Catenary maintenance method based on robot

Abstract

The invention provides a contact network maintenance method based on a robot, and belongs to the technical field of robot maintenance. The method comprises the steps that the maintenance carriage drives the maintenance platform to move to a working area; the maintenance platform drives the first group of robots and the second group of robots to jack; the first group of robots and the second group of robots move to working positions from static positions; the first group of robots and the second group of robots carry out fastening operation on the loosened bolts of the overhead line system; the first group of robots and the second group of robots push the deviated cable of the overhead line system to a preset position; and the first group of robots and the second group of robots adjust the height of the dropper of the overhead line system.

Description

Technical Field

[0001] The present application relates to the field of robot maintenance technology, and in particular to a contact network maintenance method based on robots. Background Art

[0002] As an important part of the power system, the normal operation of the overhead line is of great significance to ensure the stability of the power system. However, the overhead line often fails due to environmental factors, equipment aging, etc., and needs regular maintenance.

[0003] In the related art, the maintenance of the contact network mainly relies on manual operation, which has problems such as low maintenance efficiency and great safety hazards. Summary of the invention

[0004] The embodiment of the present application provides a robot-based contact network maintenance method to improve the above-mentioned problems.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] The present application embodiment proposes a contact network maintenance method based on a robot, the method comprising:

[0007] The maintenance carriage drives the maintenance platform to move to the work area;

[0008] The maintenance platform drives the first group of robots and the second group of robots to lift up;

[0009] The first group of robots and the second group of robots both move from a static position to a working position;

[0010] The first group of robots and the second group of robots perform a tightening operation on the loose bolts of the contact network;

[0011] The first group of robots and the second group of robots push the offset cables of the contact network to a preset position;

[0012] The first group of robots and the second group of robots adjust the height of the suspension strings of the contact network.

[0013] In some embodiments, the first group of robots and the second group of robots perform a tightening operation on the loose bolts of the contact network, including:

[0014] The first group of robots obtains the spatial position of the loosened bolts and nuts;

[0015] The second group of robots drives the torque wrenches of the second group of robots to move to two sides of the loosened bolts and nuts;

[0016] The second group of robots adjusts their postures so that the axes of the torque wrenches of the second group of robots are parallel to the axes of the loosened bolts and nuts;

[0017] The second group of robots obtains the spatial position of the loosened bolts and nuts;

[0018] The second group of robots controls the torque wrenches of the second group of robots to tighten the loose bolts and nuts.

[0019] In some embodiments, the first group of robots obtains the spatial position of the loosened bolts and nuts, including:

[0020] The first group of robots obtains the spatial positions of the loose bolts and nuts through 3D vision.

[0021] In some embodiments, the second group of robots obtains the spatial position of the loosened bolts and nuts, including:

[0022] The second group of robots obtains the spatial positions of the loose bolts and nuts through 2D vision.

[0023] In some embodiments, the first group of robots and the second group of robots push the offset cables of the contact network to a preset position, including:

[0024] The second group of robots obtains the positions of bolts and nuts used to install the cable;

[0025] The second group of robots controls the torque wrenches of the second group of robots to loosen the bolts and nuts used to install the cables according to the acquired position information of the bolts and nuts used to install the cables;

[0026] The first group of robots obtains the position of the cable;

[0027] According to the acquired position of the cable, the support rods of the first group of robots push the cable to the preset position;

[0028] The second group of robots performs a tightening action on the bolts and nuts used to install the cables.

[0029] In some embodiments, the first group of robots and the second group of robots adjust the height of the hanging string of the contact network, including:

[0030] The first group of robots and the second group of robots perform a hanging string height adjustment action;

[0031] The first group of robots and the second group of robots perform an action of lowering the height of the hanging string.

[0032] In some embodiments, the first group of robots and the second group of robots perform a string height adjustment action, including:

[0033] The support rods of the first group of robots are inserted into the circular holes of the heart-shaped rings;

[0034] The adjustment hooks of the first group of robots hook the traction rope;

[0035] The second group of robots performs a loosening action on the bolts and nuts used to fix the suspension string;

[0036] The first group of robots moves downward, so that the adjustment hooks of the first group of robots hook the traction rope to complete the overall lowering action;

[0037] The second group of robots performs a tightening action on the bolts and nuts used to fix the suspension strings.

