De-icing robot cluster terminal communication scheduling method and system

Abstract

This invention relates to the field of de-icing robot technology, and more particularly to a method and system for communication scheduling of de-icing robot cluster terminals. The invention collects characteristic parameter information of ice layers covering power transmission lines; calculates the actual characteristic parameter values; divides the path characteristic cycle of the de-icing robot based on the difference between the actual characteristic parameter values ​​and the characteristic threshold; based on the division results, it determines whether the de-icing robot is abnormal based on the difference between the actual battery level and the preset battery level; if abnormal, it determines the adjustment range of the de-icing speed; or, it determines whether the de-icing vibration device is abnormal based on the difference between the actual battery level and the preset battery level; if abnormal, it determines the adjustment range of the vibration frequency. This invention improves the efficiency of communication scheduling of de-icing robot cluster terminals by dividing the path characteristic cycle and monitoring the robot's battery status, thereby accurately adjusting the robot's operating status in different cycles.

Description

Technical Field

[0001] This invention relates to the field of de-icing robot technology, and in particular to a de-icing robot cluster terminal communication scheduling method and system. Background Technology

[0002] With the increasing frequency of extreme weather events, icing disasters on transmission lines have become a major hidden danger threatening the safe operation of the power grid. Icing overload can easily lead to accidents such as conductor breakage and tower collapse. Traditional manual de-icing methods are inefficient and have high safety risks. While DC de-icing technology has some effect, it requires power outages and relies on large equipment, making it difficult to adapt to complex terrain and the need for coordinated de-icing of multiple lines.

[0003] While robotic de-icing technology has made some progress in recent years, significant technical bottlenecks remain in practical applications. In single-machine operation, the lack of intelligent scheduling mechanisms prevents dynamic adjustments to operational strategies based on real-time changes in icing characteristics, leading to incomplete de-icing or energy waste when encountering sudden changes in ice thickness / hardness. In multi-machine cluster operations, the lack of an efficient communication and scheduling system results in issues such as unreasonable task allocation and path planning conflicts among nodes. Particularly when some nodes experience abnormal power levels, traditional centralized control systems suffer from communication delays that can cause a sharp drop in cluster collaboration efficiency. Therefore, there is an urgent need to construct an intelligent collaborative de-icing system that optimizes terminal communication scheduling to overcome key bottlenecks such as response delays and inefficient collaboration in existing technologies.

[0004] Chinese Patent Publication No. CN118487210A discloses an automatic de-icing robot system for high-speed railway overhead contact lines. This invention discloses an automatic de-icing robot system for high-speed railway overhead contact lines, comprising a mobile cabinet and a control and management system, a detection system, a communication system, and a safety protection system. The mobile cabinet moves bidirectionally on standard railway tracks. The mobile cabinet also includes a thermal furnace and a robotic arm lifting platform. The robotic arm lifting platform is located above the thermal furnace. Air outlets, return air ducts, and air vents are connected to both sides of the thermal furnace. The air outlets and return air ducts are parallel to each other, and the air vents are located at the upper ends of the air outlets and return air ducts. A series of air vents correspond to the lower side of the overhead contact line. The robotic arm lifting platform is equipped with a folding arm and an air duct control assembly. The top of the folding arm is connected to the pantograph contact line assembly, and the bottom of the air duct control assembly is connected to the robotic arm lifting platform. It possesses the advantages of being ingenious, novel, simple, and practical, requiring no modification to existing systems, and allowing adjustment of walking speed, temperature, and airflow based on the degree of icing.

[0005] Therefore, the invention has the following problems:

[0006] This invention fails to consider the drawback that the varying thickness and hardness of ice layers on the conductors lead to different power consumption of the de-icing robots, resulting in low communication scheduling efficiency of the de-icing robot cluster terminals. Summary of the Invention

[0007] To address this, the present invention provides a communication scheduling method and system for a cluster of de-icing robots, which overcomes the shortcomings of the prior art where the power consumption of de-icing robots varies due to differences in ice thickness and hardness of the wires, resulting in low communication scheduling efficiency of the de-icing robot cluster terminals.

