A method and system for conditioning a broken end repair robot platform

Abstract

The present application relates to the technical field of robot control, and proposes a kind of adjusting method and system of broken strand repair robot platform, the adjusting method includes steps: S1: obtaining the measurement feedback value of the range finder at a moment;S2: according to the measurement feedback value, the included angle of the ground line and ground plane is obtained;S3: according to the included angle and the horizontal distance between the two walking wheel shafts, the target distance of left walking wheel and the walking platform is obtained;S4: adjusting mechanism adjusts the distance of left walking wheel and walking platform to the target distance, makes the working platform rotate around the axis of right walking wheel, and then makes the axis of repair through hole and the axis of ground line align, the present application aims at solving the problem that the axis of ground line and the axis of repair through hole do not coincide in current broken strand repair technology, reduces the influence on robot's line operation and winding operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, and in particular to a kind of adjustment method and system of broken strand repair robot platform. BACKGROUND

[0002] In power system, due to natural environment, wind load and thermal expansion and contraction and other factors, the power transmission line often appears bending, broken strand and other problems, if these problems are not repaired in time, it may cause power transmission interruption, affect power supply reliability and safety. Traditional repair method often needs artificial to climb to high altitude to work, not only low efficiency, high risk, but also high cost.

[0003] In the existing broken strand repair robot, when the broken strand repair robot is hung on the ground wire, due to the gravity of the robot, the power transmission line at the walking wheel forms an angle with the ground wire at the broken strand repair mechanism, and then the axis of the ground wire does not coincide with the axis of the repair through hole, therefore, an adjustment method is needed to solve the problem that the axis of the ground wire does not coincide with the axis of the repair through hole in the current broken strand repair technology. SUMMARY

[0004] In view of the above defects, the purpose of the present application is to provide an adjustment method and system of broken strand repair robot platform, which aims to solve the problem that the axis of the ground wire does not coincide with the axis of the repair through hole in the current broken strand repair technology, and reduce the influence on the wire straightening operation and winding operation of the robot.

[0005] To achieve this purpose, the present application adopts the following technical scheme:

[0006] An adjustment method of a broken strand repair robot platform, the adjustment method is applied to a broken strand repair robot, the broken strand repair robot includes a walking platform, a working platform, an adjustment mechanism, a broken strand repair mechanism and a range finder;

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

[0008] The broken strand repair mechanism and the range finder 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 range finder is used to generate a measurement feedback value, which is the distance between the measurement end and the ground wire;

[0009] The broken strand repair robot further includes an adjustment mechanism, the adjustment mechanism is arranged on the left support column, and the adjustment mechanism is used to adjust the distance between the left walking wheel and the walking platform to make 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 following steps:

[0011] S1: obtaining a measurement feedback value of the distance meter at a certain moment;

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

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

[0014] S4: adjusting the distance between the left walking wheel and the walking platform to the target distance by the adjusting mechanism, so as to rotate the working platform around the axis of the right walking wheel and align the axis of the repaired through hole with the axis of the ground line.

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

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

[0017] S22: calculating the angle between the ground line and the ground plane based on the measurement feedback value and the distance values obtained in step S21 by using the arctangent function, satisfying the relationship:

[0018]

[0019] wherein L3 represents the distance between the axis of the right walking wheel and the center of the measurement end of the distance meter, H4 represents the measurement feedback value generated by the distance meter, H5 represents the distance between the measurement 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, deriving 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 comprises the steps of:

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

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

[0023] ΔH = L1 tan α;

[0024] H'3 = H3 + ΔH;

[0025] Wherein, H'3 represents the target distance between the left walking wheel and the walking platform, ΔH represents the changing distance between the left walking wheel and the walking platform, L1 represents the distance between the two walking wheels, a 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 line.

