Method and system for controlling the travel of an overhead line travelling device

Abstract

The application discloses an overhead line walking device walking control method and system, which matches corresponding walking modes according to multiple walking areas, real-time relative distances and walking components of the overhead line walking device. Further, the walking balance system of the walking component is constructed based on the dynamic balance coefficient of the walking component, the deflection 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 shock absorber. The lifting distance of the walking component is defined according to multiple dynamic images, the model of the shock absorber, the drooping form of the wire and the spatial position of the walking component, the lifting balance system is constructed according to the lifting distance and the real-time posture of the walking component, and the overhead line walking device is triggered relative to the wire based on the lifting balance system and the walking balance system, so that the precise control of the overhead line walking device relative to the wire is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of overhead line walking device, and particularly relates to a walking control method and system of overhead line walking device. BACKGROUND

[0002] With the development of science and technology, the overhead line walking device is applied to people's life and walks on the wire, and the walking component of the overhead line walking device walks relative to the wire and walks at a single speed, which is easily limited by the shock absorber, affecting the accuracy of the targeted walking logic of the overhead line walking device relative to the wire. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art, and provides a walking control method and system of overhead line walking device, which monitors the walking speed of the overhead line walking device in real time and dynamically collects the image in front of the overhead line walking device; defines the position of the shock absorber based on the image in front of the overhead line walking device, and defines the relative distance according to the current position of the overhead line walking device and the position of the shock absorber; divides multiple walking areas based on the relative distance, and matches the corresponding walking mode according to the multiple walking areas, the real-time relative distance and the walking component of the overhead line walking device, which takes into account the overall consideration of the multiple walking areas, the real-time relative distance and the walking component of the overhead line walking device, realizes the multidimensional control of the multiple walking areas, the real-time relative distance and the walking component of the overhead line walking device, and ensures the accuracy of the walking mode.

[0004] Further, the dynamic walking of the walking component is triggered according to the corresponding walking mode, and multiple walking posture parameters of the walking component in the walking process are collected, and the dynamic balance coefficient of the walking component is defined according to the multiple walking posture parameters; the 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 shock absorber; the lifting distance of the walking component is defined according to the multiple dynamic images, the model of the shock absorber, the sagging shape of the wire and the spatial position of the walking component, the 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, which introduces the lifting balance system and the walking balance system, and controls the lifting balance system and the walking balance system in multiple dimensions, ensures the accuracy of the targeted walking logic of the overhead line walking device relative to the wire, and realizes the accurate control of the targeted walking logic of the overhead line walking device relative to the wire.

[0005] The embodiment of the application provides a walking control method of an overhead line walking device, characterized in that the method is applied to a walking control scene of the overhead line walking device; the overhead line walking device comprises a rack and a walking assembly, and the walking assembly is installed on the rack and is used for walking on a wire;

[0006] The walking control method of the overhead line walking device comprises the following steps.

[0007] The walking speed of the overhead line walking device is monitored in real time, and the image in front of the overhead line walking device is dynamically collected.

[0008] The position of a damper is defined based on the image in front of the overhead line walking device, and the relative distance is defined according to the current position of the overhead line walking device and the position of the damper.

[0009] 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 assembly of the overhead line walking device.

[0010] The dynamic walking of the walking assembly is triggered according to the corresponding walking mode, a plurality of walking posture parameters of the walking assembly in the walking process are collected, and the dynamic balance coefficient of the walking assembly is defined according to the plurality of walking posture parameters.

[0011] The walking balance system of the walking assembly is constructed based on the dynamic balance coefficient of the walking assembly, the yawing direction of the walking assembly and the load of the walking assembly, and the walking posture of the walking assembly is dynamically adjusted according to the walking balance system until the walking assembly approaches the damper.

[0012] The lifting distance of the walking assembly is defined according to the plurality of dynamic images, the model of the damper, the sagging mode of the wire and the spatial position of the walking assembly, the lifting balance system is constructed according to the lifting distance and the real-time posture of the walking assembly, and the specific 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.

[0013] Optionally, the walking speed of the overhead line walking device is monitored in real time, and the image in front of the overhead line walking device is dynamically collected, and the method comprises the following steps.

[0014] When the overhead line walking device is on the wire, the state of the overhead line walking device relative to the wire is collected.

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

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

[0017] A corresponding shooting mode is defined according to the walking speed, the model of the camera arranged on the overhead line walking device, and the environment scene in which the overhead line walking device is located;

[0018] The dynamic shooting of the overhead line walking device is defined based on the shooting mode and the walking direction of the overhead line walking device, and the image in front of the overhead line walking device is dynamically collected.

[0019] Optionally, the position of the damper is defined based on the image in front of the overhead line walking device, and a relative distance is defined according to the current position of the overhead line walking device and the position of the damper, including:

[0020] The image in front of the overhead line walking device is collected;

[0021] A plurality of image regions are defined according to the division of the image in front of the overhead line walking device, and the positions of the plurality of image regions are marked;

[0022] A plurality of object features are defined based on the synchronous identification of the plurality of image regions, a damper is defined according to the dynamic screening of the plurality of object features, and the position of the damper is marked;

[0023] The current position of the overhead line walking device is collected;

[0024] The current position of the overhead line walking device and the position of the damper are associated;

[0025] A relative distance is defined according to the current position of the overhead line walking device and the position of the damper.

[0026] Optionally, a plurality of walking regions are divided based on the relative distance, and a corresponding walking mode is matched according to the plurality of walking regions, the real-time relative distance, and the walking component of the overhead line walking device, including:

[0027] The relative distance is fixed, and a plurality of walking regions are divided according to the relative distance and the electric wire;

[0028] A corresponding walking system combination is matched based on the plurality of walking regions and the corresponding relative distance;

[0029] The walking system combination, the real-time relative distance, and the walking component of the overhead line walking device are associated;

[0030] A first mode parameter is defined according to the walking system combination and the real-time relative distance;

[0031] According to the walking system combination and the walking assembly of the overhead line walking device, a second mode parameter is defined;

[0032] Based on the second mode parameter, the first mode parameter and the real-time load of the walking assembly, a corresponding walking mode is matched.