[0038] In some embodiments, the first group of robots and the second group of robots perform a hanging string height lowering action, including:

[0039] The support rods of the first group of robots are inserted into the circular holes of the heart-shaped rings;

[0040] The gripping claws of the first group of robots grip the traction rope;

[0041] The second group of robots performs a loosening action on the bolts and nuts used to fix the suspension string;

[0042] The first group of robots moves downward, so that the clamping claws of the first group of robots clamp the traction rope to complete the overall lowering action;

[0043] The second group of robots performs a tightening action on the bolts and nuts used to fix the suspension strings.

[0044] In some embodiments, the first group of robots includes a first robot and a second robot; the adjustment hook of the first group of robots hooks the traction rope, including:

[0045] The adjustment hook of the first robot hooks the traction rope.

[0046] In some embodiments, the clamping claws of the first group of robots clamp the traction rope, including:

[0047] The clamping claw of the second robot clamps the traction rope.

[0048] In summary, the above method and device have the following technical effects:

[0049] The embodiment of the present application proposes a robot-based overhead contact network maintenance method, which greatly improves the maintenance efficiency of the overhead contact network through the collaborative operation of multiple robots; through this multi-robot-based overhead contact network maintenance method, the labor cost is reduced, and the high-precision operation of the robots can also ensure the stability and reliability of the maintenance quality. At the same time, manual operations are reduced and safety hazards are reduced; in addition, it also has the advantages of high maintenance quality and strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic flow chart of a robot-based contact network maintenance method proposed in this embodiment. DETAILED DESCRIPTION

[0051] 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 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.

[0052] See also Figure 1 In a first aspect, the present application embodiment proposes a contact network maintenance method based on a robot, comprising the following steps:

[0053] S101: The maintenance carriage drives the maintenance platform to move to the working area.

[0054] In this step, you first need to do preliminary preparation work, including confirming the operation plan and checking the status of the maintenance car. Before the maintenance car is moved, you need to confirm the operation plan with the relevant departments, including the operation time, location, content, etc., to ensure that all information is accurate. Secondly, you need to check the status of the maintenance car and conduct a comprehensive inspection of the maintenance car, including mechanical parts, electrical systems, safety devices, etc., to ensure that the maintenance car is in good working condition.

[0055] Then the maintenance carriage is moved, including starting the maintenance carriage, controlling the speed to confirm whether it has reached the work area, etc. When starting the maintenance carriage, start the maintenance carriage in accordance with the operating procedures to ensure that the maintenance carriage starts smoothly without abnormal sounds or vibrations. During the movement, strictly control the speed of the maintenance carriage to avoid being too fast or too slow, and ensure that the maintenance carriage travels smoothly to the work area. When confirming whether it has reached the work area, the position of the maintenance carriage can be obtained through position sensors, etc., so as to determine whether the maintenance carriage has accurately reached the work area.

[0056] S102: The maintenance platform drives the first group of robots and the second group of robots to rise.

[0057] In this step, the maintenance platform is switched between the first preset position and the second preset position by driving the lifting platform.

[0058] Before the maintenance task begins, the system automatically performs a comprehensive self-check on the maintenance platform and the lifting platform. Through built-in sensors and detection devices, the system can monitor the wear of mechanical parts, the connection status of the electrical system, and the integrity of the safety devices in real time to ensure that both are in the best working condition. At the same time, the system will automatically check the protective cover on the carriage to confirm that its sliding mechanism, locking device and electrical control system are all normal and ready for subsequent automated movement.

[0059] When the carriage reaches the working area, the system will automatically start the sliding mechanism of the protective cover according to the preset program. Under the action of the driving force, the protective cover slides smoothly along the preset track or slide groove, gradually revealing the maintenance platform. During this process, the system closely observes the sliding of the protective cover through the built-in monitoring equipment to ensure that the sliding process is smooth and without jamming, and can make timely adjustments when abnormal situations occur.

[0060] As the protective cover slides completely, the maintenance platform is fully exposed. At this time, the system will automatically start the driving system of the lifting platform according to the preset moving path and speed. Under the precise control of the control system, the lifting platform drives the maintenance platform to move smoothly and continuously from the first preset position to the second preset position. During the movement, the system monitors the stability and safety of the maintenance platform in real time through sensors to ensure the safety of the platform and the equipment on it.

