CN111817244A - De-icing robot - Google Patents

Abstract

The invention discloses a deicing robot, comprising: a control module, a moving module, a thermal deicing module and a control module arranged on the moving module, the moving module and the thermal deicing module are respectively connected with the control module; the thermal deicing module includes a heating A unit and a first support, one end of the first support is connected with a heating unit, and the other end is connected with a mobile module, at least two heating units enclose a heating space, the ice-covered transmission line is located in the heating space, and the heating unit is not connected to the ice-covered space. The power transmission line is in contact; the control module includes a power supply unit, a motor unit, a sensor unit and a control unit; the control module is used to determine the thickness information of ice coating according to the data collected by the sensor unit, and drive the first support member to perform heating on the heating unit according to the information of the thickness of ice coating. Move to adjust the size of the heating space, and to control the moving speed and direction of the moving module. The deicing robot provided by the invention can realize the deicing of the ice layer tightly combined with the power lines.

Description

De-icing robot

technical field

The invention belongs to the field of power transmission line inspection, in particular to a deicing robot.

Background technique

In most northern areas, there is a lot of snowfall every year, resulting in the formation of ice on the transmission lines of a large number of high-voltage ice-coated transmission lines. In recent years, the icing of high-voltage transmission lines has caused cable breakage and tower collapse, resulting in large-scale power outages, seriously threatening the safe and stable operation of the power grid, and causing heavy losses to economic construction and people's lives.

At present, most of the ice-covered removal work of icing transmission lines still adopts the manual deicing method, which requires manual deicing with sticks. The safety of de-icing personnel.

There is also a mechanical deicing method in the prior art; the mechanical deicing method directly acts on the ice layer of the transmission line through a mechanical device, usually using vibration, rolling, shovel, blow and other action methods, and mechanical deicing. The method is low in cost and pollution-free, but in order to avoid damage to the transmission line, it is often only possible to remove the ice accretion above a certain height from the transmission line, leaving the ice layer closely combined with the transmission line, which is difficult to clean up completely.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a deicing robot, so as to solve the problem in the prior art that the ice layer that is tightly combined with the transmission line cannot be removed.

In order to achieve the above object, the present invention adopts the following technical solutions:

A deicing robot, comprising: a control module, a moving module, a thermal deicing module and a control module arranged on the moving module, wherein the moving module and the thermal deicing module are respectively connected with the control module;

The thermal deicing module includes a heating unit and a first support, one end of the first support is connected to one of the heating units, and the other end of the first support is connected to the moving module, and at least two of the heating units enclose a heating space , the ice-coated transmission line is located in the heating space, and the heating unit is not in contact with the ice-coated transmission line;

The control module includes a power supply unit, a motor unit, a sensor unit and a control unit;

The control module is configured to determine the ice-covered thickness information according to the data collected by the sensor unit, and control the first support to move the heating unit according to the ice-covered thickness information to adjust the size of the heating space, and controlling the moving speed and moving direction of the moving module;

The power supply unit is used for converting light energy and/or wind energy into electrical energy for storage, and providing electrical energy for the thermal deicing module;

The motor unit is used to drive the movement of the moving module and the movement of the first support.

Optionally, the heating unit includes a heating plate and a heat insulating plate disposed on the heating plate away from the ice-coated power line, and the heat insulating plate has elasticity;

The first support member and the heat insulation board are fixedly connected.

Optionally, it further includes: a mechanical deicing module disposed on the moving module, the mechanical deicing module is used for mechanically deicing the ice-coated transmission line in front;

The mechanical deicing module is connected to the control module, and the control module is further configured to adjust the deicing intensity of the mechanical deicing module or control the working time of the mechanical deicing module according to the ice coating thickness information.

Optionally, the mechanical deicing module includes a connecting rod connected to the moving module, at least one striking unit arranged along the axial direction of the connecting rod, and the motor unit is used to rotate the connecting rod , thereby driving the hitting unit on the connecting rod to rotate, so that the hitting unit hits the ice-coated layer of the ice-coated transmission line.

Optionally, the striking unit includes at least two striking structures uniformly arranged along the radial direction of the connecting rod.

