A power distribution network material grabbing system

Abstract

The application relates to the technical field of power distribution network logistics, and discloses a power distribution network material grabbing system, which selects corresponding clamping jaws based on the types of target materials, so that the stability of clamping is improved and the risk of clamping damage is reduced, preferentially clamps upper target materials based on the distribution positions of the target materials, avoids collision and damage of the upper target materials caused by clamping lower target materials, constructs an optimal clamping sequence, and further reduces the damage risk of the target materials; based on the clamping sequence and the number of times of replacing the clamping jaws, the clamping sequence with the minimum number of times of replacing the clamping jaws is selected as the selected clamping sequence, the clamping sequence is optimized, and the classification efficiency is improved; the risk of clamping damage is reduced by setting a preset clamping force. The automatic grabbing and sorting process reduces the dependence on manual operation and reduces labor costs.

Description

Technical Field

[0001] This invention relates to the field of power distribution network logistics technology, and in particular to a power distribution network material grabbing system. Background Technology

[0002] In traditional power distribution network material management, warehousing differs from traditional logistics warehousing. It involves various specifications and types of hardware, such as insulators, fittings, plastic-cased fittings, and cable accessories. These small items are typically packaged in bags. Power distribution network material warehousing is characterized by its wide variety, large quantity, complex shapes, and centralized inbound and outbound processes. The handling and distribution of materials primarily rely on manual labor. This approach presents several problems:

[0003] High labor costs: A large workforce is required for loading, unloading, and transporting goods; low work efficiency: Manual handling is slow and easily affected by weather, personnel skills, and other factors, making efficient and rapid goods distribution difficult. High safety risks: Manual operation is prone to accidents and injuries when handling heavy or dangerous goods, posing significant safety hazards. Poor accuracy: Manual operation is prone to misjudgments, such as incorrect handling or placement of goods, leading to damage or loss.

[0004] With the development of technology, automation and intelligent technologies are gradually being applied to various fields, especially the logistics and warehousing industries. In power distribution network material management, the introduction of automated equipment and technologies has become an inevitable trend.

[0005] Existing automated equipment can usually only handle materials of specific types and sizes, and is not suitable for the management needs of various types of power distribution network materials, including insulators, fittings, fittings with plastic shells, and cables.

[0006] Based on this, the present invention proposes a power distribution network material grabbing system to reduce labor costs, improve work efficiency, and enhance the accuracy of material handling. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies and provide a power distribution network material handling system to reduce labor costs, improve work efficiency, and enhance the accuracy of material handling.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A power distribution network material grasping system includes: a remote terminal, grippers, a control module, a robotic arm, a walking mechanism, and an image acquisition module; the robotic arm and the image acquisition module are both mounted on the walking mechanism, which has a gripper placement area containing a plurality of grippers for grasping different types of target materials; the robotic arm is used to connect to the grippers, and the robotic arm and grippers are detachably connected; the remote terminal is wirelessly connected to the control module, and the control module is electrically connected to the grippers, robotic arm, image acquisition module, and walking mechanism.

[0010] The remote terminal is used to receive grabbing instructions, obtain the current position of the walking mechanism and the current position of the target material group to be grabbed, and construct the movement route of the walking mechanism.

[0011] The image acquisition module is used to capture images of the target material group and transmit them to the control module;

[0012] The control module is used to control the walking mechanism to walk according to the motion route constructed by the remote terminal under the instruction of the remote terminal; the control module acquires the image of the target material group and identifies the type and distribution position of each target material in the image of the target material group; the control module constructs the gripping sequence to grip all the target materials in the target material group according to the position distribution of each target material, and controls the robotic arm and gripper to sort the target materials according to the gripping sequence.

[0013] Preferably, the remote terminal records the current position of the walking mechanism as the first position and the current position of the target material group to be grabbed as the second position; the remote terminal constructs a first movement route based on the first position and the second position; after the first movement route is constructed, the remote terminal generates a walking command and sends the walking command to the control module.