[0061] When the maintenance platform reaches the second preset position, the system will automatically perform a series of positioning and adjustment operations. Through precise positioning devices and control systems, the system can ensure that the relative position between the maintenance platform and the contact network is accurate. Subsequently, according to the specific needs of the maintenance work, the system will automatically adjust the height, angle, inclination and other parameters of the maintenance platform to better contact and repair the contact network.

[0062] During the entire automated movement process, the system will continuously monitor the maintenance platform and its surrounding environment. Through built-in sensors and monitoring equipment, the system can monitor the platform's position, status, and surrounding environmental changes in real time to ensure the safety and stability of the entire movement process. At the same time, the system also has comprehensive fault diagnosis and alarm functions. Once any abnormal situation or safety hazard is detected, the system will immediately issue an alarm signal and take corresponding countermeasures.

[0063] S103: The first group of robots and the second group of robots both move from a static position to a working position.

[0064] In this method, the robot can be a robotic arm. In the robot movement execution phase, the robot starts to move according to the planned path. In this process, the various joints and connecting rods of the robot work together to achieve the change of spatial position through precise control and drive systems. At the same time, the real-time monitoring and feedback system during the movement process plays an important role to ensure that the robot can move accurately according to the predetermined trajectory. By adopting advanced control algorithms and drive technologies, the precise control of the robot's motion state is achieved, ensuring its stability and accuracy during the movement process.

[0065] When the robot reaches the working position accurately, a series of adjustments are required. These adjustments include posture adjustment of the end effector, position fine-tuning, and docking with other equipment. This application uses advanced sensors and detection technologies to achieve real-time monitoring and feedback of the position and posture of the robot's end effector. At the same time, through precise control algorithms and drive systems, fine-tuning operations on the robot are achieved to ensure that it meets the task requirements.

[0066] S104: The first group of robots and the second group of robots tighten the loose bolts of the contact network.

[0067] When the first and second robots tighten the loose bolts of the contact network, they first use their built-in vision systems to accurately identify the bolt positions. The vision system can accurately capture the coordinates of the bolts, laying a solid foundation for subsequent operations. Then, the robots automatically move to the bolt positions according to the preset program and path, ready for tightening operations.

[0068] During the tightening process, the first and second robots use professional tightening tools to precisely tighten the bolts. These tools can adjust the torque as needed to ensure that the tightening force of the bolts meets the standard. At the same time, the robots are also equipped with advanced control systems that can monitor various parameters during the tightening process, such as torque and speed, in real time to ensure the stability and accuracy of the operation process.

[0069] In addition, the first and second group robots also have powerful fault self-diagnosis capabilities. During the tightening process, if they encounter abnormal conditions such as bolt position deviation and poor tightening, the robot can immediately stop the operation and send out an alarm signal to remind maintenance personnel to check and handle. This function ensures the safety and reliability of the maintenance process.

[0070] S105: The first group of robots and the second group of robots push the offset cables of the contact network to a preset position.

[0071] When the first group of robots and the second group of robots push the offset cables of the contact network to the preset position, they will first use the visual system or sensor to accurately identify the target position, ensuring that the first group of robots and the second group of robots can accurately obtain the cable position. Then, the first group of robots and the second group of robots will automatically adjust their positions according to the preset program and path to align with the target position.

[0072] In addition, the first group of robots and the second group of robots can also capture information about the target position in real time, and dynamically adjust the positions of the first group of robots and the second group of robots according to the image processing results. In some cases, the first group of robots and the second group of robots may also use force sensors or torque sensors or distance sensors to sense force feedback or distance information during the grasping process, thereby adjusting the grasping position and strength in real time.

[0073] S106: The first group of robots and the second group of robots adjust the height of the suspension strings of the contact network.

[0074] The first group of robots can be responsible for the preparation of the string height measurement to ensure the reliability of the measurement data. At the same time, the second group of robots can be responsible for the preparation of the string adjustment tools to ensure the normal use of the adjustment tools during the string adjustment process.

