Foreign matter grabbing and shearing equipment for overhead line system and control method

Abstract

The invention discloses contact network foreign matter grabbing and shearing equipment, and belongs to the technical field of rail transit, the grabbing and shearing equipment comprises a mounting assembly, a transmission assembly and a shearing assembly, a first limiting piece is mounted at the bottom of a hydraulic cylinder of the mounting assembly, and a plurality of limiting sliding grooves are formed in the first limiting piece; the hydraulic cylinder is fixedly connected with the top of the transmission assembly; the transmission assembly comprises a plurality of second limiting pieces corresponding to the first limiting pieces in position. The shearing assembly comprises a plurality of mechanical claws, the tail end of the upper limb of each mechanical claw is installed in the corresponding limiting sliding groove in a sliding mode, the middle of each upper limb of each mechanical claw is hinged to the corresponding second limiting piece, and a touch hand piece is hinged to the portion, at the tail end of the lower limb of each mechanical claw, of the insulating base; the problems of low efficiency and high risk in the aspect of traditional foreign matter treatment are solved, the problem of short circuit of the contact network caused by electric conduction is avoided through the insulating base, and therefore the problem that a traditional mechanical removing tool cannot adapt to the high-voltage environment 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 grasping and shearing device and a control method thereof. Background Art

[0002] The rail transit catenary is a special power supply facility erected along the railway line. It provides electric energy for the train through the pantograph or collector shoe in sliding contact with the train. Its core function is to ensure the stable power supply of the train power system and is the "lifeline" of electrified rail transit.

[0003] In recent years, the intrusion of foreign objects into the catenary has become a global problem threatening the safe operation of rail transit. Due to human factors such as the release of low-altitude floating objects such as kites, sky lanterns, and balloons, or natural factors such as strong winds blowing up lightweight materials such as plastic greenhouse films and dust-proof nets, catenary failures are caused, resulting in large-scale train delays. The following problems exist in the current foreign object handling:

[0004] 1. Mainly rely on manual cleaning, which has the problems of low efficiency and high danger.

[0005] 2. Mechanical cleaning tools cannot adapt to the high-voltage environment and lack intelligent recognition and adaptive grasping capabilities.

[0006] 3. Traditional shearing devices have inaccurate positioning of flexible foreign objects such as kite strings, and are prone to leaving residual broken wires, causing secondary hazards. Summary of the Invention

[0007] In order to solve the problems mentioned in the above background art, the present invention provides a catenary foreign object grasping and shearing device and a control method thereof. The technical solutions adopted by the present invention are as follows:

[0008] A catenary foreign object grasping and shearing device is applied to an unmanned aerial vehicle body, and includes an installation component, a transmission component, and a shearing component. The installation component includes a hydraulic cylinder. A first limiting member is fixedly installed at the bottom of the hydraulic cylinder. A plurality of limiting chutes are arranged in the first limiting member. One end of a connecting rod is fixedly connected to the hydraulic cylinder, and the other end of the connecting rod penetrates through the first limiting member and is fixedly connected to the top of the transmission component;

[0009] The transmission component is arranged below the installation component, and the transmission component includes a plurality of second limiting members corresponding to the positions of the first limiting members;

[0010] The shearing component includes a plurality of mechanical claws. The end of the upper limb of a single mechanical claw is slidably installed in the limiting chute of the first limiting member. The middle part of the upper limb of a single mechanical claw is hinged to the second limiting member corresponding to the first limiting member. The end of the lower limb of a single mechanical claw is hinged with an insulating base, and a tentacle member is hinged on the insulating base.

[0011] Furthermore, each of the mechanical claws further includes a first hinge member and a connecting groove. The first hinge member is provided at the end of the upper limb of each mechanical claw, and the first hinge member is movably installed in the limiting chute of the mounting assembly; a connecting groove is provided in the middle of the upper limb of each mechanical claw, and a second hinge member is provided in the connecting groove, and the second hinge member is hinged to the corresponding second limiting member of the first limiting member.

[0012] Furthermore, two tentacle members are hingedly provided on the insulating base, and meshing cutters are provided on adjacent sides of each tentacle member close to the insulating base end.

