Fully automatic operation and maintenance method, device, medium and robot for transmission angle steel tower foot

Abstract

The present invention belongs to the technical field of operation and maintenance of the tower foot of a power transmission angle steel tower. In order to solve the problem that the existing technology cannot guarantee the efficiency and quality of welding operations, a fully automatic operation and maintenance method, device, medium and robot for the tower foot of a power transmission angle steel tower are provided. Among them, the fully automatic operation and maintenance method for the tower foot of a power transmission angle steel tower includes constructing a current stress cloud map of the tower foot of the power transmission angle steel tower; comparing the current stress cloud map of the tower foot of the power transmission angle steel tower with the standard stress cloud map to obtain the reinforcement position and reinforcement range of the tower foot of the power transmission angle steel tower, and then determining the shape and welding path of the matching welded parts; according to the determined shape and welding path of the welded parts, a corresponding welding command is formed and sent to the welding execution terminal to control the welding execution terminal to execute the welding command; in the process of executing the welding command at the welding execution terminal, a real-time welding image is obtained to further judge the current welding quality, and then the welding command is adjusted in real time, thereby realizing the fully automatic operation and maintenance of the tower foot of the power transmission angle steel tower.

Description

Technical Field

[0001] The present invention belongs to the technical field of operation and maintenance of power transmission angle steel tower feet, and in particular relates to a fully automatic operation and maintenance method, device, medium and robot for power transmission angle steel tower feet. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Transmission angle steel towers are important power facilities that carry overhead transmission lines. Among them, the tower feet of transmission angle steel towers need to meet the load requirements of the entire transmission angle steel tower and the overhead transmission lines it carries. During long-term service, a large number of transmission angle steel tower feet are partially or completely buried by soil, debris, etc., resulting in corrosion of the main materials of the tower feet, boots and other related components. Severe corrosion poses a risk of endangering the safe and stable operation of the power grid. At present, for the maintenance of the tower feet of in-service transmission angle steel towers, professional maintenance personnel are generally required to regularly arrive at the tower feet of the transmission angle steel tower for on-site inspections; then, reinforcement measures are determined based on the results of the on-site inspections. The current on-site welding of the tower feet of the transmission angle steel tower reinforcement does not take into account the actual shape and size of the tower foot structure, which may cause the welding execution terminal to collide with the diagonal material during the automatic welding process. It is necessary to combine on-site teaching to determine the welding path, and there is no real-time monitoring of the welding process, which cannot guarantee the efficiency and quality of the welding operation. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a fully automatic operation and maintenance method, device, medium and robot for the tower foot of a power transmission angle steel tower, which can realize the fully automatic operation and maintenance of the tower foot of a power transmission angle steel tower and ensure the efficiency and quality of welding operations.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A first aspect of the present invention provides a fully automatic operation and maintenance method for the tower foot of a power transmission angle steel tower.

[0007] In one or more embodiments, a fully automatic operation and maintenance method for a transmission angle steel tower foot is provided, comprising:

[0008] Obtain the current stress monitoring data of the tower foot of the transmission angle steel tower, and construct the current stress cloud map of the tower foot of the transmission angle steel tower in combination with the structural parameters of the transmission angle steel tower;

[0009] Compare the current stress cloud map of the tower foot of the transmission angle steel tower with the standard stress cloud map to determine the weak stress area of ​​the tower foot of the transmission angle steel tower, which is used as the reinforcement position and reinforcement range;

[0010] According to the reinforcement position and reinforcement range of the transmission angle steel tower foot, determine the shape and welding path of the matching welded parts;

[0011] According to the determined shape of the welded part and the welding path, a corresponding welding command is generated and sent to the welding execution terminal to control the welding execution terminal to execute the welding command;

[0012] The welding command process is executed at the welding execution terminal, a real-time welding image is acquired and the current welding quality is further determined, and the welding command is adjusted in real time according to the current welding quality so that the welding quality meets the set quality requirements.

