Autonomous cleaning and deicing method and system based on multifunctional mechanical arm

Abstract

The invention relates to an autonomous cleaning and deicing method and system based on a multifunctional mechanical arm, and the method comprises the steps: obtaining the icing state information and surrounding environment information of a high-voltage power transmission line, and determining a cleaning strategy which comprises a water gun parameter and a mechanical arm motion parameter; the mechanical arm and a high-pressure water gun at the tail end of the mechanical arm are driven to deice based on the cleaning strategy, water gun parameters and mechanical arm motion parameters are monitored in real time in the deicing process, and the real-time water gun parameters and the real-time mechanical arm motion parameters are obtained; and calculating water spraying reaction force corresponding to the real-time water gun parameters, performing motion compensation on the mechanical arm based on the water spraying reaction force, and meanwhile, adjusting and controlling the real-time mechanical arm motion parameters until deicing is finished. According to the invention, accurate and efficient cleaning of ice coated on the high-voltage transmission line can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous deicing, and in particular to an autonomous cleaning and deicing method and system based on a multifunctional mechanical arm. Background Art

[0002] In recent years, the icing of power equipment caused by rain, snow and freezing weather has brought great disasters to the power grid. The pillar insulators in many substations have been completely frozen and bridged. There have also been many cases of coupling capacitors, CTs, busbar pillar porcelain bottles, knife switch pillar porcelain bottles and other equipment in substations flashing or even bursting due to icing. In addition, the icing of the substation structure is likely to cause the deformation and collapse of the tower, causing the substation to stop operating and causing large-scale power outages in the surrounding areas. Therefore, after the substation is covered with ice, safe and effective methods should be adopted to remove the ice to prevent serious icing failures in the substation. So far, more than 30 anti-icing and de-icing technologies have been reported at home and abroad, mainly used for anti-icing of transmission lines, and there is no anti-icing technology for substation equipment in large-scale rain, snow and freezing weather.

[0003] During the cleaning and de-icing process of high-voltage transmission lines, the multifunctional robotic arm needs to perform precise motion control and positioning in a narrow space. The end of the robotic arm is equipped with a high-pressure water gun, which needs to quickly clean the ice when close to the high-voltage line, and the reaction force generated during the water spraying process will affect the position and posture of the robotic arm. At the same time, the movement of each joint of the robotic arm will cause the hydraulic pipeline inside it to deform, which is prone to collision and jamming in a narrow space. In addition, when working near live equipment, the static electricity accumulation on the surface of the robotic arm will affect the stability of its movement, and once discharge occurs, it will endanger the safety of the operation. The above factors all put forward high requirements for the motion control of the robotic arm. How to achieve high-precision motion control and safety protection of the robotic arm in a narrow space, and to perceive and make decisions on environmental information in real time, is a key technical problem that needs to be solved urgently. This requires the study of model predictive control algorithms, pipeline layout optimization, and insulation protection technologies for robotic arms in complex environments to improve work efficiency and safety performance. Summary of the invention

[0004] The purpose of the present invention is to provide an autonomous cleaning and deicing method and system based on a multifunctional robotic arm, so as to achieve accurate and efficient cleaning of ice on high-voltage transmission lines.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] An autonomous cleaning and deicing method based on a multifunctional robotic arm, comprising:

[0007] Acquire ice coating status information and surrounding environment information of the high-voltage transmission line, and determine a cleaning strategy, wherein the cleaning strategy includes water gun parameters and mechanical arm motion parameters;

[0008] Based on the cleaning strategy, the robot arm and the high-pressure water gun at the end of the robot arm are driven to de-ice, and the water gun parameters and the robot arm motion parameters are monitored in real time during the de-icing process to obtain the real-time water gun parameters and the real-time robot arm motion parameters;

[0009] The water spray reaction force corresponding to the real-time water gun parameters is calculated, and the motion compensation of the mechanical arm is performed based on the water spray reaction force, and the real-time mechanical arm motion parameters are adjusted and controlled at the same time until the deicing is completed.