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

[0028] In step S4, adjusting the distance between the left walking wheel and the walking platform to the target distance includes the steps of:

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

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

[0031] An adjustment system of a broken strand repair robot platform, the adjustment system is applied to a broken strand repair robot, the broken strand repair robot includes a walking platform, a working platform, an adjustment mechanism, a broken strand repair mechanism and a distance meter;

[0032] The working platform is fixedly connected with the walking platform, both ends of the walking platform are provided with walking wheels, and the walking wheels are connected with 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 line to pass through, and the distance meter is used to generate a measurement feedback value, the measurement feedback value being the distance between a measurement end and the ground line.

[0034] The broken strand repair robot further includes an adjustment mechanism, the adjustment mechanism is arranged on the left support column, and the adjustment mechanism 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 adjustment system includes:

[0036] a measurement feedback module, used to acquire the measurement feedback value of the distance meter at a certain time;

[0037] a first data processing module, used to derive the angle between the ground line and the ground plane according to the measurement feedback value.

[0038] a second data processing module, configured to derive 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] a control execution module, configured to drive the adjusting 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 the axis of the repair through hole is aligned with the axis of the ground wire.

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

[0041] obtaining the distance between the right walking wheel and the center of the measurement end of the range finder, the distance between the bottom end of the ground wire at the right walking wheel and the working platform, and the distance between the measurement end of the range finder and the working platform;

[0042] based on the measurement feedback value and the distance value obtained in the first data processing module, calculating the included angle between the ground wire and the ground plane by using an arctangent function, and satisfying the relationship:

[0043]

[0044] wherein, L3 represents the distance between the right walking wheel and the center of the measurement end of the range finder, H4 represents the measurement feedback value generated by the range finder, H5 represents the distance between the measurement end of the range finder and the working platform, and H1 represents the distance between the bottom end of the ground wire at the right walking wheel and the working platform.

[0045] Further, in the second data processing module, deriving the target distance between the left walking wheel and the walking platform according to the included angle and the distance between the two walking wheel axes comprises the steps of:

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

[0047] based on the calculated included angle between the ground wire and the ground plane in the first data processing module and the distance value obtained in the second data processing module, deriving the target distance according to a triangular relationship, and satisfying the relationship:

[0048] ΔH = L1 tan a;

[0049] H'3 = H3 + ΔH;

[0050] wherein, 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, a represents the included angle between the ground wire 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 adjusting 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 adjusting mechanism is driven by a motor.

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

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

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

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

[0057] The present scheme uses the measurement feedback value of the range finder to calculate the included angle between the ground wire 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 wire, improve the flexibility of the repair process, and enhance the stability and reliability of 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, and the axis of the repair through hole is accurately aligned with the axis of the ground wire. 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. The simplified adjustment process makes the operation more intuitive, and the use of the adjusting mechanism installed on the left support column for adjustment can reduce the weight of the broken strand repair robot. BRIEF DESCRIPTION OF DRAWINGS

[0058] Figure 1 The flowchart of the adjusting method of the broken strand repair robot platform provided for an embodiment of the present application;

[0059] Figure 2 The module diagram of the adjusting system of the broken strand repair robot platform provided for an embodiment of the present application;

[0060] Figure 3 The structure diagram of the broken strand repair robot in the original state corresponding to the adjusting method of the broken strand repair robot platform provided for an embodiment of the present application;

[0061] Figure 4 The first structure diagram of the broken strand repair robot after adjustment corresponding to the adjusting method of the broken strand repair robot platform provided for an embodiment of the present application;

[0062] Figure 5 A second structure diagram of the broken strand repair robot after adjustment is provided for the adjustment method of the broken strand repair robot platform of one embodiment of the present application;

[0063] Figure 6 A general flowchart of the adjustment method of the broken strand repair robot platform is provided for one embodiment of the present application;

[0064] Wherein, the walking platform 110, the working platform 120, the adjustment mechanism 130, the support column 140, the walking wheel 200, the broken strand repair mechanism 300, the repair through hole 310, the ground wire 400, the range finder 500. DETAILED DESCRIPTION

[0065] Embodiments of the present application are described in detail below with reference to examples thereof illustrated in the accompanying drawings, in which like or similar elements or components are denoted throughout by like reference numerals, and the embodiments described below are illustrative only and are not intended to be limiting of the present application.

