Power transmission line de-icing device clamping control method and device

Abstract

The application provides a power transmission line deicing device clamping control method and device, and relates to the technical field of power system operation and maintenance, the method comprises the following steps: receiving initial landing point position information, obtaining a clamping start instruction based on the initial landing point position information; synchronously collecting image data and attitude data of the target line according to the clamping start instruction, processing the image data, and extracting the morphological features and icing area features of the line surface; classifying and identifying the state of the line surface according to a preset rule, and judging whether the clamping condition is met according to the identification result; if it is judged that the clamping condition is met, then the spatial relationship between the line surface morphology and the icing area is analyzed by fusing the image data and the attitude data, the polygon overlap percentage between the clamping target area and the expected clamping position is calculated, and the selection of the clamping point is optimized. The application can realize accurate and stable clamping of the deicing device and the power transmission line.

Description

Technical Field

[0001] This invention relates to the field of power system operation and maintenance technology, and in particular to a clamping control method and device for de-icing equipment on transmission lines. Background Technology

[0002] In power system operation and maintenance, icing of transmission lines is a common disaster in winter. Icing can lead to increased line load and sag, and in severe cases, it can cause conductor breakage and tower collapse, directly threatening the safe and stable operation of the power grid.

[0003] However, existing de-icing equipment clamping control technology has many problems. On the one hand, it has poor adaptability. For example, it often uses preset fixed parameters (such as clamping force and contact angle), which cannot be dynamically adjusted according to the icing pattern and posture of the line. This can easily lead to problems such as over-clamping and damage to the line or under-clamping and loosening. On the other hand, the state perception is singular and there is no closed-loop feedback mechanism. For example, existing technologies only rely on pressure sensors or displacement sensors to collect single data, lacking comprehensive identification of the icing area and morphological characteristics of the line surface. When local ice falls off the line, forming alternating exposed and iced sections, it is impossible to accurately locate the final clamping point, resulting in decreased clamping stability. After the clamping action is executed, it is difficult to verify the clamping status in real time. Even if the clamping becomes loose, manual intervention is required, which not only prolongs the de-icing operation time but also increases the safety risks of working at height. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a clamping control method and device for de-icing equipment of power transmission lines, which can realize the precise and stable clamping of de-icing equipment and power transmission lines, and ensure the safety and efficiency of the de-icing process.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] In a first aspect, a clamping control method for a power transmission line de-icing device includes:

[0007] Receive initial landing position information and obtain clamping start command based on the initial landing position information;

[0008] According to the clamping start command, image data and attitude data of the target line are collected synchronously. The image data is processed to extract the morphological features and icing area features of the line surface. The line surface status is classified and identified according to preset rules. The clamping conditions are judged based on the identification results.

[0009] If the clamping conditions are met, the spatial relationship between the line surface morphology and the icing area is analyzed by fusing image data and attitude data. The selection of clamping points is optimized by calculating the percentage of polygon overlap between the clamping target area and the expected clamping position. The clamping parameters are dynamically adjusted based on real-time attitude data to maximize the contact area between the clamping mechanism and the line surface and to ensure uniform pressure distribution, thus obtaining the final clamping control parameters.

[0010] The clamping device is driven to perform clamping actions according to the final clamping control parameters, and the clamping status is verified in real time during the clamping process to obtain the clamping status verification result;

[0011] The clamping stability is determined based on the clamping status verification results. If it is determined to be unstable, the clamping control parameters are dynamically adjusted and the clamping action is re-executed based on the adjusted parameters until the clamping status is determined to be stable.

[0012] Once the clamping state is stable, a de-icing start signal is received, and the de-icing operation process is triggered based on the de-icing start signal.

[0013] During the de-icing process, the clamping status is continuously monitored. If the clamping becomes loose or the offset exceeds the preset threshold, the clamping control parameters are readjusted.

[0014] Furthermore, the system receives initial landing point location information and obtains a clamping start command based on this information, including:

[0015] Receive the initial landing point location information of the de-icing equipment, and parse and verify the validity of the initial landing point location information to obtain the verified location data;

[0016] Based on the verified position data, it is determined whether the device is within the preset operable area. If the determination result is within the preset operable area, the clamping start command is automatically obtained; if the determination result is not within the preset operable area, the issuance of the clamping start command is paused.

[0017] Furthermore, image and attitude data of the target line are simultaneously acquired according to the clamping start command. The image data is processed to extract the morphological features and icing area features of the line surface. The line surface condition is classified and identified according to preset rules. Based on the identification results, it is determined whether the clamping conditions are met, including:

[0018] Based on the clamping start command, high-definition image data and real-time attitude data of the target line are acquired simultaneously, and the high-definition image data and real-time attitude data are spatiotemporally aligned and format unified to obtain a fused data source.

[0019] Based on the fused data source, the morphological contours of the line surface and the texture and thickness distribution features of the icing area are identified and extracted to obtain the line surface state feature set.

[0020] The surface condition feature set of the line is matched with the preset rule base, and the condition is classified according to the icing type, surface smoothness and obstacle distribution to obtain the surface condition category identifier.

[0021] Based on surface condition category identification and real-time attitude data, determine whether the current line section is in a clampable state: if the ice thickness is within the allowable range, there is no structural damage, and the attitude is stable, then the clamping conditions are met; otherwise, an abnormal status signal is obtained and the clamping process is paused.

