Control method and system of inspection robot

Abstract

The present invention discloses a control method and system for an inspection robot. The method determines the safe grounding height interval of the transmission line in the current environmental condition by collecting real-time pictures and real-time environmental data of the transmission line; collects the real-time distance between the hanging component and the transmission line, and determines whether the real-time distance is within the safe grounding height interval. If it is not within the safe grounding height interval, the hanging component is controlled to move so as to control the real-time distance within the safe grounding height interval, and then the hanging component is controlled to hang. When hanging, the up and down swing of the transmission line caused by environmental factors is taken into consideration. Before hanging, a reasonable and safe safe grounding height interval is determined through environmental parameters and real-time pictures. Hanging is performed when the robot is within the safe grounding height interval. While ensuring safety, the accuracy of hanging is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of power transmission line maintenance, and in particular to a control method and system for a patrol robot. Background Art

[0002] Safety and efficiency have always been the focus of attention in the maintenance of power systems, especially those involving high-voltage lines. Traditionally, the grounding of high-voltage lines relies on manual operations, which is not only time-consuming but also extremely risky, especially in adverse weather conditions. Workers must operate equipment at high altitudes, taking safety risks caused by improper operation or environmental factors. The inefficiency and high risk of this method drive the development of automation technology in this field.

[0003] With the development of automation technology, existing technologies have been able to reduce human intervention to a certain extent, but how to respond quickly and accurately control operations in dynamic environments remains a challenge. Current automation solutions often show slow response or insufficient accuracy when dealing with rapidly changing environmental conditions, such as sudden changes in wind speed and direction. Summary of the invention

[0004] The invention provides a control method and system for an inspection robot, which are used to solve the technical problem that the existing inspection robot cannot be accurately connected to the ground.

[0005] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0006] A control method for an inspection robot, the inspection robot comprising a walking component and a hanging component arranged on the walking component; the control method comprises the following steps:

[0007] Collect real-time images and real-time environmental data of the transmission line to determine the safe grounding height range of the transmission line under the current environmental conditions;

[0008] Collecting the real-time distance between the mounting assembly and the transmission line, and determining whether the real-time distance is within the safe grounding height range:

[0009] If it is not within the safe grounding height interval, the hanging assembly is controlled to move so as to control the real-time distance within the safe grounding height interval, and then the hanging assembly is controlled to hang.

[0010] Preferably, determining a safe grounding height interval of a transmission line under current environmental conditions includes:

[0011] Identify the transmission line from the real-time image, and locate the transmission line to obtain the location coordinates of the transmission line;

[0012] A transmission line deflection model is constructed based on the positioning coordinates of the transmission line, and the maximum vertical deflection of the current transmission line is calculated based on the transmission line deflection model; the transmission line deflection model is a relationship model between the horizontal and vertical coordinates of each measuring point on the transmission line contour;

[0013] A safe grounding height interval of the transmission line under current environmental conditions is determined based on the maximum vertical deflection.

[0014] Preferably, the hanging component is provided with an image acquisition component, and before determining the safe grounding height interval of the power transmission line under the current environmental conditions, the following steps are also included:

[0015] At time K, the image acquisition component collects photos P of the walking component's forward direction. K , from the photo P K The outlines of obstacles and transmission lines are identified, and the obstacles and transmission lines are located to obtain the coordinates O of the obstacles at time K. K and the coordinates of the transmission line L K ; Based on the coordinates O of the obstacle at time K K and the coordinates of the transmission line L K And the coordinates C of the inspection robot K , plan the walking path R of the inspection robot moving to the bottom of the transmission line at time K K ;

[0016] At time K+1, based on the walking path R K Control the movement of the walking component, and collect photos of the walking component's forward direction through the image acquisition component K+1 , from the photo P K+1 The outlines of obstacles and transmission lines are identified, and the obstacles and transmission lines are located to obtain the coordinates O of the obstacles at time K+1. K+1 and the coordinates of the transmission line L K+1 ; Use the coordinates O of the obstacle at time K+1 K+1 and the coordinates of the transmission line L K+1 And the coordinates C of the inspection robot K+1 Update walking path R K , get the walking path R at time K+1 K+1 ; Repeat the above steps until the inspection robot moves under the transmission line.