[0066] In the description of the present application, it needs to be understood that the orientation or positional relationship indicated by the terms “center”, “longitudinal”, “transverse”, “length”, “width”, “thickness”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “axial”, “radial”, “circumferential” and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0067] In addition, the terms “first” and “second” are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with “first” and “second” can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of “a plurality of” is two or more.

[0068] In the description of the present application, it needs to be noted that, unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connecting” should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0069] In a power system, due to natural environment, wind load and thermal expansion and contraction and other factors, the power transmission line often appears bending, broken strand and other problems. If these problems are not repaired in time, it may cause power transmission interruption, affecting power supply reliability and safety. The traditional repair method often needs manual climbing to high altitude for operation, which is not only low in efficiency, high in risk and high in cost.

[0070] In the existing broken strand repair robot, when the broken strand repair robot is hung on the ground wire 400, the power transmission line at the walking wheel 200 forms an angle with the ground wire 400 at the broken strand repair mechanism 300 due to the gravity of the robot, and further causes the axis of the ground wire 400 to be not coincided with the axis of the repair through hole 310. Therefore, a kind of adjusting method of broken strand repair robot platform is proposed, which is applied to a kind of broken strand repair robot, as shown in the figure, the broken strand repair robot includes a walking platform 110, a working platform 120, an adjusting mechanism 130, a broken strand repair mechanism 300 and a range finder 500. Figure 3 As shown in the figure, the working platform 120 and the walking platform 110 are fixedly connected, both ends of the walking platform 110 are provided with walking wheels 200, and the walking wheels 200 are connected with the walking platform 110 through support columns 140.

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

[0072] The broken strand repair mechanism 300 and the range finder 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, and the range finder 500 is used to generate a measurement feedback value, which is the distance between the measurement end and the ground wire 400.

[0073] The broken strand repair robot further includes an adjusting 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.

[0074] In the broken strand repair robot disclosed in CN116613672A, the center of the repair through hole 310 arranged on the working platform 120 is rotated by driving the working platform 120 to rotate around the hinge shaft. 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 center 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, which is beneficial to the wire straightening operation and winding operation of the broken strand repair mechanism 300 on the ground wire 400, and improves the efficiency of the ground wire 400 repair.

[0075] In the broken strand repair robot applied in the application, the operation platform 120 is fixedly connected with the walking platform 110, two walking wheels 200 are located above the walking platform 110 and are respectively located at the left side and the right side of the walking platform 110, the walking wheels 200 are connected with the walking platform 110 through the support columns 140, the walking wheels 200 are used for pushing the broken strand repair robot to walk on the ground wire 400, when it is necessary to carry out the wire straightening operation and the wire winding operation on the ground wire 400, the adjusting mechanism 130 arranged at 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, the operation platform 120 rotates around the axis of the right walking wheel 200, the broken strand repair mechanism 300 installed on the operation platform 120 rotates with the operation platform 120, the axis direction of the repair through hole 310 is adjusted, and then the axis of the repair through hole 310 is coaxially aligned with the axis of the ground wire 400.

[0076] In one preferred embodiment of the application, the adjusting method comprises the steps of:

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

[0078] S2: obtaining the included angle between the ground wire 400 and the ground plane according to the measurement feedback value;

[0079] S3: obtaining the 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: adjusting the distance between the left walking wheel 200 and the walking platform 110 to the target distance by the adjusting mechanism 130, rotating the operation platform 120 around the axis of the right walking wheel 200, and then aligning the axis of the repair through hole 310 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 scheme and erection mode (such as the tower spacing, the ground wire spanning mode, etc.) of the ground wire 400, so it is necessary to first obtain the distance between the measurement end of the range finder 500 and the ground wire 400 through the range finder 500 installed on the operation platform 120, as the basis for 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 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 work platform 120, the walking platform 110, the support column 140, the broken strand repair mechanism 300 and the distance meter 500 will rotate around the axis of the right walking wheel 200, so 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 calculated according to the conversion relationship.

