A control method and system for a broken-end repair robot

Abstract

The application relates to the technical field of robot control, and proposes a control method and system of a broken strand repair robot, the control method comprising the following steps: S1: according to the length of an electric push rod and a measurement feedback value of a range finder at a certain moment, a conversion relationship of an angle between a ground line and a walking platform and a conversion relationship of a distance between a repair through hole and a work platform are obtained, and the measurement feedback value is the distance between the ground line and the work platform; S2: a target distance between the repair through hole and the work platform is obtained, according to the target distance, the conversion relationship of the distance between the repair through hole and the work platform and the conversion relationship of the angle between the ground line and the walking platform, a target length of the electric push rod is obtained; and S3: the electric push rod is driven to reach the target length according to the target length of the electric push rod. The application aims to solve the conversion problem of a test value of a range finder and an actual distance in the current power transmission line broken strand repair technology, solve the conversion of geometric angles and improve the stability of robot control.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a control method and system for a strand repair robot. Background Technology

[0002] In power systems, transmission lines often experience problems such as bending and broken strands due to natural environmental factors, wind loads, and thermal expansion and contraction. If these problems are not repaired in time, they may lead to power transmission interruptions, affecting the reliability and safety of power supply. Traditional repair methods often require manual climbing to high altitudes for work, which is not only inefficient and risky but also costly.

[0003] In existing wire breakage repair robots, the working platform is not perfectly parallel to the ground wire, leading to a discrepancy between the distance measured by the rangefinder and the actual repair location. Furthermore, the use of rangefinder data for control presents geometric angle conversion issues, potentially causing errors and affecting the robot's stability. Particularly during operation, robot swaying can cause laser ranging failures, impacting feedback accuracy and system stability. Therefore, this paper proposes a control method to address the problem of converting the measured value from the actual distance in current power transmission line wire breakage repair technology, resolve the complex geometric angle conversion issues during control, and improve the stability of robot control. Summary of the Invention

[0004] To address the aforementioned shortcomings, the present invention aims to propose a control method and system for a broken strand repair robot, which seeks to solve the problem of converting the measured value of the rangefinder into the actual distance in current power transmission line broken strand repair technology, and to solve the conversion of geometric angles, thereby improving the stability of robot control.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A control method for a strand repair robot is provided, which is applied to a strand repair robot, the strand repair robot including a walking platform, a working platform, an adjustment mechanism, a strand repair mechanism and a rangefinder;

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

[0008] The adjustment mechanism includes a first hinge seat, a second hinge seat, and an electric push rod. The first hinge seat is disposed on the bottom surface of the walking platform, and the second hinge seat is disposed on the bottom surface of the working platform. The first hinge seat is hinged to one end of the electric push rod, and the other end of the electric push rod is hinged to the second hinge seat. The electric push rod is driven by a motor.

[0009] The control method includes the following steps:

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

[0011] S2: Obtain the target distance between the repair through hole and the working platform. Based on the conversion relationship between the target distance, the distance between the repair through hole and the working platform, and the conversion relationship between the angle between the ground wire and the walking platform, determine the target length of the electric push rod.

[0012] S3: Drive the electric actuator to reach the target length according to the target length of the electric actuator.

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

[0014] S101: Calculate the angle between the working platform and the traveling platform based on the length of the electric push rod, satisfying the following relationship:

[0015]

[0016] Where α represents the angle between the working platform and the traveling platform, L1 represents the distance between the hinge shaft and the first hinge seat, and L2 represents the distance between the hinge shaft and the second hinge seat. x θ1 represents the length of the electric actuator, and θ1 represents the angle between L1 and L2 in the initial state.

[0017] Furthermore, step S1 also includes the step of:

[0018] S102: Calculate the distance between the axis of the ground wire and the hinge axis based on trigonometric relationships, satisfying the following equation:

[0019]

[0020] Where L3 represents the distance between the center of the ground wire and the hinge shaft, L6 represents the horizontal distance between the contact point between the traveling wheel and the ground wire and the hinge shaft, L7 represents the vertical distance between the contact point between the traveling wheel and the ground wire and the traveling platform, and D represents the diameter of the ground wire.