[0017] Preferably, constructing a transmission line deflection model based on the positioning coordinates of the transmission line includes:

[0018] During the movement of the inspection robot, the Mth moment is set as the initial moment, and the image acquisition component collects a photo P of the moving direction of the walking component. M , and collect the environmental data R at the Mth moment M , from the photo P M The outline of the transmission line is identified and the transmission line is located to obtain the coordinates L of the transmission line at time M. M , based on the coordinate L of the transmission line at time M M , and construct the initial model parameters of the transmission line deflection model by the least square method;

[0019] At the M+1th moment, the image acquisition component collects a photo P of the direction in which the walking component is moving. M+1 , from the photo P M+1 The outline of the transmission line is identified and the transmission line is located to obtain the coordinates L of the transmission line at time M. M+1 , and collect the environmental data R at the M+1th moment M+1 , based on the coordinate L of the transmission line at time M M+1 , and optimize the model parameters of the transmission line deflection model by the least square method;

[0020] and / or

[0021] The maximum vertical deflection of the current transmission line is calculated based on the transmission line deflection model, which is achieved by the following formula:

[0022]

[0023] in, represents the total wind load; is the air density; is the drag coefficient; is the windward area of ​​the transmission line, in m 2 ; is the wind speed in m / s; is the total load of the transmission line per unit length; W is the deadweight of the transmission line per unit length, in N / m; W w is the wind load per unit length, L is the span of the transmission line, in m; E is the Young's modulus of the material, in Pa; I is the moment of inertia of the section, in m 4 ; is the maximum vertical deflection;

[0024] and / or

[0025] The safe grounding height interval of the transmission line under the current environmental conditions is determined based on the maximum vertical deflection, specifically: the first safe grounding height interval is determined based on the maximum vertical deflection and a preset safety margin value.

[0026] Preferably, the transmission line deflection model is:

[0027] ;

[0028] Among them, X represents the horizontal coordinate of the transmission line, Y represents the vertical coordinate of the transmission line, and a, b and c are three different model parameters.

[0029] Preferably, the travel assembly includes a chassis and tires arranged under the chassis;

[0030] The hanging assembly includes a coarse adjustment assembly, a fine adjustment assembly and a grounding hanging piece, the traveling assembly is connected to the fine adjustment assembly through the coarse adjustment assembly, and the grounding hanging piece is installed on the fine adjustment assembly; the adjustment scale of the coarse adjustment assembly is greater than that of the fine adjustment assembly;

[0031] The coarse adjustment assembly includes a rotating member and a first up-and-down moving member;

[0032] The rotating member is used to rotate the fine adjustment assembly;

[0033] The first up-and-down moving member is used to move the fine adjustment component up and down;

[0034] The fine adjustment assembly comprises a horizontal moving member and a second vertical moving member;

[0035] The horizontal moving member is used to drive the grounding hanging member to move horizontally;

[0036] The second up-and-down moving member is used to drive the grounding hanging member to move up and down;

[0037] The rotating member is arranged at the center of the chassis, and is connected to the horizontal moving member through a first up-and-down moving member, and a second up-and-down moving member is arranged on the horizontal moving member; an image acquisition component is fixed on the top of the second up-and-down moving member, and the second up-and-down moving member is also connected to the grounding hanging member.

[0038] The image acquisition component is a binocular camera system, the first up-and-down moving part is a telescopic rod, and the horizontal moving part is a slide rail.

[0039] Preferably, the image acquisition component is a binocular camera system, the first up-and-down moving component is a telescopic component, the second up-and-down moving component is a slide rail component, and the grounding hanging component is a grounding pole; before constructing the transmission line deflection model, the following steps are also included:

[0040] Calibrate the first coordinate system conversion matrix between the chassis center coordinate system and the camera coordinate system;

[0041] Calibrate the second coordinate system conversion matrix between the tire coordinate system and any camera coordinate system of the binocular camera system;

[0042] Calibrate the third coordinate system conversion matrix between the tire coordinate system and the grounding pole center coordinate system;

[0043] The transmission line measurement points in the camera coordinate system acquired by the image acquisition component are converted into the center coordinate system of the grounding pole, and then a transmission line deflection model is constructed according to the converted transmission line measurement point coordinates.

[0044] Preferably, before controlling the hanging component to perform the hanging action, the following steps are also included:

[0045] When the inspection robot moves under the power transmission line, the laser rangefinder sensor is used to monitor the real-time forward and backward swing distance of the power transmission line in real time, and the maximum possible distance of the forward and backward swing of the power transmission line is calculated according to the real-time environmental data, and the safe grounding level interval of the hook assembly is determined based on the maximum possible distance and a preset margin;

[0046] It is determined whether the inspection robot is within the safety grounding horizontal interval. If not, the moving direction of the inspection robot is adjusted to make the inspection robot stop within the safety grounding horizontal interval and start to perform the hooking operation.