[0013] Furthermore, the first limiting member is composed of a sleeve and a fixing plate. The sleeve is fixedly provided at the bottom of the hydraulic cylinder, and the inside of the sleeve is hollow. A plurality of pairs of fixing plates are provided on the outer surface of the sleeve, and the limiting chutes are provided on the fixing plates.

[0014] Furthermore, the mounting assembly further includes a connecting flange. The connecting flange is fixedly provided at the top of the hydraulic cylinder, and the connecting flange is used for fixedly connecting the unmanned aerial vehicle body.

[0015] Furthermore, the transmission assembly includes a moving disc. A plurality of the second limiting members are provided on the outer side of the moving disc. A limiting hole is provided at the end of the second limiting member away from the moving disc, and the second hinge member of the shearing assembly is installed in the limiting hole.

[0016] Furthermore, a rangefinder and a piezoresistive sensor are respectively fixedly provided on adjacent sides of the two second limiting members, and a binocular camera is provided at the bottom of the moving disc near the rangefinder and the piezoresistive sensor.

[0017] A control method for a catenary foreign object grasping and shearing device, which is applied to the catenary foreign object grasping and shearing device, includes the steps of:

[0018] Obtaining foreign object image information corresponding to the foreign object on the catenary and performing preprocessing;

[0019] Classifying the foreign object based on the foreign object image information, and the foreign object types include shearing foreign objects and grasping foreign objects:

[0020] P C = Sigmoid(w1·I texture + w2·I color )

[0021] Wherein, w1 is the texture weight and w2 is the color weight;

[0022] A differentiated processing strategy is selected based on the type of foreign matter, and the differentiated processing strategy includes a shearing processing strategy and a grabbing processing strategy.

[0023] Further, the shearing processing strategy comprises the steps of:

[0024] Based on the hough transform detection algorithm, edge detection and mapping of straight lines in the foreign body image information are performed to obtain a straight line feature set;

[0025] Based on the preset deep learning model, the straight line feature set is filtered to obtain the foreign body feature set, and the midpoint coordinates of the shear-type foreign body are obtained based on the foreign body feature set:

[0026] ρ=xcosθ+ysinθsi∈[0,π])

[0027] Where, ρ is the length of the straight line, and ρ≤50cm, θ is the angle between the straight line and the ground;

[0028] Get the line tension to dynamically calculate the shear force:

[0029]

[0030] Where T is the line tension, d is the distance between tool edges, and μ is the friction coefficient.

[0031] Furthermore, the capture processing strategy includes the steps of:

[0032] Acquire static data information of the graspable foreign object based on the foreign object image information, wherein the static data information includes the material and quality of the graspable foreign object;

[0033] Calculate the gripping force based on static data information:

[0034] F target = k·m·g+F adhesion

[0035] Where k is the safety factor, m is the mass, F adhesion It is the electrostatic adsorption force.

[0036] The beneficial effects of the contact network foreign body grabbing and shearing device and control method of the present invention are as follows:

[0037] 1. 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.

[0038] 2. By obtaining foreign object image information for foreign object type classification and selecting a differential processing strategy based on the foreign object type, the problem that the traditional shearing device cannot achieve adaptive grasping and shearing for multi-modal foreign objects is solved, and it has the advantages of accurate positioning and avoiding interference from interference lines.

[0039] 3. By dynamically calculating the shearing force in real time by obtaining the wire tension, the problems of incomplete shearing due to too small shearing force or over-engagement and jamming of the tool due to too large shearing force are avoided. Description of the Drawings

[0040] Figure 1 It is a first three-dimensional structural schematic diagram of a catenary foreign object grasping and shearing device of the present invention;

[0041] Figure 2 It is a three-dimensional structural schematic diagram of a single mechanical claw of the present invention;

[0042] Figure 3 It is a second three-dimensional structural schematic diagram of a catenary foreign object grasping and shearing device of the present invention;

[0043] Figure 4 It is a third three-dimensional structural schematic diagram of a catenary foreign object grasping and shearing device of the present invention;

[0044] Figure 5 It is a three-dimensional structural schematic diagram of the transmission component of the present invention;

[0045] Figure 6 It is a flowchart of an embodiment of a control method for a catenary foreign object grasping and shearing device of the present invention;

[0046] Figure 7 It is a flowchart for implementing step S30 in an embodiment of a control method for a catenary foreign object grasping and shearing device of the present invention.