[0083] In step S3, the distance between the two walking wheels 200 of the broken strand repair robot does not change, and the angle between the ground wire 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 have a functional relationship. When the axis of the repair through hole 310 needs to be aligned with the axis of the ground wire 400, the target distance between the left walking wheel 200 and the walking platform 110 can be calculated using the functional relationship.

[0084] In step S4, after calculating the target distance between the left walking wheel 200 and the walking platform 110, the adjusting 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 initial distance is 25 cm, the walking platform 110 will slide down the support column 140 by 5 cm. The left and right platforms, the left and right support columns 140, the broken strand repair mechanism 300 mounted on the work platform 120 and the distance meter 500 will rotate around the axis of the right walking wheel 200 as the center. By adjusting the inclination of the work 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, and finally the axis of the repair through hole 310 is aligned with the axis of the ground wire 400, which is beneficial to the wire straightening and winding operation of the broken strand repair mechanism 300 on the ground wire 400, and improves the efficiency of the automatic repair of the ground wire 400. Figure 6 The overall flowchart 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, improving the flexibility of the repair process and enhancing 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 precisely 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 driving the working platform 120 to rotate is reduced. The simplified adjustment process makes the operation more intuitive. Adjustment is only performed using the adjustment mechanism 130 installed on the left support column 140, which reduces the weight of the broken strand repair robot.

[0086] Preferably, in step S2, determining the angle between the ground wire 400 and the ground plane based on the measurement feedback value includes the following steps:

[0087] S21: Obtain the distance between the center of the right walking wheel 200 and the center of the measuring end of the rangefinder 500, the distance between the bottom of the ground wire 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.

[0088] S22: Based on the measured feedback value and the distance value obtained in step S21, the angle between the ground line 40° and the ground plane is calculated using the arctangent function, satisfying the following relationship:

[0089]

[0090] Wherein, L3 represents the distance between the center 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 of the ground wire 400 at the right walking wheel 200 and the working platform 120.

[0091] Specifically, such as Figure 3 As shown, Figure 3For the initial state of the broken strand repair robot walking on the ground line 400, in step S21, first, the distance between the axis of the right walking wheel 200 and the center of the measuring end of the range finder 500, the distance between the bottom end of the ground line 400 at the right walking wheel 200 and the work platform 120, and the distance between the measuring end of the range finder 500 and the work platform 120 are obtained. It is worth noting that the way of obtaining can be manually inputting the corresponding distance value or equipping the range finder 500 with an automatic alignment and measurement function on the broken strand repair robot, automatically measuring the distance value and recording the result. Since the distance between the axis of the right walking wheel 200 and the center of the measuring end of the range finder 500, the distance between the bottom end of the ground line 400 at the right walking wheel 200 and the work platform 120, and the distance between the measuring end of the range finder 500 and the work platform 120 are determined by the design of the broken strand repair robot, so for each broken strand repair robot or after adjusting the parts of the broken strand repair robot, only the distance value needs to be obtained once, and the subsequent calculation directly uses the previously measured constant value for calculation.

[0092] In step S22, referring to the OCD triangle in Figure 3 According to the triangular relationship in the OCD triangle, the angle between the ground line 400 and the ground plane can be obtained by the arctangent function of the CD segment and L3, where O is the bottom end of the ground line 400 at the right walking wheel 200, which is parallel to the connecting line between the axis of the right walking wheel 200 and the broken strand repair mechanism 300, the measurement feedback value is the distance between the range finder 500 and the bottom end of the ground line 400, then the C point is the point of the bottom end of the ground line 400 in the measurement feedback value, the D point is the point on the same horizontal plane as the C point, and the CD segment is parallel to the connecting line between the O point and the axis of the right walking wheel 200.