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

[0034] The corresponding walking mode is fixed;

[0035] The dynamic walking of the walking assembly is triggered based on the walking mode;

[0036] The dynamic walking of the walking assembly is monitored in real time, and a plurality of walking posture parameters of the walking assembly in the walking process are collected;

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

[0038] Optionally, the walking balance system of the walking assembly is constructed based on the dynamic balance coefficient of the walking assembly, the yawing direction of the walking assembly and the load of the walking assembly, and the walking posture of the walking assembly is dynamically adjusted according to the walking balance system until the walking assembly approaches the shock absorber, including:

[0039] The dynamic balance coefficient of the walking assembly is fixed, and the dynamic balance coefficient of the walking assembly is collected in real time;

[0040] The dynamic balance coefficient of the walking assembly, the yawing direction of the walking assembly and the load of the walking assembly are associated;

[0041] The first walking balance coefficient is defined according to the dynamic balance coefficient of the walking assembly and the yawing direction of the walking assembly;

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

[0043] Optionally, the walking balance system of the walking assembly is constructed based on the dynamic balance coefficient of the walking assembly, the yawing direction of the walking assembly and the load of the walking assembly, and the walking posture of the walking assembly is dynamically adjusted according to the walking balance system until the walking assembly approaches the shock absorber, further including:

[0044] The walking balance system of the walking assembly is constructed based on the second walking balance coefficient, the first walking balance coefficient and the walking assembly;

[0045] According to the walking balance system, the walking posture of the walking assembly is dynamically adjusted, the relative distance is collected in real time, if the relative distance is lower than the close distance, the walking assembly is defined as the close state relative to the shock absorber, at this time, the walking of the walking assembly relative to the electric wire is monitored in real time until the walking assembly is close to the shock absorber.

[0046] Optionally, the lifting distance of the walking assembly is defined according to the multiple dynamic images, the model of the shock absorber, the sagging form of the electric wire and the spatial position of the walking assembly, the lifting balance system is constructed according to the lifting distance and the real-time posture of the walking assembly, and the targeted walking logic of the overhead line walking device relative to the electric wire is triggered based on the lifting balance system and the walking balance system, including:

[0047] When the walking assembly is close to the shock absorber, multiple dynamic images of the shock absorber are collected in multiple directions;

[0048] According to the multiple dynamic images and the model of the shock absorber, a corresponding three-dimensional model is constructed.

[0049] Optionally, the lifting distance of the walking assembly is defined according to the multiple dynamic images, the model of the shock absorber, the sagging form of the electric wire and the spatial position of the walking assembly, the lifting balance system is constructed according to the lifting distance and the real-time posture of the walking assembly, and the targeted walking logic of the overhead line walking device relative to the electric wire is triggered based on the lifting balance system and the walking balance system, including:

[0050] The three-dimensional model, the sagging form of the electric wire and the spatial position of the walking assembly are associated;

[0051] The lifting distance of the walking assembly is defined based on the three-dimensional model, the sagging form of the electric wire and the spatial position of the walking assembly;

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

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

[0054] In addition, the embodiment of the present application also provides a walking control system of an overhead line walking device, characterized in that the walking control system of the overhead line walking device is applied to the walking control method of the overhead line walking device as claimed in any one of claims 1-9, and the walking control system of the overhead line walking device comprises:

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

[0056] The relative distance module is configured to define the position of the damper based on the front image of the overhead line walking device, and define the relative distance according to the current position of the overhead line walking device and the position of the damper.

[0057] The walking mode module is configured to divide a plurality of walking areas based on the relative distance, and match a corresponding walking mode according to the plurality of walking areas, the real-time relative distance and the walking component of the overhead line walking device.

[0058] The dynamic balance coefficient module is configured to trigger the dynamic walking of the walking component according to the corresponding walking mode, and collect a plurality of walking posture parameters of the walking component in the walking process, and define the dynamic balance coefficient of the walking component according to the plurality of walking posture parameters.

[0059] The walking balance system module is configured 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 damper.

[0060] The lifting balance system module is configured to define a lifting distance of the walking component according to the plurality of dynamic images, the model of the damper, the sagging shape of the wire and the spatial position of the walking component, construct 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.

[0061] In the embodiment of the present application, the walking speed of the overhead line walking device is monitored in real time, and the front image of the overhead line walking device is dynamically collected by the method in the embodiment of the present application. The position of the damper is defined based on the front image of the overhead line walking device, and the relative distance is defined according to the current position of the overhead line walking device and the position of the damper. The plurality of walking areas are divided based on the relative distance, and the corresponding walking mode is matched according to the plurality of walking areas, the real-time relative distance and the walking component of the overhead line walking device. The overall consideration of the plurality of walking areas, the real-time relative distance and the walking component of the overhead line walking device is compatible, the multidimensional control of the plurality of walking areas, the real-time relative distance and the walking component of the overhead line walking device is realized, and the accuracy of the walking mode is ensured.