[0008] To achieve the above objectives, the present invention provides a communication scheduling method for a de-icing robot cluster terminal, comprising:

[0009] Collect characteristic parameter information of ice layer on transmission lines in the target area during historical periods, including ice layer thickness and hardness.

[0010] Based on the ice layer feature parameter information, calculate the ice layer feature parameter characterization value as a predetermined feature parameter characterization threshold;

[0011] Calculate the characteristic parameter values ​​of the actual ice layer based on the characteristic parameter information of the actual target area;

[0012] The path characteristic cycle of the de-icing robot is divided based on the difference between the actual ice layer characteristic parameter representation values ​​and the predetermined characteristic parameter representation thresholds, including:

[0013] During the first path characteristic cycle, the battery level of the de-icing robot is extracted. The difference between the actual battery level and the preset battery level is used to determine whether the de-icing robot is abnormal. If it is abnormal, the adjustment range of the de-icing speed is determined based on the difference between the actual battery level and the preset battery level.

[0014] During the second path characteristic cycle, the power of the de-icing vibration device is extracted. Based on the difference between the actual power and the preset power, it is determined whether the de-icing vibration device is abnormal. If it is abnormal, the adjustment range of the vibration frequency of the de-icing vibration device is determined based on the difference between the actual power and the preset power.

[0015] Furthermore, the ice thickness is collected by using an image acquisition device configured on the de-icing robot to collect the diameter of the ice covering the power transmission line in the target area, and determining the ice thickness based on the difference between the diameter and the diameter of the power transmission line.

[0016] Furthermore, the ice hardness is collected by using a hardness tester device equipped on the de-icing robot to collect the hardness of the ice covering the power transmission lines in the target area.

[0017] Furthermore, the process of calculating the actual ice layer characteristic parameter representation values ​​based on the ice layer characteristic parameter information of the actual target area includes,

[0018] Extract the ice thickness and hardness of the transmission lines in the target area within a historical period;

[0019] The ratio of the actual ice thickness in the target area to the predetermined ice thickness threshold within a single cycle is determined as the first actual ice characteristic parameter.

[0020] The ratio of the actual ice hardness in the target area to the predetermined ice hardness threshold within a single cycle is determined as the second actual ice characteristic parameter.

[0021] The sum of the first actual ice layer characteristic parameter and the second actual ice layer characteristic parameter is determined as the characterization value of the actual ice layer characteristic parameter.

[0022] Furthermore, the process of dividing the path characteristic period of the de-icing robot based on the difference between the actual ice layer characteristic parameter representation values ​​and the predetermined characteristic parameter representation thresholds includes,

[0023] The difference between the actual ice layer characteristic parameter characterization value and the predetermined characteristic parameter characterization threshold is determined as the actual ice layer characteristic parameter characterization difference;

[0024] If the difference in the actual ice layer characteristic parameters is less than or equal to a predetermined characteristic parameter difference threshold, it is determined to be the first path characteristic period.

[0025] If the difference in the actual ice layer characteristic parameters is greater than the predetermined characteristic parameter difference threshold, it is determined to be the second path characteristic period.

[0026] Furthermore, during the first path characteristic cycle, the process of extracting the battery level of the de-icing robot and determining whether the de-icing robot is malfunctioning based on the difference between the actual battery level and the preset battery level includes the following steps:

[0027] Calculate the difference between the actual power consumption and the preset power consumption, and determine it as the actual difference;

[0028] If the actual difference is greater than or equal to the predetermined difference threshold, it is determined that there is no abnormality;

[0029] If the actual difference is less than the predetermined difference threshold, it is determined to be abnormal.

[0030] Furthermore, if the de-icing robot malfunctions, the process of determining the adjustment range of the de-icing speed based on the difference between the actual battery level and the preset battery level includes:

[0031] If the actual difference is less than the predetermined difference threshold;

[0032] Therefore, the adjustment range for the de-icing speed is determined to be the reduction range.

