CN116093872A - Amphibious robot for deicing power line and deicing method - Google Patents
Amphibious robot for deicing power line and deicing method Download PDFInfo
- Publication number
- CN116093872A CN116093872A CN202310275747.7A CN202310275747A CN116093872A CN 116093872 A CN116093872 A CN 116093872A CN 202310275747 A CN202310275747 A CN 202310275747A CN 116093872 A CN116093872 A CN 116093872A
- Authority
- CN
- China
- Prior art keywords
- deicing
- power line
- robot
- heating
- water tank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention relates to the technical field of electric power line inspection, in particular to an amphibious robot for deicing a power line and a deicing method, comprising a machine body, a flight unit, a landing gear, a line climbing unit and a deicing mechanism; the flying unit is arranged on the machine body and is used for realizing the flying of the robot; the landing gear is arranged below the machine body and used for realizing stable landing of the robot; the wire climbing unit is arranged at the bottom of the machine body and is used for realizing wire climbing of the robot; the deicing mechanism is positioned at one end of the climbing unit and is used for deicing the power line. According to the invention, the robot replaces a manual power line to be patrolled and examined from the ground, then the robot is patrolled and examined along the power line through the climbing line unit, and meanwhile, deicing operation is carried out on the frozen power line through the deicing mechanism.
Description
Technical Field
The invention relates to the technical field of power line inspection, in particular to an amphibious robot for deicing a power line and a deicing method.
Background
At present, as the requirement of power transmission is continuously improved, the power transmission grade is higher and higher, and the high-voltage/ultra-high-voltage line inspection maintenance operation is particularly important for improving the safety, stability and efficiency of a power grid system. The power transmission line is located in the field with severe natural environment and traffic occlusion, the power line is influenced by mechanical tension, lightning stroke, temperature change and rain and snow weather in the natural environment for a long time, the phenomena of tower inclination, line strand breakage, aging, corrosion and the like are easy to occur, insulators on the power line tower are easy to damage in the natural environment, and the growth of trees around the power line and the like all require inspection of the power line.
In order to ensure the reliability of power supply, workers need to remove ice on the surface of the power line regularly in cold areas or low-temperature seasons, so that the power line is ensured to be used normally. The existing maintenance and cleaning mode is that operators knock and scratch the surface of the power line by using tools so that icing falls off, but the cleaning effect is poor, the operation risk is high, the surface of the power line cannot be cleaned comprehensively, and meanwhile, the power line can be damaged by artificial knocking and scratching operations.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problems that the existing deicing mode is poor in cleaning effect, high in operation risk and easy to damage a power line.
(II) technical scheme
In order to solve the technical problems, the invention provides an amphibious robot for deicing a power line, which comprises a body, a flight unit, a landing gear, a climbing unit and a deicing mechanism; the flying unit is arranged on the machine body and is used for realizing the flying of the robot; the landing gear is arranged below the machine body and used for realizing stable landing of the robot; the wire climbing unit is arranged at the bottom of the machine body and is used for realizing wire climbing of the robot; the deicing mechanism is positioned at one end of the climbing unit and is used for deicing the power line.
Further, the deicing mechanism comprises a heating water tank, a spray pipe, a recovery conduit, a water pump and a collecting water tank; the heating water tank is arranged on the machine body; the spraying pipe is connected with the heating water tank and is arranged corresponding to the position of the power line; the collecting water tank is arranged on the landing gear and is positioned below the spraying pipe; the collecting water tank is connected with the heating water tank through the recovery conduit, and the water pump is arranged on the recovery conduit.
Further, a heating resistor is arranged in the heating water tank, one end of the heating resistor is in electrical contact with the power line through a wire, and the other end of the heating resistor is electrically connected with a high-voltage capacitor.
Further, the heating resistor is a heating wire, and the heating wire is arranged at the bottom of the heating water tank in an S shape.
Further, an electromagnetic valve is arranged on the spraying pipe, and a spray head is arranged at one end of the spraying pipe.
