Foreign matter washing and blowing equipment for overhead line system and control method

Abstract

The invention discloses overhead line system foreign matter washing and blowing equipment, and belongs to the technical field of rail transit, the equipment comprises an unmanned aerial vehicle body, a flight assembly is arranged on the outer side of the unmanned aerial vehicle body, and a holder assembly is fixedly arranged on one side of the bottom of the unmanned aerial vehicle body; the unmanned aerial vehicle comprises an unmanned aerial vehicle body and further comprises a cleaning assembly, the cleaning assembly is fixedly arranged at the top of the unmanned aerial vehicle body and comprises a high-pressure pump, a fan is integrally arranged on one side of the high-pressure pump, and a water spraying pipe and an air spraying rod which communicate with each other are arranged on the other side of the high-pressure pump. Through the structure that the water spraying pipe and the air spraying rod are arranged at the top of the unmanned aerial vehicle body, the modes that the unmanned aerial vehicle body gets close to the overhead line system foreign matter, the air spraying rod conducts high-pressure airflow cleaning on the overhead line system foreign matter, and the water spraying pipe conducts high-pressure water flow cleaning on the overhead line system foreign matter are achieved; the threat of a high-voltage risk existing in a traditional foreign matter removing means is avoided, and the problem that precise cleaning and insulation recovery are difficult to achieve in a traditional foreign matter removing device is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit, and specifically refers to a catenary foreign object washing and blowing device and a control method therefor. Background Art

[0002] The catenary of rail transit is a high-voltage power transmission system erected above the railway line. Its core function is to provide stable electric energy for electric locomotives or EMUs through the sliding contact between the contact suspension and the pantograph. This system usually has the characteristics of being erected outdoors and having no standby power supply path. Any intrusion of foreign objects may directly threaten the continuity of power supply.

[0003] In recent years, the intrusion of foreign objects into the catenary has become a major hidden danger threatening the operation safety of rail transit. The types of foreign objects are complex and diverse, mainly including:

[0004] Biological foreign objects: Metal materials such as branches and iron wires used by birds to build nests are likely to short-circuit the live body and the grounding device, causing short-circuit tripping.

[0005] Environmental foreign objects: Pollutants such as industrial dust and salt spray adhere to the surface of insulators, forming a conductive path and causing flashover.

[0006] There are significant technical bottlenecks in the current mainstream foreign object removal means:

[0007] 1. High-voltage risk: When performing manual high-altitude operations or using a drone with a robotic arm, a full-insulation protection design is not adopted, and secondary accidents are likely to be caused by electric discharge during the operation. For example, only air insulation is relied on between the live body and the grounding body of the catenary. Once the foreign object carries conductive substances, it may cause step voltage electric shock or equipment breakdown.

[0008] 2. Single function: Existing equipment is mostly designed for lightweight foreign objects. For example, compressed air blowing or mechanical grasping is used, but it lacks effective removal ability for stubborn foreign objects. When the surface of the insulator is contaminated, water jet cleaning or chemical decontamination needs to be combined. Traditional robotic arms are difficult to achieve precise cleaning and insulation restoration. Summary of the Invention

[0009] In order to solve the problems mentioned in the above background art, the present invention provides a catenary foreign object washing and blowing device and a control method therefor. The technical solution adopted by the present invention is as follows:

[0010] A catenary foreign object washing and blowing device includes a drone body, and a plurality of flight components for driving the flight of the drone body are arranged outside the drone body;

[0011] It further includes a pan-tilt component, the pan-tilt component is fixedly arranged on one side of the bottom of the drone body, and the pan-tilt component includes a camera for acquiring image information;

[0012] It further includes a cleaning component, which is fixedly arranged on the top of the drone body. The cleaning component includes a high-pressure pump, a blower is integrally arranged on one side of the high-pressure pump, and a water spray pipe and a jet pipe communicating with the high-pressure pump are arranged on the side of the high-pressure pump corresponding to the camera.

[0013] Furthermore, the cleaning component further includes a support member, which is fixedly arranged on the top of the drone body near the end of the pan-tilt component. The high-pressure pump is fixedly installed on the top of the support member; a water tank is arranged on the top of the drone body based on a limiting rod, and the water tank communicates with the high-pressure pump.

[0014] Furthermore, the end of the water spray pipe away from the high-pressure pump is set as a water outlet, and the end of the jet pipe away from the high-pressure pump is set as an air outlet. The water outlet, the air outlet and the direction of the camera are the same.

