Control method of operation robot and operation robot

Abstract

The embodiment of the invention relates to an operation robot, and discloses an operation robot operation control method, which comprises the steps of establishing and running a double-closed-loop balance system in real time; based on the real-time data of the double-closed-loop balance system, obtaining an operation instruction and operation scene information, and collecting multi-modal information of the robot; fusing the operation scene information, the multi-modal information and the state of the double-closed-loop balance system to generate a motion path plan of the robot; controlling posture adjustment of the robot according to the motion path planning, and generating a preset motion track from a current position to a target position; and in the process of executing the preset motion trail, graded state monitoring is started for the robot. Position transfer of the operation robot between different wires and obstacles is achieved, and the movement stability and operation safety of the operation robot in a complex scene are ensured. The invention further discloses the operation robot.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a control method for a working robot and a working robot. Background Art

[0002] With the continuous development of the economy and the updating of social needs, higher requirements are placed on the continuity of power supply in the distribution network. The reliability of transmission lines depends on two aspects: initial installation and subsequent maintenance. Most of the subsequent maintenance requires live work to ensure continuous power transmission.

[0003] High-voltage and ultra-high-voltage overhead transmission lines are often laid across regions, such as high mountains and long rivers. This makes inspection and maintenance of these lines challenging in the event of severe weather conditions such as typhoons, hail, and heavy snow. During operation, certain factors (such as foreign objects or broken strands) can create hidden dangers in the lines, preventing power outages and necessitating timely energization to correct the anomaly. Traditional live-line operations in distribution networks rely on operators standing on insulated boom trucks. These operators face the threat of strong electromagnetic fields and high voltages, as well as the impact of limited space, harsh conditions, intense mental stress, and labor intensity, which can easily lead to various safety incidents.

[0004] With the development of artificial intelligence and its control technology, the application of work robots includes wire repair robots, hardware defect removal robots (such as bolt tightening robots), and wire foreign body removal robots. Their main control mode has gradually advanced from human control to semi-autonomous and then to fully autonomous. The research progress of work robots is mainly aimed at high starting point, intelligence, and multi-functionality. They adopt technologies such as multi-sensor fusion perception and recognition, scene reconstruction, machine vision / force feedback servo closed-loop control, and perform live-line work tasks through autonomous planning, intelligent optimization decision-making, big data behavior correction, and other methods, while also ensuring electromagnetic compatibility in high-voltage environments.

[0005] The main ways to upload the operating robot from the ground to the wire are drone assistance, rope pulling, manual methods, etc., but they all have problems such as difficult operation and low safety factor; the operating robot mainly walks on one or two wires and then carries related software and hardware devices, actuators, etc. to perform inspection, maintenance, and repair tasks.

[0006] However, the inventors have discovered that there are at least the following technical problems in the related art: the working robot cannot achieve walking operations across the same area segment of the conductor and across obstacles on the same conductor. Summary of the Invention

[0007] One purpose of the present application is to provide a control method for a working robot and a working robot, at least to solve the above-mentioned problems.

[0008] To achieve the above objectives, some embodiments of the present application provide a control method for a working robot, including:

[0009] Establish and operate a dual closed-loop balancing system in real time;

[0010] Based on the real-time data of the dual closed-loop balancing system, operation instructions and operation scene information are obtained, and multi-modal information of the robot is collected;

[0011] Fusing the operation scene information, multimodal information, and the state of the dual closed-loop balancing system to generate a motion path plan for the robot;

[0012] Controlling the robot's posture adjustment according to the motion path planning to generate a preset motion trajectory from the current position to the target position;

[0013] During the execution of the preset motion trajectory, hierarchical status monitoring is initiated for the robot.

[0014] Some embodiments of the present application further provide a working robot, comprising:

[0015] one or more processors; and

[0016] A memory storing computer program instructions, wherein the computer program instructions, when executed, enable the processor to perform the control method provided in the above embodiment.

[0017] Compared with related technologies, the solution provided in the embodiment of the present application establishes and runs a dual closed-loop balancing system, combines multi-source data fusion to generate motion path planning and a hierarchical status monitoring mechanism, which not only realizes the position transfer of the working robot between different wires and obstacles, but also ensures the motion stability and operation safety of the working robot in complex scenarios (such as crossing obstacles and crossing lines), realizes full-process intelligent control from instruction acquisition to trajectory execution, and improves operation efficiency and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0019] Figure 1 is a flow chart of a control method for a working robot provided by an embodiment of the present disclosure;

[0020] Figure 2 is a schematic structural diagram of an obstacle-crossing mechanism provided by an embodiment of the present disclosure;

[0021] Figure 3This is a structural diagram of the barrier-crossing mechanism provided by an embodiment of the present disclosure from another perspective;

[0022] Figure 4 is a schematic diagram of a partial structure of an obstacle-crossing mechanism provided in an embodiment of the present disclosure;

[0023] Figure 5 is a schematic diagram of a partial structure of an obstacle-crossing mechanism provided in an embodiment of the present disclosure;

[0024] Figure 6 is a structural schematic diagram of a first clamping device provided in an embodiment of the present disclosure;

[0025] Figure 7 is a schematic diagram of the assembly of the obstacle-crossing mechanism and the working robot provided in an embodiment of the present disclosure;

[0026] Figure 8 This is a schematic diagram of a single-conductor obstacle crossing operation provided by an embodiment of the present disclosure;

[0027] Figure 9 is a schematic diagram of a dual-conductor operation provided by an embodiment of the present disclosure;

[0028] Figure 10 This is a schematic diagram of the operation of the operating robot, drone, and conductor provided in the embodiment of the present disclosure.

[0029] Reference numerals:

[0030] 10: Robotic arm; 101: Main rod; 102: Base; 103: Groove; 104: Lead screw; 105: Second drive motor;

[0031] 20: First clamping device; 201: First connecting rod; 2011: First rod portion; 2012: Second rod portion; 202: First electric push rod; 203: First wheel body; 204: Second connecting rod; 205: Second wheel body; 206: Wire trough; 207: First drive motor;

[0032] 30: second clamping device; 40: first rotating motor;

[0033] 50: Angle adjustment device; 501: First plate; 5011: Through hole; 502: Second plate; 503: Second electric push rod;

[0034] 60: displacement adjustment mechanism; 601: slider; 602: second rotary motor; 603: connecting rod; 604: third rotary motor; 605: third electric push rod; 606: fourth electric push rod;

[0035] 70: operating robot; 80: drone; 90: intermediate platform; 100: upper hanging rope; 200: lower hanging rope; 300: guide wire. DETAILED DESCRIPTION

[0036] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0037] In the description and claims of the embodiments of the present disclosure, as well as in the accompanying drawings, the terms "first," "second," and the like are used to distinguish similar items and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate to describe the embodiments of the present disclosure herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions.