[0047] Preferably, after the hanging operation is performed, the contact image between the grounding hanging component and the transmission line is collected by the image acquisition component, and the contact image is input into a preset image detection model to determine whether the grounding hanging component is successfully hung. If not, the transmission line is re-positioned by the image acquisition component, and the moving path is re-planned until the hanging is successful.

[0048] A computer system comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the above method are implemented when the processor executes the computer program.

[0049] The present invention has the following beneficial effects:

[0050] 1. The present invention determines the safe grounding height interval of the transmission line under the current environmental conditions by collecting real-time pictures and real-time environmental data of the transmission line; collects the real-time distance between the hanging component and the transmission line, and determines whether the real-time distance is within the safe grounding height interval: if it is not within the safe grounding height interval, controls the movement of the hanging component to control the real-time distance within the safe grounding height interval, and then controls the hanging component to hang. When hanging, the up and down swing of the transmission line caused by environmental factors is taken into account. Before hanging, a reasonable and safe safe grounding height interval is determined by environmental parameters and real-time pictures. When hanging is performed in the safe grounding height interval, it can greatly avoid the hanging component moving to the swinging area, being entangled or collided by the transmission line, resulting in hanging failure, while ensuring safety, greatly improving the accuracy of hanging.

[0051] 2. In the preferred embodiment, the present invention not only takes into account the up and down swing of the data line caused by environmental factors, but also takes into account the forward and backward swing, which can further greatly improve the accuracy of the mounting while ensuring safety.

[0052] 3. In the preferred embodiment, the present invention collects images after mounting and determines whether the mounting is successful by the images after mounting. If the mounting fails, the mounting can be repeated to further improve the success rate of the mounting.

[0053] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings constituting a part of this application 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 an improper limitation of the present invention. In the drawings:

[0055] Figure 1 is a schematic structural diagram of an inspection robot in a preferred embodiment of the present invention;

[0056] Figure 2 A structural diagram of a control component in a preferred embodiment of the present invention;

[0057] Figure 3 A schematic diagram of a control method for an inspection robot in a preferred embodiment of the present invention;

[0058] Figure 4 Schematic diagram of the coordinate system in the preferred embodiment of the present invention.

[0059] Note in the figure:

[0060] 1. Walking component; 2. Rotating component; 3. First up-and-down moving component; 4. Horizontal moving component; 5. Image acquisition component; 6. Manual operating component; 7. Grounding hanging component. DETAILED DESCRIPTION

[0061] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0062] Example:

[0063] like Figure 1 As shown, in this embodiment, a patrol robot is disclosed, including a walking component 1, a hanging component, a control component, an image acquisition component 5 and a manual operating component 6, wherein the walking component includes a chassis and tires arranged under the chassis;

[0064] The hanging assembly includes a coarse adjustment assembly, a fine adjustment assembly and a grounding hanging member 7, the traveling assembly is connected to the fine adjustment assembly through the coarse adjustment assembly, and the grounding hanging member 7 is installed on the fine adjustment assembly; the adjustment scale of the coarse adjustment assembly is greater than that of the fine adjustment assembly;

[0065] In a preferred embodiment, the coarse adjustment component includes a rotating member 2 and a first up-and-down moving member 3; the rotating member 2 is used to rotate the fine adjustment component; the first up-and-down moving member 3 is used to move the fine adjustment component up and down;

[0066] The fine adjustment assembly includes a horizontal moving member 4 and a second vertical moving member; the horizontal moving member 4 is used to drive the grounding hanging member 7 to move horizontally; the second vertical moving member is used to drive the grounding hanging member 7 to move up and down;

[0067] In a preferred embodiment, the rotating member is arranged at the center of the chassis, and the rotating member is connected to the horizontal moving member through a first up and down moving member, and a second up and down moving member is arranged on the horizontal moving member; an image acquisition component 5 is fixed on the top of the second up and down moving member, and the second up and down moving member is also connected to the grounding hanging member 7.

[0068] The manual operating member 6 is disposed between the grounding hanging member 7 and the horizontal moving member 4 and is used for manually operating the grounding hanging member 7 .

[0069] In a preferred embodiment, the image acquisition component 5 is a binocular camera system, the first vertical moving member is a telescopic rod, and the horizontal moving member is a slide rail.

[0070] like Figure 2 As shown, the control components include:

[0071] Environmental sensing module 100: responsible for collecting environmental data in real time, such as wind speed and direction, and transmitting the data to the decision model. These data help the system adapt to different environmental conditions and select the best operation mode.