[0015] Furthermore, a plurality of mounting holes are arranged on the side of the drone body, and a connecting piece is fixedly installed on each mounting hole. One end of the connecting piece away from the drone body is hinged to one end of the flight component.

[0016] Furthermore, the flight component includes a movable machine rod, a driving base and a rotor. One end of the movable machine rod is hinged to one end of the connecting piece, the other end of the movable machine rod is vertically installed with the driving base, and the rotor is fixedly connected to the top of the driving base.

[0017] Furthermore, the pan-tilt component includes a fixing piece, which is obliquely arranged at the bottom of the drone body, and the position of the fixing piece corresponds to the position of the support member of the cleaning component; one end of the fixing piece is hinged with the movable platform, and the camera is movably installed at the bottom of the movable platform.

[0018] A control method for a catenary foreign object washing and blowing device, which is applied to a catenary foreign object washing and blowing device, includes the steps:

[0019] Real-time obtain the foreign object image information corresponding to the foreign object on the catenary and the distance information between the drone body and the foreign object;

[0020] Classify the foreign object based on the foreign object image information, and the foreign object types include stubborn foreign objects and surface foreign objects;

[0021] Select a differential processing strategy based on the foreign object type, and the differential processing strategy includes a deep cleaning strategy and a surface cleaning strategy.

[0022] Furthermore, the primary cleaning strategy is an air blowing strategy, and the secondary cleaning strategy is a water flushing strategy. The deep cleaning strategy includes the steps:

[0023] Based on the real-time acquired foreign body image information, the foreign body boundary recognition processing is performed to obtain the foreign body size information;

[0024] Obtain foreign object environment information, and generate the optimal path information of the drone body based on the foreign object size information and foreign object environment information, and generate a first-level cleaning strategy:

[0025]

[0026] Among them, d is the optimal operating distance between the drone body and the foreign object, k is the safety factor, w is the width of the foreign object, and h is the height of the foreign object;

[0027] The residual foreign matter information after cleaning is obtained in real time to detect the residual foreign matter degree, and a secondary cleaning strategy is generated based on the residual foreign matter degree.

[0028] Furthermore, the surface cleaning strategy comprises the steps of:

[0029] Generate insulator geometric information based on foreign body image information acquired in real time;

[0030] The optimal spiral path information of the UAV body is generated based on the insulator geometry information, and a secondary cleaning strategy is generated.

[0031] The beneficial effects of the contact network foreign body washing and blowing equipment and control method of the present invention are as follows:

[0032] 1. By setting a cleaning component on the top of the drone body, the cleaning component includes a high-pressure pump and a fan, and a water spray pipe and a jet rod are connected to one side of the high-pressure pump. It is possible to use the drone body to approach foreign objects in the contact network, use the jet rod to clean the foreign objects in the contact network with high-pressure airflow, and use the water spray pipe to clean the foreign objects in the contact network with high-pressure water flow. This avoids the threat of high-pressure risks in traditional foreign object removal methods and solves the problem of traditional foreign object removal equipment that is difficult to achieve accurate cleaning and insulation recovery.

[0033] 2. By hingedly connecting the shearing assembly to the mounting assembly and the transmission assembly, and hingedly setting an insulating base at the end of the lower limb of the shearing assembly, and hingedly setting two opposite tentacles on the insulating base, the problems of low efficiency and high danger in traditional foreign body handling are solved, and the insulating base avoids the problem of short circuit of the contact network due to conduction, and solves the problem that traditional mechanical removal tools cannot adapt to high-voltage environments.

[0034] 3. By integrating a high-pressure pump and a fan on the cleaning component, and connecting the high-pressure pump to a structure with a water spray pipe and an air jet rod, the effect of adopting differentiated treatment strategies for different types of foreign matter is achieved, solving the problem of single function of traditional foreign matter removal equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of the first three-dimensional structure of a catenary foreign object washing and blowing device of the present invention;

[0036] Figure 2 Schematic diagram of the second three-dimensional structure of a catenary foreign object washing and blowing device of the present invention;

[0037] Figure 3 Schematic diagram of the third three-dimensional structure of a catenary foreign object washing and blowing device of the present invention;

[0038] Figure 4 Schematic diagram of the three-dimensional structure of the cleaning component of the present invention;

[0039] Figure 5 Schematic diagram of the left view structure of a catenary foreign object washing and blowing device of the present invention

[0040] Figure 6 Schematic diagram of the first three-dimensional structure of the grasping and shearing component of the present invention;

[0041] Figure 7 Schematic diagram of the three-dimensional structure of a single mechanical claw of the grasping and shearing component of the present invention;

[0042] Figure 8 Schematic diagram of the second three-dimensional structure of the grasping and shearing component of the present invention;

[0043] Figure 9 Schematic diagram of the third three-dimensional structure of the grasping and shearing component of the present invention;

[0044] Figure 10 Schematic diagram of the three-dimensional structure of the transmission component of the grasping and shearing component of the present invention.

