Control method and system of broken strand repair robot

Abstract

The invention relates to the technical field of robot control, and provides a control method and system of a broken strand repairing robot, and the control method comprises the steps: S1, according to the length of an electric push rod and a measurement feedback value of a range finder at a certain moment, calculating the length of an electric push rod; the conversion relation between the ground wire and the included angle of the walking platform and the conversion relation between the repairing through hole and the working platform are obtained, and the measurement feedback value is the distance between the ground wire and the working platform; s2, obtaining a target distance between the repaired through hole and the working platform, and obtaining a target length of the electric push rod according to a conversion relation between the target distance and the distance between the repaired through hole and the working platform and a conversion relation between an included angle between the ground wire and the walking platform; and S3, driving the electric push rod to reach the target length according to the target length of the electric push rod. The invention aims to solve the problem of conversion between the test value and the actual distance of the range finder in the current broken strand repair technology of the power transmission line and solve the conversion of geometric angles so as to improve the stability of robot control.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and in particular to a control method and system of a broken strand repair robot. Background Art

[0002] In the power system, transmission lines often bend, break, etc. due to factors such as the natural environment, wind load, thermal expansion and contraction. If these problems are not repaired in time, they may cause power transmission interruption and affect power supply reliability and safety. Traditional repair methods often require manual climbing to high altitudes for work, which is not only inefficient, risky, but also costly.

[0003] In the existing broken strand repair robot, since the working platform is not completely parallel to the ground line, there is a difference between the distance measured by the rangefinder and the distance of the actual repair position, and when using the distance measurement data for control, there is a problem of geometric angle conversion, which may cause errors and affect the stability of the broken strand repair robot. In particular, during the operation, the robot may shake, resulting in the failure of laser ranging, affecting the accuracy of feedback and the stable control of the system. Therefore, a control method is proposed to solve the problem of conversion between the test value and the actual distance of the rangefinder in the current broken strand repair technology of power transmission lines, solve the problem of complex geometric angle conversion during the control process, and improve the stability of robot control. Summary of the invention

[0004] In view of the above-mentioned defects, the purpose of the present invention is to propose a control method and system for a broken strand repair robot, aiming to solve the problem of conversion between the test value and the actual distance of the rangefinder in the current broken strand repair technology of transmission lines, solve the conversion of geometric angles and thus improve the stability of robot control.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A control method for a broken strand repair robot is applied to a broken strand repair robot, wherein the broken strand repair robot comprises a walking platform, an operating platform, an adjusting mechanism, a broken strand repair mechanism and a rangefinder;

[0007] The working platform is connected to one side of the walking platform through a hinge shaft, the walking platform is provided with walking wheels, the broken strand repair mechanism is arranged on the working platform, the broken strand repair mechanism is provided with a repair through hole for the ground wire to pass through, and the distance meter is used to measure the distance between the working platform and the ground wire;

[0008] The adjustment mechanism comprises a first articulated seat, a second articulated seat and an electric push rod, wherein the first articulated seat is arranged on the bottom surface of the walking platform, the second articulated seat is arranged on the bottom surface of the working platform, the first articulated seat is articulated with one end of the electric push rod, the other end of the electric push rod is articulated with the second articulated seat, and the electric push rod is driven by a motor;

[0009] The control method comprises the steps of:

[0010] S1: according to the length of the electric push rod at a certain moment and the measurement feedback value of the distance meter, the conversion relationship between the angle between the ground line and the walking platform and the conversion relationship between the distance between the repair through hole and the working platform are obtained, and the measurement feedback value is the distance between the ground line and the working platform;

[0011] S2: Obtaining a target distance between the repair through hole and the working platform, and obtaining a target length of the electric push rod according to the target distance, a conversion relationship between the distance between the repair through hole and the working platform, and a conversion relationship between the angle between the ground line and the walking platform;

[0012] S3: driving the electric push rod to reach the target length according to the target length of the electric push rod.

[0013] Preferably, the step S1 includes the steps of:

[0014] S101: Calculate the angle between the working platform and the walking platform according to the length of the electric push rod, and satisfy the relationship:

[0015]

[0016] Wherein, α represents the angle between the working platform and the walking platform, L1 represents the distance between the hinge axis and the first hinge seat, L2 represents the distance between the hinge axis and the second hinge seat, and L x represents the length of the electric push rod, and θ1 represents the angle between L1 and L2 in the initial state.

