Adjusting method and system for broken strand repairing robot platform

Abstract

The invention relates to the technical field of robot control, and provides an adjusting method and system for a broken strand repairing robot platform, and the adjusting method comprises the steps: S1, obtaining a measurement feedback value of a range finder at a certain moment; s2, obtaining an included angle between the ground wire and the ground plane according to the measurement feedback value; s3, according to the included angle and the horizontal distance between the axes of the two walking wheels, the target distance between the left walking wheel and the walking platform is obtained; and S4, the adjusting mechanism adjusts the distance between the left side walking wheel and the walking platform to be the target distance, so that the operation platform rotates around the axis of the right side walking wheel, and then the axis of the repairing through hole is aligned with the axis of the ground wire. The problem that in the current broken strand repairing technology, the axis of the ground wire does not coincide with the axis of the repairing through hole is solved; and the influence on the wire stroking operation and the wire winding operation of the robot is reduced.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to an adjustment method and system for a broken leg repair robot platform. 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, when the broken strand repair robot is hung on the ground wire, the ground wire forms an angle due to the gravity of the robot, the power transmission line at the walking wheel and the ground wire at the broken strand repair mechanism, which leads to the misalignment of the axis of the ground wire and the axis of the repair through hole. Therefore, it is necessary to propose an adjustment method to solve the problem of misalignment of the axis of the ground wire and the axis of the repair through hole in the current broken strand repair technology. Summary of the invention

[0004] In view of the above-mentioned defects, the purpose of the present invention is to propose an adjustment method and system for a broken strand repair robot platform, aiming to solve the problem of misalignment between the axis of the ground wire and the axis of the repair through hole in the current broken strand repair technology, and reduce the impact on the robot's wire drawing and winding operations.

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

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

[0007] The working platform is fixedly connected to the walking platform, and both ends of the walking platform are provided with walking wheels, and the walking wheels are connected to the walking platform through support columns;

[0008] The broken strand repair mechanism and the distance meter are fixedly 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 generate a measurement feedback value, and the measurement feedback value is the distance between the measuring end and the ground wire;

[0009] The broken strand repair robot also includes an adjustment mechanism, which is arranged on the left support column and is used to adjust the distance between the left walking wheel and the walking platform so that the support column, the walking platform and the working platform rotate around the axis of the right walking wheel;

[0010] The adjustment method comprises the steps of:

[0011] S1: Obtaining the measurement feedback value of the rangefinder at a certain moment;

[0012] S2: Calculating the angle between the ground line and the ground plane according to the measurement feedback value;

[0013] S3: deriving a target distance between the left walking wheel and the walking platform according to the included angle and the horizontal distance between the two walking wheel axes;

[0014] S4: The adjustment mechanism adjusts the distance between the left walking wheel and the walking platform to the target distance, so that the working platform rotates around the axis of the right walking wheel and the axis of the repair through hole is aligned with the axis of the ground wire.

[0015] Preferably, in step S2, obtaining the angle between the ground line and the ground plane according to the measurement feedback value comprises the following steps:

[0016] S21: Obtain the distance between the axis of the right running wheel and the center of the measuring end of the distance meter, the distance between the bottom end of the ground line at the right running wheel and the working platform, and the distance between the measuring end of the distance meter and the working platform;

[0017] S22: Based on the measurement feedback value and the distance value obtained in step S21, the included angle between the ground line and the ground plane is calculated using an inverse tangent function to satisfy the relationship:

[0018]

[0019] Among them, L3 represents the distance between the axis of the right walking wheel and the center of the measuring end of the distance meter, H4 represents the measurement feedback value generated by the distance meter, H5 represents the distance between the measuring end of the distance meter and the working platform, and H1 represents the distance between the bottom end of the ground line at the right walking wheel and the working platform.

[0020] Further, in step S3, obtaining the target distance between the left walking wheel and the walking platform according to the angle and the distance between the two walking wheel axes includes the following steps:

[0021] S31: Obtain the distance between the two walking wheels;

[0022] S32: Based on the angle between the ground line and the ground plane calculated in step S22 and the distance value obtained in step S31, the target distance is obtained according to the trigonometric relationship, satisfying the relationship:

[0023] ΔH = L1tanα;

[0024] H′3=H3+ΔH;

[0025] Among them, H′3 represents the target distance between the left walking wheel and the walking platform, ΔH represents the changed distance between the left walking wheel and the walking platform, L1 represents the distance between the two walking wheels, α represents the angle between the ground line and the ground plane, and H3 represents the distance between the left walking wheel and the walking platform in the original state.