[0014] Preferably, the image acquisition module acquires an image of the target material group after the walking mechanism moves to the target material group to be grasped.

[0015] Preferably, the control module is further configured to calculate the number of gripper changes in each gripping sequence according to the type of each target material, and use the gripping sequence with the fewest gripper changes; based on the type of the first target material in the gripping sequence, generate a first gripper pick-up signal, a first gripping signal, and a first sorting signal; the robotic arm responds to the first gripper pick-up signal, the first gripping signal, and the first sorting signal, picks up the gripper used for the first target material, transfers the gripper to the location of the first target material to grip the first target material, and transports the first target material to its target location; the control module is further configured to generate a second gripper pick-up signal, a second gripping signal, and a second sorting signal when the type of the next target material in the gripping sequence is different from the type of the previous target material; the robotic arm responds to the second gripper pick-up signal, the second gripping signal, and the second sorting signal, replaces the gripper used for the next target material, transfers the gripper to the location of the next target material to grip the next target material, and transports the next target material to its target location.

[0016] Preferably, the first gripper pick-up signal includes: the gripper used for the first target material, and the position of the gripper used for the first target material in the gripper placement area; the first gripping signal includes: the distribution position of the first target material in the target material group, and the gripper clamping force required to grip the first target material; the first sorting signal is the target position of the first target material;

[0017] The second gripper pick-up signal includes: the gripper used for the next target material, and the position of the gripper used for the next target material in the gripper placement area; the second gripping signal includes: the distribution position of the next target material in the target material group, and the gripper clamping force required to grip the next target material; the second sorting signal is the target position of the next target material.

[0018] Preferably, when the robotic arm changes the gripper for the next target material, it first places the gripper for the previous target material back into its original position in the gripper placement area, and then picks up the gripper for the next target material.

[0019] Preferably, after the gripper picks up the target material, the control module collects the gripping force of the gripper on the robotic arm in real time. The control module determines whether the gripping force of the gripper on the robotic arm matches the gripping force required by the gripper for the target material. If they match, the robotic arm transports the target material to its target location.

[0020] Preferably, during the process of the robotic arm transferring the gripper to the location of the target material, the image acquisition module acquires an image of the gripper on the robotic arm; the control module acquires the image of the gripper and, based on the image, identifies the opening and closing state of the gripper on the robotic arm; if the gripper on the robotic arm is in a closed state, the control module generates an opening command, and the gripper on the robotic arm responds to the opening command to open its jaws; if the gripper is in an open state, no action is taken.

[0021] When the robotic arm transfers the gripper to the location of the target material, the image acquisition module acquires the gripping image of the gripper on the robotic arm in real time. The control module acquires the gripping image of the gripper and, based on the gripping image, identifies the positional state of the gripper on the robotic arm and the target material. If the target material is located within the gripper's jaws on the robotic arm, the control module generates a closing gripper command. The gripper on the robotic arm responds to the closing gripper command by closing its jaws.

[0022] Preferably, the control module is further configured to calculate the sorting time for each gripping sequence based on the type and target location of each target material, use the gripping sequence with the shortest sorting time, upload the gripping sequence to the remote terminal, construct the route from the walking mechanism to the target location of the corresponding target material, generate the corresponding walking instruction, and send the corresponding walking instruction to the control module; the control module generates corresponding gripper pick-up signals, gripping signals, and sorting signals based on the type of target material in the gripping sequence, and controls the robotic arm, grippers, and walking mechanism to sort the target material group to the target location of the corresponding target material through the corresponding gripper pick-up signals, gripping signals, sorting signals, and corresponding walking instructions.

[0023] The present invention discloses a power distribution network material grabbing system, which has the following beneficial effects.

