CN111463714B - Data acquisition and monitoring method and system for power transmission cable anti-icing and deicing robot - Google Patents
Data acquisition and monitoring method and system for power transmission cable anti-icing and deicing robot Download PDFInfo
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- CN111463714B CN111463714B CN202010473019.3A CN202010473019A CN111463714B CN 111463714 B CN111463714 B CN 111463714B CN 202010473019 A CN202010473019 A CN 202010473019A CN 111463714 B CN111463714 B CN 111463714B
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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
- 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
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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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
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Abstract
The invention discloses a data acquisition and monitoring method and a system thereof for an anti-icing and deicing robot of a power transmission cable, wherein the data acquisition and monitoring method comprises the steps of starting all parts of a data acquisition module except a built-in camera when a monitoring host is required to take over a control panel to work; according to information collected by the micro weather station and the infrared thermometer, predicting the icing rate by adopting a Makkonen icing prediction model; when the received information is information that the manual line patrol or the icing rate is greater than the deicing upper limit of the anti-icing and deicing machine, receiving the icing thickness acquired by a grating ruler and the image in front of the power transmission cable acquired by an external camera which are sent by a control panel, respectively generating trend curves of the icing thickness and the icing rate according to the icing thickness and the icing rate, and then storing and displaying the two trend curves and the image generation report; when the received information is in the climate easy to freeze, and the deicing capability of the robot is not exceeded, the corresponding part deicing or anti-icing mechanism is started.
Description
Technical Field
The invention relates to a power transmission line inspection technology, in particular to a data acquisition and monitoring method and a data acquisition and monitoring system of an anti-icing and deicing robot for a power transmission cable.
Background
China is a country seriously affected by ice and snow disasters, and the ice coating of high-voltage transmission lines is common in the north and high-altitude areas of China. The artificial deicing efficiency is low, the danger is high, the thickness of the coated ice can reach 50-100 mm in the later stage of the formation of the coated ice, even the thickness and the strength of the coated ice even reach 120 mm in some areas, great difficulty can be brought to the deicing by the thickness and the strength of the coated ice, and the robot is not beneficial to the deicing. The existing deicing robot is designed with more emphasis on the mechanical performance of deicing, so that the deicing effect is poor due to the fact that the importance of active deicing in the initial stage of icing is neglected.
However, due to the restriction of factors such as sensing technology, communication technology, power supply and anti-strong interference technology, the development of the ice coating on-line monitoring technology is very slow. At present, an on-line monitoring system for the icing of the power transmission line mainly comprises two types of quantitative analysis and qualitative analysis. The quantitative analysis on-line monitoring system mainly collects information such as ambient temperature, humidity, wind speed, wind direction, rainfall and the like in real time/in real time, packages the information into short messages, sends the short messages to a monitoring center through a global system for mobile communication (GSM) module, and judges the icing condition of the line wire through expert software. The qualitative analysis mainly adopts a high-performance camera and a special sensor, takes a scene picture by means of a GPRS/CDMA network, and directly monitors the conductor icing condition through images. The accuracy of quantitative analysis is difficult to guarantee, and qualitative image monitoring cannot achieve predictive analysis, so that the deicing robot cannot be effectively guided to actively deice.
Disclosure of Invention
Aiming at the defects in the prior art, the data acquisition and monitoring method and the system of the power transmission cable anti-icing and deicing robot provided by the invention can remotely control the robot, automatically deice the robot when deicing is possible, and visually display and store the ice condition on the power transmission cable when deicing is impossible.
In a first aspect, a data acquisition and monitoring method for an anti-icing and de-icing robot for a power transmission cable is provided, which includes:
s1, suspending the anti-icing and deicing robot on a power transmission cable, and then receiving input control information;
s2, judging whether the control information is that the monitoring center host takes over the control panel for control, if so, entering step S3, otherwise, entering step S10;
s3, sending a control instruction for stopping icing prediction and only carrying out data transmission to a control panel of the anti-icing and deicing robot, and displaying a control interface for controlling the anti-icing and deicing robot on a display screen;
s4, judging whether a micro weather station, an infrared thermometer, an outer camera and a grating ruler of the anti-icing and deicing robot are all started, if so, entering step S5, otherwise, opening unopened components through a control interface, and then entering step S5;
s5, receiving climate information collected by a micro weather station uploaded by a control board and temperature information of a power transmission cable uploaded by an infrared thermometer, and predicting the icing rate according to the climate information and the temperature information by adopting a Makkonen icing prediction model;
s6, when the control information is the manual line patrol information, the step S8 is executed;
s7, when the control information is information that weather forecast is climate easy to freeze, if the icing rate is in an anti-icing interval or a deicing interval, sending the information to the control board to start a snow and frost removing mechanism to prevent ice or start a deicing mechanism to remove ice, and then returning to the step S5; if the icing rate is smaller than the anti-icing interval, returning to the step S5, and if the icing rate is larger than the de-icing interval, entering the step S8;
s8, receiving the icing thickness collected by a grating ruler and the image in front of the power transmission cable collected by an external camera sent by a control panel, and respectively generating an icing thickness trend curve and an icing rate trend curve according to the icing thickness and the icing rate;
s9, storing the two trend curves and the image generation report and displaying the trend curves and the image generation report through a display screen, and then returning to the step S5;
and S10, the control panel receives the meteorological information collected by the micro meteorological station and starts an anti-icing operation and a deicing operation or requests manual intervention for deicing according to the received meteorological information.
The system comprises a deicing robot and a monitoring center host machine which is communicated with the deicing robot, wherein the deicing robot comprises a control board, and a data acquisition module, a communication module, a walking pressing mechanism, a deicing mechanism and a snow and frost removing mechanism which are respectively and electrically connected with the control board;
the data acquisition module comprises a micro meteorological station, an infrared thermometer, an external camera, an internal camera and a grating ruler which are respectively and electrically connected with the control panel; the walking pressing mechanism, the deicing mechanism, the snow and frost removing mechanism and the data acquisition module are all installed on the robot shell, and the wireless communication module and the control panel are installed in the robot shell.