[0038] In the embodiments of the present disclosure, the terms "upper", "lower", "inside", "middle", "outside", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the embodiments of the present disclosure and their embodiments, and are not intended to limit the indicated devices, elements or components to having a specific direction, or to be constructed and operated in a specific direction. Moreover, in addition to being used to indicate directions or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in certain circumstances. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0039] Furthermore, the terms "disposed," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a removable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediary, or an internal connection between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in the embodiments of this disclosure based on the specific circumstances.

[0040] Unless otherwise stated, the term "plurality" means two or more.

[0041] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B means: A or B.

[0042] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0043] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0044] Combine Figures 1 to 10 As shown, an embodiment of the present disclosure provides a control method for a working robot, comprising:

[0045] S01. Establish and operate a dual closed-loop balancing system in real time. Through the dual control of force balance and safety balance, ensure that the robot maintains physical stability (no tipping or disconnection) and avoids electromagnetic risks (no spark discharge) during obstacle crossing.

[0046] S02. Based on the real-time data of the dual closed-loop balancing system, obtain operation instructions and operation scene information, and collect multimodal information of the robot;

[0047] S03. Integrate the operation scene information, multimodal information, and the state of the dual closed-loop balancing system to generate a motion path plan for the robot. The position, force, and posture data of the robot body and the obstacle-crossing mechanism provide accurate input for trajectory planning, avoiding disordered movements due to information loss.

[0048] S04, controlling the robot's posture adjustment according to the motion path planning to generate a preset motion trajectory from the current position to the target position;

[0049] S05. During the execution of the preset motion trajectory, hierarchical status monitoring is initiated for the robot. The status of the obstacle-crossing mechanism is independently monitored and stability thresholds are set to effectively prevent local failures from causing overall failure (e.g., timely pausing when the first or second obstacle-crossing mechanism becomes unstable in gripping the line), thereby improving system robustness.

[0050] By adopting the control method of the working robot provided by the embodiment of the present disclosure, a dual closed-loop balancing system is established and operated, and a motion path planning and hierarchical status monitoring mechanism are generated by combining multi-source data fusion to realize the position transfer of the working robot between different wires and obstacles, thereby ensuring the motion stability and operation safety of the working robot in complex scenarios (such as crossing obstacles and crossing lines), realizing full-process intelligent control from instruction acquisition to trajectory execution, and improving operation efficiency and reliability.

[0051] For example, a dual-conductor obstacle crossing operation on a high-voltage transmission line requires live maintenance on a 110kV high-voltage transmission line. The robot must cross from a parallel section of the dual-conductor line to a tension section with increased spacing. During this process, it must navigate obstacles such as shock absorbers and wire clamps while avoiding contact with the conductors and causing arcing. Environmental parameters: wind speed 2.5m / s (light breeze), humidity 60%, temperature 28°C.

[0052] The robot's posture data (such as inclination angle and angular velocity), force data of the obstacle-crossing mechanism's action point (such as line-grabbing force and friction), environmental wind data (2.5m / s) and gravity data are collected in real time. The PID control algorithm is used to dynamically adjust the obstacle-crossing mechanism's joint angle and line-grabbing force to offset the lateral deviation caused by wind and the downward trend caused by gravity, maintain the robot's force balance on the dual conducting wires, and avoid derailment or tipping over due to uneven force.

[0053] Wire spark detectors monitor for arc discharge risks, temperature and humidity sensors provide real-time feedback on environmental parameters, and electromagnetic induction sensors detect surrounding electric field strength. The robot's movement speed (for example, the obstacle-crossing mechanism's movement speed is 0.1 m / s) is then dynamically adjusted to ensure it can cross obstacles. For example, if the robot detects an abnormal local electric field strength (approaching the safety threshold), the obstacle-crossing mechanism's movement speed is automatically reduced to avoid electromagnetic compatibility issues or circuit overloads caused by rapid movement.

[0054] The operator sends semi-autonomous instructions through the remote terminal to trigger the preset program of "dual-conductor obstacle crossing". The system automatically interprets the instructions as the target task of "the obstacle crossing mechanism alternately crosses the tension section interval".

[0055] The identified operation scenario is double-conductor obstacle crossing, the target location is the conductor connection point on the other side of the tension section, and the environmental parameters (wind speed, temperature and humidity) are connected to the system in real time through sensors.

[0056] Collect multimodal information of the main body, the first obstacle-crossing mechanism and the second obstacle-crossing mechanism, including the main body information: current position coordinates (X1, Y1, Z1), horizontal inclination angle, vertical height; the first obstacle-crossing mechanism (front obstacle-crossing mechanism): force data and joint angle of the line-grabbing position A; the second obstacle-crossing mechanism (rear obstacle-crossing mechanism): force data and joint angle of the line-grabbing position B.

[0057] Based on the "dual-wire obstacle crossing" scenario, the system retrieves the corresponding dual-wire obstacle crossing control logic from the preset database. The logic includes the standard action sequence of "obstacle crossing mechanism alternately lifting the wire - lifting the body - translation".

[0058] Combined with real-time multimodal information (such as uneven force on the obstacle-crossing mechanism), the action sequence is adjusted: the front obstacle-crossing mechanism is prioritized to lift up to cross the shock-absorbing hammer, while the rear obstacle-crossing mechanism maintains the stable gripping force to prevent the overall center of gravity from shifting beyond the safety threshold.

[0059] Based on the status data of the double closed-loop balance system, a segmented trajectory is generated: "the front obstacle-crossing mechanism first translates along the target wire - lifts off the line to cross the obstacle - grabs the line and fixes - the rear obstacle-crossing mechanism translates - the front and rear obstacle-crossing mechanisms lift the body to cross the obstacle - the body falls off the line - the rear obstacle-crossing mechanism crosses the obstacle and grabs the line again." Each segment of the trajectory corresponds to the angle adjustment of the joints of the obstacle-crossing mechanism.

[0060] Through the feedback of the gyroscope on the robot body, the horizontal posture of the robot is fine-tuned in real time during the translation of the obstacle-crossing mechanism to ensure that the inclination angle during translation is always less than the preset value (such as 2°), avoiding obstacle crossing failure due to posture imbalance.