[0062] Further, the dynamic walking of the walking assembly is triggered according to the corresponding walking mode, a plurality of walking posture parameters of the walking assembly in the walking process are collected, the dynamic balance coefficient of the walking assembly is defined according to the plurality of walking posture parameters, the walking balance system of the walking assembly is constructed based on the dynamic balance coefficient of the walking assembly, the yawing direction of the walking assembly and the load of the walking assembly, and the walking posture of the walking assembly is dynamically adjusted according to the walking balance system until the walking assembly approaches the shock absorber; the lifting distance of the walking assembly is defined according to the plurality of dynamic images, the model of the shock absorber, the drooping shape of the electric wire and the spatial position of the walking assembly, the lifting balance system is constructed according to the lifting distance and the real-time posture of the walking assembly, the targeted walking logic of the overhead line walking device relative to the electric wire is triggered based on the lifting balance system and the walking balance system, 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, so that the accuracy of the targeted walking logic of the overhead line walking device relative to the electric wire is ensured, and the precise control of the targeted walking logic of the overhead line walking device relative to the electric wire is realized. BRIEF DESCRIPTION OF DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0064] Figure 1 is a schematic diagram of the overhead line walking device in the embodiment of the present application;

[0065] Figure 2 is a flowchart of the walking control method of the overhead line walking device in the embodiment of the present application;

[0066] Figure 3 is a flowchart of S11 in the walking control method of the overhead line walking device in the embodiment of the present application;

[0067] Figure 4 is a flowchart of S12 in the walking control method of the overhead line walking device in the embodiment of the present application;

[0068] Figure 5 is a flowchart of S13 in the walking control method of the overhead line walking device in the embodiment of the present application;

[0069] Figure 6 is a flowchart of S14 in the walking control method of the overhead line walking device in the embodiment of the present application;

[0070] Figure 7 is a flowchart of S15 in the walking control method of the overhead line walking device in the embodiment of the present application;

[0071] Figure 8 is a flowchart of S16 in the walking control method of the overhead line walking device in the embodiment of the present application;

[0072] Figure 9 is a structural composition diagram of the walking control system of the overhead line walking device in the embodiment of the present application;

[0073] Figure 10 is a hardware diagram of an electronic device according to an example embodiment. DETAILED DESCRIPTION

[0074] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0075] Please refer to Figures 2 to 10 A walking control method of an overhead line walking device is applied to a walking control scene of the overhead line walking device. The overhead line walking device comprises an overhead line walking device sheet and an overhead line walking device frame. The overhead line walking device sheet adopts a color-changing lens and is installed in the overhead line walking device frame. The walking control method of the overhead line walking device comprises the following steps.

[0076] Step S11: Real-time monitoring of the walking speed of the overhead line walking device and dynamic collection of the image in front of the overhead line walking device.

[0077] Step S12: Definition of the position of the damper based on the image in front of the overhead line walking device and definition of the relative distance according to the current position of the overhead line walking device and the position of the damper.

[0078] Step S13: Definition of the position of the damper based on the image in front of the overhead line walking device and definition of the relative distance according to the current position of the overhead line walking device and the position of the damper.

[0079] Step S14: Dynamic walking of the walking assembly according to the corresponding walking mode, collection of multiple walking posture parameters of the walking assembly in the walking process, and definition of the dynamic balance coefficient of the walking assembly according to the multiple walking posture parameters.

[0080] Step S15: constructing a walking balance system of the walking assembly based on the dynamic balance coefficient of the walking assembly, the direction of the walking assembly's deflection and the load of the walking assembly, and dynamically adjusting the walking posture of the walking assembly according to the walking balance system until the walking assembly approaches the shock absorber;

[0081] Step S16: defining the lifting distance of the walking assembly according to the multiple dynamic images, the model of the shock absorber, the sagging shape of the electric 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 electric wire based on the lifting balance system and the walking balance system.

[0082] In the embodiment of the present application, the walking speed of the overhead line walking device is monitored in real time, and the image in front of the overhead line walking device is dynamically collected. The position of the shock absorber is defined based on the image in front of the overhead line walking device, and the relative distance is defined according to the current position of the overhead line walking device and the position of the shock absorber. The multiple walking areas are divided based on the relative distance, and the corresponding walking mode is matched according to the multiple walking areas, the real-time relative distance and the walking assembly of the overhead line walking device, which comprehensively considers the multiple walking areas, the real-time relative distance and the walking assembly of the overhead line walking device, realizes the multidimensional control of the multiple walking areas, the real-time relative distance and the walking assembly of the overhead line walking device, and ensures the accuracy of the walking mode.

[0083] Further, the dynamic walking of the walking assembly is triggered according to the corresponding walking mode, and multiple walking posture parameters of the walking assembly in the walking process are collected. The dynamic balance coefficient of the walking assembly is defined according to the multiple walking posture parameters. The walking balance system of the walking assembly is constructed based on the dynamic balance coefficient of the walking assembly, the direction of the walking assembly's deflection and the load of the walking assembly, and the walking posture of the walking assembly is dynamically adjusted according to the walking balance system until the walking assembly approaches the shock absorber. The lifting distance of the walking assembly is defined according to the multiple dynamic images, the model of the shock absorber, the sagging shape of the electric wire and the spatial position of the walking assembly, and the lifting balance system is constructed according to the lifting distance and the real-time posture of the walking assembly. The targeted walking logic of the overhead line walking device relative to the electric wire is triggered based on the lifting balance system and the walking balance system. 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, which ensures the accuracy of the targeted walking logic of the overhead line walking device relative to the electric wire and realizes the accurate control of the targeted walking logic of the overhead line walking device relative to the electric wire.

[0084] The structure of the overhead line walking device is described. The overhead line walking device comprises a rack, a walking assembly, a power supply part, a communication and control part, a mounting part and the rack.

[0085] The walking assembly is composed of walking wheels, a suspension mechanism and power motors. The walking wheels are formed by 3D printing of nylon and are double-cone-shaped, two in a group, one group in front and one group at the back, a total of four. When walking in a section without shock absorbers, the rubber ring in the middle position directly contacts the wire to increase the friction, ensuring smooth walking while having a certain climbing ability. When contacting the shock absorber, the double-cone-shaped nylon wheel contacts the shock absorber clamp and is pushed by the rear walking wheel by relying on its own friction to realize obstacle crossing. The suspension mechanism allows each group of walking wheels to tilt at a certain angle in the vertical direction to reduce the resistance when crossing obstacles and improve the smoothness of the mechanism operation. Each group of walking mechanisms has two power motors, and the motors are meshed with the walking wheels by gears to realize speed reduction and power transmission.