[0013] As an implementation method, the process of determining the welding path of the welded part is:

[0014] According to the reinforcement position and reinforcement range of the tower foot of the transmission angle steel tower, determine the number of straight welding tracks included in the welding path, the coordinates of the welding start point and the welding end point of each straight welding track, the starting point and the end point of the obstacle on each straight welding track, and the distance between the obstacle and the welding surface;

[0015] The length and direction of each linear welding trajectory are determined according to the coordinates of the welding start point and the welding end point of each linear welding trajectory.

[0016] As an implementation method, the formation process of the welding command is as follows:

[0017] According to the length and direction of each linear welding trajectory, the welding strategy is retrieved from the preset expert library;

[0018] Determine the allowable welding space size based on the starting and ending points of the obstacles on each straight welding trajectory and the distance between the obstacles and the welding surface;

[0019] According to the allowable welding space size, the welding trajectory and sequence in the welding strategy are adjusted to obtain the adjusted welding strategy and transform it into a welding command.

[0020] As an implementation method, if the distance from the lowest point of the obstacle to the welding surface is less than the minimum height of the welding execution terminal when it is working, or the inclined welding distance of the welding execution terminal is less than the distance from the obstacle to the corresponding welding end point, the starting point of the welding obstacle is used as the welding end point of the corresponding straight welding trajectory, and the straight welding trajectory where the obstacle is located is split into two straight welding trajectories.

[0021] As an implementation mode, before determining the welding path of the welded part, the coordinate system of the welding execution terminal is also calibrated.

[0022] As an implementation method, a pre-trained welding quality evaluation network is used to process real-time welding images to obtain corresponding welding quality scores; wherein the training sample set of the welding quality evaluation network is: welding images marked with welding quality scores.

[0023] As an implementation method, if the current welding quality meets the set quality requirements, the welding command remains unchanged; if the current welding quality does not meet the set quality requirements, the welding command is adjusted so that the welding path always tracks the reinforcement position and covers the reinforcement range.

[0024] A second aspect of the present invention provides a fully automatic operation and maintenance device for the tower foot of a power transmission angle steel tower.

[0025] In one or more embodiments, a fully automatic operation and maintenance device for a transmission angle steel tower foot includes:

[0026] A stress cloud map construction module is used to obtain the current stress monitoring data of the tower foot of the transmission angle steel tower, and to construct the current stress cloud map of the tower foot of the transmission angle steel tower in combination with the structural parameters of the transmission angle steel tower;

[0027] A reinforcement determination module is used to compare the current stress cloud map of the tower foot of the transmission angle steel tower with the standard stress cloud map to determine the weak stress area of ​​the tower foot of the transmission angle steel tower, which is used as the reinforcement position and reinforcement range;

[0028] A welding part determination module is used to determine the shape and welding path of the matching welding parts according to the reinforcement position and reinforcement range of the tower foot of the transmission angle steel tower;

[0029] A welding command forming module, which is used to form a corresponding welding command according to the determined shape of the welded part and the welding path, and send it to the welding execution terminal to control the welding execution terminal to execute the welding command;

[0030] The welding command adjustment module is used to execute the welding command process at the welding execution terminal, obtain real-time welding images and further judge the current welding quality, and adjust the welding command in real time according to the current welding quality so that the welding quality meets the set quality requirements.

[0031] A third aspect of the present invention provides a computer-readable storage medium.

[0032] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in the above-mentioned fully automatic operation and maintenance method for the tower foot of a power transmission angle steel tower.

[0033] A fourth aspect of the present invention provides a robot.

[0034] A robot comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the above-mentioned fully automatic operation and maintenance method for the tower foot of a power transmission angle steel tower are implemented.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] (1) The present invention utilizes the current stress monitoring data of the tower foot of the transmission angle steel tower to construct the current stress cloud map of the tower foot of the transmission angle steel tower, thereby avoiding the need for professional maintenance personnel to regularly arrive at the tower foot of the transmission angle steel tower for on-site inspection, thereby improving the operation and maintenance efficiency of the tower foot of the transmission angle steel tower; and based on the comparison result between the current stress cloud map of the tower foot of the transmission angle steel tower and the standard stress cloud map, the reinforcement position and reinforcement range are determined, and then the shape and welding path of the matching welded parts are determined and the corresponding welding commands are formed, thereby realizing the fully automatic operation and maintenance of the tower foot of the transmission angle steel tower and ensuring the efficiency of the welding operation.