[0061] Monitor the robot's overall displacement speed and center of gravity coordinate offset in real time to ensure that the deviation between the motion trajectory and the preset path is within the preset range.

[0062] During the translation phase of the barrier-crossing mechanism, independent monitoring is started for the front and rear barrier-crossing mechanisms respectively:

[0063] Front obstacle crossing mechanism: monitors whether the line gripping force is stable and the temperature of the joint motor;

[0064] Rear obstacle crossing mechanism: monitors whether the release action is in place (sensor feedback is 2cm away from the wire), collision detection during translation (triggered by no obstacles)

[0065] If the line-grabbing force of the rear obstacle-crossing mechanism drops suddenly and falls below the preset threshold when the rear obstacle-crossing mechanism is translating, the system will automatically pause the trajectory advancement, triggering the front obstacle-crossing mechanism to increase the line-grabbing force, and continue to execute the subsequent trajectory after the rear obstacle-crossing mechanism regains stable line grasping.

[0066] Optionally, the dual closed-loop balancing system includes: a first closed-loop balancing system, which dynamically adjusts the robot posture based on the robot's posture information, point of action force information, wind information and gravity information to maintain force balance.

[0067] The first closed-loop balancing system dynamically adjusts the robot's posture by integrating the robot's posture information, point of action force, wind force, and gravity information. It can offset external interference forces (such as wind force and uneven gravity) in real time, maintain force balance, and prevent the robot from tipping over or losing control of movement due to force imbalance, thereby ensuring its physical stability when walking or working on the wire.

[0068] Optionally, the dual closed-loop balancing system also includes: a second closed-loop balancing system, which dynamically adjusts the robot's movements based on the wire's spark detection information, ambient temperature and humidity information, electromagnetic induction information, circuit processing status information, and the robot's movement speed control information to maintain operation safety.

[0069] The second closed-loop balancing system dynamically adjusts its actions based on safety-sensitive information such as spark detection, temperature and humidity, and electromagnetic induction. It can provide early warning and avoid safety risks in live operations (such as arc discharge, circuit overload, and environmental abnormalities). By controlling parameters such as movement speed, it ensures the safety of the robot's operations in high-risk environments and prevents hardware damage or power system failures.

[0070] Optionally, the operation scene information includes: operation scene type, target location, wind speed, gravity, temperature and / or humidity;

[0071] The operation scene types include single-conductor walking and operation, double-conductor walking and operation, single-conductor obstacle crossing and / or double-conductor obstacle crossing.

[0072] Clarify the specific dimensions of the operating scene information (such as scene type and environmental parameters) so that the system can accurately identify the operating environment (such as single / dual wires and obstacle crossing requirements), optimize the control strategy based on environmental data such as wind speed, temperature and humidity, improve the robot's adaptability to diverse operating scenarios, and ensure the matching of control logic and execution accuracy under different working conditions.

[0073] Optionally, the working robot includes a main body and a first obstacle-crossing mechanism and a second obstacle-crossing mechanism respectively provided on both sides of the main body; and initiating hierarchical state monitoring of the robot during execution of the preset motion trajectory includes:

[0074] Real-time monitoring of the robot's overall status and key single component status;

[0075] During the obstacle crossing / crossing line operation, the first obstacle crossing mechanism and the second obstacle crossing mechanism shall be independently monitored;

[0076] If the current monitoring parameter does not reach the preset stability threshold, the motion trajectory will be paused until it reaches the preset stability threshold;

[0077] The robot is controlled to move toward the target position along the preset motion trajectory.

[0078] The hierarchical status monitoring mechanism (independent monitoring of the entire robot and single components) enables refined management of key parts of the robot (such as the obstacle-crossing mechanism), especially independent monitoring of the obstacle-crossing mechanism status when crossing obstacles / crossing lines. By controlling trajectory advancement through preset stability thresholds, component abnormalities (such as jamming, uneven force) can be detected in time and the action can be suspended, avoiding overall operation failure or safety accidents caused by local faults, thereby improving system robustness.

[0079] Optionally, obtaining multimodal information of the robot includes: obtaining position and posture information of the robot body, the first obstacle-crossing mechanism, and the second obstacle-crossing mechanism;

[0080] Among them, the key single components include the main body, the first obstacle-crossing mechanism and the second obstacle-crossing mechanism.

[0081] Multimodal information collection covers the position and posture of the robot body and obstacle-crossing mechanism, enabling the system to obtain the spatial state data of each component of the robot in real time, providing accurate input for motion path planning and balance control, ensuring that the control algorithm is executed based on complete and real-time state feedback, and avoiding control deviation or lag due to information loss.

[0082] Optionally, the operation scene information, multimodal information, and the state of the dual closed-loop balancing system are integrated to generate a motion path plan for the robot, including:

[0083] Identify the current operation scenario based on the pre-built scenario database;

[0084] According to the identified operation scenario, the corresponding preset control logic is matched, and the preset control logic at least includes a logic combining neural network training and fuzzy control to realize single-wire walking and operation, dual-wire walking and operation, single-wire obstacle crossing, and dual-wire obstacle crossing;

[0085] When executing the preset control logic, the logic sequence can be dynamically adjusted to cope with unexpected situations based on the multimodal information and closed-loop balancing system status acquired in real time.

[0086] Based on the identification of the scene database and the matching of preset control logic, rapid response and algorithm adaptation are achieved for different operation scenarios (single / dual-wire walking, obstacle crossing). Combined with the dynamic logic adjustment mechanism, the control strategy can be flexibly switched in unexpected situations (such as sudden changes in obstacles), thereby improving the system's intelligence level and emergency handling capabilities and ensuring operation continuity.

[0087] Optionally, the operation instructions include: intelligent autonomous instructions, semi-autonomous instructions and manual control instructions. Multi-mode operation instructions (intelligent autonomous, semi-autonomous, manual control) meet different operation requirements.

[0088] Under intelligent autonomous instructions, the control method also includes: automatically reading and judging the robot's state and posture, making operational judgments, and planning the optimal motion path for the operational target; through automatic state judgment and path optimization, human intervention is reduced, and operational efficiency and autonomy in complex scenarios are improved;

[0089] Under semi-autonomous control, responding to a one-touch start command triggers a pre-set intelligent operating program. This streamlines the operating process, combining intelligent programs to handle complex tasks like multi-motor coordination, reducing the difficulty of manual operation. Triggering pre-set programs with a one-touch start reduces manual intervention while retaining the ability to dynamically adjust (such as fine-tuning the sequence of actions based on real-time data), ensuring both efficiency and safety.