[0072] Automatic driving decision module 110: Based on the data provided by the environment sensing module, automatically generate and adjust the route and speed of the inspection robot to ensure the safety and efficiency of the inspection robot in complex environments.

[0073] The forward operating condition diagram acquisition module 120 is used to acquire the position information of the inspection robot and the operating condition diagram during the driving process.

[0074] Image processing module 130: uses a high-resolution camera to capture images of high-voltage lines, processes the images through edge detection, line detection, texture analysis and other technologies, and realizes automatic recognition and precise positioning of high-voltage lines.

[0075] Navigation path planning module 140: Based on the location of the high-voltage line and the forward operating condition diagram, a detailed motion trajectory is generated using algorithms such as A* or Dijkstra to ensure that the inspection robot travels safely and efficiently along the planned path.

[0076] Control and execution module 150: responsible for accurately controlling the movement of the inspection robot, including the tire deflection angle, finger gripping, and adjustment of the telescopic rod and guide rails, to ensure that the robot can accurately and stably complete the hooking task.

[0077] Communication and data transmission module 160: ensures smooth data transmission and real-time update between modules, using protocols such as CAN or TCP / IP to ensure the real-time and accuracy of data.

[0078] Based on inspection robots, such as Figure 3 As shown, a control method of an inspection robot is disclosed, comprising:

[0079] Step S1: Obtain the location information of the inspection robot.

[0080] Step S101: Input the position information of the inspection robot and establish a multi-coordinate system.

[0081] like Figure 4 As shown in the figure, the multi-coordinate system based on binocular vision includes: the base disk center coordinate system , Tire coordinate system , Center coordinate system of grounding pole , Camera coordinate system (left camera coordinate system and the right camera coordinate system ), image coordinate system (left image coordinate system and the right image coordinate system ) and pixel coordinate system (left pixel coordinate system and right pixel coordinate system ).

[0082] Step S102: constructing a conversion position relationship between different coordinate systems;

[0083] Through calibration, the relative translation position information between the base disk center coordinate system and the right camera coordinate system is obtained: .

[0084] Through calibration, the relative translation position information between the tire coordinate system (at the initial position of the right front wheel) and the right camera coordinate system is obtained: .

[0085] The relative translation position information of the tire coordinate system (at the initial position of the right front wheel) and the center coordinate system of the high-voltage grounding pole (at the initial position of the high-voltage grounding pole) is obtained through measurement: .

[0086] In some embodiments, the conversion relationship between each coordinate system in a multi-coordinate system based on binocular vision can be obtained through the binocular imaging principle and necessary position information.

[0087] A series of points on the high-voltage line observed by the binocular vision system. These points are in the right camera coordinate system (O cr ) is the coordinate in , in the left camera coordinate system (O cl ) is the coordinate in , through the principle of binocular vision, we can calculate the depth Z of these points in the world coordinate system. The specific calculation formula is: .

[0088] Where f is the focal length of the camera, B is the baseline distance between the two cameras, and x cr and x cl are the horizontal coordinates of the point on the image plane of the right camera and the left camera respectively.

[0089] Step S103: convert the observed three-dimensional coordinates of the high-voltage line point into a unified reference coordinate system, such as the base disk center coordinate system ( b ).

[0090] We use the right camera coordinate system as the reference to transform the coordinates to the base disk center coordinate system. Assuming that the transformation matrix R and translation vector T from the right camera coordinate system to the base disk center coordinate system are known, let is the point coordinate in the right camera coordinate system, and is the coordinate of the point in the center coordinate system of the base disk.

[0091] The conversion relationship can be expressed as:

[0092] ;

[0093] Where R is a 3x3 rotation matrix representing the rotation between the coordinate axes, and T is a 3x1 translation vector representing the displacement between the coordinate origins.

[0094] Therefore, the coordinates of point P in the coordinate system of the center of the base disk are b It can be calculated by the following formula:

[0095] ;

[0096] Furthermore, the three-dimensional coordinates of the high-voltage wire measured point obtained by binocular vision principle are converted into the grounding wire pole coordinate system. .

[0097] Step S104: The relative position information between the transformed three-dimensional coordinates of the measured point of the high-voltage power line and the central coordinate system of the high-voltage grounding wire pole (at the initial position of the high-voltage grounding wire pole) is obtained by measurement: .

[0098] S2: Collect environmental data about wind speed and direction through environmental sensors and transmit these data to the control component.

[0099] Based on the environmental data, the automatic driving decision model evaluates the current operating environment status and selects the best ground operation mode. The decision model is initialized, and historical data and preset parameters are loaded to assist in path and strategy generation.