Optionally, the striking structure includes a striking hammer and an elastic wire, one end of the elastic wire is connected with the striking hammer, and the other end is connected with the connecting rod.

Optionally, the connecting rod is sleeved with a second support member that coincides with its axis, the second support member is provided with a through hole, one end of the elastic wire is connected to the hammer, and the other end passes through the through hole. connected to the connecting rod.

Optionally, a paint module arranged on the moving module, the paint module is used for spraying ice-melting agent on the ice-coated transmission line in front of the heating and deicing module or for deicing the ice-coated power lines behind the heating and deicing module. Anti-icing coating for power lines;

The paint module is connected to the control module, and the control module is also used to control the operation of the paint module.

Optionally, the paint module includes a paint bottle containing paint, a material conveying structure provided with a cavity for accommodating paint and sleeved on the ice-coated power line, and a hollow connecting the inner space of the paint bottle and the material conveying structure. A hollow pipe for the cavity and an on-off valve for controlling the flow of paint.

Optionally, it also includes: a feeder;

The sensor unit includes a temperature detector arranged on the heating unit, a first flow meter arranged in the paint bottle, a second flow meter arranged in the material conveying structure, a humidity detector, and a positioning sensor and any number of image acquisition devices;

The control unit is used to send the data collected by the sensor unit to the server, receive the first control instruction issued by the server, and control the heating and deicing module and/or the paint module according to the first control instruction work;

The feeder is configured to receive a second control instruction issued by the server, and add paint to the paint bottle according to the second control instruction.

Compared with the prior art, the present invention has the following beneficial effects:

The deicing robot provided by the present invention, on the one hand, can realize deicing without contacting the icing transmission line, adopts a thermal deicing method, and adjusts the size of the heating space according to the thickness of the icing, so as to ensure the deicing of the ice layer that is tightly combined with the transmission line. The ice effect, on the other hand, combines solar energy, wind energy, electric motors and batteries, thus ensuring an energy supply for heating and deicing.

Further, in the present invention, a mechanical deicing module is also provided on the mobile module, which is used for mechanical deicing of the ice-coated transmission line in front, which can remove the thicker ice layer in advance, and the remaining tightly bound ice layer is removed by the thermal deicing module. , cooperate with each other to quickly complete the ice removal work of power lines.

Further, in the present invention, a paint module is arranged on the mobile module, which is used for spraying ice-melting agent on the ice-coated transmission line in front of the heating and deicing module or spraying anti-icing agent on the deiced transmission line behind the heating and deicing module. Coating; can speed up the deicing work, and can prevent the power lines from re-icing after deicing.

Further effects of the above-mentioned non-conventional preferred mode will be described below in conjunction with specific embodiments.

Description of drawings

In order to illustrate the embodiments of the present invention or the existing technical solutions more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the existing technology. Obviously, the accompanying drawings in the following description are only the For some embodiments described in the invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a deicing robot according to an embodiment of the present invention;

FIG. 2 is another deicing robot provided by an embodiment of the present invention;

3 is a schematic structural diagram of a thermal deicing module according to an embodiment of the present invention;

4 is a schematic structural diagram of a mechanical deicing module according to an embodiment of the present invention;

5 is a schematic structural diagram of a hitting structure according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a feeding module according to an embodiment of the present invention;

Reference numerals: 1-mobile module; 11-chassis; 12-travel wheel; 13-suspension arm; 14-conveyor belt; 15-conveyor wheel; 2-thermal deicing module; 21-heating unit; 211-heating plate ; 212 - heat shield; 213 - elastic material; 22 - first support; 3 - mechanical deicing module; 31 - connecting rod; 32 - hitting unit; 321 - hitting hammer; 322 - elastic wire; Protrusion; 33-Second Supporting Part; 34-Through Hole; 4-Paint Module; 41-Paint Bottle; 42-Material Feeding Structure; 421-Inner Wall; 422-Outer Wall; 425-feed inlet; 43-hollow pipe; 44-bracket; 45-melting agent; 46-antifreeze; 5-control module; 6-power line.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments and corresponding drawings. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to FIG. 1, an embodiment of the present invention provides a deicing robot, including: a moving module 1, a thermal deicing module 2 disposed on the moving module 1, and a control module 5, the moving module 1, The thermal deicing modules 2 are respectively connected with the control module 5 .