[0047] Among them, 1. Installation component; 2. Transmission component; 3. Shearing component; 101. Hydraulic cylinder; 102. First limiting member; 103. Connecting rod; 104. Connecting flange; 201. Moving disk; 202. Second limiting member; 203. Limiting hole; 204. Rangefinder; 205. Piezoresistive sensor; 206. Binocular imaging member; 301. Mechanical claw; 302. Insulating base; 303. Tentacle member; 304. Tool; 305. First hinge member; 306. Connecting groove; 307. Second hinge member; 121. Sleeve; 122. Fixed plate; 123. Limiting sliding groove. Detailed Embodiments

[0048] 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 them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] As Figure 1 And Figure 3-4 As shown, a catenary foreign object grasping and shearing device is applied to a drone body, including a mounting component 1, a transmission component 2, and a shearing component 3. The mounting component 1 includes a hydraulic cylinder 101, and a first limiting member 102 is fixedly installed at the bottom of the hydraulic cylinder 101. A number of limiting chutes 123 are provided in the first limiting member 102. One end of a connecting rod 103 is fixedly connected to the hydraulic cylinder 101, and the other end of the connecting rod 103 penetrates through the first limiting member 102 and is fixedly connected to the top of the transmission component 2;

[0050] The transmission component 2 is arranged at the lower part of the mounting component 1, and the transmission component 2 includes a number of second limiting members 202 corresponding to the positions of the first limiting members 102;

[0051] The shearing component 3 includes a number of mechanical claws 301. The end of the upper limb of a single mechanical claw 301 is slidably installed in the limiting chute 123 of the first limiting member 102. The middle part of the upper limb of a single mechanical claw 301 is hinged to the second limiting member 202 corresponding to the first limiting member 102. The end of the lower limb of a single mechanical claw 301 is hinged with an insulating base 302, and a tentacle member 303 is hinged on the insulating base 302.

[0052] In this embodiment, a servo motor is provided at the hinge between the mechanical claw 301 and the second limiting member 202, and the front end of the tentacle member 303 is wrapped with a shape memory alloy wire; specifically, the hydraulic cylinder 101 drives the connecting rod 103 to move downward, so that the transmission components move synchronously. At the same time, the servo motor at the hinge between the mechanical claw 301 and the second limiting member 202 rotates, so that the mechanical claw 301 rotates around the servo motor while moving with the transmission components, and the end of the upper limb of the mechanical claw 301 slides in the limiting chute 123, thereby realizing the movement of the mechanical claw 301; further, the insulating base 302 rotates at the end of the lower limb of the mechanical claw 301 to adjust the direction and position of the tentacle member 303. The mechanical claw 301 and the insulating base 302 are adjusted adaptively, so as to adjust the effect of the tentacle member 303. While using the tentacle member 303 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 302.

[0053] As Figure 2As shown, in one embodiment, a single mechanical claw 301 further includes a first hinge member 305 and a connection groove 306. The first hinge member 305 is provided at the end of the upper limb of the single mechanical claw 301, and the first hinge member 305 is movably installed in the limit chute 123 of the installation assembly 1; a connection groove 306 is provided in the middle of the upper limb of the single mechanical claw 301, and a second hinge member 307 is provided in the connection groove 306, and the second hinge member 307 is hinged to the corresponding second limiting member 202 of the first limiting member 102.

[0054] In this embodiment, the servo motor is arranged in the second hinge member 307. While the servo motor drives the mechanical claw 301 to make a circular motion around the axis of the second hinge member 307, the first hinge member 305 slides in the limit chute 123 to limit the mechanical claw 301, and the motion range of the mechanical claw 301 is established to avoid collision damage.

[0055] In one embodiment, two tentacle members 303 are hingedly arranged on the insulating base 302, and meshing cutting tools 304 are arranged on adjacent sides of the tentacle members 303 close to the insulating base 302.