[0010] Optionally, obtaining ice coating status information and surrounding environment information of the high-voltage transmission line and determining a cleaning strategy includes:

[0011] Acquire the type, thickness and density of ice coating on the high-voltage transmission line, match the optimal operation process in a pre-built operation process library based on the type, thickness and density of ice coating, and determine the water gun parameters;

[0012] Obstacle positions and conductor spacings of the high-voltage transmission line are obtained, and a motion trajectory of the robot arm is planned based on the obstacle positions and conductor spacings to determine motion parameters of the robot arm.

[0013] Optionally, calculating the water spray reaction force corresponding to the real-time water gun parameters, and performing motion compensation on the robotic arm based on the water spray reaction force includes:

[0014] Obtain the real-time position coordinates, spray direction, pressure and flow rate of the high-pressure water gun at the end of the robotic arm, and calculate the reaction force vector generated by the water spray;

[0015] The reaction force vector is used as an external disturbance force and input into the dynamics model of the robot arm. The influence of the reaction force vector on the angle, angular velocity and angular acceleration of each joint of the robot arm is obtained by forward solving the dynamics of the robot arm.

[0016] According to the influence of each joint of the robot arm, the PID control algorithm is used to compensate the joint motion of the robot arm.

[0017] Optionally, adjusting and controlling the real-time robot arm motion parameters includes:

[0018] Monitor the real-time motion parameters of the robot arm after motion compensation in real time. When the preset safety threshold is exceeded, the safety decision mechanism is triggered and the risk level of the current robot arm status is analyzed;

[0019] Corresponding control measures are determined based on the risk level, wherein the control measures include adjusting the motion parameters of the robot arm and performing an emergency stop operation.

[0020] Optionally, before driving the robotic arm and the high-pressure water gun at the end of the robotic arm to de-ice based on the cleaning strategy, it also includes: designing the hydraulic pipeline layout on the robotic arm through the planned robotic arm motion trajectory and the three-dimensional layout information of the hydraulic pipeline.

[0021] Optionally, before driving the robotic arm and the high-pressure water gun at the end of the robotic arm to de-ice based on the cleaning strategy, it also includes: obtaining the distribution of static electricity accumulation and the amount of static electricity on the surface of the robotic arm, and determining whether the amount of static electricity exceeds a preset threshold. If so, active static electricity elimination technology is used to neutralize static electricity by applying charges of opposite polarity to the surface of the robotic arm, thereby completing static electricity elimination on the surface of the robotic arm.

[0022] To further achieve the above objectives, the present invention also provides an autonomous cleaning and deicing system based on a multifunctional mechanical arm, comprising:

[0023] A line information acquisition module, used to acquire ice state information and surrounding environment information of the high-voltage transmission line, wherein the ice state information includes ice type, thickness and density, and the surrounding environment information includes obstacle location and conductor spacing;

[0024] A cleaning strategy formulation module, used to formulate a cleaning strategy based on the ice coating state information and the surrounding environment information, wherein the cleaning strategy includes water gun parameters and robot arm motion parameters;

[0025] A cleaning strategy execution module is used to drive the robotic arm and the high-pressure water gun at the end of the robotic arm to de-ice based on the cleaning strategy, and to monitor the water gun parameters and the robotic arm motion parameters in real time during the de-icing process to obtain the real-time water gun parameters and the real-time robotic arm motion parameters;

[0026] The execution process optimization module is used to calculate the water spray reaction force corresponding to the real-time water gun parameters, and perform motion compensation on the robotic arm based on the water spray reaction force, and adjust and control the real-time robotic arm motion parameters until the de-icing is completed.

[0027] Optionally, the system also includes a hydraulic pipeline layout module and a robotic arm static electricity elimination module. The hydraulic pipeline layout module is used to design the hydraulic pipeline layout on the robotic arm through the planned robotic arm motion trajectory and the three-dimensional layout information of the hydraulic pipeline; the robotic arm static electricity elimination module is used to apply charges of opposite polarity to the surface of the robotic arm to neutralize static electricity and eliminate static electricity on the surface of the robotic arm by using active static electricity elimination technology when the amount of static electricity on the surface of the robotic arm exceeds a preset threshold.

