Cooperative control method and device for power transmission line blocking robot, medium and product

Abstract

The embodiment of the invention provides a cooperative control method and device for a power transmission line blocking robot, a medium and a product. The method comprises the steps that robot configuration information corresponding to a to-be-blocked power transmission line is acquired, a communication topological graph is constructed, then a relation matrix corresponding to a blocking robot is determined, current motion information of the blocking robot is combined, a preset convergence condition is used as a constraint target, and control input of the blocking robot is calculated. And the acceleration of the blocking robots is controlled based on the control input, and cooperative control between the blocking robots is realized. The method is used for achieving the effects of reducing the equipment cost and improving the safety and the working efficiency of the high-altitude blocking operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, and particularly relates to a cooperative control method, device, medium and product of a power transmission line netting robot. BACKGROUND

[0002] In the construction process of the overhead power transmission line, in order to prevent the high-altitude falling of cables, materials and other articles from causing personnel casualties and equipment damage, the overhead line netting operation must be implemented first.

[0003] In the prior art, a method for implementing the overhead line netting operation by using a robot is provided. The method is that a ground operator issues a control instruction through a ground remote control terminal, the netting robot receives the instruction, and according to the instruction content, the netting robot drags a netting rope to walk along two power transmission lines synchronously, reaches a specified position, and then the robot is locked and fixed, thereby completing the high-altitude netting operation.

[0004] However, the method needs to remotely control the robot manually, and adopts a centralized control mode, that is, the operator directly controls all the robots through the ground remote control terminal and interacts with the robots. When the number of robots in the high altitude is too large, on the one hand, manual remote control cannot guarantee the safety and work efficiency of the netting operation, and once the remote control terminal fails, all the robots will lose control, which will cause serious consequences; on the other hand, the remote control terminal needs to process a large amount of interactive data, and the performance requirement is high, which directly increases the construction cost. This leads to the fact that the method not only has a high construction cost, but also is difficult to guarantee the safety and work efficiency of the high-altitude netting operation. SUMMARY

[0005] The embodiments of the present application provide a cooperative control method, device, medium and product of a power transmission line netting robot, so as to reduce the equipment cost and improve the safety and work efficiency of the high-altitude netting operation.

[0006] In a first aspect, the embodiments of the present application provide a cooperative control method of a power transmission line netting robot, comprising:

[0007] Obtaining robot configuration information corresponding to a power transmission line to be netted.

[0008] Based on the robot configuration information, a relationship matrix corresponding to the netting robot is determined; the relationship matrix is used to describe the communication relationship between the netting robots in the netting operation.

[0009] According to the current motion information of the netting robot, the relationship matrix and a preset convergence condition, the control input of the netting robot is calculated.

[0010] Based on the control input, the acceleration of the netting robot is controlled to realize the cooperative control between the netting robots.

[0011] In a possible implementation, in combination with the first aspect, the robot configuration information at least includes a number of robots, robot numbers, and preset communication rules, and the relationship matrix of the caged robots is determined based on the robot configuration information, including:

[0012] A communication topology graph of the caged robots is constructed according to the number of robots, the robot numbers, and the preset communication rules, wherein a node of the communication topology graph represents a caged robot, and an edge of the communication topology graph represents two caged robots having a communication relationship.

[0013] The relationship matrix of the caged robots is determined based on the communication topology graph.

[0014] In a possible implementation, in combination with the first aspect, the relationship matrix of the caged robots is determined based on the communication topology graph, including:

[0015] An adjacency matrix, a same-group cross-column matrix, and a same-column front-back matrix of the caged robots are determined according to the communication topology graph.

[0016] The same-group cross-column matrix corresponds to elements in the adjacency matrix for describing the same-group position communication relationship of the caged robots, and the same-column front-back matrix corresponds to elements in the adjacency matrix for describing the front-back position communication relationship of the caged robots.

[0017] In a possible implementation, in combination with the first aspect, the control input of the caged robot is calculated according to the current motion information of the caged robot, the relationship matrix, and a preset convergence condition, including:

[0018] The role of the caged robot in the caging operation and the information of the adjacent caged robots are determined according to the relationship matrix.

[0019] The current motion information of the caged robot and the current motion information of the adjacent caged robots are obtained.

[0020] The control input of the caged robot is calculated based on the current motion information of the caged robot, the current motion information of the adjacent caged robots, and the preset convergence condition.

[0021] In a possible implementation, in combination with the first aspect, when the role of the caged robot in the caging operation is determined to be a following robot, the method further includes:

[0022] An expected distance between the caged robot and the adjacent caged robot is obtained.

[0023] Correspondingly, the control input of the caged robot is calculated based on the current motion information of the caged robot, the current motion information of the adjacent caged robots, and the preset convergence condition, including:

[0024] The control input of the cabling robot is calculated based on the current motion information of the cabling robot, the current motion information of the adjacent cabling robot, the expected distance, and the preset convergence condition.

[0025] In a possible implementation, in combination with the first aspect, when it is determined that the role of the cabling robot in the cabling operation is the positioning robot, the method further includes:

[0026] The expected position of the cabling robot is obtained.

[0027] Correspondingly, the control input of the cabling robot is calculated based on the current motion information of the cabling robot, the current motion information of the adjacent cabling robot, and the preset convergence condition, and includes:

[0028] The control input of the cabling robot is calculated based on the current motion information of the cabling robot, the current motion information of the adjacent cabling robot, the expected position, and the preset convergence condition.

[0029] In a possible implementation, in combination with the first aspect, the preset convergence condition includes:

[0030] The position difference between the two cabling robots connected by the same cabling rope is zero.

[0031] The preset cabling interval is maintained between the two adjacent cabling robots on the same conductor in the cabling transmission line.

[0032] The speed difference between all the cabling robots is zero, and when the cabling robot is the positioning robot, the difference between the position of the cabling robot and the expected position is zero.

[0033] The second aspect provides a cabling robot cooperative control device for a transmission line, including:

[0034] An acquisition module is configured to acquire robot configuration information corresponding to a cabling transmission line.

[0035] A determination module is configured to determine a relationship matrix corresponding to a cabling robot based on the robot configuration information, where the relationship matrix is used to describe the communication relationship between the cabling robots in the cabling operation.

[0036] A calculation module is configured to calculate the control input of the cabling robot according to the current motion information of the cabling robot, the relationship matrix, and a preset convergence condition.

[0037] A control module is configured to control the acceleration of the cabling robot based on the control input, so as to realize the cooperative control between the cabling robots.

[0038] In a possible implementation, in combination with the second aspect, the robot configuration information acquired by the acquisition module at least includes the number of robots, the robot numbers, and the preset communication rules, and the determination module is specifically configured to:

[0039] construct a communication topology graph of the caged robots according to the number of robots, the robot numbers, and the preset communication rules; nodes of the communication topology graph represent the caged robots, and edges of the communication topology graph represent two caged robots having a communication relationship.

[0040] determine a relationship matrix of the caged robots based on the communication topology graph.