[0086] Reference Figure 3 In step S11, the walking speed of the overhead line walking device is monitored in real time, and the image in front of the overhead line walking device is dynamically collected;

[0087] In the specific implementation process of the present application, the specific steps can be:

[0088] S111: When the overhead line walking device is on the wire, the state of the overhead line walking device relative to the wire is collected;

[0089] S112: When the state of the overhead line walking device relative to the wire is a walking state, the position of the overhead line walking device relative to the wire is monitored in real time, and the overall length of the wire, the walking task of the overhead line walking device and the overall load of the overhead line walking device are collected;

[0090] S113: The position of the overhead line walking device relative to the wire, the overall length of the wire, the walking task of the overhead line walking device and the overall load of the overhead line walking device are associated to define the walking speed of the overhead line walking device, and the walking speed of the overhead line walking device is monitored in real time;

[0091] S114: According to the walking speed, the model of the camera configured by the overhead line walking device and the environment scene where the overhead line walking device is located, a corresponding shooting mode is defined;

[0092] S115: Based on the shooting mode and the walking direction of the overhead line walking device, the dynamic shooting of the overhead line walking device is defined, and the image in front of the overhead line walking device is dynamically collected.

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

[0094] When the state of the overhead line walking device relative to the electric wire is a walking state, the position of the overhead line walking 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 walking device and the overall load of the overhead line walking device are collected, and the overall length of the electric wire, the walking task of the overhead line walking device and the overall load of the overhead line walking device are considered comprehensively.

[0095] Therefore, the position of the overhead line walking device relative to the electric wire, the overall length of the electric wire, the walking task of the overhead line walking device and the overall load of the overhead line walking device are associated to define the walking speed of the overhead line walking device, and the walking speed of the overhead line walking device is monitored in real time; the position of the overhead line walking device relative to the electric wire, the overall length of the electric wire, the walking task of the overhead line walking device and the overall load of the overhead line walking device are controlled in multiple dimensions, so as to ensure the accuracy of the walking speed of the overhead line walking device.

[0096] Further, the walking speed, the model of the camera configured on the overhead line walking device and the environmental scene where the overhead line walking device is located are associated to define the corresponding shooting mode, the walking speed, the model of the camera configured on the overhead line walking device and the environmental scene where the overhead line walking device is located are considered comprehensively, the walking speed, the model of the camera configured on the overhead line walking device and the environmental scene where the overhead line walking device is located are controlled in multiple dimensions, and the accuracy of the shooting mode is ensured. At the same time, the dynamic shooting of the overhead line walking device is defined based on the shooting mode and the walking direction of the overhead line walking device, and the image in front of the overhead line walking device is collected dynamically, and the image in front of the overhead line walking device is further controlled.

[0097] Reference Figure 4 In step S12, the position of the damper is defined based on the image in front of the overhead line walking device, and the relative distance is defined according to the current position of the overhead line walking device and the position of the damper.

[0098] In the specific implementation process of the present application, the specific steps can be:

[0099] S121: Collecting the image in front of the overhead line walking device;

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

[0101] S123: Defining a plurality of object features based on the synchronous identification of the plurality of image regions, defining the damper according to the dynamic screening of the plurality of object features, and marking the position of the damper;

[0102] S124: Collecting the current position of the overhead line walking device;

[0103] S125: associate the current position of the overhead line walking device and the position of the damper;

[0104] S126: define the relative distance according to the current position of the overhead line walking device and the position of the damper.

[0105] In the embodiment of the application, the front image of the overhead line walking device is collected; a plurality of image regions are defined according to the division of the front image of the overhead line walking device, and the positions of the plurality of image regions are marked, the plurality of image regions and the corresponding positions are introduced, and the overall control of the plurality of image regions and the corresponding positions is realized.

[0106] At this time, a plurality of object features are defined based on the synchronous identification of the plurality of image regions, the damper is defined according to the dynamic screening of the plurality of object features, the position of the damper is marked, the plurality of object features are controlled in multiple dimensions, the dynamic screening of the plurality of object features is realized, the output of the damper is ensured, and the position of the damper is introduced.

[0107] Therefore, the current position of the overhead line walking device is collected; the current position of the overhead line walking device and the position of the damper are associated; and the relative distance is defined according to the current position of the overhead line walking device and the position of the damper, so that the dynamic comparison of the current position of the overhead line walking device and the position of the damper is realized, and the accuracy of the relative distance is ensured.

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

[0109] In the specific implementation process of the application, the specific steps can be:

[0110] S131: freeze the relative distance, and divide a plurality of walking regions according to the relative distance and the electric wire;

[0111] S132: match a corresponding walking system combination based on the plurality of walking regions and the corresponding relative distance;

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

[0113] S134: define a first mode parameter according to the walking system combination and the real-time relative distance;

[0114] S135: define a second mode parameter according to the walking system combination and the walking component of the overhead line walking device;

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

[0116] In the embodiment of the present application, the walking speed of the overhead line walking device is monitored in real time, and the image in front of the overhead line walking device is dynamically collected; the position of the damper is defined based on the image in front of the overhead line walking device, and the relative distance is defined according to the current position of the overhead line walking device and the position of the damper; the plurality of walking areas are divided based on the relative distance, and the corresponding walking mode is matched according to the plurality of walking areas, the real-time relative distance and the walking assembly of the overhead line walking device, which is compatible with the overall consideration of the plurality of walking areas, the real-time relative distance and the walking assembly of the overhead line walking device, realizes the multidimensional control of the plurality of walking areas, the real-time relative distance and the walking assembly of the overhead line walking device, and ensures the accuracy of the walking mode.