[0093] Further, in step S3, 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 steps:

[0094] S31: obtaining the distance between the two walking 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 triangular relationship, satisfying the relationship:

[0096] ΔH=L1tanα;

[0097] H′3=H3+ΔH;

[0098] Wherein, H'3 represents the target distance between the left walking wheel 200 and the walking platform 110, ΔH represents the changing 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, referring to Figure 4 and Figure 5 , Figure 4 and Figure 5 As shown in FIG. 6, which is a structural schematic diagram of the repair through hole 310 of the broken-end repair mechanism 300 of the broken-end repair robot when the axis of the repair through hole 310 is aligned with the axis of the ground line 400, in step S31, the distance value between the two walking wheels 200 can be manually input or a range finder 500 with automatic alignment and measurement function can be equipped on the broken-end repair robot to automatically measure the distance value and record the result. In step S32, since the broken-end repair mechanism 300 and the working platform 120 are synchronously rotated, it is obvious that, according to the triangle OAB, the changing 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, and the target distance between the left walking wheel 200 and the walking platform 110 can be obtained by adding the changing distance to the distance H3 between the left walking wheel 200 and the walking platform 110 in the original state. Figure 4

[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 line 400.

[0101] Specifically, due to environmental factors or equipment shaking, the measurement of the range finder 500 can be inaccurate, which can cause the range finder 500 to fail to acquire the measurement feedback value. When the measurement feedback value acquisition fails, 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, the axis of the repair through hole 310 is coaxially aligned with the axis of the ground line 400, and manual adjustment provides a method for dealing with unexpected problems. When the broken-end repair process cannot be handled, manual intervention can be made to maintain the normal operation of the system.

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

[0103] In step S4, the adjustment mechanism 130 adjusts the distance between the left walking wheel 200 and the walking platform 110 to the target distance, which includes the steps of:

[0104] ​S41: The target distance is input to the PID controller, and the PID controller outputs the 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 speed.

[0106] Specifically, in step S41, the target distance between the left-side traveling wheel 200 and the traveling platform 110 obtained in the previous steps is input into the PID controller. The PID controller first calculates the error between the current distance between the left-side traveling wheel 200 and the traveling platform 110 and the target distance. The error refers to the difference between the actual measured distance and the target distance. Based on this error, the PID controller uses three control algorithms—proportional (P), integral (I), and derivative (D)—to generate a control signal. This control signal is used to adjust the motor speed. Proportional control (P) adjusts the output according to the magnitude of the current error, directly affecting the motor speed. Integral control (I) adjusts the output according to the accumulated error, eliminating static errors in the system. Derivative control (D) adjusts the output according to the rate of error change, predicting the future behavior of the system and reducing overshoot.

[0107] In step S42, based on the target speed signal output by the PID controller, the motor adjusts its speed. Changes in motor speed directly affect the movement of the adjustment mechanism 130, thereby altering the distance between the left-side traveling wheel 200 and the traveling platform 110. The motor drives the adjustment mechanism 130 to perform physical adjustment tasks, such as rotating screws or adjusting sliders, gradually adjusting the distance between the left-side traveling wheel 200 and the traveling platform 110 to the target distance. Feedback signals during the process (such as the actual distance measured by sensors) are continuously transmitted to the PID controller for real-time adjustments, ensuring the accuracy and stability of the adjustment process.

[0108] like Figure 2 As shown, an adjustment system for a strand repair robot platform is provided. The adjustment system is applied to a strand repair robot, which includes a walking platform 110, a working platform 120, an adjustment mechanism 130, a 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, and the walking wheels 200 are connected to the walking platform 110 through support columns 140.

[0110] The broken strand repair mechanism 300 and the range finder 500 are fixedly arranged on the working platform 120, the broken strand repair mechanism 300 is provided with a repair through hole 310 through which the ground wire 400 passes, and the range finder 500 is used for generating a measurement feedback value, the measurement feedback value being the distance between the measurement end and the ground wire 400;

[0111] The broken strand repair robot further comprises an adjusting mechanism 130 arranged on the left support column 140, and the adjusting mechanism 130 is used for adjusting 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 adjusting system comprises:

[0113] A measurement feedback module 1 is arranged for obtaining the measurement feedback value of the range finder 500 at a certain time;

[0114] A first data processing module 2 is arranged for deriving the included angle between the ground wire 400 and the ground plane according to the measurement feedback value;

[0115] A second data processing module 3 is arranged for deriving the target distance between the left walking wheel 200 and the walking platform 110 according to the included angle and the distance between the two walking wheels 200;

[0116] A control execution module 4 is arranged for driving the adjusting 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 the axis of the repair through hole 310 is aligned with the axis of the ground wire 400.

