Motion control method and equipment for deicing robot of ultra-high voltage transmission line

Abstract

The invention provides a motion control method and equipment for an ultra-high voltage transmission line deicing robot. The method comprises the following steps: receiving initial input information of a target power transmission line, wherein the initial input information comprises the position, the diameter, the length and the icing thickness of the target power transmission line; based on the initial input information and a preset parameter table, a deicing path and a deicing strategy are generated, and the preset parameter table comprises related parameters of deicing strength and vibration frequency corresponding to the icing thickness; the deicing path and the deicing strategy are sent to a robot end to execute a deicing task; first state information, fed back by the robot end, of the target power transmission line in the deicing process is received, wherein the first state information comprises the actual diameter of the target power transmission line, the length of the deiced power transmission line and the overall thickness of the non-deiced power transmission line; and state parameters of the first state information in a preset parameter table are determined, a deicing strategy is adjusted based on the state parameters, and the adjusted deicing strategy is sent to the robot end to continue to execute the deicing task.

Description

Technical Field

[0001] The present application relates to the technical field of deicing of ultra-high voltage transmission lines, and in particular to a motion control method and device for a deicing robot for ultra-high voltage transmission lines. Background Art

[0002] With the impact of global climate change, extreme weather in winter is frequent, and the problem of icing on transmission lines is becoming increasingly serious. This phenomenon not only affects the normal operation of the power system, but may also cause power outages, seriously affecting social production and residents' lives.

[0003] At present, common deicing methods for power transmission lines mainly include physical deicing and chemical deicing. Physical deicing usually uses mechanical scraping or vibration deicing. Although these methods can directly remove the ice layer, they have certain limitations in practical applications. For example, mechanical scraping can easily damage the surface of the transmission line, while vibration deicing requires high energy consumption and has high requirements for the environment. Chemical deicing melts the ice layer by spraying snow-melting agents. Although this method can effectively remove ice, it may also cause pollution to the transmission line and the surrounding environment.

[0004] However, the existing automatic deicing systems still have some problems in practical applications, especially in terms of precise control and efficient deicing in complex environments. For example, traditional automatic deicing equipment is often unable to dynamically adjust deicing parameters according to changes in ice thickness and transmission line temperature, resulting in unsatisfactory deicing effects. In addition, these devices have limited functions in data transmission and real-time monitoring, making it difficult to achieve comprehensive management and optimization of the deicing process. Therefore, how to design an intelligent control system that can dynamically adjust the deicing strategy according to actual conditions is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of the present invention is to address the deficiencies of the above-mentioned prior art and provide a motion control method and equipment for a UHV transmission line deicing robot, which can dynamically adjust the deicing strategy according to actual conditions, realize comprehensive management and optimization of the deicing process, and improve the deicing effect.

[0006] In a first aspect, the present application discloses a motion control method for a UHV transmission line deicing robot, which adopts the following scheme:

[0007] A motion control method for a deicing robot for an ultra-high voltage transmission line, comprising: receiving initial input information of a target transmission line, the initial input information comprising the position, diameter, length and ice thickness of the target transmission line; generating a deicing path and a deicing strategy based on the initial input information and a preset parameter table, the preset parameter table comprising relevant parameters of deicing force and vibration frequency corresponding to the ice thickness; sending the deicing path and the deicing strategy to a robot end to perform a deicing task; receiving first state information of the target transmission line during the deicing process fed back by the robot end, the first state information comprising the actual diameter of the target transmission line, the length of the deiced transmission line and the overall thickness of the undeiced transmission line; determining state parameters of the first state information in the preset parameter table, adjusting the deicing strategy based on the state parameters, and sending the adjusted deicing strategy to the robot end to continue to perform the deicing task.

[0008] By adopting the above technical solution, it is possible to dynamically adjust the deicing strategy according to the actual status information of the target transmission line during the deicing process, ensuring that the deicing force and vibration frequency always meet the current icing conditions. This not only improves the deicing efficiency, but also effectively avoids the problem of incomplete or excessive deicing due to fixed parameters, thereby improving the stability and reliability of the entire deicing process. At the same time, through real-time monitoring and adjustment of the information fed back by the robot, comprehensive management of the deicing process is achieved, further optimizing the deicing effect.