[0037] (2) The present invention also performs welding quality judgment on the real-time welding image during the welding command execution process of the welding execution terminal, which serves as the principle for adjusting the welding command. While realizing the fully automatic operation and maintenance of the tower foot of the transmission angle steel tower, the quality of the welding operation is also guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0039] Figure 1 It is a flow chart of a fully automatic operation and maintenance method for a transmission angle steel tower foot according to an embodiment of the present invention;

[0040] Figure 2 is a schematic diagram of a process of determining a welding path of a welded part according to an embodiment of the present invention;

[0041] Figure 3 is a schematic diagram of a forming process of a welding command according to an embodiment of the present invention;

[0042] Figure 4 It is a structural schematic diagram of a fully automatic operation and maintenance device for a power transmission angle steel tower foot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0044] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0046] Figure 1 : is a flow chart of a fully automatic operation and maintenance method for a transmission angle steel tower foot in an embodiment of the present invention, such as Figure 1 The fully automatic operation and maintenance method for the tower foot of the power transmission angle steel tower in the embodiment shown may include:

[0047] S101, obtaining current stress monitoring data of the tower foot of the transmission angle steel tower, and constructing a current stress cloud map of the tower foot of the transmission angle steel tower in combination with structural parameters of the transmission angle steel tower;

[0048] S102, comparing the current stress cloud map of the tower foot of the transmission angle steel tower with the standard stress cloud map, and determining the weak stress area of ​​the tower foot of the transmission angle steel tower, which is used as the reinforcement position and reinforcement range;

[0049] S103, determining the shape and welding path of the matching welded parts according to the reinforcement position and reinforcement range of the tower foot of the transmission angle steel tower;

[0050] S104, generating a corresponding welding command according to the determined shape of the welded part and the welding path and sending the command to the welding execution terminal to control the welding execution terminal to execute the welding command;

[0051] S105, executing the welding command process at the welding execution terminal, acquiring a real-time welding image and further determining the current welding quality, and adjusting the welding command in real time according to the current welding quality so that the welding quality meets the set quality requirements.

[0052] This embodiment uses the current stress monitoring data of the transmission angle steel tower foot to construct the current stress cloud map of the transmission angle steel tower foot, avoiding the need for professional maintenance personnel to regularly arrive at the transmission angle steel tower foot site for on-site inspection, thereby improving the operation and maintenance efficiency of the transmission angle steel tower foot; and based on the comparison result of the current stress cloud map of the transmission angle steel tower foot with the standard stress cloud map, the reinforcement position and reinforcement range are determined, and then the shape and welding path of the matching welded parts are determined and the corresponding welding commands are formed, thereby realizing the full-automatic operation and maintenance of the transmission angle steel tower foot and ensuring the efficiency of the welding operation; this embodiment also performs welding quality judgment on the real-time welding image during the process of executing the welding command at the welding execution terminal, as a principle for adjusting the welding command, thereby realizing the full-automatic operation and maintenance of the transmission angle steel tower foot while ensuring the quality of the welding operation.

[0053] In step S101, the current stress monitoring data of the tower foot of the power transmission angle steel tower can be collected by using a stress sensor preset at a set position of the tower foot of the power transmission angle steel tower.

[0054] The structural parameters of the transmission angle steel tower are known data and can be directly retrieved from the pre-set database.

[0055] In step S102, the construction process of the standard stress cloud map is as follows:

[0056] Obtain standard stress monitoring data of transmission angle steel tower feet;

[0057] Based on the structural parameters of the transmission angle steel tower and the standard stress monitoring data, a standard stress cloud map is constructed.