[0045] Among them, 1, UAV body; 2, flight component; 3, grasping and shearing component; 4, gimbal component; 5, cleaning component; 101, connecting piece; 201, movable rod; 202, driving base; 203, rotor; 301, mounting component; 302, transmission component; 303, shearing component; 401, fixing piece; 402, movable platform; 403, camera; 501, support piece; 502, high-pressure pump; 503, fan; 504, water tank; 505, water spray pipe; 506, water outlet; 507, air jet rod; 508, air blowing port; 311, hydraulic cylinder; 312, first limiting piece; 313, connecting rod; 314, connecting flange; 321, moving disc; 322, second limiting piece; 323, limiting hole; 324, rangefinder; 325, piezoresistive sensor; 326, binocular imaging component; 331, mechanical claw; 332, insulating base; 333, tentacle piece; 334, cutter; 335, first hinge piece; 336, connecting groove; 337, second hinge piece; 3121, sleeve; 3122, fixing plate; 3123, limiting chute. Detailed implementation manners

[0046] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the protection scope of the present invention.

[0047] An OCS foreign object washing and blowing device includes a UAV body 1, and a plurality of flight components 2 for driving the UAV body 1 to fly are arranged outside the UAV body 1;

[0048] It further includes a pan-tilt assembly 4. The pan-tilt assembly 4 is fixedly arranged on one side of the bottom of the UAV body 1, and the pan-tilt assembly 4 includes a camera 403 for acquiring image information;

[0049] It further includes a cleaning assembly 5. The cleaning assembly 5 is fixedly arranged on the top of the UAV body 1. The cleaning assembly 5 includes a high-pressure pump 502, a blower 503 is integrally arranged on one side of the high-pressure pump 502, and a water spray pipe 505 and a jet pipe 507 communicating with the high-pressure pump 502 are arranged on the side of the high-pressure pump 502 corresponding to the camera 403.

[0050] In this embodiment, a cleaning assembly 5 is arranged on the top of the UAV body 1. The cleaning assembly 5 includes a high-pressure pump 502 and a blower 503, and a water spray pipe 505 and a jet pipe 507 are communicated on one side of the high-pressure pump 502; specifically, the UAV body 1 acquires image information such as the position of foreign objects based on the pan-tilt assembly 4, processes the image information to analyze the type of foreign objects, and makes the cleaning assembly 5 on the UAV body 1 approach the foreign objects based on the flight components 2; for biological foreign objects such as bird nests, first, the blower 503 and the high-pressure pump 502 are used to generate high-pressure air flow and send it to the jet pipe 507, and the biological foreign objects are cleaned based on the jet pipe 507, and the residual degree of foreign objects is detected in real time. When the biological foreign objects are stubborn and difficult to clean, that is, when the residual degree of foreign objects is relatively high, the high-pressure pump 502 is started to output high-pressure water flow to the water spray pipe 505, and the biological foreign objects are secondarily flushed based on the high-pressure water flow of the water spray pipe 505 until the residual degree of foreign objects detected in real time meets the standard.

[0051] For environmental foreign objects such as pollutants attached to the surface of insulators, first, the geometric information of the insulator is generated based on the image information acquired by the pan-tilt assembly 4, and the optimal spiral path for the UAV body 1 to wash around the insulator is generated through the geometric information, and the high-pressure pump 502 is used to generate high-pressure water flow to the water spray pipe 505, so as to wash the pollutants on the outer surface of the insulator until the residual degree of foreign objects detected in real time meets the standard.

[0052] In one embodiment, the cleaning assembly 5 further includes a support member 501, which is fixedly arranged at the top of the drone body 1 near the end of the pan-tilt assembly 4. The high-pressure pump 502 is fixedly installed on the top of the support member 501. A water tank 504 is arranged on the top of the drone body 1 based on a limiting rod, and the water tank 504 is communicated with the high-pressure pump 502.