[0024] This invention selects corresponding grippers based on the type of target material to improve gripping stability and reduce the risk of gripping damage. Based on the distribution location of the target materials, it prioritizes gripping upper-layer target materials to avoid collision damage to upper-layer target materials caused by gripping lower-layer target materials, thus constructing an optimal gripping sequence to further reduce the risk of damage to target materials. Based on the gripping sequence and the number of gripper changes, the gripping sequence with the fewest gripper changes is selected as the preferred gripping sequence, optimizing the gripping sequence and improving sorting efficiency. By setting a preset gripping force, the risk of gripping damage is reduced. The automated gripping and sorting process reduces reliance on manual operation and lowers labor costs. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the power distribution network material grabbing system of the present invention.

[0026] Figure 2This is a schematic diagram of the quick-release mechanism of the present invention.

[0027] Figure 3 This is a schematic diagram of part of the gripper of the present invention.

[0028] Figure 4 This is a schematic diagram of one of the grippers of the present invention being connected to a robotic arm.

[0029] Figure 5 This is a schematic diagram of the gripper placement area of ​​the present invention. Detailed Implementation

[0030] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0031] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0032] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0033] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0034] Unless otherwise specified, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0035] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0036] Example 1

[0037] Please refer to Figures 1 to 4 A power distribution network material grasping system includes: a remote terminal, grippers, a control module, a robotic arm, a walking mechanism, and an image acquisition module. The robotic arm and image acquisition module are both mounted on the walking mechanism, which has a gripper placement area containing several grippers for grasping different types of target materials. The robotic arm connects to the grippers, and the robotic arm and grippers are detachably connected. The remote terminal is wirelessly connected to the control module, and the control module is electrically connected to the grippers, robotic arm, image acquisition module, and walking mechanism. This application does not limit the detachable connection method between the robotic arm and grippers; existing quick-release mechanisms can be used. As an example, a method could be employed... Figure 2 , 4 The quick-release mechanism is connected in the middle;

[0038] In this embodiment, the power distribution network materials to be sorted are: insulators, fittings, fittings with plastic shells, and cables forming a target material group. Several grippers are used to grip different types of power distribution network materials. For example, [the following can be used]. Figure 3 The grippers shown are not intended to limit the types of distribution network materials or the grippers used in this application; they are merely examples. The corresponding distribution network materials could also be boxes or bags, requiring only the grippers to be replaced. In this embodiment, insulators are designated as the first type of target material. First-type target materials are characterized by their cylindrical shape and the need for a pouch-like gripping method, thus the corresponding first-type grippers are selected. Fittings are designated as the second type of target material. Second-type target materials are characterized by their small size and variety, thus the corresponding second-type grippers are selected. Fittings with plastic shells are designated as the third type of target material. Third-type target materials have a high coefficient of friction, allowing for gripping through friction of the shell, thus the corresponding third-type grippers are selected. Cables are designated as the fourth type of target material. Fourth-type target materials require clamping, retaining only a portion, thus the corresponding fourth-type grippers are selected.

[0039] like Figure 5 As shown, four grippers are placed in the gripper placement area on the traveling mechanism. The four grippers are a first type gripper, a second type gripper, a third type gripper, and a fourth type gripper, respectively. The positions of the first type gripper in the gripper placement area are denoted as Q1, Q2, Q3, and Q4.

[0040] The remote terminal is used to receive grabbing instructions, obtain the current position of the walking mechanism and the current position of the target material group to be grabbed, and construct the movement route of the walking mechanism.

[0041] Specifically, in this embodiment, the remote terminal records the current position of the walking mechanism as the first position and the current position of the target material group to be grasped as the second position; the remote terminal constructs a first movement route based on the first and second positions; after the first movement route is constructed, the remote terminal generates a walking command and sends the walking command to the control module. For example, during implementation, after checking all equipment, such as the remote terminal, control module, robotic arm, gripper, walking mechanism, and image acquisition module, to ensure that all equipment is operating normally...