The invention has the beneficial effects that: according to the scheme, collected data are divided into quantitative prediction data (meteorological data and power transmission line temperature) and qualitative monitoring data (image information and icing thickness), the quantitative prediction data are led into a Makkonen icing prediction model to conduct icing prediction, the predicted result and the qualitative monitoring data are visually displayed and stored, and in the prediction process of the Makkonen icing prediction model, if the icing speed is located in an anti-icing interval and an anti-icing interval, the anti-icing and anti-icing robot can be started to achieve active anti-icing and anti-icing.
According to the scheme, the icing prediction can be carried out on the collected data, the real-time monitoring can be carried out on the icing process by combining the camera and the grating ruler, and the multidimensional data can monitor the icing condition of the power transmission line more comprehensively, so that the deicing robot is effectively guided to realize intelligent active deicing.
When the control panel carries out automatic anti-icing and deicing operation, the control panel just can predict icing speed through the environmental parameter of gathering to start corresponding anti-icing or deicing operation, with covering ice "killing" in unformed stage, in order to reach the purpose of anti-icing, greatly reduced the probability of high-tension transmission cable icing, also reduced the degree of difficulty of deicing.
The control panel of the robot can perform full-automatic anti-icing and deicing operation and can request manual intervention for deicing when the deicing capability is exceeded; in the process of ice prevention and ice removal, high-altitude overload operation is not required manually, and an operator can directly adjust the movement speed and the movement direction of the robot at the ground control end, so that the robot is simple and flexible; meanwhile, an operator can check the real-time icing condition of the power transmission cable through the camera.
Drawings
Fig. 1 is a perspective view of the anti-icing and de-icing robot.
FIG. 2 is a schematic diagram of the anti-icing and de-icing robot illustrating a rear view of the removal of the partial robot housing.
Fig. 3 is a perspective view of the anti-icing and de-icing robot removing a portion of the robot housing.
Fig. 4 is a front view of the structure shown in fig. 3.
Fig. 5 is a perspective view of the walking pressing mechanism.
Fig. 6 is a front view of the walking and pressing mechanism.
Fig. 7 is an enlarged view of a portion a in fig. 6.
Fig. 8 is a perspective view of the de-icing mechanism with the skin removed.
Fig. 9 is a front view of the de-icing mechanism with the skin removed.
Fig. 10 is a perspective view of the frost removing mechanism after the housing is removed.
Fig. 11 is a front view of the frost removing mechanism after the housing is removed.
Fig. 12 is a perspective view of the opening and closing mechanism.
Fig. 13 is a flowchart of a data acquisition and monitoring method of the anti-icing and de-icing robot for the power transmission cable.
Wherein, 1, a robot shell; 11. a wire inlet; 12. a handle; 13. an electrical appliance compartment; 14. a support platform; 15. a window; 16. a protective window; 2. a walking and pressing mechanism; 21. a walking assembly; 211. a wheel set fixing plate; 212. a traveling wheel fixing plate; 213. a traveling wheel; 214. a third motor;
22. a compression assembly; 221. mounting a plate; 222. a pinch roller mounting bracket; 223. a compacting motor; 224. a third screw rod; 225. a sliding plate; 226. a pinch roller; 227. a slider plate; 2271. an extension shaft; 2272. a clamp spring; 228. a connecting seat; 2281. a sleeve; 2282. a pressure spring; 2283. a sliding shaft; 2284. screw holes; 229. a guide bar;
3. a deicing mechanism; 31. a deicing assembly; 311. a deicing support frame; 312. an ice removing blade; 313. a hub motor; 314. a flange shaft; 32. a de-icing lifting assembly; 321. a second motor; 322. a second lead screw; 323. an ice skate slider; 3231. a ball bearing; 324. an organ waterproof cover;
4. a snow and frost removing mechanism; 41. a snow frost removal assembly; 411. a snow removing frost seat; 412. a snow and frost removing brush; 413. a snow removing frost supporting frame; 42. a snow and frost removal power assembly; 421. a steering engine bracket; 422. a steering engine; 423. a rotating shaft; 424. a gear; 425. a rudder wheel; 426. a protective cover;
6. an external camera; 7. a built-in camera; 8. a power transmission cable; 9. an opening and closing mechanism; 91. a first motor; 92. a rocker; 93. a first lead screw; 94. a nut seat; 95. a push rod; 10. a micro weather station; 101. an infrared thermometer.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
Before describing the data acquisition and monitoring method of the anti-icing and deicing robot for the power transmission cable, firstly, the mechanical structure of the anti-icing and deicing robot is described, so that the object to which the data acquisition and monitoring method of the scheme is applied is clear to the skilled person. The specific structure of the anti-icing and de-icing robot for the power transmission cable is described in detail below:
as shown in fig. 1 to 4, the anti-icing and deicing robot comprises a robot shell 1, a walking pressing mechanism 2, at least one set of deicing mechanism 3, at least one set of snow and frost removing mechanism 4, at least one camera and a control panel.
The bottom end of the robot shell 1 is an open end, namely the bottom of the robot shell is not provided with a bottom plate, and wire inlets 11 for allowing the power transmission cables 8 to enter the upper end of the robot shell 1 are formed in corresponding positions of two opposite side walls of the robot shell 1. In order to ensure the stability of the robot in the moving process, the two side walls provided with the wire inlet 11 are preferably two side walls with smaller width in the length direction.
After the upper end of the robot shell 1 is arranged into an arc shape, rainwater can conveniently and quickly flow downwards along the robot shell 1, so that the rainwater is prevented from entering the robot shell 1 to damage internal devices; the wire inlet 11 is preferably opened from the bottom end of the robot housing 1 to the adjacent arc-shaped part, so that when the robot is hung on the power transmission cable 8, the weight of the upper end is less than that of the lower end, and the walking stability of the whole robot on the power transmission cable 8 is ensured.
In order to hang the robot to transmission cable 8 conveniently, be provided with a handle 12 respectively with 1 top both sides of robot casing, when using, can make things convenient for the managers to hang the robot on the transmission line through external equipment (unmanned aerial vehicle or body of rod).
As shown in fig. 5 and 6, the walking and pressing mechanism 2 comprises a walking component 21 and a pressing component 22 which are arranged inside the robot shell 1 and are matched with each other to clamp the power transmission cable 8, and the contact part of the walking component 21 and the pressing component 22 with the power transmission cable 8 is positioned on the same plane with the wire inlet 11; the scheme can stably hang the whole robot on the power transmission line through the mutual matching of the walking component 21 and the pressing component 22.
