CN105762749A - Ice-cutting system for high-voltage line - Google Patents
Ice-cutting system for high-voltage line Download PDFInfo
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- CN105762749A CN105762749A CN201610120758.8A CN201610120758A CN105762749A CN 105762749 A CN105762749 A CN 105762749A CN 201610120758 A CN201610120758 A CN 201610120758A CN 105762749 A CN105762749 A CN 105762749A
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- ice
- tension line
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- layer thickness
- ice layer
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention relates to an ice-cutting system for a high-voltage line, and the system comprises an ice detection device, an FBG (fiber bragg grating) sensing demodulation device, an ice thickness analysis device, and a robot main body. The FBG sensing demodulation device is connected with the ice detection device and the ice thickness analysis device. The ice detection device, the FBG sensing demodulation device and the ice thickness analysis device work cooperatively, so as to determine the real-time ice thickness of the high-voltage line. The robot main body is connected with the ice thickness analysis device, so as to control the ice-cutting mode of the high-voltage line based on the real-time ice thickness. According to the invention, the system can be used for replacing manual operation, detects the icing condition of the high-voltage line accurately on site through employing a robot, and automatically takes the corresponding ice-cutting measures.
Description
The divisional application of patent that the present invention is application number is 2015109562545, the applying date is December in 2015 17 days, denomination of invention is " high-tension line cuts ice system ".
Technical field
The present invention relates to high-tension line detection field, particularly relate to a kind of high-tension line and cut ice system.
Background technology
In cold season, when mercury dropped is to subzero, high-tension line is possible to ice condition occur.Freeze and not only bring burden to high-tension line itself, such as cause that line load is excessive, circuit tenesmus is even disconnected, and assist equipment to bring maintenance to high-tension line, such as steel tower near circuit is forgotten about it, if high-tension line construction is in inhabited area, cause a hidden trouble also can to the trip of people.More it is essential that when causing that equipment or circuit damage and make high-tension line power-off owing to excessively freezing, maintenance cost is very high.
De-icing method common in the world is basically divided into artificial deicing, heating power deicing, mechanical deicing and naturally deices four big classes.Applying maximum in practice is the way manually knocked, but the dielectric loss of the icing self caused also by the excitation imposing about 33kV, 100kHz, it is possible to icing transmission line of electricity is carried out ice-melt.Also has the great current deicing scheme of up-to-date release, such as excess current de-icing, short circuit ice-melt etc..But these energising ice-melting modes need, to down circuitry, the power supply of high-tension line to be impacted.The current mode that naturally deices is consuming time excessively of a specified duration, and current mechanical deicing's mode is still in laboratory stage, it is impossible to adapt to external environment condition complicated and changeable.
As can be seen here, current heating power deicing, mechanical deicing and naturally deicing all with certain defect, it is impossible to spread out use, and the most frequently used artificial deicing mode excessively takes time and effort, brings huge financial burden and manpower burden to power supply management department.
Therefore, need a kind of new high-tension line deicing scheme, existing the most frequently used artificial deicing mode can be substituted, employ new technology and high-tension line is carried out ice sheet detection and ice sheet elimination, thus while improving deicing efficiency, it can be avoided that power supply attendant is hit by high-tension line, save substantial amounts of man power and material for power supply management department, reduce the power supply management department maintenance cost to electrical network.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of high-tension line based on fiber grating detection and cut ice system, by improving robot body's structure of current mechanical deicing, adapt it to external environment condition complicated and changeable, it is simultaneously introduced high accuracy, targetedly ice sheet detection equipment and ice sheet abatement apparatus, thus being reduced as far as artificial participation so that whole piece high-tension line is carried out automatic de-icing and is possibly realized by a robot device.
According to an aspect of the present invention, provide a kind of high-tension line based on fiber grating detection and cut ice system, described system includes ice sheet detection equipment, fiber grating sensing demodulation equipment, ice layer thickness analytical equipment and robot body, fiber grating sensing demodulation equipment detects equipment with ice sheet and ice layer thickness analytical equipment is connected respectively, ice sheet detection equipment, fiber grating sensing demodulation equipment and ice layer thickness analytical equipment collaborative work are to determine the real-time ice layer thickness of high-tension line, robot body is connected with ice layer thickness analytical equipment to control high-tension line is cut ice mode based on real-time ice layer thickness.