[0042] The remote terminal first receives a grabbing command from the operator or system to grab the target material. Upon receiving the grabbing command, the remote terminal first obtains the current position of the traveling mechanism (first position) and the current position of the target material group (second position). After obtaining the first and second positions, the remote terminal constructs an optimal first movement route for the traveling mechanism from the first position to the second position based on the distance between the current positions of the traveling mechanism and the target material group, as well as the obstacle situation. After constructing the first movement route, the remote terminal sends the traveling command and the first movement route to the control module.

[0043] The control module controls the walking mechanism to move along the motion route constructed by the remote terminal under the instruction of the remote terminal. Specifically, after receiving the walking instruction and the first motion route, the control module sends a walking signal to the walking mechanism to control it to move from a first position to a second position along the first motion route. After the walking mechanism reaches the second position, the image acquisition module on the walking mechanism starts to capture images of the target material group. The control module acquires images of the target material group and transmits them to the control module. After acquiring the images of the target material group, the control module identifies the type and distribution position of each target material in the images. Based on the position distribution of each target material, the control module constructs the gripping sequence to grip all the target materials in the target material group and controls the robotic arm and grippers to sort the target materials according to the gripping sequence. Different grippers are used for different target materials during sorting. That is, after gripping one type of target material, it is necessary to change to another type of gripper. When changing grippers, the gripper position information in the gripper placement area is called to avoid changing to the wrong gripper.

[0044] Preferably, in this embodiment, after acquiring images of the target material group, the control module performs preprocessing operations such as denoising, grayscale conversion, and binarization on the acquired images to improve image quality. Edge detection algorithms (such as Canny edge detection) are used to extract edge information from the images, and feature extraction algorithms (such as SIFT, SURF, or HOG) are used to extract key features of the target materials in the images, such as shape, texture, and color. The extracted key features are then input into a pre-trained classifier (such as Support Vector Machine (SVM), Random Forest (RF), or a deep learning model) to classify and identify the type of target materials. For example, insulators are usually cylindrical, metal parts are small in size and come in various types, some have plastic shells and high friction, and cables require special clamping methods.

[0045] The type of each target material reflects the type of gripper required for that material. For example, if the first target material is a type 1 target material, then the corresponding type 1 gripper will be used.

[0046] The distribution of each target material reflects its relative position and the order in which it is retrieved. For example, if one target material Tm is piled on top of another target material Tn, the first target material Tm must be retrieved first to reduce the risk of damaging the first target material Tm when the other target material Tn is forcibly retrieved.

[0047] Use object detection algorithms (such as YOLO, Faster R-CNN) to detect the bounding boxes of each target material in the image.

[0048] The crossover ratio (CROR) between two target materials is calculated using the bounding box, and the formula is as follows:

[0049]

[0050] Among them, IoU is the intersection over union between two target materials, Area of Overlap is the intersection area of the bounding boxes of the two target materials; Area of Union is the union area of the bounding boxes of the two target materials.

[0051] Based on the calculated intersection over union, determine the grasping order of the two target materials. For example, if the IoU of the two target materials is 0, at this time, the two target materials do not overlap at all, and the grasping order can be selected arbitrarily. If the two target materials satisfy 0 < IoU < 1, at this time, the two target materials partially overlap, then calculate the projections of the two target materials in the vertical direction, and grasp the target material with the projection above first. If the two target materials satisfy IoU = 1, at this time, one target material completely covers the other target material, grasp this one target material first.

[0052] For example, assume there are two target materials A and B. The bounding box of target material A is (x1, y1, w1, h1), where (x1, y1) is the upper left corner coordinate of target material A, w1 is the width of target material A, and h1 is the height of target material A. The bounding box of target material B is (x2, y2, w2, h2), where (x2, y2) is the upper left corner coordinate of target material B, w2 is the width of target material B, and h2 is the height of target material B.

[0053] First, calculate the lower right corner coordinates of the bounding boxes of target materials A and B: The lower right corner coordinate of target material A: (x1 + w1, y1 + h1), the lower right corner coordinate of target material B: (x2 + w2, y2 + h2).