[0026] Preferably, in step S1, if the acquisition fails, the adjustment mechanism is manually controlled to adjust the distance between the left walking wheel and the walking platform, so that the working platform rotates around the axis of the right walking wheel until the repair through hole is coaxially aligned with the axis of the ground wire.

[0027] Preferably, the adjustment mechanism is driven by a motor;

[0028] In step S4, the adjusting mechanism adjusts the distance between the left walking wheel and the walking platform to the target distance, including the following steps:

[0029] S41: inputting the target distance into a PID controller, and the PID controller outputs a target speed of the motor according to the target distance;

[0030] S42: The motor drives the adjustment mechanism according to the target rotation speed to adjust the distance between the left walking wheel and the walking platform to the target distance.

[0031] A regulating system for a broken strand repair robot platform, the regulating system is applied to a broken strand repair robot, the broken strand repair robot comprises a walking platform, an operating platform, an regulating mechanism, a broken strand repair mechanism and a rangefinder;

[0032] The working platform is fixedly connected to the walking platform, and both ends of the walking platform are provided with walking wheels, and the walking wheels are connected to the walking platform through support columns;

[0033] The broken strand repair mechanism and the distance meter are fixedly 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 generate a measurement feedback value, and the measurement feedback value is the distance between the measuring end and the ground wire;

[0034] The broken strand repair robot also includes an adjustment mechanism, which is arranged on the left support column and is used to adjust the distance between the left walking wheel and the walking platform so that the support column, the walking platform and the working platform rotate around the axis of the right walking wheel;

[0035] The regulating system comprises:

[0036] A measurement feedback module, used to obtain the measurement feedback value of the rangefinder at a certain moment;

[0037] A first data processing module, used for obtaining an angle between the ground line and the ground plane according to the measurement feedback value;

[0038] A second data processing module is used to obtain a target distance between the left walking wheel and the walking platform according to the included angle and the distance between the two walking wheels;

[0039] The control execution module is used to drive the adjustment mechanism to adjust the distance between the left walking wheel and the walking platform to the target distance, so that the working platform rotates around the axis of the right walking wheel and thus aligns the axis of the repair through hole with the axis of the ground wire.

[0040] Preferably, in the first data processing module, deriving the angle between the ground line and the ground plane according to the measurement feedback value comprises:

[0041] Obtain the distance between the right running wheel and the center of the measuring end of the distance meter, the distance between the bottom end of the ground line at the right running wheel and the working platform, and the distance between the measuring end of the distance meter and the working platform;

[0042] Based on the measurement feedback value and the distance value obtained in the first data processing module, the included angle between the ground line and the ground plane is calculated using the inverse tangent function to satisfy the relationship:

[0043]

[0044] Among them, L3 represents the distance between the right walking wheel and the center of the measuring end of the distance meter, H4 represents the measurement feedback value generated by the distance meter, H5 represents the distance between the measuring end of the distance meter and the working platform, and H1 represents the distance between the bottom end of the ground line at the right walking wheel and the working platform.

[0045] Further, in the second data processing module, obtaining the target distance between the left walking wheel and the walking platform according to the angle and the distance between the two walking wheel axes includes the following steps:

[0046] Get the distance between the two walking wheels;

[0047] Based on the angle between the ground line and the ground plane calculated in the first data processing module and the distance value obtained in the second data processing module, the target distance is obtained according to the trigonometric relationship, satisfying the relationship:

[0048] ΔH = L1tanα;

[0049] H′3=H3+ΔH;

[0050] Among them, H′3 represents the target distance between the left walking wheel and the walking platform, ΔH represents the changed distance between the left walking wheel and the walking platform, L1 represents the distance between the two walking wheels, α represents the angle between the ground line and the ground plane, and H3 represents the distance between the left walking wheel and the walking platform in the original state.

[0051] Preferably, in the measurement feedback module, if the acquisition fails, the adjustment mechanism is manually controlled to adjust the distance between the left walking wheel and the walking platform, so that the working platform rotates around the axis of the right walking wheel until the repair through hole is coaxially aligned with the axis of the ground wire.

[0052] Preferably, the adjustment mechanism is driven by a motor;

[0053] In the control execution module, the adjusting mechanism adjusts the distance between the left walking wheel and the walking platform to the target distance, including:

[0054] The target distance is input into a PID controller, and the PID controller outputs a target speed of the motor according to the target distance;

[0055] The motor drives the adjustment mechanism according to the target rotation speed to adjust the distance between the left walking wheel and the walking platform to the target distance.

