关键词: 除冰机构, 除冰机器人, 输电线路, 巡线机器人, 越障

Abstract: Ice-coated transmission lines seriously harm the safety and stability of the power grid. Compared with the traditional methods of de-icing, de-icing robots have advantages in terms of energy consumption, cost and safety, et al. As an emerging research area, international research on the de-icing robot is still in its infancy, and no mature technology can be used for reference. Thus it is necessary to review current achievements systematically and intensively. State-of-the-art in research and application of de-icing robot running on overhead transmission line are surveyed. Key technologies of de-icing robot are discussed in detail, including high reliability of motion mechanism design on complex flexible structure of transmission lines; autonomous behavior control and navigation in complex unstructured environment; efficient de-icing mechanism without damage; long-continuous power supply in a wide range of field work; remote communication, monitoring, teleoperation under the conditions of long distance and strong electromagnetic interference; special protection mechanisms under poor working conditions. Development trend and research direction for deicing robot are suggested in the end.

Key words: De-icing mechanism, De-icing robot, Inspection robot, Surmount obstacle, Transmission line