Further, the collection tank is connected to the landing gear by a rotation device for effecting rotation of the collection tank.
Further, the rotating device comprises a fixed end and a rotating end, wherein the fixed end is arranged on one side of the landing gear, the rotating end is arranged at one end of the collecting water tank, and a driving shaft on the fixed end is connected with the rotating end.
Further, the robot control system further comprises an attitude control system, a motor driving module, a power module and a communication module which are electrically connected, wherein the attitude control system comprises an inertial measurement unit and a microprocessor and is used for realizing flying or climbing balance control of the robot.
Further, still include camera and cloud platform, the camera pass through the cloud platform with the fuselage is connected, and is located climb line unit other end.
In a second aspect, the present invention provides a deicing method for an amphibious robot for deicing a power line, comprising the steps of:
s1, injecting preparation water into a heating water tank;
s2, starting a flight unit to enable the robot to reach a power line operation position;
s3, conducting wires at one end of the heating resistor are electrically contacted with the power line to take electricity, alternating current is formed under the action of the high-voltage capacitor, and the heating resistor is used for heating the preparation water in the heating water tank;
s4, enabling the collecting water tank to be positioned below the spraying pipe through the rotating device;
s5, opening the electromagnetic valve and the water pump, enabling hot water to flow out of the spraying pipe, and melting ice cubes covered on the power line;
s6, collecting the melted water after melting through a collecting water tank, and pumping the melted water to a heating water tank through a water pump for recycling;
s7, starting the line climbing unit to enable the robot to carry out line inspection along the power line.
(III) beneficial effects
The technical scheme of the invention has the following advantages: the robot replaces manual work to realize the power line from the ground to wait to patrol and examine, then makes the robot patrol and examine along the power line through climbing line unit, carries out deicing operation through deicing mechanism to the power line that freezes simultaneously, because the mode that adopts hot water to melt ice, is effectual for traditional deicing clearance, and the operation risk is low, and is difficult to damage the power line, has better application prospect.
Drawings
Fig. 1 is a schematic structural view of an amphibious robot for deicing power lines according to the present invention;
FIG. 2 is a schematic front view of an amphibious robot for de-icing on power lines according to the present invention;
fig. 3 is a schematic structural diagram of a deicing mechanism of an amphibious robot for deicing a power line according to the present invention;
fig. 4 is a schematic front view of a deicing mechanism of an amphibious robot for deicing power lines according to the present invention.
In the figure: 1. a body; 2. a flight unit; 3. landing gear; 4. a climbing line unit; 5. a deicing mechanism; 50. heating the water tank; 51. a spray tube; 52. a recovery conduit; 53. a water pump; 54. a collecting water tank; 500. a heating resistor; 6. a rotating device; 60. a fixed end; 61. a rotating end; 62. a drive shaft; 7. a camera; 8. and a cradle head.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 and 2, the present invention provides an amphibious robot for deicing a power line, comprising a body 1, a flight unit 2, a landing gear 3, a climbing unit 4 and a deicing mechanism 5; the flying unit 2 is arranged on the body 1 for realizing the flying of a robot; the landing gear 3 is arranged below the body 1 for realizing stable landing of the robot; the climbing line unit 4 is arranged at the bottom of the machine body 1 and is used for realizing climbing line of a robot; the deicing mechanism 5 is located at one end of the climbing unit 4, so as to implement deicing of the power line. The power line from the ground to the inspection is realized by replacing manual work with the robot, then the robot is enabled to inspect along the power line by the climbing line unit 4, and deicing operation is carried out on the frozen power line by the deicing mechanism 5. Only need operating personnel to pass through remote control in the use, make the robot patrol the line from the one end of power line and carry out deicing work to the other end, avoided operating personnel overhead operation, reduced the operation risk. The deicing mechanism 5 adopts a hot water deicing mode, has less deicing residues, good cleaning effect, is not easy to damage a power line and has good application prospect compared with the traditional deicing mode.