[0075] The first group of robots can use a laser measuring instrument to accurately measure the height of the overhead wire and record the measurement data. These data are then transmitted to the control system, which calculates the adjustment amount of the wire height based on the data and generates corresponding adjustment instructions.

[0076] After receiving the adjustment command, the second group of robots can start to adjust the height of the hanging string. The second group of robots can adjust the tension of the elastic sling according to the command and accurately adjust the hanging string through the elastic sling tensioner. During this process, the first group of robots can continue to use the laser measuring instrument to monitor the height of the hanging string in real time during the adjustment process to ensure the adjustment accuracy. At the same time, the second group of robots can adjust the force and angle of the tensioner in time according to the monitoring data to ensure that the height of the hanging string meets the design requirements.

[0077] After the adjustment is completed, the first group of robots will measure the height and position of the hanging string again to confirm the adjustment effect. If necessary, the second group of robots will make fine adjustments to the hanging string based on the measurement results to ensure the accuracy of the height and position of the hanging string.

[0078] The two groups of robots jointly carried out safety inspections on the adjusted suspension strings, including the tightness of the suspension string clamps, the integrity of the suspension string, and the connection between the suspension string and the load-bearing cable and contact wire. After confirmation, the first group of robots used a laser measuring instrument to make a final measurement of the height of the adjusted suspension string to ensure that it met the standard requirements.

[0079] During the entire adjustment process, the two groups of robots need to maintain close communication to ensure the accurate transmission and execution of adjustment instructions.

[0080] In some embodiments, the first group of robots and the second group of robots perform a tightening operation on the loose bolts of the contact network, comprising the following steps:

[0081] S1041: The first group of robots obtains the spatial position of the loose bolts and nuts.

[0082] The first group of robots obtain the spatial position of loose bolts and nuts through high-precision cameras and image processing technology, which can capture and identify the position information of bolts and nuts in real time. In order to ensure the accuracy of positioning, the robot will first perform system calibration before obtaining the position, including camera calibration and hand-eye calibration. Camera calibration is to obtain the values ​​of various parameters in the camera model to ensure the accuracy of image acquisition; while hand-eye calibration is to establish the conversion relationship between the robot coordinate system and the camera coordinate system, so as to enable the robot to accurately grasp the position of bolts and nuts.

[0083] When obtaining the spatial position of loose bolts and nuts, the first group of robots will first activate their visual systems to capture images of the target area. The captured images will undergo a series of preprocessing, including denoising and contrast enhancement, to improve image quality. Then, the first group of robots will use image matching algorithms to identify the features of the bolts and nuts, such as shape and edges, in the preprocessed images. These feature information will be further processed to calculate the three-dimensional coordinates of the bolts and nuts in the camera coordinate system.

[0084] In order to achieve accurate grasping by the first group of robots, this position information needs to be converted to the coordinate system of the first group of robots. At this time, through the hand-eye calibration parameters, the first group of robots can accurately convert the position information in the camera coordinate system to its own coordinate system, thereby determining the specific position of the loose bolts and nuts in space.

[0085] S1042: The second group of robots drives the torque wrenches of the second group of robots to move to both sides of the loose bolts and nuts.

[0086] After receiving the control instructions, the second group of robots will start their motion systems and drive the torque wrench to the target position according to the preset path and posture planning.

[0087] During this process, the second group of robots will use a variety of motion types, including joint motion, linear motion, etc., to ensure that the torque wrench can accurately and efficiently reach both sides of the loose bolts and nuts. Joint motion enables the second group of robots to flexibly adjust the angle and position of each joint, thereby achieving precise control of the torque wrench; while linear motion ensures that the torque wrench can move smoothly along a straight line to avoid unnecessary deviations during the movement process.

[0088] In order to ensure that the torque wrench can accurately align with both sides of the loose bolts and nuts, the second group of robots will also use advanced sensors and detection technology to monitor and adjust the position and posture of the torque wrench in real time. Through these sensors, the second group of robots can accurately sense the position and posture of the torque wrench in space and make fine adjustments according to the actual situation to ensure the accuracy and stability of the tightening operation.