[0117] In the first data processing module 2, deriving the included angle between the ground wire 400 and the ground plane according to the measurement feedback value comprises the following steps:

[0118] The distance between the axis of the right walking wheel 200 and the center of the measurement end of the range finder 500, the distance between the bottom end of the ground wire 400 at the right walking wheel 200 and the working platform 120, and the distance between the measurement end of the range finder 500 and the working platform 120 are obtained;

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

[0120]

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

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

[0123] Obtaining the distance between the two walking wheels 200;

[0124] Based on the included 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 triangular relationship, satisfying the relationship:

[0125] ΔH = L1tanα;

[0126] H'3 = H3 + ΔH;

[0127] Wherein, H'3 represents the target distance between the left walking wheel 200 and the walking platform 110, ΔH represents the changing 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 included 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 measuring feedback module 1, if the obtaining fails, the adjusting 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 through hole 310 is coaxially aligned with the axis of the ground line 400.

[0129] In the control execution module 4, the adjusting 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, comprising the steps of:

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

[0132] The motor drives the adjusting 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 rotating speed.

[0133] In the description of the specification, reference to "one embodiment", "some embodiments", "an exemplary embodiment", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "in an exemplary embodiment", "an example", "a specific example", or "some examples" in various places in the specification are not necessarily referring to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0134] Although embodiments of the application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and alterations can be made hereto without departing from the principles and the scope of the application, which is defined by the claims and their equivalents.

Claims

1. A method for adjusting a strand-repairing robot platform, the method being applied to a strand-repairing robot, the strand-repairing robot comprising a walking platform, a working platform, a strand-repairing mechanism and a range finder; the working platform is fixedly connected with the walking platform, both ends of the walking platform are provided with walking wheels, and the walking wheels are connected with the walking platform through support columns; the strand-repairing mechanism and the range finder are fixedly arranged on the working platform, the strand-repairing mechanism is provided with a repairing through hole for a ground wire to pass through, and the range finder is used to generate a measurement feedback value, the measurement feedback value being a distance between a measurement end and the ground wire; characterized in that the strand-repairing robot further comprises an adjusting mechanism, the adjusting mechanism is arranged on a left support column, and the adjusting mechanism is used to adjust a distance between the left walking wheel and the walking platform so that the support column, the walking platform and the working platform rotate around an axis of the right walking wheel; the method comprises the following steps: S1: obtaining a measurement feedback value of the range finder at a certain time; S2: deriving an included angle between the ground wire and a 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 a horizontal distance between the axes of the two walking wheels; S4: the adjusting 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 repairing through hole is aligned with the axis of the ground wire.

2. The conditioning method of claim 1, wherein, In step S2, deriving the included angle between the ground wire and the ground plane according to the measurement feedback value comprises the following steps: S21: obtaining a distance between the axis of the right walking wheel and the center of the measurement end of the range finder, a distance between the bottom end of the ground wire at the right walking wheel and the working platform, and a distance between the measurement end of the range finder 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 , which satisfies the relationship ； wherein, represents the distance between the axle center of the right walking wheel and the center of the measuring end of the range finder, represents the measurement feedback value generated by the range finder, represents the distance between the measuring end of the range finder and the working platform, represents the distance between the bottom end of the ground line at the right walking wheel and the working platform.

3. The conditioning method of claim 2, wherein, In step S3, deriving the target distance between the left walking wheel and the walking platform according to the included angle and the horizontal distance between the axes of the two walking wheels comprises the following steps: S31: obtaining a distance between the two walking wheels; S32: deriving the target distance according to a trigonometric relationship based on the included angle between the ground wire and the ground plane calculated in step S22 and the distance value obtained in step S31, the relationship satisfying: ； ； wherein, represents the target distance of the left walking wheel to the walking platform, represents the changing distance of the left walking wheel to the walking platform, represents the distance between the two walking wheels, represents the angle between the ground line and the ground plane, represents the distance of the left walking wheel to the walking platform in the original state.

