Method, system and insulated boom truck for controlling drive-to-dump operations of an insulated boom truck

Abstract

The embodiment of the application provides a kind of insulated bucket arm vehicle control drive adjusting the method, system and insulated bucket arm vehicle of battle operation, belong to the operation and maintenance technical field of transformer substation.The method comprises: the three-dimensional point cloud data map of the operation scene around insulated bucket is established by SLAM method;Map information and three-dimensional point cloud data map are matched to obtain the current position and current posture of insulated bucket relative to tower and conductor under world coordinate system;With the position and posture of tower and conductor as reference, the target position and target posture of insulated bucket to complete current work task are determined;According to target position and target posture, current position and current posture, the motion trajectory of each joint of insulated bucket is determined;According to motion trajectory, drive insulated bucket to complete motion trajectory;Target position and target posture are compared with current position and current posture of insulated bucket to calculate corresponding error amount;Whether error amount is greater than or equal to preset threshold is judged.

Description

Technical Field

[0001] This invention relates to the field of substation operation and maintenance technology, specifically to a method, system, and insulated bucket truck for controlling and driving bucket adjustment operations. Background Technology

[0002] With economic development, society's demands for continuous and reliable power supply are constantly increasing, requiring the power grid to achieve uninterrupted power transmission. Power supply equipment and lines require frequent inspection and maintenance during operation, and live-line working is an effective measure to avoid power outages and ensure normal power supply. The existing live-line maintenance method involves using an insulated bucket truck as a carrier, installing a working bucket on the truck's boom, and placing a live-line working robot inside the bucket to perform the work. However, current bucket trucks on the market cannot return to the three-dimensional coordinates of the bucket in space, nor can they achieve precise control to reach the target position, resulting in significant errors and impacts. Summary of the Invention

[0003] The purpose of this invention is to provide a method, system, and insulated bucket truck for controlling and driving bucket adjustment operations. This method, system, and insulated bucket truck can accurately control the insulated bucket to reach the target position.

[0004] To achieve the above objectives, embodiments of the present invention provide a method for controlling and driving bucket adjustment operations on an insulated bucket boom truck, comprising:

[0005] A 3D point cloud data map of the operating scene around the insulated bucket was established using the SLAM method.

[0006] The map information and the three-dimensional point cloud data map are matched to obtain the current position and attitude of the insulating bucket relative to the tower and the conductor in the world coordinate system.

[0007] With reference to the position and orientation of the tower and conductor, determine the target position and target orientation of the insulating bucket to complete the current work task;

[0008] The motion trajectory of each joint of the insulated bucket is determined based on the target position and target attitude, the current position and current attitude;

[0009] The insulated bucket is driven according to the motion trajectory to complete the motion trajectory;

[0010] The target position and target attitude are compared with the current position and current attitude of the insulated bucket to calculate the corresponding error.

[0011] Determine whether the error amount is greater than or equal to a preset threshold;

[0012] If the error is determined to be greater than or equal to the threshold, the process returns to matching the map information with the 3D point cloud data map to obtain the current position and current attitude of the insulating bucket relative to the tower and conductor in the world coordinate system, until the error is less than the threshold.

[0013] Optionally, determining the motion trajectory of each joint of the insulated bucket based on the target position and target attitude, the current position and current attitude includes:

[0014] A bucket truck coordinate system is established with the rotation center of the boom of the insulated bucket truck as the origin, the line connecting the rotation center and the rear direction of the truck as the x-axis, and the vertical direction as the z-axis.

[0015] Transform the current position and target position from the world coordinate system to the bucket truck coordinate system;

[0016] A spherical coordinate system is established with the rotation center of the boom of the insulated bucket truck as the origin;

[0017] Based on the current position in the bucket truck coordinate system, calculate the corresponding current radius, current elevation angle, current azimuth angle, and current tangent angle in the spherical coordinate system.

[0018] Based on the target position in the bucket truck coordinate system, the target radius, target elevation angle, target azimuth angle, and target tangent angle at the current position are calculated in the spherical coordinate system.

[0019] The motion trajectory is generated based on the current radius, current elevation angle, current azimuth angle, current tangent angle, target radius, target elevation angle, target azimuth angle, and target tangent angle.