[0056] In this embodiment, the sharp front ends of the two tentacle members 303 are convenient for accurately clamping foreign objects. When the cutting tools 304 at the rear ends of the tentacle members 303 close to the insulating base 302 are meshed, linear foreign objects such as kite strings can be sheared.

[0057] As Figure 3 shown, in one embodiment, the first limiting member 102 is composed of a sleeve 121 and a fixing plate 122. The sleeve 121 is fixedly arranged at the bottom of the hydraulic cylinder 101, and the inside of the sleeve 121 is hollow. A plurality of pairs of fixing plates 122 are arranged on the outer surface of the sleeve 121, and limit chutes 123 are arranged on the fixing plates 122.

[0058] In this embodiment, the first hinge member 305 of the mechanical claw 301 is slidably installed in the paired fixing plates 122 to achieve the limiting effect.

[0059] As Figure 4 shown, in one embodiment, the installation assembly 1 further includes a connection flange 104. The connection flange 104 is fixedly arranged at the top of the hydraulic cylinder 101, and the connection flange 104 is used for fixedly connecting the UAV body.

[0060] In this embodiment, the connection flange 104 fixedly installs the grasping and shearing device at the bottom of the UAV body, and moves the grasping and shearing device based on the UAV body to achieve intelligent recognition, adaptive grasping and shearing capabilities.

[0061] As shown Figure 5 In one embodiment, the transmission assembly 2 includes a moving disc 201. A plurality of second limit members 202 are arranged on the outer side of the moving disc 201. A limit hole 203 is arranged at the end of the second limit member 202 away from the moving disc 201. The second hinge member 307 of the shearing assembly 3 is installed in the limit hole 203.

[0062] In this embodiment, through the lifting movement of the moving disc 201, the degree of closeness of the lower ends of the mechanical claws 301 can be adjusted.

[0063] In one embodiment, a rangefinder 204 and a piezoresistive sensor 205 are respectively and fixedly arranged on adjacent sides of the two second limit members 202. A binocular camera 206 is arranged at the bottom of the moving disc 201 near the rangefinder 204 and the piezoresistive sensor 205.

[0064] In this embodiment, the rangefinder 204 is used to measure the distance between the UAV body and the foreign object. The piezoresistive sensor 205 is used to obtain the grasping force on the tentacle member 303 and the shearing stress on the cutter 304 in real time. The binocular camera 206 is used to obtain the foreign object image in real time for processing and auxiliary functions.

[0065] A control method for a catenary foreign object grasping and shearing device, which is applied to the catenary foreign object grasping and shearing device, includes the steps of:

[0066] Obtaining the foreign object image information corresponding to the foreign object on the catenary and performing preprocessing;

[0067] Classifying the foreign object based on the foreign object image information. The foreign object types include shearing foreign objects and grasping foreign objects:

[0068] P C = Sigmoid(w1·I texture + w2·I color )

[0069] Wherein, w1 is the texture weight and w2 is the color weight;

[0070] Selecting a differential processing strategy based on the foreign object type. The differential processing strategies include a shearing processing strategy and a grasping processing strategy.

[0071] 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-type foreign object is a foreign object with linear features such as kite strings that need to be cut by a shearing tool. The grasping-type foreign object is a foreign object with sheet-like or mass-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 solution according to the foreign object type.

[0072] Specifically, the foreign object image information corresponding to the foreign object on the catenary is obtained through a binocular camera, and an improved YOLOv10 model is used to classify the foreign object. The foreign object types include shearing-type foreign objects and grasping-type foreign objects, and a differential processing strategy is adopted for different types of foreign objects.

[0073] In one of the embodiments, the shearing processing strategy includes the steps of:

[0074] Based on the hough transform detection algorithm, edge detection and mapping are performed on the straight lines in the foreign object image information to obtain a straight line feature set;

[0075] Based on a preset deep learning model, the straight line feature set is filtered to obtain a foreign object feature set, and the midpoint coordinates of the shearing-type foreign object are obtained based on the foreign object feature set:

[0076] ρ = xcosθ + ysinθ (θ ∈ [0, π])

[0077] where ρ is the straight line length and ρ ≤ 50 cm, and θ is the angle between the straight line and the ground;

[0078] Obtain the line tension and dynamically calculate the shearing force:

[0079]

[0080] where T is the line tension, d is the distance between the cutting edges of the tool, and μ is the friction coefficient.

