Walking control method and system of overhead line walking device

Abstract

The invention discloses a walking control method and system for an overhead line walking device. A corresponding walking mode is matched according to a plurality of walking areas, a real-time relative distance and a walking assembly of the overhead line walking device. Further, a walking balance system of the walking assembly is constructed based on the dynamic balance coefficient of the walking assembly, the deflection direction of the walking assembly and the load of the walking assembly, and the walking posture of the walking assembly is dynamically regulated and controlled according to the walking balance system till the walking assembly gets close to the shockproof hammer; the lifting distance of the walking assembly is defined according to the multiple dynamic images, the model of the shockproof hammer, the sagging form of the electric wire and the spatial position of the walking assembly, and a lifting balance system is constructed according to the lifting distance and the real-time posture of the walking assembly; based on the lifting balance system and the walking balance system, the targeted walking logic of the overhead line walking device relative to the electric wire is triggered, and accurate control of the targeted walking logic of the overhead line walking device relative to the electric wire is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of overhead line running devices, and in particular to a running control method and system of an overhead line running device. Background Art

[0002] With the development of science and technology, overhead line traveling devices are applied in people's lives, and they travel on the wires. The overhead line traveling devices travel through traveling components. The traveling components travel relative to the wires and travel along a single speed. They are easily restricted by shock-absorbing hammers, which affects the accuracy of the targeted walking logic of the overhead line traveling device relative to the wires. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a travel control method and system for an overhead line running device, which monitors the travel speed of the overhead line running device in real time and dynamically collects the front image of the overhead line running device; defines the position of the shock-absorbing hammer based on the front image of the overhead line running device, and defines the relative distance according to the current position of the overhead line running device and the position of the shock-absorbing hammer; divides a plurality of walking areas based on the relative distance, matches the corresponding walking modes according to the plurality of walking areas, the real-time relative distance and the walking components of the overhead line running device, and is compatible with the overall consideration of the plurality of walking areas, the real-time relative distance and the walking components of the overhead line running device, realizes the multi-dimensional control of the plurality of walking areas, the real-time relative distance and the walking components of the overhead line running device, and ensures the accuracy of the walking mode.

[0004] Furthermore, the dynamic walking of the walking component is triggered according to the corresponding walking mode, and multiple walking posture parameters of the walking component during the walking process are collected, and the dynamic balance coefficient of the walking component is defined according to the multiple walking posture parameters; a walking balance system of the walking component is constructed based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and the walking posture of the walking component is dynamically adjusted according to the walking balance system until the walking component approaches the shockproof hammer; the lifting distance of the walking component is defined according to multiple dynamic images, the model of the shockproof hammer, the drooping shape of the wire and the spatial position of the walking component, and a lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component, and the targeted walking logic of the overhead line walking device relative to the wire is triggered based on the lifting balance system and the walking balance system, a lifting balance system and a walking balance system are introduced, and the lifting balance system and the walking balance system are controlled in multiple dimensions to ensure the accuracy of the targeted walking logic of the overhead line walking device relative to the wire, and realize the precise control of the targeted walking logic of the overhead line walking device relative to the wire.

[0005] The embodiment of the present invention provides a walking control method for an overhead line running device, characterized in that the method is applied to a walking control scenario of an overhead line running device; the overhead line running device comprises a frame and a walking component, the walking component is installed on the frame and is used to walk on the electric wire;

[0006] The traveling control method of the overhead line traveling device comprises:

[0007] Monitor the travel speed of the overhead line running device in real time and dynamically collect the front image of the overhead line running device;

[0008] The position of the anti-vibration hammer is defined based on the front image of the overhead line running device, and the relative distance is defined according to the current position of the overhead line running device and the position of the anti-vibration hammer;

[0009] Divide multiple walking areas based on relative distance, and match corresponding walking modes according to the multiple walking areas, the real-time relative distance and the walking components of the overhead line walking device;

[0010] Triggering dynamic walking of the walking component according to the corresponding walking mode, collecting multiple walking posture parameters of the walking component during the walking process, and defining the dynamic balance coefficient of the walking component according to the multiple walking posture parameters;

[0011] A walking balance system of the walking component is constructed based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and the walking posture of the walking component is dynamically adjusted according to the walking balance system until the walking component approaches the anti-vibration hammer;

[0012] The lifting distance of the walking component is defined according to multiple dynamic images, the model of the shock-absorbing hammer, the drooping shape of the wire and the spatial position of the walking component. A lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component. Based on the lifting balance system and the walking balance system, the targeted walking logic of the overhead line walking device relative to the wire is triggered.

[0013] Optionally, the real-time monitoring of the traveling speed of the overhead line running device and the dynamic acquisition of the front image of the overhead line running device include:

[0014] When the overhead line running device is on the electric wire, the state of the overhead line running device relative to the electric wire is collected;

[0015] When the state of the overhead line running device relative to the electric wire is in the running state, the position of the overhead line running device relative to the electric wire is monitored in real time, and the overall length of the electric wire, the running task of the overhead line running device and the overall load of the overhead line running device are collected;

[0016] The traveling speed of the overhead line running device is defined by associating the position of the overhead line running device relative to the electric wire, the overall length of the electric wire, the traveling task of the overhead line running device, and the overall load of the overhead line running device, and the traveling speed of the overhead line running device is monitored in real time;

[0017] A corresponding shooting mode is defined according to the walking speed, the model of the camera configured for the overhead line walking device, and the environment scene where the overhead line walking device is located;

[0018] Based on the shooting mode and the traveling direction of the overhead line running device, dynamic shooting of the overhead line running device is defined, and the front image of the overhead line running device is dynamically acquired.

[0019] Optionally, defining the position of the anti-vibration hammer based on the front image of the overhead line running device, and defining the relative distance according to the current position of the overhead line running device and the position of the anti-vibration hammer, includes:

[0020] Collect the front image of the overhead line running device;

[0021] Defining a plurality of image regions according to the division of the front image of the overhead line running device, and marking the positions of the plurality of image regions;

[0022] Defining multiple object features based on synchronous recognition of multiple image regions, defining an anti-vibration hammer based on dynamic screening of the multiple object features, and marking the position of the anti-vibration hammer;

[0023] Collect the current position of the overhead line running device;

[0024] Correlate the current position of the overhead line running device and the position of the anti-vibration hammer;

[0025] The relative distance is defined according to the current position of the overhead line running device and the position of the anti-vibration hammer.