In an embodiment of the present invention, the traveling assembly 21 includes a wheel set fixing plate 211, at least one traveling wheel fixing plate 212, and at least one traveling wheel 213 fixed on the robot housing 1, the traveling wheel 213 is rotatably mounted on the traveling wheel fixing plate 212 and the wheel set fixing plate 211 through a rotating shaft, and a third motor 214 for providing power to the traveling wheel 213 is mounted on the wheel set fixing plate 211;
the pressing component 22 comprises a mounting plate 221 fixed on the robot housing 1 and at least one pressing wheel mounting frame 222, an output shaft of a pressing motor 223 mounted on the mounting plate 221 is connected with a third screw rod 224, the other end of the third screw rod 224 is movably mounted on the wheel set fixing plate 211, and a sliding plate 225 is fixed on a screw rod nut on the third screw rod 224;
two ends of the pinch roller mounting bracket 222 are respectively and rotatably provided with a pinch roller 226, and the pinch roller mounting bracket 222 is rotatably arranged on an extension shaft 2271 of the slider plate 227; the slider plate 227 is installed on the sliding plate 225 through the connecting seat 228, and the guide bars 229, both ends of which are respectively fixed on the wheel set fixing plate 211 and the installing plate 221, pass through the slider plate 227, the connecting seat 228 and the sliding plate 225 and are in clearance fit with the three; concave surfaces of the travelling wheels 213 and the pinch rollers 226, which are in contact with the power transmission cable 8, are located on the same plane as the wire inlet 11.
The pinch roller mounting rack 222 is rotatably mounted on the slider plate 227, so that the pinch roller mounting rack 222 can deflect at a certain angle, and thus, when the robot ascends or descends, the height of the pinch rollers 226 on two sides of the robot can be finely adjusted through rotation of the pinch roller mounting rack 222, and stability of the robot in advancing is guaranteed.
In order to prevent the pinch roller mounting bracket 222 from slipping out of the extension shaft 2271, the free end of the extension shaft 2271 is preferably provided with a snap spring 2272 for limiting the pinch roller mounting bracket 222 from slipping out of the mounting hole. In order to prevent the third motor 214 and the pressing motor 223 from causing electromagnetic interference to the power transmission cable 8 when operating, the third motor 214 and the pressing motor 223 are both installed in the motor shielding box.
The rotation that mentions in this scheme is connected, and the axle both ends in corresponding department all install at corresponding part through the bearing, just so can guarantee the stability of rotation process to avoid appearing the dead phenomenon of card.
As shown in fig. 7, the connecting seat 228 includes a sleeve 2281 mounted on the guiding rod 229 and a sliding shaft 2283 for fixing the sleeve 2281 on the lower surface of the sliding plate 227, a pressing spring 2282 having two ends contacting the sliding plate 225 and the sliding plate 227 is mounted on the sleeve 2281, and a screw hole 2284 is formed at the lower end of the sliding shaft 2283; through holes which are in clearance fit with the sliding shaft 2283 and the sleeve 2281 are respectively formed in the sliding plate 225, and after the sliding shaft 2283 and the sleeve 2281 penetrate through the through holes, screws are installed in screw holes 2284 of the sliding shaft 2283.
After the connecting seat 228 of this scheme adopted above-mentioned structure, when the pressure spring 2282 pressed down subassembly 22 and walking subassembly 21 and mutually supported and pressed from both sides tight transmission line cable 8, made the interval between walking wheel 213 and the pinch roller 226 can the floating regulation to when guaranteeing that the robot can stably hang on transmission line cable 8, can not lead to walking wheel 213 again and pinch roller 226 to transmission line cable 8 centre gripping tension, influence the advance of robot during operation.
With the above structure of the traveling unit 21, the operation of stably suspending the robot on the power transmission cable 8 and traveling will be described in detail:
the robot is lifted to the position above the power transmission cable 8, the wire inlet 11 is adjusted to be located right above the power transmission cable 8, then the robot is moved downwards, the power transmission cable 8 enters along the wire inlet 11 until the power transmission cable moves to the top end of the wire inlet 11, the robot is put down, and at the moment, the power transmission cable 8 just enters the concave surface of the walking wheel 213.
Then, the pressing motor 223 of the pressing assembly 22 is started, the pressing motor 223 drives the screw nut on the third screw 224 to move upwards in the rotating process, and further drives the pressing wheel 226 to move upwards through the sliding plate 225, and when the pressing motor 223 moves to the clamping position set in the control plate, the pressing motor 223 is closed. And then the third motor 214 is started to drive the travelling wheels 213 to rotate so as to realize that the robot stably travels on the power transmission cable 8.
In implementation, the preferred walking and pressing mechanism 2 of the present embodiment includes two walking wheels 213, two walking wheel fixing plates 212, two third motors 214, two pressing wheel mounting frames 222, and two guide rods 229. The number of the walking wheels 213, the pinch roller mounting bracket 222 and the guide rods 229 is set, so that the stability of the robot during traveling can be further improved.
As shown in fig. 8 and 9, the deicing mechanism 3 is installed on the side of the robot housing 1 having the wire inlet 11, and includes a deicing assembly 31 installed outside the robot housing 1 for rotatably removing ice from the lower surface of the power transmission cable 8, and a deicing lifting assembly 32 installed inside the robot housing 1 for driving the deicing assembly 31 to move in the vertical direction.
In the process of deicing, the deicing lifting assembly 32 is started to drive the deicing assembly 31 to move upwards until the deicing assembly moves to a preset position in the control panel, then the deicing lifting assembly 32 is closed, and then the deicing assembly 31 is started to work. When the deicing is not needed, the deicing assembly 31 needs to be closed, and then the deicing lifting assembly 32 is started to bring the deicing assembly 31 back to the original position.
In one embodiment of the present invention, the deicing assembly 31 includes a deicing support frame 311 and a disc-shaped deicing blade 312, the deicing blade 312 is sleeved on a wheel hub motor 313, and the wheel hub motor 313 is rotatably connected to the deicing support frame 311 through a flange shaft 314;
the deicing lifting assembly 32 comprises a second motor 321 installed on the robot shell 1, a second screw rod 322 is installed on an output shaft of the second motor 321, an ice blade sliding block 323 is installed on a screw rod nut on the second screw rod 322, and the ice blade sliding block 323 is connected with the deicing support frame 311.