[0009] Optionally, generating a deicing path and a deicing strategy based on the initial input information and the preset parameter table includes: generating the deicing path based on the location, diameter and length of the target transmission line; and generating the deicing strategy by corresponding the ice coating thickness to the state parameters in the preset parameter table.

[0010] By adopting the above technical solution, it is possible to accurately generate deicing paths and strategies for the target transmission lines, ensuring the effectiveness and safety of the deicing process. Specifically: generating a deicing path based on the location, diameter and length of the target transmission line can prevent the robot from deviating from the predetermined trajectory during the deicing process and improve the operation accuracy. The deicing strategy is generated by corresponding the ice thickness to the state parameters in the preset parameter table, and the deicing force and vibration frequency can be dynamically adjusted according to different icing conditions, ensuring deicing efficiency while reducing damage to the transmission lines.

[0011] Optionally, it also includes: detecting external environmental conditions, wherein the external environmental conditions include wind speed, humidity and temperature; adjusting the deicing strategy based on the external environmental conditions and the preset parameter table to send it to the robot end to continue to perform the deicing task, wherein the preset parameter table includes relevant parameters of the vibration frequency corresponding to the wind speed, the deicing speed corresponding to the humidity, and the transmission line heating time corresponding to the temperature.

[0012] By adopting the above technical solution, it is possible to dynamically adjust the de-icing strategy under different external environments, thereby improving the de-icing efficiency and safety. Specifically: detecting external environmental conditions (wind speed, humidity and temperature) can ensure that the de-icing process adapts to various complex environments and avoids de-icing failure or damage to the transmission line due to environmental factors. Adjust the de-icing strategy based on external environmental conditions and preset parameter tables to make the de-icing intensity, vibration frequency and transmission line heating time more reasonable, thereby ensuring the effectiveness and safety of the de-icing process. For example, increasing the vibration frequency under high wind speed conditions, speeding up the de-icing speed under high humidity conditions, and extending the transmission line heating time under low temperature conditions can effectively improve the de-icing effect.

[0013] Optionally, it also includes: when a heating wire is provided in the target transmission line, controlling the heating wire to heat, and detecting the surface temperature of the target transmission line; adjusting the deicing strategy based on the surface temperature, the ice thickness and the preset parameter table, wherein the preset parameter table includes relevant parameters of the deicing force and vibration frequency corresponding to the transmission line temperature and ice thickness.

[0014] By adopting the above technical solution, the de-icing efficiency and safety can be effectively improved. Specifically: controlling the heating wire for heating can pre-melt part of the ice, reduce the burden on the robot during the de-icing process, reduce energy consumption, and increase the de-icing speed. By detecting the surface temperature of the target transmission line and combining it with the thickness of the ice, the de-icing strategy can be adjusted more accurately to ensure that the de-icing force and vibration frequency are more reasonable, avoiding poor de-icing effect or damage to the transmission line due to temperature changes. The preset parameter table contains the de-icing force and vibration frequency related parameters corresponding to the transmission line temperature and ice thickness, so that the system can dynamically adjust the de-icing parameters to adapt to the de-icing needs in different environments and enhance the flexibility and reliability of the system.

[0015] Optionally, it also includes: obtaining the difference in inclination angles of the two ends of the target transmission line relative to the support pole when it is not frozen and when it is frozen; judging whether the difference in inclination angle is greater than a preset angle value; if so, first controlling the heating wire element to heat up, and then performing the deicing task.

[0016] By adopting the above technical solution, when the transmission line is severely covered with ice and the tilt angle exceeds the preset value, the heating wire can be started first for heating, effectively reducing the ice on the transmission line and preventing safety accidents caused by excessive ice. At the same time, the solution can ensure that the deicing process is safer and more reliable and improve the deicing efficiency.