[0054] Secondly, calculate the intersection area between target material A and target material B. The calculation process is as follows:

[0055] Calculate the left boundary of the intersection area between target material A and target material B: max(x1, x2);

[0056] Calculate the right boundary of the intersection area between target material A and target material B: min(x1 + w1, x2 + w2);

[0057] Calculate the upper boundary of the intersection area between target material A and target material B: max(y1, y2);

[0058] Calculate the lower boundary of the intersection area between target material A and target material B: min(y1 + h1, y2 + h2).

[0059] If the left boundary of the intersection area between target material A and target material B is greater than the right boundary of the intersection area between target material A and target material B, or the upper boundary of the intersection area between target material A and target material B is greater than the lower boundary of the intersection area between target material A and target material B, then target material A and target material B have no intersection area, and the intersection area between target material A and target material B is 0.

[0060] Otherwise, if target material A and target material B have an overlapping area, the width and height of the overlapping area should be calculated first, and then the area of ​​the overlapping area should be calculated.

[0061] Calculate the width of the intersection region: width = min(x1 + w1, x2 + w2) - max(x1, x2),

[0062] Calculate the height of the intersection region: height = min(y1+h1,y2+h2) - max(y1,y2),

[0063] Calculate the area of ​​overlap: Area of ​​overlap = width × height.

[0064] Next, calculate the union area of ​​target material A and target material B. The calculation process is as follows:

[0065] Calculate the area of ​​target material A: areaA = w1 × h1;

[0066] Calculate the area of ​​target material B: areaB = w² × h²,

[0067] Calculate the area of ​​the union: Area of ​​Union = areaA + areaB - intersection area. In practice, after one target material is picked up, images of the target material group can be captured, and based on the captured images, the picking order of each target material in the group can be further optimized.

[0068] Example 2

[0069] Based on Embodiment 1, in this embodiment, after the control module constructs the clamping sequence for clamping all target materials in the target material group according to the location distribution of each target material, the control module is also used to calculate the number of times the grippers are changed in each clamping sequence according to the type of each target material, and use the clamping sequence with the fewest number of gripper changes; during implementation, the control module plans a possible clamping sequence based on the location distribution of each target material in the target material group, and there may be multiple clamping sequences.

[0070] For example, there are four gripping sequences, denoted as F1, F2, F3, and F4. Calculate the number of gripper changes required for each sequence (F1, F2, F3, and F4), and denote them as Z1, Z2, Z3, and Z4. Compare the values ​​of Z1, Z2, Z3, and Z4 to select the gripping sequence with the fewest gripper changes. For example, if Z1 is the smallest, then F1 is the optimal gripping sequence.

[0071] Based on the type of the first target material in the gripping sequence, a first gripper pick-up signal, a first gripping signal, and a first sorting signal are generated. The robotic arm responds to these signals by picking up the gripper used for the first target material, transferring the gripper to the location of the first target material to grip it, and transporting the first target material to its target location. The control module is also used to generate a second gripper pick-up signal, a second gripping signal, and a second sorting signal when the type of the next target material in the gripping sequence is different from that of the previous target material. The robotic arm responds to these signals by changing the gripper used for the next target material, transferring the gripper to the location of the next target material to grip it, and transporting the next target material to its target location.

[0072] In this embodiment, preferably, the first gripper picking signal includes: the gripper used for the first target material, and the position of the gripper used for the first target material in the gripper placement area; the first gripping signal includes: the distribution position of the first target material in the target material group, and the gripper clamping force required to grip the first target material; the first sorting signal is the target position of the first target material;

[0073] The second gripper pick-up signal includes: the gripper used for the next target material, and the position of the gripper used for the next target material in the gripper placement area; the second gripping signal includes: the distribution position of the next target material in the target material group, and the gripper clamping force required to grip the next target material; the second sorting signal is the target position of the next target material.