[0026] Optionally, dividing a plurality of walking areas based on relative distance, and matching corresponding walking modes according to the plurality of walking areas, the real-time relative distance, and the walking components of the overhead line walking device, includes:

[0027] Fix the relative distance and divide multiple walking areas according to the relative distance and wires;

[0028] Matching corresponding walking coefficient combinations based on multiple walking areas and corresponding relative distances;

[0029] Associated travel coefficient combinations, real-time relative distances, and travel components of overhead line travel devices;

[0030] Defining first mode parameters according to a combination of walking coefficients and a real-time relative distance;

[0031] defining second mode parameters according to the combination of travel coefficients and the travel components of the overhead line travel device;

[0032] The corresponding walking mode is matched based on the second mode parameter, the first mode parameter and the real-time load of the walking component.

[0033] Optionally, the dynamic walking of the walking component is triggered according to the corresponding walking mode, and a plurality of walking posture parameters of the walking component during the walking process are collected, and the dynamic balance coefficient of the walking component is defined according to the plurality of walking posture parameters, including:

[0034] Freeze the corresponding walking pattern;

[0035] Trigger dynamic walking of walking components based on walking mode;

[0036] Monitor the dynamic walking of the walking component in real time and collect multiple walking posture parameters of the walking component during the walking process;

[0037] The dynamic balance coefficient of the walking component is defined according to a plurality of walking posture parameters and the real-time load of the walking component.

[0038] Optionally, the step of building a walking balance system of the walking component based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component, and the load of the walking component, and dynamically adjusting the walking posture of the walking component according to the walking balance system until the walking component approaches the shockproof hammer includes:

[0039] Freeze the dynamic balance coefficient of the walking component and collect the dynamic balance coefficient of the walking component in real time;

[0040] The dynamic balance coefficient of the associated walking component, the yaw direction of the walking component and the load of the walking component;

[0041] Defining a first walking balance coefficient according to the dynamic balance coefficient of the walking component and the yaw direction of the walking component;

[0042] The second walking balance coefficient is defined according to the load of the walking component and the yaw direction of the walking component.

[0043] Optionally, the step of building a walking balance system of the walking component based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component, and the load of the walking component, and dynamically adjusting the walking posture of the walking component according to the walking balance system until the walking component approaches the shockproof hammer, further includes:

[0044] Constructing a walking balance system of the walking component based on the second walking balance coefficient, the first walking balance coefficient and the walking component;

[0045] The walking posture of the walking component is dynamically regulated according to the walking balance system, and the relative distance is collected in real time. If the relative distance is lower than the approach distance, the approach state of the walking component relative to the shock-absorbing hammer is defined. At this time, the walking of the walking component relative to the electric wire is monitored in real time until the walking component approaches the shock-absorbing hammer.

[0046] Optionally, the method of defining the lifting distance of the walking component according to the multiple dynamic images, the model of the shockproof hammer, the drooping shape of the wire and the spatial position of the walking component, constructing a lifting balance system according to the lifting distance and the real-time posture of the walking component, and triggering the targeted walking logic of the overhead line walking device relative to the wire based on the lifting balance system and the walking balance system includes:

[0047] When the walking component approaches the anti-vibration hammer, multiple dynamic images of the anti-vibration hammer are collected based on multiple directions;

[0048] A corresponding three-dimensional model is constructed according to a plurality of dynamic images and the model of the shock-absorbing hammer.

[0049] Optionally, the method further includes defining the lifting distance of the walking component according to the multiple dynamic images, the model of the shockproof hammer, the drooping shape of the wire and the spatial position of the walking component, constructing a lifting balance system according to the lifting distance and the real-time posture of the walking component, and triggering the targeted walking logic of the overhead line walking device relative to the wire based on the lifting balance system and the walking balance system.

[0050] Associating the three-dimensional model, the drooping pattern of the wires, and the spatial position of the walking components;

[0051] Based on the three-dimensional model, the sagging shape of the wires and the spatial position of the walking component, a lifting distance of the walking component is defined;

[0052] A lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component;

[0053] Based on the lifting balance system and the walking balance system, the targeted walking logic of the overhead line walking device relative to the electric wire is triggered.

[0054] In addition, an embodiment of the present invention further provides a travel control system for an overhead line running device, characterized in that the travel control system for the overhead line running device is applied to the travel control method for the overhead line running device as described in any one of claims 1 to 9, and the travel control system for the overhead line running device includes:

[0055] A front image module is used to monitor the travel speed of the overhead line running device in real time and dynamically collect the front image of the overhead line running device;

[0056] A relative distance module, used to define the position of the anti-vibration hammer based on the front image of the overhead line running device, and to define the relative distance according to the current position of the overhead line running device and the position of the anti-vibration hammer;

[0057] A walking mode module, used to divide multiple walking areas based on relative distance, and match corresponding walking modes according to multiple walking areas, real-time relative distance and walking components of the overhead line walking device;

[0058] A dynamic balance coefficient module is used to trigger the dynamic walking of the walking component according to the corresponding walking mode, collect multiple walking posture parameters of the walking component during the walking process, and define the dynamic balance coefficient of the walking component according to the multiple walking posture parameters;

[0059] A walking balance system module is used to construct a walking balance system of the walking component based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and dynamically adjust the walking posture of the walking component according to the walking balance system until the walking component approaches the anti-vibration hammer;

[0060] The lifting and balancing system module is used to define the lifting distance of the walking component according to multiple dynamic images, the model of the shock-absorbing hammer, the drooping shape of the wire and the spatial position of the walking component, and to build a lifting and balancing system according to the lifting distance and the real-time posture of the walking component, and to trigger the targeted walking logic of the overhead line walking device relative to the wire based on the lifting and balancing system and the walking balance system.