[0089] In the process of driving the torque wrench to move to both sides of the loose bolts and nuts, the second group of robots will also fully consider the safety and efficiency of the operation. The second group of robots will plan the optimal movement path and posture according to the specific location of the loose bolts and nuts and the surrounding environment to avoid collision or interference with other objects. At the same time, the second group of robots will also adjust the movement speed and force according to actual needs to ensure the efficiency and stability of the operation.

[0090] S1043: The second group of robots adjust their postures so that the axis of the torque wrench of the second group of robots is parallel to the axis of the loosened bolts and nuts.

[0091] After receiving the adjustment instructions, the second group of robots will start their control systems and begin adjusting the angles and positions of their joints according to the preset programs and path planning.

[0092] In order to achieve parallelism between the axis of the torque wrench and the axis of the bolt and nut, the robot first uses sensors to monitor the position of the torque wrench and the loose bolt and nut in real time. By obtaining the precise position information of the two in space, the second group of robots can calculate the relative angle and deviation between them.

[0093] Then, the second group of robots will use its inverse kinematics algorithm to infer the amount of adjustment required for each joint based on the calculated angles and deviations. During this process, the second group of robots will comprehensively consider factors such as the range of motion, speed, and strength of each joint to ensure the accuracy and stability of the adjustment.

[0094] During the adjustment process, the second group of robots will continue to use sensors for real-time feedback and monitoring. By comparing the position information before and after the adjustment, the second group of robots can determine whether the adjustment has achieved the expected effect and make fine adjustments if necessary. This closed-loop control process can ensure the accuracy and stability of the adjustment and avoid unnecessary deviations.

[0095] S1044: The second group of robots obtains the spatial position of the loose bolts and nuts.

[0096] The second group of robots obtain the spatial position of loose bolts and nuts through high-precision cameras and image processing technology, which can capture and identify the position information of bolts and nuts in real time. In order to ensure the accuracy of positioning, the robot will first perform system calibration before obtaining the position, including camera calibration and hand-eye calibration. Camera calibration is to obtain the values ​​of various parameters in the camera model to ensure the accuracy of image acquisition; while hand-eye calibration is to establish the conversion relationship between the robot coordinate system and the camera coordinate system, so as to enable the robot to accurately grasp the position of bolts and nuts.

[0097] When obtaining the spatial position of the loose bolts and nuts, the second group of robots will first activate their visual systems to capture images of the target area. The captured images will undergo a series of preprocessing, including denoising and contrast enhancement, to improve image quality. Then, the second group of robots will use image matching algorithms to identify the features of the bolts and nuts, such as shape and edges, in the preprocessed images. These feature information will be further processed to calculate the three-dimensional coordinates of the bolts and nuts in the camera coordinate system.

[0098] In order to achieve accurate grasping by the second group of robots, this position information needs to be converted to the coordinate system of the second group of robots. At this time, through the hand-eye calibration parameters, the second group of robots can accurately convert the position information in the camera coordinate system to its own coordinate system, thereby determining the specific position of the loose bolts and nuts in space.

[0099] S1045: The second group of robots controls the torque wrenches of the second group of robots to tighten the loose bolts and nuts.

[0100] The second group of robots controls the torque wrench process. The second group of robots can receive real-time data from sensors, including the location, shape, size of loose bolts and nuts, and torque changes during tightening. Through precise analysis of these data, the second group of robots can adjust the movement trajectory and tightening force of the torque wrench in real time to ensure the accuracy and stability of the tightening operation.

[0101] When controlling the torque wrench to perform tightening actions, the second group of robots can use methods including torque control and torque angle control, which can control the torque of the bolt accordingly according to the changes in the internal stress of the bolt. By accurately calculating and controlling the torque and angle during the tightening process, the second group of robots can ensure that the bolt reaches the appropriate tightening degree, neither too tight nor too loose.

[0102] In order to achieve more precise tightening operations, the second group of robots will also use their onboard visual recognition system to capture images of bolts and nuts in real time, and accurately identify the specific position and posture of the bolts and nuts through algorithm processing.

[0103] During the tightening process, the second group of robots will also take into full account factors such as the material, size, and tightening environment of the bolts and nuts. By adjusting the tightening speed and force of the torque wrench, the second group of robots can adapt to bolts and nuts of different materials and sizes, as well as different tightening environments.