[0022] Furthermore, if the clamping conditions are met, the spatial relationship between the track surface morphology and the icing area is analyzed by fusing image data and attitude data. The selection of the clamping point is optimized by calculating the percentage of polygonal overlap between the target clamping area and the expected clamping position. Based on real-time attitude data, the clamping parameters are dynamically adjusted to maximize the contact area between the clamping mechanism and the track surface and ensure uniform pressure distribution, resulting in the final clamping control parameters, including:

[0023] Based on the fusion of data sources and surface condition category identifiers, the spatial relationship between the line surface morphology and the icing area is analyzed. By calculating the percentage of polygon overlap between the clamping target area and the expected clamping position, the final clamping point position is determined.

[0024] Based on the final clamping point position and real-time attitude data, the contact angle and pressure distribution parameters of the clamping mechanism are dynamically calculated to obtain the initial clamping control parameters.

[0025] Based on the initial clamping control parameters, the contact state between the clamping mechanism and the circuit surface is simulated. With the optimization objectives of maximizing the contact area and uniformly distributing the pressure, the initial clamping control parameters are iteratively adjusted to obtain the final clamping control parameters.

[0026] Furthermore, the clamping device is driven to perform clamping actions according to the final clamping control parameters, and the clamping status is verified in real time during the clamping process, including:

[0027] Based on the final clamping control parameters, the clamping device drive command is obtained;

[0028] According to the driving command of the clamping device, the clamping device is controlled to perform clamping action, and pressure distribution, displacement and attitude offset data are collected synchronously during the action to serve as real-time clamping status data.

[0029] The real-time clamping status data is analyzed and features are extracted. The clamping action is then judged to determine whether it is executed as expected, and finally the clamping status verification result is obtained.

[0030] Furthermore, the clamping stability is determined based on the clamping state verification results. If the clamping is determined to be unstable, the clamping control parameters are dynamically adjusted, and the clamping action is re-executed based on the adjusted parameters until the clamping state is determined to be stable, including:

[0031] The pressure distribution uniformity, displacement fluctuation and attitude deviation features in the clamping state verification results are received and extracted. Based on the predefined stability criteria, a comprehensive evaluation is performed to obtain the clamping stability judgment result.

[0032] If the clamping stability determination result is unstable, the dominant factors causing instability are analyzed based on real-time clamping status data, and an optimized clamping control parameter scheme is obtained based on the historical adjustment case library and adaptive adjustment strategy.

[0033] Based on the clamping control parameter optimization scheme, the current clamping control parameters are dynamically corrected to obtain the new generation of clamping control parameters, and the clamping action execution process is retried.

[0034] Based on the new generation of clamping control parameters, the clamping action is driven iteratively, and the process of acquiring state data and evaluating stability is executed to form a closed-loop feedback control until the clamping state is determined to be stable.

[0035] Furthermore, after the clamping state stabilizes, a de-icing start signal is obtained. Based on the de-icing start signal, the de-icing operation process is triggered, including:

[0036] When the clamping stability determination result continuously reaches the preset stability standard, a clamping stability confirmation signal is obtained;

[0037] Based on the clamping stability confirmation signal, a de-icing start request command is obtained, and the current equipment operating status and external environmental parameters are safely verified.

[0038] If the safety check passes, the official de-icing start signal will be received;

[0039] It responds to the de-icing start signal, initiates the de-icing operation process, and monitors the de-icing operation status in real time.

[0040] Furthermore, the clamping status is continuously monitored during the de-icing process. If loosening or displacement exceeding a preset threshold is detected, the clamping control parameters are readjusted, including:

[0041] During the de-icing operation, real-time clamping status data is continuously received and monitored, and the pressure distribution, displacement and attitude deviation characteristics are extracted.

[0042] The pressure distribution, displacement, and attitude deviation characteristics are compared with the preset safety threshold in real time. If the clamping is found to be loose or the deviation exceeds the permissible range, a work stop request signal is obtained.

[0043] Based on the work pause request signal, a pause command is sent to the de-icing execution control unit to stop the current de-icing operation and trigger the clamping control parameter readjustment process to obtain the latest clamping status data.

[0044] Based on the latest clamping status data and historical adjustment strategies, a new generation of clamping control parameters is recalculated and generated. The clamping action is then re-executed according to the new generation of clamping control parameters until the clamping state returns to stability, so as to perform closed-loop control of the clamping action.

[0045] Secondly, a clamping control system for a power transmission line de-icing device includes:

[0046] The acquisition module is used to receive the initial landing point position information and obtain the clamping start command based on the initial landing point position information;

[0047] The processing module synchronously acquires image data and attitude data of the target line according to the clamping start command, processes the image data, extracts the morphological features and icing area features of the line surface, classifies and identifies the line surface state according to preset rules, and determines whether the clamping conditions are met based on the identification results.

[0048] If the clamping conditions are met, the calculation module analyzes the spatial relationship between the surface morphology of the line and the icing area by fusing image data and attitude data. It optimizes the selection of clamping points by calculating the percentage of polygon overlap between the clamping target area and the expected clamping position. Based on real-time attitude data, it dynamically adjusts the clamping parameters to maximize the contact area between the clamping mechanism and the line surface and to distribute the pressure evenly, thus obtaining the final clamping control parameters.