[0090] Under manual control, the system receives operator control commands wirelessly. Wireless real-time control ensures human intervention in emergency or high-risk scenarios, enhancing system safety and controllability.

[0091] Optionally, the control method further includes:

[0092] During the robot's movement toward the target position, if it is detected that the actual motion trajectory deviates from the preset motion trajectory and exceeds the allowable threshold of the target parameters, including but not limited to the induced voltage, current, temperature, spark degree, gravity balance, etc., then one or a combination of the following operations are performed:

[0093] Re-plan the motion path, control the robot to readjust its posture, and switch from intelligent autonomous / semi-autonomous instructions to manual control instructions.

[0094] The trajectory deviation processing mechanism (path replanning, posture adjustment, and command mode switching) can correct motion deviations in a timely manner to avoid operation failures or safety hazards caused by trajectory deviation. Through a combination of multiple strategies (autonomous repair and manual intervention), the system's fault tolerance is improved to ensure that the robot can still complete the task as expected in unexpected situations, thereby ensuring operation reliability and safety.

[0095] For example, a robot is crossing from a single conductor to an adjacent conductor. A live splicing operation is required on a 10kV distribution line between two adjacent conductors. The robot is currently located on conductor L1 and needs to cross to conductor L2 and complete the installation of the clamp. Environmental parameters: wind speed 1.5m / s (light breeze), humidity 55%, temperature 30°C, no rain.

[0096] The robot's posture, obstacle-crossing mechanism action point force, wind force (1.5 m / s), and gravity data are collected in real time. The obstacle-crossing mechanism joint torque is adjusted through a force control algorithm to offset the lateral offset caused by wind and the droop caused by gravity, maintain the force balance of the robot on the wire L1, and ensure the stability of the robot before crossing the line.

[0097] The spark detector monitors the electric field strength around the wires L1 / L2 (less than the safety threshold), and the temperature and humidity sensors confirm that the environment is dry. Combined with the robot's movement speed, it is pre-judged that there is no arc discharge risk during the line crossing process, and the line crossing action is allowed to start.

[0098] The operator sends an intelligent autonomous command via a wireless terminal, which the system automatically interprets as "crossing from conductor L1 to conductor L2." The identified operation scenario is a single-conductor obstacle crossing (crossing over to an adjacent conductor). The target location point P coordinates (X2, Y2, Z2) and environmental parameters (wind speed, temperature and humidity) are synchronized to the system in real time.

[0099] Collect multimodal information of the main body, the first obstacle-crossing mechanism and the second obstacle-crossing mechanism, including the main body information: current position, horizontal attitude angle, vertical height; the first obstacle-crossing mechanism (front obstacle-crossing mechanism): line-grabbing position A, joint angle; the second obstacle-crossing mechanism (rear obstacle-crossing mechanism): line-grabbing position B, joint angle.

[0100] The system calls the preset cross-line control logic based on the "single-conductor cross-line" scenario.

[0101] Based on the wire spacing and height difference, calculate the required lifting height and translation distance of the obstacle-crossing mechanism (reserving a safety margin), and plan the trajectory to avoid imbalance of the center of gravity due to single-arm movement.

[0102] For example, the clamping structure holding the working robot body on wire L1 is released, and the displacement adjustment mechanisms of the two obstacle-crossing mechanisms are activated, lifting the working robot body upward so that it is first free from wire L1 and in the air. The second drive motors 105 of the two obstacle-crossing mechanisms are then driven to rotate the lead screw 104, causing the slider 601 to move along the lead screw 104 to the other end, thereby moving the displacement adjustment mechanism 60. The displacement adjustment mechanism 60 is then activated to adjust the angle of the robotic arm 10, allowing the working robot 70 to land on wire L2 and allow wire L2 to enter the groove of the working robot 70. If the working robot 70 needs to move to the third wire L3, the two obstacle-crossing mechanisms are first activated to clamp the second and third wires L2 and L3, establishing the basic moving chassis, and then repeating this process. In other words, the working robot 70 is first lifted upward so that it is free from the wire and in the air. The displacement adjustment mechanism 60 then controls the angle and distance of the working robot 70 relative to the robotic arm 10, allowing the working robot 70 to land on the wire and allow the wire to enter the groove of the working robot 70.

[0103] During the translation process, the body posture is fed back in real time through the inertial measurement unit. If the roll angle is detected to be greater than the preset value, the single-arm fine-tuning is immediately initiated (such as increasing the lateral force of the front obstacle-crossing mechanism) to ensure a smooth translation trajectory.

[0104] An embodiment of the present disclosure also provides a working robot, comprising one or more processors; and a memory storing computer program instructions, wherein when the computer program instructions are executed, the processor executes the control method of the working robot provided in the above embodiment.

[0105] Optionally, the operating robot may further include a communication interface and a bus. The processor, communication interface, and memory may communicate with each other via the bus. The communication interface may be used for information transmission. The processor may invoke logic instructions in the memory to execute the control method for the operating robot of the above-described embodiment.

[0106] An embodiment of the present disclosure further provides a computer-readable medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the control method for the working robot provided in any of the aforementioned embodiments.

[0107] An embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the control method of the working robot.

[0108] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium can be a non-transient storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program code, or a transient storage medium.

[0109] Combine Figures 1 to 9 As shown, the embodiment of the present disclosure further provides an obstacle-crossing mechanism for a working robot, comprising: a robotic arm 10 and a displacement adjustment mechanism 60. A first clamping device 20 and a second clamping device 30 are respectively provided at both ends of the robotic arm 10, and the first clamping device 20 and the second clamping device 30 are both used to clamp the wire 300 for positioning and fixing; the displacement adjustment mechanism 60 is rotatably connected to the robotic arm 10 and is retractable to adjust the angle and distance between the robotic arm 10 and the working robot 70; wherein the displacement adjustment mechanism 60 drives the robotic arm 10 to move, adjusts the angle and position of the first clamping device 20 and / or the second clamping device 30 to clamp the wire 300, so as to support the working robot 70, separate the working robot 70 from the wire 300, and transfer the connection position.

[0110] By adopting the obstacle-crossing mechanism provided in the embodiment of the present disclosure, the first clamping device 20 and the second clamping device 30 at both ends of the robotic arm 10 are respectively clamped and fixed to the conductor 300, and combined with the retractable and rotatable displacement adjustment mechanism 60, a "clamping-separation-transfer" obstacle-crossing execution logic is formed, breaking through the traditional single conductor 300 fixing mode, and realizing the position transfer of the working robot 70 between different conductors 300 or obstacles; the line-crossing / obstacle-crossing action can be completed autonomously without relying on manual or drone assistance 80, shortening the operation time and improving the automation level of distribution network maintenance.