[0058] In the process of comparing the current stress cloud map of the tower foot of the transmission angle steel tower with the standard stress cloud map, if at the same position, the difference between the former and the latter exceeds the set difference threshold range, the weak stress area of ​​the tower foot of the transmission angle steel tower is determined, which is used as the reinforcement position and reinforcement range.

[0059] The difference threshold range here can be obtained by preliminary test or finite element analysis calculation based on different models of transmission angle steel tower feet, and the process can be achieved by using existing technology, which will not be described in detail here. In addition, the number of weak stress areas can be one or more.

[0060] In step S103, refer to Figure 2 A schematic diagram of the process of determining the welding path of a welded part is given. The process of determining the welding path of a welded part is as follows:

[0061] S201, according to the reinforcement position and reinforcement range of the tower foot of the transmission angle steel tower, determine the number of straight welding tracks included in the welding path, the coordinates of the welding start point and the welding end point of each straight welding track, the starting point and the end point of the obstacle on each straight welding track, and the distance between the obstacle and the welding surface;

[0062] S202, determining the length and direction of each linear welding trajectory according to the welding start point coordinates and the welding end point coordinates of each linear welding trajectory.

[0063] It can be understood that in step S201, the obstacle may be an additional cross beam or inclined beam provided at a position such as a tower foot of the tower foot, or other obstacles that may affect welding.

[0064] In the current on-site automatic welding method for the tower foot of the transmission angle steel tower, when welding the tower foot, multiple straight welding segments are determined for different welding positions on the tower foot. During welding, each straight welding segment is welded separately in a certain order. Therefore, each straight welding segment has a corresponding welding start point and welding end point, and each straight welding segment has a corresponding length and direction.

[0065] In some embodiments, before determining the welding path of the welded part, the coordinate system of the welding execution terminal is also calibrated.

[0066] Specifically, the process of calibrating the coordinate system of the welding execution terminal includes:

[0067] Select a fixed point in the space where the welding execution terminal is located, and move the welding execution terminal to the fixed point in three different postures;

[0068] Move the welding execution terminal vertically to the fixed point, keep the vertical posture unchanged, and use the base coordinate movement to move a preset distance in the horizontal direction to obtain the X-axis direction of the welding execution terminal coordinate system;

[0069] Return to the fixed point, move vertically upward a preset distance, and determine the Z-axis direction of the welding execution terminal coordinate system.

[0070] When welding each tower foot of the transmission angle steel tower, one or more of flat welding, vertical welding, horizontal welding and inclined welding are included; optionally, in the welding methods involved in flat welding, vertical welding, horizontal welding and inclined welding, the welding execution terminal is controlled to move the welding execution terminal to the welding start point and welding end point of each welding method respectively, and all the welding start point coordinates and welding end point coordinates are determined in the determined coordinate system.

[0071] In some optional embodiments, the welding execution terminal is moved to both ends of the obstacle along the weld direction, and then the starting point coordinates and the end point coordinates are determined in a determined coordinate system.

[0072] The process for determining the distance of the obstacle from the welding surface is:

[0073] Move the welding execution terminal to a point on the obstacle surface respectively , and a point on the weld surface , try to ensure that the line between the two points is perpendicular to the weld surface; then determine the coordinates of the two points in the determined coordinate system; and calculate the distance of the obstacle from the weld surface through the coordinates of the two points : .

[0074] In step S202, according to the coordinates of all welding starting points and the welding end point coordinates , determine the number, length and direction of welding tracks.

[0075] Optionally, the number of welding start points and welding end points is equal, the number of welding tracks is equal to the number of welding start points, the length of the welding track is equal to the distance between the welding start point and the welding end point in the welding track, and the welding direction is the direction from the welding start point to the welding end point in the welding track. for: ;

[0076] in, , is the number of welding tracks.

[0077] All welding trajectories can be regarded as straight lines; the welding direction can be determined by connecting the coordinates of the welding start point and the welding end point on the same welding trajectory, relative to the coordinate system. X Axis and Y The angle between the planes where the axes lie is determined.