[0104] In some embodiments, the first group of robots obtains the spatial position of the loosened bolts and nuts, including the following steps:

[0105] S1041a: The first group of robots obtains the spatial position of the loose bolts and nuts through 3D vision.

[0106] The first group of robots first activated their 3D industrial cameras to conduct a full-scale scan of the work area. The 3D industrial cameras can quickly capture the three-dimensional features of loose bolts and nuts, and generate high-quality image data even in the presence of reflections and complex ambient light. These data contain key information such as the shape, size, and spatial position of the bolts and nuts.

[0107] After acquiring the image data, the first group of robots will first pre-process the image, including denoising, contrast enhancement and other operations to improve the accuracy of subsequent recognition. Then, the first group of robots will perform contour matching and position correction on the pre-processed image. In this process, factors such as the shape characteristics of the bolts and nuts, occlusion conditions, and grasping posture search will be comprehensively considered to ensure the accuracy and stability of recognition.

[0108] Through contour matching and position correction, the first group of robots can accurately calculate the three-dimensional coordinates of the bolts and nuts in space, ensuring that the first group of robots operate in the optimal posture and position, thereby improving the efficiency and accuracy of the operation.

[0109] In some embodiments, the second group of robots obtains the spatial position of the loosened bolts and nuts, including the following steps:

[0110] S1044a: The second group of robots obtains the spatial position of the loose bolts and nuts through 2D vision.

[0111] The second group of robots first activated their 2D cameras to collect images of the work area. The images captured by the 2D cameras contain the two-dimensional features of the loose bolts and nuts, such as contours, edges, and specific textures. These features are crucial for subsequent image processing and position calculation.

[0112] After acquiring the image, the second group of robots will use a high-performance controller to preprocess the image. The preprocessing stage mainly includes operations such as denoising, contrast enhancement, and image binarization, which can improve the quality of the image and improve the accuracy of subsequent feature extraction.

[0113] Next, the second group of robots will perform feature extraction and position calculation on the preprocessed images. Feature extraction can identify the contour features of the bolts and nuts in the image, and position calculation can calculate the specific positions of the bolts and nuts in space based on these features.

[0114] During the feature extraction and position calculation process, the second group of robots will fully consider factors such as the shape, size, and occlusion of the bolts and nuts. The second group of robots can accurately identify the specific positions of the bolts and nuts and calculate their coordinates on the two-dimensional plane.

[0115] It is worth noting that although 2D vision technology cannot directly obtain the three-dimensional coordinates of bolts and nuts, by combining the motion control system and sensor technology of the second group of robots, the second group of robots can still achieve precise spatial positioning.

[0116] In some embodiments, the first group of robots and the second group of robots push the offset cables of the overhead wire to a preset position, comprising the following steps:

[0117] S1051: The second group of robots obtains the positions of the bolts and nuts used to install the cables.

[0118] S1052: The second group of robots controls the torque wrenches of the second group of robots to loosen the bolts and nuts used to install the cables according to the acquired position information of the bolts and nuts used to install the cables.

[0119] S1053: The first group of robots obtains the location of the cable.

[0120] The first group of robots scans the work area in all directions and captures image data containing cables. These data are then transmitted to the controller of the first group of robots for further processing and analysis.

[0121] In the image processing stage, the first group of robots performs operations such as denoising, contrast enhancement, and feature extraction on the image. For example, the robots use point cloud-based algorithms to identify features such as the outline, edges, and specific textures of the cable.

[0122] Through feature extraction, the first group of robots can obtain the position information of the cable on the two-dimensional plane. However, for the actual three-dimensional spatial position, the robot also needs to combine its motion control system and sensor technology to perform further position calculation and correction. For example, the robot can calculate the relative position of the cable in three-dimensional space based on the installation position and shooting angle of the camera; at the same time, the robot uses sensors to detect the robot's motion state and position information in real time, and dynamically update and correct the cable position.

[0123] S1054: Based on the acquired position of the cable, the support rods of the first group of robots push the cable to a preset position.

[0124] After obtaining the position of the cable, the first group of robots will quickly adjust the position and posture of its support rod. As the direct contact part between the first group of robots and the cable, the support rod usually has a certain degree of flexibility and rigidity, which can not only adapt to the flexible characteristics of the cable, but also maintain a stable force and direction during the pushing process.