Referring to fig. 3 and 4, in some embodiments, the deicing mechanism 5 comprises a heating water tank 50, a spray pipe 51, a recovery conduit 52, a water pump 53, and a collection water tank 54; the heating water tank 50 is arranged on the machine body 1; the spraying pipe 51 is connected with the heating water tank 50, and the spraying pipe 51 is arranged corresponding to the position of the power line; the collecting water tank 54 is arranged on the landing gear 3, and the collecting water tank 54 is positioned below the spray pipe 51; the collecting water tank 54 is connected with the heating water tank 50 through the recovery conduit 52, and the water pump 53 is provided on the recovery conduit 52. In the deicing process, hot water in the heating water tank 50 flows out from the spray pipe 51 to melt ice cubes covered on the power line below, melted water is collected through the collecting water tank 54 and pumped to the heating water tank 50 through the water pump 53 for recycling, water circulation is achieved, a large amount of preparation water is prevented from being carried, and the burden of the flying unit 2 is increased.
In some embodiments, a heating resistor 500 is disposed in the heating water tank 50, one end of the heating resistor 500 is electrically contacted with the power line through a wire, and the other end is electrically connected with a high-voltage capacitor. The electric power of the robot is not consumed, and the electric energy of the power grid is utilized to perform high-energy-consumption heating deicing work, so that the cruising ability of the robot is improved, and the sustainability of the deicing work is greatly improved.
The scheme is to be connected with high-voltage alternating current and connected with a heating resistor 500 for heating, wherein the heating power is required to be more than 3000W, and the voltage of a high-voltage alternating current circuit is 35KV and the frequency is 50HZ; the resistance value R of the heating resistor 500 is 10000 omega; the capacitance value C of the high-voltage capacitor is 0.2 mu F, and the highest allowable working voltage is 60KV. Assume that the equivalent voltage at two ends of the high-voltage capacitor is U 1 The equivalent voltage at two ends of the heating resistor 500 is U 2 ，U 1 +U 2 Let the equivalent current flowing through the heating resistor 500 be I, the capacitance of the high-voltage capacitor be C, the ac circuit frequency =35 KVThe voltage of the high voltage ac circuit was changed from positive highest to negative lowest 50 times/second at 50 HZ. Then: i=2×50×c×u 2 ；U 1 =ir. The calculated equivalent current I in the circuit is 0.58A, so that the total power of the heating resistor 500 is 3400W, and the requirement of heating power can be met.
In some embodiments, the heating resistor 500 is a heating wire, and the heating wire is disposed at the bottom of the heating water tank 50 in an S shape, so that water in the heating water tank 50 can be heated uniformly. But not limited to the above-mentioned form, the heating resistor 500 may also be a heating plate, a heating rod, etc., and the arrangement may also be a ring shape, a U shape, etc.
In some embodiments, an electromagnetic valve is disposed on the spraying pipe 51, a nozzle is disposed at one end of the spraying pipe 51, the switch of hot water on the spraying pipe 51 can be controlled through the electromagnetic valve, and the nozzle can adjust the outflow shape of the hot water.
In some embodiments, the collection tank 54 is connected to the landing gear 3 by a rotation device 6 for effecting rotation of the collection tank 54. Further, the rotating device 6 includes a fixed end 60 and a rotating end 61, the fixed end 60 is disposed on one side of the landing gear 3, the rotating end 61 is disposed on one end of the collecting tank 54, a driving shaft 62 on the fixed end 60 is connected to the rotating end 61, and the driving shaft 62 may be driven by a motor. The collection tank 54 is located on one side before the robot drops to the power line in order to avoid positional interference of the collection tank 54 with the power line; after the robot has landed on the power line, the collection tank 54 is rotated by the rotating means 6 to below the power line in order to collect the remaining molten water.
In some embodiments, the robot further comprises an attitude control system, a motor driving module, a power module and a communication module which are electrically connected, wherein the attitude control system comprises an inertial measurement unit and a microprocessor, and is used for realizing flying or climbing balance control of the robot.