[0078] In step S104, Figure 3 Schematic diagram of the formation process of welding commands. The formation process of welding commands includes:

[0079] S301, calling up welding strategies from a preset expert library according to the length and direction of each linear welding trajectory.

[0080] Among them, the expert library stores welding strategies that meet the needs of various welding trajectory quantities, lengths and directions.

[0081] The expert database stores the historical welding data, the corresponding welding procedures and quality, etc. If the size and welding parameters of the tower foot to be welded are known, the welding procedures and instructions in the expert database can be directly called to avoid the problem of increasing the workload of on-site welding instructions and program adjustments. Specifically, the expert database is searched for the welding track number, length and direction, and the corresponding welding strategy is found when they are the same as the welding track number, length and direction determined for the tower foot to be welded;

[0082] First, the expert database selects welding strategies with equal numbers of welding trajectories, then selects welding strategies with equal lengths of the welding trajectories from the remaining welding strategies, and finally selects welding strategies with the same directions of the welding trajectories; if the number of welding trajectories is unequal, the welding joint is re-planned, and the welding process is saved as a new welding strategy in the expert database, otherwise the lengths of the welding trajectories are continued to be compared; if the length difference of the welding trajectories is greater than a preset length error value, the welding joint is re-planned, and the welding process is saved as a new welding strategy in the expert database, otherwise the directions of the welding trajectories are continued to be compared; if the difference in the direction angles of the welding trajectories is greater than a preset angle error value, the welding joint is re-planned, and the welding process is saved as a new welding strategy in the expert database.

[0083] It should be noted that when the processing or installation errors are small, it will not affect welding; therefore, when judging the number, length and direction of welding tracks, they are compared with the preset errors. Only when they are greater than the preset errors, it is assumed that it will affect the welding quality. At this time, it is necessary to readjust the welding parameters and instructions, etc., avoiding unnecessary operations of readjusting the welding parameters and instructions, etc.

[0084] With the continuous updating of the expert database, the historical data in the expert database continues to increase, and the pressure of screening welding strategies increases. If the number, length and direction of welding tracks are compared in sequence each time, it will take up more comparison processing time, affecting welding efficiency. In order to solve the problem that data comparison affects welding efficiency, in this embodiment, for all welding strategies pre-stored in the expert database, a recommendation coefficient is determined according to the number, length and direction of welding tracks; a comparison coefficient is determined according to the number, length and direction of welding tracks determined by the tower foot to be welded; the welding strategies whose absolute value of the difference between the recommendation coefficient and the comparison coefficient in the expert database exceeds the preset range are first deleted, and then the number, length and direction of welding tracks are compared.

[0085] Specifically, by comparing the difference between the recommended coefficient and the comparison coefficient, most of the welding strategies that do not meet the requirements can be deleted, and then the number, length and direction of welding tracks can be compared in sequence, ensuring the data processing speed. On the basis of ensuring welding efficiency, the accuracy of welding strategy screening can be guaranteed.

[0086] The optional calculation of the recommendation coefficient and the comparison coefficient is: ;

[0087] in, is the recommended parameter, or comparison coefficient; is the number of welding tracks; is the length, which is the length of the welding start point coordinate and the welding end point coordinate, where , is the number of welding tracks; For direction; , and is the weight, which can be adjusted in real time according to the actual situation. , , .

[0088] In one of the embodiments, the number and direction of the welding tracks are equal, but the lengths are not equal. In this case, it is determined that there is an error in the processing or installation of the angle steel. In this case, there is no need to adjust the welding instructions on site. When calling the welding instructions in the expert library, it is only necessary to add or subtract the length difference in the welding track of the instruction, thereby avoiding the operation of the teaching pendant and improving welding efficiency.

[0089] S302, determining the allowable welding space size according to the starting point and the end point of the obstacle on the welding trajectory and the distance between the obstacle and the welding surface.

[0090] S303, adjusting the welding trajectory and sequence in the welding strategy according to the allowable welding space size, obtaining the adjusted welding strategy and converting it into a welding command.