[0017] Furthermore, the step S1 further comprises the steps of:

[0018] S102: Calculate the distance between the axis of the ground wire and the hinge axis according to the trigonometric relationship, and satisfy the relationship:

[0019]

[0020] Among them, L3 represents the distance between the axis of the ground wire and the hinge axis, L6 represents the horizontal distance between the contact point between the walking wheel and the ground wire and the hinge axis, L7 represents the vertical distance between the contact point between the walking wheel and the ground wire and the walking platform, and D represents the diameter of the ground wire;

[0021] S103: Calculate the angle between the distance between the axis of the ground wire and the hinge axis and the horizontal distance between the contact point between the walking wheel and the ground wire and the hinge axis according to the inverse tangent function, and satisfy the relationship:

[0022]

[0023] Among them, L6 represents the horizontal distance between the contact point of the walking wheel and the ground and the hinge axis, L7 represents the vertical distance between the contact point of the walking wheel and the ground and the walking platform, and θ2 represents the angle between the distance between the axis of the ground and the hinge axis and the horizontal distance between the contact point of the walking wheel and the ground and the hinge axis.

[0024] Furthermore, the step S1 further comprises the steps of:

[0025] S104: Calculate the angle between the ground line and the walking platform and the distance between the repair through hole and the working platform according to the similar triangle and the measurement feedback value of the rangefinder, and satisfy the relationship:

[0026]

[0027] Among them, φ represents the angle between the ground line and the walking platform, L g Indicates the distance between the repair hole and the working platform, L m represents the measurement feedback value of the distance meter, L3 represents the distance between the axis of the ground wire and the hinge axis, θ2 represents the angle between the distance between the axis of the ground wire and the hinge axis and the horizontal distance between the contact point of the walking wheel with the ground wire and the hinge axis, α represents the angle between the working platform and the walking platform, and L4 represents the distance between the distance meter and the hinge axis.

[0028] Further, in step S2, the target length of the electric push rod is obtained according to the conversion relationship between the target distance and the angle between the ground line and the walking platform, including:

[0029] Step S201: Obtain a first formula by using the angle between the ground line and the walking platform and the target distance. The first formula satisfies the relationship:

[0030]

[0031] Among them, L g represents the target distance between the repair through hole and the working platform, α represents the angle between the working platform and the walking platform, θ2 represents the angle between the distance between the axis of the ground wire and the hinge axis and the horizontal distance between the contact point between the walking wheel and the ground wire and the hinge axis, and L5 represents the horizontal distance between the repair through hole and the hinge axis;

[0032] The target angle between the working platform and the walking platform is obtained according to the first formula combined with the auxiliary angle formula;

[0033] Step S202: According to the target angle and the cosine theorem, the target length of the electric linear actuator is obtained, which satisfies the relationship:

[0034]

[0035] Wherein, L1 represents the distance between the hinge axis and the first hinge seat, L2 represents the distance between the hinge axis and the second hinge seat, α represents the angle between the working platform and the walking platform, θ1 represents the angle between L1 and L2, L x Indicates the target length of the electric linear actuator.

[0036] Preferably, the step S3 comprises:

[0037] The target length of the electric push rod is input into the PID controller to obtain the target running speed of the motor;

[0038] The motor drives the electric push rod according to the target running speed so that the length of the electric push rod is the same as the target length.

[0039] Preferably, before step S1, if the measurement feedback value of the rangefinder fails to be obtained, step S2 is not performed, and the target length of the electric push rod is manually adjusted.

[0040] Preferably, if the measurement feedback value of the rangefinder cannot be obtained in step S1 after the target length of the electric push rod is calculated for the first time, the target length of the electric push rod is no longer calculated, and it is judged whether the electric push rod can reach the target length based on the target length calculated for the first time and the position of the motor.

[0041] A control system for a broken strand repair robot, applied to the control method of the broken strand repair robot as described above, comprises:

[0042] A data acquisition and processing module, used to obtain a conversion relationship between the angle between the ground line and the walking platform and a conversion relationship between the distance between the repair through hole and the working platform according to the length of the electric push rod and the measurement feedback value of the rangefinder at a certain moment, wherein the measurement feedback value is the distance between the ground line and the working platform;

[0043] a target length calculation module, used to obtain a target distance between the repair through hole and the working platform, and to obtain a target length of the electric push rod according to a conversion relationship among the target distance, the distance between the repair through hole and the working platform, and the angle between the ground line and the walking platform;

[0044] The control driving module is used to drive the electric push rod to reach a target length according to the target length of the electric push rod.