[0033] Furthermore, during the second path characteristic cycle, the process of extracting the power of the de-icing vibration device and determining whether the de-icing vibration device is malfunctioning based on the difference between the actual power and the preset power includes the following steps:

[0034] Calculate the difference between the actual power consumption and the preset power consumption, and determine it as the actual difference;

[0035] If the actual difference is greater than or equal to the predetermined difference threshold, it is determined that there is no abnormality;

[0036] If the actual difference is less than the predetermined difference threshold, it is determined to be abnormal.

[0037] Furthermore, if the de-icing vibration device malfunctions, the process of determining the adjustment amplitude of the vibration frequency of the de-icing vibration device based on the difference between the actual power consumption and the preset power consumption includes:

[0038] If the actual difference is less than the predetermined difference threshold;

[0039] Therefore, the adjustment range of the vibration frequency of the de-icing vibration device is determined to be the increase range.

[0040] The present invention also provides a system for a terminal communication scheduling method for a de-icing robot cluster, comprising:

[0041] An analysis module, which is connected to the acquisition module, is used to calculate the ice layer characteristic parameter representation value as a predetermined characteristic parameter representation threshold based on the ice layer characteristic parameter information.

[0042] The processing module is connected to the acquisition module and the analysis module respectively, and is used to calculate the characterization value of the actual ice layer feature parameters based on the ice layer feature parameter information of the actual target area.

[0043] The control module, connected to the acquisition module, the analysis module, and the processing module, is used to divide the path characteristic cycle of the de-icing robot based on the difference between the actual ice layer characteristic parameter characterization value and the predetermined characteristic parameter characterization threshold.

[0044] Extract the battery level of the de-icing robot, and determine whether the de-icing robot is malfunctioning based on the difference between the actual battery level and the preset battery level. If malfunctioning, determine the adjustment range of the de-icing speed based on the difference between the actual battery level and the preset battery level.

[0045] Alternatively, extract the power of the de-icing vibration device, and determine whether the de-icing vibration device is abnormal based on the difference between the actual power and the preset power. If abnormal, determine the adjustment range of the vibration frequency of the de-icing vibration device based on the difference between the actual power and the preset power.

[0046] Compared with existing technologies, the beneficial effects of this invention are that it provides a method and system for communication scheduling of de-icing robot cluster terminals. By collecting characteristic parameter information such as ice thickness and hardness of power transmission lines in a target area within a historical period, the characteristic parameter values ​​of the ice layer can be calculated using this information as a predetermined characteristic parameter threshold. The actual ice layer characteristic parameter values ​​can be calculated using real-time collected ice thickness and hardness data. The path characteristic cycle of the de-icing robot can be accurately defined by the difference between the actual ice layer characteristic parameter value and the predetermined characteristic parameter threshold. During the first path characteristic cycle, the difference between the actual battery level of the de-icing robot and the preset battery level can quickly identify abnormal equipment conditions and automatically adjust the de-icing speed based on the battery difference, allowing the UAV to immediately load the de-icing robot and return. During the second path characteristic cycle, the difference between the actual battery level of the de-icing vibration device and the preset battery level can quickly identify abnormal conditions of the de-icing vibration device and automatically adjust the vibration frequency based on the battery difference to increase de-icing efficiency. This invention divides the path characteristic cycle of the de-icing robot by characterizing the ice layer characteristic parameters, and then, by monitoring the robot's battery status, accurately adjusts the robot's operating state in different cycles, thereby improving the efficiency of terminal communication scheduling of the de-icing robot cluster.

[0047] In particular, this invention significantly improves the accuracy of ice layer characteristic assessment and the scientific nature of operation scheduling by collecting data on the actual ice layer thickness and hardness of the target area and calculating the characteristic parameters of the actual ice layer. By comparing the actual measured values ​​with preset thresholds in real time, the comprehensive characteristic intensity of the current ice layer can be accurately quantified. The fusion of dual parameters to calculate the characteristic values ​​effectively reduces the misjudgment problems that may be caused by single-parameter assessment and can accurately identify the actual de-icing difficulty.