[0017] Optionally, it also includes: obtaining the distance difference between the lowest point of the target transmission line relative to the ground and the ground when the target transmission line is not frozen and when it is frozen; judging whether the distance difference is greater than a preset distance difference; if so, first controlling the heating wire element to heat up, and then performing the deicing task.

[0018] By adopting the above technical solution, safety accidents caused by the target transmission line sagging beyond the safe range due to icing can be effectively avoided. Specifically: by obtaining the distance difference between the lowest point of the target transmission line relative to the ground and the ground when it is not frozen and when it is frozen, the impact of icing on the transmission line can be accurately evaluated. Determine whether the distance difference is greater than the preset distance difference to ensure that measures are taken before the transmission line sags beyond the safety limit. If so, first control the heating wire to heat, and then perform the deicing task. The ice can be heated and softened before the transmission line is deformed too much, reducing the risk of rupture or damage to the transmission line, thereby improving the safety and reliability of the entire deicing process.

[0019] Optionally, it also includes: receiving second status information fed back by the robot in real time, the second status information including power level, own temperature, abnormal status, location information, ice thickness and transmission line temperature, the abnormal status including insufficient power, excessive transmission line temperature and mechanical failure; displaying the second status information to monitor the working status of the robot.

[0020] By adopting the above technical solutions, it is possible to monitor the robot's various status information during the de-icing process in real time, including power, its own temperature, abnormal status, position information, ice thickness and transmission line temperature. Specifically: it is possible to timely understand the remaining power of the robot to avoid interruption of the de-icing task due to insufficient power. It is possible to monitor the temperature of the transmission line and the robot itself to ensure the safety and effectiveness of the de-icing operation and prevent high temperature from damaging the equipment or transmission line. It is possible to identify and handle abnormal conditions in a timely manner to ensure the smooth progress of the de-icing task. It is possible to grasp the position of the robot on the transmission line in real time, which helps to accurately control the de-icing path and strategy. It is possible to dynamically monitor the changes in the thickness of the ice so as to adjust the de-icing force and vibration frequency according to the actual situation. In this way, the working status of the robot can be fully monitored to ensure the efficient, safe and reliable execution of the de-icing task.

[0021] In a second aspect, an embodiment of the present application discloses a motion control system for a UHV transmission line deicing robot, which adopts the following scheme:

[0022] A motion control system for a deicing robot for ultra-high voltage transmission lines, applied to any of the methods described above, comprising: a first receiving module, used to receive initial input information of a target transmission line, the initial input information including the position, diameter, length and ice thickness of the target transmission line; a generating module, used to generate a deicing path and a deicing strategy based on the initial input information and a preset parameter table, the preset parameter table including relevant parameters of deicing force and vibration frequency corresponding to the ice thickness; an executing module, used to send the deicing path and the deicing strategy to a robot end to perform a deicing task; a second receiving module, used to receive state information of the target transmission line during the deicing process fed back by the robot end, the state information including the actual diameter of the target transmission line, the length of the deiced transmission line and the overall thickness of the undeiced transmission line; an adjusting module, used to determine the state parameters of the first state information in the preset parameter table, adjust the deicing strategy based on the state parameters, and send the adjusted deicing strategy to the robot end to continue to perform the deicing task.

[0023] In a third aspect, an embodiment of the present application discloses an electronic device, which adopts the following solution:

[0024] An electronic device comprises: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to implement the steps of a motion control method for a deicing robot for ultra-high voltage transmission lines as described in any one of the above items when executing the computer program.

[0025] In a fourth aspect, an embodiment of the present application discloses a computer-readable storage medium, which adopts the following scheme:

[0026] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a motion control method for a deicing robot for ultra-high voltage transmission lines as described above.

[0027] In summary, the present application includes at least one of the following beneficial technical effects:

[0028] By receiving the initial input information of the target transmission line and generating the deicing path and deicing strategy based on the preset parameter table, the deicing force and vibration frequency can be accurately controlled to avoid the transmission line damage and high energy consumption caused by fixed parameters in the traditional physical deicing method;

[0029] During the deicing process, the robot receives and processes the target power transmission line status information fed back by the robot in real time, dynamically adjusts the deicing strategy to ensure the best deicing effect, and solves the problem of insufficient precise control of existing automatic deicing systems in complex environments.