[0117] At this time, the relative distance is fixed, and the plurality of walking areas are divided according to the relative distance and the wire; the corresponding walking mode combination is matched based on the plurality of walking areas and the corresponding relative distance, which is compatible with the overall control of the plurality of walking areas and the corresponding relative distance, realizes the multidimensional control of the plurality of walking areas and the corresponding relative distance, and ensures the accuracy of the walking mode combination.

[0118] Further, the walking mode combination, the real-time relative distance and the walking assembly of the overhead line walking device are associated, and the walking mode combination, the real-time relative distance and the walking assembly of the overhead line walking device are multidimensionally controlled, which realizes the overall consideration of the walking mode combination, the real-time relative distance and the walking assembly of the overhead line walking device.

[0119] Therefore, the first mode parameter is defined according to the walking mode combination and the real-time relative distance; the second mode parameter is defined according to the walking mode combination and the walking assembly of the overhead line walking device, the second mode parameter, the first mode parameter and the real-time load of the walking assembly are introduced, the multidimensional control of the second mode parameter, the first mode parameter and the real-time load of the walking assembly is realized, and thus the corresponding walking mode is matched based on the second mode parameter, the first mode parameter and the real-time load of the walking assembly, which ensures the accuracy of the walking mode.

[0120] Reference Figure 6 S14: triggering the dynamic walking of the walking assembly according to the corresponding walking mode, collecting a plurality of walking posture parameters of the walking assembly in the walking process, and defining the dynamic balance coefficient of the walking assembly according to the plurality of walking posture parameters;

[0121] In the specific implementation process of the present application, the specific steps can be:

[0122] S141: fixing the corresponding walking mode;

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

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

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

[0126] In the embodiment of the present application, the corresponding walking mode is fixed, the walking mode is introduced, the dynamic walking of the walking assembly is triggered based on the walking mode, the dynamic walking of the walking assembly is realized, and then the dynamic walking of the walking assembly is monitored in real time, and multiple walking posture parameters of the walking assembly in the walking process are collected, and multiple posture parameters are introduced.

[0127] Therefore, the multiple posture parameters are deeply interacted, the multiple walking posture parameters and the real-time load of the walking assembly are introduced, the correlation of the multiple walking posture parameters and the real-time load of the walking assembly is realized, and then the dynamic balance coefficient of the walking assembly is defined according to the multiple walking posture parameters and the real-time load of the walking assembly, the multidimensional control of the multiple walking posture parameters and the real-time load of the walking assembly is realized, and the accuracy of the dynamic balance coefficient is ensured.

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

[0129] In the specific implementation process of the present application, the specific steps can be:

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

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

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

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

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

[0135] S156: dynamically adjust the walking posture of the walking assembly according to the walking balance system, real-time collection of the relative distance, if the relative distance is lower than the close distance, define the close state of the walking assembly relative to the shock absorber, at this time, real-time monitoring of the walking of the walking assembly relative to the wire until the walking assembly is close to the shock absorber.

[0136] In the embodiment of the application, the dynamic balance coefficient of the walking assembly is fixed, and the dynamic balance coefficient of the walking assembly is collected in real time; the dynamic balance coefficient of the walking assembly, the yaw direction of the walking assembly and the load of the walking assembly are associated, and the multiple interactions of the dynamic balance coefficient of the walking assembly, the yaw direction of the walking assembly and the load of the walking assembly are realized.

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

[0138] Therefore, the walking posture of the walking assembly is dynamically adjusted according to the walking balance system, the relative distance is collected in real time, if the relative distance is lower than the close distance, the close state of the walking assembly relative to the shock absorber is defined, at this time, the walking of the walking assembly relative to the wire is real-time monitored until the walking assembly is close to the shock absorber, so that the walking assembly can be controlled specifically to the shock absorber.

[0139] Reference Figure 8 S16: define the lifting distance of the walking assembly according to the plurality of dynamic images, the model of the shock absorber, the drooping shape of the wire and the spatial position of the walking assembly, construct the lifting balance system according to the lifting distance and the real-time posture of the walking assembly, trigger the specific 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 application, the specific steps can be:

[0141] S161: when the walking assembly is close to the shock absorber, a plurality of dynamic images of the shock absorber are collected based on a plurality of directions;

[0142] S162: construct a corresponding three-dimensional model according to the plurality of dynamic images and the model of the shock absorber;

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

[0144] S164: defining the lifting distance of the walking assembly based on the stereoscopic model, the sagging shape of the electric wire, and the spatial position of the walking assembly;

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

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

[0147] In the specific implementation of the present application, the dynamic walking of the walking assembly is triggered according to the corresponding walking mode, and a plurality of walking posture parameters of the walking assembly in the walking process are collected, and the dynamic balance coefficient of the walking assembly is defined according to the plurality of walking posture parameters; the walking balance system of the walking assembly is constructed based on the dynamic balance coefficient of the walking assembly, the yawing direction of the walking assembly, and the load of the walking assembly, and the walking posture of the walking assembly is dynamically adjusted according to the walking balance system until the walking assembly approaches the shock absorber; the lifting distance of the walking assembly is defined according to the plurality of dynamic images, the model of the shock absorber, the sagging shape of the electric wire, and the spatial position of the walking assembly, the lifting balance system is constructed according to the lifting distance and the real-time posture of the walking assembly, and the targeted walking logic of the overhead line walking device relative to the electric wire is triggered based on the lifting balance system and the walking balance system. 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, ensuring the accuracy of the targeted walking logic of the overhead line walking device relative to the electric wire, and realizing the accurate control of the targeted walking logic of the overhead line walking device relative to the electric wire.