[0045] One of the above technical solutions has the following advantages or beneficial effects:

[0046] In this solution, the length of the electric push rod and the feedback value of the rangefinder are used to calculate the angle between the ground line and the walking platform and the distance conversion relationship of the repair through hole. The feedback value of the rangefinder can be more accurately converted to the actual distance between the ground line and the working platform, reducing the error between the rangefinder and the actual distance, and improving the accuracy of the repair operation. By combining the target distance and the angle relationship to calculate the target length of the electric push rod, the problem of complex geometric angle conversion in the control process is solved, making the target setting more direct and accurate, without relying on the continuous and reliable feedback of the rangefinder, simplifying the control logic, reducing the control fluctuations caused by unstable feedback values ​​of the rangefinder or measurement errors, and the robust control method improves the overall operational stability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A flowchart of a control method for a broken strand repair robot provided in accordance with an embodiment of the present application;

[0048] Figure 2 A module diagram of a control system of a broken thigh repair robot provided in one embodiment of the present application;

[0049] Figure 3 A schematic structural diagram of a broken strand repairing robot corresponding to a control method of a broken strand repairing robot provided in one embodiment of the present application;

[0050] Figure 4 A schematic diagram of geometric relationships of a control method for a broken strand repair robot provided in one embodiment of the present application;

[0051] Figure 5 A schematic diagram of a similar triangle structure of a control method for a broken strand repair robot provided by an embodiment of the present application;

[0052] Among them, there are a walking platform 110, an operating platform 120, an adjusting mechanism 130, a first articulated seat 131, a second articulated seat 132, an electric push rod 133, a hinge shaft 140, a walking wheel 200, a broken strand repairing mechanism 300, a repair through hole 310, a ground wire 400, and a rangefinder 500. DETAILED DESCRIPTION

[0053] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0054] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0055] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0056] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] like Figure 1 As shown, a control method for a broken strand repair robot is applied to a broken strand repair robot, such as the broken strand repair robot disclosed in CN116613672A, Figure 3 As shown, the broken strand repair robot includes a broken strand repair mechanism 300, a range finder 500, a walking platform 110, a working platform 120 and an adjustment mechanism 130;

[0058] The working platform 120 is connected to one side of the walking platform 110 through a hinge shaft 140. The walking platform 110 is provided with walking wheels 200. The broken strand repair mechanism 300 is provided on the working platform 120. The broken strand repair mechanism 300 is provided with a repair through hole 310 for the ground wire 400 to pass through. The distance meter 500 is used to measure the distance between the working platform 120 and the ground wire 400.

[0059] The adjustment mechanism 130 includes a first articulated seat 131, a second articulated seat 132 and an electric push rod 133, wherein the first articulated seat 131 is arranged on the bottom surface of the walking platform 110, the second articulated seat 132 is arranged on the bottom surface of the working platform 120, the first articulated seat 131 is hinged to one end of the electric push rod 133, the other end of the electric push rod 133 is hinged to the second articulated seat 132, and the electric push rod 133 is driven by a motor;

[0060] In the broken strand repair robot corresponding to the present invention, the adjustment mechanism 130 drives the working platform 120 to rotate around the hinge shaft 140, so that the center of the repair through hole 310 set on the working platform 120 rotates with the working platform 120. During the rotation of the working platform 120, not only the center of the repair through hole 310 changes in height, but also the angle between the central axis of the repair through hole 310 and the horizontal line changes, so that the center of the repair through hole 310 of the broken strand repair mechanism 300 coincides with the center of the ground wire 400, so as to facilitate the broken strand repair mechanism 300 to perform wire drawing and winding operations on the ground wire 400, thereby improving the efficiency of automatic repair of the ground wire 400.

[0061] When the telescopic end of the electric push rod 133 is extended, the length of the electric push rod 133 increases, the working platform 120 rotates upward relative to the walking platform 110, and the angle formed by the working platform 120 and the walking platform 110 decreases. When the telescopic end of the electric push rod 133 is retracted, the length of the electric push rod 133 decreases, the working platform 120 rotates downward relative to the walking platform 110, and the angle formed by the working platform 120 and the walking platform 110 increases. In this way, the adjustment mechanism 130 is used to drive the working platform 120 to rotate around the hinge shaft 140, so that the center of the repair through hole 310 coincides with the center of the ground wire 400 as the working platform 120 rotates.