[0028] The beneficial effects of the present invention are:

[0029] The present invention matches the corresponding process in the pre-established operation process library for different icing conditions, senses the narrow working space environment, generates obstacle avoidance trajectories, builds cleaning strategies, guides the robot arm motion control and water gun adjustment, and achieves accurate and efficient cleaning; at the same time, by obtaining the position and spray direction of the high-pressure water gun at the end of the robot arm in real time, calculates the impact of the water spray reaction force on each joint, and uses the model predictive control algorithm for compensation control to ensure the stability of the robot arm posture. In addition, the present invention further improves the stability and safety of the robot arm movement through technologies such as optimization of the hydraulic pipeline layout and static elimination on the robot arm, which can effectively solve many technical problems in the process of ice cleaning of high-voltage transmission lines and significantly improve operating efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 This is a flow chart of an autonomous cleaning and deicing method based on a multifunctional robotic arm according to an embodiment of the present invention;

[0032] Figure 2 A side view of a mechanical arm device according to an embodiment of the present invention;

[0033] Figure 3 A front view of a mechanical arm device according to an embodiment of the present invention;

[0034] Figure 4 A diagram showing a deformation structure of a mechanical arm according to an embodiment of the present invention;

[0035] Figure 5 A schematic diagram of the arrangement of three binocular 3D cameras according to an embodiment of the present invention;

[0036] Figure 6 A flow chart of a method for determining a cleaning strategy according to an embodiment of the present invention;

[0037] Figure 7 This is a flow chart of a method for performing motion compensation on a robotic arm according to an embodiment of the present invention;

[0038] Figure 8 The figure is a schematic diagram of the structure of an autonomous cleaning and deicing system based on a multifunctional robotic arm according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] This embodiment provides an autonomous cleaning and deicing method based on a multifunctional robotic arm, comprising:

[0042] Acquire ice coating status information and surrounding environment information of the high-voltage transmission line, and determine a cleaning strategy, wherein the cleaning strategy includes water gun parameters and mechanical arm motion parameters;

[0043] Based on the cleaning strategy, the robot arm and the high-pressure water gun at the end of the robot arm are driven to de-ice, and the water gun parameters and the robot arm motion parameters are monitored in real time during the de-icing process to obtain the real-time water gun parameters and the real-time robot arm motion parameters;

[0044] The water spray reaction force corresponding to the real-time water gun parameters is calculated, and the motion compensation of the mechanical arm is performed based on the water spray reaction force, and the real-time mechanical arm motion parameters are adjusted and controlled at the same time until the deicing is completed.

[0045] Specifically, the robot arm in this embodiment is designed as follows Figure 2 , Figure 3 , Figure 4 The form of the lifting rod shown is usually composed of one or more upright rods, a lifting platform, a drive system and a control system. The lifting drive is usually achieved by hydraulic, electric or manual means. The lifting rod usually needs to be fixed to the ground during operation to ensure stability and safety. Modern lifting rods are usually equipped with easy-to-operate control panels. The autonomous cleaning and deicing method based on the multifunctional robotic arm proposed in this embodiment mainly designs the driving and control strategies of the robotic arm so that the robotic arm can perform autonomous cleaning and deicing.

[0046] Furthermore, obtaining ice coating status information and surrounding environment information of the high-voltage transmission line and determining a cleaning strategy includes:

[0047] Acquire the type, thickness and density of ice coating on the high-voltage transmission line, match the optimal operation process in a pre-built operation process library based on the type, thickness and density of ice coating, and determine the water gun parameters;

[0048] Obstacle positions and conductor spacings of the high-voltage transmission line are obtained, and a motion trajectory of the robot arm is planned based on the obstacle positions and conductor spacings to determine motion parameters of the robot arm.

[0049] Further, calculating the water spray reaction force corresponding to the real-time water gun parameters, and performing motion compensation on the robotic arm based on the water spray reaction force includes:

[0050] Obtain the real-time position coordinates, spray direction, pressure and flow rate of the high-pressure water gun at the end of the robotic arm, and calculate the reaction force vector generated by the water spray;

[0051] The reaction force vector is used as an external disturbance force and input into the dynamics model of the robot arm. The influence of the reaction force vector on the angle, angular velocity and angular acceleration of each joint of the robot arm is obtained by forward solving the dynamics of the robot arm.

[0052] According to the influence of each joint of the robot arm, the PID control algorithm is used to compensate the joint motion of the robot arm.