[0148] At this time, when the walking assembly approaches the shock absorber, a plurality of dynamic images of the shock absorber are collected based on a plurality of directions; a corresponding stereoscopic model is constructed according to the plurality of dynamic images and the model of the shock absorber, realizing multi-dimensional control of the plurality of dynamic images and the model of the shock absorber, and ensuring the accuracy of the stereoscopic model.

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

[0150] Further, based on the lifting balance system and the walking balance system triggering the specific walking logic of the overhead line walking device relative to the power line, 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, so as to ensure the accuracy of the specific walking logic of the overhead line walking device relative to the power line, and realize the accurate control of the specific walking logic of the overhead line walking device relative to the power line.

[0151] In another embodiment of the application, the structure of the overhead line walking device is described, and the overhead line walking device comprises a rack, a walking assembly, a power supply part, a communication and control part, a mounting part and the rack.

[0152] The walking assembly is composed of walking wheels, a suspension mechanism and power motors. The walking wheels are made of nylon 3D printing and have a double-cone shape, two groups of walking wheels, one group in front and one group behind, a total of four. When walking in a section without shock absorbers, the rubber ring in the middle position directly contacts the wire to increase the friction, ensuring smooth walking while having a certain climbing ability. When contacting the shock absorber, the double-cone nylon wheel contacts the shock absorber clamp and is pushed by the rear walking wheel relying on its own friction to realize obstacle crossing. The suspension mechanism allows each group of walking wheels to tilt at a certain angle in the vertical direction to reduce the resistance when crossing obstacles and improve the stability of the mechanism operation. Each group of walking mechanisms has two power motors, and the motors are meshed with the walking wheels through gears to realize speed reduction and power transmission.

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

[0154] The communication and control part communicates with the remote control device using a wireless network bridge, sends the camera picture, and accepts the control instructions of the remote control device. The communication system is composed of a main communication system and a backup communication system, and the two systems have the same control function. The backup control system communicates with the backup remote controller, but does not transmit the camera picture, and the two systems can work simultaneously. In single remote control mode, the backup communication system is only used as a backup after the main communication system fails; in double remote control mode, two operators can control in different positions in a "relay" manner to expand the operating range.

[0155] The mounting part is located in the middle part below the device and is composed of a standardized payload mounting interface and a rotatable fixing device. The standardized payload mounting interface can be compatible with multiple models of laser radar equipment, and the rotatable fixing device can rotate 180° to ensure normal scanning when the laser radar is working.

[0156] The rack is formed by machining 6061 aluminum alloy, hollow design is adopted to reduce weight while ensuring structural strength, the battery, payload and the like are placed below the wire to reduce the center of gravity, improve stability during work and improve wind resistance.

[0157] In the embodiment of the present application, by the method in the embodiment of the present application, the walking speed of the overhead line walking device is monitored in real time, and the image in front of the overhead line walking device is dynamically collected; the position of the damper is defined based on the image in front of the overhead line walking device, and the relative distance is defined according to the current position of the overhead line walking device and the position of the damper; a plurality of walking areas are divided based on the relative distance, and the corresponding walking mode is matched according to the plurality of walking areas, the real-time relative distance and the walking component of the overhead line walking device, which comprehensively considers the plurality of walking areas, the real-time relative distance and the walking component of the overhead line walking device, realizes multi-dimensional control of the plurality of walking areas, the real-time relative distance and the walking component of the overhead line walking device, and ensures the accuracy of the walking mode.

[0158] Further, the dynamic walking of the walking component is triggered according to the corresponding walking mode, a plurality of walking posture parameters of the walking component in the walking process are collected, and the dynamic balance coefficient of the walking component is defined according to the plurality of walking posture parameters; the 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 damper; the lifting distance of the walking component is defined according to the plurality of dynamic images, the model of the damper, the sagging form of the wire and the spatial position of the walking component, the 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, which introduces the lifting balance system and the walking balance system, controls the lifting balance system and the walking balance system in multiple dimensions, ensures the accuracy of the targeted walking logic of the overhead line walking device relative to the wire, and realizes accurate control of the targeted walking logic of the overhead line walking device relative to the wire.

[0159] Please refer to Figure 9 , Figure 9 is a structural composition diagram of the walking control system of the overhead line walking device in the embodiment of the present application.

[0160] As Figure 9 shown, a walking control system of an overhead line walking device, the walking control system of the overhead line walking device comprises:

[0161] The front image module 21 is used for monitoring the walking speed of the overhead line walking device in real time, and dynamically collecting the image in front of the overhead line walking device;

[0162] The relative distance module 22 is configured to define the position of the damper based on the image in front of the overhead line walking device, and define the relative distance according to the current position of the overhead line walking device and the position of the damper;

[0163] The walking mode module 23 is configured to divide a plurality of walking areas based on the relative distance, and match a corresponding walking mode according to the plurality of walking areas, the real-time relative distance and the walking assembly of the overhead line walking device.

[0164] The dynamic balance coefficient module 24 is configured to trigger the dynamic walking of the walking assembly according to the corresponding walking mode, and collect a plurality of walking posture parameters of the walking assembly in the walking process, and define the dynamic balance coefficient of the walking assembly according to the plurality of walking posture parameters.

[0165] The walking balance system module 25 is configured to construct a walking balance system of the walking assembly based on the dynamic balance coefficient of the walking assembly, the yawing direction of the walking assembly and the load of the walking assembly, and dynamically adjust the walking posture of the walking assembly according to the walking balance system until the walking assembly approaches the damper.

[0166] The lifting balance system module 26 is configured to define a lifting distance of the walking assembly according to a plurality of dynamic images, the model of the damper, the sagging shape of the wire and the spatial position of the walking assembly, construct a lifting balance system according to the lifting distance and the real-time posture of the walking assembly, 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.