[0048] In particular, this invention divides the path characteristic cycle of the de-icing robot by the difference between the actual ice layer characteristic parameter values ​​and the predetermined characteristic parameter thresholds, achieving intelligent hierarchical control of the de-icing operation path and significantly improving the cluster response speed and resource utilization efficiency. By calculating the difference between the ice layer characteristic parameter values ​​and the preset thresholds in real time, the ice layer state can be accurately identified, and the path characteristic cycle can be automatically divided. Furthermore, based on the conditions and characteristics of different path characteristic cycles, the robot cluster can automatically switch its operation intensity according to changes in ice conditions and its own power supply, ensuring stable operation and real-time scheduling under normal ice conditions, while also rapidly improving de-icing efficiency during sudden changes in ice conditions.

[0049] In particular, this invention monitors the battery level of the de-icing robot in real time. When the difference between the robot's actual battery level and a preset battery level threshold is lower than a preset threshold, the de-icing robot is immediately identified as being in an abnormal state. When the de-icing robot is in an abnormal state, its de-icing speed can be reduced, allowing the drone to immediately carry the de-icing robot back to base, thereby improving the efficiency of communication and scheduling of the de-icing robot cluster terminals. Attached Figure Description

[0050] Figure 1 This is a flowchart illustrating the steps of the communication scheduling method for a de-icing robot cluster terminal according to an embodiment of the present invention.

[0051] Figure 2 A flowchart illustrating the steps of calculating the characterization values ​​of actual ice layer features based on ice layer feature parameter information of the actual target area in this embodiment of the invention;

[0052] Figure 3 This invention provides a logic diagram for determining the path characteristic cycle of a de-icing robot based on the difference between the actual ice layer characteristic parameter characterization value and the predetermined characteristic parameter characterization threshold.

[0053] Figure 4 This invention provides a logic diagram for determining whether a de-icing robot is malfunctioning based on the difference between the actual battery level and the preset battery level. Detailed Implementation

[0054] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0055] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0056] Please see Figure 1 The diagram shows the steps of a communication scheduling method for a de-icing robot cluster terminal according to an embodiment of the present invention. The present invention provides a communication scheduling method for a de-icing robot cluster terminal, comprising:

[0057] Step S1: Collect ice layer characteristic parameter information of transmission line icing in the target area within the historical period, including ice layer thickness and hardness;

[0058] Step S2: Calculate the ice layer feature parameter representation value based on the ice layer feature parameter information as a predetermined feature parameter representation threshold;

[0059] Step S3: Calculate the actual ice layer characteristic parameter representation value based on the ice layer characteristic parameter information of the actual target area;

[0060] Step S4, based on the difference between the actual ice layer characteristic parameter representation value and the predetermined characteristic parameter representation threshold, divides the path characteristic cycle of the de-icing robot, including:

[0061] During the first path characteristic cycle, the battery level of the de-icing robot is extracted. The difference between the actual battery level and the preset battery level is used to determine whether the de-icing robot is abnormal. If it is abnormal, the adjustment range of the de-icing speed is determined based on the difference between the actual battery level and the preset battery level.

[0062] During the second path characteristic cycle, the power of the de-icing vibration device is extracted. Based on the difference between the actual power and the preset power, it is determined whether the de-icing vibration device is abnormal. If it is abnormal, the adjustment range of the vibration frequency of the de-icing vibration device is determined based on the difference between the actual power and the preset power.

[0063] During implementation, it is necessary to collect the ice thickness and hardness of the target area during three complete winters under normal operating conditions with the de-icing robot having normal power. The characteristic parameters of the ice layer are then calculated and their average value is determined as the threshold for the characteristic parameters of the ice layer.