[0021] S103: Calculate the distance between the center of the ground wire and the hinge axis, and the angle between the horizontal distance between the contact point of the traveling wheel and the ground wire and the hinge axis, using the arctangent function, satisfying the following relationship:

[0022]

[0023] Where L6 represents the horizontal distance between the contact point between the traveling wheel and the ground wire and the hinge shaft, L7 represents the vertical distance between the contact point between the traveling wheel and the ground wire and the traveling platform, and θ2 represents the angle between the distance between the center of the ground wire and the hinge shaft and the horizontal distance between the contact point between the traveling wheel and the ground wire and the hinge shaft.

[0024] Furthermore, step S1 also includes the step of:

[0025] S104: Based on similar triangles and the measurement feedback value of the rangefinder, calculate the angle between the ground wire and the walking platform and the distance between the repair through hole and the working platform, satisfying the following relationship:

[0026]

[0027] Where φ represents the angle between the ground wire and the traveling platform, and L g L represents the distance between the repair hole and the work platform. m L3 represents the distance between the center of the ground wire and the hinge axis, θ2 represents the angle between the distance between the center of the ground wire and the hinge axis and the horizontal distance between the contact point between the traveling wheel and the ground wire and the hinge axis, α represents the angle between the working platform and the traveling platform, and L4 represents the distance between the distance between the distance between the distance between the ground wire and the hinge axis.

[0028] Further, in step S2, determining the target length of the electric push rod based on the conversion relationship between the target distance and the angle between the ground line and the walking platform includes:

[0029] Step S201: Calculate the angle between the ground wire and the walking platform and the target distance using a first formula. The first formula satisfies the following relationship:

[0030]

[0031] Among them, L g α represents the target distance between the repair through hole and the work platform, α represents the angle between the work platform and the traveling platform, θ2 represents the angle between the distance between the center of the ground wire and the hinge shaft and the horizontal distance between the contact point between the traveling wheel and the ground wire and the hinge shaft, and L5 represents the horizontal distance between the repair through hole and the hinge shaft.

[0032] The target angle between the work platform and the walking platform is obtained by combining the first formula with the auxiliary angle formula.

[0033] Step S202: Based on the target angle and the law of cosines, obtain the target length of the electric push rod, satisfying the following relationship:

[0034]

[0035] Where L1 represents the distance between the hinge shaft and the first hinge seat, L2 represents the distance between the hinge shaft and the second hinge seat, α represents the angle between the working platform and the traveling platform, and θ1 represents the angle between L1 and L2. x This indicates the target length of the electric actuator.

[0036] Preferably, step S3 includes:

[0037] The target length of the electric actuator 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, if the measurement feedback value of the rangefinder fails to be obtained before step S1, step S2 is not executed, and the target length of the electric push rod is manually adjusted.

[0040] Preferably, if the target length of the electric push rod cannot be calculated in step S1, the target length of the electric push rod will not be calculated further, and the electric push rod can be judged to reach the target length based on the target length calculated in the first step and the position of the motor.

[0041] A control system for a strand-repairing robot, applied to the control method for the strand-repairing robot described above, includes:

[0042] The data acquisition and processing module is used to determine the conversion relationship between the angle between the ground wire and the walking platform and the conversion relationship between the distance between the repair through hole and the working platform based on the length of the electric push rod and the measurement feedback value of the rangefinder at a certain moment. The measurement feedback value is the distance between the ground wire and the working platform.

[0043] The target length calculation module is used to obtain the target distance between the repair through hole and the working platform, and to obtain the target length of the electric push rod based on the conversion relationship between the target distance, the distance between the repair through hole and the working platform, and the conversion relationship between the angle between the ground wire and the walking platform.

[0044] A control drive module is used to drive the electric actuator to the target length according to the target length of the electric actuator.

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

[0046] In this solution, the length of the electric actuator and the feedback value from the rangefinder are used to calculate the angle between the ground wire and the walking platform, as well as the distance conversion relationship for repairing the through hole. This allows for a more accurate conversion of the rangefinder's feedback value into the actual distance between the ground wire 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 with the angle relationship to calculate the target length of the electric actuator, the complex geometric angle conversion problem in the control process is solved, making target setting more direct and accurate. It does not require continuous and reliable feedback from the rangefinder, simplifying the control logic and reducing control fluctuations caused by unstable feedback values ​​or measurement errors from the rangefinder. Furthermore, the robust control method improves the overall operational stability of the robot. Attached Figure Description