[0056] One of the above technical solutions has the following advantages or beneficial effects:

[0057] This solution uses the measurement feedback value of the rangefinder to calculate the angle between the ground line and the horizontal plane, and then adjusts the target distance. The broken strand repair robot can automatically adapt to the actual situation and changes of the ground line, improves the flexibility of the repair process, and enhances the stability and reliability when adjusting the broken strand repair mechanism; by adjusting the distance between the left walking wheel and the walking platform, the broken strand repair mechanism rotates around the right walking wheel, so that the axis of the repair through hole is accurately aligned with the axis of the ground line. Compared with the existing broken strand repair robot, the complex control process of the electric push rod to drive the working platform to rotate is reduced, and the simplified adjustment process makes the operation more intuitive. Only using the adjustment mechanism installed on the left support column for adjustment can reduce the weight of the broken strand repair robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 A flowchart of a method for adjusting a broken strand repair robot platform provided in one embodiment of the present application;

[0059] Figure 2 A module diagram of an adjustment system of a broken thigh repair robot platform provided in one embodiment of the present application;

[0060] Figure 3 A schematic structural diagram of a broken-leg repair robot in an original state corresponding to an adjustment method of a broken-leg repair robot platform provided in one embodiment of the present application;

[0061] Figure 4 A schematic diagram of a first structure of a broken strand repair robot after adjustment corresponding to an adjustment method of a broken strand repair robot platform provided in one embodiment of the present application;

[0062] Figure 5 A schematic diagram of a second structure of a broken strand repair robot after adjustment corresponding to the adjustment method of the broken strand repair robot platform provided in one embodiment of the present application;

[0063] Figure 6 An overall flow chart of a method for adjusting a broken thigh repair robot platform provided in one embodiment of the present application;

[0064] Among them, there are a walking platform 110, an operating platform 120, an adjusting mechanism 130, a supporting column 140, a walking wheel 200, a broken strand repairing mechanism 300, a repairing through hole 310, a ground wire 400, and a distance meter 500. DETAILED DESCRIPTION

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] In the existing broken-leg repair robot, when the broken-leg repair robot is hung on the ground wire 400, the ground wire 400 forms an angle with the power transmission line at the walking wheel 200 and the ground wire 400 at the broken-leg repair mechanism 300 due to the gravity of the robot, thereby causing the axis of the ground wire 400 to not coincide with the axis of the repair through hole 310. Therefore, a method for adjusting the platform of the broken-leg repair robot is proposed, and the adjustment method is applied to a broken-leg repair robot, such as Figure 3 As shown, the broken strand repair robot includes a walking platform 110, a working platform 120, an adjustment mechanism 130, a broken strand repair mechanism 300 and a rangefinder 500;

[0071] The working platform 120 is fixedly connected to the walking platform 110. Both ends of the walking platform 110 are provided with walking wheels 200. The walking wheels 200 are connected to the walking platform 110 through support columns 140.

[0072] The broken strand repair mechanism 300 and the distance meter 500 are fixedly arranged 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 generate a measurement feedback value, which is the distance between the measuring end and the ground wire 400.

[0073] The broken strand repair robot further includes an adjustment mechanism 130, which is disposed on the left support column 140, and is used to adjust the distance between the left walking wheel 200 and the walking platform 110 so that the support column 140, the walking platform 110 and the working platform 120 rotate around the axis of the right walking wheel 200;

[0074] In the broken strand repair robot disclosed in CN116613672A, the center of the repair through hole 310 provided on the working platform 120 is rotated along with the working platform 120 by driving the working platform 120 to rotate around the hinge axis. 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 wire drawing and winding operations of the ground wire 400 by the broken strand repair mechanism 300, thereby improving the efficiency of repairing the ground wire 400.

[0075] In the broken strand repair robot used in the present invention, the working platform 120 is fixedly connected to the walking platform 110, and the two walking wheels 200 are located above the walking platform 110, respectively on the left and right sides of the walking platform 110, and the walking wheels 200 are connected to the walking platform 110 through the support column 140. The walking wheels 200 are used to push the broken strand repair robot to walk on the ground wire 400. When the ground wire 400 needs to be straightened and wound, the adjustment mechanism 130 arranged on the left support column 140 adjusts the distance between the bottom end of the ground wire 400 at the left walking wheel 200 and the walking platform 110, so that the working platform 120 rotates around the axis of the right walking wheel 200, and the broken strand repair mechanism 300 installed on the working platform 120 rotates with the working platform 120, adjusts the axial direction of the repair through hole 310, and thereby makes the axis of the repair through hole 310 coaxially aligned with the axis of the ground wire 400.

