform is mounted on the horizontal moving platform to move along the horizontal direction of the chassis under the drive of the horizontal moving platform. The rotating moving platform is mounted on the vertical moving platform to drive the rotating moving platform to move in the vertical direction. The pitching moving mechanism is mounted on the rotating moving platform to drive the pitching moving mechanism to rotate. The laser obstacle clearing device is mounted on the pitching moving mechanism to drive the laser obstacle clearing device to pitch. The laser obstacle clearing device, the chassis moving platform, the horizontal moving platform, the vertical moving platform, the rotating moving platform, the plurality of visual detection cameras, the laser obstacle clearing device and the pitching moving mechanism are electrically connected with the edge control device to drive the laser obstacle clearing device to automatically clean obstacles in the target area under the control of the edge control device.

2. The automatic obstacle clearing device for network wiring line according to claim 1, characterized in that: The rotating moving platform comprises a rotating support seat, a rotating disc, a rotating motor and a rotating shaft. The rotating support seat is mounted on the vertical moving platform and can move along the vertical direction of the chassis under the drive of the vertical moving platform. The rotating motor is fixedly mounted on the rotating support seat, the output end of the rotating motor is connected with the rotating shaft, and the output end of the rotating shaft is mounted on the rotating disc to drive the rotating disc to rotate. The pitching moving mechanism is mounted on the rotating disc.

3. The automatic obstacle clearing device for a network wiring line according to claim 1 or 2, characterized in that: The horizontal moving platform comprises a support frame, a horizontal moving motor, a horizontal support seat, guide rails, a horizontal moving screw and a nut. Each guide rail is arranged on the two sides of the support frame. The horizontal moving screw is arranged between the two guide rails along the length direction of the guide rails. The nut is arranged on the horizontal moving screw. The horizontal moving motor is connected with the end of the horizontal moving screw and drives the nut to move along the length direction of the horizontal moving screw while rotating. The horizontal support seat is mounted on the nut, and the vertical moving platform is mounted on the horizontal support seat. The horizontal moving motor is electrically connected with the edge control device to rotate under the control of the edge control device.

4. The automatic obstacle clearing device for network wiring line according to claim 1 or 2, characterized in that: The laser obstacle clearing device comprises a transformer, a laser switch, an obstacle clearing shell, a driver, a power regulator, a laser generator, a collimating mirror, a laser focusing lens group, a filter and a focusing assembly for adjusting the distance between the laser focusing lens group and the laser generator. The transformer, the laser switch, the obstacle clearing shell, the driver, the power regulator, the laser generator, the collimating mirror, the laser focusing lens group, the filter and the focusing assembly are arranged in the obstacle clearing shell. One end of the laser switch is connected with the battery, and the other end is connected with the transformer, the transformer is connected with the driver, and the driver is connected with the laser generator; The power regulator is arranged on one side of the laser generator and connected with the laser generator, the collimating mirror is arranged on the light emitting side of the laser generator to convert the laser emitted by the laser generator into parallel light beams, the light emitting side of the collimating mirror is provided with a laser focusing lens group, the laser focusing lens group is installed on the focusing assembly, so that the position of the laser focusing lens group can be adjusted under the adjustment of the focusing assembly, and the filter is arranged on the light emitting side of the laser focusing lens group to filter out the noise of the laser; The power regulator, the laser switch and the focusing assembly are all electrically connected with the edge control device, so that the edge control device controls the laser switch to open or close the laser generator to emit laser and controls the focusing assembly to adjust the distance between the laser focusing lens group and the laser generator.

5. The automatic obstacle clearing device for network wiring line according to claim 4, characterized in that: The focusing assembly comprises a focusing motor, a focusing slide provided with a threaded hole and a focusing screw rod; The focusing motor, the focusing slide and the focusing screw rod are all arranged in the obstacle removing shell; the output end of the focusing motor is sleeved with the focusing screw rod, and the focusing screw rod is sleeved with the focusing slide, so that the focusing slide is driven to move along the length direction of the focusing slide by the focusing motor through the focusing screw rod, and the laser focusing lens group is installed on the end of the focusing slide away from the threaded hole; The focusing motor is electrically connected with the edge control device, so that the edge control device controls the focusing motor to open or close to control the movement position of the focusing slide relative to the focusing screw rod, thereby changing the distance between the laser focusing lens group and the collimating mirror.

6. The automatic obstacle clearing device for network wiring line according to claim 1 or 2, characterized in that: The laser obstacle removing device further comprises a solar panel, a battery and a power controller, the solar panel is arranged on the support frame, the battery is arranged on the support frame, and the power controller is connected between the solar panel and the battery.

7. The automatic obstacle clearing device for network wiring line according to claim 1, characterized in that: The laser obstacle removing device is further provided with an emergency stop switch for forcibly controlling the laser obstacle removing device to emit laser.

8. A laser obstacle cleaning intelligent system, characterized in that: The laser obstacle removing intelligent system comprises the automatic obstacle removing device for distribution network lines, the wireless communication module, the switching device and the remote monitoring device according to any one of claims 1-7; The automatic obstacle removing device and the remote monitoring device are both provided with the wireless communication module, and the automatic obstacle removing device and the remote monitoring device are both connected through the switching device based on the wireless communication module.

9. The laser obstacle removing intelligent system according to claim 8, wherein the automatic obstacle removing device is the automatic obstacle removing device for distribution network lines according to claim 7, the emergency stop switch is electrically connected with the remote monitoring device, and the remote monitoring device controls the opening or closing of the emergency stop switch.

10. The laser obstacle removing intelligent system according to claim 8, wherein the automatic obstacle removing device is the automatic obstacle removing device for distribution network lines according to claim 6, the power controller is electrically connected with the remote monitoring device, and the remote monitoring device controls the power controller to supply power to the automatic obstacle removing device.

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