[0064] This invention provides a method and system for communication scheduling of de-icing robot cluster terminals. The invention collects characteristic parameter information such as ice thickness and hardness of power transmission lines in a target area over a historical period. Ice characteristic parameter values ​​are calculated from this information and used as predetermined characteristic parameter thresholds. Actual ice characteristic parameter values ​​can be calculated using real-time collected ice thickness and hardness data. The difference between the actual ice characteristic parameter values ​​and the predetermined characteristic parameter thresholds allows for precise division of the de-icing robot's path characteristic cycle. During the first path characteristic cycle, the difference between the actual battery level of the de-icing robot and a preset battery level quickly identifies abnormal equipment conditions and automatically adjusts the de-icing speed based on the battery difference, enabling the UAV to immediately load the de-icing robot and return. During the second path characteristic cycle, the difference between the actual battery level of the de-icing vibration device and a preset battery level quickly identifies abnormal conditions of the de-icing vibration device and automatically adjusts the vibration frequency based on the battery difference to increase de-icing efficiency. This invention divides the path characteristic cycle of the de-icing robot by characterizing the ice layer characteristic parameters, and then, by monitoring the robot's battery status, accurately adjusts the robot's operating state in different cycles, thereby improving the efficiency of terminal communication scheduling of the de-icing robot cluster.

[0065] Specifically, the method for collecting ice thickness is to use an image acquisition device configured on the de-icing robot to collect the diameter of the ice covering the power transmission line in the target area, and determine the ice thickness based on the difference between the diameter and the diameter of the power transmission line.

[0066] In practice, the image acquisition devices configured on the de-icing robot include a camera and a 5.8G image transmission system.

[0067] Specifically, the method for collecting ice hardness data involves using a hardness tester device equipped with a de-icing robot to collect the hardness of the ice covering the power transmission lines in the target area.

[0068] In practice, the hardness tester device equipped with the de-icing robot can be a PosiTector SHDA3 digital Shore A hardness tester.

[0069] Please see Figure 2 The diagram shows a flowchart illustrating the steps of calculating the representation value of actual ice layer characteristic parameters based on the ice layer characteristic parameter information of the actual target area according to an embodiment of the present invention. The process of calculating the representation value of actual ice layer characteristic parameters based on the ice layer characteristic parameter information of the actual target area according to the present invention includes:

[0070] Step S31: Extract the ice thickness and hardness of the transmission line icing in the target area within the historical period;

[0071] Step S32: Calculate the ratio of the actual ice thickness in the target area within a single cycle to the predetermined ice thickness threshold and determine it as the first actual ice characteristic parameter;

[0072] The ratio of the actual ice hardness in the target area to the predetermined ice hardness threshold within a single cycle is determined as the second actual ice characteristic parameter.

[0073] Step S33: The sum of the first actual ice layer characteristic parameter and the second actual ice layer characteristic parameter is determined as the characterization value of the actual ice layer characteristic parameter.

[0074] In practice, the ice thickness threshold is obtained in advance, and the ice thickness data of the target area is collected over 15 days under normal operating conditions with the de-icing robot having normal power, and its average value is calculated; the ice hardness threshold is obtained in advance, and the ice hardness data of the target area is collected over 15 days under normal operating conditions with the de-icing robot having normal power, and its average value is calculated.

[0075] In practice, the first and second actual ice layer characteristic parameters are calculated within a single cycle, where the single cycle is set to 30 minutes.

[0076] This invention significantly improves the accuracy of ice layer characteristic assessment and the scientific nature of operation scheduling by collecting data on the actual ice layer thickness and hardness of the target area and calculating the characteristic parameters of the actual ice layer. By comparing the actual measured values ​​with preset thresholds in real time, the comprehensive characteristic intensity of the current ice layer can be accurately quantified. The fusion of dual parameters in the characteristic value calculation effectively reduces the misjudgment problems that may arise from single-parameter assessment and can accurately identify the actual de-icing difficulty.