[0062] Since the bending angle of the transmission line changes when the robot walks on the ground wire 400, the broken strand repair robot realizes that the center of the repair through hole 310 continues to coincide with the center of the ground wire 400. However, during the adjustment process, the robot shakes during work, which can easily lead to measurement failure, that is, the feedback value of the rangefinder 500 is invalid. At this time, the target amount will be lost, which will cause anomalies. In addition, during the control process, the target distance value between the repair through hole 310 and the working platform 120 is input. When calculating the target position of the motor push rod 133, there is a problem of geometric angle conversion. Therefore, a control method is proposed to control the broken strand repair robot when it is working and solve the above-mentioned technical problems.

[0063] The posture adjustment method comprises the steps of:

[0064] S1: According to the length of the electric push rod 133 at a certain moment and the measurement feedback value of the distance meter 500, the conversion relationship between the angle between the ground line 400 and the walking platform 110 and the conversion relationship between the distance between the repair through hole 310 and the working platform 120 are obtained, and the measurement feedback value is the distance between the ground line 400 and the working platform 120;

[0065] S2: Obtaining a target distance between the repair through hole 310 and the working platform 120, and obtaining a target length of the electric push rod 133 according to the target distance, a conversion relationship between the distance between the repair through hole 310 and the working platform 120, and a conversion relationship between the angle between the ground line 400 and the walking platform 110;

[0066] S3: driving the electric push rod 133 to reach the target length according to the target length of the electric push rod 133 .

[0067] Specifically, Figure 1 , Figure 4 and Figure 5 As shown, before step S1 is executed, the control of the broken strand repair robot is in a stopped state. When the broken strand repair robot needs to be controlled, step S1 is entered, which uses the actual length of the electric push rod 133 and the feedback value of the distance meter 500 to calculate two key geometric relationships: the angle between the ground line 400 and the walking platform 110, and the distance between the repair through hole 310 and the working platform 120. Figure 4 It can be seen that the feedback value L of the rangefinder 500 is m 400m from the ground wire at the winding reel g They are not consistent (the working platform 120 and the ground line 400 are not parallel), so it is necessary to achieve the conversion between the two through geometric relationship.

[0068] In step S2, when controlling the broken strand repair robot, it is necessary to input the target distance between the repair through hole 310 and the working platform 120 from the outside, that is, the distance when the axis of the repair through hole 310 coincides with the axis of the ground wire 400. The conversion relationship between the angle between the ground wire 400 and the walking platform 110 and the conversion relationship between the distance between the repair through hole 310 and the working platform 120 obtained in the previous steps are used to convert the unknown quantity into a known quantity, and then the target distance between the repair through hole 310 and the working platform 120 is input into the expression. The length of the electric push rod 133 can be calculated when the distance between the repair through hole 310 and the working platform 120 is the target distance.

[0069] In step S3, the motor drives the electric push rod 133 to move. When the length of the electric push rod 133 increases, the working platform 120 rotates upward relative to the walking platform 110, and the angle formed by the working platform 120 and the walking platform 110 decreases. When the telescopic end of the electric push rod 133 retracts, the length of the electric push rod 133 decreases, the working platform 120 rotates downward relative to the walking platform 110, and the angle formed by the working platform 120 and the walking platform 110 increases, and the height of the repair through hole 310 is indirectly adjusted to coincide with the axis of the ground wire 400. During the control process, the feedback value of the rangefinder 500 is not always reliable, so there is no need to rely on the continuous and reliable feedback of the rangefinder 500. The target length of the electric push rod 133 can be converted once successfully. The subsequent adjustment uses the potentiometer of the push rod for feedback, and the control process is transformed into a traditional position loop control, which simplifies the control process.

[0070] In this solution, the angle between the ground line 400 and the walking platform 110 and the distance conversion relationship of the repair through hole 310 are calculated using the length of the electric push rod 133 and the feedback value of the rangefinder 500, which can more accurately convert the feedback value of the rangefinder 500 into the actual distance between the ground line 400 and the working platform 120, reduce the error between the rangefinder 500 and the actual distance, and improve the accuracy of the repair operation. By combining the target distance with the angle relationship to calculate the target length of the electric push rod 133, the problem of complex geometric angle conversion in the control process is solved, making the target setting more direct and accurate, without relying on the continuous and reliable feedback of the rangefinder 500, simplifying the control logic, reducing the control fluctuation caused by the unstable feedback value of the rangefinder 500 or the measurement error, and the robust control method improves the overall operational stability of the robot.