[0020] Optionally, transforming the current position and target position from the world coordinate system to the bucket truck coordinate system includes:

[0021] The RANSAC algorithm is used to fit the tower and conductor into a straight line and transform it into the bucket truck coordinate system.

[0022] Optionally, generating the motion trajectory based on the current radius, current elevation angle, current azimuth angle, current tangent angle, target radius, target elevation angle, target azimuth angle, and target tangent angle includes:

[0023] The position and orientation of the insulating bucket are replaced by a pose vector;

[0024] The rotation and translation matrix between the current pose vector and the target pose vector of the insulating bucket is calculated according to formula (1).

[0025]

[0026] in, Let x be the target pose vector. t y t , z t The three-dimensional coordinates of the target location are: Let be the unit direction vector of the target attitude. Let x be the current pose vector. i y i , z i The three-dimensional coordinates of the current position are... Let be the unit direction vector of the current posture. It is a rotation and translation matrix;

[0027] The motion trajectory is determined based on the rotation and translation matrix using the Dynamic A* algorithm.

[0028] Optionally, generating the motion trajectory based on the current radius, current elevation angle, current azimuth angle, current tangent angle, target radius, target elevation angle, target azimuth angle, and target tangent angle includes:

[0029] Obtain the location information of the next obstacle;

[0030] Initialize the second rotation angle of the insulating bucket;

[0031] The path of the insulating bucket around the obstacle is calculated according to formulas (2) to (4).

[0032] x=a1·cosθ2·cosθ1+(a2+l4)·cosθ3·cosθ1, (2)

[0033] y=a1·cosθ2·sinθ1+(a2+l4)·cosθ3·sinθ1, (3)

[0034] z=a1·sinθ2+(a2+l4)·sinθ3, (4)

[0035] Where x, y, and z are the three-dimensional coordinates of the position of the insulating bucket, θ1 is the rotation angle of the first bucket arm of the insulating bucket close to the vehicle body, θ2 is the rotation angle of the second bucket arm connected to the end of the first bucket arm away from the vehicle body, θ3 is the rotation angle of the third bucket arm connected to the end of the second bucket arm away from the vehicle body, l4 is the extension length of the fourth bucket arm inserted into the third bucket arm, a1 is the length of the second bucket arm, and a2 is the length of the third bucket arm;

[0036] Determine whether a path can be found to bypass the obstacle;

[0037] If a path around the obstacle cannot be obtained at present, the second rotation angle is updated according to the preset angle step size, and the process returns to the step of calculating the path of the insulated bucket around the obstacle according to formulas (2) to (4).

[0038] Optionally, the target position and target attitude are compared with the current position and current attitude of the insulated bucket to calculate the corresponding error, including:

[0039] The error amount is calculated according to formula (5).

[0040]

[0041] Wherein, ΔP is the error quantity. Let x be the target pose vector. t y t , z t The three-dimensional coordinates of the target location are: Let be the unit direction vector of the target attitude. Let x, y, and z be the actual pose vector, and x, y, and z be the three-dimensional coordinates of the actual position. This is the unit direction vector of the actual attitude.

[0042] Optionally, determining whether the error amount is greater than or equal to a preset threshold includes:

[0043] The error amount is processed according to formulas (6) and (7).

[0044]

[0045]

[0046] Where Δx, Δy, and Δz are position errors, Δl, Δm, and Δn are attitude errors, Δθ1, Δθ2, Δθ3, Δθ4, Δθ5, and Δθ6 are the angle differences after the position and attitude errors are converted, J is the Jacobian matrix, and θ is the variable representation.

[0047] Optionally, determining whether the error amount is greater than or equal to a preset threshold includes:

[0048] Determine whether the maximum value of the angle difference is less than or equal to a preset angle threshold;

[0049] If the maximum value of the angle difference is less than or equal to the angle threshold, then the error amount is determined to be less than the threshold.

[0050] If the maximum value of the angle difference is greater than the angle threshold, the error amount is determined to be greater than or equal to the threshold.

[0051] On the other hand, the present invention also provides a system for controlling and driving bucket adjustment operations of an insulated bucket truck, the system including a controller connected to the insulated bucket truck for performing any of the methods described above.