The thermal deicing module 2 includes a heating unit 21 and a first support 22. One end of the first support 22 is connected to one of the heating units 21, and the other end is connected to the moving module 1. At least two of the The heating unit 21 encloses a heating space, and the ice-coated transmission line 6 is located in the heating space, and the heating unit 21 is not in contact with the ice-coated transmission line 6 .

The control module 5 includes a power supply unit, a motor unit, a sensor unit and a control unit.

The control unit is configured to determine the ice thickness information according to the data collected by the sensor unit, and control the first support 22 to move the heating unit 21 according to the ice thickness information to adjust the size of the heating space , and control the moving speed and moving direction of the moving module 1;

The power supply unit is used for converting light energy and/or wind energy into electrical energy for storage, and providing electrical energy for the thermal deicing module 2;

The motor unit is used to drive the movement of the moving module 1 and the movement of the first support member 22 .

Please refer to FIG. 1 or FIG. 2 , an embodiment of the present invention provides a deicing robot, including: a mobile module 1 , a thermal deicing module 2 disposed on the mobile module 1 , and a control module 5 , the mobile module 1 , the thermal deicing module 1 The modules 2 are respectively connected to the control module 5; the thermal de-icing module 2 includes a heating unit 21 and a first support 22, one end of the first support 22 is connected to a heating unit 21, the other end is connected to the moving module 1, at least two heating The unit 21 encloses a heating space, the ice-coated transmission line 6 is located in the heating space, and the heating unit 21 is not in contact with the ice-coated transmission line 6; the control module 5 includes a power supply unit, a motor unit, a sensor unit and a control unit; The data collected by the sensor unit determines the ice thickness information, and controls the first support 22 to move the heating unit 21 according to the ice thickness information to adjust the size of the heating space, and controls the moving speed and direction of the moving module 1; the power supply unit It is used to convert light energy and/or wind energy into electrical energy for storage, and to provide electrical energy for the thermal deicing module 2 ; the motor unit is used to drive the movement of the moving module 1 and the movement of the first support 22 . On the one hand, the deicing robot provided by the present invention can realize deicing without contacting the 6 lines of ice-coated transmission lines, adopts a thermal deicing method, and adjusts the size of the heating space according to the thickness of the ice coating, so as to ensure that the transmission line 6 is tightly bonded to the ice layer. The deicing effect, on the other hand, combines solar energy, wind energy, electric motors and batteries, thus ensuring the energy supply for heating deicing.

Optionally, the mobile module 1 includes a casing 11 and a conveying mechanism inside the casing 11. The conveying mechanism is symmetrically arranged on the left and right sides or the upper and lower sides of the ice-covered power transmission line 6. The conveying mechanism includes a conveying belt 14 and a conveying wheel 15. The belt 14 is provided with a plurality of conveying wheels 15, the conveying wheels 15 are driven by the motor unit to rotate, and the conveying belt 14 is attached to the ice-coated power transmission line 6 to drive the moving module 1 to slide forward.

Optionally, the mobile module 1 includes a casing 11 and at least two running mechanisms, and the running mechanisms are arranged on the ice-coated power transmission line 6; 11 is movably connected, and the upper end is connected with the walking wheel 12. The walking wheel 12 is arranged on the ice-covered transmission line 6 to drive the mobile module 1 to move along the ice-covered transmission line 6; Swing backwards, so that the traveling wheel 12 is lifted up and separated from the power line 6, and over the obstacle.

Specifically, the thermal de-icing module 2 includes two heating units 21 and a first support 22 connected to each of the heating units 21 , the two heating units 21 form a heating space, and the ice-coated power lines 6 are located in the heating space to facilitate heating The space heats the ice-coated transmission line 6, and the ice-coated transmission line 6 does not contact the heating space, which realizes close-range non-contact ice melting, and has the effect of melting and removing the entire ice coating and its residues. The first support 22 is connected to the motor unit, and under the driving action of the motor unit, the two heating units 21 are moved, thereby changing the size of the heating space formed by the two heating units 21 . Specifically, moving the two heating units 21 specifically refers to pressing or pulling the two heating units 21 apart. Correspondingly, the diameter of the heating space should be larger than the maximum diameter of the ice-coated power line 6 . The heating unit 21 is connected with the power supply unit through wires, so that the power supply unit can provide electric power for the heating unit 21 . It should be noted that, one end of the first support member 22 is connected to the heating unit 21 , and one end is connected to the first movable module 1 , thereby ensuring that the thermal deicing module 2 and the movable module 1 move together.