[0071] Preferably, the step S1 includes the steps of:

[0072] S101: Calculate the angle between the working platform 120 and the walking platform 110 according to the length of the electric push rod 133, and satisfy the relationship:

[0073]

[0074] Wherein, α represents the angle between the working platform 120 and the walking platform 110, L1 represents the distance between the hinge shaft 140 and the first hinge seat 131, L2 represents the distance between the hinge shaft 140 and the second hinge seat 132, and L x represents the length of the electric push rod 133, and θ1 represents the angle between L1 and L2.

[0075] Specifically, Figure 4 and Figure 5 As shown, Figure 4 and Figure 5is a schematic diagram of the structure of the broken leg repair robot at the same time, α is the angle between the working platform 120 and the walking platform 110 at a certain moment, assuming that the working platform 120 is parallel to the walking platform 110 in the initial state, Figure 5 L0 in the figure is the distance between the hinge shaft 140 and the second hinge seat 132 in the initial state. Figure 5 In the state shown, α is the angle at which the working platform 120 is lifted. In this step, the trigonometric relationship of the structure of the broken strand repair robot is utilized and the inverse cosine function arcos() is used to calculate the angle between the working platform 120 and L1. Then, the angle minus θ1 can be used to obtain the angle at which the working platform 120 is lifted. Similarly, this step is also valid in other states at any time.

[0076] Furthermore, the step S1 further comprises the steps of:

[0077] S102: Calculate the distance between the axis of the ground wire 400 and the hinge axis 140 based on the trigonometric relationship, and satisfy the relationship:

[0078]

[0079] Wherein, L3 represents the distance between the axis of the ground wire 400 and the hinge shaft 140, L6 represents the horizontal distance between the contact point between the walking wheel 200 and the ground wire 400 and the hinge shaft 140, L7 represents the vertical distance between the contact point between the walking wheel 200 and the ground wire 400 and the walking platform 110, and D represents the wire diameter of the ground wire 400;

[0080] S103: Calculate the angle between the distance between the axis of the ground line 400 and the hinge axis 140 and the horizontal distance between the contact point between the walking wheel 200 and the ground line 400 and the hinge axis 140 according to the inverse tangent function, and satisfy the relationship:

[0081]

[0082] Among them, L6 represents the horizontal distance between the contact point of the walking wheel 200 and the ground line 400 and the hinge axis 140, L7 represents the vertical distance between the contact point of the walking wheel 200 and the ground line 400 and the walking platform 110, and θ2 represents the angle between the distance between the axis of the ground line and the hinge axis 140 and the horizontal distance between the contact point of the walking wheel 200 and the ground line 400 and the hinge axis 140.

[0083] Specifically, the walking wheel 200 needs to walk on the ground line 400 during operation, so L3 and θ2 will change dynamically, such as Figure 4 As shown in the relationship, considering that the diameter of the ground wire 400 will affect the actual vertical distance from the axis of the ground wire 400 to the contact point of the walking wheel 200, the radius of the ground wire is subtracted from the vertical distance L7. To obtain the corrected vertical distance, the distance L3 between the axis of the ground line 400 and the hinge axis 140 is calculated according to the Pythagorean theorem. In step S103, the arc tangent function atan() is used to calculate the angle θ2, providing a structural conversion basis for the subsequent calculation of the target length of the electric push rod 133.

[0084] Furthermore, the step S1 further comprises the steps of:

[0085] S104: Calculate the angle between the ground line 400 and the walking platform 110 and the distance between the repair through hole 310 and the working platform 120 according to the similar triangle and the measurement feedback value of the rangefinder 500, and satisfy the relationship:

[0086]

[0087] Wherein, φ represents the angle between the ground line 400 and the walking platform 110, L g represents the distance between the repair through hole 310 and the working platform 120, L m represents the measurement feedback value of the rangefinder 500, L3 represents the distance between the axis of the ground wire 400 and the hinge shaft 140, θ2 represents the angle between the distance between the axis of the ground wire 400 and the hinge shaft 140 and the horizontal distance between the contact point of the walking wheel 200 and the ground wire 400 and the hinge shaft 140, α represents the angle between the working platform 120 and the walking platform 110, and L4 represents the distance between the rangefinder 500 and the hinge shaft 140.