[0111] The operating robot 70 can be completely separated from the original conductor 300 by adjusting the first clamping position and the second clamping device 30 respectively, avoiding the mechanical risk of directly climbing obstacles. It is particularly suitable for high-voltage line operations in complex terrain (such as mountains and river areas).

[0112] The telescopic and rotational design of the displacement adjustment mechanism 60 , in conjunction with the robotic arm 10 , can gradually adjust the connection position while maintaining the stability of the working robot 70 .

[0113] Optionally, the first clamping device 20 / the second clamping device 30 includes: a first connecting rod 201, which is connected to the first end of the robotic arm 10 and is provided with a first wheel body 203; a second connecting rod 204, which is rotatably connected to the second connecting rod 204 and is provided with a second wheel body 205; wherein the first wheel body 203 and / or the second wheel body 205 are constructed with a wire groove 206 to accommodate the fixing of the wire 300.

[0114] The structure of the wire trough 206 conforms to the contour of the conductor 300, enhancing clamping stability through mechanical clamping, thereby preventing operational interruptions or safety accidents caused by the swaying of the conductor 300. The connecting rod structure simplifies the connection between the clamping device and the robot arm 10, facilitating modular design and enabling rapid adaptation to different models of the working robot 70.

[0115] Optionally, the first connecting rod 201 includes a first rod portion 2011 and a second rod portion 2012 that are perpendicular to each other, and the second connecting rod 204 is rotatably connected to the second rod portion 2012; the first clamping device 20 also includes: a first electric push rod 202, one end of which is rotatably connected to the first rod portion 2011, and the other end of which is rotatably connected to the second connecting rod 204, so as to drive the second connecting rod 204 to rotate relative to the second rod portion 2012 when the first electric push rod 202 is extended, thereby adjusting the position of the second wheel body 205 relative to the first wheel body 203.

[0116] The first electric push rod 202 precisely controls the opening and closing angle of the second wheel 205 through mechanical transmission. This allows for dynamic adjustment of the clamping force based on the diameter of the conductor 300 (e.g., high-voltage / ultra-high-voltage lines), preventing damage to the conductor 300 from excessive compression or loosening due to insufficient clamping. Furthermore, the first electric push rod 202 exhibits rapid linear motion response, enabling rapid clamping and release in complex operating environments (e.g., strong winds and electromagnetic interference), improving obstacle avoidance efficiency.

[0117] Optionally, the first clamping device 20 / the second clamping device 30 further includes: a first driving motor 207, which is provided on the second connecting rod 204 and is drivingly connected to the second wheel body 205 to drive the second wheel body 205 to rotate, so that the second wheel body 205 moves along the wire 300.

[0118] The first drive motor 207 directly drives the second wheel 205 to rotate, and drives the obstacle crossing mechanism to move autonomously along the wire 300 through friction with the wire 300, without relying on the power of the working robot 70 itself, reducing overall energy consumption and improving the independence of the robotic arm 10.

[0119] In the single-wire 300 obstacle crossing scenario, the rotation of the second wheel body 205 can assist the robotic arm 10 in "climbing" obstacles, reducing dependence on the obstacle crossing mechanism of the working robot 70 body.

[0120] Optionally, it further includes: a first rotary motor 40, which is provided at the end of the robot arm 10 and connected to the first connecting rod 201, for driving the first connecting rod 201 to rotate, thereby driving the first wheel body 203 and the second wheel body 205 to rotate.

[0121] The 360-degree rotation function allows the clamping device to be adjusted to any angle, adapting to conductors 300 with different orientations (such as horizontal and tilted conductors 300), expanding the working range. Before working across a conductor 300, the clamping device is rotated to adjust the robot arm 10's posture to ensure alignment with the target conductor 300, reducing collision risk and improving positioning accuracy.

[0122] Optionally, it further includes: an angle adjustment device 50, which is provided between the first rotary motor 40 and the robotic arm 10, and is used to drive the first rotary motor 40 to swing and adjust the angle between the first rotary motor 40 and the robotic arm 10.

[0123] Combining the 360° rotation of the rotary motor and the swing of the angle adjustment device 50, a "rotation + pitch" compound motion is formed, so that the clamping device can fit the spatial angle of complex obstacles, improve the success rate of obstacle crossing, and achieve multi-dimensional posture adjustment.

[0124] In addition, by precisely adjusting the angle of the clamping device, equipotential connections can be gradually established when crossing conductors 300 with different potentials, thereby avoiding arc discharge caused by excessive potential differences and enhancing operational safety.

[0125] Optionally, the angle adjustment device 50 also includes: a first sheet 501, fixedly connected to the end of the robotic arm 10 and configured with a through hole 5011; a second sheet 502, fixedly connected to the end of the first rotating motor 40, and hinged to the first sheet 501 at the edge; a second electric push rod 503, embedded in the robotic arm 10, and its push rod portion passes through the through hole 5011 and is rotatably connected to the second sheet 502 through a connecting piece; wherein, when the second electric push rod 503 extends, it pushes the second sheet 502 to open relative to the first sheet 501, drives the first rotating motor 40 to rotate relative to the robotic arm 10, and adjusts the position of the first clamping device 20 / the second clamping device 30.

[0126] The second electric push rod 503 is embedded within the robotic arm 10, reducing externally exposed components, lowering the risk of electromagnetic interference in high-voltage environments, and enhancing the overall strength of the robotic arm 10. Furthermore, the linear displacement of the second electric push rod 503 is precisely controlled by a servo system, achieving angular adjustment accuracy and ensuring that the alignment error between the clamping device and the wire 300 is less than a safety threshold.

[0127] Optionally, the robotic arm 10 includes: a main rod 101, with a first clamping device 20 and a second clamping device 30 at both ends respectively; a base 102, connected to the main rod 101, and arranged along the axial direction of the main rod 101; the base 102 is constructed with a groove 103, and a screw 104 is provided in the groove 103; a second drive motor 105, which is arranged on the base 102 and is driven and connected to the screw 104 to drive the screw 104 to rotate in the base 102; wherein, the displacement adjustment mechanism 60 is connected to the screw 104 to adjust the connection position of the robotic arm 10 and the displacement adjustment mechanism 60.

[0128] The screw 104 transmission has high rigidity and low return clearance characteristics, and the second drive motor 105 can accurately control the axial displacement of the robot arm 10 along the main rod 101 (such as adjusting the spacing when crossing the double wires 300) to ensure the lateral alignment error between the clamping device and the target wire 300.