[0053] Furthermore, adjusting and controlling the real-time robot arm motion parameters includes:

[0054] Monitor the real-time motion parameters of the robot arm after motion compensation in real time. When the preset safety threshold is exceeded, the safety decision mechanism is triggered and the risk level of the current robot arm status is analyzed;

[0055] Corresponding control measures are determined based on the risk level, wherein the control measures include adjusting the motion parameters of the robot arm and performing an emergency stop operation.

[0056] Furthermore, before driving the robotic arm and the high-pressure water gun at the end of the robotic arm to de-ice based on the cleaning strategy, it also includes: designing the hydraulic pipeline layout on the robotic arm through the planned robotic arm motion trajectory and the three-dimensional layout information of the hydraulic pipeline.

[0057] Furthermore, before driving the robotic arm and the high-pressure water gun at the end of the robotic arm to de-ice based on the cleaning strategy, it also includes: obtaining the distribution of static electricity accumulation and the amount of static electricity on the surface of the robotic arm, and determining whether the amount of static electricity exceeds a preset threshold. If it exceeds, active static electricity elimination technology is used to neutralize static electricity by applying charges of opposite polarity to the surface of the robotic arm, thereby completing static electricity elimination on the surface of the robotic arm.

[0058] Combine the following Figure 1 The present invention provides a method for autonomous cleaning and deicing based on a multifunctional robotic arm, which specifically includes the following steps:

[0059] Step S101: Obtain ice coating status information and surrounding environment information of the high-voltage transmission line, and determine a cleaning strategy, wherein the cleaning strategy includes water gun parameters and mechanical arm motion parameters, such as Figure 6 As shown, determining the cleaning strategy specifically includes the following:

[0060] Obtain the ice type, thickness and density of the high-voltage transmission line, match the optimal operation process in the pre-built operation process library based on the ice type, thickness and density, and determine the water gun parameters;

[0061] Obtain the obstacle positions and conductor spacing of the high-voltage transmission line, plan the motion trajectory of the robot arm based on the obstacle positions and conductor spacing, and determine the motion parameters of the robot arm.

[0062] Specifically, in order to obtain the ice-covered state information of the high-voltage transmission line, the present embodiment may use laser radar scanning technology to perform three-dimensional reconstruction of the ice-covered surface and extract parameters such as the thickness and density of the ice-covered surface. For example, a Velodyne VLP-16 laser radar is used to scan the ice-covered surface at a frequency of 10 Hz to obtain point cloud data; then the RANSAC algorithm is used to perform plane fitting on the point cloud to extract the normal vector and thickness information of the ice-covered surface. According to the ice-covered thickness and the signal strength returned by the laser radar, the K-means clustering algorithm is used to classify the ice-covered surface into different types, such as wet snow, icicles, etc., and the density parameters of each type of ice-covered surface are estimated. The obtained ice-covered state information is matched with the data in the pre-established operation process library, and the KNN algorithm is used to find the most similar operation process, and the corresponding water gun pressure, flow rate, injection angle and other parameters are obtained.

[0063] In order to obtain the surrounding environment information of the high-voltage transmission line, the three-dimensional point cloud data of the surrounding environment is first obtained through the onboard laser radar scanner. For example, the accuracy of each data point reaches 5 mm to ensure the accurate identification of obstacles. Using point cloud segmentation algorithms, such as the segmentation method based on region growth, the specific location and size of obstacles are extracted from the point cloud data, and the distance between the wires is identified. The distance between these wires may be between 5 and 10 cm. Based on this key information, motion planning is carried out, and the artificial potential field method is used to calculate the obstacle avoidance path. By constructing the repulsive potential field around the obstacle and the attractive potential field of the target point, a path that avoids obstacles and moves toward the target is generated. On this basis, reinforcement learning algorithms, such as the deep Q network (DQN), are introduced. Through a continuous trial and error process, the optimal motion sequence that makes the robot arm joint movement smoother and more efficient is learned. During the actual movement process, the sensors carried by the robot arm will monitor environmental changes in real time. If a new obstacle appears, the system will immediately adjust the motion plan and recalculate the motion sequence.

[0064] Specifically, in this embodiment, the surrounding environment information of the high-voltage transmission line is obtained by installing three binocular 3D cameras on the robot arm, such as Figure 5 As shown, it includes a central camera, which is located at the center of the top of the robotic arm and is responsible for the main field of view of the front; a left camera, which is installed at a certain angle to the left of the central camera and covers the left area; and a right camera, which is installed at a certain angle to the right of the central camera and covers the right area.

