CN-121983875-A - Power grid line tree obstacle removing method based on unmanned aerial vehicle platform

CN121983875ACN 121983875 ACN121983875 ACN 121983875ACN-121983875-A

Abstract

The application discloses a power grid line tree obstacle clearing method based on an unmanned aerial vehicle platform, and relates to the technical field of power grid operation and maintenance. The method comprises the steps of assembling a power grid line tree obstacle removing device based on an unmanned aerial vehicle platform, starting the power grid line tree obstacle removing device based on the unmanned aerial vehicle platform to carry out no-load test, controlling the power grid line tree obstacle removing device based on the unmanned aerial vehicle platform to reach a tree obstacle area to carry out obstacle removing operation, and controlling the power grid line tree obstacle removing device based on the unmanned aerial vehicle platform to move to the next tree obstacle area and/or return to a departure place after obstacle removing is completed. The power grid line tree obstacle removing device based on the unmanned aerial vehicle platform is assembled, reliability of obstacle removing operation is guaranteed, an operator does not need to be close to a high-voltage line through remote control of the unmanned aerial vehicle during obstacle removing, electric shock and falling risks are remarkably reduced, the unmanned aerial vehicle can automatically move to the next area or return after obstacle removing, continuous operation is achieved, downtime is reduced, and the device is suitable for various complex environments.

Inventors

LI GUANGWEI
Jing Hongdi
PAN FUCHENG
LI XIN
YU MIAO
LIU XIAOSONG
ZHANG XINGFAN

Assignees

中国科学院沈阳自动化研究所

Dates

Publication Date: 20260505
Application Date: 20251212

Claims (10)

1. The utility model provides a power grid line tree obstacle clearance method based on unmanned aerial vehicle platform which characterized in that includes: Assembling a power grid line tree obstacle removing device based on an unmanned aerial vehicle platform, and starting the power grid line tree obstacle removing device based on the unmanned aerial vehicle platform to perform no-load test; controlling the power grid line tree obstacle removing device based on the unmanned aerial vehicle platform to reach a tree obstacle area to perform obstacle removing operation; And after the obstacle clearance is finished, controlling the power grid line obstacle clearance device based on the unmanned aerial vehicle platform to move to the next obstacle area and/or returning to the departure place.
2. The method of claim 1, wherein the step of assembling an unmanned platform-based power grid line barrier removal device comprises: A plurality of saw blades which are vertically arranged are arranged on a transmission shaft to form a vertical gang saw; The vertical gang saw is mounted to the bottom of the unmanned aerial vehicle through a bracket.
3. The method of claim 2, wherein the step of controlling the unmanned aerial vehicle platform-based power grid line obstacle clearing device to reach an obstacle area for obstacle clearing operations comprises: Starting the vertical gang saw, and controlling the unmanned aerial vehicle to move along the operation direction through a camera module and a picture transmission module on the unmanned aerial vehicle; the operation direction is a direction parallel to the power grid line.
4. The method of claim 1, wherein the method is implemented by an unmanned platform-based power grid line tree obstacle clearing device, the device comprising: the unmanned aerial vehicle (1), be equipped with camera module and picture transmission module on the unmanned aerial vehicle (1); the driving assembly (3), the said driving assembly (3) is connected with said unmanned aerial vehicle (1); And the cutting assembly is connected with the driving assembly (3).
5. The apparatus of claim 4, wherein the apparatus further comprises: The energy supply assembly is connected with the driving assembly (3) and used for supplying energy to the driving assembly (3).
6. The apparatus of claim 4, wherein the apparatus further comprises: The support (2), support (2) are established unmanned aerial vehicle (1) with the junction of drive assembly (3) for vibration and the impact that produces when absorbing the cutting.
7. The apparatus of claim 4, wherein the drive assembly comprises: The motor is connected with the unmanned aerial vehicle (1); The transmission shaft (5), the said transmission shaft (5) is connected with said electrical machinery; the number of the mounting holes is multiple, and the mounting holes are formed in the transmission shaft (5).
8. The apparatus of claim 7, wherein the energy supply assembly is a battery pack, the battery pack being coupled to the motor.
9. The apparatus of claim 7, wherein the cutting assembly comprises: a plurality of saw blades (4); The number of the inner holes is the same as that of the saw blades (4), and each inner hole is formed in each saw blade (4); The mounting piece, mounting piece one end passes the mounting hole, the other end passes the hole, saw bit (4) with transmission shaft (5) are passed through the mounting piece is connected.
10. The apparatus of claim 9, wherein the cutting assembly further comprises: The number of the sleeves is multiple, the sleeves are arranged on the transmission shaft (5), and the sleeves are arranged between the mounting pieces.