[0076] In a preferred embodiment of the present application, the adjustment method comprises the steps of:

[0077] S1: obtaining a measurement feedback value of the rangefinder 500 at a certain moment;

[0078] S2: Calculating an angle between the ground line 400 and the ground plane according to the measurement feedback value;

[0079] S3: deriving a target distance between the left walking wheel 200 and the walking platform 110 according to the included angle and the horizontal distance between the axes of the two walking wheels 200;

[0080] S4: The adjustment mechanism 130 adjusts the distance between the left walking wheel 200 and the walking platform 110 to the target distance, so that the working platform 120 rotates around the axis of the right walking wheel 200 and the axis of the repair through hole 310 is aligned with the axis of the ground wire 400.

[0081] Specifically, in step S1, when the broken strand repair robot walks on the ground wire 400, the bending angle of the ground wire 400 will change, and the bending angle will change with the weight of the broken strand repair robot or the design and installation method of the ground wire 400 (such as pole tower spacing, ground wire crossing method, etc.), so it is necessary to first obtain the distance between the measuring end of the rangefinder 500 and the ground wire 400 through the rangefinder 500 installed on the working platform 120, which will serve as the basis for the subsequent calculation of the target adjustment distance between the left walking wheel 200 and the walking platform 110.

[0082] In step S2, in the process of coaxially aligning the axis of the repair through hole 310 with the axis of the ground wire 400, the angle between the ground wire 400 and the ground plane is fixed, and the working platform 120, the walking platform 110, the support column 140, the broken strand repair mechanism 300 and the rangefinder 500 will rotate around the axis of the right walking wheel 200 accordingly. Therefore, there is a certain conversion relationship between the angle between the ground wire 400 and the ground plane and the measurement feedback value. When the measurement feedback value is obtained, the angle between the ground wire 400 and the ground plane is first calculated according to the conversion relationship between the two.

[0083] In step S3, the distance between the two walking wheels 200 of the broken strand repair robot will not change. There is a functional relationship between the angle between the ground line 400 and the ground plane, the distance between the axes of the two walking wheels 200, and the target distance between the left walking wheel 200 and the walking platform 110. When the axis of the repair through hole 310 needs to be aligned with the axis of the ground line 400, this functional relationship can be used to calculate the target distance between the left walking wheel 200 and the walking platform 110.

[0084] In step S4, after calculating the target distance between the left walking wheel 200 and the walking platform 110, the adjustment mechanism 130 drives the walking platform 110 to move on the support column 140. For example, if the target distance between the left walking wheel 200 and the walking platform 110 is 30 cm, and the target distance between the left walking wheel 200 and the walking platform 110 in the initial state is 25 cm, the walking platform 110 slides down 5 cm along the support column 140, and the left and right platforms fixedly connected to the walking platform 110 and the support columns 140 on the left and right sides thereof move. 40. The broken strand repair mechanism 300 and the rangefinder 500 installed on the working platform 120 will rotate around the axis of the right walking wheel 200 as a circle point. By adjusting the inclination of the working platform 120, the angle between the axis of the repair through hole 310 on the broken strand repair mechanism 300 and the horizontal line is adjusted. Finally, the axis of the repair through hole 310 is aligned with the axis of the ground wire 400, so that the broken strand repair mechanism 300 can perform the wire drawing and winding operations on the ground wire 400, thereby improving the efficiency of the automatic repair of the ground wire 400. Figure 6 The figure is an overall flow chart of an embodiment.

[0085] This solution uses the measurement feedback value of the rangefinder 500 to calculate the angle between the ground line 400 and the horizontal plane, and then adjusts the target distance. The broken strand repair robot can automatically adapt to the actual situation and changes of the ground line 400, improves the flexibility of the repair process, and enhances the stability and reliability when adjusting the broken strand repair mechanism 300; by adjusting the distance between the left walking wheel 200 and the walking platform 110, the broken strand repair mechanism 300 rotates around the right walking wheel 200, so that the axis of the repair through hole 310 is accurately aligned with the axis of the ground line 400. Compared with the existing broken strand repair robot, the complex control process of the electric push rod to push the working platform 120 to rotate is reduced, and the simplified adjustment process makes the operation more intuitive. Only using the adjustment mechanism 130 installed on the left support column 140 for adjustment can reduce the weight of the broken strand repair robot.

[0086] Preferably, in step S2, obtaining the angle between the ground line 400 and the ground plane according to the measurement feedback value comprises the following steps:

[0087] S21: Obtain the distance between the axis of the right running wheel 200 and the center of the measuring end of the distance meter 500, the distance between the bottom end of the ground line 400 at the right running wheel 200 and the working platform 120, and the distance between the measuring end of the distance meter 500 and the working platform 120;

[0088] S22: Based on the measurement feedback value and the distance value obtained in step S21, the included angle between the ground line 400 and the ground plane is calculated using an inverse tangent function to satisfy the relationship:

[0089]

[0090] Among them, L3 represents the distance between the axis of the right walking wheel 200 and the center of the measuring end of the rangefinder 500, H4 represents the measurement feedback value generated by the rangefinder 500, H5 represents the distance between the measuring end of the rangefinder 500 and the working platform 120, and H1 represents the distance between the bottom end of the ground line 400 at the right walking wheel 200 and the working platform 120.