[0125] During the process of pushing the cable, the first group of robots will monitor the contact force and movement state between the support rod and the cable in real time. At the same time, the first group of robots can accurately control the pushing force and speed of the support rod to ensure that the cable can move to the target position smoothly and accurately.

[0126] At the same time, the first group of robots will also take into full consideration factors such as the material and diameter of the cables and the operating environment. For cables of different materials and diameters, the robots will adjust their pushing strategies to adapt to the physical characteristics of the cables.

[0127] S1055: The second group of robots performs a tightening action on the bolts and nuts used to install the cables.

[0128] In some embodiments, the first group of robots and the second group of robots adjust the height of the overhead wire suspension string, comprising the following steps:

[0129] S1061: The first group of robots and the second group of robots perform the action of adjusting the height of the hanging string.

[0130] S1062: The first group of robots and the second group of robots perform the action of lowering the height of the hanging string.

[0131] In some embodiments, the first group of robots and the second group of robots perform the action of adjusting the height of the hanging string, including the following steps:

[0132] S1061a: The support rods of the first group of robots are inserted into the circular hole of the heart-shaped ring.

[0133] S1061b: The adjustment hook of the first group of robots hooks the traction rope.

[0134] S1061c: The second group of robots loosens the bolts and nuts used to fix the suspension strings.

[0135] S1061d: The first group of robots moves downward, so that the adjustment hooks of the first group of robots hook the traction rope to complete the overall lowering action.

[0136] S1061e: The second group of robots performs a tightening action on the bolts and nuts used to fix the suspension strings.

[0137] In some embodiments, the first group of robots and the second group of robots perform the action of lowering the height of the hanging string, including the following steps:

[0138] S1062a: inserting the support rods of the first group of robots into the circular holes of the heart-shaped rings;

[0139] S1062b: The clamping claws of the first group of robots clamp the traction rope;

[0140] S1062c: The second group of robots loosens the bolts and nuts used to fix the suspension string;

[0141] S1062d: The first group of robots moves downward, so that the clamping claws of the first group of robots clamp the traction rope to complete the overall lowering action;

[0142] S1062e: The second group of robots performs a tightening action on the bolts and nuts used to fix the suspension strings.

[0143] In some embodiments, the first group of robots includes a first robot and a second robot. The adjustment hook of the first group of robots hooks the traction rope, comprising the following steps:

[0144] The adjustment hook of the first robot hooks the traction rope.

[0145] In some embodiments, the first group of robots' gripping claws grip the traction rope, comprising the following steps:

[0146] The gripping claw of the second robot grips the traction rope.

[0147] In the embodiment of the present application, the control system mentioned above includes:

[0148] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the robot-based contact network maintenance method of an embodiment of the present application.

[0149] In addition, to achieve the above-mentioned purpose, an embodiment of the present application further proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the robot-based contact network maintenance method of an embodiment of the present application.

[0150] The following is a detailed introduction to the various components of the control system:

[0151] The processor is the control center of the control system, which can be a processor or a general term for multiple processing elements. For example, the processor is one or more central processing units (CPUs), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention, such as one or more microprocessors (digital signal processors, DSPs), or one or more field programmable gate arrays (FPGAs).

[0152] Alternatively, the processor may perform various functions of the control system by running or executing a software program stored in the memory, and calling data stored in the memory.

[0153] The memory is used to store the software program for executing the solution of the present invention, and the execution is controlled by the processor. The specific implementation method can refer to the above method embodiment and will not be repeated here.

[0154] Optionally, the memory may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may be integrated with the processor, or may exist independently and be coupled to the processor through the interface circuit of the control system, which is not specifically limited in the embodiments of the present invention.

[0155] A transceiver is used to communicate with a network device or a terminal device.

[0156] Optionally, the transceiver may include a receiver and a transmitter, wherein the receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0157] Optionally, the transceiver may be integrated with the processor, or may exist independently and be coupled to the processor via an interface circuit of the router, which is not specifically limited in the embodiment of the present invention.

[0158] In addition, the technical effects of the control system can refer to the technical effects of the data transmission method in the above-mentioned method embodiment, which will not be repeated here.