[0077] Please see Figure 3 As shown, this is a logic diagram for determining the path feature period of the de-icing robot based on the difference between the actual ice layer feature parameter characterization value and the predetermined feature parameter characterization threshold in an embodiment of the present invention. The process of determining the path feature period of the de-icing robot based on the difference between the actual ice layer feature parameter characterization value and the predetermined feature parameter characterization threshold in the present invention includes:

[0078] The difference between the actual ice layer characteristic parameter characterization value and the predetermined characteristic parameter characterization threshold is determined as the actual ice layer characteristic parameter characterization difference;

[0079] If the difference in the actual ice layer characteristic parameters is less than or equal to a predetermined characteristic parameter difference threshold, it is determined to be the first path characteristic period.

[0080] If the difference in the actual ice layer characteristic parameters is greater than the predetermined characteristic parameter difference threshold, it is determined to be the second path characteristic period.

[0081] In practice, the characteristic parameter characterization difference threshold is obtained in advance. It is the average difference between the ice layer characteristic parameter characterization value of the target area within 15 days under normal working conditions and normal battery power of the de-icing robot and the predetermined characteristic parameter characterization threshold.

[0082] This invention divides the path characteristic cycle of de-icing robots by the difference between the actual ice layer characteristic parameter values ​​and predetermined characteristic parameter thresholds, achieving intelligent hierarchical control of the de-icing operation path and significantly improving the cluster response speed and resource utilization efficiency. By calculating the difference between the ice layer characteristic parameter values ​​and the preset thresholds in real time, the ice layer state can be accurately identified, and the path characteristic cycle can be automatically divided. Furthermore, based on the conditions and characteristics of different path characteristic cycles, the robot cluster can automatically switch its operation intensity according to changes in ice conditions and its own power supply, ensuring stable operation and real-time scheduling under normal ice conditions, while rapidly improving de-icing efficiency during sudden changes in ice conditions.

[0083] Please see Figure 4 As shown, this is a logic diagram for determining whether a de-icing robot is malfunctioning based on the difference between the actual battery level and the preset battery level, according to an embodiment of the present invention. The process of extracting the battery level of the de-icing robot during the first path characteristic cycle and determining whether the de-icing robot is malfunctioning based on the difference between the actual battery level and the preset battery level includes:

[0084] Calculate the difference between the actual power consumption and the preset power consumption, and determine it as the actual difference;

[0085] If the actual difference is greater than or equal to the predetermined difference threshold, it is determined that there is no abnormality;

[0086] If the actual difference is less than the predetermined difference threshold, it is determined to be abnormal.

[0087] In practice, the preset power level is the average of the minimum power level required for the de-icing robot to operate stably under normal conditions over 15 days.

[0088] In practice, the predetermined difference threshold can be between 1% and 3% of the full charge.

[0089] This invention monitors the battery level of the de-icing robot in real time. When the difference between the robot's actual battery level and a preset battery level threshold is lower than a preset threshold, the robot is immediately identified as being in an abnormal state. When the robot is in an abnormal state, its de-icing speed can be reduced, allowing a drone to immediately carry the robot back to its home base, thereby improving the efficiency of communication and scheduling among the de-icing robot cluster terminals.

[0090] Specifically, if the de-icing robot malfunctions, the process of determining the adjustment range of the de-icing speed based on the difference between the actual battery level and the preset battery level includes the following:

[0091] If the actual difference is less than the predetermined difference threshold;

[0092] Therefore, the adjustment range for the de-icing speed is determined to be the reduction range.

[0093] Specifically, during the second path characteristic cycle, the process of extracting the power of the de-icing vibration device and determining whether the de-icing vibration device is malfunctioning based on the difference between the actual power and the preset power includes the following steps:

[0094] Calculate the difference between the actual power consumption and the preset power consumption, and determine it as the actual difference;

[0095] If the actual difference is greater than or equal to the predetermined difference threshold, it is determined that there is no abnormality;

[0096] If the actual difference is less than the predetermined difference threshold, it is determined to be abnormal.

[0097] In practice, the preset power consumption is the average of the minimum power consumption of the de-icing vibration device under normal operating conditions over 15 days.