[0100] S3: Use a binocular camera system to capture real-time images on the forward path and identify the precise location and contour information of the high-voltage wires on the path.

[0101] This step specifically includes:

[0102] The images of high-voltage lines are processed by edge detection, line detection and texture analysis to realize automatic recognition of high-voltage lines. The high-resolution camera on the inspection robot is used to capture real-time images on the forward path. The image processing technology is used to identify the high-voltage lines and their contour information in the image. The image recognition technology is applied to adapt to various lighting and weather conditions to ensure accurate recognition and positioning of high-voltage lines.

[0103] S4: According to the position information of the inspection robot, the forward working condition diagram, the position information of the high-voltage line, using the real-time environmental data and the deflection model of the high-voltage line, plan the optimal travel path of the inspection robot and its running speed and direction.

[0104] This step specifically includes:

[0105] According to the location of the high-voltage line and the surrounding environment information, the path planning algorithm is used to plan the inspection robot's travel path.

[0106] According to the path planning results and real-time feedback, the inspection robot generates motion trajectory information. Then, the inspection robot automatically navigates and adjusts the speed and direction in real time according to the trajectory information. The generated motion trajectory information is transmitted to each controller in real time, including the tire controller, rotating base controller, telescopic rod controller and guide rail controller.

[0107] S5: According to the optimal travel path of the inspection robot, the inspection robot is automatically driven to the bottom of the high-voltage line and a certain safety distance is controlled.

[0108] S6: In the coarse adjustment stage, the controller adjusts the tire deflection angle to move the inspection robot under the high-voltage line and maintain a certain safety distance. The high-voltage line profile information obtained by the binocular camera system is combined with the environmental sensor data to update the mathematical model parameters describing the deflection of the high-voltage line using the least squares method.

[0109] Specifically, the least square method is used to update the mathematical model parameters describing the deflection of the high-voltage line, including:

[0110] The three-dimensional coordinates of the observed high-voltage line points are converted into a unified reference coordinate system (the base disk center coordinate system ( b ), we use the coordinates of these points in the base disk center coordinate system to fit the quadratic regression model of the high voltage line , the model can capture the nonlinear characteristics of the high-voltage line deflection changing with position, where a, b and c are model parameters that need to be obtained through data fitting.

[0111] The least square method is used to estimate the model parameters. The X and Y values ​​in the coordinate system of the base disk center are used as input data for regression analysis, where Y represents the vertical displacement of the high-voltage line corresponding to the X position and X represents the corresponding horizontal position.

[0112] Suppose we have a set of data points , by finding the parameters a, b and c, the total squared error between the deflection predicted by the model and the actual observed deflection is minimized. The sum of squared errors S is defined as:

[0113] ;

[0114] To find the parameters a, b, and c that minimize S, we need to calculate the partial derivatives of S with respect to each parameter and set these derivatives to 0.

[0115]

[0116] The above three equations can be organized into a matrix form, usually called a normal equation system, assuming:

[0117]

[0118] Normal equations:

[0119]

[0120] Solving this system of equations, we can get the optimal solutions for a, b and c.

[0121] Environmental sensor data include wind speed and direction (collected in real time by an anemometer and wind vane installed on the device) and air pressure (collected by an air pressure sensor for calculating air density and wind load).

[0122] The wind speed, wind direction and air pressure data collected in real time are input into the decision-making model to evaluate the environmental conditions of the transmission line. Combined with the environmental data, the least squares method is used to fit the newly collected data and adjust the deflection model parameters a, b and c in real time.

[0123] Under the initial environmental data, the collected (x, y) data points are used to calculate the initial model parameters A, B, and C by the least squares method. The anemometer detects an increase in wind speed and the wind vane detects a change in wind direction. These environmental data are transmitted to the control system in real time via wireless transmission. The control system calculates the impact of these changes on the deflection of the transmission line based on the new environmental data. Assume that the newly collected (x, y) data point is (x i ,y i ), use the newly collected data points to re-perform the least squares fitting and solve the new model parameters a1, b1, c1.

[0124] During driving, the image acquisition component on the device collects a picture of the transmission line once a second, identifies the outline of the transmission line in the picture, and obtains preliminary positioning data. The least squares method is used for preliminary modeling to obtain preliminary deflection model parameters. When the device moves under the transmission line, the image acquisition component continues to collect a picture of the transmission line once a second, identifies the outline of the transmission line in the picture, obtains accurate positioning data, and uses the least squares method to further optimize the preliminary model. By inputting multiple sets of collected data into the least squares model, the sum of squares of the error between the predicted deflection and the actual deflection is minimized, the model parameters that best match the actual data are determined, and finally an accurate deflection model is obtained.