Because the main purpose of the robot of this scheme is to remove ice and snow, its operational environment relative humidity is bigger, and in order to avoid the ice crystal and the steam of shoveling to get into through the bar-shaped groove that the convenient deicing support frame 311 that sets up on the robot housing 1 reciprocated, this scheme is preferred to be installed organ buckler 324 on the bar-shaped groove, and deicing support frame 311 passes organ buckler 324 and skates slider 323 fixed connection.
The introduction of the organ type waterproof cover 324 can ensure the sealing performance of the mounting position of the deicing support frame 311, so as to avoid the icing of the second screw rod 322, which affects the normal lifting of the screw rod nut, and also ensure the deicing lifting assembly 32 to smoothly ascend and descend. Wherein the second electric machine 321 is housed in a machine shielding box to avoid electromagnetic interference of the second electric machine 321 with the power transmission cable 8.
In addition, a plurality of mounting grooves are formed in the ice blade sliding block 323, and balls 3231 which are connected with the deicing support frame 311 in a sliding mode are placed in the mounting grooves; the introduction of the ball 3231 can reduce the friction of the ice blade slider 323 when moving up and down.
The operation of the deicing mechanism 3 is described below with reference to fig. 8 and 9:
firstly, a second motor 321 is started, the second motor 321 can drive a second screw rod 322 to rotate, and further drive a screw rod nut on the second screw rod 322 to move up and down, so that an ice removing support frame 311 is driven to move up and down through an ice skate slider 323; after the second motor 321 drives the deicing support frame 311 to move to the preset position in the control board, the second motor 321 is turned off, so that the ice skate blade assembly is located below the power transmission cable 8 by a set distance;
and then, the hub motor 313 is started, the hub motor 313 rapidly rotates relative to the deicing support frame 311 to drive the deicing blade 312 sleeved on the hub motor 313 to rotate, and the ice hanger on the transmission cable 8 is cleared when the robot is driven by the traveling mechanism to advance along the transmission cable 8.
As shown in fig. 10 and 11, the snow and frost removing mechanism 4 is mounted on the robot housing 1 on the side of the deicing mechanism 3, and includes a pair of snow and frost removing assemblies 41 mounted outside the robot housing 1 for brushing snow and frost on the power transmission cables 8 in cooperation with each other, and a snow and frost removing power assembly 42 mounted inside the robot housing 1 for driving the pair of snow and frost removing assemblies 41 to open and close.
After the snow and ice removing mechanism 4 is started, the snow and ice removing power assembly 42 firstly takes the snow and ice removing assembly 41 to be closed to wrap the power transmission cable 8, and then the rain and ice on the power transmission cable 8 are brushed off through mutual matching of the snow and ice removing power assembly and the walking pressing mechanism 2.
In one embodiment of the present invention, the snow removing assembly 41 includes a snow removing base 411 and a snow removing brush 412 fixed to the snow removing base 411; the two snow removing frost seats 411 are respectively rotatably connected to a snow removing frost supporting frame 413 through a rotating shaft 423, and the snow removing frost supporting frame 413 is fixed on the robot shell 1;
the snow and frost removing power assembly 42 comprises a steering engine 422 and gears 424, wherein the steering engine 422 is mounted on the robot shell 1 through a steering engine support 421, the gears 424 are mounted on two rotating shafts 423 and are meshed with each other, and one of the rotating shafts 423 is connected with a steering wheel 425 of the steering engine 422.
In order to avoid freezing in cold weather or covering the two gears 424 with frost and snow, the snow-removing support frame 413 and the rotating shaft 423 and the gears 424 are preferably mounted in a protective cover 426. Wherein steering wheel 422 is adorned in a motor shielding box to avoid steering wheel 422 to cause electromagnetic interference to transmission cable 8.
During implementation, the deicing mechanism 3 and the snow and frost removing mechanism 4 are preferably provided with two sets, and the robot shell 1 on the side of the wire inlet 11 is provided with one set of deicing mechanism 3 and one set of snow and frost removing mechanism 4. After the robot is suspended on the power transmission cable 8, the robot can remove ice and snow by defrosting regardless of whether the robot moves forward or backward.
The operation of the snow and frost removing mechanism 4 is described below with reference to fig. 10 and 11:
the steering engine 422 is started firstly, the steering engine 422 drives one of the rotating shafts 423 to rotate when rotating, the gear 424 fixed on the steering engine 422 drives the other gear 424 to rotate, the other rotating shaft 423 is further driven to rotate, the two snow removing brushes 412 are driven to move relatively through the rotation of the two shafts, the power transmission cable 8 is wrapped between the two snow removing brushes 412 gradually, and then the snow or water drops on the power transmission cable 8 are cleaned through the running mechanism.
Referring again to fig. 1 and 2, a camera is mounted on the robot housing 1 for acquiring an image of the power transmission cable 8 in the advancing direction of the robot; wherein, the walking assembly 21, the pressing assembly 22, the deicing assembly 31, the deicing lifting assembly 32 and the snow and frost removing power assembly 42 are all connected with a power module and a control panel in an electrical cabin 13 arranged at the lower end of the robot shell 1.
The camera that this scheme set up through the image acquisition to transmission cable 8 to transmit for the control panel, the control panel is handled the back to the image, can discern whether have ice-hang, snow frost in the image, if exist, can carry out deicing or snow frost removal through the corresponding mechanism of control panel automatic start.
When the collected image shows that water drops exist on the power transmission cable 8, whether the current environment temperature reaches the freezing temperature can be judged, if the water drops are very easy to freeze, the snow and frost removing mechanism 4 is started to brush the water drops on the power transmission cable 8, and the phenomenon that the water drops are frozen under the very-low-temperature environment to influence the power transmission cable 8 to carry out power transmission is avoided.