[0049] The execution module drives the clamping device to perform clamping actions according to the final clamping control parameters, and verifies the clamping status in real time during the clamping process to obtain the clamping status verification result; it judges the clamping stability based on the clamping status verification result. If it is determined to be unstable, it dynamically adjusts the clamping control parameters and re-executes the clamping action according to the adjusted parameters until the clamping status is determined to be stable.

[0050] The adjustment module receives a de-icing start signal after the clamping state stabilizes, and triggers the de-icing operation process based on the de-icing start signal. During the de-icing process, the clamping state is continuously monitored. If the clamping is detected to be loose or the offset exceeds the preset threshold, the clamping control parameters are readjusted.

[0051] Thirdly, a clamping control device for power transmission line de-icing equipment includes:

[0052] One or more processors;

[0053] A storage device for storing one or more programs that, when executed by one or more processors, cause the one or more processors to implement the method.

[0054] The above-described solution of the present invention has at least the following beneficial effects:

[0055] By employing techniques for analyzing and verifying the initial landing point of the de-icing equipment and determining the operable area, the problem of misoperation caused by invalid landing points in existing technologies is overcome. By using techniques for synchronous acquisition of target line image data and attitude data, spatiotemporal alignment and fusion, and extraction and identification of line surface morphology features and icing area features, the problem of limited state perception and inability to comprehensively and accurately identify complex working conditions such as uneven icing thickness and alternating bare and iced conditions in existing technologies is overcome. By analyzing the spatial relationship between line surface morphology and icing areas to optimize clamping point selection, and dynamically calculating initial clamping parameters based on real-time attitude data, and iteratively adjusting them with the goal of maximizing contact area and uniform pressure distribution, the problem of clamping point deviation and uneven pressure distribution caused by fixed clamping parameters in existing technologies is overcome, which can lead to line damage or clamping loosening. Furthermore, by using techniques for real-time acquisition of pressure distribution and position data during clamping, the problem of clamping point deviation and uneven pressure distribution caused by fixed clamping parameters in existing technologies is overcome. The clamping status is verified by measuring displacement and attitude deviation data. A closed-loop feedback control technique, which assesses stability based on predefined criteria and dynamically corrects parameters using a historical adjustment case library and adaptive strategy, overcomes the problems of existing technologies lacking a closed-loop feedback mechanism, requiring manual intervention for adjustment, resulting in low work efficiency and high safety risks for high-altitude operations. Simultaneously, the technique employs continuous monitoring of the clamping status during de-icing, pausing operations and readjusting parameters when loosening or deviation exceeds a threshold. This overcomes the problem of existing technologies being unable to respond promptly to sudden clamping anomalies such as ice shedding and wind disturbances during de-icing operations. Thus, precise and stable clamping of de-icing equipment and transmission lines under complex icing conditions is achieved, effectively reducing the risk of line damage, significantly improving the automation and efficiency of de-icing operations, significantly reducing reliance on manual labor, lowering safety risks for high-altitude operations, and ensuring the safety and reliability of the de-icing process. Attached Figure Description

[0056] Figure 1 This is a schematic flowchart of a clamping control method for a power transmission line de-icing device provided in an embodiment of the present invention.

[0057] Figure 2 This is a schematic diagram of a clamping control system for a power transmission line de-icing device provided in an embodiment of the present invention. Detailed Implementation

[0058] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0059] like Figure 1 As shown, an embodiment of the present invention proposes a clamping control method for a power transmission line de-icing device, the method comprising the following steps:

[0060] Step 1: Receive the initial landing point position information and obtain the clamping start command based on the initial landing point position information;

[0061] Step 2: Synchronously acquire image data and attitude data of the target line according to the clamping start command, process the image data, extract the morphological features and icing area features of the line surface, classify and identify the line surface state according to preset rules, and determine whether the clamping conditions are met based on the identification results.

[0062] Step 3: If the clamping conditions are met, the spatial relationship between the line surface morphology and the icing area is analyzed by fusing image data and attitude data. The selection of clamping points is optimized by calculating the polygon overlap percentage between the clamping target area and the expected clamping position. The clamping parameters are dynamically adjusted based on real-time attitude data to maximize the contact area between the clamping mechanism and the line surface and to distribute the pressure evenly, thus obtaining the final clamping control parameters.

[0063] Step 4: Drive the clamping device to perform clamping action according to the final clamping control parameters, and verify the clamping status in real time during the clamping process to obtain the clamping status verification result;

[0064] Step 5: Determine the clamping stability based on the clamping status verification results. If the clamping is determined to be unstable, dynamically adjust the clamping control parameters and re-execute the clamping action according to the adjusted parameters until the clamping status is determined to be stable.

[0065] Step 6: After the clamping state stabilizes, a de-icing start signal is obtained, and the de-icing operation process is triggered based on the de-icing start signal;

[0066] Step 7: During the de-icing process, continuously monitor the clamping status. If the clamping is detected to be loose or the offset exceeds the preset threshold, readjust the clamping control parameters.

[0067] In this embodiment of the invention, the risk of misoperation is avoided by verifying the initial landing point, and the problem of single state perception in the prior art is solved by simultaneously collecting image and attitude data; the clamping point is optimized by using a polygon overlap algorithm and combined with real-time attitude dynamic adjustment parameters to avoid line damage caused by clamping deviation and uneven pressure; real-time state verification and closed-loop adjustment reduce human intervention, and continuous monitoring during de-icing is used to deal with sudden clamping anomalies, ultimately achieving precise and stable clamping of de-icing equipment and lines, improving work efficiency and safety.