[0091] If the distance from the lowest point of the obstacle to the welding surface is less than the minimum height of the welding execution terminal, or the inclined welding distance of the welding execution terminal is less than the distance from the obstacle to the corresponding welding end point, the starting point of the welding obstacle is used as the welding end point of the corresponding straight welding track, and the straight welding track where the obstacle is located is split into two straight welding tracks. This improves the welding strength at the obstacle.

[0092] In step S105, the real-time welding image is processed using a pre-trained welding quality evaluation network to obtain a corresponding welding quality score; wherein the training sample set of the welding quality evaluation network is: welding images marked with welding quality scores.

[0093] The welding quality evaluation network here can be implemented using an existing neural network architecture, and those skilled in the art can make specific choices based on actual conditions.

[0094] Specifically, if the current welding quality meets the set quality requirements, the welding command remains unchanged; if the current welding quality does not meet the set quality requirements, the welding command is adjusted so that the welding path always tracks the reinforcement position and covers the reinforcement range.

[0095] Figure 4 Schematic diagram of the structure of a fully automatic operation and maintenance device for the tower foot of a power transmission angle steel tower according to an embodiment of the present invention. Figure 1 The automatic operation and maintenance method of the transmission angle steel tower foot corresponds to the following: Figure 4As shown, the fully automatic operation and maintenance device for the tower foot of the power transmission angle steel tower in this embodiment may include:

[0096] A stress cloud map construction module 401 is used to obtain current stress monitoring data of the tower foot of the transmission angle steel tower, and to construct a current stress cloud map of the tower foot of the transmission angle steel tower in combination with the structural parameters of the transmission angle steel tower;

[0097] A reinforcement determination module 402 is used to compare the current stress cloud map of the tower foot of the transmission angle steel tower with the standard stress cloud map to determine the weak stress area of ​​the tower foot of the transmission angle steel tower, which is used as the reinforcement position and reinforcement range;

[0098] The welding part determination module 403 is used to determine the shape and welding path of the matching welding parts according to the reinforcement position and reinforcement range of the tower foot of the transmission angle steel tower;

[0099] A welding command forming module 404, which is used to form a corresponding welding command according to the determined shape of the welded part and the welding path and send it to the welding execution terminal to control the welding execution terminal to execute the welding command;

[0100] The welding command adjustment module 405 is used to execute the welding command process at the welding execution terminal, obtain real-time welding images and further judge the current welding quality, and adjust the welding command in real time according to the current welding quality so that the welding quality meets the set quality requirements.

[0101] It should be noted here that Figure 4 Each module in the fully automatic operation and maintenance device of the transmission angle steel tower foot is Figure 1 The various steps in the fully automatic operation and maintenance method of the transmission angle steel tower foot correspond one to one, and the specific implementation process is the same, so it will not be repeated here.

[0102] In one or more embodiments, a robot includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, Figure 1 Steps in the fully automatic operation and maintenance method of the tower feet of the transmission angle steel tower.

[0103] It should be noted here that the hardware structure of the robot can be implemented using existing structures and will not be described in detail here.

[0104] in, Figure 1 The computer program instructions corresponding to the method shown may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0105] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0106] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A fully automatic operation and maintenance method for the tower foot of a power transmission angle steel tower, characterized in that: include: Obtain the current stress monitoring data of the tower foot of the transmission angle steel tower, and construct the current stress cloud map of the tower foot of the transmission angle steel tower in combination with the structural parameters of the transmission angle steel tower; Compare the current stress cloud map of the transmission angle steel tower foot with the standard stress cloud map to determine the weak stress area of ​​the transmission angle steel tower foot, which will be used as the reinforcement position and reinforcement range; According to the reinforcement position and reinforcement range of the transmission angle steel tower foot, determine the shape and welding path of the matching welded parts; The process of determining the welding path of a weldment is: According to the reinforcement position and reinforcement range of the tower foot of the transmission angle steel tower, determine the number of straight welding tracks included in the welding path, the coordinates of the welding start point and the welding end point of each straight welding track, the starting point and the end point of the obstacle on each straight welding track, and the distance between the obstacle and the welding surface; Determine the length and direction of each linear welding track according to the coordinates of the welding start point and the welding end point of each linear welding track; According to the determined shape of the welded part and the welding path, a corresponding welding command is generated and sent to the welding execution terminal to control the welding execution terminal to execute the welding command; The welding command process is executed at the welding execution terminal, a real-time welding image is acquired and the current welding quality is further determined, and the welding command is adjusted in real time according to the current welding quality so that the welding quality meets the set quality requirements.