[0088] Specifically, Figure 4 and Figure 5 As shown, by making auxiliary parallel lines, we can get Figure 5 The middle triangles OXY and OBA are similar triangles. According to the properties of similar triangles and the inverse tangent function, the angle φ between the ground line 400 and the walking platform 110 is calculated, and the distance L between the repair through hole 310 and the working platform 120 is calculated according to the measurement feedback value of the rangefinder 500 and the geometric relationship. g , which can be used to convert the target distance between the repair through hole 310 and the working platform 120 that is subsequently input.

[0089] Further, in step S2, the target length of the electric push rod 133 is obtained according to the conversion relationship between the target distance and the angle between the ground line 400 and the walking platform 110, including:

[0090] Step S201: The angle between the ground line 400 and the walking platform 110 and the target distance are used to obtain a first formula, wherein the first formula satisfies the relationship:

[0091]

[0092] Among them, Lg represents the target distance between the repair through hole 310 and the working platform 120, α represents the angle between the working platform 120 and the walking platform 110, θ2 represents the angle between the distance between the axis of the ground wire 400 and the hinge shaft 140 and the horizontal distance between the contact point between the walking wheel 200 and the ground wire 400 and the hinge shaft 140, and L5 represents the horizontal distance between the repair through hole 310 and the hinge shaft 140;

[0093] The target angle between the working platform 120 and the walking platform 110 is obtained by combining the first formula with the auxiliary angle formula;

[0094] Step S202: According to the target angle and the cosine theorem, the target length of the electric push rod 133 is obtained, which satisfies the relationship:

[0095]

[0096] Wherein, L1 represents the distance between the hinge shaft 140 and the first hinge seat 131, L2 represents the distance between the hinge shaft 140 and the second hinge seat 132, α represents the angle between the working platform 120 and the walking platform 110, θ1 represents the angle between L1 and L2, L x Indicates the target length of the electric push rod 133.

[0097] Specifically, the previous steps yielded L g When the input target distance between the repair through hole 310 and the working platform 120 is obtained, the length of the electric push rod 133 corresponding to the target distance between the repair through hole 310 and the working platform 120 can be obtained according to the reverse step of the previous step. Therefore, in step S201, the first formula is obtained by combining the geometric relationship through the angle between the ground line 400 and the walking platform 110 and the target distance between the repair through hole 310 and the working platform 120. And in the first formula, let u = θ2 + α, φ′ = φ + θ2, and we get L3sinφ′ = (L g sinφ′+L5cosφ′)sinu+(L g cosφ′-L5sinφ′)cosu, then let A=(L g sinφ′+L5cosφ′), B=(L g cosφ′-L5sinφ′), and then combined with the auxiliary angle formula, we get the relationship:

[0098] In step S202, through the relation That is, the target length of the electric push rod 133 is calculated using the cosine theorem.

[0099] Preferably, the step S3 comprises:

[0100] The target length of the electric push rod 133 is input into the PID controller to obtain the target running speed of the motor;

[0101] The motor drives the electric push rod 133 according to the target running speed, so that the length of the electric push rod 133 is the same as the target length.

[0102] Specifically, the P (proportional) of the PID controller: adjusts the control signal according to the error between the current length and the target length, and the proportional gain K P Directly affects the feedback amount of the error. I (integral): handles long-term errors (accumulated errors) to ensure that the system can eventually eliminate steady-state errors. The integral gain K i K is used to adjust the impact of the integral part. D (differential): predicts future errors and compensates to reduce overshoot and oscillation of the system. Differential gain K d Responsible for regulating the influence of the derivative part.

[0103] The target length L of the electric push rod 133 obtained in the previous step S202 x , the target length L x The PID controller outputs a target running speed, which is the command speed for driving the electric push rod 133. After receiving the target running speed, the motor controls the movement of the electric push rod 133. The operation of the motor ensures that the push rod moves at the set speed, so that the actual length of the push rod gradually approaches the target length L. x This step can accurately control the position of the electric push rod 133 to ensure that it is consistent with the calculated target length, thereby achieving the desired operating effect.

[0104] Preferably, before step S1, if the measurement feedback value of the rangefinder 500 fails to be obtained, step S2 is not performed, and the target length of the electric push rod 133 is manually adjusted.