[0129] Optionally, the main rod 101 is an electric push rod structure and is retractable. Optionally, the length of the main rod 101 is greater than the length of the base 102.

[0130] The extended main pole 101 increases the lateral span of the first and second clamping devices 20 and 30, allowing them to accommodate dual conductors 300 with varying spacing, adapting to a variety of line scenarios without requiring replacement equipment. Furthermore, the longer main pole 101 allows for bypassing low obstacles (such as tree branches and tower components) by enabling direct adjustment of the clamping position via the displacement adjustment mechanism 60, reducing direct contact between the robotic arm 10 and obstacles.

[0131] Optionally, the displacement adjustment mechanism 60 includes: a slider 601, connected to the screw 104; a second rotary motor 602, provided on the slider 601, for driving the slider 601 to rotate; a connecting rod 603, one end of which is hinged to the second rotary motor 602 to adapt to the relative angle and position with the robotic arm 10; wherein, the connecting rod 603 is a telescopic structure, and when the connecting rod 603 performs telescopic movement, it drives the robotic arm 10 to move to adjust the distance from the robotic arm 10 to the working robot 70.

[0132] The slider 601 moves along the lead screw 104 to adjust the displacement of the robotic arm 10 along its axial direction; the second rotary motor 602 drives the slider 601 to rotate to adjust the relative angle between the robotic arm 10 and the connecting rod 603; when the connecting rod 603 makes telescopic movement, it drives the robotic arm 10 to move and adjusts the distance from the robotic arm 10 to the working robot 70, forming a multi-directional linkage to realize full-space planning of the obstacle-crossing path.

[0133] Optionally, the displacement adjustment mechanism 60 further includes: a third rotary motor 604 , which is hinged to the other end of the connecting rod 603 and is configured to be installed on the working robot 70 to drive the displacement adjustment mechanism 60 to rotate relative to the working robot 70 .

[0134] The third rotary motor 604, along with the first rotary motor 40 at the end of the robotic arm 10, forms a "two-end drive" configuration. This allows for synchronous adjustment of the robotic arm 10 and its end gripper during obstacle crossing, making it suitable for complex wire 300 layouts. After the obstacle is crossed, the third rotary motor 604 quickly resets the displacement adjustment mechanism 60 to its initial state, saving time for subsequent operations.

[0135] Optionally, the displacement adjustment mechanism 60 further includes: a third electric push rod 605 , one end of which is hinged to the side wall of the connecting rod 603 , and the other end of which is hinged to the side wall of the third rotary motor 604 , for supporting and adjusting the offset angle of the connecting rod 603 .

[0136] The rigid support provided by the third electric push rod 605 offsets wind disturbances during high-altitude operations, ensuring the correct angle of the connecting rod 603 and preventing clamping failure due to shaking. Furthermore, if an abnormal electromagnetic signal (such as a precursor to a discharge) is detected during obstacle crossing, the third electric push rod 605 can quickly adjust the angle of the connecting rod 603, allowing the robotic arm 10 to urgently escape the danger zone.

[0137] Optionally, the displacement adjustment mechanism 60 further includes: a fourth electric push rod 606 , one end of which is hinged to the side wall of the connecting rod 603 , and the other end of which is hinged to the side wall of the second rotary motor 602 , so as to support and adjust the offset angle of the connecting rod 603 .

[0138] Optionally, the third electric push rod 605 and the fourth electric push rod 606 are respectively provided at both ends of the connecting rod 603. Moreover, the third electric push rod 605 and the fourth electric push rod 606 are not in the same plane.

[0139] The non-coplanar dual electric actuator design independently controls the pitch and roll angles of the connecting rod 603, enabling fine-tuning of the robot arm 10's posture in three-dimensional space (e.g., rotation around the X, Y, and Z axes), and adapting to more complex obstacle-crossing paths (e.g., scenarios where wires 300 cross). Furthermore, the dual actuator structure provides mechanical redundancy. If one actuator fails, the other can temporarily assume the load, preventing single-point failures that could lead to interruptions or equipment crashes and improving system reliability.

[0140] This embodiment systematically solves the problems of low obstacle crossing efficiency, insufficient safety, and poor environmental adaptability of the existing working robot 70 by combining multi-dimensional motion mechanism design (rotation, extension, and swing) with precise control logic (electric push rod, lead screw 104 transmission, and motor drive).

[0141] Obstacle-crossing mechanisms are provided at both ends of the working robot 70.

[0142] For example, the working robot 70 adjusts its obstacle-crossing mechanisms at both ends to an upward position. The corresponding clamping wires 300 of the first and second clamping devices 20 and 30 of the two obstacle-crossing mechanisms are closed and connected to and secured on four lifting rings suspended from the intermediate platform 90. The upper and lower suspension ropes of the intermediate platform 90 are adjusted to be as short as possible. The intermediate platform 90 and its suspension ropes are constructed of non-metallic, heat-resistant, and high-resistance materials to adapt to the robot's planar width and the width of the drone 80's hoisting platform. Both the upper and lower suspension ropes are equipped with pressure sensors. When the pressure sensor reading at one of the four suspension points on the intermediate platform 90 exceeds a threshold, the corresponding rope segment is released. Similarly, pressure sensors are also installed at the four suspension points on the intermediate platform 90. Similarly, when the pressure sensor reading at a particular suspension point exceeds a threshold, the corresponding rope segment is released. This ensures that during the lifting and flight process, the working robot avoids excessive swaying and excessive tilting at high altitudes due to its size and weight. Furthermore, during the online process, the angles of the working robot and the suspension wires 300 can be adjusted appropriately to ensure safe entry and secure placement.

[0143] While the working robot 70 is inserting the conductor 300 into the groove, the drone 80 carrying the robot is positioned above the conductor 300 to be worked on, while the drone 80 is in a safe area. The upper suspension rope 100 on the intermediate platform 90 is slowly extended. The drone 80 adjusts its position in the plane and lowers the lower suspension rope 200, aligning the working robot 70 laterally with the conductor 300. The conductor 300 is now locked into the groove of the working robot 70, securing it.