[0065] A stereo 3D camera consists of two cameras, which are usually placed in different positions to simulate the left and right perspectives of the human eye. When an object appears in the field of view of the two cameras, the position of the object in the two images will be different due to the baseline distance between the cameras. This position difference is called disparity. By calculating the disparity, the distance between the object and the camera can be inferred.

[0066] Step S102: driving the robot arm to de-ice based on the cleaning strategy, and monitoring the water gun parameters and the robot arm motion parameters in real time during the de-icing process to obtain the real-time water gun parameters and the real-time robot arm motion parameters;

[0067] The robot arm is controlled to move to the specified position based on the robot arm motion parameters, and the motion trajectory and speed are adjusted in real time according to the ice-covered state to ensure that the water gun is always aimed at the ice-covered area. The water gun pressure, flow rate and spray angle are dynamically adjusted based on the water gun parameters, and the water gun parameters are optimized in real time according to the changes in the robot arm position and ice-covered state to ensure the best cleaning effect.

[0068] The cleaning strategies include working modes such as from bottom to top, from top to bottom, from both ends to the middle, and first from both ends and then to the middle (emergency mode).

[0069] Specifically, the parameters and status of the robot arm and high-pressure water gun are configured and initialized through the ROS message mechanism. The robot arm motion control adopts an adaptive dynamic control algorithm to adjust the joint speed and acceleration in real time according to the icing status, generate a smooth motion trajectory, and use teaching programming to always aim the water gun at the icing area. The water gun adjustment adopts a PID control algorithm to adjust the water gun pressure, flow rate and spray angle in real time according to the operation process parameters and the robot arm position feedback to ensure that it can respond quickly and maintain the best cleaning effect when the icing status changes. During the cleaning process, the changes in the icing status are continuously monitored by the laser radar, and it is used as a feedback signal and input into the fuzzy controller to dynamically adjust the operation process parameters to achieve intelligent optimization control of the icing cleaning process, ultimately achieving the purpose of accurate and efficient ice removal.

[0070] Step S103: Calculate the water spray reaction force corresponding to the real-time water gun parameters, and perform motion compensation on the robot arm based on the water spray reaction force, and adjust and optimize the real-time robot arm motion parameters until the deicing is completed. Figure 7 As shown, specifically including the following:

[0071] The real-time position coordinates, spraying direction, pressure and flow rate of the high-pressure water gun at the end of the robotic arm are obtained, and the reaction force vector generated by the water spray is calculated; the reaction force vector is used as an external disturbance force and input into the robotic arm dynamics model, and the influence of the reaction force vector on the angle, angular velocity and angular acceleration of each joint of the robotic arm is obtained through the forward solution of the robotic arm dynamics; according to the influence of each joint of the robotic arm, the PID control algorithm is used to compensate for the joint motion of the robotic arm.

[0072] The real-time motion parameters of the robotic arm after motion compensation are monitored in real time. When the preset safety threshold is exceeded, the safety decision mechanism is triggered and the risk level of the current robotic arm state is analyzed. The corresponding control measures are determined based on the risk level, where the control measures include adjusting the robotic arm motion parameters and performing emergency shutdown operations.

[0073] Specifically, in order to obtain the real-time position coordinates and water spray direction vector of the high-pressure water gun at the end of the robotic arm, a six-dimensional force sensor and a high-precision laser rangefinder can be installed at the end of the robotic arm. The six-dimensional force sensor can measure the position and posture of the high-pressure water gun in real time, with a measurement accuracy of up to 1mm and 1°. The laser rangefinder can measure the spatial position of the nozzle of the high-pressure water gun in real time, with a measurement accuracy of up to 0.5mm. According to the water spray pressure and flow parameters of the high-pressure water gun, the fluid dynamics model is used to calculate the reaction force vector generated by the water spray. For example, when the water spray pressure is 20MPa and the flow rate is 20L / min, the reaction force is about 500N, and the direction is opposite to the water spray direction. The reaction force vector is input into the dynamic model of the robotic arm, and the Newton-Euler method is used to solve the forward dynamics of the robotic arm to obtain the influence of the reaction force on the angle, angular velocity and angular acceleration of each joint of the robotic arm. Based on the PID control algorithm, according to the current state of the robotic arm and the predicted state in the future, the compensation control torque of each joint of the robotic arm is optimized and solved. The control cycle can be set to 10ms, the prediction time domain is 100ms, and the optimization goal is to minimize the position and posture errors of the end of the robot arm. By adjusting the driving torque of each joint of the robot arm in real time, the influence of the reaction force can be effectively offset, and the error of the position and posture of the end of the robot arm can be controlled within 5mm and 5°. At the same time, the position coordinates and water spraying direction vector of the high-pressure water gun are obtained in real time and used as feedback signals to achieve real-time position and posture tracking control of the end of the robot arm, ensuring the accuracy and stability of the water spraying operation.