[0030] The de-icing strategy is further optimized by combining external environmental conditions (such as wind speed, humidity and temperature), improving de-icing efficiency and safety, and reducing the impact of environmental factors on de-icing effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic flow chart of a motion control method for a deicing robot for ultra-high voltage transmission lines disclosed in one embodiment of the present application;

[0032] Figure 2 A schematic structural diagram of a motion control system for a deicing robot for ultra-high voltage transmission lines disclosed in another embodiment of the present application;

[0033] Figure 3 A schematic diagram of the structure of an electronic device disclosed in another embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] [First embodiment]

[0036] See also Figure 1 In this embodiment, a motion control method for a UHV transmission line deicing robot is disclosed, comprising the following steps:

[0037] S10, receiving initial input information of the target transmission line;

[0038] Among them, the initial input information includes the location, diameter, length and ice thickness of the target transmission line. The location of the target transmission line is automatically obtained through the GPS positioning system. The diameter and length of the transmission line are obtained by the operator in advance or by querying the database and then input into the system. The ice thickness can be obtained through real-time monitoring by sensors.

[0039] In this embodiment, the function of step S10 is to first obtain the initial parameter values ​​of the target transmission line, so as to formulate a de-icing strategy to perform the de-icing operation. The subsequent steps are that during the execution process, the robot continuously readjusts the parameter values ​​based on the actual detection situation, and formulates a more appropriate de-icing strategy to perform de-icing.

[0040] S20, generating a deicing path and a deicing strategy based on the initial input information and the preset parameter table;

[0041] Among them, the preset parameter table includes relevant parameters of de-icing force and vibration frequency corresponding to the ice thickness. When the ice thickness is thicker, the corresponding de-icing force and vibration frequency are greater to effectively break and remove the ice on the transmission line, but at the same time it must be controlled within a range that will not cause damage to the transmission line. Therefore, the preset parameter table is based on different ice thicknesses to correspond to different de-icing forces and vibration frequencies.

[0042] Specifically, step S20 includes:

[0043] S21, generating a deicing path based on the location, diameter and length of the target transmission line;

[0044] Among them, based on the location and length of the target transmission line, the starting point and the end point of the transmission line are preset first. Of course, in this embodiment, the turning point can also be included, which is pre-included in the initial input information.

[0045] S22: The ice thickness corresponds to the state parameters in the preset parameter table to generate a deicing strategy.

[0046] The state parameters correspond to the force and vibration frequency of the robot when performing de-icing, so that the robot performs the de-icing operation based on the state parameters.

[0047] S30, sending the deicing path and deicing strategy to the robot end to perform the deicing task;

[0048] Among them, by sending the de-icing path and de-icing strategy to the robot side for execution, it can ensure that the de-icing task is carried out according to the predetermined plan and reduce the uncertainty caused by human intervention.

[0049] S40, receiving first state information of the target power transmission line during the deicing process fed back by the robot end;

[0050] The first state information includes the actual diameter of the target transmission line, the length of the deiced transmission line, and the overall thickness of the undeiced transmission line. The actual diameter of the target transmission line and the overall thickness of the undeiced transmission line can be measured by contacting the surface of the transmission line with a contact sensor installed by the robot, or by a non-contact sensor, such as a photoelectric sensor or a laser rangefinder. The length of the deiced transmission line can be calculated based on the movement distance of the robot relative to the starting point.

[0051] S50, determining the state parameters of the first state information in the preset parameter table, adjusting the deicing strategy based on the state parameters, and sending the adjusted deicing strategy to the robot end to continue to perform the deicing task.

[0052] Among them, in this step, the ice thickness of the remaining transmission line is obtained by subtracting the actual diameter of the target transmission line from the overall thickness of the undeiced transmission line in the first state information to correspond to the state parameters in the preset parameter table, so as to change the deicing force and vibration frequency in the deicing strategy based on the new state parameters. In this way, the deicing process is always in the best state, and the deicing quality and reliability are improved.