[0091] Specifically, Figure 3 As shown, Figure 3This is the initial state of the broken strand repair robot when it is walking on the ground line 400. In step S21, firstly, the distance between the axis center of the right walking wheel 200 and the center of the measuring end of the rangefinder 500, the distance between the bottom end of the ground line 400 at the right walking wheel 200 and the working platform 120, and the distance between the measuring end of the rangefinder 500 and the working platform 120 are obtained. It is worth noting that the acquisition method can be manually inputting the corresponding distance value or equipping the broken strand repair robot with a rangefinder 500 with automatic alignment and measurement functions to automatically measure the distance value and record the result. Since the distance between the axis center of the right walking wheel 200 and the center of the measuring end of the rangefinder 500, the distance between the bottom end of the ground line 400 at the right walking wheel 200 and the working platform 120, and the distance between the measuring end of the rangefinder 500 and the working platform 120 are determined by the design of the broken strand repair robot, for each broken strand repair robot or the broken strand repair robot after each part adjustment, it is only necessary to obtain the distance value once, and the subsequent calculations directly use the previously measured fixed value for calculation.

[0092] In step S22, refer to Figure 3 The OCD triangle in the figure, according to the trigonometric relationship within the OCD triangle, the angle between the ground line 400 and the ground plane can be obtained by the inverse tangent function of the CD segment and L3, wherein O is the bottom end of the ground line 400 at the right walking wheel 200, and the axis connecting it with the right walking wheel 200 is parallel to the broken strand repair mechanism 300, and the measurement feedback value is the distance between the rangefinder 500 and the bottom end of the ground line 400, then point C is the point at the bottom end of the ground line 400 in the measurement feedback value, point D is a point on the same horizontal plane as point C, and the CD segment is parallel to the axis connecting point O and the right walking wheel 200.

[0093] Further, in step S3, obtaining the target distance between the left walking wheel 200 and the walking platform 110 according to the angle and the distance between the axes of the two walking wheels 200 includes the following steps:

[0094] S31: Obtaining the distance between the two running wheels 200;

[0095] S32: Based on the angle between the ground line 400 and the ground plane calculated in step S22 and the distance value obtained in step S31, the target distance is obtained according to the trigonometric relationship, satisfying the relationship:

[0096] ΔH = L1tanα;

[0097] H′3=H3+ΔH;

[0098] Among them, H′3 represents the target distance between the left walking wheel 200 and the walking platform 110, ΔH represents the changed distance between the left walking wheel 200 and the walking platform 110, L1 represents the distance between the two walking wheels 200, Δ represents the angle between the ground line 400 and the ground plane, and H3 represents the distance between the left walking wheel 200 and the walking platform 110 in the original state.

[0099] Specifically, see Figure 4 and Figure 5 , Figure 4 and Figure 5 The schematic diagram of the structure of the broken strand repair robot when the axis of the repair through hole 310 of the broken strand repair mechanism 300 is aligned with the axis of the ground wire 400. In step S31, the distance value between the two running wheels 200 can also be manually input or the distance meter 500 equipped with the broken strand repair robot with automatic alignment and measurement functions can be used to automatically measure the distance value and record the result. In step S32, since the broken strand repair mechanism 300 and the working platform 120 rotate synchronously, it is obvious that the broken strand repair mechanism 300 and the working platform 120 rotate synchronously. Figure 4 It can be seen from the triangle OAB that the change distance ΔH between the left walking wheel 200 and the walking platform 110 is equal to the distance L1 between the two walking wheels 200 multiplied by tanα. The target distance between the left walking wheel 200 and the walking platform 110 can be obtained by adding the distance H3 between the left walking wheel 200 and the walking platform 110 in the original state to the change distance.

[0100] In another embodiment, in step S1, if the acquisition fails, the adjustment mechanism 130 is manually controlled to adjust the distance between the left walking wheel 200 and the walking platform 110, so that the working platform 120 rotates around the axis of the right walking wheel 200 until the repair through hole 310 is coaxially aligned with the axis of the ground wire 400.