[0167] Please refer to Figure 10 , the electronic device 40 according to this embodiment of the present application will be described below with reference to Figure 10 . Figure 10 The electronic device 40 shown is merely an example, and should not impose any limitation on the function and use range of the embodiments of the present application.

[0168] As shown in Figure 10 , the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 can include, but are not limited to, the above-mentioned at least one processing unit 41, the above-mentioned 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 code, which can be executed by the processing unit 41, so that the processing unit 41 performs the steps according to various exemplary embodiments of the present application described in the above "embodiment method" part of the specification.

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

[0171] Storage 42 can also include a program / utility 424 having a set (at least one) of program modules 425, including an operating system, one or more application programs, other program modules, and program data, each of which can give the electronic device 40 its functionality, or some combination thereof.

[0172] Bus 43 can represent one or more of several types of bus structures, including a storage bus or bus controller, peripheral bus, graphics bus, processor or local bus using any of a variety of bus architectures.

[0173] Electronic device 40 can also communicate with one or more external devices such as a keyboard or pointing device, using one or more input / output (I / O) interfaces 44. And electronic device 40 can communicate with one or more devices using one or more communication interfaces 45. For instance, communication interfaces 45 can enable electronic device 40 to communicate with other devices via a network, such as a local area network (LAN), a wide area network (WAN), and / or the Internet, for example. Figure 10 As shown, communication interfaces 45 can enable electronic device 40 to communicate with other devices over bus 43. It will be appreciated that, although not shown, other hardware and / or software components could be used in conjunction with electronic device 40. These include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival Figure 10 systems, etc.

[0174] From the foregoing description, it will be apparent to those skilled in the art that a variety of modifications and changes can be made to the implementations described without departing from the scope of the present disclosure. Thus, it is intended that the present disclosure cover all such modifications and changes that fall within the scope of the present disclosure. It should be understood that the detailed description and specific examples, while indicating preferred embodiments, are given by way of illustration only and are not by way of limitation. Various substitutions, alterations and modifications can be made to the illustrations and descriptions set forth herein without departing from the spirit and scope of the present disclosure. It is therefore intended that the disclosure be taken as a whole and not in a limited sense. Moreover, the present disclosure is not limited to the embodiments described herein but can be practiced with modification and alteration within the scope of the appended claims. Given the foregoing description, one skilled in the art will readily ascertain and appreciate the intended scope of the present disclosure.

[0175] Those skilled in the art can understand that all or part of the steps of various methods in the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer readable storage medium, which can include read only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc. Moreover, the computer readable storage medium stores computer program instructions, which, when executed by a computer, cause the computer to execute the method according to the above.

[0176] In addition, the walking control method and system of the overhead line walking device provided by the embodiments of the present application are described in detail above, and the principles and implementation manners of the present application are described by using specific examples in this paper. The above description of the embodiments is only used to help understand the method of the present application and its core idea; for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range will be changed, and the above description should not be understood as a limitation of the present application.

Claims

1. A method of controlling the travel of an overhead line travelling device, characterized by, The application is applied to a walking control scene of an overhead line walking device; the overhead line walking device comprises a rack and a walking assembly, the walking assembly is installed on the rack and is used for walking on a wire; A walking control method of the overhead line walking device comprises: Real-time monitoring of a walking speed of the overhead line walking device and dynamic collection of a front image of the overhead line walking device; Definition of a position of a shock damper based on the front image of the overhead line walking device and definition of a relative distance according to a current position of the overhead line walking device and the position of the shock damper; Division of a plurality of walking areas based on the relative distance, matching of a corresponding walking mode according to the plurality of walking areas, the real-time relative distance and the walking assembly of the overhead line walking device; Dynamic walking of the walking assembly according to the corresponding walking mode and collection of a plurality of walking posture parameters of the walking assembly in a walking process, definition of a dynamic balance coefficient of the walking assembly according to the plurality of walking posture parameters; Construction of a walking balance system of the walking assembly based on the dynamic balance coefficient of the walking assembly, a yaw direction of the walking assembly and a load of the walking assembly and dynamic adjustment of a walking posture of the walking assembly according to the walking balance system until the walking assembly approaches the shock damper; Definition of a lifting distance of the walking assembly according to a plurality of dynamic images, a model of the shock damper, a sagging form of the wire and a spatial position of the walking assembly, construction of a lifting balance system according to the lifting distance and a real-time posture of the walking assembly and triggering of a targeted walking logic of the overhead line walking device relative to the wire based on the lifting balance system and the walking balance system.

2. The walking control method of the overhead line walking device according to claim 1, characterized by, The real-time monitoring of the walking speed of the overhead line walking device and the dynamic collection of the front image of the overhead line walking device comprise: Collection of a state of the overhead line walking device relative to the wire when the overhead line walking device is on the wire; Real-time monitoring of a position of the overhead line walking device relative to the wire and collection of an overall length of the wire, a walking task of the overhead line walking device and an overall load of the overhead line walking device when the state of the overhead line walking device relative to the wire is a walking state; Definition of the walking speed of the overhead line walking device in association with the position of the overhead line walking device relative to the wire, the overall length of the wire, the walking task of the overhead line walking device and the overall load of the overhead line walking device and real-time monitoring of the walking speed of the overhead line walking device; Definition of a corresponding shooting mode according to the walking speed, a model of a camera configured to the overhead line walking device and an environmental scene in which the overhead line walking device is located; Dynamic shooting of the overhead line walking device based on the shooting mode and a walking direction of the overhead line walking device and dynamic collection of the front image of the overhead line walking device.