More specifically, cut in ice system at the described high-tension line based on fiber grating detection, including: ice sheet detection equipment, it is positioned on high-tension line, including connector, self-lubricating bearing, bearing retainer, Cylinder Shell, transmission cable and fiber Bragg grating strain sensor, connector is connected respectively with high-tension line and bearing retainer, self-lubricating bearing is fixed on bearing retainer, fiber Bragg grating strain sensor is arranged on self-lubricating bearing and is connected with transmission cable, Cylinder Shell is used for holding self-lubricating bearing, bearing retainer and fiber Bragg grating strain sensor；Fiber grating sensing demodulation equipment, it is positioned on robot body, including demodulator, wideband light source and signal transmitting and receiving passage, optical signal sends from wideband light source, the transmission cable of ice sheet detection equipment is entered through signal transmitting and receiving passage, optical signal is after fiber Bragg grating strain sensor reflects, and reflection light passes sequentially through transmission cable and signal transmitting and receiving passage enters demodulator to carry out Wavelength demodulation, and wherein the quantity of signal transmitting and receiving passage is corresponding with the quantity that ice sheet detects equipment；Ice layer thickness analytical equipment, is positioned on robot body, is connected with the demodulator of fiber grating sensing demodulation equipment, is analyzed obtaining real-time ice layer thickness to the wavelength information obtained after Wavelength demodulation；Robot body, including anti-tilt structure, control chamber, brshless DC motor, hoisting ring, deicing cutter, walking mechanism, retaining mechanism and hold-down mechanism, on the located anteriorly high-tension line of anti-tilt structure, control chamber and brshless DC motor are all located at the lower section of high-tension line, hoisting ring is for being lifted into high-tension line by robot body, walking mechanism and retaining mechanism are all located on high-tension line, and hold-down mechanism is positioned at the lower section of high-tension line；Anti-tilt structure includes Anti-inclining wheel, fixing bolt and connecting plate, and connecting plate is connected with Anti-inclining wheel, fixing bolt and deicing cutter respectively, it is prevented that deicing cutter causes because ice layer thickness is too high that in ice detachment robot body tilts backwards；Master control borad and battery it is provided with in control chamber, master control borad is integrated with ARM11 processor, Wireless Telecom Equipment and static memory, Wireless Telecom Equipment sets up two-way wireless communication link for the power supply Operation Server with far-end, ARM11 processor is electrically connected with ice layer thickness analytical equipment and deicing cutter, for receiving the real-time ice layer thickness of high-tension line, and the cross-sectional sizes of the real-time ice layer thickness control deicing cutter according to high-tension line；Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator；The cross section of deicing cutter is telescopic triangle, cutter hub is reverse taper shape, the both sides of cutter hub have through hole, so that trash ice is scattered from both sides, deicing cutter also includes cutter driving apparatus, being connected respectively with the cross section of ARM11 processor and deicing cutter, the cross section of deicing cutter is carried out extension and contraction control by the real-time ice layer thickness sent based on ARM11 processor, to change the cross-sectional sizes of deicing cutter；Walking mechanism includes three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for the walking on high-tension line of three V shaped wheels, and Timing Belt sequentially passes through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels；Retaining mechanism includes the adjustable wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, is used for preventing robot body from falling from high-tension line；Hold-down mechanism is connected with brshless DC motor, including contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the aerial earth wire of high-tension line under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is for resetting contact roller when contact roller is released；Touch switch sensor, is positioned on anti-tilt structure, is electrically connected with ARM11 processor, for when touching high-tension line obstacle, sending contact obstacle signal；Infrared sensor, is positioned on anti-tilt structure, is electrically connected with ARM11 processor, for when 400 millimeters of distance front high-tension line obstacle, sending obstruction forewarning signal；High-definition camera equipment, it is positioned in walking mechanism, it is electrically connected with ARM11 processor, for gathering the high-definition image of deicing cutter front high-tension line and by ARM11 processor compressed encoding, the image after compression to be sent to the power supply Operation Server of far-end by Wireless Telecom Equipment.