[0052] In another aspect, the present invention also provides an insulated bucket truck, the insulated bucket truck comprising a vehicle body and a system as described above.

[0053] Through the above technical solution, the method, system, and insulated bucket truck control and driving operation method and system provided by the present invention generate the current pose and target pose by modeling the scene where the insulated bucket is located and combining map information, and finally calculate the motion path by using the current pose and target pose. Compared with the prior art, the method provided by the present invention obtains the motion path by combining pose calculation on the basis of high-precision modeling, overcomes the defect of insufficient accuracy of motion trajectory algorithms in the prior art, and improves the control accuracy of the bucket truck.

[0054] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0055] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0056] Figure 1 This is a flowchart of a method for controlling and driving bucket adjustment operations of an insulated bucket truck according to an embodiment of the present invention;

[0057] Figure 2 This is a partial flowchart of a method for controlling and driving bucket adjustment operations of an insulated bucket truck according to an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of the rotation center of an insulated bucket truck according to one embodiment of the present invention;

[0059] Figure 4 This is a partial flowchart of a method for controlling and driving bucket adjustment operations of an insulated bucket truck according to an embodiment of the present invention;

[0060] Figure 5 This is a three-dimensional view of an insulated bucket truck according to one embodiment of the present invention;

[0061] Figure 6 This is a partial flowchart of a method for controlling and driving bucket adjustment operations of an insulated bucket truck according to an embodiment of the present invention. Detailed Implementation

[0062] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0063] In embodiments of the present invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used to describe the relative positional relationships of components in relation to the directions shown in the accompanying drawings or in relation to the vertical, perpendicular, or gravitational directions.

[0064] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0065] like Figure 1 The diagram shows a flowchart of a method for controlling and driving bucket adjustment operations on an insulated bucket truck according to an embodiment of the present invention. Figure 1 In this context, the method may include:

[0066] In step S10, a three-dimensional point cloud data map of the working scene around the insulated bucket is established using the SLAM method;

[0067] In step S11, the map information and the 3D point cloud data map are matched to obtain the current position and current attitude of the insulating bucket relative to the tower and the conductor in the world coordinate system.

[0068] In step S12, the target position and target orientation of the insulating bucket to complete the current work task are determined with reference to the position and orientation of the tower and the conductor.

[0069] In step S13, the motion trajectory of each joint of the insulating bucket is determined based on the target position and target attitude, the current position and current attitude;

[0070] In step S14, the insulating bucket is driven according to the motion trajectory to complete the motion trajectory;

[0071] In step S15, the target position and target attitude are compared with the current position and current attitude of the insulating bucket to calculate the corresponding error amount;

[0072] In step S16, it is determined whether the error amount is greater than or equal to a preset threshold.

[0073] If the error is greater than or equal to the threshold, return to the step of matching the map information and the 3D point cloud data map to obtain the current position and attitude of the insulated bucket relative to the tower and the conductor in the world coordinate system, until the error is less than the threshold, then return to the step S11.

[0074] In Figure 1 In this process, step S10 can be used to complete high-precision 3D modeling, that is, to establish a 3D point cloud data map using the SLAM method, so that the calculation of position, trajectory, etc. in subsequent steps can be performed under high-precision requirements. Steps S11 and S12 are mainly used to determine the current position, current attitude, target position, and target attitude, thereby facilitating the generation of subsequent motion trajectories.

[0075] While the method for generating the motion trajectory in step S13 can be of various kinds known to those skilled in the art, in a preferred embodiment of the present invention, the method for generating the motion trajectory may include, for example: Figure 2 The steps shown are described in this. Figure 2 In this context, the method may include:

[0076] In step S20, a bucket truck coordinate system is established with the rotation center of the boom of the insulated bucket truck as the origin, the line connecting the rotation center and the rear direction of the truck as the x-axis, and the vertical direction as the z-axis.

[0077] In step S21, the current position and target position are transformed from the world coordinate system to the bucket truck coordinate system;

[0078] In step S22, a spherical coordinate system is established with the rotation center of the boom of the insulated bucket truck as the origin;

[0079] In step S23, the current radius, current elevation angle, current azimuth angle, and current tangent angle of the current position are calculated in the spherical coordinate system based on the current position in the bucket truck coordinate system.