[0125] When calculating the maximum vertical deflection that a transmission line may reach in the wind, it is equivalent to solving the maximum vertical deflection of a simply supported beam under a uniformly distributed load. In addition, the influence of wind load on the transmission line is considered:

[0126] Total wind load calculation formula

[0127]

[0128] is the air density;

[0129] is the drag coefficient, which usually ranges from 0.6 to 1.2;

[0130] is the windward area of ​​the transmission line (in m 2 );

[0131] is the wind speed (in m / s);

[0132] Total load per unit length of transmission line:

[0133]

[0134] W is the deadweight per unit length (in N / m);

[0135] W w is the wind load per unit length, calculated as ;

[0136] Maximum vertical deflection The deflection formula of a simply supported beam under uniformly distributed load can be used to calculate:

[0137]

[0138] L is the span of the transmission line (in meters);

[0139] E is the Young's modulus of the material (in Pa);

[0140] I is the moment of inertia of the area (in m 4 ).

[0141] S7: After the rough adjustment phase is completed, the fine adjustment phase is started. By updating the mathematical model parameters of the high-voltage line deflection in real time, the height threshold is set to control the telescopic rod to start rising. In addition, the front and rear thresholds are set by the sensor to control the rotation of the telescopic rod and the movement of the guide rail to adjust the position and angle of the grounding wire rod.

[0142] Height thresholds include:

[0143] The vertical deflection model of the high-voltage line is updated based on the real-time captured image data using the least squares method. The maximum vertical deflection that the high-voltage line may reach in the wind is calculated, and a predetermined safety margin is added to determine the height threshold.

[0144] The front and back thresholds include:

[0145] The laser rangefinder sensor is used to monitor the forward and backward swing distance of the high-voltage line in real time. The maximum possible forward and backward swing distance is dynamically calculated according to environmental conditions (such as wind speed and direction), and the threshold distance of the forward and backward swing is set to ±20% of the maximum swing distance calculated in real time.

[0146] The inspection robot moves under the transmission line and monitors the real-time maximum forward and backward swing distance of the transmission line in real time through the laser rangefinder sensor. Based on the measured data, the system automatically calculates and sets a safe grounding level interval, which is the real-time maximum forward and backward swing distance plus a preset safety margin (20 cm). When it is detected that the distance between the hanging component and the transmission line is less than the safe grounding level interval, the control system will immediately trigger an alarm. At this time, the control system will dynamically adjust the moving direction of the walking component and increase the distance between the hanging component and the transmission line until it returns to the safe grounding level interval. When the distance between the hanging component and the transmission line reaches the safe grounding level interval, the control system will stop the movement of the walking component and start the hanging operation.

[0147] Using the mathematical model of high-voltage line deflection updated in real time using the least squares method, the system dynamically sets the threshold distance, uses the distance measured in real time between the inspection robot and the high-voltage line, and compares it with the preset threshold distance to decide whether to adjust the path and speed. If the actual distance is less than the threshold distance, the system will automatically slow down or adjust the path to increase the distance between the two, otherwise it will speed up or optimize the path to improve efficiency. The system dynamically adjusts the threshold distance based on real-time environmental data (such as wind speed and direction).

[0148] S8: When the high-voltage line is stable within the threshold range, the inspection robot performs the grounding operation.

[0149] After aligning the high-voltage line, perform the grounding operation. After the grounding operation is completed, the operation results and status data are transmitted back to the control center in real time. The system automatically detects the connection status of the grounding wire rod and confirms whether the grounding operation is successful. If it is detected that the grounding is unsuccessful or there is a problem, the inspection robot will readjust and perform the grounding operation until the grounding is successful. After confirming that the grounding is successful, loosen the grounding wire rod, record the operation data, and check the system status to prepare for the next operation.

[0150] S9: After the grounding operation is completed, the system uses the image processing edge detection algorithm to analyze the contact between the grounding wire rod and the high-voltage wire. If the image analysis shows that the contact between the grounding wire rod and the high-voltage wire is complete, the system regards this as a successful grounding operation. If it is detected that the grounding is not successful or there is a problem, the system automatically repeats step S7 until the grounding is successful.

[0151] The high-voltage line profile information is collected at the set sampling frequency, and the trajectory information of the high-voltage line in the wind is monitored in real time. The connection point image of the grounding wire rod and the high-voltage line is captured by the binocular camera system. Image processing edge detection and pattern recognition algorithms are used to analyze whether the grounding wire rod is correctly installed on the high-voltage line.