[0081] 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 shearing-type foreign object. The midpoint coordinates are the geometric center points obtained by calculating the straight lines and serve as the reference positions for the shearing operation. The line tension is the tension force exerted on the foreign object measured in real time by a strain gauge, mainly reflecting the physical state of the foreign object, that is, whether it has been sheared. The shearing force is the minimum force required to ensure that the tool completely cuts the foreign object.

[0082] 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, interfering lines are filtered from the set of line features based on factors such as the length of the line and the angle between the line and the ground. The midpoint coordinates of the shearing foreign object are obtained based on the set of foreign object features as the shearing reference point. The line tension data is acquired through a sensor, and the shearing force is dynamically calculated in combination with the material properties to ensure precise tool movement.

[0083] In one of the embodiments, the grasping processing strategy includes the steps of:

[0084] Obtaining static data information of the grasping foreign object based on the foreign object image information, where the static data information includes the material and mass of the grasping foreign object;

[0085] Calculating the grasping force based on the static data information:

[0086] F target = k·m·g + F adhesion

[0087] where k is the safety factor, m is the mass, and F adhesion is the electrostatic adsorption force.

[0088] In this embodiment, the static data information is the inherent attributes of the foreign object obtained through image analysis, including the material and mass, and the grasping force is the clamping force applied by the mechanical claw.

[0089] 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.

[0090] The specific implementation manner of a catenary foreign object grasping and shearing device and control method of the present invention is as follows:

[0091] First, the foreign object image information corresponding to the foreign object on the catenary is acquired by a binocular camera for classification. If it is a shearing foreign object, edge detection and mapping are performed on the lines in all foreign object images based on an algorithm, and interfering lines are filtered based on a deep learning model, so as to calculate the midpoint coordinates of the shearing foreign object as the shearing reference point. After the shearing component is moved close to the shearing reference point based on the UAV body, the hydraulic cylinder moves the transmission component based on the connecting rod, so as to realize the large-range rotation of the mechanical claw. At the same time, a small-range position adjustment is performed on the end of the mechanical claw based on the servo motor in the second hinge. Finally, the inner side of the tool of the tentacle part reaches the shearing reference point by rotating the insulating base. And the shearing force is dynamically calculated based on the line tension, and the tool is driven to engage to shear the shearing foreign object, so that the shearing foreign object is disconnected and dropped.

[0092] If it is a grasping foreign object, static data information of the grasping foreign object is obtained based on the foreign object image information, so as to calculate the required grasping force, and the mechanical claw is driven to grasp the grasping foreign object as described above, so as to tear off the grasping foreign object on the catenary for recovery.

[0093] The present invention and its implementation manners have been described above. Such 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 purpose of the present invention creation, structures and embodiments similar to the technical solution are designed without creative efforts, they shall fall within the protection scope of the present invention.

Claims

1. An overhead contact line foreign object grasping and shearing device, which is applied to an unmanned aerial vehicle body, and is characterized in that: It includes an installation component (1), a transmission component (2) and a shearing component (3). The installation component (1) includes a hydraulic cylinder (101). A first limiting member (102) is fixedly installed at the bottom of the hydraulic cylinder (101). A number of limiting chutes (123) are arranged in the first limiting member (102). One end of a connecting rod (103) is fixedly connected to the hydraulic cylinder (101), and the other end of the connecting rod (103) passes through the first limiting member (102) and is fixedly connected to the top of the transmission component (2). The transmission component (2) is arranged at the lower part of the installation component (1). The transmission component (2) includes a number of second limiting members (202) corresponding to the positions of the first limiting members (102). The shearing component (3) includes a number of mechanical claws (301). The end of the upper limb of a single mechanical claw (301) is slidably installed in the limiting chute (123) of the first limiting member (102). The middle part of the upper limb of a single mechanical claw (301) is hinged to the second limiting member (202) corresponding to the first limiting member (102). The end of the lower limb of a single mechanical claw (301) is hinged with an insulating base (302), and a tentacle member (303) is hinged on the insulating base (302).