[0080] In step S24, the target radius, target elevation angle, target azimuth angle, and target tangent angle at the current position are calculated in the spherical coordinate system based on the target position in the bucket truck coordinate system.

[0081] In step S25, a motion trajectory is generated based on the current radius, current elevation angle, current azimuth angle, current tangent angle, target radius, target elevation angle, target azimuth angle, and target tangent angle.

[0082] In Figure 2In step S20, a bucket truck coordinate system is established with the insulated bucket truck as the origin. The rotation center position of the insulated bucket truck's boom is as follows: Figure 3 As shown. Steps S21 to S24 involve coordinate system transformation to achieve position conversion, thus facilitating the generation of the motion trajectory in step S25. Furthermore, since the tower and conductor are a single entity in the 3D point cloud data map, their edges are generally difficult to capture during actual calculations. Therefore, in step S21, the RANSAC algorithm can first be used to fit the tower and conductor into a straight line, and then this straight line can be transformed into the bucket truck coordinate system.

[0083] The specific method for generating the motion trajectory in step S25 can be as follows: first, the position and attitude of the insulated bucket can be replaced by a pose vector; then, the rotation and translation matrix between the current pose vector and the target pose vector of the insulated bucket can be calculated according to formula (1).

[0084]

[0085] in, Let x be the target pose vector. t y t , z t The three-dimensional coordinates of the target location. Let be the unit direction vector of the target attitude. Let x be the current pose vector. i y i , z i The three-dimensional coordinates of the current position. This is the unit direction vector of the current attitude. The rotation and translation matrix is ​​used; finally, the motion trajectory is determined based on the rotation and translation matrix using the Dynamic A* algorithm.

[0086] Furthermore, considering that other poles or conductors may exist as obstacles on site during construction, the positions of these obstacles need to be taken into account when generating the motion trajectory. Therefore, the method for generating the motion trajectory may also include, for example... Figure 4 The steps shown are described in this. Figure 4 In this context, methods for generating the motion trajectory may include:

[0087] In step S30, the location information of the next obstacle is obtained;

[0088] In step S31, the second rotation angle of the insulating bucket is initialized;

[0089] In step S32, the path for the insulating bucket to bypass the obstacle is calculated according to formulas (2) to (4).

[0090] x=a1·cosθ2·cosθ1+(a2+l4)·cosθ3·cosθ1, (2)

[0091] y=a1·cosθ2·sinθ1+(a2+l4)·cosθ3·sinθ1, (3)

[0092] z=a1·sinθ2+(a2+l4)·sinθ3, (4)

[0093] Where x, y, and z are the three-dimensional coordinates of the position of the insulating bucket, θ1 is the rotation angle of the first bucket arm close to the vehicle body, θ2 is the rotation angle of the second bucket arm connected to the end of the first bucket arm away from the vehicle body, θ3 is the rotation angle of the third bucket arm connected to the end of the second bucket arm away from the vehicle body, l4 is the extension length of the fourth bucket arm inserted into the third bucket arm, a1 is the length of the second bucket arm, and a2 is the length of the third bucket arm.

[0094] In step S33, it is determined whether a path can be obtained to bypass the obstacle;

[0095] In step S34, if a path around the obstacle cannot be obtained at present, the second rotation angle is updated according to the preset angle step size, and the process returns to the step of calculating the path around the obstacle by the insulated bucket according to formulas (2) to (4), that is, the process returns to step S32.

[0096] like Figure 4 The specific positions of the first rotation angle, second rotation angle, third rotation angle, and extension length mentioned in the text correspond to the following in sequence: Figure 5 The corresponding positions are 1, 2, 3, and 4. The positions of the first, second, third, and fourth bucket arms are as follows: Figure 5 The locations shown are 01, 02, 03, and 04. Formulas (2) to (4) are essentially mathematical model representations of the actual position of the insulated bucket. Given a determined second rotation angle, if a corresponding path can be obtained through calculation, that path can be directly used to control the insulated bucket. Conversely, if a corresponding path cannot be obtained, it indicates that the second rotation angle needs adjustment. Therefore, step S34 can be used to update the second rotation angle, and the calculation can be repeated until the path is found.