As shown in fig. 1, 2 and 12, the camera includes at least one external camera and/or at least one internal camera 7, and when the camera is an external camera 6, the camera is mounted on the side wall of the electrical cabinet 13 on the side of the wire inlet 11;
when the camera is the built-in camera 7, the camera is arranged on a supporting platform 14 in the robot shell 1, and a window 15 for the built-in camera 7 to collect the external environment is arranged at the top end of the robot shell 1; a protective window 16 for opening and closing the window 15 is connected with an opening and closing mechanism 9 arranged on the robot shell 1, and the opening and closing mechanism 9 is arranged on a supporting platform 14 in the robot shell 1; the built-in camera 7 and the opening and closing mechanism 9 are respectively connected with the control board and the power module.
In implementation, the scheme is preferably provided with 2 external cameras 6 and two internal cameras 7 in different directions, the two external cameras 6 are respectively installed on the robot shell 1 at the side where the wire inlets 11 at the two sides are located, and the two internal cameras 7 are respectively installed at the two sides of the supporting platform 14 and are respectively adjacent to the side where the wire inlets 11 are located; after the scheme is provided with the two built-in cameras 7 and the external cameras 6 with different directions, the acquisition of the front power transmission cable 8 images can be realized no matter whether the robot moves forward or retreats.
When image acquisition is carried out, the external camera 6 on the advancing direction side of the robot is preferably started, and when the external camera 6 is covered by ice, snow or water mist and the image acquisition in front of the robot cannot be normally carried out, the built-in camera 7 with the same direction as the advancing direction of the robot is adopted for image acquisition.
In one embodiment of the present invention, the opening and closing mechanism 9 includes a first motor 91 and at least one rocker 92, preferably two rockers 92 in this embodiment, and two ends of the rocker 92 are respectively movably connected to the protection window 16 and the supporting platform 14; specifically, two rocking levers 92 are respectively provided on both sides of the protection window 16 to improve the stability when the protection window 16 is opened.
A first screw rod 93 is arranged on an output shaft of the first motor 91, a push rod 95 is hinged on a nut seat 94 which is arranged on the first screw rod 93 and moves relative to the first screw rod, and the other end of the push rod 95 is movably connected with the protective window 16; preferably, the protective window 16 is hinged to the robot housing 1 at the end adjacent to the microclimate station 10.
The opening and closing mechanism 9 opens the protection window 16 to facilitate the image acquisition of the built-in camera 7, which is described below with reference to fig. 2 and 12:
firstly, a first motor 91 is started, the first motor 91 drives a first screw rod 93 on the first motor to rotate, and the first screw rod 93 drives a nut seat 94 on the first screw rod to do linear motion, so that a push rod 95 advances and rotates gradually, an included angle between the push rod 95 and a horizontal plane is increased gradually, and the protection window 16 is jacked up;
after the protection window 16 moves to the set position, the built-in camera 7 can be opened to collect cable images in the advancing direction of the robot due to the fact that the view in front of the built-in camera 7 is not blocked by the protection window 16.
As shown in fig. 1, the anti-icing and deicing robot further comprises a micro weather station 10 installed at the top of the robot housing 1 and an infrared thermometer 101 installed in the robot housing 1 and used for collecting the temperature of the power transmission cable 8, wherein the infrared thermometer 101 and the micro weather station 10 are respectively connected with the control board and the power module. The infrared thermometer 101 may be mounted on the wheel set fixing plate 211 such that the infrared thermometer 101 approaches the power transmission cable 8 to achieve accurate measurement of heat generated when power transmission is performed on the power transmission cable 8.
The power transmission cable 8 can generate certain heat during power transmission, and when the outside reaches the freezing temperature, the power transmission cable 8 does not ice at the moment due to the heat generated by the power transmission cable 8, so that the deicing mechanism 3 does not need to be started; when the difference between the external temperature and the temperature of the power transmission cable 8 is close to the icing temperature, the water drops are very easy to ice, and the control panel can start the snow and frost removing mechanism 4 to clean the power transmission cable 8 so as to avoid the water drops on the power transmission cable from icing.
When the anti-icing and deicing robot is implemented, the anti-icing and deicing robot preferably further comprises a remote controller communicated with the control panel. Due to the introduction of the remote controller, the robot can be operated automatically and remotely in a close range by workers, so that the robot can work more flexibly.
As shown in fig. 13, the data collecting and monitoring method including steps S1 to S8 is described below in conjunction with a mechanical structure part of the ice and ice protection robot.
In step S1, the anti-icing and deicing robot is hung on the power transmission cable and then receives input control information; the control information comprises that the control panel automatically controls the anti-icing and deicing robot to perform anti-icing and deicing operations according to the acquired data, and the monitoring center host takes over the control panel to perform control, and if the manual line patrol information or weather forecast is information of climate easy to freeze, the control information indicates that the control panel is taken over by the monitoring intermediate host to perform subsequent operations.
The ice-preventing and ice-removing robot is hung on the power transmission cable 8, and the concrete implementation method comprises the following steps:
lifting the anti-icing and deicing robot to be above the power transmission cable 8, enabling the wire inlet 11 to be located right above the power transmission cable 8, then driving the anti-icing and deicing robot to move downwards, and enabling the power transmission cable 8 to enter along the wire inlet 11;
after the walking assembly 21 is hung on the power transmission cable 8, the pressing assembly 22 is controlled to move upwards until the pressing assembly 22 is in contact with the lower surface of the power transmission cable 8, and the anti-icing and deicing robot is hung on the power transmission cable 8.
In step S2, it is determined whether the control information is for the monitoring center host to take over control of the control board, if so, the process proceeds to step S3, otherwise, the process proceeds to step S10.
In step S3, a control instruction to stop the icing prediction and perform only data transmission is sent to the control board of the anti-icing and de-icing robot, and a control interface for controlling the anti-icing and de-icing robot is displayed on the display screen;
the control interface comprises a sensor control part, a motor control part and an automatic control part, wherein the sensor control part comprises control buttons which are respectively used for opening or closing the external camera 6, the infrared thermometer 101, the grating ruler, the micro weather station 10 and the internal camera 7, and the motor control part comprises control buttons which are respectively used for starting or closing the walking pressing mechanism 2, the deicing mechanism 3 and the snow and frost removing mechanism 4.