[0074] The real-time position, velocity and acceleration data of each joint of the robot arm after motion compensation are collected in real time through sensors, with a sampling frequency of 1000Hz. The obtained motion parameters are compared with the preset thresholds, with the position threshold set to ±1mm, the velocity threshold set to ±5m / s, and the acceleration threshold set to ±1m / s 2 . When the motion parameters exceed the threshold, the safety decision mechanism is triggered. The Newton-Euler dynamic model is used, combined with the parameters such as the robot mass and inertia matrix, to analyze and evaluate the risk level of the current state. The support vector machine algorithm is used to predict the risk level in combination with the recent 100 motion data and the current motion parameters, with an accuracy of more than 95%. According to the risk level and the predetermined safety strategy, when the risk level is 1, the parameter optimization algorithm is used to solve the linear programming problem to calculate the optimal combination of motion parameters, and apply it to the robot control to achieve real-time adjustment of the motion parameters. After adjustment, the position error is reduced to within ±05mm, and the speed error is reduced to within ±1m / s. When the risk level is 2, a stop command is immediately sent to the robot. Through the buffer deceleration algorithm, the robot is smoothly stopped within 5s. The maximum displacement after stopping does not exceed 1mm, and the maximum speed does not exceed 01m / s, effectively preventing the occurrence of dangerous situations and ensuring the safety and controllability of the operation process.

[0075] The method proposed in this embodiment also includes: designing the hydraulic pipeline layout on the robot arm through the planned robot arm motion trajectory and the three-dimensional layout information of the hydraulic pipeline.

[0076] Specifically, the motion trajectory data of the robot arm and the layout information of the hydraulic pipeline are obtained, a robot arm motion simulation model is established, and the deformation of the hydraulic pipeline during the motion process is simulated and analyzed; according to the simulation analysis results, the areas with large deformation of the hydraulic pipeline are identified, and the key areas for pipeline layout optimization are determined; the pipeline layout optimization algorithm is used to optimize the pipeline direction and fixed point position in the key area to generate candidate pipeline layout schemes; for the candidate pipeline layout schemes, the pipeline length and bending degree are evaluated, and the optimized layout scheme with the shortest pipeline length and the smallest bending degree is screened out; the optimized pipeline layout scheme is applied to the hydraulic pipeline design of the robot arm, and the pipeline direction and fixed point position are adjusted and optimized; in the robot arm motion simulation environment, the improvement effect of the optimized pipeline layout scheme on the deformation of the hydraulic pipeline is verified, and the influence of the pipeline deformation on the robot arm motion stability is evaluated; according to the simulation verification results, the pipeline layout scheme is further fine-tuned and optimized until the requirements of the robot arm motion stability are met, and the layout design optimization of the hydraulic pipeline is completed.

[0077] The method proposed in this embodiment also includes: obtaining the distribution and amount of static electricity accumulation on the surface of the robotic arm, determining whether the amount of static electricity exceeds a preset threshold, and if so, using active static electricity elimination technology to neutralize the static electricity by applying charges of opposite polarity to the surface of the robotic arm, thereby completing the static electricity elimination on the surface of the robotic arm.