[0144] After the wire 300 enters the groove, the working robot 70 clamps the wire 300. The first wheel 203 and the second wheel 205 of the obstacle crossing mechanism clamp the open circular ring at the lower end of the lower suspension rope 200. At this time, one of the obstacle crossing mechanisms at the front and rear ends (both ends) of the working robot 70 drives the second wheel 205 to move in an open state relative to the first wheel 203, and the corresponding lower suspension rope 200 structure releases a section of rope, allowing the second wheel 205 to detach from the open circular ring at the lower end of the lower suspension rope 200. Then, the first clamping device 20 and the second clamping device 30 are driven to rotate, that is, the angles of the first wheel 203 and the second wheel 205 are adjusted, so that the first clamping device 20 and the second clamping device 30 are completely detached from the open circular ring of the lower suspension rope 200. Then, the displacement adjustment mechanism 60 drives the robot arm 10 to rotate not only longitudinally downward but also laterally, so that the robot arm 10 is located between the two wires 300 and the first clamping device 20 of the robot arm 10 is parallel to one of the two wires 300 .

[0145] The positions of the second clamping device 30, displacement adjustment mechanism 60, and robotic arm 10 are then adjusted so that the second clamping device 30 clamps the wire 300 into the wire groove 206 of the first and second wheels 203 and 205. This process is repeated to secure the other obstacle-crossing mechanism to the other parallel wire 300. The drone 80 then flies away, and the working robot 70 is securely connected to the wire 300.

[0146] When dismantling the working robot 70, the drone 80 first carries the intermediate platform 90 and lands above the working robot 70. One of the obstacle-crossing mechanisms at the front and rear ends of the working robot 70 is first detached from the wire 300. Through the displacement adjustment mechanism 60, the first clamping device 20 of the obstacle-crossing mechanism detached from the wire 300 is clamped and connected to the open circular ring at the bottom of the lower suspension rope 200. The other lower suspension rope 200 mechanism at the corresponding position is then adjusted to connect with the second clamping device 30 of the detached obstacle-crossing mechanism. Similarly, the other obstacle-crossing mechanism is detached, connecting it to the open circular ring at the bottom of the lower suspension rope 200. Finally, the clamping-related structures of the working robot 70 are released, and the drone 80 quickly flies away from the magnetic flux line area of ​​the wire 300.

[0147] After the working robot 70 and its obstacle-crossing mechanism safely land on the conductor 300, the front and rear obstacle-crossing mechanisms clamp onto the two conductors 300 at four points (wheel bodies) to ensure the balance of the working robot 70. The working robot 70 itself also has two clamping points to ensure a certain clamping force. The coordination of at least six clamping points ensures the overall balance and stability of the working robot 70 when operating on a single conductor 300. In some application scenarios, the working robot 70 can secure the conductor 300 using only the first clamping device 20 of one obstacle-crossing mechanism and the second clamping device 30 of the other obstacle-crossing mechanism.

[0148] When the working robot 70 needs to walk, the clamping force of the walking wheel is controlled by the pressure sensor data of the elastic material at the rear of each walking wheel of the working robot 70 contacting the wire 300, and the length of the main pole 101 of the robotic arm 10 of the obstacle-crossing mechanism is adjusted, such as extending the length of the main pole 101 to adapt to the width error caused by the long wire 300 sagging due to gravity, and ensuring that the two obstacle-crossing mechanisms can carry the working robot 70 to walk autonomously; combined with the single-wire 300 walking ability of the working robot 70 itself, it can walk safely and autonomously at high altitudes.

[0149] The displacement adjustment mechanism 60 of the obstacle-crossing mechanism is retractable as a whole. Both ends of the connecting rod 603 of the displacement adjustment mechanism 60 are driven by 360-degree rotating motors. At the same time, the relative angle between the connecting rod 603 and the third rotating motor 604 and the second rotating motor can be adjusted through the third electric push rod 605 and the fourth electric push rod 606. When the third electric push rod 605 at one end of the connecting rod 603 adjusts the angle, the fourth electric push rod 606 at the other end adjusts its push rod, and its push rod adaptability is free to extend and retract.

[0150] The main rod 101 of the robotic arm 10 can be extended and retracted to adjust the distance between its ends. The second drive motor 105, the lead screw 104, and the slider 601 cooperate to drive the displacement adjustment mechanism 60 to move integrally along the axial direction of the lead screw 104. The first clamping device 20 and the second clamping device 30 at each end of the robotic arm 10 can rotate 360 ​​degrees. The angle adjustment device 50 can adjust the first and second clamping devices 30 to the robotic arm 10 at a positive or negative 90-degree angle, thereby facilitating the insertion of the wire 300 into the wire groove 206 of the first and second wheels 203 and 205 in different situations.

[0151] If there are only one conductor 300 and no parallel conductors 300, first adjust the displacement adjustment mechanism 60 of one obstacle-crossing mechanism to align the robotic arm 10 with the conductor 300. Then, adjust the angle adjustment mechanism 50 and the first rotary motor 40 to coordinately guide the conductor 300 into the wire groove 206 of the first wheel 203 and second wheel 205 of the clamping device at one end (e.g., the first clamping device 20). Then, fine-tune the position of the robotic arm 10 to ensure that the conductor 300 enters the wire groove 206 of the first wheel 203 and second wheel 205 of the clamping device at the other end (e.g., the second clamping device 30). Repeat the above steps for the other obstacle-crossing mechanism.

[0152] When the working robot 70 needs to switch from one conductor 300 to another, the clamping structure of the working robot 70 is released, and the displacement adjustment mechanisms 60 of the two obstacle-crossing mechanisms are activated, lifting the working robot 70 so that it is first free from the conductor 300 and is in the air. The second drive motors 105 of the two obstacle-crossing mechanisms are then driven to rotate the lead screw 104, causing the slider 601 to move along the lead screw 104 to the other end, thereby moving the displacement adjustment mechanism 60. The displacement adjustment mechanism 60 is then driven again to adjust the angle of the robotic arm 10, allowing the working robot 70 to land on the conductor 300 and enter the groove of the working robot 70. If the working robot 70 needs to move to a third conductor 300, the two obstacle-crossing mechanisms are first activated to clamp the second and third conductors 300, forming the basic mobile chassis, and the above steps are repeated. That is, the working robot 70 is lifted up so that it is first separated from the wire 300 and is in the air, and the displacement adjustment mechanism 60 drives the angle and distance of the working robot 70 relative to the robotic arm 10, so that the working robot 70 falls on the wire 300 and the wire 300 enters the groove of the working robot 70.

[0153] When the dual conductors 300 cross an obstacle, one obstacle-crossing mechanism crosses the obstacle and clamps onto the dual conductors 300. Then, the two obstacle-crossing mechanisms and the working robot 70 move forward as a whole to a suitable position. The two obstacle-crossing mechanisms then lift the working robot 70 over the obstacle and clamp the conductors 300 into the groove of the working robot 70. After moving forward a certain position, the other obstacle-crossing mechanism is adjusted to cross the obstacle.