[0041] In a possible implementation, in combination with the second aspect, the robot configuration information acquired by the acquisition module at least includes the number of robots, the robot numbers, and the preset communication rules, and the determination module is specifically configured to:

[0042] determine an adjacency matrix, a same-group cross-column matrix, and a same-column front-back matrix of the caged robots according to the communication topology graph.

[0043] The same-group cross-column matrix corresponds to elements in the adjacency matrix that are used to describe the same-group position communication relationship of the caged robots, and the same-column front-back matrix corresponds to elements in the adjacency matrix that are used to describe the front-back position communication relationship of the caged robots.

[0044] In a possible implementation, in combination with the second aspect, the calculation module is specifically configured to:

[0045] determine a role of the caged robot in the caging operation and adjacent caged robot information according to the relationship matrix.

[0046] acquire current motion information of the caged robot and current motion information of the adjacent caged robot.

[0047] calculate the control input of the caged robot based on the current motion information of the caged robot, the current motion information of the adjacent caged robot, and a preset convergence condition.

[0048] In a possible implementation, in combination with the second aspect, the acquisition module is further configured to:

[0049] acquire an expected distance between the caged robot and the adjacent caged robot.

[0050] Correspondingly, the calculation module is further configured to calculate the control input of the caged robot based on the current motion information of the caged robot, the current motion information of the adjacent caged robot, the expected distance, and the preset convergence condition.

[0051] In a possible implementation, in combination with the second aspect, the acquisition module is further configured to:

[0052] obtaining a desired position of the cordon robot.

[0053] Correspondingly, the computing module is further configured to calculate a control input of the cordon robot based on the current motion information of the cordon robot, the current motion information of the adjacent cordon robot, the desired position and the preset convergence condition.

[0054] In a possible implementation, in combination with the second aspect, the preset convergence condition comprises:

[0055] The position difference between the two cordon robots connected by the same cordon rope is zero.

[0056] The preset cordon interval between the two adjacent cordon robots on the same conductor in the cordon transmission line to be cordoned.

[0057] The speed difference of all cordon robots is zero; and when the cordon robot is a positioning robot, the difference between the position of the cordon robot and the desired position is zero.

[0058] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor.

[0059] The memory stores computer execution instructions.

[0060] The processor executes the computer execution instructions stored in the memory, so that the processor executes the first aspect and / or various possible implementations of the first aspect as described above.

[0061] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, and the computer readable storage medium stores computer execution instructions. When the computer execution instructions are executed by a processor, the computer execution instructions are used to implement the first aspect and / or various possible implementations of the first aspect as described above.

[0062] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising a computer program. When the computer program is executed by a processor, the computer program implements the first aspect and / or various possible implementations of the first aspect as described above.

[0063] The embodiment of the application provides a kind of power transmission line netting robot cooperative control method, equipment, medium and product provided by the application, by obtaining the robot configuration information corresponding to the power transmission line to be netted, determine the relationship matrix of the communication relationship between netting robot, then combine the current motion information of netting robot, with the preset convergence condition related to the position and speed of netting robot as the constraint target, the control input of netting robot is calculated, the acceleration of netting robot is controlled based on control input, realize the cooperative control between netting robot, finally reach the automatic netting operation mode without hub node control, without complex communication network architecture, and without external human intervention throughout, to realize the effect of reducing equipment cost, improve the safety and work efficiency of high-altitude netting operation. BRIEF DESCRIPTION OF DRAWINGS

[0064] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the application.

[0065] Figure 1 A scene schematic diagram of the power transmission line netting robot cooperative control method provided by the application;

[0066] Figure 2 A flowchart of the power transmission line netting robot cooperative control method provided by the application Figure 1 ;

[0067] Figure 3 A flowchart of the power transmission line netting robot cooperative control method provided by the application Figure 2 ;

[0068] Figure 4 A flowchart of the power transmission line netting robot cooperative control method provided by the application Figure 3 ;

[0069] Figure 5 A netting robot arrangement schematic diagram of the power transmission line netting robot cooperative control method provided by the application;

[0070] Figure 6 A netting robot position and time change trend schematic diagram of the power transmission line netting robot cooperative control method provided by the application;

[0071] Figure 7 A structure schematic diagram of the power transmission line netting robot cooperative control device provided by the application;

[0072] Figure 8 A structure schematic diagram of the electronic device provided by the application.

[0073] The specific embodiments of the application have been shown by way of example in the above figures, and will be described in more detail hereafter. These figures and this written description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate the inventive concept to one of ordinary skill in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0074] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The description of the exemplary embodiments is intended to apply to any embodiment of the application, unless specified otherwise. It should be understood that every embodiment need not necessarily include all of the features shown in the drawings or all of the components described in the description. The drawings and detailed description are not intended to limit the scope of the application in any way.

[0075] Firstly, the terms involved in the application are explained:

[0076] High-altitude netting operation: In the field of power system, it refers to the operation of erecting protective nets under or around the transmission line to prevent tools, materials, birds and other foreign matters from falling into the transmission line during construction, which is a safety protection measure in power engineering construction, hereinafter referred to as netting operation.

[0077] Netting length: Generally refers to the physical length covered by the netting. In the high-altitude transmission line netting operation, it refers to the actual extension distance of the protective net from the starting end to the end along the extension direction of the transmission line, which is used to define the longitudinal range of the netting protection.

[0078] Netting interval: Generally refers to the distance between each part of the netting. In the high-altitude transmission line netting operation, it refers to the installation interval of each net piece and netting rope in the same netting device, which affects the stability and protection effect of the netting.

[0079] Distributed control mode: refers to the control mode of distributing control functions to multiple processing units.

[0080] Consensus protocol: generally refers to a set of rules for multiple nodes to reach consensus. In distributed control, it refers to a protocol that ensures the convergence of the state of a multi-agent system.

[0081] Communication topology graph: generally represents the graph of node communication connection relationship in the system. In distributed control, it can be used to describe the communication link structure between multiple agents.

[0082] Second-order dynamic equation: generally refers to a dynamic equation that contains the second-order derivative of the system state variable with respect to time. Essentially, it establishes a mathematical relationship between motion and force through the acceleration term (second-order derivative), such as Newton's second law in classical mechanics, which is a typical second-order dynamic equation.

[0083] Second-order dynamic equation: Generally refers to a mathematical equation describing a dynamic system with a second-order derivative of state variables, the core of which is to reveal the internal law of system dynamic behavior through the second-order derivative term (such as acceleration, angular velocity rate, etc.).

[0084] Proportional-integral-derivative control: Proportional-Integral-Derivative Control, hereinafter referred to as PID. It is a classical closed-loop feedback control algorithm that calculates the system error (the deviation between the target value and the actual value) in real time, and generates a control quantity based on the linear combination of proportional (P), integral (I), and derivative (D) control components to adjust the system output to approach the target value.

[0085] Laplacian matrix: It is usually a matrix used to describe the structure of a graph in graph theory. In multi-agent systems (such as unmanned aerial vehicle clusters and sensor networks), the Laplacian matrix is used to describe the information interaction topology between individuals.

[0086] Secondly, the application background of the embodiments of the present application is explained:

[0087] In the construction process of the power overhead line, in order to prevent the high-altitude falling of cables, materials and other articles from causing personnel casualties and equipment damage, overhead line netting operation must be carried out first. In the prior art, a method of using robots to implement overhead line netting operation is proposed. The method is that the ground staff sends control instructions through the ground remote control terminal, the netting robot receives the instructions, and according to the instruction content, the netting robot drags the netting rope to walk along the two power transmission lines synchronously, reaches the specified position, and then the robot is locked and fixed, thereby completing the high-altitude netting operation. However, this method needs to manually control the robot, and adopts a centralized control mode, that is, the staff directly controls all robots through the ground remote control terminal and interacts with them. When there are too many robots in the high altitude, on the one hand, manual remote control cannot guarantee the safety and work efficiency of the netting operation, and once the remote control terminal fails, all robots will lose control, which will cause serious consequences; on the other hand, the remote control terminal needs to process a large amount of interactive data, which requires high performance, directly increasing the construction cost. This leads to the fact that this method not only has high construction cost, but also is difficult to guarantee the safety and work efficiency of the high-altitude netting operation.

[0088] To solve the above problems, the application provides a cooperative control method of a power transmission line netting robot. The inventor studies whether a distributed control mode can be adopted, and through protocolized information interaction between each netting robot and adjacent individuals, the netting robots can autonomously adjust the travel speed based on the work target and adjacent individual information, realize the cooperative consistency of the overall state of all netting robots, and thus automatically, stably and accurately complete the netting operation without relying on a control hub and external human control. The inventor proposes to take the preset convergence conditions related to the position and speed of the netting robot as the constraint target, design a cooperative control algorithm based on the consensus protocol, and the netting robot can determine the corresponding relationship matrix by acquiring the robot configuration information corresponding to the power transmission line to be netted, which is used to describe the communication relationship between the netting robots in the netting operation. Then, combined with the current motion information of itself and adjacent netting robots, the control input at the time of consistency convergence is calculated based on the above cooperative control algorithm, and the acceleration of itself is controlled according to the control input, so as to complete the cooperative control between the netting robots, and finally achieve an automatic netting operation mode without a central node control, without a complex communication network architecture, and without external human intervention throughout, so as to reduce the equipment cost and improve the safety and work efficiency of the high-altitude netting operation.

[0089] Taking the scenario of power transmission line double-conductor section netting operation as an example, combined with Figure 1 , the application provides a cooperative control method of a power transmission line netting robot. As shown in Figure 1 , in the specific application scenario of the application, a first power transmission conductor 101, a second power transmission conductor 102, a plurality of netting robots 103 and a plurality of netting ropes 104 are included, and only a few netting robots 103 and a few netting ropes 104 are used as an example in the figure. The first power transmission conductor 101 and the second power transmission conductor 102 are laid in parallel, and a plurality of netting robots 103 are uniformly distributed on them. The first power transmission conductor 101 and the second power transmission conductor 102 correspond to each other in pairs, and each end of each netting rope 104 is connected to two netting robots 103 at left and right adjacent positions on the first power transmission conductor 101 and the second power transmission conductor 102. The two netting robots 103 connected by the same netting rope 104 are the same group of robots, and finally should be at the same vertical projection position of the two power transmission conductors. The netting robot 103 carries the netting rope 104 to the specified position according to the specific requirements of the netting operation, and when a plurality of netting robots 103 all reach the specified position, a synchronous locking action is performed to fix a plurality of netting ropes 104 parallel to each other to the specified position of the section to be netted, and the netting task is completed.

[0090] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0091] Figure 2 A schematic diagram of the process of the collaborative control method of the power transmission line sealing robot provided in this application Figure 1 ,like Figure 2 As shown, the method includes:

[0092] S201. Obtain robot configuration information corresponding to the power transmission line to be blocked.

[0093] In this step, the robot configuration information includes at least the number of robots, robot numbers and preset communication rules, which are determined by the blocking requirements of the power transmission line to be blocked.

[0094] Specifically, the number of robots can be twice the number of network-sealing ropes, and the number of network-sealing ropes can be determined based on the network-sealing length and network-sealing interval in the network-sealing requirements. The preset communication rules should follow the principle of minimalist communication networks and be set with the goal of achieving network-sealing requirements. Robot numbering can be determined by the differentiated configuration scheme and numbering rules of the robot roles. The differentiated configuration scheme of robot roles means that robots with higher intelligence are configured as positioning robots in key positions, and robots with lower intelligence are configured as follower robots in other positions to assist positioning robots in collaborative operations. The numbering rules can be based on meeting network-sealing requirements as the core, combining robot roles, and arranging all network-sealing robots into efficient collaborative formations, and assigning numbers according to unified standards.

[0095] In one possible implementation, the robot configuration information can be determined based on the following network sealing requirements. For example, the network sealing requirements include a network length of L meters, a network spacing of 1 meter, and a network sealing standard where all network sealing ropes are parallel to each other and perpendicular to the power transmission lines, with a strict uniform spacing. The corresponding calculation formula for the number of robots N is: in, indicates rounding up. The corresponding preset communication rule can be: each robot has bidirectional communication with the front and rear (if any) robots on the same power transmission wire, and bidirectional communication with the same group of robots on different power transmission wires, wherein the same group of robots refers to two robots connected by the same fence rope, located on different power transmission wires and adjacent to each other on the left and right. The corresponding role differentiation configuration scheme can be: four robots with higher intelligence are equipped as positioning robots for accurately positioning the head and tail positions of the to-be-enclosed section. The corresponding numbering rule is: all robots are evenly divided into two columns, and the robots at the head and tail positions of each column are designated as positioning robots. The numbering of the robots in one column is completed in the order from front to back, with the first robot numbered 1 and the last robot numbered N / 2. The numbering of the robots in the other column is completed in the same order, with the first robot numbered (N+2) / 2 and the last robot numbered N.

[0096] S202, determining a relationship matrix corresponding to the fence robots based on the robot configuration information.

[0097] In this step, the relationship matrix is used to describe the communication relationship between each fence robot participating in the fence operation, and is determined based on the communication topology graph of the fence robot, and the communication topology graph is constructed based on the number of robots, robot numbering and preset communication rules. The relationship matrix includes three matrices: an adjacency matrix, a same-group cross-column matrix and a same-column front-back matrix. The adjacency matrix corresponds to the above communication topology graph and is used to describe the communication relationship between all fence robots. The same-group cross-column matrix corresponds to the elements in the adjacency matrix that describe the same-group position communication relationship of the fence robots. The same-column front-back matrix corresponds to the elements in the adjacency matrix that describe the front-back position communication relationship of the fence robots.

[0098] S203, calculating the control input of the fence robots according to the current motion information of the fence robots, the relationship matrix and the preset convergence condition.

[0099] In this step, the control input of the fence robots is calculated based on a cooperative control algorithm according to the current motion information of the fence robots, the relationship matrix and the preset convergence condition. The above cooperative control algorithm is constructed based on the second-order dynamics equation and the second-order dynamic equation of the fence robots according to the distributed consensus protocol combined with the current motion information of the fence robots and the three relationship matrices.

[0100] In a possible implementation, the cooperative control algorithm of the sealing robot can be constructed in the following manner: first, the stress condition of a single sealing robot in the sealing operation is comprehensively analyzed, and based on Newton's second law and the principle of dynamics, a second-order dynamic equation of the single sealing robot is constructed. Then, according to a distributed consistency protocol, in combination with the current motion information of the sealing robot and three relationship matrices, and based on the second-order dynamic equation and the second-order dynamic equation of the sealing robot, a cooperative control algorithm of the sealing robot is constructed to calculate the value of the control input of the sealing robot, with a preset convergence condition as a constraint target.

[0101] S204, based on the control input, the acceleration of the sealing robot is controlled to realize the cooperative control among the sealing robots.

[0102] In this step, the value of the control input can be transmitted to the drive control system of the sealing robot in the form of an electrical signal or a digital instruction, causing the change of the engine torque of the sealing robot, and then causing the change of the traction force output by the sealing robot. When the torque increases, the traction force increases, and the sealing robot obtains greater acceleration; when the torque decreases, the traction force decreases, and the sealing robot decelerates or brakes. Therefore, the dynamic adjustment of the acceleration directly affects the speed of the sealing robot, and the sealing robot continuously adjusts the acceleration according to the current motion state of itself and the adjacent sealing robot, and finally realizes the cooperative control of all the sealing robots in the sealing operation, and then completes the sealing task according to the sealing requirement.

[0103] The cooperative control method of the power transmission line sealing robot provided in the embodiments of the present application can realize the cooperative control among the sealing robots by obtaining the robot configuration information corresponding to the power transmission line to be sealed, determining the relationship matrix describing the communication relationship among the sealing robots, combining the current motion information of the sealing robot, taking the preset convergence condition related to the position and speed of the sealing robot as a constraint target, calculating the control input of the sealing robot, controlling the acceleration of the sealing robot based on the control input, and finally achieving the automatic sealing operation mode without a central node control, without a complex communication network architecture, and without external human intervention throughout, so as to realize the effect of reducing the equipment cost and improving the safety and work efficiency of the high-altitude sealing operation.

[0104] Figure 3 The flowchart of the cooperative control method of the power transmission line sealing robot provided in the present application Figure 2 As shown in Figure 3 the present embodiment is based on Figure 2 the embodiments, a cooperative control method of a power transmission line sealing robot is described in detail, which comprises:

[0105] S301, acquire the number of robots, the robot number and the preset communication rule corresponding to the power transmission line to be blocked.

[0106] For detailed description of this step, please refer to the relevant description in the above embodiment S201, which will not be repeated here.

[0107] S302, construct a communication topology graph of the blocking robot according to the number of robots, the robot number and the preset communication rule.

[0108] In this step, bidirectional communication is required between the blocking robots, so the communication topology graph can be constructed based on an undirected topology graph, whose nodes represent the blocking robots and whose edges represent two blocking robots having a bidirectional communication relationship.

[0109] S303, determine the adjacency matrix, the same group cross column matrix and the same column front and back matrix of the blocking robot based on the communication topology graph.

[0110] In this step, the relationship matrix is used to describe the communication relationship between the blocking robots in the blocking operation, wherein the same group cross column matrix corresponds to the elements in the adjacency matrix that describe the same group position communication relationship of the blocking robots, and the same column front and back matrix corresponds to the elements in the adjacency matrix that describe the front and back position communication relationship of the blocking robots.

[0111] S304, determine the role of the blocking robot in the blocking operation and the adjacent blocking robot information according to the relationship matrix.

[0112] In this step, the blocking robot can calculate the number of non-zero elements in the local row vector associated with itself in the adjacency matrix (i.e. the degree of itself, representing the number of neighbor nodes), and determine its role in the blocking operation as a positioning robot or a following robot according to the preset mapping rule between the degree and the role. The blocking robot can also determine the adjacent blocking robot in bidirectional communication with itself according to the element composition and its value in the above local row vector. Specifically, the index position of the element in the vector corresponds to the unique number of the other blocking robot, and its non-zero value represents the existence of the bidirectional communication link. For example, "1" indicates that the adjacent communication relationship is established, and "0" indicates that there is no communication connection.

[0113] In one possible implementation, when the blocking robot acquires the robot configuration information, the information already contains a parameter defining its role, which will directly participate in subsequent calculations without the need for the robot to independently perform the role determination process.

[0114] S305, acquire the current motion information of the blocking robot and the current motion information of the adjacent blocking robot.

[0115] In this step, the net sealing robot acquires its current motion information, and acquires the current motion information of the adjacent net sealing robot through communication with the adjacent net sealing robot.

[0116] S306, judging the role of the net sealing robot in the net sealing operation. If following, S307-S308 are executed; if positioning, S309-S310 are executed.

[0117] S307, acquiring the expected distance between the net sealing robot and the adjacent net sealing robot.

[0118] In this step, the expected distance is the net sealing interval in the net sealing requirement, and the net sealing robot maintains the expected distance with the adjacent net sealing robot in front and behind to ensure that multiple net sealing ropes are fixed on the power transmission conductor with a uniform net sealing interval.

[0119] S308, calculating the control input of the net sealing robot based on the current motion information of the net sealing robot, the current motion information of the adjacent net sealing robot, the expected distance, and a preset convergence condition.

[0120] In this step, the preset convergence condition includes: the position difference between the two net sealing robots connected to the same net sealing rope is zero; the adjacent two net sealing robots on the same conductor in the power transmission line to be net sealed maintain a preset net sealing interval; and the speed difference of all net sealing robots is zero.

[0121] S309, acquiring the expected position of the net sealing robot.

[0122] In this step, the expected position can be based on the travel starting point of the last positioning group of net sealing robots, and the expected position coordinates of each net sealing robot can be calculated and determined through the net sealing interval, the number of robots, and the starting position of the robot. Among them, there are two cases for the travel starting point, which can completely coincide with the physical starting position of the section to be net sealed, or the net sealing robot needs to travel a certain distance along the power transmission conductor after starting from the travel starting point before reaching the starting position of the section to be net sealed.

[0123] It should be understood that the expected position can also be based on the travel starting point of the first positioning group of net sealing robots, and the corresponding parameters can be adjusted accordingly.

[0124] S310, calculating the control input of the net sealing robot based on the current motion information of the net sealing robot, the current motion information of the adjacent net sealing robot, the expected position, and a preset convergence condition.

[0125] In this step, in addition to the conditions mentioned in S308, the preset convergence condition also includes that the difference between the position of the net sealing robot and the expected position is zero.

[0126] S311. Control the acceleration of the caging robot based on the control input to realize the cooperative control among the caging robots.

[0127] For the detailed description of this step, please refer to the relevant description in the above embodiment S204, which will not be repeated here.

[0128] For example, in one possible implementation, the caging robot determines the communication topology graph based on the robot configuration information, and determines three relationship matrices corresponding to the communication topology graph, including an adjacency matrix, a same-group cross-column matrix corresponding to the adjacency matrix, and a same-column front-back matrix corresponding to the adjacency matrix. Figure 2 The specific implementation process of the embodiment will be described in detail. The caging robot obtains robot configuration information, determines a communication topology graph, and further determines three relationship matrices corresponding to the communication topology graph, including an adjacency matrix, and a same-group cross-column matrix and a same-column front-back matrix corresponding to the adjacency matrix. Then, based on the current motion information of the caging robot itself, the current motion information of the adjacent caging robots corresponding to the relationship matrices, and the preset convergence condition, the value of the control input of the caging robot itself is calculated based on the cooperative control algorithm, to control the acceleration of the caging robot itself, thereby realizing the cooperative control among the overall caging robots. Next, some concepts in the above process will be described.

[0129] The above communication topology graph corresponds to the mathematical expression of the undirected topology graph G=(v,ε A ,A). Wherein, v represents the node set of the caging robot; ε A is the edge set, where the edge (i,j) is used to represent that the caging robot i and the caging robot j have bidirectional communication; A is the adjacency matrix in this embodiment, and the mathematical expression is simply denoted as A=[a ij ], if edge (i,j)∈ε A , then a ij =1, that is, the caging robot i and the caging robot j have bidirectional communication, and the rest a ij =0. Each row of the adjacency matrix A corresponds to a caging robot, and the elements of the row record the bidirectional communication state between the caging robot and all caging robots in turn. For the adjacency matrix A, its in-degree matrix can be defined as D A =diag(d i ), d i is the in-degree of node i, that is, the number of adjacent nodes that can send information to node i. According to the definition of the adjacency matrix A, two relationship matrices, the same-group cross-column matrix and the same-column front-back matrix, are determined. First, the same-group cross-column matrix Z=[z ij ] corresponds to the edge set ε Z , if edge (i,j)∈ε Z , then z ij =1, that is, the caging robot i and the caging robot j have bidirectional communication, and are same-group robots, and the rest z ij =0; its in-degree matrix is D Z . Secondly, the same-column front-back matrix H=[h ij], the corresponding edge set is ε H , if edge (i, j) e ε H , then h ij = 1, that is, there is a two-way communication between the cordon robot i and the cordon robot j, and they are adjacent robots on the same power transmission conductor, and h ij = 0 in other cases; the corresponding in-degree matrix is D H .

[0130] The above cooperative control algorithm is constructed based on the second-order dynamics equation and the second-order dynamic equation of the cordon robot according to the distributed consensus protocol, combined with the current motion information of the cordon robot and the three relationship matrices, and the construction process is as follows:

[0131] The force on the cordon robot is analyzed, and then the second-order dynamics equation of the cordon robot is determined. The external force on the cordon robot includes gravity, traction, friction, air resistance and lateral tension of the cordon rope. This embodiment does not consider the force that has little effect on the motion state of the cordon robot, and only considers the force or component force in the forward direction of the cordon robot. Then, for the cordon robot i, the force in the forward direction includes the traction F i , the gravity component in the forward direction f Gi , and the lateral tension of the cordon rope f xi .

[0132] The traction F i is provided by the internal engine of the cordon robot i and always acts in the forward direction.

[0133] Since the power transmission conductor has sag, the gravity component in the forward direction f Gi is a resistance when the cordon robot i climbs uphill, and a power when it descends, which can be expressed as: f Gi = m i gsinθ. Wherein, m i is the mass of the cordon robot i, g is the acceleration of gravity, and θ is the angle between the forward direction of the cordon robot i and the horizontal plane.

[0134] The lateral tension f xi of the cordon rope is generated when the cordon robot i and the robot j in the same group have a position difference Δx in the forward direction, which can be expressed as: f xi = kΔx = k(x i -x j ). Wherein, Δx is the position difference, k is the tension coefficient of the net rope, and x i and x j are the positions of the cordon robot i and the cordon robot j on the corresponding power transmission conductor respectively.

[0135] In summary, the resultant force in the forward direction of the cordon robot i is: Fi +f Gi -f xi The forward speed of the caging robot i at time t is defined as v i (t), the second-order dynamic equation of the caging robot i can be derived as:

[0136]

[0137] The second-order dynamic equation of the caging robot i can be expressed as:

[0138]

[0139] where u i (t) is the control input of the caging robot i at time t, and there is:

[0140]

[0141] Next, according to the distributed consensus protocol, combining the current motion information of the caging robot and the three relationship matrices, and taking the preset convergence condition as the constraint target, the cooperative control algorithm of the caging robot is constructed based on the second-order dynamic equation and the second-order dynamic equation of the caging robot i, and the entire caging robot system state is driven by the control input to gradually meet the preset convergence condition.

[0142] According to the caging requirement, when time t tends to infinity, the preset convergence condition that the caging robot cooperative control needs to meet has four items. First, the position deviation between robots in the same group converges to 0; second, the distance between adjacent robots in front of the same wire stabilizes at the caging interval; third, the positioning robot walks to the expected position; and fourth, the speed deviation of all robots converges to 0. The preset convergence condition can be expressed as:

[0143]

[0144] When the caging robot i is a following robot, the equation corresponding to the cooperative control algorithm is:

[0145]

[0146] When the caging robot i is a positioning robot, the equation corresponding to the cooperative control algorithm is:

[0147]

[0148] In the above equation set and equation of the cooperative control algorithm, c z , c f , c h , c v , c G , c Lare gain coefficients, which can be determined by the parameter tuning method of PID controller. ij , h ij , a ij are elements of the aforementioned same-group cross-column matrix Z, same-column front-back matrix H and adjacency matrix A, respectively. ij is the desired distance between the front-back adjacent sealing robots i and j on the same conductor, when (i, j) ∈ ε H , if the sealing robot i is in front of the sealing robot j, then r ij = l, otherwise r ij = -l, l is the sealing interval; l0 is the final desired position of the positioning group robot. The remaining parameters have been described in detail in the foregoing, and will not be repeated here.

[0149] In addition, considering the safety of the sealing operation and the upper limit of the actual engine output power, constraints need to be made on the control input and speed, that is: |u i | < u imax , |v i | < v imax . When the span of the power transmission line is large, the sealing section to be sealed may be far away from the starting position of the sealing robot. In order to improve the sealing operation efficiency, the sealing robot group can be made to run at the highest speed v imax first, and then switch to the above-mentioned cooperative control algorithm when the last sealing robot group reaches the starting position of the sealing section.

[0150] In order to facilitate subsequent analysis, based on the equation group and equation of the above-mentioned cooperative control algorithm, the dynamic equation of the sealing robot can be written in the following matrix form:

[0151]

[0152] where I n×n is an n × n unit vector, n = N, N is the number of robots; the gain coefficient vector C L = diag[c Li ], c Li = 1 only when the sealing robot i is a positioning robot, and c Li = 0 in other cases; the desired position vector S l = [s1, s2, …, s i , …, s N ] T , where i ∈ {1, 2, …, N}, s i is the final desired displacement of the sealing robot i; the positioning robot related L0 = [l1, l2, …, l i , …, l n ] Tis a column vector, where i∈{1, 2, …, N}, there exists l only when the fence robot i is a positioning robot i = l0, otherwise l i = 0; the rest of the symbols are consistent with the previous definition. Further simplify the matrix form of the above dynamic equation to get the following matrix form:

[0153]

[0154] where, L Z , L H , L A are the Laplacian matrix corresponding to the same group of column matrix Z, the same column before and after the matrix H, the adjacency matrix A.

[0155] Let p(t) = [x1(t), …, x n (t), v1(t), …, v n (t)] T Then finally, the above fence robot dynamic system can be expressed by state vector and matrix operation as:

[0156]

[0157] where, Ω = -(C L + (c z - c p (k / m)) L Z + c h L H ), by fusing the Laplacian matrix and the gain coefficient, the physical requirements of the same group of robot position deviation constraint and the adjacent robot interval control are converted into linear relationship of matrix operation; B = c h L H S l + L0 - c G g sin θ, which integrates the expected deviation of adjacent interval, the target guide of positioning robot and the gravity disturbance compensation.

[0158] The cooperative control method of the power transmission line netting robot provided in the embodiments of the present application comprises the following steps: obtaining the number of robots corresponding to the power transmission line to be netted, the robot number and the preset communication rule, constructing the communication topology graph of the netting robot, and then determining the adjacency matrix and the corresponding same-group cross-column matrix and same-column front-back matrix of the netting robot. The netting robot calculates the control input of the netting robot according to the expected distance, the current motion information of the netting robot itself and the current motion information of the adjacent netting robot determined by the three relationship matrices, with the preset convergence condition related to the position and speed as the constraint target. When the netting robot is a positioning robot, the expected position also needs to be considered in the calculation process. Finally, the acceleration of the netting robot is controlled through the control input, the cooperative control between the netting robots is achieved, the system state of the entire netting robot is gradually satisfied with the preset convergence condition, and the effects of reducing the equipment cost and improving the safety and work efficiency of the high-altitude netting operation are realized.

[0159] On the basis of any one of the above embodiments, the following will be combined Figure 4 Taking the 40m insulating rope type highway netting operation of the power transmission overhead line as a specific scene, a cooperative control method of a power transmission line netting robot is described in detail through specific examples.

[0160] S401, determine the configuration of the controlled netting robot system.

[0161] In this step, referring to the foregoing embodiments, the calculation formula of the number of robots N in the configuration of the robot system is Wherein, represents rounding up, L represents the netting length, and l represents the netting interval.

[0162] In this embodiment, the netting length is 40m, and the netting interval is 3m. Therefore, the number of robots required for netting can be calculated as 30, of which 4 robots with high intelligence are configured as the positioning group, and 26 robots with weak intelligence are configured as the following group. As shown in Figure 5 , the robots No. 1-15 and the robots No. 16-30 can be arranged in order on two parallel conductors, two as a group, that is, No. 1 and No. 16, No. 2 and No. 17, …, No. 15 and No. 30 are 15 groups of same-group robots located on two different conductors; No. 1 and No. 16 are the first positioning robot group, No. 15 and No. 30 are the last positioning robot group, and the middle is 13 following robot groups.

[0163] S402, construct a multi-robot cooperative operation communication topology graph suitable for the netting operation requirement.

[0164] In this step, the preset communication rule is determined according to the network blocking operation requirement, and the communication topology graph of the multi-robot cooperative operation is constructed according to the preset communication rule, wherein the network blocking operation requirement is the network blocking requirement in the foregoing embodiment.

[0165] In this embodiment, the mathematical expression of the undirected topology graph corresponding to the communication topology graph is G=(v,ε A ,A), and three relationship matrices are determined based on the communication topology graph, including the adjacency matrix A, the same group cross-column matrix Z, and the same column front and back matrix H. The preset communication rule is that each robot has bidirectional communication with the robots adjacent in front and back (if any) on the same power transmission wire, and has bidirectional communication with the robots in the same group on different power transmission wires. Then, the adjacency matrix A=[a ij ], the same group cross-column matrix Z=[z ij ], and the same column front and back matrix H=[h ij ] are all 30x30 matrices, and follow the following rules: if edge (i,j)∈ε A , then a ij =1, and a ij =0 in other cases; if edge (i,j)∈ε z , then z ij =1, and z ij =0 in other cases; if edge (i,j)∈ε h , then h ij =1, and h ij =0 in other cases.

[0166] According to the rule that each robot has bidirectional communication with the robots adjacent in front and back (if any) on the same power transmission wire, the values of some elements of the adjacency matrix A are as follows: a 12 =a 21 =a 23 =a 32 =…=a 14,15 =a 15,14 =a 16,17 =a 17,16 =…=a 29,30 =a 30,29 =1; the values of some elements of the same column front and back matrix H are as follows: h 12 =h 21 =h 23 =h 32 =…=h 14,15 =h 15,14 =h 16,17 =h 17,16 =…h 29,30 =h 30,29 =1. According to the rule that each robot has bidirectional communication with the robots in the same group on different power transmission wires, the values of some elements of the adjacency matrix A are as follows: a 1,16 =a16,1 = a 2,17 = a 17,2 = a 15,30 = a 30,15 = 1; the value of the partial element of the same group cross-column matrix Z is z 1,16 = z 16,1 = z 2,17 = z 17,2 = z 15,30 = z 30,15 = 1. In addition to the above-mentioned elements, the values of the remaining elements in the adjacency matrix A, the same group cross-column matrix Z, and the same column before and after matrix H are 0.

[0167] In addition, the in-degree matrix D A = diag(d i ) corresponding to the adjacency matrix A, d1 = d 15 = d 16 = d 30 = 2, corresponding to the positioning group fence robot ranked first and last, indicating that the number of adjacent robots is 2; the rest of the case d i = 3.

[0168] S403, analyze the force condition of the robot, establish a system dynamic model, and determine the dynamic equation of each fence robot.

[0169] In this step, the second-order dynamic equation of the fence robot is:

[0170]

[0171] In this embodiment, the weight of a single robot m i is 5 kg; the acceleration of gravity g is 9.8 m / s 2 ; the angle between the robot advancing direction and the horizontal plane θ is -15° when climbing and 15° when descending; the net rope tension coefficient k is 0.1. Substitute the above values into the second-order dynamic equation of the fence robot to obtain:

[0172]

[0173] S404, design a fence robot cooperative control algorithm based on a leader-following consensus protocol.

[0174] In this step, the preset convergence condition of the cooperative control algorithm of the fence robot corresponds to the mathematical expression:

[0175]

[0176] When the fence robot i is a follower robot, the equation corresponding to the above-mentioned cooperative control algorithm of the fence robot is:

[0177]

[0178] When the blocking robot i is a positioning robot, the equation corresponding to the above collaborative control algorithm is:

[0179]

[0180] In this example, starting from approximately 39 meters away from the section to be sealed, the last positioning robot groups No. 15 and No. 30 are first placed at the starting point. Then, the sealing robots are placed one meter apart from each other. Finally, the first positioning robot groups No. 1 and No. 16 are placed at the 14-meter position. In addition, the control input and speed of the sealing robots are constrained as follows: i |<5m / s 2 ,|v i |<5m / s 2 When the network blocking task starts, 30 robots move at the maximum speed of 5m / s at the same time. When the last positioning robot group reaches the position of 38 meters, it switches to the aforementioned collaborative control algorithm to achieve efficient automatic network blocking. In the equation corresponding to the collaborative control algorithm, the gain coefficient c z 、c f 、c h 、c v 、c G 、c L The values ​​can be 0.4, 1, 0.4, 1, 1, and 2 respectively. The expected distance r ij , in (i,j)∈ε H , and when the blocking robot i is in front of the blocking robot j, the value is r ij =l=3, in (i,j)∈ε H When the blocking robot i is behind the blocking robot j, the value is r ij =-l=-3, in other cases r ij = 0. When the network-blocking robot i is the first robot in the positioning group, its expected positioning position l0 = 80 (in meters); when the network-blocking robot i is the last robot in the positioning group, its expected positioning position l0 = 38 (in meters). The values ​​of the remaining parameters have been explained above and will not be repeated here.

[0181] During the whole process of network blocking operation, the trend of the position of each network blocking robot changing with time is as follows: Figure 6 As shown, from Figure 6 The dynamic process of the positions of different blocking robots over time can be intuitively seen in the figure. In the early stage, when moving at the highest speed of 5m / s, the position changes significantly, and gradually stabilizes in the later stage.

[0182] In this embodiment, the dynamic system of the network blocking robot can also be expressed through state vector and matrix operations as follows:

[0183] p(t) = [x1(t),..., xN(t)]T n v1(t),..., vN(t)]T n T

[0184]

[0185] Wherein, on the one hand, by fusing Laplace matrix and gain coefficient, the position deviation constraint of the same group of robots, the physical demand of the interval control between the front and rear robots is converted into linear relationship of matrix operation, expressed as: Ω = -(C L + (c z - c p (k / m))L Z + c h L H ); on the other hand, the expected deviation of the adjacent interval, the target guide of the positioning robot and the gravity disturbance compensation are integrated, expressed as: B = c h L H S l + L0-c G gsinθ. In addition, the number of robots N = 30, and n = N; the gain coefficient vector C L of the first positioning robot = [c L1 , c L2 ,..., c L30 ] T , c L1 = c L16 = 2, and the rest of the elements in the gain coefficient vector C L are 0; the expected position vector S l = [s1, s2, s3,..., s 28 , s 29 , s 30 ] T = [80, 77, 74,..., 44, 41, 38]; the values of the rest of the parameters are consistent with the foregoing.

[0186] It should be noted that the various processing steps S401-S404 shown in the Figure 4 embodiment do not constitute a specific limitation on the cooperative control method of the power line sealing robot. In other embodiments of the present application, the cooperative control method of the power line sealing robot can include more or fewer steps than the Figure 4 embodiment, for example, the cooperative control method of the power line sealing robot can include some steps in the Figure 4 embodiment, or some steps in the Figure 4 embodiment can be replaced by steps with the same function, or​Figure 4 Some steps in the embodiments may be split into multiple steps, etc.

[0187] Figure 7 This is a schematic diagram of the structure of a collaborative control device for a power transmission line sealing robot provided in this application, such as Figure 7 As shown, the collaborative control device 70 of a power transmission line sealing robot provided in this embodiment includes:

[0188] The acquisition module 701 is used to obtain the robot configuration information corresponding to the power transmission line to be blocked.

[0189] The determination module 702 is used to determine the relationship matrix corresponding to the network blocking robot based on the robot configuration information; the relationship matrix is ​​used to describe the communication relationship between the network blocking robots in the network blocking operation.

[0190] The calculation module 703 is used to calculate the control input of the network blocking robot according to the current motion information of the network blocking robot, the relationship matrix and the preset convergence condition.

[0191] The control module 704 is used to control the acceleration of the network-blocking robots based on the control input to achieve coordinated control between the network-blocking robots.

[0192] In one possible implementation, in conjunction with the second aspect, the robot configuration information acquired by the acquisition module 701 includes at least the number of robots, robot numbers, and preset communication rules, and the determination module 702 is specifically configured to:

[0193] According to the number of robots, robot numbers and preset communication rules, a communication topology diagram of the network-blocking robots is constructed; the nodes of the communication topology diagram represent the network-blocking robots, and the edges of the communication topology diagram represent two network-blocking robots with a communication relationship.

[0194] Based on the communication topology diagram, the relationship matrix of the network blocking robot is determined.

[0195] In one possible implementation, in conjunction with the second aspect, the robot configuration information acquired by the acquisition module 701 includes at least the number of robots, robot numbers, and preset communication rules. The determination module 702, when determining the relationship matrix of the network-blocking robots based on the robot configuration information, is specifically configured to:

[0196] According to the communication topology diagram, the adjacency matrix, the same group cross-column matrix and the same column front-back matrix of the network blocking robot are determined.

[0197] Among them, the same group cross-column matrix corresponds to the elements in the adjacency matrix used to describe the same group position communication relationship of the network-blocking robot, and the same column front-back matrix corresponds to the elements in the adjacency matrix used to describe the front-back position communication relationship of the network-blocking robot.

[0198] In a possible implementation, in combination with the second aspect, the calculation module 703 is specifically configured to:

[0199] According to the relationship matrix, determine the role of the cabling robot in the cabling operation and the information of the adjacent cabling robot.

[0200] Obtain the current motion information of the cabling robot and the current motion information of the adjacent cabling robot.

[0201] Based on the current motion information of the cabling robot, the current motion information of the adjacent cabling robot, and the preset convergence condition, calculate the control input of the cabling robot.

[0202] In a possible implementation, in combination with the second aspect, the acquisition module 701 is further configured to:

[0203] Obtain the expected distance between the cabling robot and the adjacent cabling robot.

[0204] Correspondingly, the calculation module 703 is further configured to calculate the control input of the cabling robot based on the current motion information of the cabling robot, the current motion information of the adjacent cabling robot, the expected distance, and the preset convergence condition.

[0205] In a possible implementation, in combination with the second aspect, the acquisition module 701 is further configured to:

[0206] Obtain the expected position of the cabling robot.

[0207] Correspondingly, the calculation module 703 is further configured to calculate the control input of the cabling robot based on the current motion information of the cabling robot, the current motion information of the adjacent cabling robot, the expected position, and the preset convergence condition.

[0208] In a possible implementation, in combination with the second aspect, the preset convergence condition includes:

[0209] The position difference between two cabling robots connected by the same cabling rope is zero.

[0210] The preset cabling interval is maintained between two adjacent cabling robots on the same conductor in the cabling transmission line.

[0211] The speed difference of all cabling robots is zero; and when the cabling robot is a positioning robot, the difference between the position of the cabling robot and the expected position is zero.

[0212] The coordination control device for the cabling robot of the transmission line provided in this embodiment can execute the method provided in the method embodiment, and has similar implementation principles and technical effects, which will not be described here in detail.

[0213] Figure 8A structural schematic diagram of an electronic device is provided in the present application. As shown in the figure Figure 8 The electronic device 80 provided in the embodiment includes at least one processor 801 and a memory 802. Optionally, the device 80 further includes a communication component 803. The processor 801, the memory 802 and the communication component 803 are connected through a bus 804.

[0214] In the implementation process, the at least one processor 801 executes the computer execution instructions stored in the memory 802, so that the at least one processor 801 executes the above-mentioned method.

[0215] The specific implementation process of the processor 801 can refer to the above-mentioned method embodiment, which has similar implementation principles and technical effects, and will not be described here in detail.

[0216] In the above-mentioned embodiments, it should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC) and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor and the like. The steps of the method disclosed in the application can be directly embodied as the execution of the hardware processor, or executed by the combination of hardware and software modules in the processor.

[0217] The memory can include a random access memory (RAM), and can also include a non-volatile memory (NVM), for example, at least one disk memory.

[0218] The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus or an extended industry standard architecture (EISA) bus and the like. The bus can be divided into an address bus, a data bus, a control bus and the like. For the convenience of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0219] The present application also provides a computer program product, including a computer program, which is executed by the processor to realize the above-mentioned method.

[0220] The application further provides a computer readable storage medium, wherein computer execution instructions are stored in the computer readable storage medium, and when a processor executes the computer execution instructions, the method described above is realized.

[0221] The readable storage medium described above can be realized by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0222] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0223] The division of units is only a logical function division, and when actually implemented, there can be another division mode, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0224] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on a plurality of network units. According to actual needs, some or all of the units can be selected to achieve the purpose of the embodiment.

[0225] In addition, the functional units in each embodiment of the application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0226] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of 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 embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0227] It can be understood by those skilled in the art that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The aforementioned program can be stored in a computer readable storage medium. The program executes the steps of the above-mentioned method embodiments when executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, and various media that can store program codes.

[0228] Finally, it should be noted that: those skilled in the art will easily think of other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application that follow the general principles of the present application and include common knowledge or conventional technical means in the art that are not disclosed in the present application, and is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present application is only limited by the appended claims.

Claims

1. A collaborative control method for a power transmission line sealing robot, characterized in that: The method comprises: Obtain the robot configuration information corresponding to the power transmission line to be blocked; Determining a relationship matrix corresponding to the network blocking robots based on the robot configuration information; the relationship matrix is ​​used to describe the communication relationship between the network blocking robots during the network blocking operation; Calculating a control input of the network-blocking robot according to the current motion information of the network-blocking robot, the relationship matrix, and a preset convergence condition; Based on the control input, the acceleration of the network-blocking robots is controlled to achieve coordinated control between the network-blocking robots.

2. The method according to claim 1, characterized in that The robot configuration information includes at least the number of robots, robot numbers, and preset communication rules. Determining the relationship matrix of the network-blocking robots based on the robot configuration information includes: Constructing a communication topology graph of the network-blocking robots based on the number of robots, the robot numbers, and the preset communication rules; wherein a node of the communication topology graph represents a network-blocking robot, and an edge of the communication topology graph represents two network-blocking robots having a communication relationship; Based on the communication topology diagram, a relationship matrix of the network blocking robot is determined.

3. The method according to claim 2, characterized in that Determining the relationship matrix of the network blocking robot based on the communication topology diagram includes: Determine the adjacency matrix, the same-group cross-column matrix, and the same-column front-back matrix of the network blocking robot according to the communication topology diagram; Among them, the same-group cross-column matrix corresponds to the elements in the adjacency matrix used to describe the same-group position communication relationship of the network-blocking robot, and the same-column front-back matrix corresponds to the elements in the adjacency matrix used to describe the front-back position communication relationship of the network-blocking robot.

4. The method according to claim 1, wherein The calculating and obtaining the control input of the network blocking robot according to the current motion information of the network blocking robot, the relationship matrix, and a preset convergence condition includes: Determining the role of the network blocking robot in the network blocking operation and information of adjacent network blocking robots according to the relationship matrix; Obtaining the current motion information of the network-blocking robot and the current motion information of the adjacent network-blocking robots; Based on the current motion information of the network-blocking robot, the current motion information of the adjacent network-blocking robots and the preset convergence condition, the control input of the network-blocking robot is calculated.

5. The method according to claim 4, characterized in that When it is determined that the role of the network sealing robot in the network sealing operation is a following robot, the method further includes: Obtaining an expected distance between the network-sealing robot and an adjacent network-sealing robot; Accordingly, the control input of the network-blocking robot is calculated based on the current motion information of the network-blocking robot, the current motion information of the adjacent network-blocking robots, and the preset convergence condition, including: Based on the current motion information of the network-blocking robot, the current motion information of the adjacent network-blocking robot, the expected distance and the preset convergence condition, the control input of the network-blocking robot is calculated.

6. The method according to claim 4, characterized in that When determining that the role of the network sealing robot in the network sealing operation is a positioning robot, the method further includes: Obtaining the desired position of the network blocking robot; Accordingly, the control input of the network-blocking robot is calculated based on the current motion information of the network-blocking robot, the current motion information of the adjacent network-blocking robots, and the preset convergence condition, including: Based on the current motion information of the network-blocking robot, the current motion information of the adjacent network-blocking robot, the desired position and the preset convergence condition, the control input of the network-blocking robot is calculated.

7. The method according to claim 1, characterized in that The preset convergence conditions include: The position difference between the two net-sealing robots connected by the same net-sealing rope is zero; Two adjacent sealing robots on the same conductor of the power transmission line to be sealed maintain a preset sealing interval; The speed difference of all the blocking robots is zero; and When the network-sealing robot is a positioning robot, the difference between the position of the network-sealing robot and the expected position is zero.

8. A collaborative control device for a power transmission line sealing robot, characterized in that: include: An acquisition module is used to obtain the robot configuration information corresponding to the power transmission line to be blocked; A determination module is used to determine the relationship matrix corresponding to the network blocking robot based on the robot configuration information; the relationship matrix is ​​used to describe the communication relationship between the network blocking robots during the network blocking operation; A calculation module is used to calculate the control input of the network blocking robot based on the current motion information of the network blocking robot, the relationship matrix and the preset convergence condition; The control module is used to control the acceleration of the network-blocking robots based on the control input to achieve coordinated control between the network-blocking robots.

9. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed.

11. A computer program product, characterized in that The method comprises a computer program, which implements the method according to any one of claims 1 to 7 when the computer program is executed.

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