[0078] Specifically, the static electricity distribution data of each area on the surface of the robot arm is obtained and converted into an electrostatic density distribution matrix. According to the preset threshold, it is determined whether there are areas exceeding the threshold in the electrostatic density distribution matrix, and the position coordinates of these areas are marked. For the areas exceeding the threshold, the amount of opposite polarity charge that needs to be applied is determined to form a charge neutralization scheme matrix. The surface of the robot arm is divided into several independent charged areas, each of which corresponds to a unit in the charge neutralization scheme matrix. For each charged area, according to the charge neutralization scheme matrix, a specified amount of opposite polarity charge is applied to the area through an electrostatic generating device. After the charge is applied, the static electricity distribution data of each area on the surface of the robot arm is obtained again to determine whether it is effectively neutralized. If the neutralization effect is not ideal, the amount of charge applied is dynamically adjusted according to the new static electricity distribution data using a machine learning algorithm until the static electricity drops below the threshold.

[0079] To further optimize the above technical solution, this embodiment also provides an autonomous cleaning and deicing system based on a multifunctional robotic arm, such as Figure 8 As shown, including the following:

[0080] A line information acquisition module is used to acquire ice state information and surrounding environment information of the high-voltage transmission line, wherein the ice state information includes ice type, thickness and density, and the surrounding environment information includes obstacle location and conductor spacing;

[0081] A cleaning strategy formulation module, used to formulate a cleaning strategy based on ice cover status information and surrounding environment information, wherein the cleaning strategy includes water gun parameters and robot arm motion parameters;

[0082] A cleaning strategy execution module is used to drive the robotic arm and the high-pressure water gun at the end of the robotic arm to de-ice based on the cleaning strategy, and to monitor the water gun parameters and the robotic arm motion parameters in real time during the de-icing process to obtain the real-time water gun parameters and the real-time robotic arm motion parameters;

[0083] The execution process optimization module is used to calculate the water spray reaction force corresponding to the real-time water gun parameters, and to perform motion compensation on the robotic arm based on the water spray reaction force. At the same time, the real-time robotic arm motion parameters are adjusted and controlled until the de-icing is completed.

[0084] Furthermore, the system also includes a hydraulic pipeline layout module and a robotic arm static electricity elimination module. The hydraulic pipeline layout module is used to design the hydraulic pipeline layout on the robotic arm through the planned robotic arm motion trajectory and the three-dimensional layout information of the hydraulic pipeline; the robotic arm static electricity elimination module is used to apply charges of opposite polarity to the surface of the robotic arm to neutralize static electricity when the amount of static electricity on the surface of the robotic arm exceeds a preset threshold, thereby eliminating static electricity on the surface of the robotic arm.

[0085] This embodiment matches the corresponding process in the pre-established operation process library for different icing conditions, senses the narrow working space environment, generates obstacle avoidance trajectories, builds cleaning strategies, guides the robot arm motion control and water gun adjustment, and achieves accurate and efficient cleaning; at the same time, by obtaining the position and spray direction of the high-pressure water gun at the end of the robot arm in real time, calculates the impact of the water spray reaction force on each joint, and uses the model predictive control algorithm for compensation control to ensure the stability of the robot arm posture. In addition, the present invention further improves the stability and safety of the robot arm movement through technologies such as optimization of the hydraulic pipeline layout and static elimination on the robot arm, which can effectively solve many technical problems in the process of cleaning icing on high-voltage transmission lines and significantly improve operating efficiency and safety.

[0086] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An autonomous cleaning and deicing method based on a multifunctional robotic arm, characterized in that: include: Acquire ice coating status information and surrounding environment information of the high-voltage transmission line, and determine a cleaning strategy, wherein the cleaning strategy includes water gun parameters and mechanical arm motion parameters; Based on the cleaning strategy, the robot arm and the high-pressure water gun at the end of the robot arm are driven to de-ice, and the water gun parameters and the robot arm motion parameters are monitored in real time during the de-icing process to obtain the real-time water gun parameters and the real-time robot arm motion parameters; The water spray reaction force corresponding to the real-time water gun parameters is calculated, and the motion compensation of the mechanical arm is performed based on the water spray reaction force, and the real-time mechanical arm motion parameters are adjusted and controlled at the same time until the deicing is completed.

2. The autonomous cleaning and deicing method based on a multifunctional robotic arm according to claim 1, characterized in that: Acquiring ice coating status information and surrounding environment information of the high-voltage transmission line and determining a cleaning strategy includes: Acquire the type, thickness and density of ice coating on the high-voltage transmission line, match the optimal operation process in a pre-built operation process library based on the type, thickness and density of ice coating, and determine the water gun parameters; Obstacle positions and conductor spacings of the high-voltage transmission line are obtained, and a motion trajectory of the robot arm is planned based on the obstacle positions and conductor spacings to determine motion parameters of the robot arm.