[0053] Furthermore, in this embodiment, it also includes:

[0054] S60, detecting external environmental conditions;

[0055] Among them, external environmental conditions include wind speed, humidity and temperature. By detecting external environmental conditions, it can be ensured that the de-icing process adapts to various complex environments and avoids de-icing failure or damage to transmission lines due to environmental factors.

[0056] S70, adjusting the deicing strategy based on the external environmental conditions and the preset parameter table, and sending it to the robot end to continue to perform the deicing task;

[0057] Among them, the preset parameter table includes relevant parameters of the vibration frequency corresponding to the wind speed, the deicing speed corresponding to the humidity, and the heating time of the transmission line corresponding to the temperature. Higher wind speeds may cause the transmission line to shake and increase the difficulty of deicing, so it is necessary to appropriately reduce the vibration frequency to avoid damage to the transmission line. Adjust the deicing speed according to the humidity. Higher humidity may cause ice and snow to adhere more easily, so it is necessary to appropriately increase the deicing speed to ensure the deicing effect. Adjust the self-heating time of the transmission line according to the temperature. Lower temperatures may require longer heating. After heating to a certain degree, combined with the robot's deicing, the deicing effect can be ensured.

[0058] Here, regarding the heating of the transmission line, a heating wire is provided in the pre-corresponding target transmission line. The heating wire may be an alloy resistance wire. When the current passes through the alloy resistance wire, due to the high resistance characteristics of the resistance wire, the current will be hindered when flowing inside the resistance wire, thereby generating heat. The transmission line itself is heated to pre-melt the ice on the surface of the transmission line. Of course, the type of heating wire is not limited here, as long as it can achieve the same function.

[0059] Furthermore, in this embodiment, it also includes:

[0060] S80, when a heating wire is provided in the target power transmission line, controlling the heating wire to heat, and detecting the surface temperature of the target power transmission line;

[0061] Among them, controlling the heating wire for heating can melt part of the ice in advance, reduce the burden of the robot during the de-icing process, reduce energy consumption, and increase the de-icing speed.

[0062] S90, adjusting the de-icing strategy based on the surface temperature, ice thickness and a preset parameter table;

[0063] Among them, the preset parameter table includes the relevant parameters of deicing force and vibration frequency corresponding to the transmission line temperature and ice thickness, so that the system can dynamically adjust the deicing parameters to adapt to the deicing needs in different environments and enhance the flexibility and reliability of the system. By detecting the surface temperature of the target transmission line and combining it with the ice thickness, the deicing strategy can be adjusted more accurately to ensure that the deicing force and vibration frequency are more reasonable, avoiding poor deicing effect or damage to the transmission line due to temperature changes.

[0064] It is worth mentioning that before executing step S80 and step S90, the following steps are also included:

[0065] S71, obtaining the difference in inclination angles of the two ends of the target transmission line relative to the support pole when the line is not frozen and when the line is frozen;

[0066] Among them, the support poles can be understood as the electric poles at both ends of the target transmission line. Because the weight of the transmission line is different when it is not frozen and when it is frozen, the transmission line will deform to a certain extent relative to the support poles based on the weight, making its bending degree different, and the angle between the two ends of the transmission line and the support poles is also different. For example, when the target transmission line is not frozen, the inclination angle of the two ends relative to the support pole is 80°; when the target transmission line is frozen, the inclination angle of the two ends relative to the support pole is 72°, and the difference in the inclination angles of the two is 8°.

[0067] S72, determining whether the tilt angle difference is greater than a preset angle value, and if so, first controlling the heating wire element to heat, and then performing the deicing task.

[0068] Among them, if the preset angle value is 6°, for example, and the difference in the inclination angles of the two is 8°, then if it is greater than the preset angle value of 6°, it means that the ice on the transmission line is thicker and the overall weight is larger. In order to avoid safety accidents caused by the robot crushing the transmission line, the heating wire in the transmission line is first controlled to heat up to melt part of the ice, and then the robot's deicing task is performed. On the contrary, that is, if it is not greater than the preset angle value, the robot's deicing task is directly performed. In this way, the deicing process can be ensured to be safer and more reliable, and the deicing efficiency can be improved.