2. The catenary foreign object grasping and shearing device according to claim 1, characterized in that: A single mechanical claw (301) further includes a first hinge member (305) and a connecting groove (306). The first hinge member (305) is arranged at the end of the upper limb of a single mechanical claw (301), and the first hinge member (305) is movably installed in the limiting chute (123) of the installation component (1). The connecting groove (306) is arranged in the middle part of the upper limb of a single mechanical claw (301), and a second hinge member (307) is arranged in the connecting groove (306). The second hinge member (307) is hinged to the second limiting member (202) corresponding to the first limiting member (102).

3. The contact network foreign object grasping and shearing device according to claim 2, characterized in that: Two tentacle members (303) are hinged on the insulating base (302), and meshing cutters (304) are arranged on the adjacent sides of the tentacle members (303) close to the insulating base (302).

4. The catenary foreign object grasping and shearing device according to claim 1, characterized in that: The first limiting member (102) is composed of a sleeve (121) and a fixing plate (122). The sleeve (121) is fixedly arranged at the bottom of the hydraulic cylinder (101), and the inside of the sleeve (121) is hollow. A number of pairs of fixing plates (122) are arranged on the outer surface of the sleeve (121), and the limiting chutes (123) are arranged on the fixing plates (122).

5. The catenary foreign object grasping and shearing device according to claim 4, characterized in that: The installation component (1) further includes a connecting flange (104). The connecting flange (104) is fixedly arranged at the top of the hydraulic cylinder (101), and the connecting flange (104) is used for fixedly connecting the UAV body.

6. The catenary foreign object grasping and shearing device according to claim 1, wherein: The transmission component (2) includes a moving disc (201), and a plurality of the second limiting members (202) are arranged on the outer side of the moving disc (201). A limiting hole (203) is arranged at the end of the second limiting member (202) far from the moving disc (201), and a second hinge member (307) of the shearing component (3) is installed in the limiting hole (203).

7. The catenary foreign object grasping and shearing device according to claim 6, characterized in that: A rangefinder (204) and a piezoresistive sensor (205) are respectively and fixedly arranged on the adjacent two sides of the two second limiting members (202), and a binocular imaging member (206) is arranged at the bottom of the moving disc (201) near the rangefinder (204) and the piezoresistive sensor (205).

8. A control method for a catenary foreign object grasping and shearing device, which is applied to the catenary foreign object grasping and shearing device according to any one of the above-mentioned claims 1-7, and is characterized in that: Including steps: Obtain the foreign object image information corresponding to the foreign object on the catenary and perform preprocessing; Classify the foreign object based on the foreign object image information, and the foreign object types include shearing foreign objects and grasping foreign objects: P C = Sigmoid(w1·I texture + w2·I color ) Wherein, w1 is the texture weight and w2 is the color weight; Select a differential processing strategy based on the foreign object type, and the differential processing strategy includes a shearing processing strategy and a grasping processing strategy.

9. A control method for an OCS foreign object grasping and shearing device according to claim 8, characterized in that: The shearing processing strategy includes steps: 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; 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: ρ = xcosθ + ysinθ (θ ∈ [0, π]) Wherein, ρ is the straight line length, and ρ ≤ 50 cm, and θ is the angle between the straight line and the ground; Obtain the wire tension and dynamically calculate the shearing force: Where T is the wire tension, d is the distance between the tool edges, and μ is the friction coefficient.

10. A control method for a catenary foreign object grasping and shearing device according to claim 8, characterized in that: The grasping processing strategy includes steps: Obtain the static data information of the grasping foreign object based on the foreign object image information, and the static data information includes the material and mass of the grasping foreign object; Calculate the grasping force based on the static data information: F target = k·m·g + F adhesion where k is the safety factor, m is the mass, and F adhesion is the electrostatic adsorption force.

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