[0053] In this embodiment, the water tank 504 is arranged on the top of the drone body 1 based on the high-pressure pump 502 and the limiting rod. The water tank 504 stores a liquid for generating high-pressure water flow. The high-pressure pump 502 generates high pressure to suck the liquid in the water tank 504 and generates high-pressure water flow, and flushes foreign objects through a water spray pipe 505.

[0054] In one embodiment, the end of the water spray pipe 505 away from the high-pressure pump 502 is set as a water outlet 506, and the end of the air jet rod 507 away from the high-pressure pump 502 is set as an air blowing port 508. The water outlet 506, the air blowing port 508 and the camera 403 face the same direction.

[0055] In this embodiment, the length of the water spray pipe 505 is slightly shorter than that of the air jet rod 507 to ensure that the initial velocity of the air flow ejected by the air jet rod 507 meets the use requirements. And the water outlet 506, the air blowing port 508 and the camera 403 face the same direction to ensure that the cleaning operation progress is obtained in real time based on the camera 403 and the cleaning effect is guaranteed.

[0056] In one embodiment, a plurality of mounting holes are arranged on the side surface of the drone body 1. A connecting member 101 is fixedly installed on a single mounting hole, and one end of the flying assembly 2 is hinged to the end of the connecting member 101 away from the drone body 1.

[0057] In this embodiment, the drone body 1 fixedly installs the connecting member 101 based on the mounting holes, and the flying assembly 2 is hinged on the connecting member 101. While the flying assembly 2 drives the drone body 1 to fly, the flying direction of the drone body 1 can be adjusted by adjusting the hinge angle of the flying assembly 2.

[0058] In one embodiment, the flying assembly 2 includes a movable machine rod 201, a driving base 202 and a rotor 203. One end of the movable machine rod 201 is hinged to one end of the connecting member 101, the other end of the movable machine rod 201 is vertically installed with the driving base 202, and the rotor 203 is fixedly connected to the top of the driving base 202.

[0059] In this embodiment, the articulated end of the movable rod 201 and the connecting member 101 can adjust the included angle between the movable rod 201 and the UAV body 1 by adjusting the articulated angle, so as to adjust the flight path of the UAV body 1 based on the lift generated by the rotor 203.

[0060] In one embodiment, the pan-tilt assembly 4 includes a fixing member 401, the fixing member 401 is inclined and arranged at the bottom of the UAV body 1, and the position of the fixing member 401 corresponds to the position of the support member 501 of the cleaning assembly 5; one end of the fixing member 401 is hinged with the movable platform 402, and the camera 403 is movably installed at the bottom of the movable platform 402.

[0061] In this embodiment, a servo motor is arranged at the connection between the movable platform 402 and the support member 501. Based on the structure that the camera 403 is movably installed on the movable platform 402 and the movable platform 402 is hinged to the fixing member 401, mechanical limit and motor compensation are realized, which can effectively suppress the associated shaking when the UAV tilts and ensure the stable picture effect of the camera 403.

[0062] A control method for an overhead contact line foreign object washing and blowing device, which is applied to the overhead contact line foreign object washing and blowing device, includes the steps of:

[0063] Real-time obtain the foreign object image information corresponding to the foreign object on the overhead contact line and the distance information between the UAV body and the foreign object;

[0064] Classify the foreign object based on the foreign object image information, and the foreign object types include stubborn foreign objects and surface foreign objects;

[0065] Select a differential processing strategy based on the foreign object type, and the differential processing strategy includes a deep cleaning strategy and a surface cleaning strategy.

[0066] In this embodiment, the foreign object image information is the image of the overhead contact line area obtained through the pan-tilt assembly, including feature data such as the position, shape, and color of the foreign object, the distance information is the real-time spatial distance data between the UAV body and the foreign object on the overhead contact line obtained based on the pan-tilt assembly, the stubborn foreign object is a foreign object that adheres tightly to the surface of the overhead contact line and is difficult to remove, such as a bird's nest, etc., the surface foreign object is a foreign object that adheres to the surface of the insulator relatively shallowly, such as dust accumulation, etc., and the differential processing strategy is to select a targeted processing plan according to the foreign object type.

[0067] Specifically, based on the pan-tilt assembly, the foreign object image information corresponding to the foreign object on the overhead contact line is obtained in real time, including feature data such as the position, shape, and color of the foreign object, and the distance information between the UAV body and the foreign object. The foreign object is classified based on the foreign object image information through a vision algorithm. The foreign object types include stubborn foreign objects and surface foreign objects. Corresponding deep cleaning strategies or surface cleaning strategies are adopted for different types of foreign objects.