[0097] After generating the motion trajectory in step S13, the movement of the insulated bucket can be further controlled according to the generated trajectory in step S14. However, considering that in actual construction, factors such as calculation deviations and control margins may cause the insulated bucket to fail to fully reach the target position or complete the attitude transition, steps S15 and S16 are needed to determine whether the current position of the insulated bucket meets the construction requirements. Specifically, steps S15 and S16 may include, for example... Figure 6 The steps shown are described in this. Figure 6 In this context, steps S15 and S16 may include:

[0098] In step S40, the error amount is calculated according to formula (5).

[0099]

[0100] Where ΔP is the error amount. Let x be the target pose vector. t y t , z t The three-dimensional coordinates of the target location. Let be the unit direction vector of the target attitude. Let x, y, and z be the actual pose vector, and x, y, and z be the three-dimensional coordinates of the actual position. This is the unit direction vector of the actual attitude.

[0101] In step S41, the error amount is processed according to formulas (6) and (7).

[0102]

[0103]

[0104] Where Δx, Δy, and Δz are position errors, Δl, Δm, and Δn are attitude errors, Δθ1, Δθ2, Δθ3, Δθ4, Δθ5, and Δθ6 are the angle differences after the conversion of position and attitude errors, J is the Jacobian matrix, and θ is the variable representation.

[0105] In step S42, it is determined whether the maximum value of the angle difference is less than or equal to a preset angle threshold.

[0106] In step S43, if the maximum value of the angle difference is less than or equal to the angle threshold, it is determined that the error amount is less than the threshold.

[0107] In step S44, if the maximum value of the angle difference is greater than the angle threshold, the error amount is determined to be greater than or equal to the threshold.

[0108] On the other hand, the present invention also provides a system for controlling and driving bucket adjustment operations of an insulated bucket truck, the system including a controller connected to the insulated bucket truck for performing any of the methods described above.

[0109] In another aspect, the present invention also provides an insulated bucket truck, the insulated bucket truck comprising a vehicle body and a system as described above.

[0110] Through the above technical solution, the method, system, and insulated bucket truck control and driving operation method and system provided by the present invention generate the current pose and target pose by modeling the scene where the insulated bucket is located and combining map information, and finally calculate the motion path by using the current pose and target pose. Compared with the prior art, the method provided by the present invention obtains the motion path by combining pose calculation on the basis of high-precision modeling, overcomes the defect of insufficient accuracy of motion trajectory algorithms in the prior art, and improves the control accuracy of the bucket truck.