[0152] If the image analysis shows that the contact between the grounding wire rod and the high-voltage wire is complete, forming a continuous, uninterrupted edge line, the system regards this as a successful grounding.

[0153] If a broken or discontinuous edge is detected, the system automatically returns to the step of "controlling the lifting and rotation of the telescopic rod and the forward, backward, up and down movement of the guide rail to accurately adjust the position and angle of the grounding wire rod."

[0154] S10: After confirming that the grounding is successful, loosen the grounding wire rod, record the operation data, and check the system status to prepare for the next operation.

[0155] In addition, in this embodiment, a computer system is also disclosed, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the steps of the above method are implemented when the processor executes the computer program.

[0156] 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 control method for an inspection robot, the inspection robot comprising a walking component and a hanging component arranged on the walking component; characterized in that: The control method comprises the following steps: Collect real-time images and real-time environmental data of the transmission line to determine the safe grounding height range of the transmission line under the current environmental conditions; Collecting the real-time distance between the mounting assembly and the transmission line, and determining whether the real-time distance is within the safe grounding height range: If it is not within the safe touchdown height interval, controlling the hook assembly to move so as to control the real-time distance within the safe touchdown height interval, and then controlling the hook assembly to hook; Determine the safe grounding height range of the transmission line under the current environmental conditions, including: Identify the transmission line from the real-time image, and locate the transmission line to obtain the location coordinates of the transmission line; A transmission line deflection model is constructed based on the positioning coordinates of the transmission line, and the maximum vertical deflection of the current transmission line is calculated based on the transmission line deflection model; the transmission line deflection model is a relationship model between the horizontal and vertical coordinates of each measuring point on the transmission line contour; Determining a safe grounding height interval of the transmission line under current environmental conditions based on the maximum vertical deflection; During the movement of the inspection robot, the Mth moment is set as the initial moment, and the image acquisition component collects a photo P of the moving direction of the walking component. M , and collect the environmental data R at the Mth moment M , from the photo P M The outline of the transmission line is identified and the transmission line is located to obtain the coordinates L of the transmission line at time M. M , based on the coordinate L of the transmission line at time M M , and construct the initial model parameters of the transmission line deflection model by the least square method; The transmission line deflection model is: ； Among them, X represents the horizontal coordinate of the transmission line, Y represents the vertical coordinate of the transmission line, and a, b and c are three different model parameters; The least square method is used to estimate the model parameters; the X and Y values ​​in the center coordinate system of the base disk are used as input data for regression analysis, where X represents the corresponding horizontal position and Y represents the vertical displacement of the high-voltage line corresponding to the X position; Suppose there is a set of data points , by finding the parameters a, b and c, the total square error between the deflection predicted by the model and the actual observed deflection is minimized; The sum of squares of the errors, S, is defined as: ； To find the parameters a, b, and c that minimize S, you need to calculate the partial derivatives of S with respect to each parameter and set these derivatives to 0; The above three equations can be organized into a matrix form, usually called a normal equation system, assuming: Normal equations: Solve this system of equations to obtain the optimal solutions for a, b and c.

2. The control method of the inspection robot according to claim 1, characterized in that: The hanging component is provided with an image acquisition component, and before determining the safe grounding height interval of the power transmission line under the current environmental conditions, the following steps are also included: At time K, the image acquisition component collects photos P of the walking component's forward direction. K , from the photo P K The outlines of obstacles and transmission lines are identified, and the obstacles and transmission lines are located to obtain the coordinates O of the obstacles at time K. K and the coordinates of the transmission line L K ; Based on the coordinates O of the obstacle at time K K and the coordinates of the transmission line L K And the coordinates C of the inspection robot K , plan the walking path R of the inspection robot moving to the bottom of the transmission line at time K K ; At time K+1, based on the walking path R K Control the movement of the walking component, and collect photos of the walking component's forward direction through the image acquisition component K+1 , from the photo P K+1 The outlines of obstacles and transmission lines are identified, and the obstacles and transmission lines are located to obtain the coordinates O of the obstacles at time K+1. K+1 and the coordinates of the transmission line L K+1 ; Use the coordinates O of the obstacle at time K+1 K+1 and the coordinates of the transmission line L K+1 And the coordinates C of the inspection robot K+1 Update walking path R K , get the walking path R at time K+1 K+1 ; Repeat the above steps until the inspection robot moves under the transmission line.