[0068] In one of the embodiments, the primary cleaning strategy is an air flow purging strategy, and the secondary cleaning strategy is a water flow flushing strategy. The deep cleaning strategy includes the steps of:

[0069] Performing foreign object boundary recognition processing based on the foreign object image information obtained in real time to obtain foreign object size information;

[0070] Obtaining foreign object environment information, and generating optimal path information for the UAV body based on the foreign object size information and the foreign object environment information, and generating a primary cleaning strategy:

[0071]

[0072] where d is the optimal working distance between the UAV body and the foreign object, k is the safety factor, w is the width size of the foreign object, and h is the height size of the foreign object;

[0073] Real-time obtaining of foreign object residue information after cleaning to detect the foreign object residue degree, and generating a secondary cleaning strategy based on the foreign object residue degree.

[0074] In this embodiment, the foreign object boundary recognition processing is to separate the foreign object from the background in the foreign object image using an image processing algorithm to determine its geometric boundary. The foreign object size information is the geometric parameters such as the length, width, and height of the foreign object obtained through boundary recognition. The foreign object environment information is the relevant information such as the position of the foreign object and environmental obstacles obtained based on the pan-tilt component. The optimal path information is the UAV flight trajectory generated based on the foreign object position, size, and environmental obstacles, which needs to meet constraints such as the shortest path, obstacle avoidance, and energy consumption optimization. The primary cleaning strategy is a preliminary cleaning plan preset according to the foreign object size and type, that is, only high-pressure air flow is used to clean the foreign object. The foreign object residue information is the distribution, density, and morphological characteristics of the residual foreign object obtained in real time after cleaning. The foreign object residue degree is an index quantifying the severity of the residual foreign object. The secondary cleaning strategy is an enhanced cleaning plan adjusted according to the residue degree, that is, a dual cleaning strategy of high-pressure air flow cleaning and high-pressure water flow flushing.

[0075] Specifically, performing foreign object boundary recognition processing on the foreign object image information obtained in real time to obtain foreign object size information, and generating an optimal path information for the UAV body based on the foreign object size information, thereby generating a primary cleaning strategy; after the primary cleaning operation is completed, real-time obtaining of foreign object residue information after cleaning to detect the foreign object residue degree, and generating a secondary cleaning strategy based on the foreign object residue degree.

[0076] In one of the embodiments, the surface cleaning strategy includes the steps of:

[0077] Generating insulator geometric information based on the foreign object image information obtained in real time;

[0078] Generate the optimal spiral path information of the UAV body based on the insulator geometric information, and generate a secondary cleaning strategy.

[0079] In this embodiment, the insulator geometric information is a parameter set describing the structural characteristics of the insulator, including geometric parameters such as the umbrella skirt shape, creepage distance, diameter, and thickness. The optimal spiral path information is a spiral flight trajectory generated based on the insulator geometric parameters, which needs to meet the requirements of obstacle avoidance, energy consumption optimization, and full coverage.

[0080] Specifically, generate the insulator geometric information through an image segmentation algorithm based on the real-time obtained foreign object image information. Based on the geometric parameters in the insulator geometric information, with the insulator axis as the center, generate the optimal spiral path information of the UAV body, and directly adopt the secondary cleaning strategy to remove foreign objects.

[0081] In one embodiment, the grasping and shearing assembly 3 includes a mounting assembly 301, a transmission assembly 302, and a shearing assembly 303. The mounting assembly 301 includes a hydraulic cylinder 311. A first limiting member 312 is fixedly installed at the bottom of the hydraulic cylinder 311. A plurality of limiting chutes 3123 are provided in the first limiting member 312. One end of a connecting rod 313 is fixedly connected to the hydraulic cylinder 311, and the other end of the connecting rod 313 penetrates through the first limiting member 312 and is fixedly connected to the top of the transmission assembly 302;

[0082] The transmission assembly 302 is arranged at the lower part of the mounting assembly 301. The transmission assembly 302 includes a plurality of second limiting members 322 corresponding to the positions of the first limiting member 312;

[0083] The shearing assembly 303 includes a plurality of mechanical claws 331. The end of the upper limb of a single mechanical claw 331 is slidably installed in the limiting chute 3123 of the first limiting member 312. The middle part of the upper limb of a single mechanical claw 331 is hinged to the second limiting member 322 corresponding to the first limiting member 312. The end of the lower limb of a single mechanical claw 331 is hinged with an insulating base 332, and a tentacle member 333 is hinged on the insulating base 332.