[0069] In addition to the technical solutions of step S71 and step S72, this another embodiment further includes:

[0070] S73, obtaining a distance difference between the lowest point of the target transmission line relative to the ground and the ground when the target transmission line is not frozen and when the target transmission line is frozen;

[0071] Among them, the lowest point of the target transmission line relative to the ground, that is, the lowest point of the sag of the transmission line, can be scanned along the cable on the ground using a laser rangefinder to record the distance data at different positions. For example, when the target transmission line is not frozen, the distance between the lowest point of the target transmission line relative to the ground and the ground is 6m; when the target transmission line is frozen, the distance between the lowest point of the target transmission line relative to the ground and the ground is 5.4m, and the difference between the two is 0.6m.

[0072] S74, determining whether the distance difference is greater than a preset distance difference, and if so, first controlling the heating wire element to heat, and then performing the deicing task.

[0073] Among them, if the preset distance difference is 0.5m, and the distance difference between the two is 0.6m, then it is greater than the preset distance difference, and the corresponding deformation degree of the transmission line is greater, indicating that the ice on the transmission line is thicker and the overall weight is larger. In order to avoid safety accidents caused by the robot crushing the transmission line, the heating wire in the transmission line is first controlled to heat up to melt part of the ice, and then the robot's deicing task is performed. On the contrary, that is, it is not greater than the preset distance difference, the robot's deicing task is directly performed. In this way, part of the ice can be heated and melted before the transmission line is deformed too much, reducing the risk of transmission line breakage or damage, thereby improving the safety and reliability of the entire deicing process.

[0074] Furthermore, in this embodiment, it also includes:

[0075] S100, receiving second state information fed back in real time by the robot, where the second state information includes power, temperature, abnormal state, location information, ice thickness, and transmission line temperature;

[0076] Among them, abnormal conditions include insufficient power, excessive temperature of the transmission line and mechanical failure. Regarding power, it can help operators to understand the remaining power of the robot in a timely manner to avoid interruption of the de-icing task due to insufficient power. Regarding temperature, it can help operators monitor the temperature of the robot itself and the temperature of the transmission line to ensure the safety and effectiveness of the de-icing operation and prevent high temperature from damaging equipment or transmission lines. Regarding abnormal conditions, it corresponds to a variety of situations including insufficient power, excessive temperature of the transmission line and mechanical failure. These abnormal conditions are identified and handled in a timely manner to ensure the smooth progress of the de-icing task. Regarding position information, it can help operators to grasp the position of the robot on the transmission line in real time, which helps to accurately control the de-icing path and strategy. Regarding ice thickness, it can help operators dynamically monitor changes in ice thickness so as to adjust the de-icing intensity and vibration frequency according to actual conditions.

[0077] S110: Display the second status information to monitor the working status of the robot.

[0078] Displaying this status information helps operators quickly identify and handle potential problems, such as insufficient power, excessive transmission line temperature, or mechanical failure, thereby avoiding de-icing interruptions or damage caused by equipment failure. In this way, the robot's working status can be fully monitored to ensure efficient, safe, and reliable execution of de-icing tasks.

[0079] In summary, the first embodiment of the present invention discloses a motion control method for a deicing robot for ultra-high voltage transmission lines. By receiving the initial input information of the target transmission line and generating a deicing path and deicing strategy based on a preset parameter table, the deicing force and vibration frequency can be accurately controlled to avoid the damage to the transmission line and high energy consumption caused by fixed parameters in the traditional physical deicing method; by receiving and processing the target transmission line status information fed back by the robot in real time, the deicing strategy is dynamically adjusted to ensure the safety and effectiveness of the deicing process, and solve the problem of insufficient precise control of the existing automatic deicing system in a complex environment; by considering external environmental conditions (such as wind speed, humidity and temperature), the deicing strategy can be further optimized, the deicing efficiency and adaptability can be improved, and the adverse effects of environmental changes on the deicing effect can be reduced. By controlling the heating wire to heat and pre-melt part of the ice, the burden of the robot in the deicing process can be reduced, energy consumption can be reduced, the deicing speed can be increased, and the safety of the transmission line can be ensured.