2. The fully automatic operation and maintenance method for the tower foot of a power transmission angle steel tower according to claim 1, characterized in that: The formation process of welding command is: According to the length and direction of each linear welding trajectory, the welding strategy is retrieved from the preset expert library; Determine the allowable welding space size based on the starting and ending points of the obstacles on each straight welding trajectory and the distance between the obstacles and the welding surface; According to the allowable welding space size, the welding trajectory and sequence in the welding strategy are adjusted to obtain the adjusted welding strategy and transform it into a welding command.

3. The fully automatic operation and maintenance method of the transmission angle steel tower foot according to claim 1 is characterized in that: If the distance from the lowest point of the obstacle to the welding surface is less than the minimum height when the welding terminal work is performed, the starting point of the welding obstacle is used as the welding end point of the corresponding straight welding trajectory, and the straight welding trajectory where the obstacle is located is split into two straight welding trajectories.

4. The fully automatic operation and maintenance method of the transmission angle steel tower foot according to claim 1 is characterized in that: Before determining the welding path of the welded part, the coordinate system of the welding execution terminal is also calibrated.

5. The fully automatic operation and maintenance method for the tower foot of a power transmission angle steel tower according to claim 1, characterized in that: The real-time welding image is processed using a pre-trained welding quality evaluation network to obtain a corresponding welding quality score; wherein the training sample set of the welding quality evaluation network is: welding images marked with welding quality scores.

6. The fully automatic operation and maintenance method of the transmission angle steel tower foot according to claim 1, characterized in that: If the current welding quality meets the set quality requirements, the welding command remains unchanged; if the current welding quality does not meet the set quality requirements, the welding command is adjusted so that the welding path always tracks the reinforcement position and covers the reinforcement range.

7. A fully automatic operation and maintenance device for the tower foot of a power transmission angle steel tower, characterized in that: include: A stress cloud map construction module is used to obtain the current stress monitoring data of the tower foot of the transmission angle steel tower, and to construct the current stress cloud map of the tower foot of the transmission angle steel tower in combination with the structural parameters of the transmission angle steel tower; A reinforcement determination module is used to compare the current stress cloud map of the tower foot of the transmission angle steel tower with the standard stress cloud map to determine the weak stress area of ​​the tower foot of the transmission angle steel tower, which is used as the reinforcement position and reinforcement range; A welding part determination module is used to determine the shape and welding path of the matching welding parts according to the reinforcement position and reinforcement range of the tower foot of the transmission angle steel tower; The process of determining the welding path of a weldment is: According to the reinforcement position and reinforcement range of the tower foot of the transmission angle steel tower, determine the number of straight welding tracks included in the welding path, the coordinates of the welding start point and the welding end point of each straight welding track, the starting point and the end point of the obstacle on each straight welding track, and the distance between the obstacle and the welding surface; Determine the length and direction of each linear welding track according to the coordinates of the welding start point and the welding end point of each linear welding track; A welding command forming module, which is used to form a corresponding welding command according to the determined shape of the welded part and the welding path, and send it to the welding execution terminal to control the welding execution terminal to execute the welding command; The welding command adjustment module is used to execute the welding command process at the welding execution terminal, obtain real-time welding images and further judge the current welding quality, and adjust the welding command in real time according to the current welding quality so that the welding quality meets the set quality requirements.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the fully automatic operation and maintenance method of the tower foot of a power transmission angle steel tower as described in any one of claims 1 to 6 are implemented.

9. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps in the fully automatic operation and maintenance method of the tower foot of the transmission angle steel tower as described in any one of claims 1-6 are implemented.

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