3. The control method of the inspection robot according to claim 2, characterized in that: Constructing a transmission line deflection model based on the positioning coordinates of the transmission line, comprising: At the M+1th moment, the image acquisition component collects a photo P of the direction in which the walking component is moving. M+1 , from the photo P M+1 The outline of the transmission line is identified and the transmission line is located to obtain the coordinates L of the transmission line at time M. M+1 , and collect the environmental data R at the M+1th moment M+1 , based on the coordinate L of the transmission line at time M M+1 , and optimize the model parameters of the transmission line deflection model by the least square method; and / or The maximum vertical deflection of the current transmission line is calculated based on the transmission line deflection model, which is achieved by the following formula: in, represents wind load; is the air density; is the drag coefficient; is the windward area of ​​the transmission line, in m 2 ; is the wind speed in m / s; is the total load of the transmission line; W is the deadweight of the transmission line, in N / m; W w is the wind load, L is the span of the transmission line, in m; E is the Young's modulus of the material, in Pa; I is the moment of inertia of the section, in m 4 ; is the maximum vertical deflection; and / or The safe grounding height interval of the transmission line under the current environmental conditions is determined based on the maximum vertical deflection, specifically: the safe grounding height interval is determined based on the maximum vertical deflection and a preset safety margin value.

4. The control method of the inspection robot according to any one of claims 1 to 3, characterized in that: The traveling assembly comprises a chassis and tires arranged under the chassis; The hanging assembly includes a coarse adjustment assembly, a fine adjustment assembly and a grounding hanging piece, the traveling assembly is connected to the fine adjustment assembly through the coarse adjustment assembly, and the grounding hanging piece is installed on the fine adjustment assembly; the adjustment scale of the coarse adjustment assembly is greater than that of the fine adjustment assembly; The coarse adjustment assembly includes a rotating member and a first up-and-down moving member; The rotating member is used to rotate the fine adjustment component; The first up-and-down moving member is used to move the fine adjustment component up and down; The fine adjustment assembly comprises a horizontal moving member and a second vertical moving member; The horizontal moving member is used to drive the grounding hanging member to move horizontally; The second up-and-down moving member is used to drive the grounding hanging member to move up and down; The rotating member is arranged at the center of the chassis, the rotating member is connected to the horizontal moving member through a first vertical moving member, and a second vertical moving member is arranged on the horizontal moving member; an image acquisition component is fixed on the top of the second vertical moving member, and the second vertical moving member is also connected to the grounding hanging member; The image acquisition component is a binocular camera system, the first up-and-down moving part is a telescopic rod, and the horizontal moving part is a slide rail.

5. The control method of the inspection robot according to claim 4, characterized in that: The image acquisition component is a binocular camera system, the first up-and-down moving component is a telescopic component, the second up-and-down moving component is a slide rail component, and the grounding hanging component is a grounding pole; before constructing the transmission line deflection model, the following steps are also included: Calibrate the first coordinate system conversion matrix between the chassis center coordinate system and the camera coordinate system; Calibrate the second coordinate system conversion matrix between the tire coordinate system and any camera coordinate system of the binocular camera system; Calibrate the third coordinate system conversion matrix between the tire coordinate system and the grounding pole center coordinate system; The transmission line measurement points in the camera coordinate system acquired by the image acquisition component are converted into the center coordinate system of the grounding pole, and then a transmission line deflection model is constructed according to the converted transmission line measurement point coordinates.

6. The control method of the inspection robot according to claim 5, characterized in that: Before controlling the hanging component to perform the hanging action, the following steps are also included: When the inspection robot moves under the power transmission line, the laser rangefinder sensor is used to monitor the real-time forward and backward swing distance of the power transmission line in real time, and the maximum possible distance of the forward and backward swing of the power transmission line is calculated according to the real-time environmental data, and the safe grounding level interval of the hook assembly is determined based on the maximum possible distance and a preset margin; It is determined whether the inspection robot is within the safety grounding horizontal interval. If not, the moving direction of the inspection robot is adjusted to make the inspection robot stop within the safety grounding horizontal interval and start to perform the hooking operation.

7. The control method of the inspection robot according to claim 6, characterized in that: After the hanging operation is performed, the contact image between the grounding hanging component and the transmission line is collected by the image acquisition component, and the contact image is input into the preset image detection model to determine whether the grounding hanging component is successfully hung. If not, the transmission line is re-positioned by the image acquisition component, and the moving path is re-planned until the hanging is successful.

8. A computer system comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method described in any one of claims 1 to 7 are implemented.

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