Please refer to FIG. 3 , specifically, each heating unit 21 includes a U-shaped heating plate 211 and a U-shaped heat insulating plate 212 where the U-shaped heating plate 211 is far away from the ice-coated power line 6 , a first support member 22 and a U-shaped heat insulating plate 212 is fixedly connected, and the U-shaped heating plate 211 and the U-shaped heat insulation plate 212 can be connected by bolts. Correspondingly, the U-shaped heat insulation plate 212 is provided with countersunk holes, and the bolt heads fall into the countersunk holes. It should be noted that the U-shaped heating plate 211 can be made of a silicone rubber heating plate, and the U-shaped heat insulation plate 212 can be made of an aluminum silicate heat insulating plate 212. Both the silicone rubber heating plate and the aluminum silicate heat insulating plate 212 are mature products. The cost is low, the acquisition difficulty is small, the shape of the openings can be adjusted according to actual needs, the overall structure is simplified, and the assembly process requirements are not high. It should also be noted that, in order to ensure the adjustment of the size of the heating space and thus ensure the deicing effect, the U-shaped heat insulation plate 212 has a certain elasticity, The elastic material 213 is used to extrude the two U-shaped heat insulation boards 212 to form a closed heating space and at the same time change the size of the heating space. It should be noted that there is no contact between the two U-shaped heating plates 211 , in other words, the edge of the surface of the U-shaped heating plate 211 is located within the edge of the surface of the U-shaped heat insulation plate 212 . It should also be noted that, the heating space can realize fully enclosed heating of the ice-coated transmission line 6 .

It should be noted that, it should be ensured that the distance between the heating unit 21 and the ice-coated power line 6 is appropriate, so as to achieve the effect of heating and melting ice by the heating unit 21 in the case of non-contact. The size requirements are different, therefore, the control module 5 can adjust the size of the heating space according to the thickness of the ice coating. The battery module may include a battery. The plurality of heating units 21 are connected to the power module in parallel to ensure the energy supply of the two heating units 21 , reduce the occurrence of failures, and maintain the stable and safe operation of the thermal deicing module 2 . At the same time, the power module may include a photovoltaic array, and the photovoltaic array is placed outside the casing 11, so that the photovoltaic array can convert solar energy into electrical energy for storage or power the heating unit 21, thereby ensuring the working time of the deicing robot.

Optionally, it also includes: a mechanical deicing module 3, the mechanical deicing module 3 is used for mechanically deicing the front ice-coated transmission line 6;

The control module 5 is further configured to adjust the deicing intensity of the mechanical deicing module 3 or control the working time of the mechanical deicing mechanism according to the thickness of the ice coating.

Specifically, the mechanical de-icing module 3 includes a connecting rod 31 connected to the moving module 1, and a plurality of striking units 32 arranged along the axial direction of the connecting rod 31. The motor unit can rotate the connecting rod 31, and the connecting rod 31 drives and drives the striking unit. The unit 32 is rotated to cause the striking power supply to strike and de-ice the ice-coated layer of the ice-coated power line 6 . Here, the force of the striking unit 32 may not directly act on the ice-coated power line 6, but act on the ice cubes on the power line 6, so as to achieve preliminary crushing of the thicker ice-covered layer.