[0084] In this embodiment, a servo motor is provided at the hinge joint between the robotic claw 331 and the second limiting member 322, and a shape memory alloy wire is wrapped around the front end of the tentacle member 333; specifically, the hydraulic cylinder 311 drives the connecting rod 313 to move downward, so that the transmission components move synchronously. At the same time, the servo motor at the hinge joint between the robotic claw 331 and the second limiting member 322 rotates, causing the robotic claw 331 to rotate around the servo motor while moving with the transmission components, and enabling the end of the upper limb of the robotic claw 331 to slide within the limiting chute 3123, thereby realizing the movement of the robotic claw 331; further, the insulating base 332 rotates at the end of the lower limb of the robotic claw 331 to adjust the direction and position of the tentacle member 333. The robotic claw 331 and the insulating base 332 are adaptively adjusted, thereby adjusting the effect of the tentacle member 333. While using the tentacle member 333 to remove foreign objects on the catenary instead of manual removal, the influence of the high-voltage environment is isolated based on the insulating base 332.

[0085] In one of the embodiments, a single robotic claw 331 further includes a first hinge member 335 and a connection groove 336. The first hinge member 335 is provided at the end of the upper limb of a single robotic claw 331, and the first hinge member 335 is movably installed in the limiting chute 3123 of the mounting assembly 301; a connection groove 336 is provided in the middle of the upper limb of a single robotic claw 331, and a second hinge member 337 is provided in the connection groove 336. The second hinge member 337 is hinged to the corresponding second limiting member 322 of the first limiting member 312.

[0086] In this embodiment, the servo motor is provided in the second hinge member 337. While the servo motor drives the robotic claw 331 to perform a circular motion around the axis of the second hinge member 337, the first hinge member 335 slides within the limiting chute 3123 to limit the robotic claw 331, establishing the movement range of the robotic claw 331 and avoiding collision damage.

[0087] In one of the embodiments, two tentacle members 333 are hingedly provided on the insulating base 332, and meshing cutters 334 are provided on the adjacent sides of the tentacle members 333 close to the insulating base 332.

[0088] In this embodiment, the sharp front ends of the two tentacle members 333 are convenient for accurately clamping foreign objects. When the cutters 334 at the rear ends of the tentacle members 333 close to the insulating base 332 are meshed, linear foreign objects such as kite strings can be sheared.

[0089] In one embodiment, the first limiting member 312 is composed of a sleeve 3121 and a fixing plate 3122. The sleeve 3121 is fixedly arranged at the bottom of the hydraulic cylinder 311, and the inside of the sleeve 3121 is hollow. A plurality of pairs of fixing plates 3122 are arranged on the outer surface of the sleeve 3121, and the limiting chutes 3123 are arranged on the fixing plates 3122.

[0090] In this embodiment, the first hinge member 335 of the mechanical claw 331 is slidably installed in the paired fixing plates 3122, so as to achieve the limiting effect.

[0091] In one embodiment, the mounting assembly 301 further includes a connecting flange 314. The connecting flange 314 is fixedly arranged at the top of the hydraulic cylinder 311, and the connecting flange 314 is used for fixedly connecting the UAV body 1.

[0092] In this embodiment, the connecting flange 314 fixedly installs the grabbing and shearing device at the bottom of the UAV body 1, and moves the grabbing and shearing device based on the UAV body 1 to achieve the abilities of intelligent recognition, adaptive grabbing and shearing.

[0093] In one embodiment, the transmission assembly 302 includes a moving disc 321. A plurality of second limiting members 322 are arranged on the outer side of the moving disc 321. A limiting hole 323 is arranged at the end of the second limiting member 322 far away from the moving disc 321, and the second hinge member 337 of the shearing assembly 303 is installed in the limiting hole 323.

[0094] In this embodiment, by the lifting movement of the moving disc 321, the closing degree of the lower ends of the mechanical claws 331 can be adjusted.

[0095] In one embodiment, a rangefinder 324 and a piezoresistive sensor 325 are respectively fixedly arranged on the adjacent sides of the two second limiting members 322, and a binocular camera 326 is arranged at the bottom of the moving disc 321 near the rangefinder 324 and the piezoresistive sensor 325.