More specifically, cut in ice system at the described high-tension line based on fiber grating detection: Wireless Telecom Equipment is GPRS communication interface.
More specifically, cut in ice system at the described high-tension line based on fiber grating detection: Wireless Telecom Equipment is 4G mobile communication interface.
More specifically, cut in ice system at the described high-tension line based on fiber grating detection: high-definition camera equipment includes domed transparent cover, servicing lighting and CCD vision sensor.
More specifically, cut in ice system at the described high-tension line based on fiber grating detection: domed transparent cover is used for holding servicing lighting and CCD vision sensor, and the shooting that servicing lighting is CMOS camera provides floor light.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram that the high-tension line based on fiber grating detection illustrated according to an embodiment of the present invention cuts ice system.
Accompanying drawing labelling: 1 ice sheet detection equipment；2 fiber grating sensing demodulation equipment；3 ice layer thickness analytical equipments；4 robot bodies
Detailed description of the invention
The embodiment that the high-tension line based on fiber grating detection of the present invention is cut ice system below with reference to accompanying drawings is described in detail.
At present, the process of the high-tension line ice condition in power transmission electric network is generally adopted manual type or high-tension line pretreatment mode, but, the former expends substantial amounts of manpower and materials, and deicing efficiency is not high, and deicing risk factor is high, the latter's Financial cost is high, it is important to the ability also overcoming icing is also limited.Also have some robots at present in the technical scheme remotely controlling online deicing, but, owing to existing robot architecture is not reasonable, still not adapting to the high-tension line environment of complexity, be still required for substantial amounts of manpower intervention, integrated cost is also significantly high.The more important thing is, lacking effective high-tension line ice layer thickness automatic checkout equipment in prior art, this is the important threshold of high-tension line automatic de-icing.
In order to overcome above-mentioned deficiency, the present invention has built a kind of high-tension line based on fiber grating detection and has cut ice system, adopt the ice sheet based on theory of the fiber optical to detect equipment high-tension line ice layer thickness is detected automatically, optimize robot architecture simultaneously, introduce adaptive deicing equipment, thus realizing automated machine deicing.
Fig. 1 is the block diagram that the high-tension line based on fiber grating detection illustrated according to an embodiment of the present invention cuts ice system, described system includes ice sheet detection equipment, fiber grating sensing demodulation equipment, ice layer thickness analytical equipment and robot body, fiber grating sensing demodulation equipment detects equipment with ice sheet and ice layer thickness analytical equipment is connected respectively, ice sheet detection equipment, fiber grating sensing demodulation equipment and ice layer thickness analytical equipment collaborative work are to determine the real-time ice layer thickness of high-tension line, robot body is connected with ice layer thickness analytical equipment to control high-tension line is cut ice mode based on real-time ice layer thickness.
Then, the concrete structure continuing the high-tension line based on fiber grating detection of the present invention is cut ice system is further detailed.
Described system includes: ice sheet detection equipment, it is positioned on high-tension line, including connector, self-lubricating bearing, bearing retainer, Cylinder Shell, transmission cable and fiber Bragg grating strain sensor, connector is connected respectively with high-tension line and bearing retainer, self-lubricating bearing is fixed on bearing retainer, fiber Bragg grating strain sensor is arranged on self-lubricating bearing and is connected with transmission cable, and Cylinder Shell is used for holding self-lubricating bearing, bearing retainer and fiber Bragg grating strain sensor.
Described system includes: fiber grating sensing demodulation equipment, it is positioned on robot body, including demodulator, wideband light source and signal transmitting and receiving passage, optical signal sends from wideband light source, the transmission cable of ice sheet detection equipment is entered through signal transmitting and receiving passage, optical signal is after fiber Bragg grating strain sensor reflects, and reflection light passes sequentially through transmission cable and signal transmitting and receiving passage enters demodulator to carry out Wavelength demodulation, and wherein the quantity of signal transmitting and receiving passage is corresponding with the quantity that ice sheet detects equipment.