[0159] It should be understood that the processor in the embodiment of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0160] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0161] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When a computer instruction or computer program is loaded or executed on a computer, a process or function according to an embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0162] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0163] In the present invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0164] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0165] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

Claims

1. A robot-based overhead line maintenance method, characterized in that: The method comprises: The maintenance carriage drives the maintenance platform to move to the work area; The maintenance platform drives the first group of robots and the second group of robots to lift up; The first group of robots and the second group of robots both move from a static position to a working position; The first group of robots and the second group of robots perform a tightening operation on the loose bolts of the contact network; The first group of robots and the second group of robots push the offset cables of the contact network to a preset position; The first group of robots and the second group of robots adjust the height of the suspension strings of the contact network.

2. A robot-based overhead line maintenance method according to claim 1, characterized in that: The first group of robots and the second group of robots perform a tightening operation on the loose bolts of the contact network, including: The first group of robots obtains the spatial position of the loosened bolts and nuts; The second group of robots drives the torque wrenches of the second group of robots to move to two sides of the loosened bolts and nuts; The second group of robots adjusts their postures so that the axes of the torque wrenches of the second group of robots are parallel to the axes of the loosened bolts and nuts; The second group of robots obtains the spatial position of the loosened bolts and nuts; The second group of robots controls the torque wrenches of the second group of robots to tighten the loose bolts and nuts.

3. A robot-based overhead line maintenance method according to claim 2, characterized in that: The first group of robots obtains the spatial position of the loosened bolts and nuts, including: The first group of robots obtains the spatial positions of the loose bolts and nuts through 3D vision.

4. A robot-based overhead line maintenance method according to claim 2, characterized in that: The second group of robots obtains the spatial position of the loosened bolts and nuts, including: The second group of robots obtains the spatial positions of the loose bolts and nuts through 2D vision.

5. The robot-based overhead line maintenance method according to claim 1, characterized in that: The first group of robots and the second group of robots push the offset cables of the contact network to a preset position, including: The second group of robots obtains the positions of bolts and nuts used to install the cable; The second group of robots controls the torque wrenches of the second group of robots to loosen the bolts and nuts used to install the cables according to the acquired position information of the bolts and nuts used to install the cables; The first group of robots obtains the position of the cable; According to the acquired position of the cable, the support rods of the first group of robots push the cable to the preset position; The second group of robots performs a tightening action on the bolts and nuts used to install the cables.

6. A robot-based overhead line maintenance method according to claim 1, characterized in that: The first group of robots and the second group of robots adjust the height of the hanging string of the contact network, including: The first group of robots and the second group of robots perform a hanging string height adjustment action; The first group of robots and the second group of robots perform an action of lowering the height of the hanging string.

7. A robot-based overhead line maintenance method according to claim 6, characterized in that: The first group of robots and the second group of robots perform a hanging string height adjustment action, including: The support rods of the first group of robots are inserted into the circular holes of the heart-shaped rings; The adjustment hooks of the first group of robots hook the traction rope; The second group of robots performs a loosening action on the bolts and nuts used to fix the suspension string; The first group of robots moves downward, so that the adjustment hooks of the first group of robots hook the traction rope to complete the overall lowering action; The second group of robots performs a tightening action on the bolts and nuts used to fix the suspension strings.

8. A robot-based overhead line maintenance method according to claim 7, characterized in that: The first group of robots and the second group of robots perform a hanging string height lowering action, including: The support rods of the first group of robots are inserted into the circular holes of the heart-shaped rings; The gripping claws of the first group of robots grip the traction rope; The second group of robots performs a loosening action on the bolts and nuts used to fix the suspension string; The first group of robots moves downward, so that the clamping claws of the first group of robots clamp the traction rope to complete the overall lowering action; The second group of robots performs a tightening action on the bolts and nuts used to fix the suspension strings.

9. A robot-based overhead line maintenance method according to claim 8, characterized in that: The first group of robots includes a first robot and a second robot; the adjustment hook of the first group of robots hooks the traction rope, including: The adjustment hook of the first robot hooks the traction rope.

10. A robot-based overhead line maintenance method according to claim 9, characterized in that: The clamping claws of the first group of robots clamp the traction rope, including: The clamping claw of the second robot clamps the traction rope.

Images