[0047] Figure 1 A flowchart illustrating a control method for a strand repair robot provided in one embodiment of this application;

[0048] Figure 2 A block diagram of the control system of a broken strand repair robot provided in one embodiment of this application;

[0049] Figure 3 A schematic diagram of the structure of a strand repair robot corresponding to the control method of a strand repair robot provided in one embodiment of this application;

[0050] Figure 4 A geometrical schematic diagram of the control method for a strand repair robot provided in one embodiment of this application;

[0051] Figure 5 A schematic diagram of a similar triangle structure for a control method of a strand repair robot provided in one embodiment of this application;

[0052] The components include a walking platform 110, a working platform 120, an adjustment mechanism 130, a first hinge seat 131, a second hinge seat 132, an electric push rod 133, a hinge shaft 140, a walking wheel 200, a broken strand repair mechanism 300, a repair through hole 310, a ground wire 400, and a rangefinder 500. Detailed Implementation

[0053] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0054] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

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

[0056] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0057] like Figure 1 As shown, a control method for a strand repair robot is applied to a strand repair robot, using a strand repair robot as disclosed in CN116613672A, such as... Figure 3 As shown, the broken strand repair robot includes a broken strand repair mechanism 300, a rangefinder 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 via a hinge shaft 140. The walking platform 110 is equipped with walking wheels 200. The broken strand repair mechanism 300 is mounted 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 rangefinder 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 hinge seat 131, a second hinge seat 132, and an electric push rod 133. The first hinge seat 131 is disposed on the bottom surface of the walking platform 110, and the second hinge seat 132 is disposed on the bottom surface of the working platform 120. The first hinge seat 131 is hinged to one end of the electric push rod 133, and the other end of the electric push rod 133 is hinged to the second hinge seat 132. The electric push rod 133 is driven by a motor.

[0060] In the strand repair robot of this invention, the working platform 120 is driven to rotate around the hinge shaft 140 by the adjustment mechanism 130, so that the center of the repair through hole 310 provided on the working platform 120 rotates with the working platform 120. During the rotation of the working platform 120, not only does the center of the repair through hole 310 change in height, but the angle between the central axis of the repair through hole 310 and the horizontal line also changes, so that the center of the repair through hole 310 of the strand repair mechanism 300 coincides with the center of the ground wire 400, which facilitates the strand repair mechanism 300 to perform wire straightening and winding operations on the ground wire 400, thereby improving the efficiency of automatic repair of the ground wire 400.

[0061] Specifically, when the telescopic end of the electric push rod 133 extends, its length increases, causing the working platform 120 to rotate upward relative to the traveling platform 110, and the angle between the two platforms decreases. When the telescopic end of the electric push rod 133 retracts, its length decreases, causing the working platform 120 to rotate downward relative to the traveling platform 110, and the angle between the two platforms increases. This allows the adjustment mechanism 130 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] Because the bending angle of the power line changes when the robot walks on the ground wire 400, the center of the repair hole 310 of the strand repair robot is kept aligned with the center of the ground wire 400. However, during the adjustment process, the robot's shaking during operation can easily lead to measurement failure, i.e., the feedback value of the rangefinder 500 becomes invalid. At this time, the target quantity will be lost, which will cause abnormalities. Furthermore, when inputting the target distance value between the repair hole 310 and the working platform 120 during the control process, there is a problem of geometric angle conversion when calculating the target position of the motor push rod 133. Therefore, a control method is proposed to control this when the strand repair robot is working and to solve the above-mentioned technical problems.

[0063] The attitude adjustment method includes the following steps:

[0064] S1: Based on the length of the electric push rod 133 at a certain moment and the measurement feedback value of the rangefinder 500, the conversion relationship of the angle between the ground wire 400 and the walking platform 110 and the conversion relationship of 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 wire 400 and the working platform 120.

[0065] S2: Obtain the target distance between the repair through hole 310 and the working platform 120. Based on the target distance, the conversion relationship between the distance between the repair through hole 310 and the working platform 120, and the conversion relationship between the angle between the ground wire 400 and the walking platform 110, determine the target length of the electric push rod 133.