[0061] In an embodiment of the present invention, through the method in the embodiment of the present invention, the traveling speed of the overhead line running device is monitored in real time, and the front image of the overhead line running device is dynamically collected; the position of the shock-absorbing hammer is defined based on the front image of the overhead line running device, and the relative distance is defined according to the current position of the overhead line running device and the position of the shock-absorbing hammer; multiple walking areas are divided based on the relative distance, and the corresponding walking modes are matched according to the multiple walking areas, the real-time relative distances and the walking components of the overhead line running device, which is compatible with the overall consideration of multiple walking areas, the real-time relative distances and the walking components of the overhead line running device, realizes multi-dimensional control of multiple walking areas, real-time relative distances and the walking components of the overhead line running device, and ensures the accuracy of the walking mode.

[0062] Furthermore, the dynamic walking of the walking component is triggered according to the corresponding walking mode, and multiple walking posture parameters of the walking component during the walking process are collected, and the dynamic balance coefficient of the walking component is defined according to the multiple walking posture parameters; a walking balance system of the walking component is constructed based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and the walking posture of the walking component is dynamically adjusted according to the walking balance system until the walking component approaches the shockproof hammer; the lifting distance of the walking component is defined according to multiple dynamic images, the model of the shockproof hammer, the drooping shape of the wire and the spatial position of the walking component, and a lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component, and the targeted walking logic of the overhead line walking device relative to the wire is triggered based on the lifting balance system and the walking balance system, a lifting balance system and a walking balance system are introduced, and the lifting balance system and the walking balance system are controlled in multiple dimensions to ensure the accuracy of the targeted walking logic of the overhead line walking device relative to the wire, and realize the precise control of the targeted walking logic of the overhead line walking device relative to the wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] 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 or the description of the prior art 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.

[0064] Figure 1 is a schematic diagram of an overhead line running device in an embodiment of the present invention;

[0065] Figure 2 1 is a flow chart of a traveling control method of an overhead line traveling device in an embodiment of the present invention;

[0066] Figure 3 is a flow chart of S11 in the traveling control method of the overhead line traveling device in the embodiment of the present invention;

[0067] Figure 4 is a flow chart of S12 in the traveling control method of the overhead line traveling device in the embodiment of the present invention;

[0068] Figure 5 is a flow chart of S13 in the traveling control method of the overhead line traveling device in the embodiment of the present invention;

[0069] Figure 6 is a flow chart of S14 in the traveling control method of the overhead line traveling device in the embodiment of the present invention;

[0070] Figure 7 is a flow chart of S15 in the traveling control method of the overhead line traveling device in the embodiment of the present invention;

[0071] Figure 8 is a flow chart of S16 in the traveling control method of the overhead line traveling device in the embodiment of the present invention;

[0072] Fig. 9 Schematic diagram of the structure of the travel control system of the overhead line travel device in the embodiment of the present invention;

[0073] Fig.10 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0074] 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.

[0075] See also Figures 2 to 10 , a walking control method of an overhead line running device, applied to the walking control scene of the overhead line running device; the overhead line running device comprises an overhead line running device sheet and an overhead line running device frame, the overhead line running device sheet adopts a color-changing lens and is installed on the overhead line running device frame; the walking control method of the overhead line running device comprises:

[0076] Step S11: real-time monitoring of the traveling speed of the overhead line running device, and dynamic collection of the front image of the overhead line running device;

[0077] Step S12: defining the position of the anti-vibration hammer based on the front image of the overhead line running device, and defining a relative distance according to the current position of the overhead line running device and the position of the anti-vibration hammer;

[0078] Step S13: defining the position of the anti-vibration hammer based on the front image of the overhead line running device, and defining a relative distance according to the current position of the overhead line running device and the position of the anti-vibration hammer;

[0079] Step S14: triggering dynamic walking of the walking component according to the corresponding walking mode, collecting multiple walking posture parameters of the walking component during the walking process, and defining the dynamic balance coefficient of the walking component according to the multiple walking posture parameters;

[0080] Step S15: constructing a walking balance system of the walking component based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and dynamically adjusting the walking posture of the walking component according to the walking balance system until the walking component approaches the shock-absorbing hammer;

[0081] Step S16: Define the lifting distance of the walking component according to multiple dynamic images, the model of the shock-absorbing hammer, the drooping shape of the wire and the spatial position of the walking component, build a lifting balance system according to the lifting distance and the real-time posture of the walking component, and trigger the targeted walking logic of the overhead line walking device relative to the wire based on the lifting balance system and the walking balance system.

[0082] In an embodiment of the present invention, through the method in the embodiment of the present invention, the traveling speed of the overhead line running device is monitored in real time, and the front image of the overhead line running device is dynamically collected; the position of the shock-absorbing hammer is defined based on the front image of the overhead line running device, and the relative distance is defined according to the current position of the overhead line running device and the position of the shock-absorbing hammer; multiple walking areas are divided based on the relative distance, and the corresponding walking modes are matched according to the multiple walking areas, the real-time relative distances and the walking components of the overhead line running device, which is compatible with the overall consideration of multiple walking areas, the real-time relative distances and the walking components of the overhead line running device, realizes multi-dimensional control of multiple walking areas, real-time relative distances and the walking components of the overhead line running device, and ensures the accuracy of the walking mode.

[0083] Furthermore, the dynamic walking of the walking component is triggered according to the corresponding walking mode, and multiple walking posture parameters of the walking component during the walking process are collected, and the dynamic balance coefficient of the walking component is defined according to the multiple walking posture parameters; a walking balance system of the walking component is constructed based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and the walking posture of the walking component is dynamically adjusted according to the walking balance system until the walking component approaches the shockproof hammer; the lifting distance of the walking component is defined according to multiple dynamic images, the model of the shockproof hammer, the drooping shape of the wire and the spatial position of the walking component, and a lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component, and the targeted walking logic of the overhead line walking device relative to the wire is triggered based on the lifting balance system and the walking balance system, a lifting balance system and a walking balance system are introduced, and the lifting balance system and the walking balance system are controlled in multiple dimensions to ensure the accuracy of the targeted walking logic of the overhead line walking device relative to the wire, and realize the precise control of the targeted walking logic of the overhead line walking device relative to the wire.

[0084] The structure of the overhead line running device is explained. The overhead line running device includes a frame, a running assembly, a power supply part, a communication and control part, a mounting part, and a frame.