[0074] In this embodiment, preferably, after the gripper picks up the target material, the control module collects the gripping force of the gripper on the robotic arm in real time. The control module determines whether the gripping force of the gripper on the robotic arm matches the gripping force required by the gripper for the target material. If they match, the robotic arm transports the target material to its target location.

[0075] In this embodiment, preferably, when the robotic arm changes the gripper for the next target material, it first places the gripper for the previous target material back into its original position in the gripper placement area, and then picks up the gripper for the next target material.

[0076] Preferably, in this embodiment, during the process of the robotic arm transferring the gripper to the location of the target material, the image acquisition module acquires an image of the gripper on the robotic arm; the control module acquires the image of the gripper and, based on the image of the gripper, identifies the opening and closing state of the gripper on the robotic arm; if the gripper on the robotic arm is in a closed state, the control module generates an opening command, and the gripper on the robotic arm responds to the opening command to open its jaws; if the gripper is in an open state, no action is taken.

[0077] When the robotic arm transfers the gripper to the location of the target material, the image acquisition module acquires the gripping image of the gripper on the robotic arm in real time. The control module acquires the gripping image of the gripper and, based on the gripping image of the gripper, identifies the positional state of the gripper on the robotic arm and the target material. If the target material is located within the gripper's jaws on the robotic arm, the control module generates a closing gripper command. The gripper on the robotic arm responds to the closing gripper command by closing its jaws.

[0078] Example 3

[0079] Based on Embodiment 1, in this embodiment, the control module is further configured to calculate the sorting time for each gripping sequence according to the type and target location of each target material, and upload the gripping sequence with the shortest sorting time to the remote terminal. The remote terminal constructs the route from the walking mechanism to the target location of the corresponding target material, generates the corresponding walking instruction, and sends the corresponding walking instruction to the control module. During implementation, the sorting time includes: gripper replacement time, material gripping time, and transportation time. The gripper replacement time and material gripping time for each type of target material are not significantly different, so the calculation of the sorting time mainly focuses on the transportation time. The transportation time refers to the time it takes for the walking mechanism to move to the target location of the target material.

[0080] Based on the type of target material in the gripping sequence, the control module generates corresponding gripper pick-up signals, gripping signals, and sorting signals. Through the corresponding gripper pick-up signals, gripping signals, sorting signals, and corresponding walking instructions, the control module controls the robotic arm, grippers, and walking mechanism to sort the target material group to the target position of the corresponding target material.

[0081] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Substitutions may include replacements of some structures, devices, or method steps, or may be complete technical solutions. Equivalent substitutions or modifications made to the technical solutions and inventive concepts of the present invention should all be covered within the scope of protection of the present invention.

Claims

1. A power distribution grid asset grasping system, comprising: include: The system comprises a remote terminal, grippers, a control module, a robotic arm, a walking mechanism, and an image acquisition module. The robotic arm and image acquisition module are both mounted on the walking mechanism, which has a gripper placement area containing several grippers for gripping different types of target materials. The robotic arm connects to the grippers, and the connection between the robotic arm and grippers is detachable. The remote terminal is wirelessly connected to the control module, and the control module is electrically connected to the grippers, robotic arm, image acquisition module, and walking mechanism. The remote terminal is used to receive grabbing instructions, obtain the current position of the walking mechanism and the current position of the target material group to be grabbed, and construct the movement route of the walking mechanism. The image acquisition module is used to capture images of the target material group and transmit them to the control module; The control module is used to control the walking mechanism to walk according to the motion route constructed by the remote terminal under the instruction of the remote terminal; the control module acquires an image of the target material group and identifies the type and distribution position of each target material in the image of the target material group; the control module constructs the gripping sequence to grip all the target materials in the target material group according to the position distribution of each target material, and controls the robotic arm and gripper to sort the target materials according to the gripping sequence of the target materials; The control module is also used to calculate the number of gripper changes in each gripping sequence based on the type of each target material, and use the gripping sequence with the fewest gripper changes; based on the type of the first target material in the gripping sequence, it generates a first gripper pick-up signal, a first gripping signal, and a first sorting signal. The robotic arm responds to the first gripper pick-up signal, the first gripping signal, and the first sorting signal, picks up the gripper used for the first target material, transfers the gripper to the location of the first target material to pick up the first target material, and transports the first target material to its target location; the control module is also used to generate a second gripper pick-up signal, a second gripping signal, and a second sorting signal when the type of the next target material in the gripping sequence is different from the type of the previous target material. The robotic arm responds to the second gripper pick-up signal, the second gripping signal, and the second sorting signal, replaces the gripper used for the next target material, transfers the gripper to the location of the next target material to pick up the next target material, and transports the next target material to its target location.