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

[0067] Specifically, such as 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 control of the broken strand repair robot is needed, step S1 is entered. This step uses the actual length of the electric push rod 133 and the feedback value of the rangefinder 500 to calculate two key geometric relationships: the angle between the ground wire 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 m 400 distance L from the ground wire at the winding reel g They are not consistent (the working platform 120 and the ground wire 400 are not parallel), so it is necessary to convert them through geometric relationships.

[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 repair through hole 310 and the axis of the ground wire 400 coincide. The conversion relationship between the angle between the ground wire 400 and the walking platform 110 obtained in the previous step and the conversion relationship between the repair through hole 310 and the working platform 120 are used to convert the unknown quantity into a known quantity. Then, the target distance between the repair through hole 310 and the working platform 120 is input into the expression, and 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 traveling platform 110, and the angle formed between the working platform 120 and the traveling 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 traveling platform 110, and the angle formed between the working platform 120 and the traveling platform 110 increases, indirectly adjusting the height of the repair through hole 310 so that it coincides with the axis of the ground wire 400. During the control process, the feedback value of the rangefinder 500 is not always reliable, so it is not necessary to rely on the continuous reliable feedback of the rangefinder 500. The target length of the electric push rod 133 can be calculated after one successful operation. Subsequent adjustments are made using the potentiometer of the push rod for feedback, transforming the control process into a traditional position loop control, simplifying the control flow.

[0070] In this solution, the length of the electric actuator 133 and the feedback value of the rangefinder 500 are used to calculate the angle between the ground wire 400 and the walking platform 110, as well as the distance conversion relationship of the repair through hole 310. This allows for a more accurate conversion of the feedback value of the rangefinder 500 into the actual distance between the ground wire 400 and the working platform 120, reducing the error between the rangefinder 500 and the actual distance and improving the accuracy of the repair operation. By combining the target distance with the angle relationship to calculate the target length of the electric actuator 133, the problem of complex geometric angle conversion in the control process is solved, making the target setting more direct and accurate. It does not require continuous and reliable feedback from the rangefinder 500, simplifying the control logic and reducing control fluctuations caused by unstable feedback values ​​or measurement errors from the rangefinder 500. Furthermore, the robust control method improves the overall operational stability of the robot.

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

[0072] S101: Calculate the angle between the working platform 120 and the traveling platform 110 based on the length of the electric push rod 133, satisfying the following relationship:

[0073]

[0074] Where α represents the angle between the working platform 120 and the traveling 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 θ1 represents the length of the electric actuator 133, and θ1 represents the angle between L1 and L2.

[0075] Specifically, such as Figure 4 and Figure 5 As shown, Figure 4 and Figure 5This is a structural diagram of the strand repair robot at a single moment, where α is the angle between the working platform 120 and the walking platform 110 at a certain moment. It is assumed that the initial state is that the working platform 120 and the walking platform 110 are parallel. Figure 5 L0 in the initial state represents the distance between the hinge shaft 140 and the second hinge seat 132. Figure 5 In the state shown, α is the angle at which the work platform 120 is raised. In this step, the triangular relationship of the structure of the broken strand repair robot is used to calculate the angle between the work platform 120 and L1 using the inverse cosine function arcos(). Then, the angle is subtracted from θ1 to obtain the angle at which the work platform 120 is raised. Similarly, this step is also valid in any other state at any time.

[0076] Furthermore, step S1 also includes the step of:

[0077] S102: Calculate the distance between the axis of the ground wire 400 and the hinge axis 140 based on trigonometric relationships, satisfying the following equation:

[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 traveling wheel 200 and the ground wire 400 and the hinge shaft 140, L7 represents the vertical distance between the contact point between the traveling wheel 200 and the ground wire 400 and the traveling platform 110, and D represents the wire diameter of the ground wire 400.

[0080] S103: Calculate the distance between the axis of the ground wire 400 and the hinge shaft 140, and the angle between the contact point between the traveling wheel 200 and the ground wire 400 and the horizontal distance between the hinge shaft 140, using the arctangent function, satisfying the following relationship:

[0081]

[0082] Wherein, L6 represents the horizontal distance between the contact point between the traveling wheel 200 and the ground wire 400 and the hinge shaft 140, L7 represents the vertical distance between the contact point between the traveling wheel 200 and the ground wire 400 and the traveling platform 110, and θ2 represents the angle between the distance between the axis of the ground wire and the hinge shaft 140 and the horizontal distance between the contact point between the traveling wheel 200 and the ground wire 400 and the hinge shaft 140.