[0085] The walking assembly consists of walking wheels, suspension mechanisms, and power motors. The walking wheels are made of nylon 3D printing and are in a double cone shape, with two in a group, and a total of four in each group at the front and back. When walking in a section without an anti-vibration hammer, the rubber ring in the middle position is in direct contact with the wire to increase friction, ensuring a certain climbing ability while ensuring smooth walking. When contacting the anti-vibration hammer, the double-cone nylon wheel contacts the anti-vibration hammer fixture, relying on its own friction and the rear walking wheel to push and achieve obstacle crossing. The suspension mechanism allows each set of walking wheels to tilt at a certain angle in the vertical direction to reduce resistance when crossing obstacles and improve the stability of the mechanism. Each set of walking mechanisms has two power motors, and the motors rely on gears to mesh with the walking wheels to achieve deceleration and power transmission.

[0086] refer to Figure 3 , in step S11, the traveling speed of the overhead line running device is monitored in real time, and the front image of the overhead line running device is dynamically collected;

[0087] In the specific implementation process of the present invention, the specific steps may be:

[0088] S111: when the overhead line running device is on the electric line, collecting the state of the overhead line running device relative to the electric line;

[0089] S112: when the state of the overhead line running device relative to the electric wire is in the running state, monitor the position of the overhead line running device relative to the electric wire in real time, and collect the overall length of the electric wire, the running task of the overhead line running device, and the overall load of the overhead line running device;

[0090] S113: defining a traveling speed of the overhead line traveling device by associating the position of the overhead line traveling device relative to the electric wire, the overall length of the electric wire, the traveling task of the overhead line traveling device, and the overall load of the overhead line traveling device, and monitoring the traveling speed of the overhead line traveling device in real time;

[0091] S114: defining a corresponding shooting mode according to the traveling speed, the model of the camera configured for the overhead line traveling device, and the environment scene where the overhead line traveling device is located;

[0092] S115: Define dynamic shooting of the overhead line running device based on the shooting mode and the running direction of the overhead line running device, and dynamically capture the front image of the overhead line running device.

[0093] In an embodiment of the present application, when the overhead line running device is on the electric wire, the state of the overhead line running device relative to the electric wire is collected, the state of the overhead line running device relative to the electric wire is introduced, and the state of the overhead line running device relative to the electric wire is controlled.

[0094] When the overhead line running device is in the walking state relative to the electric wire, the position of the overhead line running device relative to the electric wire is monitored in real time, and the overall length of the electric wire, the walking task of the overhead line running device and the overall load of the overhead line running device are collected, which is compatible with the overall consideration of the overall length of the electric wire, the walking task of the overhead line running device and the overall load of the overhead line running device.

[0095] Therefore, the traveling speed of the overhead line traveling device is defined by associating the position of the overhead line traveling device relative to the electric wire, the overall length of the electric wire, the traveling task of the overhead line traveling device and the overall load of the overhead line traveling device, and the traveling speed of the overhead line traveling device is monitored in real time; the traveling speed of the overhead line traveling device is controlled in multiple dimensions, thereby achieving overall control over the position of the overhead line traveling device relative to the electric wire, the overall length of the electric wire, the traveling task of the overhead line traveling device and the overall load of the overhead line traveling device, thereby ensuring the accuracy of the traveling speed of the overhead line traveling device.

[0096] Furthermore, the corresponding shooting mode is defined according to the walking speed, the model of the camera configured for the overhead line running device, and the environment scene where the overhead line running device is located, which is compatible with the overall consideration of the walking speed, the model of the camera configured for the overhead line running device, and the environment scene where the overhead line running device is located, and realizes the multi-dimensional control of the walking speed, the model of the camera configured for the overhead line running device, and the environment scene where the overhead line running device is located, ensuring the accuracy of the shooting mode. At the same time, the dynamic shooting of the overhead line running device is defined based on the shooting mode and the walking direction of the overhead line running device, and the front image of the overhead line running device is dynamically collected, and the front image is further controlled.

[0097] refer to Figure 4 In step S12, the position of the anti-vibration hammer is defined based on the front image of the overhead line running device, and the relative distance is defined according to the current position of the overhead line running device and the position of the anti-vibration hammer;

[0098] In the specific implementation process of the present invention, the specific steps may be:

[0099] S121: collecting the front image of the overhead line running device;

[0100] S122: defining a plurality of image regions according to the division of the front image of the overhead line running device, and marking the positions of the plurality of image regions;

[0101] S123: defining a plurality of object features based on synchronous recognition of a plurality of image regions, defining an anti-vibration hammer according to dynamic screening of the plurality of object features, and marking a position of the anti-vibration hammer;

[0102] S124: collecting the current position of the overhead line running device;

[0103] S125: Associating the current position of the overhead line running device and the position of the anti-vibration hammer;

[0104] S126: defining a relative distance according to the current position of the overhead line running device and the position of the anti-vibration hammer.

[0105] In an embodiment of the present application, an image in front of the overhead line running device is collected; a plurality of image areas are defined according to the division of the image in front of the overhead line running device, and the positions of the plurality of image areas are marked, thereby introducing a plurality of image areas and corresponding positions, and achieving overall control of the plurality of image areas and corresponding positions.

[0106] At this time, multiple object features are defined based on the simultaneous recognition of multiple image areas, the shock-absorbing hammer is defined according to the dynamic screening of the multiple object features, and the position of the shock-absorbing hammer is marked. Multi-dimensional control is performed on the multiple object features, and dynamic screening of the multiple object features is realized. The output of the shock-absorbing hammer is guaranteed, and the position of the shock-absorbing hammer is introduced.

[0107] Therefore, the current position of the overhead line running device is collected; the current position of the overhead line running device and the position of the shock-absorbing hammer are associated; the relative distance is defined according to the current position of the overhead line running device and the position of the shock-absorbing hammer, thereby achieving a dynamic comparison of the current position of the overhead line running device and the position of the shock-absorbing hammer and ensuring the accuracy of the relative distance.