Please refer to FIG. 4 , optionally, a plurality of striking units 32 are evenly arranged along the axial direction of the connecting rod 31 , and each striking unit 32 includes a striking structure arranged along the radial direction of the connecting rod 31 , which may be one or may be When there are multiple, it can be a symmetrical pair or multiple symmetrical pairs. When there are multiple, it is preferably evenly distributed. Each striking structure includes a striking hammer 321 and an elastic wire 322. With the high-speed rotation of the second driving motor, the striking hammer 321 will also spin at high speed, and the elastic wire 322 is used to connect the striking hammer 321. During the rotation, the elastic wire 322 has space for elastic action, which is higher than that of other hard profiles. If the ice layer is too hard, it will not be damaged due to hard hitting. Through further adjustment or multiple flexible beatings, the task of breaking the ice will be finally completed, and the life of the components of the hitting unit 32 will be prolonged. It should be noted that the elastic wire 322 may be a steel wire rope. The striking hammer 321 can be designed in different sizes and shapes, so as to ensure the striking effect.

Please refer to 1, FIG. 2 and FIG. 4 , in order to control the elastic action of the wire rope, preferably, a second support 33 coinciding with its axis is sleeved on the connecting rod 31, and a through hole 34 is opened on the second support 33, and the elastic One end of the wire 322 is connected to the hammer 321, and the other end is connected to the connecting rod 31, so as to ensure that the elastic wire 322 operates within the range of the through hole 34, and ensures the action range of the elastic wire 322, thereby ensuring the striking effect. The hammer 321 may be a circular hammer or other structure that will not cause damage to the cable. Please refer to FIG. 5 . In order to ensure the deicing effect, the surface of the hammer 321 may be provided with a plurality of small ice breaking teeth, protrusions 323 and the like.

Specifically, the control module 5 is connected to the mechanical deicing module 3, and can also adjust the deicing intensity of the mechanical deicing mechanism or control the working time of the mechanical deicing mechanism according to the thickness of the ice coating. For example, the rotation speed of the connecting rod 31 can be controlled to control the striking force of the hammer 321. When the ice-coated layer of the ice-coated power line 6 is thin, the operation of the mechanical deicing module 3 can be stopped. It should also be noted that the mechanical de-icing module 3 should be in front of the heating and de-icing module. When the ice-coated layer of the ice-coated transmission line 6 is thick, the mechanical de-icing module 3 should be used for initial de-icing to reduce the ice-coated layer. At the same time, the hardness of the ice-coated layer is reduced. After that, the heating and de-icing module will heat and de-ic the ice-coated transmission line 6 after being deiced by the mechanical de-icing module 3, so as to ensure the deicing effect of the ice-coated transmission line 6. . At the same time, the mechanical de-icing module 3 strikes the ice-covered layer by hitting, so that the heating and de-icing module does not contact the ice-covered cable, thereby reducing the damage to the cable and ensuring the safety of the cable and the de-icing effect.

Specifically, one mechanical deicing module 3 may be provided, or two mechanical deicing modules 3 may be provided symmetrically about an axis.

It should be noted that, after deicing mechanically, the current of the thermal deicing module 2 can be appropriately reduced, thereby reducing energy consumption and ensuring the safety of the power transmission line 6 . When the deicing effect of the mechanical deicing method is good, the operation of the thermal deicing module 2 can be stopped.

Optionally, it also includes: a paint module 4, the paint module 4 is used to spray the ice-coated power line 6 in front of the heating and deicing module with a deicing agent 45 and/or deicing the rear of the heating and deicing module. The ice-coated power lines 6 are sprayed with anti-icing paint;

The control module 5 is also used to control the work of the paint module 4 .

Considering that it is difficult to remove the ice-coated layer that is closely combined with the power line 6, optionally, the ice-coated power line 6 in front of the heating and de-icing module is sprayed with a deicing agent 45 through the paint module 4, so that the thermal de-icing module 2 or The mechanical de-icing module 3 facilitates the de-icing effect on the ice-covered layer closely combined with the power line 6 .

Considering that the deicing power lines 6 may freeze rapidly in a cold environment, optionally, spray anti-icing paint on the deiced power lines 6 behind the heating and deicing module through the paint module 4, so as to reduce the risk of deicing. The possibility of rapid freezing of the power lines 6 in a relatively cold environment, thus ensuring the deicing effect. The anti-icing coating can be any coating known in the art that can be used to prevent disease, such as a hydrophobic anti-icing coating.