3. The autonomous cleaning and deicing method based on a multifunctional robotic arm according to claim 1, characterized in that: Calculating the water spray reaction force corresponding to the real-time water gun parameters, and performing motion compensation on the robotic arm based on the water spray reaction force includes: Obtain the real-time position coordinates, spray direction, pressure and flow rate of the high-pressure water gun at the end of the robotic arm, and calculate the reaction force vector generated by the water spray; The reaction force vector is used as an external disturbance force and input into the dynamics model of the robot arm. The influence of the reaction force vector on the angle, angular velocity and angular acceleration of each joint of the robot arm is obtained by forward solving the dynamics of the robot arm. According to the influence of each joint of the robot arm, the PID control algorithm is used to compensate the joint motion of the robot arm.

4. The autonomous cleaning and deicing method based on a multifunctional robotic arm according to claim 1, characterized in that: Adjusting and controlling the real-time robot arm motion parameters includes: Monitor the real-time motion parameters of the robot arm after motion compensation in real time. When the preset safety threshold is exceeded, the safety decision mechanism is triggered and the risk level of the current robot arm status is analyzed; Corresponding control measures are determined based on the risk level, wherein the control measures include adjusting the motion parameters of the robot arm and performing an emergency stop operation.

5. The autonomous cleaning and deicing method based on a multifunctional robotic arm according to claim 1, characterized in that: Before driving the robotic arm and the high-pressure water gun at the end of the robotic arm to de-ice based on the cleaning strategy, it also includes: designing the hydraulic pipeline layout on the robotic arm through the planned robotic arm motion trajectory and the three-dimensional layout information of the hydraulic pipeline.

6. The autonomous cleaning and deicing method based on a multifunctional robotic arm according to claim 1, characterized in that: Before driving the robotic arm and the high-pressure water gun at the end of the robotic arm to de-ice based on the cleaning strategy, it also includes: obtaining the distribution of static electricity accumulation and the amount of static electricity on the surface of the robotic arm, and judging whether the amount of static electricity exceeds a preset threshold. If it exceeds, active static electricity elimination technology is used to neutralize the static electricity by applying charges of opposite polarity on the surface of the robotic arm, thereby completing the static electricity elimination on the surface of the robotic arm.

7. An autonomous cleaning and deicing system based on a multifunctional robotic arm, used to implement the autonomous cleaning and deicing method based on a multifunctional robotic arm according to any one of claims 1 to 6, characterized in that: include: A line information acquisition module, used to acquire ice state information and surrounding environment information of the high-voltage transmission line, wherein the ice state information includes ice type, thickness and density, and the surrounding environment information includes obstacle location and conductor spacing; A cleaning strategy formulation module, used to formulate a cleaning strategy based on the ice coating state information and the surrounding environment information, wherein the cleaning strategy includes water gun parameters and robot arm motion parameters; A cleaning strategy execution module is used to drive the robotic arm and the high-pressure water gun at the end of the robotic arm to de-ice based on the cleaning strategy, and to monitor the water gun parameters and the robotic arm motion parameters in real time during the de-icing process to obtain the real-time water gun parameters and the real-time robotic arm motion parameters; The execution process optimization module is used to calculate the water spray reaction force corresponding to the real-time water gun parameters, and perform motion compensation on the robotic arm based on the water spray reaction force, and adjust and control the real-time robotic arm motion parameters until the de-icing is completed.

8. The autonomous cleaning and deicing system based on the multifunctional mechanical arm according to claim 7, characterized in that: The system also includes a hydraulic pipeline layout module and a robotic arm static electricity elimination module. The hydraulic pipeline layout module is used to design the hydraulic pipeline layout on the robotic arm through the planned robotic arm motion trajectory and the three-dimensional layout information of the hydraulic pipeline; the robotic arm static electricity elimination module is used to apply an active static electricity elimination technology to the robotic arm surface to neutralize the static electricity when the static electricity on the robotic arm surface exceeds a preset threshold, thereby eliminating static electricity on the robotic arm surface.

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