3. The walking control method of the overhead line walking device according to claim 2, characterized by, The definition of the position of the shock damper based on the front image of the overhead line walking device and the definition of the relative distance according to the current position of the overhead line walking device and the position of the shock damper comprise: Collection of the front image of the overhead line walking device; Definition of a plurality of image areas according to division of the front image of the overhead line walking device and marking of positions of the plurality of image areas; Definition of a plurality of object features based on synchronous identification of the plurality of image areas, definition of the shock damper according to dynamic screening of the plurality of object features and marking of the position of the shock damper; Collecting the current position of the overhead line walking device; Correlating the current position of the overhead line walking device and the position of the damper; Defining the relative distance according to the current position of the overhead line walking device and the position of the damper.

4. The walking control method of the overhead line walking device according to claim 3, characterized by, The relative distance is divided into multiple walking areas, and a corresponding walking mode is matched according to the multiple walking areas, the real-time relative distance, and the walking component of the overhead line walking device, including: The relative distance is fixed, and multiple walking areas are divided according to the relative distance and the electric wire; A corresponding walking system combination is matched based on the multiple walking areas and the corresponding relative distance; Correlating the walking system combination, the real-time relative distance, and the walking component of the overhead line walking device; Defining the first mode parameter according to the walking system combination and the real-time relative distance; Defining the second mode parameter according to the walking system combination and the walking component of the overhead line walking device; Matching a corresponding walking mode based on the second mode parameter, the first mode parameter, and the real-time load of the walking component.

5. The walking control method of the overhead line walking device according to claim 4, characterized by, 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 walking are collected, and the dynamic balance coefficient of the walking component is defined according to the multiple walking posture parameters, including: Fixing the corresponding walking mode; Triggering the dynamic walking of the walking component based on the walking mode; Real-time monitoring the dynamic walking of the walking component, and collecting multiple walking posture parameters of the walking component during walking; 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.

6. The walking control method of the overhead line walking device according to claim 5, characterized by, The 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 damper, including: Fixing the dynamic balance coefficient of the walking component, and collecting the dynamic balance coefficient of the walking component in real time; Correlating the dynamic balance coefficient of the walking component, the yaw direction of the walking component, and the load of the walking component; Defining the first walking balance coefficient according to the dynamic balance coefficient of the walking component and the yaw direction of the walking component; Defining the second walking balance coefficient according to the load of the walking component and the yaw direction of the walking component.

7. The walking control method of the overhead line walking device according to claim 6, characterized by, The 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 damper, including: Constructing the walking balance system of the walking component based on the second walking balance coefficient, the first walking balance coefficient, and the walking component; According to the walking balance system, the walking posture of the walking component is dynamically adjusted, the relative distance is collected in real time, and if the relative distance is lower than the approaching distance, the approaching state of the walking component relative to the damper is defined, at this time, the walking of the walking component relative to the electric wire is real-time monitored until the walking component approaches the damper.

8. The walking control method of the overhead line walking device according to claim 7, characterized by, The lifting distance of the walking assembly is defined according to the multiple dynamic images, the model of the shock absorber, the sagging form of the electric wire and the spatial position of the walking assembly, the lifting balance system is constructed according to the lifting distance and the real-time posture of the walking assembly, and the targeted walking logic of the overhead line walking device relative to the electric wire is triggered based on the lifting balance system and the walking balance system, including: When the walking assembly approaches the shock absorber, multiple dynamic images of the shock absorber are collected in multiple directions; A corresponding three-dimensional model is constructed according to the multiple dynamic images and the model of the shock absorber.

9. The walking control method of the overhead line walking device according to claim 8, characterized by, The lifting distance of the walking assembly is defined according to the multiple dynamic images, the model of the shock absorber, the sagging form of the electric wire and the spatial position of the walking assembly, the lifting balance system is constructed according to the lifting distance and the real-time posture of the walking assembly, and the targeted walking logic of the overhead line walking device relative to the electric wire is triggered based on the lifting balance system and the walking balance system, further including: The three-dimensional model, the sagging form of the electric wire and the spatial position of the walking assembly are associated; The lifting distance of the walking assembly is defined based on the three-dimensional model, the sagging form of the electric wire and the spatial position of the walking assembly; The lifting balance system is constructed according to the lifting distance and the real-time posture of the walking assembly; The targeted walking logic of the overhead line walking device relative to the electric wire is triggered based on the lifting balance system and the walking balance system.

10. A travel control system for an overhead line travelling device, characterized by The walking control system of the overhead line walking device is applied to the walking control method of the overhead line walking device as claimed in any one of claims 1-9, and the walking control system of the overhead line walking device includes: A front image module for monitoring the walking speed of the overhead line walking device in real time and dynamically collecting the front image of the overhead line walking device; A relative distance module for defining the position of the shock absorber based on the front image of the overhead line walking device and defining the relative distance according to the current position of the overhead line walking device and the position of the shock absorber; A walking mode module for dividing multiple walking areas based on the relative distance, matching the corresponding walking mode according to the multiple walking areas, the real-time relative distance and the walking assembly of the overhead line walking device; A dynamic balance coefficient module for triggering the dynamic walking of the walking assembly according to the corresponding walking mode, collecting multiple walking posture parameters of the walking assembly in the walking process, and defining the dynamic balance coefficient of the walking assembly according to the multiple walking posture parameters; A walking balance system module for constructing the walking balance system of the walking assembly based on the dynamic balance coefficient of the walking assembly, the yawing direction of the walking assembly and the load of the walking assembly, and dynamically adjusting the walking posture of the walking assembly according to the walking balance system until the walking assembly approaches the shock absorber; A lifting balance system module for defining the lifting distance of the walking assembly according to the multiple dynamic images, the model of the shock absorber, the sagging form of the electric wire and the spatial position of the walking assembly, constructing the 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 electric wire based on the lifting balance system and the walking balance system.

Images