[0108] refer to Figure 5 , in step S13, a plurality of walking areas are divided based on the relative distance, and a corresponding walking mode is matched according to the plurality of walking areas, the real-time relative distance and the walking components of the overhead line walking device;

[0109] In the specific implementation process of the present invention, the specific steps may be:

[0110] S131: fixing the relative distance, and dividing a plurality of walking areas according to the relative distance and the wires;

[0111] S132: Matching corresponding walking coefficient combinations based on multiple walking areas and corresponding relative distances;

[0112] S133: Associating the walking coefficient combination, the real-time relative distance and the walking component of the overhead line walking device;

[0113] S134: defining first mode parameters according to the walking coefficient combination and the real-time relative distance;

[0114] S135: defining a second mode parameter according to the combination of the travel coefficients and the travel components of the overhead line travel device;

[0115] S136: Matching a corresponding walking mode based on the second mode parameter, the first mode parameter and the real-time load of the walking component.

[0116] In an embodiment of the present application, the traveling speed of the overhead line running device is monitored in real time, and the front image of the overhead line running device is dynamically collected; the position of the shock-absorbing hammer is defined based on the front image of the overhead line running device, and the relative distance is defined according to the current position of the overhead line running device and the position of the shock-absorbing hammer; a plurality of walking areas are divided based on the relative distance, and corresponding walking modes are matched according to the plurality of walking areas, the real-time relative distance and the walking components of the overhead line running device, and the overall consideration of the plurality of walking areas, the real-time relative distance and the walking components of the overhead line running device is compatible, thereby realizing multi-dimensional control of the plurality of walking areas, the real-time relative distance and the walking components of the overhead line running device, and ensuring the accuracy of the walking mode.

[0117] At this time, the relative distance is frozen, and multiple walking areas are divided according to the relative distance and the wires; the corresponding walking coefficient combinations are matched based on the multiple walking areas and the corresponding relative distances, which is compatible with the overall control of multiple walking areas and the corresponding relative distances, and realizes the multi-dimensional control of multiple walking areas and the corresponding relative distances, ensuring the accuracy of the walking coefficient combination.

[0118] Furthermore, the associated walking coefficient combination, real-time relative distance and walking components of the overhead line walking device are controlled in multiple dimensions, thus achieving overall consideration of the walking coefficient combination, real-time relative distance and walking components of the overhead line walking device.

[0119] Therefore, the first mode parameters are defined according to the walking coefficient combination and the real-time relative distance; the second mode parameters are defined according to the walking coefficient combination and the walking components of the overhead line walking device, and the second mode parameters, the first mode parameters and the real-time load of the walking components are introduced, thereby realizing multi-dimensional control of the second mode parameters, the first mode parameters and the real-time load of the walking components, thereby matching the corresponding walking mode based on the second mode parameters, the first mode parameters and the real-time load of the walking components, thereby ensuring the accuracy of the walking mode.

[0120] refer to Figure 6 , S14: triggering dynamic walking of the walking component according to the corresponding walking mode, and collecting multiple walking posture parameters of the walking component during the walking process, and defining the dynamic balance coefficient of the walking component according to the multiple walking posture parameters;

[0121] In the specific implementation process of the present invention, the specific steps may be:

[0122] S141: freeze the corresponding walking mode;

[0123] S142: triggering dynamic walking of the walking component based on the walking mode;

[0124] S143: monitoring the dynamic walking of the walking component in real time, and collecting multiple walking posture parameters of the walking component during the walking process;

[0125] S144: defining a dynamic balance coefficient of the walking component according to a plurality of walking posture parameters and a real-time load of the walking component.

[0126] In an embodiment of the present application, the corresponding walking mode is frozen and a walking mode is introduced, thereby triggering the dynamic walking of the walking component based on the walking mode, realizing the dynamic walking of the walking component, and then monitoring the dynamic walking of the walking component in real time, and collecting multiple walking posture parameters of the walking component during the walking process, and introducing multiple posture parameters.

[0127] Therefore, deep interaction is carried out for multiple posture parameters, thereby introducing multiple walking posture parameters and the real-time load of the walking component, realizing the association of multiple walking posture parameters and the real-time load of the walking component, and defining the dynamic balance coefficient of the walking component according to the multiple walking posture parameters and the real-time load of the walking component, realizing multi-dimensional control of multiple walking posture parameters and the real-time load of the walking component, and ensuring the accuracy of the dynamic balance coefficient.

[0128] refer to Figure 7 , S15: constructing a walking balance system of the walking component based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and dynamically adjusting the walking posture of the walking component according to the walking balance system until the walking component approaches the shock-absorbing hammer;

[0129] In the specific implementation process of the present invention, the specific steps may be:

[0130] S151: freezing the dynamic balance coefficient of the walking component, and collecting the dynamic balance coefficient of the walking component in real time;

[0131] S152: Correlate the dynamic balance coefficient of the walking component, the yaw direction of the walking component, and the load of the walking component;

[0132] S153: defining a first walking balance coefficient according to the dynamic balance coefficient of the walking component and the yaw direction of the walking component;

[0133] S154: defining a second walking balance coefficient according to the load of the walking component and the yaw direction of the walking component;

[0134] S155: constructing a walking balance system of the walking component based on the second walking balance coefficient, the first walking balance coefficient and the walking component;

[0135] S156: Dynamically control the walking posture of the walking component according to the walking balance system, collect the relative distance in real time, and if the relative distance is lower than the approach distance, define the approach state of the walking component relative to the shock-absorbing hammer. At this time, monitor the walking of the walking component relative to the electric wire in real time until the walking component approaches the shock-absorbing hammer.

[0136] In an embodiment of the present application, the dynamic balance coefficient of the walking component is frozen, and the dynamic balance coefficient of the walking component is collected in real time; the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component are associated, thereby realizing multiple interactions of the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component.

[0137] At this time, a first walking balance coefficient is defined according to the dynamic balance coefficient of the walking component and the yaw direction of the walking component; a second walking balance coefficient is defined according to the load of the walking component and the yaw direction of the walking component; a walking balance system of the walking component is constructed based on the second walking balance coefficient, the first walking balance coefficient and the walking component, which is compatible with the overall control of the second walking balance coefficient, the first walking balance coefficient and the walking component, realizes multi-dimensional control of the second walking balance coefficient, the first walking balance coefficient and the walking component, and ensures the accuracy of the walking balance system of the walking component.

[0138] Therefore, the walking posture of the walking component is dynamically regulated according to the walking balance system, and the relative distance is collected in real time. If the relative distance is lower than the approach distance, the approach state of the walking component relative to the shock-absorbing hammer is defined. At this time, the walking of the walking component relative to the electric wire is monitored in real time until the walking component approaches the shock-absorbing hammer, so that the walking component can perform targeted control of the shock-absorbing hammer.