Described system includes: ice layer thickness analytical equipment, is positioned on robot body, is connected with the demodulator of fiber grating sensing demodulation equipment, is analyzed obtaining real-time ice layer thickness to the wavelength information obtained after Wavelength demodulation.
Described system includes: robot body, including anti-tilt structure, control chamber, brshless DC motor, hoisting ring, deicing cutter, walking mechanism, retaining mechanism and hold-down mechanism, on the located anteriorly high-tension line of anti-tilt structure, control chamber and brshless DC motor are all located at the lower section of high-tension line, hoisting ring is for being lifted into high-tension line by robot body, walking mechanism and retaining mechanism are all located on high-tension line, and hold-down mechanism is positioned at the lower section of high-tension line；Anti-tilt structure includes Anti-inclining wheel, fixing bolt and connecting plate, and connecting plate is connected with Anti-inclining wheel, fixing bolt and deicing cutter respectively, it is prevented that deicing cutter causes because ice layer thickness is too high that in ice detachment robot body tilts backwards.
Master control borad and battery it is provided with in control chamber, master control borad is integrated with ARM11 processor, Wireless Telecom Equipment and static memory, Wireless Telecom Equipment sets up two-way wireless communication link for the power supply Operation Server with far-end, ARM11 processor is electrically connected with ice layer thickness analytical equipment and deicing cutter, for receiving the real-time ice layer thickness of high-tension line, and the cross-sectional sizes of the real-time ice layer thickness control deicing cutter according to high-tension line；Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator；The cross section of deicing cutter is telescopic triangle, and cutter hub is reverse taper shape, and the both sides of cutter hub have through hole, in order to trash ice is scattered from both sides.
Deicing cutter also includes cutter driving apparatus, is connected respectively with the cross section of ARM11 processor and deicing cutter, and the cross section of deicing cutter is carried out extension and contraction control by the real-time ice layer thickness sent based on ARM11 processor, to change the cross-sectional sizes of deicing cutter.
Walking mechanism includes three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for the walking on high-tension line of three V shaped wheels, and Timing Belt sequentially passes through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels；Retaining mechanism includes the adjustable wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, is used for preventing robot body from falling from high-tension line.
Hold-down mechanism is connected with brshless DC motor, including contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the aerial earth wire of high-tension line under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is for resetting contact roller when contact roller is released.
Described system includes: touch switch sensor, is positioned on anti-tilt structure, is electrically connected with ARM11 processor, for when touching high-tension line obstacle, sending contact obstacle signal；Infrared sensor, is positioned on anti-tilt structure, is electrically connected with ARM11 processor, for when 400 millimeters of distance front high-tension line obstacle, sending obstruction forewarning signal.
Described system includes: high-definition camera equipment, it is positioned in walking mechanism, it is electrically connected with ARM11 processor, for gathering the high-definition image of deicing cutter front high-tension line and by ARM11 processor compressed encoding, the image after compression to be sent to the power supply Operation Server of far-end by Wireless Telecom Equipment.
Alternatively, in the system: Wireless Telecom Equipment is GPRS communication interface；Wireless Telecom Equipment is 4G mobile communication interface；High-definition camera equipment includes domed transparent cover, servicing lighting and CCD vision sensor；Domed transparent cover is used for holding servicing lighting and CCD vision sensor, and the shooting that servicing lighting is CMOS camera provides floor light.
It addition, in 4G communicates, 4GLTE is the standard of a global general-use, including two kinds of network schemer FDD and TDD, is respectively used to paired spectrum and non-paired frequency spectrum.Operator is accepting or rejecting purely for the consideration to spectrum availability between two patterns at first.Big multi-operator will dispose two kinds of networks simultaneously, in order to makes full use of its all frequency spectrum resources having.FDD and TDD distinguishes in fact only small technically, and the main distinction is that the duplex mode that employing is different, FDD (FDD) and time division duplex (TDD) are duplex modes two kinds different.