[0101] Specifically, due to environmental factors or the influence of equipment shaking, the rangefinder 500 may perform inaccurate measurements, resulting in the rangefinder 500 failing to obtain measurement feedback values. When the measurement feedback value fails to be obtained, manual adjustment can ensure that the distance between the left walking wheel 200 and the walking platform 110 is correctly adjusted, so that the working platform 120 rotates around the axis of the right walking wheel 200, and the axis of the repair through hole 310 is aligned with the axis of the ground wire 400. Manual adjustment provides a method for dealing with emergencies, and manual intervention can be performed when faced with problems that cannot be handled during the broken strand repair process to maintain the normal operation of the system.

[0102] Further, the adjustment mechanism 130 is driven by a motor;

[0103] In step S4, the adjusting mechanism 130 adjusts the distance between the left walking wheel 200 and the walking platform 110 to the target distance, including the following steps:

[0104] S41: inputting the target distance into a PID controller, and the PID controller outputs a target speed of the motor according to the target distance;

[0105] S42: The motor drives the adjustment mechanism 130 to adjust the distance between the left walking wheel 200 and the walking platform 110 to the target distance according to the target rotation speed.

[0106] Specifically, in step S41, the target distance between the left walking wheel 200 and the walking platform 110 obtained in the previous step is input into the PID controller. The PID controller first calculates the error between the current distance between the left walking wheel 200 and the walking platform 110 and the target distance. The error refers to the difference between the actual measured distance and the target distance. Based on the error, the PID controller uses three control algorithms: proportional (P), integral (I), and differential (D) to generate a control signal, which is used to adjust the speed of the motor. The proportional control (P) adjusts the output according to the size of the current error, which directly affects the speed of the motor. The integral control (I) adjusts the output according to the accumulated amount of the error to eliminate the static error in the system. The differential control (D) adjusts the output according to the rate of error change to predict the future behavior of the system and reduce overshoot.

[0107] In step S42, according to the target speed signal output by the PID controller, the motor adjusts its speed. The change in the speed of the motor will directly affect the movement of the adjustment mechanism 130, thereby changing the distance between the left walking wheel 200 and the walking platform 110. The motor drives the adjustment mechanism 130 to perform physical adjustment tasks, such as rotating a screw or adjusting a slider, and gradually adjusts the distance between the left walking wheel 200 and the walking platform 110 to the target distance. The feedback signal in the process (such as the actual distance measured by the sensor) will be continuously transmitted to the PID controller for real-time adjustment to ensure the accuracy and stability of the adjustment process.

[0108] like Figure 2 As shown, an adjustment system for a broken-strand repair robot platform, the adjustment system is applied to a broken-strand repair robot, the broken-strand repair robot comprises a walking platform 110, a working platform 120, an adjustment mechanism 130, a broken-strand repair mechanism 300 and a rangefinder 500;

[0109] The working platform 120 is fixedly connected to the walking platform 110. Both ends of the walking platform 110 are provided with walking wheels 200. The walking wheels 200 are connected to the walking platform 110 through support columns 140.

[0110] The broken strand repair mechanism 300 and the distance meter 500 are fixedly arranged 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 generate a measurement feedback value, which is the distance between the measuring end and the ground wire 400.

[0111] The broken strand repair robot further comprises an adjustment mechanism 130, which is arranged on the left support column 140, and is used to adjust the distance between the left walking wheel 200 and the walking platform 110 so that the support column 140, the walking platform 110 and the working platform 120 rotate around the axis of the right walking wheel 200;

[0112] The regulating system comprises:

[0113] A measurement feedback module 1, used to obtain a measurement feedback value of the rangefinder 500 at a certain moment;

[0114] A first data processing module 2, configured to obtain an angle between the ground line 400 and the ground plane according to the measurement feedback value;

[0115] A second data processing module 3 is used to obtain a target distance between the left walking wheel 200 and the walking platform 110 according to the angle and the distance between the two walking wheels 200;

[0116] The control execution module 4 is used to drive the adjustment mechanism 130 to adjust the distance between the left walking wheel 200 and the walking platform 110 to the target distance, so that the working platform 120 rotates around the axis of the right walking wheel 200 and thus aligns the axis of the repair through hole 310 with the axis of the ground wire 400.

[0117] In the first data processing module 2, obtaining the angle between the ground line 400 and the ground plane according to the measurement feedback value includes the following steps:

[0118] Obtain the distance between the axis of the right running wheel 200 and the center of the measuring end of the distance meter 500, the distance between the bottom end of the ground line 400 at the right running wheel 200 and the working platform 120, and the distance between the measuring end of the distance meter 500 and the working platform 120;

[0119] Based on the measurement feedback value and the distance value obtained in the first data processing module 2, the included angle between the ground line 400 and the ground plane is calculated using the inverse tangent function to satisfy the relationship:

[0120]

[0121] Among them, L3 represents the distance between the axis of the right walking wheel 200 and the center of the measuring end of the rangefinder 500, H4 represents the measurement feedback value generated by the rangefinder 500, H5 represents the distance between the measuring end of the rangefinder 500 and the working platform 120, and H1 represents the distance between the bottom end of the ground line 400 at the right walking wheel 200 and the working platform 120.