[0139] refer to Figure 8 S16: defining the lifting distance of the walking component according to the multiple dynamic images, the model of the shock-absorbing hammer, the drooping shape of the wire and the spatial position of the walking component, building a lifting balance system according to the lifting distance and the real-time posture of the walking component, and triggering the targeted walking logic of the overhead line walking device relative to the wire based on the lifting balance system and the walking balance system;

[0140] In the specific implementation process of the present invention, the specific steps may be:

[0141] S161: When the walking component approaches the anti-vibration hammer, multiple dynamic images of the anti-vibration hammer are collected based on multiple directions;

[0142] S162: constructing a corresponding three-dimensional model according to the multiple dynamic images and the model of the anti-vibration hammer;

[0143] S163: Associating the three-dimensional model, the drooping shape of the wire, and the spatial position of the walking component;

[0144] S164: defining a lifting distance of the walking component based on the three-dimensional model, the drooping shape of the wire, and the spatial position of the walking component;

[0145] S165: constructing a lifting balance system according to the lifting distance and the real-time posture of the walking component;

[0146] S166: triggering the targeted walking logic of the overhead line walking device relative to the electric line based on the lifting balance system and the walking balance system.

[0147] During the specific implementation of the present invention, the dynamic walking of the walking component is triggered according to the corresponding walking mode, and multiple walking posture parameters of the walking component during the walking process are collected, and the dynamic balance coefficient of the walking component is defined according to the multiple walking posture parameters; a walking balance system of the walking component is constructed based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and the walking posture of the walking component is dynamically adjusted according to the walking balance system until the walking component approaches the shockproof hammer; the lifting distance of the walking component is defined according to multiple dynamic images, the model of the shockproof hammer, the drooping shape of the wire and the spatial position of the walking component, and a lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component, and the targeted walking logic of the overhead line walking device relative to the wire is triggered based on the lifting balance system and the walking balance system, a lifting balance system and a walking balance system are introduced, and the lifting balance system and the walking balance system are controlled in multiple dimensions to ensure the accuracy of the targeted walking logic of the overhead line walking device relative to the wire, and realize the precise control of the targeted walking logic of the overhead line walking device relative to the wire.

[0148] At this time, when the walking component approaches the shock-absorbing hammer, multiple dynamic images of the shock-absorbing hammer are collected based on multiple directions; a corresponding three-dimensional model is constructed according to the multiple dynamic images and the model of the shock-absorbing hammer, thereby realizing multi-dimensional control of the multiple dynamic images and the model of the shock-absorbing hammer, and ensuring the accuracy of the three-dimensional model.

[0149] Therefore, the three-dimensional model, the drooping shape of the wires and the spatial position of the walking component are associated; the lifting distance of the walking component is defined based on the three-dimensional model, the drooping shape of the wires and the spatial position of the walking component; a lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component, which is compatible with the overall consideration of the lifting distance and the real-time posture of the walking component, realizes the multi-dimensional control of the lifting distance and the real-time posture of the walking component, and ensures the accuracy of the lifting balance system.

[0150] Furthermore, based on the lifting balance system and the walking balance system to trigger the targeted walking logic of the overhead line walking device relative to the electric wire, the lifting balance system and the walking balance system are introduced, and the lifting balance system and the walking balance system are controlled in multiple dimensions to ensure the accuracy of the targeted walking logic of the overhead line walking device relative to the electric wire, and realize the precise control of the targeted walking logic of the overhead line walking device relative to the electric wire.

[0151] In another embodiment of the present invention, the structure of an overhead line running device is described. The overhead line running device includes a frame, a running assembly, a power supply part, a communication and control part, a mounting part, and a frame.

[0152] The walking assembly consists of walking wheels, suspension mechanisms, and power motors. The walking wheels are made of nylon 3D printing and are in a double cone shape, with two in a group, and a total of four in each group at the front and back. When walking in a section without an anti-vibration hammer, the rubber ring in the middle position is in direct contact with the wire to increase friction, ensuring a certain climbing ability while ensuring smooth walking. When contacting the anti-vibration hammer, the double-cone nylon wheel contacts the anti-vibration hammer fixture, relying on its own friction and the rear walking wheel to push and achieve obstacle crossing. The suspension mechanism allows each set of walking wheels to tilt at a certain angle in the vertical direction to reduce resistance when crossing obstacles and improve the stability of the mechanism. Each set of walking mechanisms has two power motors, and the motors rely on gears to mesh with the walking wheels to achieve deceleration and power transmission.

[0153] The power supply part is composed of a rechargeable lithium battery and a voltage regulating module, and provides power for the power motor, communication device, and payload.

[0154] The communication and control part uses a wireless bridge to communicate with the remote control device, send the camera image, and receive the control instructions of the remote control device. The communication system consists of a main communication system and a backup communication system. The two systems have the same control function. The backup control system communicates with the backup remote control, but does not transmit the camera image. The two systems can work at the same time. In the single remote control mode, the backup communication system is only used as a backup after the main communication system fails; in the dual remote control mode, two operators can control in a "relay" manner at different locations to expand the scope of operation.

[0155] The mounting part is located in the middle of the lower part of the device, and consists of a standardized load mounting interface and a rotatable fixture. The standardized load mounting interface is compatible with a variety of different types of LiDAR equipment, and the rotatable fixture can be rotated 180° (when the LiDAR is working, the scanning direction must point to the direction of travel) to ensure normal scanning.

[0156] The frame is made of 6061 aluminum alloy, and adopts a hollow design to reduce weight while ensuring structural strength. At the same time, the battery, payload, etc. are placed under the wires to lower the center of gravity, improve stability during operation, and enhance wind resistance.