Referring to FIG. 1 and FIG. 2 , the deicing agent 45 and the anti-icing agent 46 can be combined together to improve the deicing effect.

Specifically, when the ice-covered layer is difficult to remove, the deicing agent 45 may be sprayed on the ice-covered transmission line 6 before the mechanical deicing module 3 , or the deicing agent 45 may be applied between the mechanical deicing module 3 and the thermal deicing module 2 . Deicing agent 45 is sprayed on the ice-coated power line 6 . The specific needs to be determined according to the actual scene.

Optionally, the paint module 4 includes a paint bottle 41 containing paint, a material delivery structure 42 provided with a cavity 423 for accommodating paint and sleeved on the ice-coated power line 6, and communicates the inner space of the paint bottle 41 with the material delivery structure. The hollow pipe 43 of the cavity 423 of 42 and the on-off valve for controlling the flow of paint, the control module 5 is used to control the opening angle of the on-off valve, thereby controlling the flow of paint, specifically, the on-off valve can be a solenoid valve.

Please refer to FIG. 1, FIG. 2 and FIG. 6. Specifically, the material conveying structure 42 includes a C-shaped groove and a bracket 44 corresponding to the C-shaped groove, which is provided with a cavity 423 for accommodating paint and is sleeved on the ice-coated power transmission line 6. The bracket 44 is connected with the moving module 1, thereby driving the paint module 4 to move, and the motor unit drives the bracket 44 to move the C-shaped slot to which it is connected, so that the C-shaped slot is separated from the ice-coated power line 6 to cross obstacles or squeeze the C-shaped slot. Make the coating paint contact the ice-coated power line 6, the C-shaped groove includes an inner wall 421 and an outer wall 422, the inner wall 421 and the outer wall 422 form a cavity 423 for accommodating the paint, the outer wall 422 is provided with a feeding port 425, and one end of the hollow pipe 43 and the outer wall 422 are opened The feeding port 425 of the paint bottle 41 is connected, and the other end is connected with the discharge port 424 of the paint bottle 41, so that the paint in the paint bottle 41 flows out from the paint bottle 41 due to gravity or flows out from the paint bottle 41 due to pressure, and passes through the hollow channel. , The feed port 425 on the outer wall 422 enters the cavity 423 formed by the inner wall 421 and the outer wall 422, and the inner wall 421 is provided with a plurality of discharge ports 424. 421 is elastic or an elastic pad can be provided, and the elastic pad correspondingly opens the discharge port 424 to open the through hole 34, so that the paint is coated on the ice-coated power line 6, or the C-shaped groove itself is elastic and can be tightly attached to the ice-coated transmission line 6. on power line 6. When there is no need to cross the obstacle, the number of C-shaped grooves can be one, and the C-shaped grooves are sleeved on the ice-coated transmission line 6. The C-shaped grooves can be elastic, and elastic pads can also be provided on the inner wall 421 to make the C-shaped grooves The slot is attached to the ice-coated transmission line 6. When it is necessary to cross the obstacle, the number of C-shaped slots can be 1, and the C-shaped slot is sleeved on the ice-coated transmission line 6. The C-shaped slot is elastic, so as to ensure that the The groove can be separated from the ice-coated power line 6. When there are two C-shaped grooves, the two C-shaped grooves can be combined to form a cylindrical space. The ice-coated power line 6 is located in the circle formed by the combination of the two C-shaped grooves. In the cylindrical space, the C-shaped groove can have elasticity, so that it is convenient for the bracket 44 to press it to fit the ice-coated power line 6 .

Please refer to FIG. 2 , when the paint bottle 41 is set under the ice-coated transmission line 6, the paint in the paint bottle 41 should be pressed so that the paint enters the material conveying structure 42 through the hollow pipe 43 .

It should be noted that after spraying the deicing agent 45 , the current of the thermal deicing module 2 can be reduced, thereby reducing energy consumption and ensuring the safety of the power transmission line 6 .