Description

Power grid line tree obstacle removing method based on unmanned aerial vehicle platform Technical Field The application relates to the technical field of power grid operation and maintenance, in particular to a power grid line tree obstacle clearing method based on an unmanned aerial vehicle platform. Background During long-term operation of the power line, tree branches and leaves in the surrounding environment may grow continuously and gradually approach or directly contact the wires. This phenomenon, known as tree-blocking, is prone to cause line shorts, leading to extensive power outages, and may damage the transmission equipment and increase the risk of fire under dry conditions. Therefore, periodic removal of tree barriers is a necessary measure to ensure safe and stable operation of power supply. At present, the main method for removing the tree obstacle comprises manual climbing operation, ground vehicle cutting, laser firing, unmanned aerial vehicle laser removing and a tree obstacle electrified removing robot. The manual method requires operators to directly contact the line, the efficiency is low, the falling and electric shock risks exist, and the ground vehicles are limited by the terrain and are difficult to operate in a complex environment. Although the laser cleaning method can be remotely operated, the cleaning process is long in time consumption and low in efficiency. Unmanned aerial vehicle laser clearance has improved operation accuracy, but still relies on manual adjustment, and the step is loaded down with trivial details. The robot for removing the tree barriers in an electrified manner can move along a line, is limited by the voltage of a high-voltage line, can remove only a single tree barrier at a time, needs frequent remote control, and has high time cost. These methods have drawbacks in terms of efficiency, safety and applicability. Disclosure of Invention In view of the above, the application provides a power grid line tree obstacle clearing method based on an unmanned aerial vehicle platform, and mainly aims to solve the technical problems that the existing power grid line tree obstacle clearing method is insufficient in efficiency, safety and application range. The application provides a power grid line tree obstacle clearing method based on an unmanned aerial vehicle platform, which comprises the following steps: Assembling a power grid line tree obstacle removing device based on an unmanned aerial vehicle platform, and starting the power grid line tree obstacle removing device based on the unmanned aerial vehicle platform to perform no-load test; controlling the power grid line tree obstacle removing device based on the unmanned aerial vehicle platform to reach a tree obstacle area to perform obstacle removing operation; And after the obstacle clearance is finished, controlling the power grid line obstacle clearance device based on the unmanned aerial vehicle platform to move to the next obstacle area and/or returning to the departure place. In one possible embodiment, the step of assembling the unmanned aerial vehicle platform-based power grid line tree obstacle clearing device comprises: A plurality of saw blades which are vertically arranged are arranged on a transmission shaft to form a vertical gang saw; The vertical gang saw is mounted to the bottom of the unmanned aerial vehicle through a bracket. In a possible embodiment, the step of controlling the unmanned aerial vehicle platform-based power grid line obstacle clearing device to reach an obstacle area for performing an obstacle clearing operation includes: Starting the vertical gang saw, and controlling the unmanned aerial vehicle to move along the operation direction through a camera module and a picture transmission module on the unmanned aerial vehicle; the operation direction is a direction parallel to the power grid line. In a possible embodiment, a method for removing a tree obstacle of a power grid line based on an unmanned plane platform is implemented by a tree obstacle removing device of the power grid line based on the unmanned plane platform, the device comprises: The unmanned aerial vehicle is provided with a camera module and a picture transmission module; The driving assembly is connected with the unmanned aerial vehicle; And the cutting assembly is connected with the driving assembly. In a possible embodiment, the device further comprises: the energy supply assembly is connected with the driving assembly and used for supplying energy to the driving assembly. In a possible embodiment, the device further comprises: And the bracket is arranged at the joint of the unmanned aerial vehicle and the driving assembly and is used for absorbing vibration and impact generated during cutting. In one possible embodiment, the drive assembly comprises: The motor is connected with the unmanned aerial vehicle; The transmission shaft is connected with the motor; The number of the mounting holes is multiple, and the mo