[0157] In an embodiment of the present invention, through the method in the embodiment of the present invention, the traveling speed of the overhead line running device is monitored in real time, and the front image of the overhead line running device is dynamically collected; the position of the shock-absorbing hammer is defined based on the front image of the overhead line running device, and the relative distance is defined according to the current position of the overhead line running device and the position of the shock-absorbing hammer; multiple walking areas are divided based on the relative distance, and the corresponding walking modes are matched according to the multiple walking areas, the real-time relative distances and the walking components of the overhead line running device, which is compatible with the overall consideration of multiple walking areas, the real-time relative distances and the walking components of the overhead line running device, realizes multi-dimensional control of multiple walking areas, real-time relative distances and the walking components of the overhead line running device, and ensures the accuracy of the walking mode.

[0158] Furthermore, the dynamic walking of the walking component is triggered according to the corresponding walking mode, and multiple walking posture parameters of the walking component during the walking process are collected, and the dynamic balance coefficient of the walking component is defined according to the multiple walking posture parameters; a walking balance system of the walking component is constructed based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and the walking posture of the walking component is dynamically adjusted according to the walking balance system until the walking component approaches the shockproof hammer; the lifting distance of the walking component is defined according to multiple dynamic images, the model of the shockproof hammer, the drooping shape of the wire and the spatial position of the walking component, and a lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component, and the targeted walking logic of the overhead line walking device relative to the wire is triggered based on the lifting balance system and the walking balance system, a lifting balance system and a walking balance system are introduced, and the lifting balance system and the walking balance system are controlled in multiple dimensions to ensure the accuracy of the targeted walking logic of the overhead line walking device relative to the wire, and realize the precise control of the targeted walking logic of the overhead line walking device relative to the wire.

[0159] See also Fig. 9 , Fig. 9 It is a schematic diagram of the structural composition of the traveling control system of the overhead line traveling device in an embodiment of the present invention.

[0160] like Fig. 9 As shown, a traveling control system of an overhead line traveling device, the traveling control system of the overhead line traveling device comprises:

[0161] The front image module 21 is used to monitor the travel speed of the overhead line running device in real time and dynamically collect the front image of the overhead line running device;

[0162] A relative distance module 22, for defining the position of the anti-vibration hammer based on the front image of the overhead line running device, and defining the relative distance according to the current position of the overhead line running device and the position of the anti-vibration hammer;

[0163] A walking mode module 23, for dividing a plurality of walking areas based on relative distances, and matching corresponding walking modes according to the plurality of walking areas, the real-time relative distances, and the walking components of the overhead line walking device;

[0164] The dynamic balance coefficient module 24 is used to trigger the dynamic walking of the walking component according to the corresponding walking mode, collect multiple walking posture parameters of the walking component during the walking process, and define the dynamic balance coefficient of the walking component according to the multiple walking posture parameters;

[0165] A walking balance system module 25 is used to construct a walking balance system of the walking component based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and dynamically adjust the walking posture of the walking component according to the walking balance system until the walking component approaches the anti-vibration hammer;

[0166] The lifting balance system module 26 is used to define the lifting distance of the walking component according to multiple dynamic images, the model of the shock-absorbing hammer, the drooping shape of the wire and the spatial position of the walking component, and to build a lifting balance system according to the lifting distance and the real-time posture of the walking component, and to trigger the targeted walking logic of the overhead line walking device relative to the wire based on the lifting balance system and the walking balance system.

[0167] See also Fig.10 , refer to the following Fig.10 The electronic device 40 according to this embodiment of the present invention will be described. Fig.10 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0168] like Fig.10 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0169] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0170] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0171] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0172] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0173] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig.10 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig.10 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0174] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a multi-parameter sensor device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0175] Those skilled in the art can understand that all or some of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0176] In addition, the above describes in detail the traveling control method and system of the overhead line traveling device provided in the embodiment of the present invention. In this article, specific examples are used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A traveling control method for an overhead line traveling device, characterized in that: Applicable to the walking control scenario of an overhead line walking device; the overhead line walking device comprises a frame and a walking component, the walking component is installed on the frame and is used to walk on the wire; The traveling control method of the overhead line traveling device comprises: Monitor the travel speed of the overhead line running device in real time and dynamically collect the front image of the overhead line running device; The position of the anti-vibration hammer is defined based on the front image of the overhead line running device, and the relative distance is defined according to the current position of the overhead line running device and the position of the anti-vibration hammer; Divide multiple walking areas based on relative distance, and match corresponding walking modes according to the multiple walking areas, the real-time relative distance and the walking components of the overhead line walking device; Triggering dynamic walking of the walking component according to the corresponding walking mode, collecting multiple walking posture parameters of the walking component during the walking process, and defining the dynamic balance coefficient of the walking component according to the multiple walking posture parameters; A walking balance system of the walking component is constructed based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and the walking posture of the walking component is dynamically adjusted according to the walking balance system until the walking component approaches the anti-vibration hammer; The lifting distance of the walking component is defined according to multiple dynamic images, the model of the shock-absorbing hammer, the drooping shape of the wire and the spatial position of the walking component. A lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component. Based on the lifting balance system and the walking balance system, the targeted walking logic of the overhead line walking device relative to the wire is triggered.

2. The traveling control method of the overhead line traveling device according to claim 1, characterized in that: The real-time monitoring of the traveling speed of the overhead line running device and the dynamic acquisition of the front image of the overhead line running device include: When the overhead line running device is on the electric wire, the state of the overhead line running device relative to the electric wire is collected; When the state of the overhead line running device relative to the electric wire is in the running state, the position of the overhead line running device relative to the electric wire is monitored in real time, and the overall length of the electric wire, the running task of the overhead line running device and the overall load of the overhead line running device are collected; The traveling speed of the overhead line running device is defined by associating the position of the overhead line running device relative to the electric wire, the overall length of the electric wire, the traveling task of the overhead line running device, and the overall load of the overhead line running device, and the traveling speed of the overhead line running device is monitored in real time; A corresponding shooting mode is defined according to the walking speed, the model of the camera configured for the overhead line walking device, and the environment scene where the overhead line walking device is located; Based on the shooting mode and the traveling direction of the overhead line running device, dynamic shooting of the overhead line running device is defined, and the front image of the overhead line running device is dynamically acquired.