[0080] [Second embodiment]

[0081] See also Figure 2 In the second embodiment of the present application, a motion control system for a UHV transmission line deicing robot is disclosed, the system comprising: a first receiving module 210, a generating module 220, an executing module 230, a second receiving module 240 and an adjusting module 250.

[0082] Among them, the first receiving module 210 is used to receive the initial input information of the target transmission line, and the initial input information includes the position, diameter, length and ice thickness of the target transmission line; the generating module 220 is used to generate the deicing path and deicing strategy based on the initial input information and the preset parameter table, and the preset parameter table includes the relevant parameters of the deicing force and vibration frequency corresponding to the ice thickness; the executing module 230 is used to send the deicing path and the deicing strategy to the robot end to perform the deicing task; the second receiving module 240 is used to receive the state information of the target transmission line during the deicing process fed back by the robot end, and the state information includes the actual diameter of the target transmission line, the length of the deiced transmission line and the overall thickness of the undeiced transmission line; the adjusting module 250 is used to determine the state parameters of the first state information in the preset parameter table, and adjust the deicing strategy based on the state parameters, and send the adjusted deicing strategy to the robot end to continue to perform the deicing task.

[0083] It should be noted that the motion control method for a UHV transmission line deicing robot implemented by the motion control system for a UHV transmission line deicing robot disclosed in the second embodiment of the present application is the same as the first embodiment, so it will not be described in detail here. Optionally, each module in this embodiment and the above-mentioned other operations or functions are respectively for implementing the methods in the above-mentioned embodiments.

[0084] [Third embodiment]

[0085] See also Figure 3 In the third embodiment of the present application, an electronic device is disclosed, which includes: a memory 310 and a processor 320, the memory 310 is used to store computer programs; the processor 320 is used to implement the steps of a motion control method for a UHV transmission line deicing robot described in the first embodiment when executing the computer program. For details, please refer to the above, so it will not be described in detail here.

[0086] The technical effect of an electronic device provided by this embodiment in actual application is the same as the technical effect of a motion control method for a UHV transmission line deicing robot in the first embodiment.

[0087] [Fourth embodiment]

[0088] In the fourth embodiment of the present application, a computer-readable storage medium is disclosed. The computer-readable storage medium is, for example, a non-volatile memory, such as: magnetic media (such as hard disks, floppy disks, and magnetic tapes), optical media (such as CDROM disks and DVDs), magneto-optical media (such as optical disks), and hardware devices specially constructed to store and execute computer-executable instructions (such as read-only memory (ROM), random access memory (RAM), flash memory, etc.). A computer program is stored on the computer-readable storage medium. The computer-readable storage medium can be used by one or more processors or processing devices to execute the computer program to implement a motion control method for a UHV transmission line deicing robot in the aforementioned embodiment.

[0089] In addition, it can be understood that the aforementioned embodiments are only exemplary descriptions of the present invention. Under the premise that the technical features do not conflict, the structures do not contradict, and the purpose of the present invention is not violated, the technical solutions of the various embodiments can be arbitrarily combined and used in combination.

[0090] In the several embodiments provided by the present invention, it should be understood that the disclosed methods, systems and devices can be implemented in other ways. For example, the modules included in the system described above are only schematic, and the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0091] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0092] In addition, each functional unit / module in each embodiment of the present invention may be integrated into one processing unit / module, or each unit / module may exist physically separately, or two or more units / modules may be integrated into one unit / module. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of hardware plus software functional units / modules.

[0093] The above-mentioned integrated unit / module implemented in the form of a software functional unit / module can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for enabling one or more processors of a computer device (which can be a personal computer, a server, or a network device, etc.) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0094] The above-mentioned embodiments only express the implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be based on the attached claims.