[0068] In a preferred embodiment of the present invention, step 1 above may include:

[0069] Step 1.1: Receive the initial landing point location information of the de-icing equipment, and parse and verify the validity of the initial landing point location information to obtain verified location data. Specifically, the de-icing equipment collects the initial landing point location information through its own positioning module (Global Positioning System or BeiDou Navigation Satellite System) and transmits the information as a data signal to the remote data processing node via a wireless transmission link. After receiving the information, the remote data processing node first parses the coordinate data to extract latitude and longitude, the horizontal and vertical distances relative to the transmission line axis, and the regional elevation data. Then, it performs validity verification on the parsed coordinate data: confirming that there are no missing data, verifying that the format is consistent with the maintenance data standard of the transmission line ledger, verifying that the values ​​conform to the terrain range of the target area, and ensuring that the positioning error is controlled within 1 meter to meet the clamping accuracy requirements. Finally, verified location data with all parameters meeting the standards is obtained.

[0070] Step 1.2: Based on the verified location data, determine whether the device is located within the preset operable area. If the result is within the preset operable area, a clamping start command is automatically generated. If the result is not within the preset operable area, the issuance of the clamping start command is paused. Specifically, this includes: retrieving preset operable area data from the associated database. This area is defined based on the target line design parameters (line direction, conductor type, tower spacing), operation and maintenance safety specifications, historical operation records, and on-site survey data, and is clearly defined by latitude and longitude, relative line distance, and elevation range. The verified location data is compared with the preset area parameters one by one: whether the latitude and longitude are within the preset coordinate range, whether the relative line distance is within the safe range, and whether the elevation is within the reasonable range. If all conditions are met, a clamping start command is automatically generated and transmitted to the de-icing device via a wireless link, triggering the data acquisition process. If any condition is not met, command generation is immediately paused, and a location anomaly prompt is sent to the human-machine interface associated with the device. After the operator adjusts the device to the preset area and re-completes the information reception and verification, the area judgment in this step is re-executed.

[0071] In this embodiment of the invention, by parsing and verifying the initial landing point position information and determining whether the device is located in a preset operable area to decide whether to issue a clamping start command, the problem of easy misoperation due to invalid initial position in the prior art is overcome, ensuring that the clamping action is only performed in a safe and compliant area, laying a safe foundation for subsequent clamping and de-icing operations.

[0072] In a preferred embodiment of the present invention, step 2 above may include:

[0073] Step 2.1: Based on the clamping start command, simultaneously acquire high-definition image data and real-time attitude data of the target line, and perform spatiotemporal alignment and format unification on the high-definition image data and real-time attitude data to obtain a fused data source. Specifically, based on the received clamping start command, the high-definition industrial camera on the de-icing equipment begins to collect continuous high-definition image data of the target transmission line. At the same time, the gyroscope, tilt sensor, and vibration sensor equipped on the equipment simultaneously collect real-time attitude data of the line. The real-time attitude data includes the line's tilt angle, vibration frequency and amplitude, and height change data relative to the horizontal reference plane. To ensure the correlation between the two types of data, a unified timestamp is added to each frame of high-definition image data and each set of real-time attitude data during the acquisition process. Based on this timestamp, the two types of data are spatiotemporally aligned so that the image data and attitude data acquired at the same time form a one-to-one correspondence, avoiding data misalignment caused by acquisition time difference. Subsequently, the two types of data after spatiotemporal alignment are format-unified. The high-definition image data is converted into a preset standard pixel format and resolution, and the real-time attitude data is converted into a standardized numerical format. Finally, a fused data source containing visual information and dynamic attitude information of the target line is obtained.

[0074] Step 2.2: Based on the fused data source, identify and extract the morphological contours and texture and thickness distribution features of the icing area on the line surface to obtain a line surface state feature set. Specifically, this includes: using the fused data source as a basis, preprocessing the high-definition image data to remove image noise caused by changes in ambient light and equipment vibration; identifying and extracting the morphological contour features of the line surface, including the cross-sectional shape of the line, the strand distribution boundary of the conductor, and whether there are protrusions or depressions on the line surface; for the icing area, identifying the pixel texture of the icing part in the image, distinguishing the texture features corresponding to different icing types, and calculating and extracting the thickness distribution data of the icing area by combining the image grayscale value and the preset icing thickness calibration method to clarify the icing thickness value of different sections of the line; integrating the extracted line surface morphological contour features, icing area texture features, and icing thickness distribution features to obtain a line surface state feature set containing detailed information on the line structure and icing status.

[0075] Step 2.3 involves matching the line surface condition feature set with a preset rule base, classifying the condition based on icing type, surface smoothness, and obstacle distribution to obtain surface condition category identifiers. Specifically, this includes: calling the preset rule base, which stores various judgment standards for transmission line clamping operations in power system operation and maintenance, including the feature parameter ranges corresponding to different icing types, the judgment threshold for line surface smoothness, and the identification standards for obstacles on the line surface; and matching the line surface condition feature set with each standard in the preset rule base one by one. The surface condition of the current line section is classified according to the matching results: if the icing type is single rime ice, the surface has no obvious protrusions or depressions and no obstacles, it is classified as a uniformly iced and obstacle-free section; if the line has local icing loss forming alternating exposed and iced areas, the surface flatness meets the requirements and there are no obstacles, it is classified as an alternating exposed and iced section; if there are obstacles on the line surface or the icing type is hard glaze ice and the surface is uneven, it is classified as a complex working condition section; the corresponding surface condition category label is obtained according to different classification results.