Optionally, it also includes: a feeder;

The sensor unit includes a temperature detector arranged on the heating unit 21, a first flow meter arranged in the paint bottle 41, a second flow meter arranged in the material delivery structure 42, and a humidity detector , any number of positioning sensors and image acquisition devices;

The control unit is used to send the data collected by the sensor unit to the server, receive the first control instruction issued by the server, and control the heating and deicing module and/or the paint module according to the first control instruction 4 work;

The feeder is configured to receive the second control instruction issued by the server, and add paint to the paint bottle 41 according to the second control instruction.

Specifically, a temperature sensor for detecting the temperature of the heating space is arranged on the heating unit 21, so that the temperature of the heating space is controlled within a reasonable range, for example, less than or equal to 46°, the temperature range of the heating space is controlled, and the heating module There is no contact with the ice-covered cable, and the size of the heating space is adjustable, so as to avoid damage to the inside of the ice-covered transmission line 6 due to the high temperature generated by the thermal de-icing module 2 which is easy to continuously generate heat.

Specifically, a humidity detector is provided, and the humidity detector transmits the humidity detection information of the ice-coated transmission line 6 to the control module 5 , and when the relative humidity on the transmission line 6 meets a preset value, such as less than 86%, the heating and deicing is performed. The deiced power line 6 behind the module is sprayed with anti-icing paint to prevent the power line 6 from rapidly freezing in a relatively cold environment.

Specifically, a first flow meter is set in the paint bottle 41, and a second flow meter is set in the material conveying structure 42. The first flow meter is used to collect the flow information in the paint bottle 41, and the second flow meter is used to collect the conveying material. The flow rate in the structure 42 is controlled, so that when the flow rate in the paint bottle 41 is reduced to a preset value, the paint bottle 41 is fed through the feeder, and the wandering of the paint can also be detected.

Specifically, a positioning sensor may be provided to collect the position information of the deicing robot. A distance sensor may also be provided to collect the distance from the ice-covered layer and/or obstacles of the ice-covered transmission line 6 in front of the ice-breaking robot to the distance sensor. An image collection device may also be provided, including but not limited to a camera, for collecting the road conditions of the ice-coated power line 6 in front of the ice-breaking robot and the condition of the power line 6 after deicing.

The control unit is used to send the data collected by the sensor unit to the server. On the one hand, the server can remotely monitor the road conditions and deicing effects of multiple deicing robots. On the other hand, the server calculates and detects the data collected by the sensor. Obtain the ice coating thickness information and the position information of the deicing robot, etc., and obtain the first control information according to the ice coating thickness information. The ice coating thickness information includes the distances from a plurality of ice coating positions to the deicing robot and the ice coating corresponding to the distance. thickness, and then send the first control command to the control module 5 of the deicing robot, so that the control module 5 controls the thermal deicing module 2, the mechanical deicing module 3 and the paint module 4 work; when the server detects the first flow meter When the detected value is less than the preset value, that is, when the paint bottle 41 needs to be refilled, the second control information is obtained according to the position information of the deicing robot. The position information of the ice breaking robot includes the position information of the paint bottle 41, and the second control information is obtained. The instruction is sent to the feeder, so that the feeder automatically moves to a position above the paint bottle 41 to automatically feed the paint bottle 41 .

Specifically, the feeder includes a feeding box, a feeding pipe connected to the discharge port 424 of the feeding box, a magnet provided at the output end of the feeding pipe, an on-off valve for controlling the flow of paint, a flight module and a control module 5, optionally , the feeding tank may include a 45 tank of deicing agent and a 46 tank of antifreeze. Correspondingly, there are two on-off valves, one for controlling the flow of the paint in the 45 tank of the deicing agent, and the other for controlling the paint in the antifreeze 46 tank. Correspondingly, the feeding port of the paint bottle 41 is provided with a magnet, which is convenient for contact with the magnet of the feeding tube, and the feeding tube is fixed on the coating bottle 41. The flight module is used to move the feeder in the air, and the control module 5 is used for It is used to control the flight path of the feeder, so that the feeder can move above the paint module 4 to feed the paint bottle 41 . It should be noted that the magnet provided at the output end of the feeding pipe and the magnetic force of the magnet provided at the feeding port of the paint bottle 41 can fix the feeding pipe and should be easy to separate.