[0111] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0115] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0116] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0117] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0118] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0119] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling and driving bucket adjustment operations on an insulated bucket boom truck, characterized in that, The method includes: A 3D point cloud data map of the operating scene around the insulated bucket was established using the SLAM method. The map information and the three-dimensional point cloud data map are matched to obtain the current position and attitude of the insulating bucket relative to the tower and the conductor in the world coordinate system. With reference to the position and orientation of the tower and conductor, determine the target position and target orientation of the insulating bucket to complete the current work task; The motion trajectory of each joint of the insulated bucket is determined based on the target position and target attitude, the current position and current attitude; The insulated bucket is driven according to the motion trajectory to complete the motion trajectory; The target position and target attitude are compared with the current position and current attitude of the insulated bucket to calculate the corresponding error. Determine whether the error amount is greater than or equal to a preset threshold; If the error is determined to be greater than or equal to the threshold, the process returns to matching the map information with the 3D point cloud data map to obtain the current position and current attitude of the insulating bucket relative to the tower and conductor in the world coordinate system, until the error is less than the threshold. Determining the motion trajectory of each joint of the insulated bucket based on the target position and target attitude, the current position and current attitude includes: A bucket truck coordinate system is established with the rotation center of the boom of the insulated bucket truck as the origin, the line connecting the rotation center and the rear direction of the truck as the x-axis, and the vertical direction as the z-axis. Transform the current position and target position from the world coordinate system to the bucket truck coordinate system; A spherical coordinate system is established with the rotation center of the boom of the insulated bucket truck as the origin; Based on the current position in the bucket truck coordinate system, calculate the corresponding current radius, current elevation angle, current azimuth angle, and current tangent angle in the spherical coordinate system. Based on the target position in the bucket truck coordinate system, the target radius, target elevation angle, target azimuth angle, and target tangent angle at the current position are calculated in the spherical coordinate system. The motion trajectory is generated based on the current radius, current elevation angle, current azimuth angle, current tangent angle, target radius, target elevation angle, target azimuth angle, and target tangent angle. The motion trajectory is generated based on the current radius, current elevation angle, current azimuth angle, current tangent angle, target radius, target elevation angle, target azimuth angle, and target tangent angle, including: The position and orientation of the insulating bucket are replaced by a pose vector; The rotation and translation matrix between the current pose vector and the target pose vector of the insulating bucket is calculated according to formula (1). ，（1） in, Let be the target pose vector. The three-dimensional coordinates of the target location are: Let be the unit direction vector of the target attitude. The current pose vector, The three-dimensional coordinates of the current position are... Let be the unit direction vector of the current posture. It is a rotation and translation matrix; According to Dynamic A The algorithm determines the motion trajectory based on the rotation and translation matrix; The motion trajectory is generated based on the current radius, current elevation angle, current azimuth angle, current tangent angle, target radius, target elevation angle, target azimuth angle, and target tangent angle, including: Obtain the location information of the next obstacle; Initialize the second rotation angle of the insulating bucket; The path of the insulating bucket around the obstacle is calculated according to formulas (2) to (4). ，（2） ，（3） ，（4） in, , , Let be the three-dimensional coordinates of the position of the insulating bucket. The rotation angle of the first bucket arm of the insulated bucket near the vehicle body. The rotation angle of the insulating bucket and the second bucket arm, which is connected to the end of the first bucket arm away from the vehicle body. The rotation angle of the third bucket arm, which connects the insulating bucket to the end of the second bucket arm furthest from the vehicle body. The extension length of the fourth bucket arm inserted into the third bucket arm. The length of the second bucket arm. This refers to the length of the third bucket arm; Determine whether a path can be found to bypass the obstacle; If a path around the obstacle cannot be obtained at present, the second rotation angle is updated according to the preset angle step size, and the process returns to the step of calculating the path around the obstacle by the insulated bucket according to formulas (2) to (4).

2. The method according to claim 1, characterized in that, Transforming the current position and target position from the world coordinate system to the boom truck coordinate system includes: The RANSAC algorithm is used to fit the tower and conductor into a straight line and transform it into the bucket truck coordinate system.

3. The method according to claim 1, characterized in that, The target position and target attitude are compared with the current position and current attitude of the insulated bucket to calculate the corresponding error, including: The error amount is calculated according to formula (5). - ，（5） in, The error amount, Let be the target pose vector. The three-dimensional coordinates of the target location are: Let be the unit direction vector of the target attitude. This is the actual pose vector. These are the three-dimensional coordinates of the actual location. This is the unit direction vector of the actual attitude.

4. The method according to claim 3, characterized in that, Determining whether the error amount is greater than or equal to a preset threshold includes: The error amount is processed according to formulas (6) and (7). ，（6） ，（7） in, , , For positional error, , , For attitude error, , , , , , The angle difference is the result of converting the position error and attitude error. It is a Jacobian matrix. This is the representation of the variable.

5. The method according to claim 4, characterized in that, Determining whether the error amount is greater than or equal to a preset threshold includes: Determine whether the maximum value of the angle difference is less than or equal to a preset angle threshold; If the maximum value of the angle difference is less than or equal to the angle threshold, then the error amount is determined to be less than the threshold. If the maximum value of the angle difference is greater than the angle threshold, the error amount is determined to be greater than or equal to the threshold.

6. A system for controlling and driving bucket adjustment operations on an insulated bucket boom truck, characterized in that, The system includes a controller connected to an insulated bucket truck for performing the method as described in any one of claims 1 to 5.

7. An insulated bucket truck, characterized in that, The insulated bucket truck includes a vehicle body and the system as described in claim 6.

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