[0098] In practice, the predetermined difference threshold can be between 1% and 3% of the full charge.

[0099] Specifically, if the de-icing vibration device malfunctions, the process of determining the adjustment amplitude of the vibration frequency of the de-icing vibration device based on the difference between the actual power consumption and the preset power consumption includes the following:

[0100] If the actual difference is less than the predetermined difference threshold;

[0101] Therefore, the adjustment range of the vibration frequency of the de-icing vibration device is determined to be the increase range.

[0102] This invention also provides a system for a terminal communication scheduling method for a de-icing robot cluster, comprising,

[0103] An analysis module, which is connected to the acquisition module, is used to calculate the ice layer characteristic parameter representation value as a predetermined characteristic parameter representation threshold based on the ice layer characteristic parameter information.

[0104] The processing module is connected to the acquisition module and the analysis module respectively, and is used to calculate the characterization value of the actual ice layer feature parameters based on the ice layer feature parameter information of the actual target area.

[0105] The control module, connected to the acquisition module, the analysis module, and the processing module, is used to divide the path characteristic cycle of the de-icing robot based on the difference between the actual ice layer characteristic parameter characterization value and the predetermined characteristic parameter characterization threshold.

[0106] Extract the battery level of the de-icing robot, and determine whether the de-icing robot is malfunctioning based on the difference between the actual battery level and the preset battery level. If malfunctioning, determine the adjustment range of the de-icing speed based on the difference between the actual battery level and the preset battery level.

[0107] Alternatively, extract the power of the de-icing vibration device, and determine whether the de-icing vibration device is abnormal based on the difference between the actual power and the preset power. If abnormal, determine the adjustment range of the vibration frequency of the de-icing vibration device based on the difference between the actual power and the preset power.

[0108] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0109] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for communication scheduling of de-icing robot cluster terminals, characterized in that, include: Collect characteristic parameter information of ice layer on transmission lines in the target area during historical periods, including ice layer thickness and hardness. Based on the ice layer feature parameter information, calculate the ice layer feature parameter characterization value as a predetermined feature parameter characterization threshold; Calculate the characteristic parameter values ​​of the actual ice layer based on the characteristic parameter information of the actual target area; The path characteristic cycle of the de-icing robot is divided based on the difference between the actual ice layer characteristic parameter representation values ​​and the predetermined characteristic parameter representation thresholds, including: The difference between the actual ice layer characteristic parameter characterization value and the predetermined characteristic parameter characterization threshold is determined as the actual ice layer characteristic parameter characterization difference; If the difference in the actual ice layer characteristic parameters is less than or equal to a predetermined characteristic parameter difference threshold, it is determined to be the first path characteristic period. If the difference in the actual ice layer characteristic parameters is greater than the predetermined characteristic parameter difference threshold, it is determined to be the second path characteristic period. During the first path characteristic cycle, the battery level of the de-icing robot is extracted. The difference between the actual battery level and the preset battery level is used to determine whether the de-icing robot is abnormal. If it is abnormal, the adjustment range of the de-icing speed is determined based on the difference between the actual battery level and the preset battery level. During the second path characteristic cycle, the power of the de-icing vibration device is extracted. Based on the difference between the actual power and the preset power, it is determined whether the de-icing vibration device is abnormal. If it is abnormal, the adjustment range of the vibration frequency of the de-icing vibration device is determined based on the difference between the actual power and the preset power.

2. The de-icing robot cluster terminal communication scheduling method according to claim 1, characterized in that, The method for collecting ice thickness is to use an image acquisition device configured on the de-icing robot to collect the diameter of the ice covering the power transmission line in the target area, and determine the ice thickness based on the difference between the diameter and the diameter of the power transmission line.

3. The de-icing robot cluster terminal communication scheduling method according to claim 1, characterized in that, The method for collecting ice hardness data is to use a hardness tester device equipped with a de-icing robot to collect the hardness of the ice covering the power transmission lines in the target area.