[0096] In this embodiment, the rangefinder 324 is used to measure the distance between the UAV body 1 and the foreign object, the piezoresistive sensor 325 is used to obtain the grasping force on the tentacle member 333 and the shearing stress on the cutter 334 in real time, and the binocular camera 326 is used to obtain the foreign object image in real time for processing and auxiliary functions.

[0097] A control method for a catenary foreign object grabbing and shearing device is applied to the catenary foreign object grabbing and shearing device, and includes the steps of:

[0098] Obtain the foreign object image information corresponding to the foreign object on the catenary and perform preprocessing;

[0099] Classify foreign objects based on foreign object image information, where the types of foreign objects include shearing foreign objects and grasping foreign objects:

[0100] P C = Sigmoid(w1·I texture + w2·I color )

[0101] where w1 is the texture weight and w2 is the color weight;

[0102] Select a differential processing strategy based on the type of foreign object, and the differential processing strategy includes a shearing processing strategy and a grasping processing strategy.

[0103] In this embodiment, the foreign object image information is an image of the catenary area collected by a binocular camera, including feature data such as the position, shape, and color of the foreign object. The shearing foreign object is a foreign object with linear features such as kite strings that need to be cut by a shearing tool, and the grasping foreign object is a foreign object with sheet-like or clump-like features that need to be removed by a mechanical claw, such as plastic bags, nylon sleeves, etc. The differential processing strategy is to select a targeted processing plan according to the type of foreign object.

[0104] Specifically, obtain the foreign object image information corresponding to the foreign object on the catenary through a binocular camera, use an improved YOLOv10 model to classify the foreign object, the types of foreign objects include shearing foreign objects and grasping foreign objects, and adopt a differential processing strategy for different types of foreign objects.

[0105] In one of the embodiments, the shearing processing strategy includes the steps of:

[0106] Perform edge detection and mapping on the straight lines in the foreign object image information based on the hough transform detection algorithm to obtain a straight line feature set;

[0107] Filter the straight line feature set based on a preset deep learning model to obtain a foreign object feature set, and obtain the midpoint coordinates of the shearing foreign object based on the foreign object feature set:

[0108] ρ = xcosθ + ysinθ si∈[0,π])

[0109] where ρ is the length of the straight line and ρ ≤ 50 cm, and θ is the angle between the straight line and the ground;

[0110] Obtain the line tension and dynamically calculate the shearing force:

[0111]

[0112] where T is the line tension, d is the distance between the tool edges, and μ is the friction coefficient.

[0113] In this embodiment, the Hough transform detection algorithm is an algorithm that maps the straight lines in the foreign object image information to the parameter space. The straight line feature set is a set containing the detected straight line parameters and geometric attributes. The foreign object feature set is a data set including the geometric features of the shear-type foreign objects. The midpoint coordinate is the geometric center point obtained by calculating the straight line and serves as the reference position for the shearing operation. The wire tension measures the pulling force exerted on the foreign object in real time through a strain gauge, mainly reflecting the physical state of the foreign object, that is, whether it is sheared. The shearing force is the minimum force required to ensure that the cutting tool completely cuts off the foreign object.

[0114] Specifically, the edge points in the foreign object image are mapped to the parameter space through the Hough transform. Combining with a deep learning model, based on factors such as the length of the straight line and the angle between the straight line and the ground, the interference lines are filtered from the straight line feature set, and the midpoint coordinate of the shear-type foreign object is obtained from the foreign object feature set as the shearing reference point. The wire tension data is obtained through a sensor, and the shearing force is dynamically calculated in combination with the material properties to ensure the accurate operation of the cutting tool.

[0115] In one of the embodiments, the grasping processing strategy includes the steps of:

[0116] Obtaining the static data information of the grasping-type foreign object based on the foreign object image information, where the static data information includes the material and mass of the grasping-type foreign object;

[0117] Calculating the grasping force based on the static data information:

[0118] F target = k·m·g + F adhesion

[0119] where k is the safety factor, m is the mass, and F adhesion is the electrostatic adsorption force.

[0120] In this embodiment, the static data information is the inherent attributes of the foreign object obtained through image analysis, including the material and mass. The grasping force is the clamping force exerted by the mechanical claw.

[0121] Specifically, the static data information is obtained by processing the foreign object image information through an image segmentation algorithm. The gravity is calculated based on the mass of the foreign object, and the minimum grasping force is calculated in combination with the friction coefficient and safety factor corresponding to the material.