4. The conditioning method of claim 1, wherein, In step S1, if the obtaining fails, the adjusting 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 repairing through hole is coaxially aligned with the axis of the ground wire.

5. The conditioning method of claim 1, wherein, The adjusting 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 comprises the following steps: S41: inputting the target distance into a PID controller, the PID controller outputting a target rotating speed of the motor according to the target distance; S42: the motor drives the adjusting mechanism to adjust the distance between the left walking wheel and the walking platform to the target distance according to the target rotating speed. 6.A system for adjusting a strand-repairing robot platform, the system being applied to a strand-repairing robot, the strand-repairing robot comprising a walking platform, a working platform, a strand-repairing mechanism and a range finder; The walking platform is fixedly connected with the working platform, both ends of the walking platform are provided with walking wheels, and the walking wheels are connected with the walking platform through support columns; The broken strand repair mechanism and the range finder are fixedly arranged on the working platform, the broken strand repair mechanism is provided with a repair through hole through which the ground wire passes, and the range finder is used for generating a measurement feedback value, the measurement feedback value being a distance between a measurement end and the ground wire; characterized in that The broken strand repair robot further comprises an adjusting mechanism arranged on the left support column, the adjusting mechanism being used for adjusting a distance between the left walking wheel and the walking platform so that the support column, the walking platform and the working platform rotate around an axis of the right walking wheel; The adjusting system comprises: a measurement feedback module used for obtaining a measurement feedback value of the range finder at a certain time; a first data processing module used for deriving an included angle between the ground wire and a ground plane according to the measurement feedback value; a second data processing module used for deriving a target distance between the left walking wheel and the walking platform according to the included angle and a horizontal distance between the axes of the two walking wheels; a control execution module used for driving the adjusting 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 the axis of the repair through hole is aligned with the axis of the ground wire.

7. The conditioning system of claim 6, wherein, In the first data processing module, deriving the included angle between the ground wire and the ground plane according to the measurement feedback value comprises: obtaining a distance between the axis of the right walking wheel and a center of a measurement end of the range finder, a distance between a bottom end of the ground wire at the right walking wheel and the working platform, and a distance between the measurement end of the range finder and the working platform; Based on the measured feedback value and the distance value obtained in the first data processing module, the included angle between the ground wire and the ground plane is calculated by using an inverse tangent function , and the relationship is satisfied ; wherein, represents the distance between the axle center of the right walking wheel and the center of the measuring end of the range finder, represents the measuring feedback value generated by the range finder, represents the distance between the measuring end of the range finder and the working platform, represents the distance between the bottom end of the ground line at the right walking wheel and the working platform.

8. The conditioning system of claim 7, wherein, In the second data processing module, deriving the target distance between the left walking wheel and the walking platform according to the included angle and the horizontal distance between the axes of the two walking wheels comprises steps of: obtaining a distance between the two walking wheels; deriving the target distance according to a triangular relationship based on the calculated included angle between the ground wire and the ground plane in the first data processing module and the obtained distance value in the second data processing module, the relationship being satisfied: ； ； wherein, represents the target distance of the left walking wheel to the walking platform, represents the changing distance of the left walking wheel to the walking platform, represents the distance between the two walking wheels, represents the angle between the ground line and the ground plane, represents the distance of the left walking wheel to the walking platform in the original state.

9. The conditioning system of claim 6, wherein, In the measurement feedback module, if the obtaining fails, the adjusting 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 conditioning system of claim 6, wherein, The adjusting mechanism is driven by a motor; In the control execution module, adjusting the distance between the left walking wheel and the walking platform to the target distance by the adjusting mechanism comprises: inputting the target distance into a PID controller, the PID controller outputting a target rotating speed of the motor according to the target distance; the motor driving the adjusting mechanism to adjust the distance between the left walking wheel and the walking platform to the target distance according to the target rotating speed.

Images