4. The de-icing robot cluster terminal communication scheduling method according to claim 1, characterized in that, The process of calculating the actual ice layer characteristic parameter values ​​based on the actual target area's ice layer characteristic parameter information includes: Extract the ice thickness and hardness of the transmission lines in the target area within a historical period; The ratio of the actual ice thickness in the target area to the predetermined ice thickness threshold within a single cycle is determined as the first actual ice characteristic parameter. The ratio of the actual ice hardness in the target area to the predetermined ice hardness threshold within a single cycle is determined as the second actual ice characteristic parameter. The sum of the first actual ice layer characteristic parameter and the second actual ice layer characteristic parameter is determined as the characterization value of the actual ice layer characteristic parameter.

5. The de-icing robot cluster terminal communication scheduling method according to claim 1, characterized in that, During the first path characteristic cycle, the process of extracting the battery level of the de-icing robot and determining whether the de-icing robot is malfunctioning based on the difference between the actual battery level and the preset battery level includes the following steps: Calculate the difference between the actual power consumption and the preset power consumption, and determine it as the actual difference; If the actual difference is greater than or equal to the predetermined difference threshold, it is determined that there is no abnormality; If the actual difference is less than the predetermined difference threshold, it is determined to be abnormal.

6. The de-icing robot cluster terminal communication scheduling method according to claim 5, characterized in that, If the de-icing robot malfunctions, the process of determining the adjustment range of the de-icing speed based on the difference between the actual battery level and the preset battery level includes: If the actual difference is less than the predetermined difference threshold; Therefore, the adjustment range for the de-icing speed is determined to be the reduction range.

7. The de-icing robot cluster terminal communication scheduling method according to claim 1, characterized in that, During the second path characteristic cycle, the process of extracting the power of the de-icing vibration device and determining whether the de-icing vibration device is malfunctioning based on the difference between the actual power and the preset power includes the following steps: Calculate the difference between the actual power consumption and the preset power consumption, and determine it as the actual difference; If the actual difference is greater than or equal to the predetermined difference threshold, it is determined that there is no abnormality; If the actual difference is less than the predetermined difference threshold, it is determined to be abnormal.

8. The de-icing robot cluster terminal communication scheduling method according to claim 7, characterized in that, If the de-icing vibration device malfunctions, the process of determining the adjustment amplitude of the vibration frequency of the de-icing vibration device based on the difference between the actual power and the preset power includes: If the actual difference is less than the predetermined difference threshold; Therefore, the adjustment range of the vibration frequency of the de-icing vibration device is determined to be the increase range.

9. A system for the terminal communication scheduling method of the de-icing robot cluster according to any one of claims 1 to 8, characterized in that, include, The acquisition module is used to collect ice layer characteristic parameter information of the transmission line ice covering the target area within a historical period. The characteristic parameter information includes ice layer thickness and hardness. An analysis module, which is connected to the acquisition module, is used to calculate the ice layer characteristic parameter representation value as a predetermined characteristic parameter representation threshold based on the ice layer characteristic parameter information. The processing module is connected to the acquisition module and the analysis module respectively, and is used to calculate the characterization value of the actual ice layer feature parameters based on the ice layer feature parameter information of the actual target area. The control module, connected to the acquisition module, the analysis module, and the processing module, is used to divide the path characteristic cycle of the de-icing robot based on the difference between the actual ice layer characteristic parameter characterization value and the predetermined characteristic parameter characterization threshold. Extract the battery level of the de-icing robot, and determine whether the de-icing robot is malfunctioning based on the difference between the actual battery level and the preset battery level. If malfunctioning, determine the adjustment range of the de-icing speed based on the difference between the actual battery level and the preset battery level. Alternatively, extract the power of the de-icing vibration device, and determine whether the de-icing vibration device is abnormal based on the difference between the actual power and the preset power. If abnormal, determine the adjustment range of the vibration frequency of the de-icing vibration device based on the difference between the actual power and the preset power.

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