[0122] The above describes the present invention and its implementation manners. This description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention. The actual structure is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and, without departing from the spirit of the present invention, design similar structural manners and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present invention.

Claims

1. A catenary foreign object washing and blowing device, characterized in that: It includes a drone body (1), and several flight components (2) for driving the flight of the drone body (1) are arranged on the outer side of the drone body (1); It further includes a gimbal assembly (4), the gimbal assembly (4) is fixedly arranged on one side of the bottom of the drone body (1), and the gimbal assembly (4) includes a camera (403) for acquiring image information; It further includes a cleaning assembly (5), the cleaning assembly (5) is fixedly arranged on the top of the drone body (1), the cleaning assembly (5) includes a high-pressure pump (502), a blower (503) is integrally arranged on one side of the high-pressure pump (502), and a water spray pipe (505) and a jet pipe (507) communicating with the high-pressure pump (502) are arranged on one side of the high-pressure pump (502) corresponding to the camera (403).

2. The catenary foreign object washing and blowing device according to claim 1, characterized in that: The cleaning assembly (5) further includes a support member (501), the support member (501) is fixedly arranged at the end of the top of the drone body (1) close to the gimbal assembly (4), and the high-pressure pump (502) is fixedly installed on the top of the support member (501); a water tank (504) is arranged on the top of the drone body (1) based on a limiting rod, and the water tank (504) communicates with the high-pressure pump (502).

3. The catenary foreign object washing and blowing device according to claim 2, wherein: The end of the water spray pipe (505) far from the high-pressure pump (502) is set as a water outlet (506), the end of the jet pipe (507) far from the high-pressure pump (502) is set as a blowing port (508), and the water outlet (506), the blowing port (508) and the orientation of the camera (403) are the same.

4. The catenary foreign object washing and blowing device according to claim 1, characterized in that: A plurality of mounting holes are arranged on the side surface of the drone body (1), a connecting member (101) is fixedly installed on a single mounting hole, and one end of the connecting member (101) far from the drone body (1) is hinged to one end of the flight component (2).

5. The catenary foreign object washing and blowing device according to claim 4, characterized in that: The flight component (2) includes a movable machine rod (201), a drive base (202) and a rotor (203), one end of the movable machine rod (201) is hinged to one end of the connecting member (101), the other end of the movable machine rod (201) is vertically installed with the drive base (202), and the rotor (203) is fixedly connected to the top of the drive base (202).

6. The catenary foreign object washing and blowing device according to claim 1, characterized in that: The gimbal assembly (4) includes a fixing member (401), the fixing member (401) is inclined and arranged on the bottom of the drone body (1), and the position of the fixing member (401) corresponds to the position of the support member (501) of the cleaning assembly (5); one end of the fixing member (401) is hinged with the movable platform (402), and the camera (403) is movably installed at the bottom of the movable platform (402).

7. A control method for a catenary foreign object washing and blowing device, which is applied to the catenary foreign object washing and blowing device according to any one of the above claims 1-6, and is characterized in that: It includes steps: Real-time acquisition of foreign object image information corresponding to foreign objects on the catenary and the distance information between the drone body and the foreign objects; Classify foreign objects based on the foreign object image information, and the foreign object types include stubborn foreign objects and surface foreign objects; Select a differential processing strategy based on the foreign object type, and the differential processing strategy includes a deep cleaning strategy and a surface cleaning strategy.

8. A control method for a catenary foreign object washing and blowing device according to claim 7, characterized in that: The primary cleaning strategy is the air flow purging strategy, and the secondary cleaning strategy is the water flow flushing strategy. The deep cleaning strategy includes the steps of: Performing foreign object boundary recognition processing based on the foreign object image information obtained in real time to obtain the foreign object size information; Obtaining the foreign object environment information, and generating the optimal path information of the UAV body based on the foreign object size information and the foreign object environment information, and generating the primary cleaning strategy: where d is the optimal working distance between the UAV body and the foreign object, k is the safety factor, w is the width size of the foreign object, and h is the height size of the foreign object; Obtaining the foreign object residue information after cleaning in real time to detect the foreign object residue degree, and generating the secondary cleaning strategy based on the foreign object residue degree.

9. A control method for a catenary foreign object washing and blowing device according to claim 7, characterized in that: The surface cleaning strategy includes the steps of: Generating insulator geometric information based on the foreign object image information obtained in real time; Generating the optimal spiral path information of the UAV body based on the insulator geometric information, and generating the secondary cleaning strategy.

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