2. The power distribution grid asset grabbing system of claim 1, wherein, The remote terminal records the current position of the walking mechanism as the first position and the current position of the target material group to be grabbed as the second position; the remote terminal constructs a first movement route based on the first position and the second position; After the first motion path is constructed, the remote terminal generates a walking command and sends the walking command to the control module.

3. The power distribution grid asset grabbing system of claim 1, wherein, The image acquisition module acquires images of the target material group after the walking mechanism moves to the target material group to be grabbed.

4. The power distribution grid asset grabbing system of claim 1, wherein, The first gripper pick-up signal includes: the gripper used for the first target material, and the position of the gripper used for the first target material in the gripper placement area; the first gripping signal includes: the distribution position of the first target material in the target material group, and the gripper clamping force required to grip the first target material; the first sorting signal is the target position of the first target material; The second gripper pick-up signal includes: the gripper used for the next target material, and the position of the gripper used for the next target material in the gripper placement area; the second gripping signal includes: the distribution position of the next target material in the target material group, and the gripper clamping force required to grip the next target material; the second sorting signal is the target position of the next target material.

5. The power distribution grid asset grabbing system of claim 1, wherein, When the robotic arm changes the gripper for the next target material, it first places the gripper used for the previous target material back into its original position in the gripper placement area, and then picks up the gripper for the next target material.

6. The power distribution grid asset grabbing system of claim 4, wherein, After the gripper picks up the target material, the control module collects the gripping force of the gripper on the robotic arm in real time. The control module determines whether the gripping force of the gripper on the robotic arm matches the gripping force required by the gripper of the target material. If they match, the robotic arm transports the target material to its target location.

7. The power distribution grid asset grabbing system of claim 1, wherein, During the process of the robotic arm transferring the gripper to the location of the target material; the image acquisition module acquires an image of the gripper on the robotic arm; the control module acquires the image of the gripper and, based on the image of the gripper, identifies the opening and closing state of the gripper on the robotic arm; if the gripper on the robotic arm is in a closed state, the control module generates an opening command, and the gripper on the robotic arm responds to the opening command to open its jaws; If the gripper is in the open state, no action will be taken; When the robotic arm transfers the gripper to the location of the target material, the image acquisition module acquires the gripping image of the gripper on the robotic arm in real time. The control module acquires the gripping image of the gripper and, based on the gripping image, identifies the positional state of the gripper on the robotic arm and the target material. If the target material is located within the gripper's jaws on the robotic arm, the control module generates a closing gripper command, and the gripper on the robotic arm responds to the closing gripper command by closing its jaws.

8. The power distribution network material retrieval system as described in claim 1 or 2, characterized in that, The control module is also used to calculate the sorting time for each gripping sequence based on the type and target location of each target material, and to upload the gripping sequence with the shortest sorting time to the remote terminal. The remote terminal constructs a route for the walking mechanism to the target location of the corresponding target material, generates corresponding walking instructions, and sends the corresponding walking instructions to the control module. Based on the type of target material in the gripping sequence, the control module generates corresponding gripper pick-up signals, gripping signals, and sorting signals. Through the corresponding gripper pick-up signals, gripping signals, sorting signals, and corresponding walking instructions, the control module controls the robotic arm, grippers, and walking mechanism to sort the target material group to the target location of the corresponding target material.

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