It should be noted that the server can be used to control the monitoring of multiple de-icing robots and issue control commands, and in the case that the de-icing robots lack paint, the server can send a second control command to the feeder, and the feeder can receive different The deicing robots correspond to the second control instructions respectively, and sequentially feed the paint bottles 41 on the deicing robots to ensure the normal operation of the multiple deicing robots, thereby realizing unified and centralized monitoring and management of the multiple deicing robots.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. Deicing robot, characterized by, includes: the device comprises a control module, a moving module, a thermal deicing module and a control module, wherein the thermal deicing module and the control module are arranged on the moving module; the mobile module and the thermal deicing module are respectively connected with the control module;

the thermal deicing module comprises heating units and a first supporting piece, one end of the first supporting piece is connected with one heating unit, the other end of the first supporting piece is connected with the moving module, at least two heating units surround a heating space, and the ice-coated power transmission line is positioned in the heating space;

the control module comprises a power supply unit, a motor unit, a sensor unit and a control unit; the control unit is used for determining icing thickness information according to data collected by the sensor unit, controlling the first supporting piece to move the heating unit according to the icing thickness information so as to adjust the size of the heating space, and controlling the moving speed and the moving direction of the moving module; the power supply unit is used for converting light energy and/or wind energy into electric energy for storage and supplying electric energy to the thermal deicing module; the motor unit is used for driving the moving module and the first supporting piece.

2. Deicing robot as claimed in claim 1, characterized in that said heating unit comprises a U-shaped heating plate, a U-shaped heat insulating plate disposed on said U-shaped heating plate away from the icing power line, said U-shaped heat insulating plate having elasticity;

the first supporting piece is fixedly connected with the U-shaped heat insulation plate.

3. A deicing robot as claimed in claim 1, further comprising: the mechanical deicing module is arranged on the mobile module and is used for mechanically deicing the front icing power transmission line;

the mechanical deicing module is connected with the control module, and the control module is further used for adjusting the deicing intensity of the mechanical deicing module or controlling the working time of the mechanical deicing module according to the icing thickness information.

4. Deicing robot according to claim 3, characterized in that said mechanical deicing module comprises a connecting rod connected to said moving module, at least one striking unit arranged in the axial direction of said connecting rod, said motor unit being adapted to rotate said connecting rod, so as to bring about the rotation of the striking unit on said connecting rod, so as to cause said striking unit to strike the icing layer of the icing power line.

5. Deicing robot according to claim 4, characterized in that said striking unit comprises at least two striking structures uniformly arranged radially along said connecting rod.

6. Deicing robot according to claim 5, characterized in that said striking structure comprises a striking hammer and an elastic wire, one end of which is connected to said striking hammer and the other end of which is connected to said connecting rod.

7. The deicing robot according to claim 6, wherein a second supporting member is sleeved on the connecting rod and coincides with the axis of the connecting rod, the second supporting member is provided with a through hole, one end of the elastic wire is connected with the striking hammer, and the other end of the elastic wire is connected with the connecting rod through the through hole.

8. A deicing robot as claimed in claim 1, further comprising: the coating module is arranged on the moving module and is used for spraying an ice melting agent on the ice-coated power transmission line in front of the heating deicing module or spraying an anti-icing coating on the power transmission line which is deiced behind the heating deicing module;

the coating module is connected with the control module, and the control module is also used for controlling the work of the coating module.

9. The deicing robot according to claim 8, wherein the paint module comprises a paint bottle containing paint, a feeding structure provided with a cavity for accommodating paint and fitted over the ice-coating power transmission line, a hollow pipe communicating the space in the paint bottle with the cavity of the feeding structure, and an on-off valve for controlling the flow rate of paint.

10. A deicing robot as claimed in claim 9, further comprising: a feeding machine;

the sensor unit comprises any more than one of a temperature detector arranged on the heating unit, a first flowmeter arranged in the paint bottle, a second flowmeter arranged in the conveying structure, a humidity detector, a positioning sensor and an image acquisition device;

the control unit is used for sending the data collected by the sensor unit to a server, receiving a first control instruction sent by the server, and controlling the heating deicing module and/or the coating module to work according to the first control instruction;

the feeder is used for receiving a second control instruction issued by the server and adding paint to the paint bottle according to the second control instruction.

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