In some embodiments, the device further comprises a camera 7 and a cradle head 8, wherein the camera 7 is connected with the body 1 through the cradle head 8 and is positioned at the other end of the wire climbing unit 4. The cradle head 8 is used for stabilizing the camera 7, reducing shaking influence, improving shooting quality, and simultaneously being capable of adjusting so as to shoot a power line in a short distance.
In a second aspect, the present invention provides a deicing method for an amphibious robot for deicing a power line, comprising the steps of:
s1, injecting preparation water into a heating water tank 50;
s2, starting the flying unit 2 to enable the robot to reach a power line operation position;
s3, conducting wires at one end of the heating resistor 500 are electrically contacted with a power line to take electricity, and alternating current is formed under the action of a high-voltage capacitor, so that the heating resistor 500 heats the prepared water in the heating water tank 50;
s4, enabling the collecting water tank 54 to be positioned below the spraying pipe 51 through the rotating device 6;
s5, opening the electromagnetic valve and the water pump 53, and enabling hot water to flow out of the spray pipe 51 to melt ice cubes covered on the power line;
s6, collecting melted water after melting through a collecting water tank 54, and pumping the melted water to a heating water tank 50 through a water pump 53 for recycling;
s7, starting the line climbing unit 4 to enable the robot to carry out line inspection along the power line.
The above steps are not limited to the above sequence, and the positions of some steps may be exchanged, which should be regarded as the protection scope of the present invention.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present invention, and these modifications and variations should also be regarded as the scope of the invention.
Claims (10)
1. An amphibious robot for deicing a power line is characterized by comprising a body, a flight unit, a landing gear, a climbing unit and a deicing mechanism;
the flying unit is arranged on the machine body and is used for realizing the flying of the robot;
the landing gear is arranged below the machine body and used for realizing stable landing of the robot;
the wire climbing unit is arranged at the bottom of the machine body and is used for realizing wire climbing of the robot;
the deicing mechanism is positioned at one end of the climbing unit and is used for deicing the power line.
2. An amphibious robot for de-icing on power lines according to claim 1, characterised in that the de-icing means comprises a heating tank, a spray pipe, a recovery conduit, a water pump and a collecting tank;
the heating water tank is arranged on the machine body;
the spraying pipe is connected with the heating water tank and is arranged corresponding to the position of the power line;
the collecting water tank is arranged on the landing gear and is positioned below the spraying pipe;
the collecting water tank is connected with the heating water tank through the recovery conduit, and the water pump is arranged on the recovery conduit.
3. An amphibious robot for deicing of power lines according to claim 2, wherein a heating resistor is arranged in the heating water tank, one end of the heating resistor is electrically contacted with the power lines through a wire, and the other end of the heating resistor is electrically connected with a high-voltage capacitor.
4. An amphibious robot for deicing of electric power line according to claim 3, characterized in that the heating resistance is a heating wire and the heating wire is arranged in an S-shape at the bottom of the heating water tank.
5. An amphibious robot for deicing of electric power line according to claim 2, characterized in that electromagnetic valves are provided on the spray pipes, and a spray head is provided at one end of the spray pipes.
6. Amphibious robot for deicing of electric line according to claim 2, characterized in that the collecting tank is connected to the landing gear by rotation means for effecting the rotation of the collecting tank.
7. An amphibious robot for deicing of electric power line according to claim 6, characterized in that the rotating means comprise a fixed end and a rotating end, the fixed end being arranged on the landing gear side, the rotating end being arranged at one end of the collecting tank, the drive shaft on the fixed end being connected to the rotating end.
8. An amphibious robot for deicing of power lines according to claim 1, further comprising an electrically connected attitude control system comprising an inertial measurement unit and a microprocessor for effecting flight or line climbing balance control of the robot, a motor drive module, a power module and a communication module.