[0076] Step 2.4: Based on the surface condition category identifier and real-time attitude data, determine whether the current line segment is in a clampable state: if the icing thickness is within the allowable range, there is no structural damage, and the attitude is stable, then the clamping conditions are met; otherwise, an abnormal state signal is obtained and the clamping process is paused. Specifically, this includes: combining the surface condition category identifier and real-time attitude data to comprehensively determine the clampable state of the current line segment; first, checking the icing thickness distribution data corresponding to the surface condition category identifier to determine whether it is within the preset allowable range; then, based on the line shape contour features in the surface condition category identifier, checking whether there is structural damage to the line (such as...). Damage conditions such as wire breakage and line cross-section deformation are identified through shape contour recognition. At the same time, real-time attitude data is analyzed to determine whether the line tilt angle is ≤3° and the vibration amplitude is ≤2 mm / s, thereby determining whether the line attitude is stable. If the icing thickness is within the allowable range, the line has no structural damage and the attitude is stable, it is determined that the current line section meets the clamping conditions and enters the clamping parameter optimization process. If any condition is not met, an abnormal status signal is generated, the current clamping process is paused, and an abnormality reason prompt is sent to the human-machine interface. After the operator investigates and handles the abnormality, the process of steps 2.1 to 2.4 is re-executed.

[0077] In this embodiment of the invention, by simultaneously acquiring high-definition image data and real-time attitude data of the target line, and performing spatiotemporal alignment and format unification, the problem of one-sided state perception caused by relying on only a single data source in the prior art is overcome. The resulting fused data source provides comprehensive support for subsequent accurate feature extraction. The surface morphology contour, icing area texture, and thickness distribution features of the line are extracted from the fused data source, solving the deficiency of the prior art in capturing icing details and structural features. The resulting line surface state feature set provides an accurate basis for state classification. The feature set is matched with a preset rule base and classified according to icing type, surface flatness, and obstacle distribution, avoiding the problem of general state judgment in the prior art. The obtained surface state category identifier can accurately distinguish different icing conditions. Combining the state category identifier with real-time attitude data, the clamping state is judged from three aspects: icing thickness, structural damage, and attitude stability. This overcomes the deficiency of the single judgment condition in the prior art and effectively avoids initiating clamping in inappropriate sections.

[0078] In a preferred embodiment of the present invention, step 3 above may include:

[0079] Step 3.1: Based on the fused data source and surface condition category identifiers, analyze the spatial relationship between the line surface morphology and the icing area. Determine the final clamping point location by calculating the polygon overlap percentage between the clamping target area and the expected clamping position. Specifically, this includes: using high-resolution image data and surface condition category identifiers from the fused data source, separating the line surface morphology outline and the icing area from the background; marking the top, bottom, both ends, and significant bends along the cross-sectional edge of the line surface morphology outline, connecting these points sequentially to form a closed line surface boundary, thus defining the line's spatial range; and marking feature points along the boundary between the icing and the line body, and along the outer edge of the icing, connecting these points to form a closed icing area boundary. By comparing the boundary positions of the two, analyze whether the icing is complete. The system assesses whether the circuit is fully or partially covered, and whether there are gaps or protrusions. Based on surface condition classification, it determines the potential clamping target area. For uniformly iced, obstacle-free sections, it selects sections with ice thickness variations of less than 3 mm and no foreign objects. For exposed and alternately iced sections, it prioritizes sections with continuous ice coverage and a length exceeding the contact length of the clamping mechanism. It marks feature points at the edge of the target area and connects them to form a closed clamping target area boundary. It retrieves the expected clamping position determined based on the centerline of the circuit design and standard cross-sectional dimensions, marks its edge feature points, and connects them to form a closed boundary. It measures the total area of ​​the clamping target area and the area of ​​their overlap. Dividing the overlap area by the total area of ​​the target area yields the polygon overlap percentage. It selects the area with the highest overlap percentage, uniform icing, and no obstacles, and determines its geometric center coordinates as the final clamping point location.

[0080] Step 3.2: Based on the final clamping point position and real-time attitude data, dynamically calculate the contact angle and pressure distribution parameters of the clamping mechanism to obtain the initial clamping control parameters. Specifically, this includes: calculating the contact angle of the clamping mechanism based on the coordinates of the final clamping point position, combined with the line tilt angle and vibration amplitude in the real-time attitude data, so that the normal direction of the clamping surface is consistent with the radial direction of the line cross section to adapt to the line tilt state and avoid excessive local stress. At the same time, based on the ice thickness distribution data, ice type and line material parameters in the surface state category identifier, dynamically calculate the initial pressure distribution parameters. The pressure is slightly higher in areas with thicker ice and slightly lower in areas with thinner ice, and the pressure change rate is controlled to prevent ice breakage. The contact angle and pressure distribution parameters are integrated to obtain the initial clamping control parameters.