[0083] Specifically, the traveling wheel 200 needs to travel on the ground line 400 during operation, therefore L3 and θ2 will change dynamically, such as... Figure 4 The relationship shown considers 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 traveling 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 using the Pythagorean theorem. In step S103, the arctangent function atan() is used to calculate the included angle θ2, providing a structural conversion basis for the subsequent calculation of the target length of the electric actuator 133.

[0084] Furthermore, step S1 also includes the step of:

[0085] S104: Based on similar triangles and the measurement feedback value of the rangefinder 500, calculate the angle between the ground wire 400 and the walking platform 110 and the distance between the repair through hole 310 and the working platform 120, satisfying the following relationship:

[0086]

[0087] Where φ represents the angle between the ground wire 400 and the traveling platform 110, L g L represents the distance between the repair through hole 310 and the working platform 120. m L3 represents the measurement feedback value of the rangefinder 500, L2 represents the distance between the center of the ground wire 400 and the hinge shaft 140, θ2 represents the angle between the distance between the center of the ground wire 400 and the hinge shaft 140 and the horizontal distance between the contact point between the traveling wheel 200 and the ground wire 400 and the hinge shaft 140, α represents the angle between the working platform 120 and the traveling platform 110, and L4 represents the distance between the rangefinder 500 and the hinge shaft 140.

[0088] Specifically, such as Figure 4 and Figure 5 As shown, by drawing auxiliary parallel lines, we can obtain... Figure 5 Triangles OXY and OBA are similar triangles. Based on the properties of similar triangles and the arctangent function, the angle φ between the ground line 400 and the walking platform 110 is calculated. Furthermore, based on the measurement feedback value from the rangefinder 500 and the geometric relationship, the distance L between the repair through hole 310 and the working platform 120 is determined. g It can be used to convert the target distance between the repair through hole 310 and the working platform 120 in subsequent inputs.

[0089] Further, in step S2, the determination of the target length of the electric push rod 133 based on the conversion relationship between the target distance and the angle between the ground line 400 and the walking platform 110 includes:

[0090] Step S201: Calculate the angle between the ground wire 400 and the walking platform 110 and the target distance using a first formula. The first formula satisfies the following relationship:

[0091]

[0092] Among them, Lg The target distance between the repair through hole 310 and the working platform 120 is represented by α, the angle between the working platform 120 and the traveling platform 110 is represented by θ2, the angle between the center of the ground wire 400 and the hinge shaft 140 and the horizontal distance between the contact point between the traveling wheel 200 and the ground wire 400 and the hinge shaft 140 is represented by L5, and the horizontal distance between the repair through hole 310 and the hinge shaft 140 is represented by L5.

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

[0094] Step S202: Based on the target angle and the law of cosines, obtain the target length of the electric push rod 133, satisfying the following relationship:

[0095]

[0096] Where 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 traveling platform 110, and θ1 represents the angle between L1 and L2. x This indicates the target length of the electric actuator 133.

[0097] Specifically, the preceding steps yielded L. g Based on the conversion relationship, when the 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 by reversing the previous steps. Therefore, in step S201, the first formula is obtained by combining the angle between the ground wire 400 and the traveling platform 110 and the target distance between the repair through hole 310 and the working platform 120 with geometric relationships. Furthermore, in the first formula, let u = θ² + α, φ′ = φ + θ², then we get L³sinφ′ = (L g sinφ′+L5cosφ′)sinu+(L g cosφ′-L5sinφ′)cosu, then let A=(L g sinφ′+L5cosφ′), B=(L g Using cosφ′-L5sinφ′), and combining this with the auxiliary angle formula, we obtain the following relationship:

[0098] In step S202, through the relational expression Using the law of cosines, the target length of the electric actuator 133 can be determined.

[0099] Preferably, step S3 includes:

[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, in the PID controller, P (proportional) adjusts the control signal based on the error between the current length and the target length, and the proportional gain K... P This directly affects the amount of error feedback. I (integral): handles long-term errors (cumulative errors), ensuring the system can eventually eliminate steady-state errors; integral gain K. i K is used to adjust for the effects of the integral part. D (derivative): predicts future errors and compensates for them to reduce system overshoot and oscillations. Differential gain K d It is responsible for adjusting the influence of the differential part.