FDD is received and transmitted on two the symmetrical frequency channels separated, and separates reception by protection frequency range and sends channel.FDD must adopt paired frequency, relies on frequency to carry out differentiating uplink and downlink link, and its unidirectional resource is continuous print in time.FDD, when supporting symmetrical service, can make full use of the frequency spectrum of up-downgoing, but when supporting non-symmetrical service, the availability of frequency spectrum will be substantially reduced.
TDD separates reception with the time and sends channel.In the mobile communication system of TDD mode, receiving and send the different time-gap using same frequency carrier as the carrying of channel, its unidirectional resource is discontinuous in time, and time resource has distributed in the two directions.Certain time period is sent a signal to mobile platform by base station, and the other time is sent a signal to base station by moving platform, must harmonious ability work well between base station and mobile platform.
The high-tension line based on fiber grating detection adopting the present invention cuts ice system, for the technical problem that the high-tension line deice mode deicing efficiency of prior art is low, adopt to optimize structure and carry the robot of self-adapting deicing equipment and carry out line walking, increase ice sheet detection equipment and on-the-spot ice layer thickness is carried out detection of electrons, additionally, introduce 4G communication link to ensure the efficiency of on-scene communication, thus improve the precision of on-the-spot ice sheet detection and ice sheet elimination.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above and technical solution of the present invention is made many possible variations and modification, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within the scope of technical solution of the present invention protection.
Claims (2)
1. cut ice system based on the high-tension line of fiber grating detection for one kind, described system includes ice sheet detection equipment, fiber grating sensing demodulation equipment, ice layer thickness analytical equipment and robot body, fiber grating sensing demodulation equipment detects equipment with ice sheet and ice layer thickness analytical equipment is connected respectively, ice sheet detection equipment, fiber grating sensing demodulation equipment and ice layer thickness analytical equipment collaborative work are to determine the real-time ice layer thickness of high-tension line, and robot body is connected with ice layer thickness analytical equipment based on the control of real-time ice layer thickness high-tension line to be cut ice mode.
2. the high-tension line based on fiber grating detection as claimed in claim 1 cuts ice system, it is characterised in that described system includes:
Ice sheet detection equipment, it is positioned on high-tension line, including connector, self-lubricating bearing, bearing retainer, Cylinder Shell, transmission cable and fiber Bragg grating strain sensor, connector is connected respectively with high-tension line and bearing retainer, self-lubricating bearing is fixed on bearing retainer, fiber Bragg grating strain sensor is arranged on self-lubricating bearing and is connected with transmission cable, and Cylinder Shell is used for holding self-lubricating bearing, bearing retainer and fiber Bragg grating strain sensor；
Fiber grating sensing demodulation equipment, it is positioned on robot body, including demodulator, wideband light source and signal transmitting and receiving passage, optical signal sends from wideband light source, the transmission cable of ice sheet detection equipment is entered through signal transmitting and receiving passage, optical signal is after fiber Bragg grating strain sensor reflects, and reflection light passes sequentially through transmission cable and signal transmitting and receiving passage enters demodulator to carry out Wavelength demodulation, and wherein the quantity of signal transmitting and receiving passage is corresponding with the quantity that ice sheet detects equipment；
Ice layer thickness analytical equipment, is positioned on robot body, is connected with the demodulator of fiber grating sensing demodulation equipment, is analyzed obtaining real-time ice layer thickness to the wavelength information obtained after Wavelength demodulation；
Robot body, including anti-tilt structure, control chamber, brshless DC motor, hoisting ring, deicing cutter, walking mechanism, retaining mechanism and hold-down mechanism, on the located anteriorly high-tension line of anti-tilt structure, control chamber and brshless DC motor are all located at the lower section of high-tension line, hoisting ring is for being lifted into high-tension line by robot body, walking mechanism and retaining mechanism are all located on high-tension line, and hold-down mechanism is positioned at the lower section of high-tension line；