[0081] Step 3.3: Based on the initial clamping control parameters, simulate the contact state between the clamping mechanism and the track surface. With the optimization objectives of maximizing the contact area and uniformly distributing the pressure, iteratively adjust the initial clamping control parameters to obtain the final clamping control parameters. Specifically, based on the initial clamping control parameters, combined with the physical structure parameters of the clamping mechanism and the physical properties of the track and icing (such as elastic modulus and friction coefficient), simulate the contact process between the clamping mechanism and the track surface when performing the clamping action according to the initial parameters. Output the contact area and pressure distribution. Compare the simulation results with the preset optimization objectives. If the objectives are not met, first fine-tune the contact angle by 0.5°~1° each time and re-simulate until the contact area meets the objectives. Then, for areas with uneven pressure, adjust the pressure value of the corresponding contact point by 5%~10% each time. Repeat the simulation and adjustment. After 3~5 iterations, obtain the parameters that simultaneously meet the requirements of maximizing the contact area and uniformly distributing the pressure, and determine them as the final clamping control parameters.

[0082] In this embodiment of the invention, by analyzing the spatial relationship between the surface morphology of the line and the icing area, and combining the polygon overlap percentage to determine the final clamping point, the problem of clamping point selection deviation in the prior art is overcome, ensuring that the clamping position is more accurately adapted to the icing distribution. The initial clamping parameters are calculated based on the final clamping point and real-time attitude data, solving the defect that fixed parameters cannot adapt to the dynamic attitude of the line, and making the initial parameters more in line with the actual working conditions. By simulating the contact state and iteratively optimizing the parameters with the goal of maximizing the contact area and uniform pressure, the problem of line damage or clamping loosening caused by uneven pressure distribution is overcome, and the final control parameters can ensure stable and reliable clamping.

[0083] In a preferred embodiment of the present invention, step 4 above may include:

[0084] Step 4.1: Based on the final clamping control parameters, obtain the clamping device drive commands. Specifically, the final clamping control parameters include the angle parameters of the contact interface, the pressure threshold of each contact area, the rate parameters of the clamping action (such as the speed gradient of the contact component approaching the target), and the stroke parameters (such as the distance range from the initial position to the contact line). Based on these parameters, firstly, the angle parameters are converted into angle adjustment parameters of the execution logic to clarify the direction and magnitude of the contact interface adjustment to match the preset angle. Then, the pressure threshold of each contact area is converted into the output parameters of the pressure control logic to determine the pressure range that each area needs to maintain. At the same time, the rate parameters and stroke parameters are converted into dynamic adjustment parameters of the motion control logic to clarify the change law of the movement rate of the contact component and the total movement range. These angle adjustment, pressure output, and motion dynamic parameters are integrated according to the timing logic of the clamping action (such as first calibrating the contact angle, and then approaching and contacting the line according to the gradient rate) to obtain a set of drive commands that can be directly parsed by the clamping device.

[0085] Step 4.2: According to the clamping device drive command, control the clamping device to perform the clamping action, and simultaneously collect pressure distribution, displacement, and attitude offset data during the action as real-time clamping status data. Specifically, after receiving the drive command, first calibrate the orientation of the contact component according to the angle adjustment logic in the command, so that the contact interface is accurately aligned with the line segment where the final clamping point is located. Then, according to the preset rate control logic and stroke planning logic, drive the contact component to gradually approach and fit the target line, and completely execute the clamping action. During the entire action execution, pressure sensors evenly distributed on the contact interface collect pressure data at each contact point in real time, and record the clamping action in detail. The pressure value change trend at different stages (pre-contact preparation stage, instantaneous contact transition stage, and stable stage after contact) is monitored; the actual movement distance and real-time position information of the contact components are collected simultaneously to verify whether the movement process meets the preset stroke requirements of the command and whether there is any displacement stagnation or sudden change due to external resistance; at the same time, the overall attitude deviation information is continuously collected to monitor whether attitude tilting or position deviation occurs during the clamping process due to factors such as the vibration of the line itself and the interference of environmental airflow; these pressure distribution data, displacement data, and attitude deviation data are acquired synchronously at fixed time periods to obtain a real-time clamping status dataset that can completely reflect the entire process of clamping action from start to stability.

[0086] Step 4.3 involves parsing and extracting features from the real-time clamping status data, and determining whether the clamping action is executed as expected, ultimately obtaining the clamping status verification result. Specifically, this includes: parsing the real-time clamping status data; first, extracting key information from the pressure distribution data to determine whether the pressure values ​​at each contact point are within a preset reasonable range and whether the pressure distribution is uniform; then, parsing the displacement data to check whether the actual moving distance of the clamping arm reaches the preset stroke and whether there are any sudden displacement changes caused by jamming during the movement; next, analyzing the attitude offset data to confirm whether the tilt angle of the clamping device is ≤ a preset stability threshold; and so on. Features are then extracted from the data, including the peak value and fluctuation range of pressure data, the total deviation and fluctuation frequency of displacement data, and the mean and maximum deviation of attitude offset data. These features are compared one by one with the parameters of the expected clamping action (such as the expected pressure fluctuation range, expected displacement deviation, and expected attitude stability range). If all features meet the expected parameter requirements, the clamping action is determined to be performed as expected, and a verification result of qualified clamping status is obtained. If there are uneven pressure distribution, displacement exceeding the preset stroke, or attitude offset exceeding the threshold, the clamping action is determined to be unsatisfactory, and a verification result of the corresponding abnormal type of clamping status is obtained.