[0103] Based on the target length L of the electric actuator 133 obtained in the previous step S202, x The target length L x The input is sent to the PID controller, which outputs a target running speed. This speed is the command speed for driving the electric actuator 133. Upon receiving the target running speed, the motor controls the movement of the electric actuator 133. The motor's operation ensures that the actuator moves at the set speed, thereby gradually bringing the actual length of the actuator closer to the target length L. x This step allows for precise control of the position of the electric actuator 133, ensuring that it matches the calculated target length, thereby achieving the desired operational effect.

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

[0105] Specifically, if the measurement feedback value from 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 activated, and the target length of the electric push rod 133 is manually controlled and adjusted to ensure that the control does not change inaccurately in the absence of valid distance measurement feedback. The target length of the electric push rod 133 is set correctly by manual adjustment.

[0106] Preferably, if the target length of the electric push rod 133 is calculated for the first time, and the measurement feedback value of the rangefinder 500 cannot be obtained in step S1, then the target length of the electric push rod 133 will not be calculated further, and the electric push rod 133 can be judged to reach the target length based on the target length calculated for the first time and the position of the motor.

[0107] Specifically, if control of the strand repair robot is required in the next moment, and the feedback value from the rangefinder 500 fails to be obtained, making it impossible to calculate the new target length of the electric actuator 133, then it is necessary to determine whether the electric actuator 133 can reach the predetermined target length based on the initially calculated target length and the motor position. In other words, the previously obtained target length is used to control the strand repair robot. Determining the current position of the motor refers to the current actual length or position of the electric actuator 133. The motor position can typically be obtained through encoders, sensors, or feedback data from the motor.

[0108] like Figure 2 As shown, a control system for a strand-repairing robot, applied to the control method for the strand-repairing robot described above, includes:

[0109] The data acquisition and processing module 1 is used to determine 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 based on the length of the electric push rod 133 and the measurement feedback value of the rangefinder 500 at a certain moment. The measurement feedback value is the distance between the ground wire 400 and the working platform 120.

[0110] The target length calculation module 2 is used to obtain the target distance between the repair through hole 310 and the working platform 120, and to obtain the target length of the electric push rod 133 based on the target distance, the conversion relationship between the distance between the repair through hole 310 and the working platform 120 and the conversion relationship between the angle between the ground wire 400 and the walking platform 110.

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

[0112] This embodiment demonstrates the control method and implementation process of the strand repair robot. Please refer to the above embodiments for details, which will not be repeated here.

[0113] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

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

Claims

1. A control method for a strand repair robot, applied to a strand repair robot, the strand repair robot comprising a walking platform, a working platform, an adjustment mechanism, a strand repair mechanism, and a rangefinder; The working platform is connected to one side of the walking platform via a hinge shaft. The walking platform is equipped with walking wheels. The broken strand repair mechanism is installed on the working platform. The broken strand repair mechanism is provided with a repair through hole for the ground wire to pass through. The rangefinder is used to measure the distance between the working platform and the ground wire. The adjustment mechanism includes a first hinge seat, a second hinge seat, and an electric push rod. The first hinge seat is disposed on the bottom surface of the walking platform, and the second hinge seat is disposed on the bottom surface of the working platform. The first hinge seat is hinged to one end of the electric push rod, and the other end of the electric push rod is hinged to the second hinge seat. The electric push rod is driven by a motor. Its features are, The control method includes the following steps: S1: Based on the length of the electric push rod at a certain moment and the measurement feedback value of the rangefinder, the conversion relationship between the angle between the ground wire and the walking platform and the conversion relationship between the repair 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: Obtain the target distance between the repair through hole and the working platform. Based on the conversion relationship between the target distance, the distance between the repair through hole and the working platform, and the conversion relationship between the angle between the ground wire and the walking platform, determine the target length of the electric push rod. S3: Drive the electric actuator to reach the target length according to the target length of the electric actuator; Step S1 includes the following steps: S101: Calculate the angle between the working platform and the traveling platform based on the length of the electric push rod, satisfying the following relationship: Where α represents the angle between the working platform and the traveling platform, L1 represents the distance between the hinge shaft and the first hinge seat, and L2 represents the distance between the hinge shaft and the second hinge seat. x θ1 represents the length of the electric actuator, and θ1 represents the angle between L1 and L2 in the initial state. Step S1 further includes the following step: S102: Calculate the distance between the axis of the ground wire and the hinge axis based on trigonometric relationships, satisfying the following equation: Where L3 represents the distance between the center of the ground wire and the hinge shaft, L6 represents the horizontal distance between the contact point between the traveling wheel and the ground wire and the hinge shaft, L7 represents the vertical distance between the contact point between the traveling wheel and the ground wire and the traveling platform, and D represents the diameter of the ground wire. S103: Calculate the distance between the center of the ground wire and the hinge axis, and the angle between the horizontal distance between the contact point of the traveling wheel and the ground wire and the hinge axis, using the arctangent function, satisfying the following relationship: Where L6 represents the horizontal distance between the contact point between the traveling wheel and the ground wire and the hinge shaft, L7 represents the vertical distance between the contact point between the traveling wheel and the ground wire and the traveling platform, and θ2 represents the angle between the distance between the center of the ground wire and the hinge shaft and the horizontal distance between the contact point between the traveling wheel and the ground wire and the hinge shaft.