In step S4, it is determined whether the micro weather station 10, the infrared thermometer 101, the outer camera 6, and the grating scale of the anti-icing and de-icing robot are all activated, if so, step S5 is performed, otherwise, the unopened components are opened through the control interface, and then step S5 is performed;
when the received information is weather forecast is icing climate or manual line patrol information, the micro weather station 10, the infrared thermometer 101, the outer camera 6 and the grating ruler are not started, the ice coating rate uploaded by the anti-icing and deicing robot is greater than the deicing upper limit, the micro weather station 10 and the infrared thermometer 101 are started, the outer camera 6 and the grating ruler are not started, and when the whole condition of the power transmission cable 8 is monitored subsequently, the micro weather station 10, the infrared thermometer 101, the external camera 6 and the grating ruler are started to collect quantitative and qualitative data.
In step S5, the climate information collected by the micro weather station 10 uploaded by the control board and the temperature information of the power transmission cable 8 uploaded by the infrared thermometer 101 are received, and the ice coating rate is predicted according to the climate information and the temperature information by using the Makkonen ice coating prediction model.
Because the power transmission cable 8 positioned in the anti-icing and deicing robot does not have ice coating, the infrared thermometer 101 collects the true value that the temperature of the power transmission cable 8 at the position can be closer to the heat generated by the power transmission cable 8, and the accuracy of the subsequent ice coating rate prediction can be ensured.
When the scheme is implemented, the scheme is preferably implemented when the icing rate is positioned in the anti-icing interval 8.4g/h~84g/hWhen the control panel controls the motor of the snow and ice removing mechanism 4 to drive the snow and ice removing brushes 412 to move relatively, so that the power transmission cable 8 is wrapped in the two snow and ice removing brushes 412, and then the traveling assembly 21 is started to drive the anti-icing and deicing robot to move forward to brush the power transmission cable 8.
The working process of the snow and frost removing mechanism 4 can be described by referring to the mechanical structure of the anti-icing and de-icing robot.
When the icing rate is in the deicing zone 84g/h~154 g/hDuring the process, the control panel controls the deicing lifting assembly 32 to drive the deicing assembly 31 to move upwards until the distance between the deicing assembly 31 and the power transmission cable 8 is equal to a set threshold value, and then the deicing assembly 31 and the walking assembly 21 are synchronously started to eradicate the ice on the lower surface of the power transmission cable.
The working process of the deicing lift assembly 32 and the deicing assembly 31 can be described by referring to the working process of the deicing mechanism 3 of the mechanical structure description part of the anti-icing and deicing robot.
When the ice coating rate is less than 8.4g/hWhen the ice-preventing and ice-removing operation is started, the ice-preventing and ice-removing operation is not started; when the ice coating rate is more than 154g/hAnd not starting the anti-icing and deicing operation and requesting manual intervention for deicing.
In step S6, when the received information is manual line patrol information, the process proceeds to step S8.
In step S7, when the received information is information of weather forecast as an icing prone weather, if the icing rate is in the anti-icing zone or the deicing zone, the information is sent to the control board to start the snow and frost removing mechanism 4 for anti-icing or start the deicing mechanism 3 for deicing, and then the step S5 is returned to; and returning to the step S5 if the icing rate is smaller than the anti-icing interval, and entering the step S8 if the icing rate is larger than the de-icing interval.
In step S8, receiving the icing thickness collected by the grating ruler and the image in front of the power transmission cable 8 collected by the external camera 6, which are sent by the control board, and generating an icing thickness and an icing rate trend curve by the icing thickness and the icing rate respectively;
s9, storing the two trend curves and the image generation report and displaying the trend curves and the image generation report through a display screen, and then returning to the step S5.
When the method is implemented, the data acquisition and monitoring method for the optimized power transmission cable anti-icing and deicing robot further comprises the steps of starting a popup window alarm on a display screen when the icing rate is greater than the deicing upper limit of the anti-icing and deicing robot; therefore, managers can know that the icing speed exceeds the upper limit of the robot in time conveniently, and adopt manual intervention to remove ice in time so as to avoid the power transmission cable from breaking down due to too thick icing.
In step S10, the control board receives weather information collected by the microclimate station, and starts an anti-icing operation, a deicing operation or requests manual intervention for deicing based on the received weather information.
In one embodiment of the present invention, step S10 further includes:
s101, starting a micro meteorological station to acquire temperature, humidity, wind speed, wind direction, air pressure and precipitation information and starting an infrared thermometer to acquire the temperature of a power transmission cable in the anti-icing and deicing robot;
s102, inputting all information collected by the micro weather station and the temperature of the power transmission cable into a Makkonen icing prediction model, and predicting to obtain an icing rate;
s103, storing the icing rate, and synchronously judging an execution interval in which the icing rate is positioned; if the deicing interval is within the anti-icing interval, the step S104 is carried out, if the deicing interval is within the anti-icing interval, the step S105 is carried out, if the deicing interval is greater than the anti-icing interval, manual intervention deicing is requested, and if the deicing interval is less than the anti-icing interval, the step S106 is carried out;
during implementation, the preferred monitoring center host computer of this scheme further includes after receiving the information of request manual intervention deicing that the control panel uploaded:
a1, the monitoring center host controls the control board to start the external camera to collect images on the power transmission cable;
a2, receiving the icing thickness collected by a grating ruler and the image and the icing rate in front of a power transmission cable, which are collected by an external camera, sent by a control panel;
and A3, respectively generating an ice coating thickness trend curve and an ice coating rate trend curve by the ice coating thickness and the ice coating rate, and returning to the step A2.
S104, controlling a motor of the snow and frost removing mechanism to drive the snow and frost removing brushes to move relatively so as to wrap the power transmission cable in the two snow and frost removing brushes, starting the walking assembly to drive the anti-icing and deicing robot to move forward to brush the power transmission cable, and then returning to the step S102;
s105, controlling the deicing lifting assembly to drive the deicing assembly to move upwards until the distance between the deicing assembly and the power transmission cable is equal to a set threshold value, then synchronously starting the deicing assembly and the walking assembly to remove the ice on the lower surface of the power transmission cable, and then returning to the step S102;
s106, judging whether the deicing mechanism or the snow and frost removing mechanism is started, if any one of the deicing mechanism and the snow and frost removing mechanism is started, closing the corresponding mechanism and the walking assembly, and then returning to the step S102; if neither of them is started, the process returns to step S102.