[0087] In this embodiment of the invention, the clamping device drive command is generated based on the final clamping control parameters, which ensures that the drive command accurately matches the optimized parameters and avoids clamping deviation caused by the disconnect between the parameters and the actual action. When the clamping device is controlled to perform actions according to the drive command, pressure distribution, displacement and attitude offset data are collected simultaneously, which can comprehensively capture the real-time status during the clamping process and overcome the shortcomings of the prior art that cannot fully reflect the clamping situation by relying on a single data. The real-time status data is analyzed to extract features and determine whether the clamping action meets the standard, which can verify the clamping effect in real time and avoid the delay in anomaly detection caused by the traditional reliance on manual judgment, so as to obtain the clamping status verification result in a timely manner.

[0088] In a preferred embodiment of the present invention, step 5 above may include:

[0089] Step 5.1: Receive and extract the pressure distribution uniformity, displacement fluctuation, and attitude deviation features from the clamping state verification results. Perform a comprehensive evaluation based on predefined stability criteria to obtain the clamping stability judgment result. Specifically, this includes: receiving the clamping state verification results and extracting three key features from them: First, extract the pressure distribution uniformity feature by calculating the ratio of the maximum difference in pressure values ​​at each contact point to the average pressure value to determine the uniformity of the pressure distribution; next, extract the displacement fluctuation feature by statistically analyzing the deviation range between the actual displacement data and the expected displacement parameters during the clamping action, and recording the maximum displacement deviation and the frequency of deviation occurrence; finally, extract the attitude deviation feature to determine the maximum tilt angle of the clamping device during the clamping process. The maximum value and duration are determined. Predefined stability criteria are retrieved, based on power system de-icing operation safety standards. These criteria include a pressure distribution uniformity threshold (the ratio of maximum pressure difference to average pressure value ≤ 10%), a displacement fluctuation threshold (maximum displacement deviation ≤ 2mm and deviation frequency ≤ 1 time / second), and an attitude deviation threshold (maximum tilt angle ≤ 1° and duration ≤ 0.5 seconds). The extracted three features are compared one by one with their corresponding thresholds. If all three features meet the threshold requirements, the clamping state is considered stable, and the result is output. If any feature exceeds the threshold, the clamping state is considered unstable, and the type of feature exceeding the threshold is labeled, resulting in a complete clamping stability determination.

[0090] Step 5.2: If the clamping stability determination result is unstable, analyze the dominant factors causing instability based on real-time clamping status data, and obtain an optimized clamping control parameter scheme based on the historical adjustment case library and adaptive adjustment strategy. Specifically, this includes: when the clamping stability determination result is unstable, retrieving real-time clamping status data and analyzing the dominant factors in conjunction with the labeled abnormal feature types: if the abnormal feature is uneven pressure distribution, compare the pressure at each contact point and the ice thickness distribution data in the real-time data to determine whether the uneven contact force is caused by local differences in ice thickness; if the abnormal feature is excessive displacement fluctuation, analyze the correlation between real-time displacement data and line vibration data to determine whether the high-frequency vibration caused by wind or ice shedding on the line leads to displacement deviation of the clamping component; if the abnormal feature is attitude deviation... If the displacement is too large, the system combines environmental wind speed data and line attitude data to determine whether the clamping device's attitude imbalance is caused by external airflow interference or changes in the line's tilt angle. Then, it calls upon a historical adjustment case library, which stores parameter adjustment records for similar unstable operating conditions in the past, including the type of adjusted parameters (such as contact angle and pressure value) and the adjustment range. Simultaneously, an adaptive adjustment strategy is activated, determining the adjustment range coefficient based on the degree of deviation of the current abnormal characteristics (such as the proportion of pressure difference exceeding the threshold or the magnitude of displacement deviation). Combining the adjustment direction in historical cases with the adjustment range of the adaptive strategy, a targeted clamping control parameter optimization scheme is obtained. For example, for pressure unevenness caused by uneven icing thickness, the scheme will explicitly increase the pressure value at the contact point in the thin icing area and fine-tune the contact angle to increase the contact area.

[0091] Step 5.3: Based on the clamping control parameter optimization scheme, dynamically correct the current clamping control parameters to obtain a new generation of clamping control parameters, and re-trigger the clamping action execution process. Specifically, this includes: dynamically correcting the currently used clamping control parameters based on the clamping control parameter optimization scheme: if the scheme requires adjusting the contact angle, correct the original contact angle parameters according to the angle adjustment direction (such as deflecting towards the side with thicker ice) and adjustment range specified in the optimization scheme; if the scheme requires adjusting the pressure value, increase the pressure parameter according to the pressure increment determined in the scheme for contact points with insufficient pressure, and decrease the pressure parameter according to the corresponding proportion for contact points with excessive pressure; if the scheme involves adjusting the action rate, appropriately reduce the approach rate of the clamping component according to the line vibration situation to avoid aggravating displacement fluctuations due to excessive speed; after the correction is completed, a new generation of clamping control parameters is obtained, and then the clamping action execution process consistent with steps 4.1 to 4.3 is triggered, that is, a new clamping device drive command is generated based on the new generation parameters, the clamping device is controlled to re-execute the clamping action, and new real-time clamping status data is collected simultaneously to conduct clamping status verification.