[0154] When navigating obstacles with a single conductor 300, the same process as for navigating obstacles with two conductors 300 is followed. If there is an obstacle above the single conductor 300 that cannot be surmounted, the working robot 70 can be positioned below the conductor 300, and the two robotic arms 10 can be adjusted to a downward-hanging configuration. The robot can then be advanced from below to overcome the obstacle, and then repositioned above the conductor 300.

[0155] According to different obstacle conditions, a single-wire 300 obstacle crossing method or a double-wire 300 obstacle crossing method is implemented, or the single-wire 300 obstacle crossing method or the double-wire 300 obstacle crossing method is implemented after changing the line, so as to expand the operating area of ​​the operating robot 70 as much as possible.

[0156] In some embodiments, the robot is equipped with multiple sensors as needed, and intelligent algorithms autonomously control its posture and movement speed during operation to ensure safe operation. When crossing lines, the phase voltage difference between the two high-voltage lines is large. Therefore, during movement, electromagnetic equipotential processing is implemented at any time based on sparks and internal electromagnetic induction, or circuit processing is implemented based on different potentials. Movement is resumed only after equipotential equilibrium or overall safety is achieved. In extremely dangerous situations, such as contact, the motor's movement is accelerated to establish equilibrium.

[0157] Except for the necessary metal parts, the entire structural parts of the robot are processed or cast with heat-resistant and pressure-resistant materials (such as epoxy resin, ceramics, etc.), and the external structure is interconnected to establish an equipotential body of the shell.

[0158] The above description and accompanying drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible variations. Unless expressly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. Moreover, the terms used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and / or" used in this application refers to any and all possible combinations of one or more of the associated listings. In addition, when used in this application, the term "including" refers to any and all possible combinations of one or more of the associated listings.

[0159] (comprise) and its variations "comprises" and / or including (comprising) refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups of these. In the absence of further restrictions, the elements defined by the sentence "comprising a..." do not exclude the presence of other identical elements in the process, method or device that includes the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments can be referenced to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can be found in the description of the method part.

[0160] 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 may depend on the specific application and design constraints of the technical solution. The technicians may 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 embodiments of the present disclosure. The technicians will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0161] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units can be merely a logical functional division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, and can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. In addition, the functional units in the embodiments of the present disclosure may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0162] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architectures, functions and operations of the systems, methods and computer program products according to the embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of the code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical functions. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, which can depend on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in an order different from that disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified function or action, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A control method for a working robot, characterized in that: include: Establish and operate a dual closed-loop balancing system in real time; Based on the real-time data of the dual closed-loop balancing system, operation instructions and operation scene information are obtained, and multi-modal information of the robot is collected; Fusing the operation scene information, multimodal information, and the state of the dual closed-loop balancing system to generate a motion path plan for the robot; Controlling the robot's posture adjustment according to the motion path planning to generate a preset motion trajectory from the current position to the target position; During the execution of the preset motion trajectory, hierarchical status monitoring is initiated for the robot.

2. The control method according to claim 1, characterized in that: The dual closed-loop balancing system comprises: The first closed-loop balancing system dynamically adjusts the robot's posture based on the robot's posture information, action point force information, wind force information, and gravity information to maintain force balance.

3. The control method according to claim 1, wherein: The dual closed-loop balancing system further includes: The second closed-loop balancing system dynamically adjusts the robot's movements based on the wire's spark detection information, ambient temperature and humidity information, electromagnetic induction information, circuit processing status information, and the robot's movement speed control information to maintain operational safety.

4. The control method according to claim 1, wherein: The operation scene information includes: operation scene type, target location, wind speed, gravity, temperature and / or humidity; The operation scene types include single-conductor walking and operation, double-conductor walking and operation, single-conductor obstacle crossing and / or double-conductor obstacle crossing.

5. The control method according to claim 1, characterized in that: The robot includes a main body and a first obstacle-crossing mechanism and a second obstacle-crossing mechanism respectively provided on both sides of the main body; and initiating hierarchical state monitoring of the robot during execution of the preset motion trajectory includes: Real-time monitoring of the robot's overall status and key single component status; During the obstacle crossing / crossing line operation, the first obstacle crossing mechanism and the second obstacle crossing mechanism shall be independently monitored; If the current monitoring parameter does not reach the preset stability threshold, the motion trajectory will be paused until it reaches the preset stability threshold; The robot is controlled to move toward the target position along the preset motion trajectory.

6. The control method according to claim 5, characterized in that: The obtaining of multimodal information of the robot includes: obtaining position and posture information of the robot body, the first obstacle-crossing mechanism, and the second obstacle-crossing mechanism; Among them, the key single components include the main body, the first obstacle-crossing mechanism and the second obstacle-crossing mechanism.

7. The control method according to claim 1, characterized in that: The fusing of the operation scene information, the multimodal information and the state of the dual closed-loop balancing system to generate the motion path planning of the robot includes: Identify the current operation scenario based on the pre-built scenario database; According to the identified operation scenario, the corresponding preset control logic is matched, and the preset control logic at least includes a logic combining neural network training and fuzzy control to realize single-wire walking and operation, dual-wire walking and operation, single-wire obstacle crossing, and dual-wire obstacle crossing; When executing the preset control logic, the logic sequence can be dynamically adjusted to cope with unexpected situations based on the multimodal information and closed-loop balancing system status acquired in real time.

8. The control method according to claim 1, characterized in that: The operation instructions include: intelligent autonomous instructions, semi-autonomous instructions and manual control instructions; wherein, Under intelligent autonomous instructions, the control method further includes: automatically reading and judging the robot state and posture, making operation judgments, and planning the optimal motion path for the operation target; Under semi-autonomous instructions, respond to a one-button start command to trigger the preset intelligent operation program; Under manual control instructions, the operator's control instructions are received wirelessly.

9. The control method according to claim 1, characterized in that: Also includes: During the robot's movement toward the target position, if it is detected that the actual motion trajectory deviates from the preset motion trajectory and exceeds the allowable threshold, one or a combination of the following operations are performed: Re-plan the motion path, control the robot to readjust its posture, and switch from intelligent autonomous / semi-autonomous instructions to manual control instructions.

10. A working robot, characterized in that: include: one or more processors; as well as A memory storing computer program instructions, which, when executed, cause the processor to execute the control method of the working robot according to any one of claims 1 to 9.

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