Claims

1. A motion control method for a deicing robot for ultra-high voltage transmission lines, characterized in that: include: Receiving initial input information of a target transmission line, the initial input information including a location, a diameter, a length, and an ice thickness of the target transmission line; Generate a deicing path and a deicing strategy based on the initial input information and a preset parameter table, wherein the preset parameter table includes parameters related to the deicing force and vibration frequency corresponding to the ice thickness; Sending the deicing path and the deicing strategy to the robot end to perform the deicing task; receiving first state information of the target power transmission line during the deicing process fed back by the robot end, wherein the first state information includes an actual diameter of the target power transmission line, a length of the deiced power transmission line, and an overall thickness of the undeiced power transmission line; Determine the state parameters of the first state information in the preset parameter table, adjust the deicing strategy based on the state parameters, and send the adjusted deicing strategy to the robot end to continue to perform the deicing task.

2. The method according to claim 1, characterized in that The generating of a deicing path and a deicing strategy based on the initial input information and the preset parameter table includes: generating the deicing path based on the location, diameter and length of the target transmission line; The ice coating thickness is matched to the state parameters in the preset parameter table to generate the deicing strategy.

3. The method according to claim 1, characterized in that Also includes: Detecting external environmental conditions, wherein the external environmental conditions include wind speed, humidity and temperature; The deicing strategy is adjusted based on the external environmental conditions and the preset parameter table to be sent to the robot end to continue to perform the deicing task, wherein the preset parameter table includes relevant parameters of the vibration frequency corresponding to the wind speed, the deicing speed corresponding to the humidity, and the transmission line heating time corresponding to the air temperature.

4. The method according to claim 1, characterized in that: Also includes: When a heating wire is provided in the target power transmission line, the heating wire is controlled to heat, and the surface temperature of the target power transmission line is detected; The deicing strategy is adjusted based on the surface temperature, the ice coating thickness and the preset parameter table, wherein the preset parameter table includes relevant parameters of deicing force and vibration frequency corresponding to the transmission line temperature and ice coating thickness.

5. The method according to claim 4, characterized in that Also includes: Obtaining the difference in inclination angles of the two ends of the target transmission line relative to the support pole when the line is not frozen and when the line is frozen; Determining whether the tilt angle difference is greater than a preset angle value; If so, the heating wire is controlled to heat first, and then the deicing task is performed.

6. The method according to claim 4, characterized in that Also includes: Obtaining the difference in distance between the lowest point of the target transmission line relative to the ground and the ground when the target transmission line is not frozen and when the target transmission line is frozen; Determining whether the distance difference is greater than a preset distance difference; If so, the heating wire is controlled to heat first, and then the deicing task is performed.

7. The method according to claim 1, characterized in that Also includes: receiving second status information fed back by the robot in real time, the second status information including power, temperature, abnormal state, location information, ice thickness and power line temperature, the abnormal state including insufficient power, excessive temperature of the power line and mechanical failure; The second status information is displayed to monitor the working status of the robot.

8. A motion control system for a UHV transmission line deicing robot, characterized in that: The method as claimed in any one of claims 1 to 7, comprising: A first receiving module, configured to receive initial input information of a target transmission line, wherein the initial input information includes a position, a diameter, a length, and an ice thickness of the target transmission line; A generation module, configured to generate a deicing path and a deicing strategy based on the initial input information and a preset parameter table, wherein the preset parameter table includes parameters related to the deicing force and the vibration frequency corresponding to the ice coating thickness; An execution module, used for sending the deicing path and the deicing strategy to the robot end to execute the deicing task; A second receiving module is used to receive the state information of the target power transmission line during the deicing process fed back by the robot end, wherein the state information includes the actual diameter of the target power transmission line, the length of the deiced power transmission line, and the overall thickness of the undeiced power transmission line; The adjustment module is used to determine the state parameters of the first state information in the preset parameter table, and adjust the deicing strategy based on the state parameters, and send the adjusted deicing strategy to the robot end to continue to perform the deicing task.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory is used to store a computer program; and the processor is used to implement the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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