[0105] Specifically, if the measurement feedback value of the rangefinder 500 is successfully received, step S1 can be continued to perform length calculation. If the acquisition fails, that is, the rangefinder 500 does not return valid data, the manual adjustment mode is turned on, and the target length of the electric push rod 133 is manually controlled to ensure that in the absence of effective distance measurement feedback, the control will not change inaccurately, and the target length of the electric push rod 133 is set correctly through manual adjustment.

[0106] Preferably, if the measurement feedback value of the rangefinder 500 cannot be obtained in step S1 after the target length of the electric push rod 133 is calculated for the first time, the target length of the electric push rod 133 is no longer calculated, and it is judged whether the electric push rod 133 can reach the target length based on the target length calculated for the first time and the position of the motor.

[0107] Specifically, if the broken strand repair robot needs to be controlled at the next moment, the feedback value of the rangefinder 500 fails to be obtained, and the new target length of the electric push rod 133 cannot be calculated, it is necessary to determine whether the electric push rod 133 can reach the predetermined target length based on the target length calculated for the first time and the position of the motor, that is, to use the previously obtained target length to control the broken strand repair robot. Among them, determining the current position of the motor refers to the current actual length or position of the electric push rod 133, and the position of the motor can usually be obtained through the feedback data of the encoder, sensor or motor.

[0108] like Figure 2 As shown, a control system of a broken strand repair robot is applied to the control method of the broken strand repair robot as described above, comprising:

[0109] The data acquisition and processing module 1 is used to obtain the conversion relationship between the angle between the ground wire 400 and the walking platform 110 and the conversion relationship between the distance between the repair through hole 310 and the working platform 120 according to the length of the electric push rod 133 and the measurement feedback value of the rangefinder 500 at a certain moment, and the measurement feedback value is the distance between the ground wire 400 and the working platform 120;

[0110] A target length calculation module 2 is used to obtain a target distance between the repair through hole 310 and the working platform 120, and to obtain a target length of the electric push rod 133 according to the target distance, a conversion relationship between the distance between the repair through hole 310 and the working platform 120, and a conversion relationship between the angle between the ground line 400 and the walking platform 110;

[0111] The control driving module 3 is used to drive the electric push rod 133 to reach a target length according to the target length of the electric push rod 133 .

[0112] This embodiment realizes the control method and implementation process of the broken strand repair robot. Please refer to the above embodiments and will not go into details here.

[0113] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0114] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A control method for a broken strand repair robot, applied to a broken strand repair robot, the broken strand repair robot comprising a walking platform, an operating platform, an adjustment mechanism, a broken strand repair mechanism and a rangefinder; The working platform is connected to one side of the walking platform through a hinge shaft, the walking platform is provided with walking wheels, the broken strand repair mechanism is arranged on the working platform, the broken strand repair mechanism is provided with a repair through hole for the ground wire to pass through, and the distance meter is used to measure the distance between the working platform and the ground wire; The adjustment mechanism comprises a first articulated seat, a second articulated seat and an electric push rod, wherein the first articulated seat is arranged on the bottom surface of the walking platform, the second articulated seat is arranged on the bottom surface of the working platform, the first articulated seat is articulated with one end of the electric push rod, the other end of the electric push rod is articulated with the second articulated seat, and the electric push rod is driven by a motor; It is characterized in that The control method comprises the steps of: S1: according to the length of the electric push rod at a certain moment and the measurement feedback value of the distance meter, the conversion relationship between the angle between the ground line and the walking platform and the conversion relationship between the distance between the repair through hole and the working platform are obtained, and the measurement feedback value is the distance between the ground line and the working platform; S2: Obtaining a target distance between the repair through hole and the working platform, and obtaining a target length of the electric push rod according to the target distance, a conversion relationship between the distance between the repair through hole and the working platform, and a conversion relationship between the angle between the ground line and the walking platform; S3: driving the electric push rod to reach the target length according to the target length of the electric push rod.

2. The control method according to claim 1, characterized in that: The step S1 includes the following steps: S101: Calculate the angle between the working platform and the walking platform according to the length of the electric push rod, and satisfy the relationship: Wherein, α represents the angle between the working platform and the walking platform, L1 represents the distance between the hinge axis and the first hinge seat, L2 represents the distance between the hinge axis and the second hinge seat, and L x represents the length of the electric push rod, and θ1 represents the angle between L1 and L2 in the initial state.