Anti-tilt structure includes Anti-inclining wheel, fixing bolt and connecting plate, and connecting plate is connected with Anti-inclining wheel, fixing bolt and deicing cutter respectively, it is prevented that deicing cutter causes because ice layer thickness is too high that in ice detachment robot body tilts backwards；
Master control borad and battery it is provided with in control chamber, master control borad is integrated with ARM11 processor, Wireless Telecom Equipment and static memory, Wireless Telecom Equipment sets up two-way wireless communication link for the power supply Operation Server with far-end, ARM11 processor is electrically connected with ice layer thickness analytical equipment and deicing cutter, for receiving the real-time ice layer thickness of high-tension line, and the cross-sectional sizes of the real-time ice layer thickness control deicing cutter according to high-tension line；
Brshless DC motor is connected with the driving wheel of walking mechanism and the contact roller of hold-down mechanism respectively by decelerator；
The cross section of deicing cutter is telescopic triangle, cutter hub is reverse taper shape, the both sides of cutter hub have through hole, so that trash ice is scattered from both sides, deicing cutter also includes cutter driving apparatus, being connected respectively with the cross section of ARM11 processor and deicing cutter, the cross section of deicing cutter is carried out extension and contraction control by the real-time ice layer thickness sent based on ARM11 processor, to change the cross-sectional sizes of deicing cutter；
Walking mechanism includes three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for the walking on high-tension line of three V shaped wheels, and Timing Belt sequentially passes through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels；
Retaining mechanism includes the adjustable wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, is used for preventing robot body from falling from high-tension line；
Hold-down mechanism is connected with brshless DC motor, including contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the aerial earth wire of high-tension line under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is for resetting contact roller when contact roller is released；
Touch switch sensor, is positioned on anti-tilt structure, is electrically connected with ARM11 processor, for when touching high-tension line obstacle, sending contact obstacle signal；
Infrared sensor, is positioned on anti-tilt structure, is electrically connected with ARM11 processor, for when 400 millimeters of distance front high-tension line obstacle, sending obstruction forewarning signal；
High-definition camera equipment, it is positioned in walking mechanism, it is electrically connected with ARM11 processor, for gathering the high-definition image of deicing cutter front high-tension line and by ARM11 processor compressed encoding, the image after compression to be sent to the power supply Operation Server of far-end by Wireless Telecom Equipment；
Wireless Telecom Equipment is GPRS communication interface；
High-definition camera equipment includes domed transparent cover, servicing lighting and CCD vision sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610120758.8A CN105762749A (en) | 2015-12-17 | 2015-12-17 | Ice-cutting system for high-voltage line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610120758.8A CN105762749A (en) | 2015-12-17 | 2015-12-17 | Ice-cutting system for high-voltage line |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510956254.5A Division CN105576585A (en) | 2015-12-17 | 2015-12-17 | High-voltage line ice cutting system |
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| CN105762749A true CN105762749A (en) | 2016-07-13 |
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| CN201610120758.8A Pending CN105762749A (en) | 2015-12-17 | 2015-12-17 | Ice-cutting system for high-voltage line |
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|---|---|---|---|---|
| CN201994593U (en) * | 2010-12-30 | 2011-09-28 | 中国电力科学研究院 | Inspection or de-icing robot of power transmission line |
| CN204085570U (en) * | 2014-09-22 | 2015-01-07 | 国家电网公司 | A kind of icing monitoring scavenge unit being applied to transmission line of electricity |
| CN204578033U (en) * | 2015-05-06 | 2015-08-19 | 长春理工大学 | Climbing deicing robot |
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2015
- 2015-12-17 CN CN201610120758.8A patent/CN105762749A/en active Pending
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|---|---|---|---|---|
| CN201994593U (en) * | 2010-12-30 | 2011-09-28 | 中国电力科学研究院 | Inspection or de-icing robot of power transmission line |
| CN204085570U (en) * | 2014-09-22 | 2015-01-07 | 国家电网公司 | A kind of icing monitoring scavenge unit being applied to transmission line of electricity |
| CN204578033U (en) * | 2015-05-06 | 2015-08-19 | 长春理工大学 | Climbing deicing robot |
Non-Patent Citations (2)
| Title |
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| 曹雷等: "高压输电线路除冰机器人机械本体结构的研究", 《机械设计与制造》 * |
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Application publication date: 20160713 |