2. The control method according to claim 1, characterized in that, Step S1 further includes the following step: S104: Based on similar triangles and the measurement feedback value of the rangefinder, calculate the angle between the ground wire and the walking platform and the distance between the repair through hole and the working platform, satisfying the following relationship: Where φ represents the angle between the ground wire and the traveling platform, and L g L represents the distance between the repair hole and the work platform. m L3 represents the distance between the center of the ground wire and the hinge shaft, θ2 represents the angle between the distance between the center of the ground wire and the hinge shaft and the horizontal distance between the contact point between the traveling wheel and the ground wire and the hinge shaft, α represents the angle between the working platform and the traveling platform, L4 represents the distance between ...

3. The control method according to claim 2, characterized in that, In step S2, determining the target length of the electric push rod based on the conversion relationship between the target distance and the angle between the ground line and the walking platform includes: Step S201: Calculate the angle between the ground wire and the walking platform and the target distance using a first formula. The first formula satisfies the following relationship: Among them, L g α represents the target distance between the repair through hole and the work platform, α represents the angle between the work platform and the traveling platform, θ2 represents the angle between the distance between the center of the ground wire and the hinge shaft and the horizontal distance between the contact point between the traveling wheel and the ground wire and the hinge shaft, and L5 represents the horizontal distance between the repair through hole and the hinge shaft. The target angle between the work platform and the walking platform is obtained by combining the first formula with the auxiliary angle formula. Step S202: Based on the target angle and the law of cosines, obtain the target length of the electric push rod, satisfying the following relationship: Where L1 represents the distance between the hinge shaft and the first hinge seat, L2 represents the distance between the hinge shaft and the second hinge seat, α represents the angle between the working platform and the traveling platform, and θ1 represents the angle between L1 and L2. x This indicates the target length of the electric actuator.

4. The control method according to claim 1, characterized in that, Step S3 includes: The target length of the electric actuator 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.

5. The control method according to claim 1, characterized in that, If the measurement feedback value of the rangefinder fails to be obtained before step S1, step S2 is not executed, and the target length of the electric push rod is manually adjusted.

6. The control method according to claim 1, characterized in that, If the target length of the electric push rod is calculated for the first time, but the measurement feedback value of the rangefinder cannot be obtained in step S1, then the target length of the electric push rod will not be calculated further, and the electric push rod can be judged to reach the target length based on the target length calculated for the first time and the position of the motor.

7. A control system for a strand-repairing robot, applied to the control method of the strand-repairing robot as described in any one of claims 1-6, characterized in that, include: The data acquisition and processing module is used to determine the conversion relationship between the angle between the ground wire and the walking platform and the conversion relationship between the distance between the repair through hole and the working platform based on the length of the electric push rod and the measurement feedback value of the rangefinder at a certain moment. The measurement feedback value is the distance between the ground wire and the working platform. The target length calculation module is used to obtain the target distance between the repair through hole and the working platform, and to obtain the target length of the electric push rod based on the conversion relationship between the target distance, the distance between the repair through hole and the working platform, and the conversion relationship between the angle between the ground wire and the walking platform. A control drive module is used to drive the electric actuator to the target length according to the target length of the electric actuator.

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