3. The traveling control method of the overhead line traveling device according to claim 2, characterized in that: The method of defining the position of the anti-vibration hammer based on the front image of the overhead line running device and defining the relative distance according to the current position of the overhead line running device and the position of the anti-vibration hammer includes: Collect the front image of the overhead line running device; Defining a plurality of image regions according to the division of the front image of the overhead line running device, and marking the positions of the plurality of image regions; Defining multiple object features based on synchronous recognition of multiple image regions, defining an anti-vibration hammer based on dynamic screening of the multiple object features, and marking the position of the anti-vibration hammer; Collect the current position of the overhead line running device; Correlate the current position of the overhead line running device and the position of the anti-vibration hammer; The relative distance is defined according to the current position of the overhead line running device and the position of the anti-vibration hammer.

4. The traveling control method of the overhead line traveling device according to claim 3, characterized in that: The method of dividing a plurality of walking areas based on relative distance and matching corresponding walking modes according to the plurality of walking areas, the real-time relative distance and the walking components of the overhead line walking device includes: Fix the relative distance and divide multiple walking areas according to the relative distance and wires; Matching corresponding walking coefficient combinations based on multiple walking areas and corresponding relative distances; Associated travel coefficient combinations, real-time relative distances, and travel components of overhead line travel devices; Defining first mode parameters according to a combination of walking coefficients and a real-time relative distance; defining second mode parameters according to the combination of travel coefficients and the travel components of the overhead line travel device; The corresponding walking mode is matched based on the second mode parameter, the first mode parameter and the real-time load of the walking component.

5. The traveling control method of the overhead line traveling device according to claim 4, characterized in that: The method triggers the dynamic walking of the walking component according to the corresponding walking mode, collects a plurality of walking posture parameters of the walking component during the walking process, and defines the dynamic balance coefficient of the walking component according to the plurality of walking posture parameters, including: Freeze the corresponding walking pattern; Trigger dynamic walking of walking components based on walking mode; Monitor the dynamic walking of the walking component in real time and collect multiple walking posture parameters of the walking component during the walking process; The dynamic balance coefficient of the walking component is defined according to a plurality of walking posture parameters and the real-time load of the walking component.

6. The traveling control method of the overhead line traveling device according to claim 5, characterized in that: The method comprises: constructing a walking balance system of the walking component based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and dynamically adjusting the walking posture of the walking component according to the walking balance system until the walking component approaches the shockproof hammer, including: Freeze the dynamic balance coefficient of the walking component and collect the dynamic balance coefficient of the walking component in real time; The dynamic balance coefficient of the associated walking component, the yaw direction of the walking component and the load of the walking component; Defining a first walking balance coefficient according to the dynamic balance coefficient of the walking component and the yaw direction of the walking component; The second walking balance coefficient is defined according to the load of the walking component and the yaw direction of the walking component.

7. The traveling control method of the overhead line traveling device according to claim 6, characterized in that: The method further comprises: constructing a walking balance system of the walking component based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and dynamically adjusting the walking posture of the walking component according to the walking balance system until the walking component approaches the anti-vibration hammer; Constructing a walking balance system of the walking component based on the second walking balance coefficient, the first walking balance coefficient and the walking component; The walking posture of the walking component is dynamically regulated according to the walking balance system, and the relative distance is collected in real time. If the relative distance is lower than the approach distance, the approach state of the walking component relative to the shock-absorbing hammer is defined. At this time, the walking of the walking component relative to the electric wire is monitored in real time until the walking component approaches the shock-absorbing hammer.

8. The traveling control method of the overhead line traveling device according to claim 7, characterized in that: The method defines the lifting distance of the walking component according to multiple dynamic images, the model of the shock-absorbing hammer, the drooping shape of the wire and the spatial position of the walking component, constructs a lifting balance system according to the lifting distance and the real-time posture of the walking component, and triggers the targeted walking logic of the overhead line walking device relative to the wire based on the lifting balance system and the walking balance system, including: When the walking component approaches the anti-vibration hammer, multiple dynamic images of the anti-vibration hammer are collected based on multiple directions; A corresponding three-dimensional model is constructed according to a plurality of dynamic images and the model of the shock-absorbing hammer.

9. The traveling control method of the overhead line traveling device according to claim 8, characterized in that: The method further includes defining the lifting distance of the walking assembly according to the multiple dynamic images, the model of the shock-absorbing hammer, the drooping shape of the wire and the spatial position of the walking assembly, constructing a lifting balance system according to the lifting distance and the real-time posture of the walking assembly, and triggering the targeted walking logic of the overhead line walking device relative to the wire based on the lifting balance system and the walking balance system. Associating the three-dimensional model, the drooping pattern of the wires, and the spatial position of the walking components; Based on the three-dimensional model, the sagging shape of the wires and the spatial position of the walking component, a lifting distance of the walking component is defined; A lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component; Based on the lifting balance system and the walking balance system, the targeted walking logic of the overhead line walking device relative to the electric wire is triggered.

10. A travel control system for an overhead line travel device, characterized in that: The travel control system of the overhead line running device is applied to the travel control method of the overhead line running device as claimed in any one of claims 1 to 9, and the travel control system of the overhead line running device comprises: A front image module is used to monitor the travel speed of the overhead line running device in real time and dynamically collect the front image of the overhead line running device; A relative distance module, used to define the position of the anti-vibration hammer based on the front image of the overhead line running device, and to define the relative distance according to the current position of the overhead line running device and the position of the anti-vibration hammer; A walking mode module, used to divide multiple walking areas based on relative distance, and match corresponding walking modes according to multiple walking areas, real-time relative distance and walking components of the overhead line walking device; A dynamic balance coefficient module is used to trigger the dynamic walking of the walking component according to the corresponding walking mode, collect multiple walking posture parameters of the walking component during the walking process, and define the dynamic balance coefficient of the walking component according to the multiple walking posture parameters; A walking balance system module is used to construct a walking balance system of the walking component based on the dynamic balance coefficient of the walking component, the yaw direction of the walking component and the load of the walking component, and dynamically adjust the walking posture of the walking component according to the walking balance system until the walking component approaches the anti-vibration hammer; The lifting and balancing system module is used to define the lifting distance of the walking component according to multiple dynamic images, the model of the shock-absorbing hammer, the drooping shape of the wire and the spatial position of the walking component, and to build a lifting and balancing system according to the lifting distance and the real-time posture of the walking component, and to trigger the targeted walking logic of the overhead line walking device relative to the wire based on the lifting and balancing system and the walking balance system.

Images