The sum of the contact circumferences with the electric power cable 8 between the running member 21 and the pressing member 22 is at least larger than the circumference of the electric power cable 8 at the time of the anti-icing operation. The arrangement can ensure the stability of the whole robot when the anti-icing and deicing machine advances.
When the monitoring center host of the data acquisition and monitoring system receives the image uploaded by the external camera 6, whether the cable in front of the anti-icing and deicing robot can be seen clearly by the image acquired by the external camera 6 needs to be judged, if so, the external camera 6 continues image acquisition, and if not, the internal camera 7 is started to carry out image acquisition.
During implementation, this scheme is preferred to start built-in camera 7 and carry out image acquisition further includes:
the first motor 91 is started, the first motor 91 drives the first screw rod 93 on the first motor to rotate, the first screw rod 93 drives the nut seat 94 on the first screw rod to do linear motion, so that the push rod 95 rotates while advancing, an included angle between the push rod 95 and a horizontal plane is gradually increased, the protection window 16 is jacked to a set opening degree, and then the built-in camera 7 is started to collect images.
Wherein, the operating principle who compresses tightly subassembly 21 is: the pressing motor 223 of the pressing assembly 22 is started, the pressing motor 223 drives the screw nut on the third screw 224 to move upwards in the rotating process, and further drives the pressing wheel 226 to move upwards through the sliding plate 225, and when the pressing motor 223 moves to the clamping position set in the control panel, the pressing motor 223 is closed.
The scheme also provides an acquisition and monitoring system of the data acquisition and monitoring method applied to the anti-icing and deicing robot for the transmission cable, which comprises the deicing robot and a monitoring center host communicated with the anti-icing and deicing robot, wherein the anti-icing and deicing robot comprises a control panel, and a data acquisition module, a communication module, a walking pressing mechanism, a deicing mechanism and a snow and frost removing mechanism which are respectively and electrically connected with the control panel;
the data acquisition module comprises a micro weather 10 station, an infrared thermometer 101, an outer camera 6, a built-in camera 7 and a grating ruler which are respectively and electrically connected with the control panel; the walking pressing mechanism 2, the deicing mechanism 3, the snow and frost removing mechanism 4 and the data acquisition module are all installed on the robot shell 1, and the wireless communication module and the control panel are installed in the robot shell 1.
The mechanical structure of the anti-icing and de-icing robot is described in corresponding text with reference to fig. 1 to 12.
The control board of the scheme is STM32F4271IH6, the main frequency can be as high as 192Hz, and 14 timers are up to; the control panel has 16 paths of user-defined PWM output interfaces and abundant communication interfaces, has multiple protections of reverse connection prevention, slow start and the like, and can meet the functional requirements of the anti-icing and deicing robot. The wireless communication module comprises a 4G-RTU, an RS485 bus and a ground control end, the sensor is connected with the 4G-RTU through the RS485 bus, and the 4G-RTU is connected with the ground control end through a virtual serial port.
Claims (10)
1. Data acquisition and monitoring method of anti-icing deicing robot of transmission line cable, characterized by, including:
s1, suspending the anti-icing and deicing robot on a power transmission cable, and then receiving input control information;
s2, judging whether the control information is that the monitoring center host takes over the control panel for control, if so, entering step S3, otherwise, entering step S10;
s3, sending a control instruction for stopping icing prediction and only carrying out data transmission to a control panel of the anti-icing and deicing robot, and displaying a control interface for controlling the anti-icing and deicing robot on a display screen;
s4, judging whether a micro weather station, an infrared thermometer, an outer camera and a grating ruler of the anti-icing and deicing robot are all started, if so, entering step S5, otherwise, opening unopened components through a control interface, and then entering step S5;
s5, receiving climate information collected by a micro weather station uploaded by a control board and temperature information of a power transmission cable uploaded by an infrared thermometer, and predicting the icing rate according to the climate information and the temperature information by adopting a Makkonen icing prediction model;
s6, when the control information is the manual line patrol information, the step goes to S8;
s7, when the control information is information that weather forecast is climate easy to freeze, if the icing rate is in an anti-icing interval or a deicing interval, sending the information to the control board to start a snow and frost removing mechanism to prevent ice or start a deicing mechanism to remove ice, and then returning to the step S5; if the icing rate is smaller than the anti-icing interval, returning to the step S5, and if the icing rate is larger than the de-icing interval, entering the step S8;
s8, receiving the icing thickness collected by a grating ruler and the image in front of the power transmission cable collected by an external camera sent by a control panel, and respectively generating an icing thickness trend curve and an icing rate trend curve according to the icing thickness and the icing rate;
s9, storing the two trend curves and the image generation report and displaying the trend curves and the image generation report through a display screen, and then returning to the step S5;
and S10, the control panel receives the meteorological information collected by the micro meteorological station and starts an anti-icing operation and a deicing operation or requests manual intervention for deicing according to the received meteorological information.
2. The data collecting and monitoring method for the anti-icing and de-icing robot for the power transmission cable according to claim 1, wherein the step S10 further comprises:
s101, starting a micro meteorological station to acquire temperature, humidity, wind speed, wind direction, air pressure and precipitation information and starting an infrared thermometer to acquire the temperature of a power transmission cable in the anti-icing and deicing robot;
s102, inputting all information collected by the micro weather station and the temperature of the power transmission cable into a Makkonen icing prediction model, and predicting to obtain an icing rate;
s103, storing the icing rate, and synchronously judging an execution interval in which the icing rate is positioned; if the deicing interval is within the anti-icing interval, the step S104 is carried out, if the deicing interval is within the anti-icing interval, the step S105 is carried out, if the deicing interval is greater than the anti-icing interval, manual intervention deicing is requested, and if the deicing interval is less than the anti-icing interval, the step S106 is carried out;
s104, controlling a motor of the snow and frost removing mechanism to drive the snow and frost removing brushes to move relatively so as to wrap the power transmission cable in the two snow and frost removing brushes, starting the walking assembly to drive the anti-icing and deicing robot to move forward to brush the power transmission cable, and then returning to the step S102;
s105, controlling the deicing lifting assembly to drive the deicing assembly to move upwards until the distance between the deicing assembly and the power transmission cable is equal to a set threshold value, then synchronously starting the deicing assembly and the walking assembly to remove the ice on the lower surface of the power transmission cable, and then returning to the step S102;
s106, judging whether the deicing mechanism or the snow and frost removing mechanism is started, if any one of the deicing mechanism and the snow and frost removing mechanism is started, closing the corresponding mechanism and the walking assembly, and then returning to the step S102; if neither of them is started, the process returns to step S102.