9. An amphibious robot for deicing of electric power line according to any one of claims 1 to 8, further comprising a camera and a pan-tilt, said camera being connected to said fuselage by said pan-tilt and being located at the other end of said climbing unit.
10. A deicing method for an amphibious robot for deicing a power line, comprising the steps of:
s1, injecting preparation water into a heating water tank;
s2, starting a flight unit to enable the robot to reach a power line operation position;
s3, conducting wires at one end of the heating resistor are electrically contacted with the power line to take electricity, alternating current is formed under the action of the high-voltage capacitor, and the heating resistor is used for heating the preparation water in the heating water tank;
s4, enabling the collecting water tank to be positioned below the spraying pipe through the rotating device;
s5, opening the electromagnetic valve and the water pump, enabling hot water to flow out of the spraying pipe, and melting ice cubes covered on the power line;
s6, collecting the melted water after melting through a collecting water tank, and pumping the melted water to a heating water tank through a water pump for recycling;
s7, starting the line climbing unit to enable the robot to carry out line inspection along the power line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310275747.7A CN116093872A (en) | 2023-03-20 | 2023-03-20 | Amphibious robot for deicing power line and deicing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310275747.7A CN116093872A (en) | 2023-03-20 | 2023-03-20 | Amphibious robot for deicing power line and deicing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116093872A true CN116093872A (en) | 2023-05-09 |
Family
ID=86210393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310275747.7A Pending CN116093872A (en) | 2023-03-20 | 2023-03-20 | Amphibious robot for deicing power line and deicing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116093872A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116846929A (en) * | 2023-09-04 | 2023-10-03 | 国网甘肃省电力公司天水供电公司 | Wire detection and early warning system based on Internet of things |
-
2023
- 2023-03-20 CN CN202310275747.7A patent/CN116093872A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116846929A (en) * | 2023-09-04 | 2023-10-03 | 国网甘肃省电力公司天水供电公司 | Wire detection and early warning system based on Internet of things |
| CN116846929B (en) * | 2023-09-04 | 2023-12-08 | 国网甘肃省电力公司天水供电公司 | Wire detection and early warning system based on Internet of things |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116093872A (en) | Amphibious robot for deicing power line and deicing method | |
| CN109103837B (en) | Deicing device for overhead transmission line | |
| CN113864138B (en) | System and method for deicing wind power blade | |
| CN106898986A (en) | To aerial cables deicing except the unmanned plane of accumulated snow | |
| CN209860561U (en) | Deicing device for overhead transmission line | |
| CN203103839U (en) | Power transmission line anti-icing device | |
| CN219592094U (en) | Amphibious robot for deicing power line | |
| CN208797542U (en) | A kind of overhead transmission line deicing device | |
| CN212343287U (en) | Unmanned aerial vehicle deicing device for overhead transmission line | |
| CN205194451U (en) | Be applied to defroster of insulator | |
| CN205681077U (en) | A kind of distribution network closed loop road deicing device | |
| CN111874230A (en) | Electric power is maintained and is used high tension transmission line deicing unmanned aerial vehicle | |
| CN110838701B (en) | Intelligent deicing device for power transmission and transformation line | |
| CN202210638U (en) | Deicing device for transformer substation | |
| CN109808855B (en) | Scientific investigation ship with full-automatic snow and ice removing system | |
| CN206619891U (en) | The unmanned plane removed the snow for high-altitude circuit | |
| CN115102126A (en) | Novel cable deicing robot | |
| CN210724145U (en) | Deicing device for power transmission line and high-altitude insulator | |
| CN205565650U (en) | Cable deicing device | |
| CN114056569A (en) | Wind power blade deicing system and method based on unmanned aerial vehicle | |
| CN114400604B (en) | Ice melting robot for power transmission line | |
| CN209675903U (en) | High-efficient cable deicer | |
| CN207124442U (en) | Active anti-icing transmission line of electricity system | |
| CN207117129U (en) | Anti-icing of Transmission Lines control system | |
| CN111112235A (en) | Heating type main transformer safety deicing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |