An ice-melting control method and system based on flexible conductor connection technology

Abstract

The application relates to the field of information technology and discloses an ice melting control method and system based on flexible conductor connection technology. Real-time icing data and real-time wind force data of a conductor in a target area are acquired to determine icing state change parameters and deformation characteristics of the conductor, a conductor state comprehensive model is constructed by combining the sliding degree of the conductor between different material layers, and then a docking strategy of an ice melting mechanical arm is generated. Feedback data after execution of the docking strategy is used to generate a fine adjustment strategy of the ice melting mechanical arm to determine locking optimization parameters of the ice melting mechanical arm, and then a pre-icing operation of a preheating electrode is controlled. Resistivity distribution data required for directional flow guiding is dequantized based on icing state changes in the pre-icing process to perform a directional flow guiding operation, the locking optimization parameters are adjusted according to execution effect data, and an ice melting control strategy is generated based on the adjusted locking optimization parameters for execution. The flexible conductor connection technology is used to improve the ice melting efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of information technology, in particular to an ice melting control method and system based on flexible conductor connection technology. BACKGROUND

[0002] Flexible conductor connection technology has a key significance in the field of power transmission, especially in extreme environments such as high-altitude mountainous areas, the connection stability and reliability between iced conductors and ice melting mechanical devices directly affect the ice melting effect, power grid operation safety and power supply continuity. At present, the traditional flexible conductor connection technology mostly uses single sensor or fixed connection, but this method is difficult to adapt to the dynamic changes of the ice-covered state of the conductor, especially when complex factors such as heterogeneous ice crystal structure, composite deformation and interlayer slip are superimposed, it is easy to cause connection failure, and thus the ice melting efficiency is low.

[0003] Therefore, how to solve the problem of high failure rate of the existing flexible conductor connection technology when the ice-covered state of the conductor changes dynamically, and thus the low ice melting efficiency, has become a technical problem to be solved by the technical personnel in the field. SUMMARY

[0004] The present application provides an ice melting control method and system based on flexible conductor connection technology, which solves the problem of high failure rate of the existing flexible conductor connection technology when the ice-covered state of the conductor changes dynamically, and thus the low ice melting efficiency.

[0005] To solve the above technical problems, the present application provides an ice melting control method based on flexible conductor connection technology, comprising:

[0006] Obtain real-time icing data and real-time wind data of the conductor in the target area to determine the distribution characteristics of the conductor under multiple heterogeneous ice crystal structures and the deformation data under the action of wind, obtain the icing state change parameter and the deformation feature;

[0007] When the deformation feature exceeds the preset deformation threshold, obtain the temperature gradient data of the conductor to determine the slip degree between different material layers of the conductor, obtain the slip influence coefficient, and combine the icing state change parameter and the deformation feature to construct a conductor state comprehensive model;

[0008] Determine the docking strategy of the ice melting mechanical arm based on the conductor state comprehensive model, and obtain the real-time feedback data of the dual-spectrum imaging system after executing the docking strategy to determine the micro-motion adjustment strategy for controlling the ice melting mechanical arm;

[0009] Determine the locking optimization parameter of the ice-melting mechanical arm according to the micro-adjustment strategy to control the pre-ice-melting operation of the preheating electrode, and monitor the ice-coating state change in the pre-ice-melting operation to quantify the resistivity distribution data required for the directional flow guiding.

[0010] Adjust the contact pressure of the preheating electrode through the resistivity distribution data to perform the directional flow guiding operation, adjust the locking optimization parameter according to the execution effect data of the directional flow guiding operation, and generate the ice-melting control strategy based on the adjusted locking optimization parameter for execution.

[0011] The second aspect of the present application provides an ice-melting control system based on flexible conductor connection technology, comprising:

[0012] The change feature determination module is configured to obtain real-time ice-coating data and real-time wind force data of the conductor in the target area to determine the distribution feature of the conductor under multiple heterogeneous ice crystal structures and the deformation data of the conductor under the action of wind force, and obtain ice-coating state change parameters and deformation features.

[0013] The comprehensive model construction module is configured to obtain temperature gradient data of the conductor to determine the slip degree of the conductor between different material layers when the deformation feature exceeds a preset deformation threshold, obtain a slip influence coefficient, and combine the slip influence coefficient with the ice-coating state change parameters and the deformation feature to construct a conductor state comprehensive model.

[0014] The adjustment strategy generation module is configured to determine a docking strategy of an ice-melting mechanical arm based on the conductor state comprehensive model, and obtain real-time feedback data of a dual-spectrum imaging system after the docking strategy is executed to determine a micro-adjustment strategy for controlling the ice-melting mechanical arm.

[0015] The distribution data quantification module is configured to determine the locking optimization parameter of the ice-melting mechanical arm according to the micro-adjustment strategy to control the pre-ice-melting operation of the preheating electrode, and monitor the ice-coating state change in the pre-ice-melting operation to quantify the resistivity distribution data required for the directional flow guiding.

[0016] The control strategy execution module is configured to adjust the contact pressure of the preheating electrode through the resistivity distribution data to perform the directional flow guiding operation, adjust the locking optimization parameter according to the execution effect data of the directional flow guiding operation, and generate the ice-melting control strategy based on the adjusted locking optimization parameter for execution.

[0017] Compared with the prior art, the embodiment of the present application has the following advantages:

[0018] By acquiring real-time icing data of the conductor in the target area, real-time wind data, temperature gradient data, etc., the distribution characteristics, deformation of the conductor under various heterogeneous ice crystal structures, and the slip degree between different material layers can be comprehensively and accurately understood, which helps to improve the pertinence and effectiveness of ice melting; considering the influence of various factors on the conductor state to construct a comprehensive conductor state model, scientific basis is provided for the docking strategy of the ice melting manipulator, the micro-motion adjustment strategy, and the determination of the locking optimization parameters, improving the accuracy and rationality of decision-making; by continuously adjusting the micro-motion adjustment strategy and locking optimization parameters of the ice melting manipulator through real-time feedback data, and further optimizing according to the execution effect data of the directional flow guiding operation, fine control of the ice melting process can be realized, the ice melting efficiency and quality are improved, the damage to the conductor is reduced, and the safe and stable operation of the power system is ensured; by quantifying the resistivity distribution data required for directional flow guiding, the ice melting operation is more scientific and accurate, the contact pressure of the preheating electrode can be adjusted according to the actual resistivity of the conductor to realize directional flow guiding; the ice melting strategy generated by the flexible conductor connection technology can adapt to the dynamic changes of the icing state, and at the same time, accurate ice melting of the iced conductor is realized, the ice melting efficiency and uniformity are improved, the residual deformation is reduced, the problem of conductor icing in severe weather is effectively solved, and the safe and stable operation of the power system is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described in the following only constitute some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a flow chart of an ice melting control method based on flexible conductor connection technology provided by an embodiment of the present application;

[0021] Figure 2 is a structural diagram of an ice melting control system based on flexible conductor connection technology provided by an embodiment of the present application;

[0022] Reference signs:

[0023] Among them, 10, change characteristic determination module; 20, comprehensive model construction module; 30, adjustment strategy generation module; 40, distribution data quantization module; 50, control strategy execution module. DETAILED DESCRIPTION

[0024] With reference to the drawings and embodiments, the technical solutions in the embodiments of the present application are clearly and completely described. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. The purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0025] In the description of the present application, the terms "first", "second", "third" and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", "third" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0026] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. The terms "vertical", "horizontal", "left", "right", "up", "down" and similar expressions used in this paper are only for the purpose of description, and cannot be understood as indicating or implying that the system or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. The term "and / or" used in this paper includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0027] In the description of the present application, it should be noted that, unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as generally understood by those skilled in the art. The terms used in the specification of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] The flexible conductor connection technology refers to a technology for realizing electrical connection between a flexible circuit, a stretchable electronic device or a flexible display element, and the core goal is to maintain reliable mechanical and electrical performance under dynamic deformation such as bending, stretching and twisting. The flexible conductor connection technology has key significance in the field of power transmission in extreme environments such as high-altitude mountainous areas. Specifically, in high-altitude mountainous areas, the icing of the conductor wire forms a variety of heterogeneous ice crystal structures, which not only causes the surface resistivity of the conductor wire to change significantly in a gradient manner, but also changes the aerodynamic shape of the conductor wire and increases the additional load; and under the action of wind, the iced conductor wire is prone to severe bending and twisting deformation, and then the complex external mechanical stress and deformation superimposed by the internal temperature gradient generated by the environmental temperature fluctuation or the current thermal effect (affected by the icing layer) acts on the layered structure of the aluminum-clad steel core conductor wire, thereby causing interlayer relative sliding, aggravating the unevenness of the internal stress distribution of the conductor wire and the complexity of the state evaluation; these factors are coupled with each other, making the state of the conductor wire highly dynamic, and the traditional static or semi-dynamic connection mode cannot accurately cope with it. Based on this, the present application builds a conductor wire state comprehensive model considering the conductor wire deformation, conductor wire interlayer sliding and icing state change, and uses a dual-spectrum imaging system to adjust the six-axis motion of the ice melting mechanical arm in the ice melting mechanical device, the micro-positioning and the locking between the ice melting mechanical arm and the conductor wire in real time, and optimizes the gradual contact pressure distribution between the preheating electrode in the ice melting mechanical device and the conductor wire, so as to adapt to the dynamic change of the conductor wire state in the icing environment, and then improve the ice melting efficiency.

[0029] In an embodiment, as shown in FIG. 1, Figure 1 The first aspect of the present application provides an ice melting control method based on the flexible conductor connection technology, comprising:

[0030] S1, obtaining real-time icing data and real-time wind data of the conductor wire in the target area to determine the distribution characteristics of the conductor wire under a variety of heterogeneous ice crystal structures and the deformation data of the conductor wire under the action of wind, and obtaining icing state change parameters and deformation characteristics;

[0031] In an embodiment, step S1 comprises:

[0032] Obtaining real-time icing data of the conductor wire in the target area, and identifying by X-ray diffraction technology to obtain ice crystal lattice parameters of a plurality of icing depths to divide ice layers, determining the density of each of the ice layers by using a density gradient method, and constructing a corresponding relationship table of icing depth and ice layer density;

[0033] Based on the corresponding relationship table, the resistance values of each of the ice layers are determined by using a four-probe method, and the resistivity of each of the ice layers is quantitatively obtained in combination with the thickness of each of the ice layers;

[0034] According to each of the resistivity, a linear interpolation method is used to establish a distribution function of the resistivity with the ice depth, and a resistivity gradient value is quantitatively obtained through the distribution function;

[0035] The time series method is used to obtain the ice thickness data of the conductor at multiple times, so as to quantitatively obtain the ice thickness growth rate of the conductor, and the resistivity gradient value is combined to quantitatively obtain the resistivity change rate of the conductor;

[0036] The crystal form proportion data of each ice layer at each time is obtained, so as to determine the ice crystal structure evolution rate through the time derivative of the volume fraction of hexagonal ice, and the ice thickness growth rate and the resistivity change rate are combined to construct an ice state change parameter to determine the ice development stage.

[0037] Specifically, the present application obtains the surface ice sample data of the conductor in the target area as real-time ice data; wherein the target area is an area prone to icing of the conductor, such as an extreme environment of high altitude mountainous area; and the X-ray diffractometer scans the ice section of the sample data, so that it penetrates the ice layer by emitting an X-ray beam, identifies the ice crystal lattice parameters according to the difference in diffraction angle of X-rays of different ice crystal structures, and records the proportion of hexagonal ice and the proportion of cubic ice of each layer of ice crystal; wherein the lattice of hexagonal ice presents a hexagonal symmetry structure, and its diffraction peak is located at a specific angle, while cubic ice shows a different diffraction mode. Since the lattice parameters change suddenly when the ice layer properties change, different ice layer boundaries are divided accordingly, and the thickness of each ice layer is measured. The actual density of each ice layer is determined by using the density gradient method commonly used in the prior art, so as to establish a corresponding relationship table of ice depth and ice layer density. The ice density generally decreases from the inner layer to the outer layer. The ice crystals in the inner layer are arranged more closely due to the larger pressure, and the density can reach 0.92 g / cm³, while the density of the newly formed ice in the outer layer is only about 0.85 g / cm³. The detection of the ice layer structure can also be performed by using infrared spectroscopy or laser radar technology, and the surface characteristics (such as roughness and reflectivity) of the ice layer are analyzed by combining a machine learning algorithm, so as to obtain the ice crystal structure distribution.

[0038] Based on the corresponding relationship table, the resistance value of each ice layer is measured by using the four-probe method. The four-probe method is used to contact the ice layer by four probes, two of which are used to pass current, and the other two are used to measure voltage. According to Ohm's law, the resistance value of each ice layer is calculated, and the thickness information of each ice layer is combined to quantitatively obtain the resistivity of each ice layer according to the calculation formula of resistivity (resistivity = resistance × cross-sectional area / length, the cross-sectional area is the product of thickness and width). In addition, the resistivity of each ice layer can also be calculated according to the probe spacing, current value and measured voltage, combined with the thickness of the ice layer at that position. The resistivity of each ice layer can also be obtained by introducing a resistance-capacitance sensor or a microwave sensor, which utilizes the difference in dielectric constant between ice and water to realize non-contact measurement.

[0039] Since different depths of ice have different crystal proportion and density, the resistivity is different, the present application obtains discrete resistivity data points by measuring at multiple depth positions, and based on linear interpolation method, the continuous resistivity-depth distribution function of resistivity changing with ice depth is constructed by linear connection between adjacent measurement points, then the derivative of the function is obtained, that is, the resistivity gradient; wherein, the gradient value reflects the rate of change of resistivity with depth, and larger gradient value means that the internal structure of ice changes sharply, which usually appears at the junction of different ice layers.

[0040] The time series method is adopted to obtain the ice thickness data of the conductor at multiple times, which can be obtained by regularly measuring the ice thickness sensor or manually observing and recording, that is, by measuring the ice thickness every 30 minutes, continuously monitoring for 24 hours, the complete process data of ice growth can be obtained; then based on the data, the thickness difference between adjacent times is divided by the time interval to quantitatively obtain the ice thickness growth rate of the conductor, and based on the correlation between the product of the resistivity gradient value and the ice thickness growth rate and the resistivity change rate, a mathematical relationship model is constructed, and then the mathematical relationship model is used to quantitatively obtain the resistivity change rate of the conductor.

[0041] By comparing the crystal proportion data of each ice layer at different times and calculating the time derivative of the volume fraction of hexagonal ice, the ice crystal structure evolution rate is determined, because hexagonal ice is a common ice crystal structure, and the change of its volume fraction reflects the evolution of the ice crystal structure; the ice thickness growth rate, the resistivity change rate and the ice crystal structure evolution rate are combined to obtain the ice state change parameter. According to the value of the ice state change parameter, the development stage of the ice can be determined, such as the initial stage, the growth stage and the stable stage. If the ice thickness growth rate is more than 0.5mm / h and the resistivity change rate is positive, it is judged that the ice is in the rapid growth stage.

[0042] The present application can comprehensively and accurately understand the physical properties of ice by obtaining detailed information of the ice on the conductor in the target area, which provides a solid foundation for subsequent analysis of ice state change; by quantifying the ice change index, the development dynamics of the ice can be more scientifically and accurately reflected; by constructing the ice state change parameter to determine the development stage of the ice, the state of the ice can be clearly understood, so that more targeted measures can be taken to improve the ice removal efficiency and ensure the safe operation of the power system.

[0043] In an embodiment, step S1 further comprises:

[0044] Based on the ice state change parameter and the real-time wind data, the deflection distribution of the conductor under the action of lateral load is quantified by catenary equation to determine the bending deformation data of the conductor;

[0045] According to the bending deformation data and the real-time wind force data, a wind force generated torsion moment is determined to combine with the torsional stiffness of the conductor to determine the torsion angle of the conductor, and to combine with the bending deformation data to determine the composite deformation of each position of the conductor;

[0046] Based on the composite deformation, a finite difference method is used to calculate the deformation gradient between adjacent positions in the conductor, and according to the deformation gradient, the strain value of each position in the conductor is determined to obtain the strain distribution data of the conductor;

[0047] The bending deformation data, the torsion angle and the strain distribution data are combined to generate the deformation characteristics of the conductor.

[0048] Specifically, according to the icing thickness growth rate and the resistivity change rate in the icing state change parameter, and the real-time wind force data including wind speed, wind direction and other information, and according to the icing thickness, the additional mass per unit length of the conductor is determined, the transverse load of the wind force acting on the icing conductor is calculated, since the icing thickness directly affects the windward area, the windward area increases by about 20% for every 10mm increase in thickness, the conductor is discretized into a plurality of micro elements, the wind force applied to each micro element is integrated to obtain the total transverse load distribution; then based on the calculated transverse load distribution, an iterative method or a direct solution method is used to solve the catenary equation to quantitatively obtain the deflection distribution of the conductor under the action of the transverse load; according to the deflection distribution, the bending degree of the conductor is further analyzed (by derivative calculation, geometric relationship derivation, etc.), and the bending deformation data of the conductor is determined, such as bending curvature, bending angle, maximum bending amplitude, etc. In addition, the finite element method and the real-time wind force data can also be combined to establish a three-dimensional dynamic model of the conductor, and the wind force data and the icing state change parameter are input, and the deflection, torsion moment and strain distribution of the conductor are output. Furthermore, the stress of the conductor under the action of the transverse load (mainly generated by the wind force and the gravity component of the icing) can also be considered, and a mechanical model is constructed by combining the catenary equation, the icing state change parameter and the real-time wind force data are substituted into the mechanical model, and the deflection distribution data of the conductor is output. When the wind speed reaches 15m / s, the transverse displacement of the midpoint of the conductor can reach 5% of the span, and the maximum bending amplitude usually occurs near the center of the span, which has the highest stress concentration.

[0049] The torsional moment is calculated based on the calculated bending deformation data and the collected real-time wind data through fluid mechanics principles and torque balance equations; the product of the polar moment of inertia and the shear modulus of the conductor is taken as the torsional stiffness of the conductor, and the torsional angle of the conductor is determined using a torsional angle formula (torsional angle = torsional moment / torsional stiffness); the composite deformation variable can be decomposed into three orthogonal direction components: longitudinal displacement, transverse displacement and torsional angle; based on the bending deformation data and the torsional angle, a geometric synthesis method is used to determine the composite deformation variable of the conductor at each position; in addition, the composite deformation variable of the conductor can also be calculated using energy synthesis and finite element synthesis.

[0050] Based on the quantified composite deformation variable, the conductor is discretized into multiple small segments, the deformation gradient between adjacent positions in the conductor is calculated using the finite difference method, the deformation gradient is obtained by calculating the ratio of the difference between the deformation variables of adjacent positions to the distance between them; according to the mechanical properties of the material, there is a certain relationship between the deformation gradient and the strain; for small deformation, the strain can be approximately equal to the deformation gradient, so the strain values at each position in the conductor are determined according to the calculated deformation gradient; the strain values at each position in the conductor are sorted and analyzed to establish a strain distribution function along the length of the conductor, and strain distribution data of the conductor is obtained, which reflects the strain size and distribution at different positions of the conductor. The strain value can also be obtained by dividing the difference between the displacements of adjacent points by the original length.

[0051] The bending deformation data, torsional angle and strain distribution data obtained by quantization are combined to obtain the deformation characteristics of the conductor, which can comprehensively and accurately describe the deformation state of the conductor under the action of icing and wind, and provide an important basis for subsequent analysis and decision-making.

[0052] The present application comprehensively considers the icing state change parameter and real-time wind data, and can comprehensively and accurately evaluate the deformation of the conductor under complex environment; by quantifying key indicators such as deflection distribution, torsional angle and strain distribution of the conductor, potential safety hazards such as excessive deformation and stress concentration of the conductor can be found in time, and preventive and treatment measures can be taken in advance to prevent the conductor from breaking due to excessive deformation and to ensure the stable operation of the power system; accurate deformation characteristic data helps to understand the comprehensive influence of icing and wind on the conductor, thereby providing a reference for formulating more scientific and reasonable deicing and wind prevention strategies; the use of mathematical methods such as finite difference method to calculate deformation gradient and strain value can improve the accuracy and reliability of data analysis, reduce the influence of human error and approximate calculation, and make the evaluation of conductor deformation more accurate.

[0053] S2、in the case that the deformation characteristic exceeds a preset deformation threshold, temperature gradient data of the conductor is obtained to determine the slip degree between different material layers of the conductor, a slip influence coefficient is obtained, and the slip influence coefficient is combined with the icing state change parameter and the deformation characteristic to construct a conductor state comprehensive model;

[0054] Specifically, the setting of the conductor deformation threshold is based on the mechanical properties of the conductor and the safety margin requirement. When the conductor is subjected to external force and deformed, the internal stress will increase accordingly. The bending amplitude reflects the degree of deviation of the conductor from the original straight state, usually expressed as a percentage of the span. The torsion angle reflects the degree of rotation of the conductor around its own axis. When these deformation parameters exceed the allowed range, it will cause relative movement of the internal materials of the conductor, especially in the conductor with multi-layer composite structure. Then if the bending amplitude or torsion angle in the deformation characteristics of the conductor exceeds the preset deformation threshold, the temperature distribution data of the conductor surface is obtained by the infrared thermal imager, the temperature values at different depths inside the conductor are measured by the thermocouple, the rate of change of temperature with radial distance is calculated according to the corresponding relationship between radial position and temperature, and the temperature gradient data of the conductor is obtained.

[0055] In an embodiment, the temperature gradient data of the conductor is obtained to determine the slip degree between different material layers of the conductor, and a slip influence coefficient is obtained, comprising:

[0056] The temperature gradient data of the conductor, the expansion coefficient of the steel core and the thermal expansion coefficient of the aluminum strand are obtained to quantify the expansion amount difference of each material layer of the conductor under the action of the temperature gradient;

[0057] According to the expansion amount difference and the interlayer contact length of the conductor, the relative displacement per unit length is determined, and the differential thermal effect value between the steel and aluminum layers is determined according to the relative displacement;

[0058] Based on the differential thermal effect value and the interlayer contact surface friction coefficient of the conductor, the interlayer slip resistance is determined to quantify the interlayer slip degree of the conductor in combination with the relative displacement;

[0059] The slip influence coefficient is quantitatively obtained by the interlayer slip degree and the preset slip reference value.

[0060] Specifically, the calculation of temperature gradient involves the rate of change of temperature with spatial position. In the radial direction of the conductor, due to the difference in thermal conductivity coefficient between the steel core and the aluminum strand, the temperature presents a nonlinear distribution from inside to outside. The difference in thermal expansion coefficient is the fundamental reason for interlayer slip; the thermal expansion coefficient of steel is about 11x10 -6 / ℃, and the thermal expansion coefficient of aluminum is about 23x10 -6 / ℃. The product of temperature gradient, corresponding conductor length and expansion coefficient is taken as the expansion amount calculation formula, and the expansion amount of the steel core and the expansion amount of the aluminum strand are calculated respectively. Then the expansion amount of the aluminum strand is subtracted from the expansion amount of the steel core, that is, the expansion amount difference of the conductor; the relative displacement per unit length is obtained by dividing the expansion amount difference by the interlayer contact length, and the relative displacement is taken as the differential thermal effect value between the steel and aluminum layers of the conductor.

[0061] During the manufacturing process, there is a certain pre-tightening force between the steel core and the aluminum strand, which generates a positive pressure and in turn generates a friction force, the friction coefficient is usually between 0.3-0.5, and the interlayer slip resistance is calculated by multiplying the differential thermal effect value and the interlayer contact surface friction coefficient, the interlayer slip degree is obtained by the ratio of the relative displacement per unit length and the interlayer slip resistance, and finally the slip influence coefficient is obtained according to the ratio of the slip degree and the preset slip reference value. The preset slip reference value is a safety threshold value determined according to the conductor design specification and historical operation experience, when the ratio of the actual slip degree and the reference value is close to or exceeds 1, it indicates that the interlayer bonding state of the conductor has changed obviously, and corresponding maintenance measures need to be taken.

[0062] The present application can more accurately understand the actual working state of the conductor in the temperature change environment by obtaining the temperature gradient data and quantifying the slip degree between different material layers, and provides a key basis for the safety operation evaluation of the conductor, avoids the conductor failure caused by interlayer slip, and ensures the stability of power transmission.

[0063] The slip influence coefficient, the icing state change parameter and the deformation characteristic are normalized and added according to the preset weight coefficient to obtain the conductor comprehensive state value, and a conductor state comprehensive model containing conductor position and state information is constructed according to the corresponding relationship between the comprehensive state value and the spatial coordinates of each point of the conductor. Among them, the icing thickness growth rate weight is usually set to 0.4, because it directly affects the load condition of the conductor; the deformation characteristic weight is 0.35, reflecting the structural safety; the slip influence coefficient weight is 0.25, reflecting the internal damage degree; the comprehensive state value is obtained by weighted summation, and the larger the value, the more serious the deviation of the conductor state from the normal. The conductor state comprehensive model constructed by the present application comprehensively considers the position of the conductor, the state change of the heterogeneous ice crystal structure, the composite deformation and the interlayer slip and other factors, and can effectively cope with the complex state change in the harsh environment, especially in the conductor icing environment of high altitude mountainous area.

[0064] S3, determine the docking strategy of the ice melting mechanical arm based on the conductor state comprehensive model, and obtain the real-time feedback data of the dual-spectrum imaging system after executing the docking strategy, to determine the micro-adjustment strategy of controlling the ice melting mechanical arm;

[0065] In an embodiment, the docking strategy of the ice melting mechanical arm is determined based on the conductor state comprehensive model, comprising:

[0066] The spatial coordinate sequence of the conductor is determined based on the conductor state comprehensive model, so as to solve the joint angles of the ice melting mechanical arm by using the Jacobian matrix method, and determine a plurality of trajectory points in combination with the safety distance corresponding to the curvature radius of the conductor, to obtain the six-axis motion trajectory of the ice melting mechanical arm;

[0067] According to the six-axis motion trajectory, the position difference and the attitude angle change between adjacent trajectory points are quantified to adjust the joint angles to obtain a docking angle adjustment amount;

[0068] An average motion speed is determined according to the six-axis motion trajectory and a preset task cycle, and a maximum contact force of the conductor is determined according to the strain distribution data;

[0069] Based on the docking angle adjustment amount, the average motion speed and the maximum contact force, a docking strategy of the ice-melting mechanical arm is constructed.

[0070] Specifically, the spatial coordinates of the conductor are obtained by laser ranging or image recognition, and each coordinate point corresponds to a comprehensive state value output by a comprehensive state model of the conductor. The Jacobian matrix describes the linear transformation relationship between the velocity of the end effector of the mechanical arm and the joint velocities. First, a kinematic model of the ice-melting mechanical arm is established to determine the functional relationship between the position and attitude of the end effector and the joint angles. Then, the velocity relationship is obtained by taking the derivative with respect to time. Given the target position and attitude of the end effector (i.e., the spatial coordinates of the conductor), the joint angles are obtained by inverse kinematics, which can be solved iteratively using numerical methods such as the Newton-Raphson method to solve nonlinear equations, obtaining a joint angle sequence that satisfies the position and attitude requirements of the end effector. According to the radius of curvature of the conductor, consult relevant safety standards or determine the safety distance between the mechanical arm and the conductor through experiments, and based on the determined spatial coordinate sequence of the conductor, draw a sphere (in three-dimensional space) or a circle (in two-dimensional projection plane) with the safety distance as the radius, and select points on the motion path of the mechanical arm that do not intersect with these spheres or circles as trajectory points. Path planning algorithms such as A* algorithm, RRT algorithm, etc. can be used to search for the optimal trajectory point sequence from the starting point to the target point while considering the safety distance constraint; connect the above determined trajectory points in a certain order, and combine the solved joint angles to obtain the six-axis motion trajectory of the ice-melting mechanical arm from the starting position to the target position. Trajectory planning can use spline interpolation methods to make the mechanical arm motion smooth and continuous, avoiding sharp acceleration and deceleration.

[0071] For adjacent trajectory points on the six-axis motion trajectory, the position difference between them is calculated. For the attitude angle change, if the Euler angle is used to represent the attitude, the rotation angle change around the x, y, z axis is calculated respectively; if the rotation matrix is used to represent the attitude, the change amount of the attitude can be calculated through matrix operation. According to the position difference and the attitude angle change between adjacent trajectory points, the adjustment amount of the joint angle is calculated by using the inverse (or pseudo-inverse) of the Jacobian matrix of the robot arm: because the Jacobian matrix describes the relationship between the end effector velocity and the joint velocity, the velocity change of the end effector is obtained by differentiating the position difference and the attitude angle change, and then the inverse relationship of the Jacobian matrix is used to solve the joint velocity change, and then the joint angle adjustment amount is integrated. A control method based on error feedback can also be used, such as proportional-integral-derivative (PID) control, which takes the position difference and the attitude angle change as the error signal, and calculates the adjustment amount of the joint angle through the PID controller to obtain the docking angle adjustment amount between the deicing robot arm and the conductor.

[0072] The average motion speed is obtained by dividing the total length of the six-axis motion trajectory by the preset task period; wherein the task period is pre-set according to the work requirement, and a typical value is 30-60 seconds to complete a docking operation once; the calculation of the average motion speed takes into account the acceleration and deceleration process, and the actual peak speed will be about 20% higher than the average value. The stress of each point of the conductor is calculated through the strain distribution data, and then the maximum contact force of each position of the conductor is determined according to the relationship between stress and contact force (considering factors such as the stress area of the conductor). In addition, finite element analysis method can also be used to analyze the stress-strain of the conductor to obtain more accurate strain distribution and maximum contact force.

[0073] According to the docking angle adjustment amount, the attitude control instruction is generated, the speed control instruction is generated according to the average motion speed, and the force control instruction is generated according to the maximum allowable contact force; these instructions constitute the docking strategy of the deicing robot arm and the conductor, and the docking attitude, motion speed and contact force are adjusted through the instruction sequence. In addition, the docking angle adjustment amount, the average motion speed and the maximum contact force can also be used as input parameters to construct a comprehensive docking strategy, and the motion control rules of the robot arm can be developed according to these parameters, for example, when approaching the conductor, the joint angle is adjusted according to the docking angle adjustment amount to make the robot arm approach the conductor with a suitable attitude; the motion time of the robot arm is controlled according to the average motion speed to ensure that the docking is completed within the task period; the force when the robot arm contacts the conductor is controlled according to the maximum contact force to avoid excessive contact force damaging the conductor. Fuzzy control, expert system and other intelligent control methods can also be used to dynamically adjust the docking strategy of the robot arm according to different working conditions and parameter combinations.

[0074] The present application can make the mechanical arm reach the target position more accurately by solving the joint angles of the ice melting mechanical arm, realize high-precision butt joint with the conductor, reduce butt joint error, and improve the reliability of ice melting operation; the trajectory points can be determined in combination with the safety distance corresponding to the curvature radius of the conductor, so as to avoid collision between the mechanical arm and the conductor or other obstacles during movement, ensure the safety of the ice melting mechanical arm and the conductor, and reduce the operation risk; through adjustment of the butt joint angle, the movement of the mechanical arm can be made more smooth, impact and vibration during movement can be reduced, and the movement stability and service life of the mechanical arm can be improved; the maximum contact force of the conductor is determined according to the strain distribution data, and is incorporated into the construction of the butt joint strategy, so that the mechanical arm can apply appropriate force when contacting the conductor, avoid damaging the conductor due to excessive contact force, or cause the butt joint to be not firm due to insufficient contact force, and adapt to the ice melting demand of the conductor in different states; the average movement speed is determined through the six-axis movement trajectory and the preset task cycle, the movement time of the mechanical arm is reasonably planned, the efficiency of ice melting operation is improved, and the operation time is shortened on the premise of ensuring the butt joint quality and safety.

[0075] In an embodiment, the real-time feedback data of the dual-spectrum imaging system after executing the butt joint strategy is acquired to determine the micro-motion adjustment strategy for controlling the ice melting mechanical arm, including:

[0076] Visible light image data and infrared thermal image data of the dual-spectrum imaging system after executing the butt joint strategy are acquired as real-time feedback data, and the difference between the actual contact area and the target contact area is quantified according to the real-time feedback data to obtain a pose deviation parameter;

[0077] The translational micro-adjustment amount of the ice melting mechanical arm is determined based on the pose deviation parameter, and the three-axis rotational micro-adjustment amount is determined according to the angle deviation between the contact area contour and the ideal contour;

[0078] The contact speed is determined according to the pose deviation parameter and a preset adjustment period, and is combined with the translational micro-adjustment amount and the three-axis rotational micro-adjustment amount to obtain a micro-motion stage pose parameter;

[0079] The contact area of the preheating electrode is acquired, and the pressure value is determined according to the distance from each contact point in the contact area to the center of the preheating electrode to generate a gradual contact pressure distribution by using a time-increasing function;

[0080] The micro-motion adjustment strategy for controlling the ice melting mechanical arm is determined according to the micro-motion stage pose parameter and the gradual contact pressure distribution.

[0081] Specifically, the application obtains visible light image data and infrared thermal image data of the dual-spectrum imaging system after executing the docking strategy as real-time feedback data, aligns the coordinate systems of the two spectral images through a feature point matching method, extracts the temperature distribution value and the contour boundary of the contact area of the preheating electrode and the wire in the ice-melting mechanical device from the two spectral images, calculates the difference between the actual contact area and the target contact area, and determines the pose deviation parameter according to the area difference and the temperature distribution unevenness. The application identifies the area higher than the ambient temperature in the infrared image as the effective contact area by setting the temperature threshold, and the target contact area is determined in advance according to the electrode specification and the wire diameter, which is usually 70%-80% of the electrode end area. The temperature distribution unevenness is obtained by calculating the standard deviation of the temperature in the contact area, and the greater the standard deviation, the worse the contact quality. When the actual contact area is less than 50 square millimeters or the temperature standard deviation exceeds 5 degrees Celsius, pose adjustment is needed. The determination of the pose deviation parameter is based on geometric analysis and thermodynamic principles, and the position deviation component includes three dimensions of lateral offset, longitudinal offset and height deviation. The lateral offset is calculated by comparing the distance between the electrode center and the wire axis; the longitudinal offset is determined by the distance between the electrode end surface and the preset contact point; the height deviation reflects the lack or excess of the electrode pressing depth; and the angle deviation is obtained by fitting the angle between the long axis direction of the contact contour and the ideal direction.

[0082] The Euclidean distance between the lateral offset and the longitudinal offset in the pose deviation parameter is used as the translation fine-tuning amount of the mechanical arm; then the angle deviation between the contact area contour and the ideal contour is combined with the kinematic model of the mechanical arm to determine the rotation fine-tuning amount around the x, y and z axes. The ratio of the absolute value of the pose deviation parameter to the preset adjustment period is used as the contact speed; wherein the typical value of the preset adjustment period is 2-5 seconds, and it completes a fine-tuning cycle in the period, and the determination of the contact speed follows the principle of "slow contact and fast adjustment", the initial contact speed is controlled below 5 mm / s, and the maximum adjustment speed can be increased to 20 mm / s, and the value is executed when it exceeds the value. Finally, the contact speed is combined with the translation fine-tuning amount and the three-axis rotation fine-tuning amount to obtain the micro-motion stage pose parameter.

[0083] According to the contact area of the preheating electrode and the wire, and according to the distance from each contact point in the area to the center of the preheating electrode, an initial pressure value is distributed, and a pressure change rate is calculated by dividing the pressure difference of adjacent points by the distance between the points to generate a gradual contact pressure distribution using a time-increasing function; wherein the contact area is divided into a plurality of small grids, and a contact point is set at the center or a specific position of each small grid; a pressure distribution model can be established according to the distance from each contact point in the contact area to the center of the preheating electrode, generally, the farther from the center, the pressure can be gradually reduced to achieve uniform contact pressure distribution, and a Gaussian distribution function can be used to describe the pressure distribution; in order to realize gradual contact, a time-increasing function (such as a linear function or an exponential function) is used to modulate the pressure distribution to obtain a gradual contact pressure distribution varying with time.

[0084] According to the gradual contact pressure distribution and the micro-motion stage pose parameters, control instructions are generated in the order of position adjustment first and then pressure adjustment, the execution of translational and rotational fine adjustment and the control of contact speed are realized through the coordinated motion of each axis to determine a micro-motion adjustment scheme containing execution sequence and parameter configuration. The generation of the control instructions follows the priority principle: position adjustment is prior to angle adjustment, coarse adjustment is prior to fine adjustment; first, perform translational adjustment to roughly align the electrode, then perform angle fine adjustment to optimize the contact pose, and finally apply gradual pressure to complete reliable docking. Position feedback checkpoints are included in the execution sequence, and after each adjustment action is completed, the system reacquires dual-spectrum images to verify the adjustment effect.

[0085] The present application can accurately find the position and pose deviation of the deicing robot arm during docking by quantifying the difference between the actual contact area and the target contact area, and then perform targeted micro-motion adjustment, greatly improving the docking accuracy and ensuring good contact between the preheating electrode and the wire, thereby improving the deicing effect; based on the pose deviation parameters, the translational and rotational fine adjustment amounts are determined, and the gradual contact pressure distribution is generated according to the contact area, which can make the contact process between the preheating electrode and the wire more stable and uniform, avoid problems such as poor contact and damage to the wire caused by sudden application of excessive pressure or uneven contact, and ensure the contact quality; the scheme can dynamically adjust the pose and contact pressure of the deicing robot arm according to real-time feedback data, so that the system can adapt to the state changes of the wire under different working conditions, and improve the adaptability and stability of the entire deicing system.

[0086] S4, determining the locking optimization parameters of the deicing robot arm according to the micro-motion adjustment strategy to control the preheating electrode to perform a pre-deicing operation, and monitoring the ice coverage state changes during the pre-deicing operation to quantify the resistivity distribution data required for directional flow guiding;

[0087] In an embodiment, the method further comprises:

[0088] The pressure value and position coordinate of each contact point are determined based on the micro-motion adjustment strategy to quantify the eccentricity between the pressure resultant force point and the center of the preheating electrode, and an initial locking torque is obtained to control the ice-melting robot arm to perform the locking action.

[0089] The locking deformation amplitude and locking strain distribution of the ice-melting robot arm when performing the locking action are obtained to quantify the wire deformation increment under the current locking torque, and the initial locking torque is updated to obtain a target torque value when the wire deformation increment exceeds a preset increment threshold.

[0090] The loading rate is determined according to the transition time from the initial locking torque to the target torque value, and the holding time is determined through the deformation time characteristic curve of the wire under constant stress, to obtain the locking optimization parameter in combination with the target torque value and the loading rate.

[0091] The contact pressure between the preheating electrode and the wire and the preheating duration of the preheating electrode are determined through the locking optimization parameter, and the preheating electrode is controlled to perform the pre-ice-melting operation according to the contact pressure and the preheating duration.

[0092] Specifically, the present application extracts the pressure value and position coordinate of each contact point based on the gradual contact pressure distribution data in the micro-motion adjustment strategy. The pressure value of each contact point can also be collected in real time through a sensor array, each sensor corresponding to a specific contact area. The position coordinate is expressed in polar coordinates relative to the center of the electrode. By integrating the pressure value of each contact point and its distance to the reference axis, the total torque is obtained, and then the eccentricity is obtained by dividing the pressure resultant force. The product of the eccentricity and the pressure resultant force is used as the initial locking torque to drive the robot arm to perform the locking action according to the control instruction corresponding to the initial locking torque.

[0093] The real-time feedback mechanism is an important means to guarantee the locking quality. According to the real-time feedback during the initial locking torque execution process, the deformation amplitude and strain distribution are read; wherein, the application establishes the relationship model between the conductor deformation and the locking torque in advance according to the material mechanics performance and geometric size of the conductor, and the deformation increment of the conductor under different locking torques is determined in advance through experiments, and the functional relationship between the deformation increment and the locking torque is fitted, the deformation amplitude and the strain distribution are input into the function, and the conductor deformation increment under the current locking torque is obtained. When the calculated conductor deformation increment exceeds the preset increment threshold, the initial locking torque is corrected according to the current conductor state and the deformation increment condition through a neural network algorithm or a fuzzy control algorithm, and a target torque value is obtained. The torque increment step can also be reduced, and the target torque value is obtained by gradually increasing the torque and monitoring the deformation response; wherein the adjustment of the torque increment step adopts an adaptive strategy, when the deformation response is linear, the step can be larger; when approaching the limit, the step is automatically reduced to 10%-20% of the initial value.

[0094] The difference between the target torque value and the initial locking torque is divided by the time interval between them to obtain the loading rate, and according to the deformation time characteristic curve of the conductor material under constant stress, the holding time required for deformation stabilization is determined, and the loading rate, holding time and target torque value are combined to obtain the locking optimization parameters. Wherein, the conductor material will creep under constant stress, that is, the deformation increases slowly with time, and the deformation time characteristic curve is obtained through experiments, and the typical curve is in logarithmic form, the deformation increases rapidly at the initial stage, and gradually tends to be stable at the later stage. The determination of the holding time is based on the time required for the deformation to reach 95% of the stable value, which is usually 30-60 seconds.

[0095] The contact pressure between the preheating electrode and the conductor is controlled by the target torque value in the locking optimization parameters, and the preheating duration is determined according to the holding time, and finally the electrode temperature is gradually increased by using the step power control to perform the pre-icing operation; wherein, the contact pressure and the contact thermal resistance are inversely proportional, and the contact thermal resistance can be reduced by 15%-20% when the pressure increases by 10%. The step power control adopts a segmented incremental mode: the power is set to 30% of the rated power at the initial stage, and the electrode temperature slowly rises to 50 DEG C for 1 minute; the power is increased to 60% of the rated power at the second stage, and the electrode temperature rises to 80 DEG C; finally, the rated power is reached, and the electrode temperature is stabilized at about 120 DEG C. This gradual heating avoids thermal shock and prevents uneven melting caused by sudden cracking of the ice layer.

[0096] The present application obtains the initial locking torque by quantifying the eccentricity between the pressure resultant force point and the preheating electrode center, can more accurately control the locking action of the ice melting mechanical arm, reduce the poor contact problem caused by unstable locking, and ensure reliable contact between the preheating electrode and the wire; the locking deformation amplitude and strain distribution are obtained to quantify the wire deformation increment, and the locking torque is updated when exceeding the preset threshold value, which can avoid damage to the wire caused by excessive locking force, and protect the structural integrity and electrical performance of the wire; the loading rate is determined according to the transition time from the initial locking torque to the target torque value, and the holding time is determined in combination with the wire deformation time characteristic curve to obtain the locking optimization parameters, and then the contact pressure and preheating duration of the preheating electrode are accurately controlled, so that the pre-icing operation is more scientific and reasonable, and the ice melting efficiency and quality are improved.

[0097] In an embodiment, the change of the icing state during the pre-icing operation is monitored to quantify the resistivity distribution data required for directional flow guiding, including:

[0098] Temperature change data during the pre-icing operation is obtained to determine the melting boundary position, and the icing thickness change value and the water flow direction data generated by melting are quantified based on the melting boundary position;

[0099] Based on the melting boundary position and the water flow direction data, a plurality of measurement points are set, and the resistance values of each measurement point are determined by the four-electrode method, to obtain the resistivity of each measurement point in combination with the icing thickness change value;

[0100] According to the resistivity of each measurement point, the resistivity spatial distribution along the water flow direction is established to obtain the resistivity distribution data required for directional flow guiding.

[0101] Specifically, the application adopts a thermal imaging device to monitor the temperature distribution of the icing surface of the conductor according to the temperature field generated in the pre-icing operation process, and obtains temperature change data, which presents a concentric circle mode with the contact point of the preheating electrode as the center, and the temperature decreases from the center to the outside, when the temperature of a certain area exceeds 0℃, the ice in the area starts to melt, and the determination of the melting boundary adopts an isotherm tracking method, and the 0℃ isotherm is the solid-liquid phase change interface; the calculation of the icing thickness change value is based on the heat balance principle, the heat transmitted in unit time is equal to the latent heat required for melting ice plus the heat dissipated to the environment, and through the melting boundary position at different times, the thickness reduction rate, that is, the icing thickness change value, can be calculated; the water flow direction is jointly affected by gravity and surface tension, and forms a specific flow path on the conductor surface, the melting water on the inclined conductor flows along the direction of the maximum slope, and the horizontal conductor forms a circumferential flow, therefore, the water flow direction can be inferred according to the shape change of the melting boundary and the inclination of the icing surface, for example, if the melting boundary is inclined to one side, and the icing surface has a certain slope, then the water flow direction is the direction along the slope downward and towards the melting boundary. The icing thickness and its change can also be obtained by an ultrasonic thickness gauge.

[0102] According to the melting boundary position and the water flow direction, the measurement points are reasonably arranged in the icing area, the measurement points should cover the vicinity of the melting boundary and the area through which the water flows, so as to ensure that the influence of the icing state change on the resistivity can be comprehensively reflected, one measurement point can be arranged on the conductor every certain distance (such as 20 cm), and the density of the measurement points is appropriately increased on both sides of the melting boundary, the arrangement of the measurement points follows the equal interval principle, and the typical interval is 5-10 cm, the resistance value of each measurement point reflects the icing conductive characteristic of the position; then the resistance value of each measurement point is determined by the four-electrode method, so as to obtain the resistivity of each measurement point in combination with the icing thickness change value; wherein the resistivity can be calculated according to the resistance law, and the cross-sectional area and the icing thickness change value are related to the diameter of the conductor.

[0103] The position information and corresponding resistivity values of each measuring point are calculated by using an interpolation algorithm (such as linear interpolation, spline interpolation, etc.) to obtain continuous resistivity spatial distribution, and the interpolation algorithm can be optimized according to the water flow direction, so that the resistivity distribution can better reflect the influence of water flow on resistivity; the established resistivity spatial distribution is analyzed, and key information is extracted as the resistivity distribution data required for directional flow guiding, for example, the gradient change direction and size of resistivity can be determined, and the resistivity gradient can indicate the flow direction of current or heat, providing a basis for directional flow guiding, and the resistivity distribution data is output in the form of charts (such as resistivity change curve along the water flow direction, resistivity distribution cloud diagram, etc.) or data files for subsequent directional flow control strategy. Among them, the spatial distribution of resistivity presents obvious gradient characteristics: near the melting boundary, the resistivity decreases significantly due to the increase of water content; the resistivity of dry ice area far from the melting area remains high value, and this gradient distribution provides a natural current channel for subsequent directional flow.

[0104] The present application accurately determines the position of the melting boundary through temperature change data, and then quantifies the ice thickness change value and water flow direction data, comprehensively understands the dynamic change of the ice, and provides accurate basic information for subsequent ice melting operation; by establishing the resistivity spatial distribution along the water flow direction, the resistivity distribution data required for directional flow guiding is obtained, which is helpful to guide the current or heat distribution generated in the ice melting process according to the resistivity difference, to realize more accurate and efficient directional flow guiding, and to improve the ice melting effect and energy utilization rate.

[0105] S5, adjusting the contact pressure of the preheating electrode through the resistivity distribution data to perform a directional flow guiding operation, adjusting the locking optimization parameter according to the execution effect data of the directional flow guiding operation, and generating an ice melting control strategy based on the adjusted locking optimization parameter to perform;

[0106] Specifically, the application calculates the resistivity gradient value according to the resistivity distribution data, and the gradient value is calculated by the difference between the resistivity of adjacent measuring points divided by the distance; then the threshold segmentation method is used, the area with resistivity higher than 20% of the average value is divided into a high resistance area, and the area with resistivity lower than 20% of the average value is divided into a low resistance area, to determine the boundary between the low resistivity area and the high resistivity area, to adjust the preheating electrode contact pressure to make the current preferentially pass through the low resistivity path, and then perform the directional current guiding operation, and record the bending deformation increment and interlayer slip displacement of the conductor during the current guiding process as the conductor deformation data. The adjustment of the contact pressure directly affects the current distribution, when the electrode applies greater pressure to the low resistivity area, the contact resistance is further reduced, and the current concentration effect is formed. The displacement sensor is arranged at the key position of the conductor, such as the suspension point, the span midpoint and the stress concentration area, these sensors can capture the small displacement change of the conductor in real time, and the accuracy can reach 0.01 millimeter; the bending deformation increment is calculated by comparing the deflection difference before and after the current guiding, and the interlayer slip is obtained by measuring the relative displacement of the marker point.

[0107] In an embodiment, the execution effect data of the directional current guiding operation is used to adjust the locking optimization parameters, and an ice melting control strategy is generated based on the adjusted locking optimization parameters for execution, including:

[0108] The temperature rise value, conductor deformation data and current data of each position of the conductor in the directional current guiding operation are obtained, and the ice melting efficiency is determined according to the temperature rise value and input electric energy;

[0109] The residual deformation amount of the conductor is determined according to the conductor deformation data, and the current density uniformity is determined based on the deviation of each current data from the average current, to combine with the ice melting efficiency and the residual deformation amount to obtain the execution effect data;

[0110] When the execution effect data does not reach the preset effect target, the locking optimization parameters are adjusted to obtain parameter improvement value to determine the current intensity data of the conductor, and the execution time is determined according to the residual ice thickness of the conductor;

[0111] The control strategy is generated for execution through the current intensity data and the execution time.

[0112] Specifically, the application determines the temperature rise value through the temperature difference before and after the directional current guiding operation, and obtains the conductor deformation data and the current data of each position of the conductor during the operation, calculates the input electric energy through the product of voltage, current and time, and calculates the ice melting efficiency through the ratio of the temperature rise value to the input electric energy.

[0113] The measurement of the residual deformation amount is performed after the flow guiding ends and cooling to the ambient temperature, and the wire deformation data is subtracted from the initial deformation amount to obtain; then the deviation of the current of each measuring point from the average current is calculated to determine the current density uniformity; wherein the evaluation of the current density uniformity uses a statistical method: 10-15 measuring points are selected on the surface of the wire, and the current values of each point are measured using a clamp ammeter, the average current of all measuring points is calculated first, and then the deviation of each measuring point from the average value is calculated, the smaller the deviation, the more uniform the current distribution, when the maximum deviation exceeds 30% of the average value, it indicates that there is obvious current concentration phenomenon, and the contact state of the preheating electrode and the wire needs to be adjusted. The current density uniformity, ice melting efficiency and residual deformation amount are combined to obtain the execution effect data.

[0114] If the current density uniformity is lower than the set value or the residual deformation amount exceeds the allowed value, it indicates that the current flow ice melting effect of this time does not reach the preset effect target, the locking optimization parameter can be adjusted according to the difference between the effect and the target to obtain the parameter improvement value; wherein if the residual deformation amount is too large, the locking force can be appropriately increased; if the current density uniformity is poor, the locking position can be adjusted to improve the wire connection state, the method of experimental design can be used to determine the direction and amplitude of parameter adjustment through multiple tests. The parameter improvement value is obtained by comparing the parameter changes before and after adjustment, for example, if the locking optimization parameter is increased from 50N to 75N, the improvement value is 25%.

[0115] According to the parameter improvement value, the current intensity is reduced in the area with high resistivity and increased in the area with low resistivity to obtain the current intensity data; the required contact time is determined by dividing the residual ice thickness measured by thermal imaging by the current ice melting efficiency; wherein the residual ice thickness is monitored in real time by thermal imaging technology, and the internal thickness is calculated according to the difference between the ice layer surface temperature and the ambient temperature; then the control strategy is constructed based on the adjusted current intensity data and the corresponding control instructions of the contact time to execute, and whether the effect of this time of directional ice melting operation meets the standard is judged, if it does not meet the standard, the parameter improvement value is recalculated and the directional flow operation is performed again until the ice melting effect meets the standard. In addition, the current intensity data can be established according to the relationship model of current intensity, locking optimization parameter and ice coating condition established by empirical formula or experimental data, the model takes the parameter improvement value and the corresponding improved locking optimization parameter and residual ice thickness as input, and the current intensity data as output.

[0116] The application can comprehensively and accurately evaluate the execution effect of the directional guiding operation by quantifying the ice melting efficiency, residual deformation and current density uniformity, and provide reliable basis for subsequent optimization; the state of the conductor connection can be effectively improved, the connection resistance can be reduced, the stability and efficiency of current transmission can be improved, and thus the ice melting effect can be improved by adjusting the locking optimization parameters according to the execution effect data; the current intensity data is determined based on the parameter improvement value, and the execution time is determined in combination with the residual ice thickness of the conductor to generate an ice melting control strategy and execute the same, so that the ice melting process can be scientifically and reasonably controlled according to the actual situation, over-ice melting or insufficient ice melting can be avoided, and the energy utilization rate and ice melting safety can be improved; the whole scheme forms a closed-loop control system, which can adapt to different icing conditions and environmental changes by continuously monitoring the execution effect and adjusting the parameters, and the reliability and stability of the ice melting system can be improved.

[0117] This application addresses the problem of high failure rates in existing flexible conductor connection technologies when the conductor icing state changes dynamically, leading to low de-icing efficiency. To address this, a de-icing control method based on flexible conductor connection technology is designed. This method acquires real-time icing data, wind data, and temperature gradient data of the conductor within the target area, enabling a comprehensive and accurate understanding of the conductor's distribution characteristics, deformation, and slippage between different material layers under various heterogeneous ice crystal structures. This improves the targeting and effectiveness of de-icing. A comprehensive conductor state model is constructed by considering the influence of multiple factors on the conductor state, providing a scientific basis for determining the docking strategy, micro-motion adjustment strategy, and locking optimization parameters of the de-icing robotic arm, thus improving the accuracy and rationality of decision-making. By continuously adjusting the micro-motion adjustment strategy and locking optimization parameters of the de-icing robotic arm through real-time feedback data, and further optimizing based on the execution effect data of the directional flow guidance operation, refined control of the de-icing process can be achieved, improving de-icing efficiency and quality, reducing damage to the conductor, and ensuring the safety and stability of the power system. The system operates by quantifying the resistivity distribution data required for directional flow guidance, making the de-icing operation more scientific and precise. It can adjust the contact pressure of the preheating electrode according to the actual resistivity of the conductor to achieve directional flow guidance. When dynamic changes in the state of the iced conductor are detected, the dual-spectrum imaging system collects real-time icing data of the heterogeneous ice crystal structure on the conductor surface, thereby quantifying the icing thickness distribution and resistivity gradient. Simultaneously, it assesses the conductor deformation parameters under wind action and adaptively adjusts the six-axis motion trajectory, micro-motion positioning accuracy, and locking torque of the de-icing robotic arm based on this data. It also optimizes the progressive contact pressure distribution of the preheating electrode to ensure quality stability during the three-stage connection process of pre-de-icing, directional flow guidance, and post-locking, while also improving de-icing efficiency. The de-icing strategy generated using flexible conductor connection technology can adapt to dynamic changes in the icing state, achieving precise de-icing of the iced conductor, improving de-icing efficiency and uniformity, reducing residual deformation, effectively solving the problem of conductor icing under severe weather conditions, and ensuring the safe and stable operation of the power system.

[0118] It should be noted that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order requirement for the execution of these steps, and they can be executed in other orders.

[0119] In another embodiment, such as Figure 2 As shown, a second aspect of the present invention provides an ice-melting control system based on flexible conductor connection technology, comprising:

[0120] The change feature determination module 10 is used to acquire real-time icing data and real-time wind data of the conductor within the target area, so as to determine the distribution characteristics of the conductor under various heterogeneous ice crystal structures and the deformation data under wind action, and obtain icing state change parameters and deformation characteristics.

[0121] The comprehensive model construction module 20 is used to acquire the temperature gradient data of the conductor when the deformation characteristics exceed the preset deformation threshold, determine the degree of slippage of the conductor between different material layers, obtain the slippage influence coefficient, and combine it with the icing state change parameters and the deformation characteristics to construct a comprehensive conductor state model.

[0122] The adjustment strategy generation module 30 is used to determine the docking strategy of the ice-melting robotic arm based on the comprehensive model of the conductor state, and to obtain real-time feedback data of the dual-spectrum imaging system after the docking strategy is executed, so as to determine the micro-motion adjustment strategy for controlling the ice-melting robotic arm.

[0123] The distributed data quantization module 40 is used to determine the locking optimization parameters of the ice-melting robotic arm according to the micro-motion adjustment strategy, so as to control the preheating electrode to perform the pre-ice-melting operation and monitor the changes in the icing state during the pre-ice-melting operation, so as to quantify the resistivity distribution data required for directional current conduction.

[0124] The control strategy execution module 50 is used to adjust the contact pressure of the preheating electrode through the resistivity distribution data to perform a directional flow operation, adjust the locking optimization parameters according to the execution effect data of the directional flow operation, and generate an ice-melting control strategy based on the adjusted locking optimization parameters for execution.

[0125] It should be noted that the various modules in the aforementioned ice-melting control system based on flexible conductor connection technology can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module. For specific limitations regarding the ice-melting control system based on flexible conductor connection technology, please refer to the limitations of the ice-melting control method based on flexible conductor connection technology mentioned above; both have the same function and role, and will not be repeated here.

[0126] In summary, this invention relates to the field of information technology and discloses a de-icing control method and system based on flexible conductor connection technology. The method acquires real-time icing data and real-time wind data of conductors within a target area to determine the icing state change parameters and deformation characteristics of the conductors. A comprehensive conductor state model is constructed by combining the degree of slippage between different material layers, thereby generating a docking strategy for the de-icing robotic arm. Based on the feedback data after the docking strategy is executed, a micro-motion adjustment strategy for the de-icing robotic arm is generated to determine the locking optimization parameters, thereby controlling the preheating electrode to perform pre-de-icing operations. Based on the icing state changes during the pre-de-icing process, the resistivity distribution data required for directional flow is quantified to execute the directional flow operation. The locking optimization parameters are adjusted based on the execution effect data, and a de-icing control strategy is generated and executed based on the adjusted locking optimization parameters. Flexible conductor connection technology is used to improve de-icing efficiency.

[0127] The various embodiments in this specification are described in a progressive manner. For directly identical or similar parts of the embodiments, refer to each other. Each embodiment focuses on its differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. It should be noted that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0128] The embodiments described above are merely preferred embodiments of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various improvements and substitutions without departing from the technical principles of this invention, and these improvements and substitutions should also be considered within the scope of protection of this application. Therefore, the scope of protection of this patent application should be determined by the scope of the claims.

Claims

1. A de-icing control method based on a flexible conductor connection technology, characterized by, The method comprises the following steps: acquiring real-time icing data and real-time wind force data of a conductor in a target area to determine distribution characteristics of the conductor under multiple heterogeneous ice crystal structures and deformation data of the conductor under the action of wind force, and obtaining icing state change parameters and deformation characteristics; when the deformation characteristics exceed a preset deformation threshold, acquiring temperature gradient data of the conductor to determine the sliding degree of the conductor between different material layers, obtaining a sliding influence coefficient, and combining the icing state change parameters and the deformation characteristics to construct a conductor state comprehensive model; determining a docking strategy of an ice melting mechanical arm based on the conductor state comprehensive model, and acquiring real-time feedback data of a dual-spectrum imaging system after the docking strategy is executed to determine a micro-adjustment strategy for controlling the ice melting mechanical arm; determining locking optimization parameters of the ice melting mechanical arm according to the micro-adjustment strategy to control a pre-heating electrode to perform a pre-icing operation, and monitoring icing state changes in the pre-icing operation process to quantify resistivity distribution data required for directional flow guiding; adjusting contact pressure of the pre-heating electrode through the resistivity distribution data to perform a directional flow guiding operation, adjusting the locking optimization parameters according to execution effect data of the directional flow guiding operation, and generating an ice melting control strategy based on the adjusted locking optimization parameters to execute.

2. The ice-melting control method based on the flexible conductor connection technology according to claim 1, characterized in that, The method comprises the following steps: acquiring real-time icing data of a conductor in a target area, and identifying the real-time icing data through X-ray diffraction technology to obtain ice crystal lattice parameters of multiple icing depths to divide ice layers, determining densities of the ice layers by using a density gradient method to construct a corresponding relationship table of icing depth and ice layer density; based on the corresponding relationship table, determining resistances of the ice layers by using a four-probe method, and combining the resistances with thicknesses of the ice layers to quantitatively obtain resistivities of the ice layers; according to the resistivities, establishing a distribution function of resistivity change with icing depth by using a linear interpolation method, and quantitatively obtaining a resistivity gradient value through the distribution function; acquiring icing thickness data of the conductor at multiple time points by using a time sequence method to quantitatively obtain an icing thickness growth rate of the conductor, and combining the icing thickness growth rate with the resistivity gradient value to quantitatively obtain a resistivity change rate of the conductor; acquiring crystal proportion data of the ice layers at the multiple time points to determine an ice crystal structure evolution rate through a time derivative of a volume fraction of hexagonal ice, and combining the icing thickness growth rate and the resistivity change rate to construct icing state change parameters to determine an icing development stage.

3. The ice-melting control method based on the flexible conductor connection technology according to claim 2, characterized in that, The method further comprises the following steps: based on the icing state change parameters and the real-time wind force data, quantifying deflection distribution of the conductor under the action of lateral load by using a catenary equation to determine bending deformation data of the conductor; According to the bending deformation data and the real-time wind force data, a wind force generated torsion moment is determined to combine with a torsion stiffness of the conductor to determine a torsion angle of the conductor, and to combine with the bending deformation data to determine a composite deformation variable of each position of the conductor; Based on the composite deformation variable, a finite difference method is used to calculate a deformation gradient between adjacent positions in the conductor, and according to the deformation gradient, a strain value of each position in the conductor is determined to obtain strain distribution data of the conductor; The bending deformation data, the torsion angle and the strain distribution data are combined to generate deformation characteristics of the conductor.

4. The ice-melting control method based on the flexible conductor connection technology according to claim 1, characterized in that, The temperature gradient data of the conductor is obtained to determine a slip degree between different material layers of the conductor to obtain a slip influence coefficient, including: The temperature gradient data of the conductor, the expansion coefficient of the steel core and the thermal expansion coefficient of the aluminum strand are obtained to quantify the expansion amount difference of each material layer of the conductor under the action of the temperature gradient; According to the expansion amount difference and the interlayer contact length of the conductor, a relative displacement per unit length is determined, and a differential thermal effect value between the steel and aluminum layers is determined according to the relative displacement; Based on the differential thermal effect value and the interlayer contact surface friction coefficient of the conductor, an interlayer slip resistance is determined to combine with the relative displacement to quantitatively obtain the interlayer slip degree of the conductor; The interlayer slip degree and a preset slip reference value are used to quantitatively obtain the slip influence coefficient.

5. The ice-melting control method based on the flexible conductor connection technology according to claim 3, characterized in that, The docking strategy of the ice melting mechanical arm is determined based on the conductor state comprehensive model, including: The spatial coordinate sequence of the conductor is determined based on the conductor state comprehensive model, the Jacobian matrix method is used to solve the joint angles of the ice melting mechanical arm, and a plurality of trajectory points are determined based on the safety distance corresponding to the curvature radius of the conductor to obtain a six-axis motion trajectory of the ice melting mechanical arm; According to the six-axis motion trajectory, the position difference and the attitude angle change between adjacent trajectory points are quantified to adjust the joint angles to obtain an angle adjustment amount of docking; The average motion speed is determined through the six-axis motion trajectory and a preset task cycle, and the maximum contact force of the conductor is determined according to the strain distribution data; Based on the angle adjustment amount of docking, the average motion speed and the maximum contact force, the docking strategy of the ice melting mechanical arm is constructed.

6. The ice-melting control method based on the flexible conductor connection technology according to claim 1, characterized in that, The real-time feedback data of the dual-spectrum imaging system after executing the docking strategy is obtained to determine a micro-motion adjustment strategy for controlling the ice melting mechanical arm, including: The visible light image data and the infrared thermal image data of the dual-spectrum imaging system after executing the docking strategy are obtained as real-time feedback data, and the difference between the actual contact area and the target contact area is quantified according to the real-time feedback data to obtain a pose deviation parameter; The translational fine adjustment amount of the ice melting mechanical arm is determined based on the pose deviation parameter, and the three-axis rotational fine adjustment amount is determined according to the angle deviation between the contact area contour and the ideal contour; The contact speed is determined according to the pose deviation parameter and a preset adjustment cycle, and the micro-motion stage pose parameter is obtained by combining the translational fine adjustment amount and the three-axis rotational fine adjustment amount. acquire a contact area of the preheating electrode, and determine pressure values according to distances from each contact point in the contact area to a center of the preheating electrode, to generate a progressive contact pressure distribution using a time-increasing function; determine a micro-motion adjustment strategy for controlling the ice-melting robot arm according to the micro-motion stage pose parameter and the progressive contact pressure distribution.

7. The ice-melting control method based on the flexible conductor connection technology according to claim 6, characterized in that, The determination of the locking optimization parameter of the ice-melting robot arm according to the micro-motion adjustment strategy to control the preheating electrode to perform the pre-ice-melting operation includes: determine pressure values and position coordinates of each contact point based on the micro-motion adjustment strategy, to quantify an eccentricity of a pressure resultant force point from the center of the preheating electrode, to obtain an initial locking torque to control the ice-melting robot arm to perform a locking action; acquire a locking deformation amplitude and a locking strain distribution when the ice-melting robot arm performs the locking action, to quantify a wire deformation increment under a current locking torque, and update the initial locking torque when the wire deformation increment exceeds a preset increment threshold, to obtain a target torque value; determine a loading rate according to a transition time from the initial locking torque to the target torque value, and determine a holding time according to a deformation time characteristic curve of the wire under a constant stress, to combine the target torque value and the loading rate, to obtain the locking optimization parameter; determine a contact pressure between the preheating electrode and the wire and a preheating duration of the preheating electrode through the locking optimization parameter, and control the preheating electrode to perform the pre-ice-melting operation according to the contact pressure and the preheating duration.

8. The ice-melting control method based on the flexible conductor connection technology according to claim 7, characterized in that, The monitoring of ice-coating state changes in the pre-ice-melting operation process includes: acquire temperature change data in the pre-ice-melting operation process, to determine a melting boundary position, and quantify an ice-coating thickness change value and a water flow direction data generated by melting based on the melting boundary position; set multiple measurement points based on the melting boundary position and the water flow direction data, and determine resistance values of each measurement point through a four-electrode method, to combine the ice-coating thickness change value, to obtain resistivities of each measurement point; establish a resistivity spatial distribution along the water flow direction according to the resistivities of each measurement point, to obtain the resistivity distribution data required for the directional flow guiding.

9. The ice-melting control method based on the flexible conductor connection technology according to claim 1, characterized in that, The adjustment of the locking optimization parameter according to execution effect data of the directional flow guiding operation, and the generation of an ice-melting control strategy based on the adjusted locking optimization parameter for execution includes: acquire a temperature rise value, wire deformation data, and current data at each position of the wire in the directional flow guiding operation, and determine an ice-melting efficiency according to the temperature rise value and input power; determine a residual deformation amount of the wire according to the wire deformation data, and determine a current density uniformity based on deviations of each current data from an average current, to combine the ice-melting efficiency and the residual deformation amount, to obtain the execution effect data; When the execution effect data does not reach the preset effect target, the locking optimization parameter is adjusted to obtain a parameter improvement value to determine the current intensity data of the conductor, and the execution time is determined according to the residual ice thickness of the conductor; The control strategy is generated according to the current intensity data and the execution time to execute.

10. An ice-melting control system based on flexible conductor connection technology, characterized in that, Comprise: The change feature determination module is used to obtain real-time icing data and real-time wind force data of the conductor in the target area to determine the distribution feature of the conductor under a plurality of heterogeneous ice crystal structures and the deformation data of the conductor under the action of wind force, to obtain an icing state change parameter and a deformation feature; The comprehensive model construction module is used to obtain temperature gradient data of the conductor to determine the slip degree between different material layers of the conductor when the deformation feature exceeds a preset deformation threshold, to obtain a slip influence coefficient, and to combine the icing state change parameter and the deformation feature to construct a conductor state comprehensive model; The adjustment strategy generation module is used to determine the docking strategy of the ice melting mechanical arm based on the conductor state comprehensive model, and to obtain real-time feedback data of the dual-spectrum imaging system after the docking strategy is executed, to determine a micro-motion adjustment strategy for controlling the ice melting mechanical arm; The distribution data quantification module is used to determine the locking optimization parameter of the ice melting mechanical arm according to the micro-motion adjustment strategy, to control the preheating electrode to execute a pre-icing operation, and to monitor the icing state change in the pre-icing operation process to quantify the resistivity distribution data required for directional flow guiding; The control strategy execution module is used to adjust the contact pressure of the preheating electrode through the resistivity distribution data to execute a directional flow guiding operation, to adjust the locking optimization parameter according to the execution effect data of the directional flow guiding operation, and to generate an ice melting control strategy based on the adjusted locking optimization parameter to execute.

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