[0122] In the second data processing module 3, the target distance between the left walking wheel 200 and the walking platform 110 is obtained according to the angle and the distance between the axes of the two walking wheels 200, including the following steps:

[0123] Obtain the distance between the two running wheels 200;

[0124] Based on the angle between the ground line 400 and the ground plane calculated in the first data processing module 2 and the distance value obtained in the second data processing module 3, the target distance is obtained according to the trigonometric relationship, which satisfies the relationship:

[0125] ΔH = L1tanα;

[0126] H′3=H3+ΔH;

[0127] Among them, H′3 represents the target distance between the left walking wheel 200 and the walking platform 110, ΔH represents the changed distance between the left walking wheel 200 and the walking platform 110, L1 represents the distance between the two walking wheels 200, α represents the angle between the ground line 400 and the ground plane, and H3 represents the distance between the left walking wheel 200 and the walking platform 110 in the original state.

[0128] In the measurement feedback module 1, if the acquisition fails, the adjustment mechanism 130 is manually controlled to adjust the distance between the left walking wheel 200 and the walking platform 110, so that the working platform 120 rotates around the axis of the right walking wheel 200 until the repair through hole 310 is coaxially aligned with the axis of the ground wire 400.

[0129] In the control execution module 4, the adjustment mechanism 130 is driven by a motor;

[0130] The adjusting mechanism 130 adjusts the distance between the left walking wheel 200 and the walking platform 110 to the target distance, including the following steps:

[0131] The target distance is input into a PID controller, and the PID controller outputs a target speed of the motor according to the target distance;

[0132] The motor drives the adjustment mechanism 130 according to the target rotation speed to adjust the distance between the left walking wheel 200 and the walking platform 110 to the target distance.

[0133] 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.

[0134] 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 method for adjusting a broken strand repair robot platform, the method being applied to a broken strand repair robot, the broken strand repair robot comprising a walking platform, an operating platform, an adjusting mechanism, a broken strand repair mechanism and a rangefinder; The working platform is fixedly connected to the walking platform, and both ends of the walking platform are provided with walking wheels, and the walking wheels are connected to the walking platform through support columns; The broken strand repair mechanism and the distance meter are fixedly 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 generate a measurement feedback value, and the measurement feedback value is the distance between the measuring end and the ground wire; It is characterized in that The broken strand repair robot also includes an adjustment mechanism, which is arranged on the left support column and is used to adjust the distance between the left walking wheel and the walking platform so that the support column, the walking platform and the working platform rotate around the axis of the right walking wheel; The adjustment method comprises the steps of: S1: Obtaining the measurement feedback value of the rangefinder at a certain moment; S2: Calculating the angle between the ground line and the ground plane according to the measurement feedback value; S3: deriving a target distance between the left walking wheel and the walking platform according to the included angle and the horizontal distance between the two walking wheel axes; S4: The adjustment mechanism adjusts the distance between the left walking wheel and the walking platform to the target distance, so that the working platform rotates around the axis of the right walking wheel and the axis of the repair through hole is aligned with the axis of the ground wire.

2. The adjustment method according to claim 1, characterized in that: In step S2, obtaining the angle between the ground line and the ground plane according to the measurement feedback value includes the following steps: S21: Obtain the distance between the axis of the right running wheel and the center of the measuring end of the distance meter, the distance between the bottom end of the ground line at the right running wheel and the working platform, and the distance between the measuring end of the distance meter and the working platform; S22: Based on the measurement feedback value and the distance value obtained in step S21, the included angle between the ground line and the ground plane is calculated using an inverse tangent function to satisfy the relationship: Among them, L3 represents the distance between the axis of the right walking wheel and the center of the measuring end of the distance meter, H4 represents the measurement feedback value generated by the distance meter, H5 represents the distance between the measuring end of the distance meter and the working platform, and H1 represents the distance between the bottom end of the ground line at the right walking wheel and the working platform.