3. The control method according to claim 2, characterized in that: The step S1 further comprises the steps of: S102: Calculate the distance between the axis of the ground wire and the hinge axis according to the trigonometric relationship, and satisfy the relationship: Among them, L3 represents the distance between the axis of the ground wire and the hinge axis, L6 represents the horizontal distance between the contact point between the walking wheel and the ground wire and the hinge axis, L7 represents the vertical distance between the contact point between the walking wheel and the ground wire and the walking platform, and D represents the diameter of the ground wire; S103: Calculate the angle between the distance between the axis of the ground wire and the hinge axis and the horizontal distance between the contact point between the walking wheel and the ground wire and the hinge axis according to the inverse tangent function, and satisfy the relationship: Among them, L6 represents the horizontal distance between the contact point of the walking wheel and the ground and the hinge axis, L7 represents the vertical distance between the contact point of the walking wheel and the ground and the walking platform, and θ2 represents the angle between the distance between the axis of the ground and the hinge axis and the horizontal distance between the contact point of the walking wheel and the ground and the hinge axis.

4. The control method according to claim 3, characterized in that: The step S1 further comprises the steps of: S104: Calculate the angle between the ground line and the walking platform and the distance between the repair through hole and the working platform according to the similar triangle and the measurement feedback value of the rangefinder, and satisfy the relationship: Among them, φ represents the angle between the ground line and the walking platform, L g Indicates the distance between the repair hole and the working platform, L m represents the measurement feedback value of the distance meter, L3 represents the distance between the axis of the ground wire and the hinge axis, θ2 represents the angle between the distance between the axis of the ground wire and the hinge axis and the horizontal distance between the contact point of the walking wheel with the ground wire and the hinge axis, α represents the angle between the working platform and the walking platform, and L4 represents the distance between the distance meter and the hinge axis.

5. The control method according to claim 4, characterized in that: In step S2, the target length of the electric push rod is obtained according to the conversion relationship between the target distance and the angle between the ground line and the walking platform, including: Step S201: Obtain a first formula by using the angle between the ground line and the walking platform and the target distance. The first formula satisfies the relationship: Among them, L g represents the target distance between the repair through hole and the working platform, α represents the angle between the working platform and the walking platform, θ2 represents the angle between the distance between the axis of the ground wire and the hinge axis and the horizontal distance between the contact point between the walking wheel and the ground wire and the hinge axis, and L5 represents the horizontal distance between the repair through hole and the hinge axis; The target angle between the working platform and the walking platform is obtained according to the first formula combined with the auxiliary angle formula; Step S202: According to the target angle and the cosine theorem, the target length of the electric linear actuator is obtained, which satisfies the relationship: Wherein, L1 represents the distance between the hinge axis and the first hinge seat, L2 represents the distance between the hinge axis and the second hinge seat, α represents the angle between the working platform and the walking platform, θ1 represents the angle between L1 and L2, L x Indicates the target length of the electric linear actuator.

6. The control method according to claim 1, characterized in that: The step S3 comprises: The target length of the electric push rod is input into the PID controller to obtain the target running speed of the motor; The motor drives the electric push rod according to the target running speed so that the length of the electric push rod is the same as the target length.

7. The control method according to claim 1, characterized in that: Before step S1, if the measurement feedback value of the rangefinder fails to be obtained, step S2 is not performed, and the target length of the electric push rod is manually adjusted.

8. The control method according to claim 1, characterized in that: If the measurement feedback value of the rangefinder cannot be obtained in step S1 after the target length of the electric push rod is calculated for the first time, the target length of the electric push rod will no longer be calculated, and it is determined whether the electric push rod can reach the target length based on the target length calculated for the first time and the position of the motor.

9. A control system for a broken strand repair robot, applied to the control method for a broken strand repair robot as claimed in any one of claims 1 to 8, characterized in that: include: A data acquisition and processing module, used to obtain a conversion relationship between the angle between the ground line and the walking platform and a conversion relationship between the distance between the repair through hole and the working platform according to the length of the electric push rod and the measurement feedback value of the rangefinder at a certain moment, wherein the measurement feedback value is the distance between the ground line and the working platform; a target length calculation module, used to obtain a target distance between the repair through hole and the working platform, and to obtain a target length of the electric push rod according to a conversion relationship among the target distance, the distance between the repair through hole and the working platform, and the angle between the ground line and the walking platform; The control driving module is used to drive the electric push rod to reach a target length according to the target length of the electric push rod.

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