3. The data acquisition and monitoring method for the power transmission cable anti-icing and deicing robot according to claim 2, wherein the monitoring center host further comprises, after receiving the information requesting manual intervention deicing uploaded by the control board:
a1, the monitoring center host controls the control board to start the external camera to collect images on the power transmission cable;
a2, receiving the icing thickness collected by a grating ruler and the image and the icing rate in front of a power transmission cable, which are collected by an external camera, sent by a control panel;
and A3, respectively generating an ice coating thickness trend curve and an ice coating rate trend curve by the ice coating thickness and the ice coating rate, and returning to the step A2.
4. The method for data acquisition and monitoring of the anti-icing and deicing robot for the power transmission cable according to claim 1, further comprising initiating a pop-up alarm on a display screen when the icing rate is greater than an upper deicing limit of the anti-icing and deicing robot.
5. The data acquisition and monitoring method for the anti-icing and de-icing robot for the power transmission cables according to any one of claims 1 to 4, wherein when the icing rate is within the anti-icing zone of 8.4g/h~84g/hWhen the control panel controls the motor of the snow and frost removing mechanism to drive the snow and frost removing brushes to move relatively, so that the power transmission cable is wrapped in the two snow and frost removing brushes, and then the traveling assembly is started to drive the anti-icing and deicing robot to move forward to brush the power transmission cable;
when the icing rate is in the deicing zone 84g/h~154 g/hTime, control panel controlThe deicing lifting assembly drives the deicing assembly to move upwards until the distance between the deicing assembly and the power transmission cable is equal to a set threshold value, and then the deicing assembly and the walking assembly are synchronously started to remove the ice on the lower surface of the power transmission cable;
when the ice coating rate is less than 8.4g/hWhen the ice-preventing and ice-removing operation is started, the ice-preventing and ice-removing operation is not started; when the ice coating rate is more than 154g/hAnd not starting the anti-icing and deicing operation and requesting manual intervention for deicing.
6. The data acquisition and monitoring method for an anti-icing and de-icing robot for an electric power cable according to claim 2, wherein the sum of the contact circumferences of the walking unit and the pressing unit with the electric power cable during the anti-icing and de-icing operations is at least greater than the circumference of the electric power cable.
7. The data acquisition and monitoring method for the power transmission cable anti-icing and deicing robot as claimed in claim 1 or 2, wherein whether the cable in front of the anti-icing and deicing robot can be seen clearly in the image acquired by the external camera is judged, if yes, the external camera continues image acquisition, and if not, the internal camera is started to perform image acquisition.
8. The method for collecting and monitoring the data of the robot for ice and ice protection of the power transmission cable according to claim 7, wherein the starting of the built-in camera for image collection further comprises:
the first motor is started, the first motor drives the first screw rod on the first motor to rotate, the first screw rod drives the nut seat on the first screw rod to do linear motion, so that the push rod rotates while advancing, an included angle between the push rod and a horizontal plane is gradually increased, the protection window is jacked to a set opening degree, and then the built-in camera is started to collect images.
9. A method for data acquisition and monitoring of an anti-icing and de-icing robot for an electrical power transmission cable according to any one of claims 1-4, 6 and 8, wherein the method for suspending the anti-icing and de-icing robot from the electrical power transmission cable comprises:
lifting the anti-icing and deicing robot to the upper part of the power transmission cable, enabling the wire inlet to be positioned right above the power transmission cable, then driving the anti-icing and deicing robot to move downwards, and enabling the power transmission cable to enter along the wire inlet;
after the walking assembly is hung on the power transmission cable, the pressing assembly is controlled to move upwards until the pressing assembly is contacted with the lower surface of the power transmission cable, and the hanging of the anti-icing and deicing robot on the power transmission cable is completed.
10. An acquisition and monitoring system applied to the data acquisition and monitoring method of the power transmission cable anti-icing and deicing robot as claimed in any one of claims 1 to 9, which is characterized by comprising the deicing robot and a monitoring center host machine communicated with the anti-icing and deicing robot, wherein the anti-icing and deicing robot comprises a control board and a data acquisition module, a communication module, a walking pressing mechanism, a deicing mechanism and a snow and frost removing mechanism which are respectively and electrically connected with the control board;
the data acquisition module comprises a micro meteorological station, an infrared thermometer, an external camera, an internal camera and a grating ruler which are respectively and electrically connected with the control panel; the walking pressing mechanism, the deicing mechanism, the snow and frost removing mechanism and the data acquisition module are all installed on the robot shell, and the wireless communication module and the control panel are installed in the robot shell.
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| CN112254657A (en) * | 2020-09-21 | 2021-01-22 | 河南颂达信息技术有限公司 | Intelligent snow removal robot scheduling method based on visual perception |
| CN113315030B (en) * | 2021-06-08 | 2023-07-18 | 许昌学院 | Intelligent high-voltage line cleaning and maintaining robot for power engineering |
| CN114024254B (en) * | 2021-12-31 | 2022-05-03 | 国网瑞嘉(天津)智能机器人有限公司 | Insulator binding wire dismantling tool |
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| CN111463714A (en) | 2020-07-28 |
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Inventor after: Lu Caijiang Inventor after: Jiang Xueling Inventor after: Yu Feihu Inventor after: Liu Zixuan Inventor after: Hua Qiang Inventor after: Dong Longfei Inventor after: Xie Yunpeng Inventor after: Fu Guoqiang Inventor after: Gao Hongli Inventor before: Lu Caijiang Inventor before: Yu Feihu Inventor before: Liu Zixuan Inventor before: Jiang Xueling Inventor before: Hua Qiang Inventor before: Dong Longfei Inventor before: Xie Yunpeng Inventor before: Fu Guoqiang Inventor before: Gao Hongli |