3. The adjustment method according to claim 2, characterized in that: In step S3, the target distance between the left walking wheel and the walking platform is obtained according to the angle and the distance between the two walking wheel axes, including the following steps: S31: Obtain the distance between the two walking wheels; S32: Based on the angle between the ground line and the ground plane calculated in step S22 and the distance value obtained in step S31, the target distance is obtained according to the trigonometric relationship, satisfying the relationship: ΔH = L1tanα; H′3=H2+ΔH; Among them, H′3 represents the target distance between the left walking wheel and the walking platform, ΔH represents the changed distance between the left walking wheel and the walking platform, L1 represents the distance between the two walking wheels, α represents the angle between the ground line and the ground plane, and H3 represents the distance between the left walking wheel and the walking platform in the original state.

4. The adjustment method according to claim 1, characterized in that: In step S1, if the acquisition fails, the adjustment mechanism is manually controlled to adjust the distance between the left walking wheel and the walking platform, so that the working platform rotates around the axis of the right walking wheel until the repair through hole is coaxially aligned with the axis of the ground wire.

5. The adjustment method according to claim 1, characterized in that: The regulating mechanism is driven by a motor; In step S4, the adjusting mechanism adjusts the distance between the left walking wheel and the walking platform to the target distance, including the following steps: S41: inputting the target distance into a PID controller, and the PID controller outputs a target speed of the motor according to the target distance; S42: The motor drives the adjustment mechanism according to the target rotation speed to adjust the distance between the left walking wheel and the walking platform to the target distance.

6. An adjustment system for a broken strand repair robot platform, the adjustment system being 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 fixedly connected to the walking platform, and both ends of the walking platform are provided with walking wheels, and the walking wheels are connected to the walking platform through support columns; The broken strand repair mechanism and the distance meter are fixedly 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 generate a measurement feedback value, and the measurement feedback value is the distance between the measuring end and the ground wire; It is characterized in that The broken strand repair robot also includes an adjustment mechanism, which is arranged on the left support column and is used to adjust the distance between the left walking wheel and the walking platform so that the support column, the walking platform and the working platform rotate around the axis of the right walking wheel; The regulating system comprises: A measurement feedback module, used to obtain the measurement feedback value of the rangefinder at a certain moment; A first data processing module, used for obtaining an angle between the ground line and the ground plane according to the measurement feedback value; A second data processing module is used to obtain a target distance between the left walking wheel and the walking platform according to the included angle and the distance between the two walking wheels; The control execution module is used to drive the adjustment mechanism to adjust the distance between the left walking wheel and the walking platform to the target distance, so that the working platform rotates around the axis of the right walking wheel and thus aligns the axis of the repair through hole with the axis of the ground wire.

7. The regulating system according to claim 6, characterized in that In the first data processing module, deriving the angle between the ground line and the ground plane according to the measurement feedback value includes: Obtain the distance between the right running wheel and the center of the measuring end of the distance meter, the distance between the bottom end of the ground line at the right running wheel and the working platform, and the distance between the measuring end of the distance meter and the working platform; Based on the measurement feedback value and the distance value obtained in the first data processing module, the included angle between the ground line and the ground plane is calculated using the inverse tangent function to satisfy the relationship: Among them, L3 represents the distance between the right walking wheel and the center of the measuring end of the distance meter, H4 represents the measurement feedback value generated by the distance meter, H5 represents the distance between the measuring end of the distance meter and the working platform, and H1 represents the distance between the bottom end of the ground line at the right walking wheel and the working platform.

8. The regulating system according to claim 7, characterized in that In the second data processing module, the target distance between the left walking wheel and the walking platform is obtained according to the angle and the distance between the two walking wheel axes, including the following steps: Get the distance between the two walking wheels; Based on the angle between the ground line and the ground plane calculated in the first data processing module and the distance value obtained in the second data processing module, the target distance is obtained according to the trigonometric relationship, satisfying the relationship: ΔH = L1tanα; H′3=H3+ΔH; Among them, H′3 represents the target distance between the left walking wheel and the walking platform, ΔH represents the changed distance between the left walking wheel and the walking platform, L1 represents the distance between the two walking wheels, α represents the angle between the ground line and the ground plane, and H3 represents the distance between the left walking wheel and the walking platform in the original state.

9. The regulating system according to claim 6, characterized in that: In the measurement feedback module, if the acquisition fails, the adjustment mechanism is manually controlled to adjust the distance between the left walking wheel and the walking platform, so that the working platform rotates around the axis of the right walking wheel until the repair through hole is coaxially aligned with the axis of the ground wire.

10. The regulating system according to claim 6, characterized in that The regulating mechanism is driven by a motor; In the control execution module, the adjusting mechanism adjusts the distance between the left walking wheel and the walking platform to the target distance, including: The target distance is input into a PID controller, and the PID controller outputs a target speed of the motor according to the target distance; The motor drives the adjustment mechanism according to the target rotation speed to adjust the distance between the left walking wheel and the walking platform to the target distance.

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