[0092] Step 5.4: Based on the new generation of clamping control parameters, iteratively execute the clamping action drive, state data acquisition, and stability evaluation process to form a closed-loop feedback control until the clamping state is determined to be stable. Specifically, this includes: based on the new generation of clamping control parameters, first execute the drive command generation operation to obtain the clamping device drive command adapted to the new parameters; then execute the clamping action control and data acquisition operation to control the clamping device to execute actions according to the new command, and simultaneously acquire new pressure distribution, displacement, and attitude offset data; next, execute the stability evaluation operation to extract three key features from the newly acquired data and compare them with predefined stability parameters. Qualitative criteria comparison yields a new round of clamping stability assessment results. If the new round of assessment results is still unstable, return to step 5.2 to re-analyze the dominant factors, generate a new optimization scheme, correct the parameters again, and repeat the above process. If the new round of assessment results is stable, record the result and monitor continuously for 10 seconds. If three consecutive stability assessments within 10 seconds are stable, it is determined that the clamping state has continuously met the requirements, and the iteration process stops. If instability occurs within 10 seconds, the iteration restarts. Through this cycle of driving, collecting, evaluating, and correcting, a complete closed-loop feedback control is obtained.

[0093] In this embodiment of the invention, stability is comprehensively evaluated by extracting pressure distribution uniformity, displacement fluctuation, and attitude deviation features and combining them with predefined criteria. This overcomes the problem of single stability judgment in existing technologies, making the judgment results more comprehensive and accurate. When instability is determined, the dominant factors are analyzed and parameter optimization schemes are generated by combining historical adjustment cases and adaptive strategies. This solves the problem of low efficiency in traditional manual experience-based adjustments, making parameter optimization more targeted. By dynamically correcting parameters and iteratively executing the clamping, acquisition, and evaluation processes to form a closed-loop feedback, the shortcomings of existing technologies in lacking a real-time adjustment mechanism are overcome. Ultimately, continuous stability of the clamping state is achieved, reducing line damage and operation interruptions caused by clamping instability.

[0094] In a preferred embodiment of the present invention, step 6 above may include:

[0095] Step 6.1: When the clamping stability judgment result continuously meets the preset stability standard, a clamping stability confirmation signal is obtained. Specifically, the preset stability standard is that the pressure distribution uniformity, displacement fluctuation, and attitude deviation all meet the requirements. When the clamping stability judgment result meets the standard for 5 consecutive times at a frequency of once every 2 seconds, and the overall duration reaches 10 seconds (during which no judgment result exceeds the threshold), it indicates that the clamping state has formed a continuous stable state and will not affect subsequent operations due to short-term fluctuations. At this time, a clamping stability confirmation signal is obtained.

[0096] Step 6.2: Based on the clamping stability confirmation signal, a de-icing start request command is obtained, and the current equipment operating status and external environmental parameters are verified for safety. Specifically, this includes: upon receiving the clamping stability confirmation signal, an automatic de-icing start request command is generated. This command includes the identification information of the target transmission line section (such as line number, tower section), the preset de-icing operation mode and operation parameters (such as action intensity and action duration), and the safety verification process is initiated simultaneously. When verifying the current equipment operating status, the core execution part of de-icing, the energy supply part, and the information interaction link (whether the communication with the remote monitoring platform is stable and whether the data acquisition of the sensing part is continuous) are checked to ensure that they meet the operation requirements. When verifying the external environmental parameters, the real-time wind speed (≤5m / s, to prevent strong airflow from causing equipment displacement or splashing of de-icing residue), ambient temperature (≥-20℃, to avoid low temperature affecting energy conversion efficiency or energy storage performance), and visibility (≥100 meters, to ensure clear monitoring of the line icing removal process) of the operation area are obtained through the environmental sensing part on the equipment. All verification data are compared with the preset safety thresholds one by one.

[0097] Step 6.3: If the safety verification passes, a formal de-icing start signal is obtained. This includes a comprehensive check of the equipment operating status data and external environmental parameter data recorded during the safety verification process. If the de-icing components are undamaged, the power system parameters are within the normal range, the data transmission is uninterrupted, and the wind speed, ambient temperature, and visibility all meet the preset safety thresholds, and there are no abnormalities in any verification item, then the safety verification is deemed to have passed. At this time, the operation parameters, target line section information, and verification confirmation information in the de-icing start request command are integrated to obtain the formal de-icing start signal. This signal has a unique execution code and can be directly identified and executed by the de-icing equipment.

[0098] Step 6.4: Respond to the de-icing start signal, initiate the de-icing operation process, and monitor the de-icing operation status in real time. Specifically, this includes: Upon receiving the formal de-icing start signal, starting the operation according to the preset de-icing operation process: If it is mechanical de-icing mode, first adjust the de-icing device to the angle of contact with the ice on the line, and then drive the execution part to operate at the preset intensity through the energy conversion mechanism to break up the ice and push the broken residue to the outside of the line; If it is thermal melting de-icing mode, adjust the heat conduction part to heat up to the preset range and contact the ice surface, melt the ice through energy transfer, and guide the melted material away from the line surface; During the operation, monitor the operation status of the de-icing execution part in real time (whether the intensity of action is stable, whether the energy output exceeds the safety limit), changes in the condition of the line surface (ice removal progress, whether abnormal damage occurs on the surface of the conductor), the equipment's own operating indicators (energy storage part consumption rate, core part temperature change), and fluctuations in external environmental parameters. Transmit all monitoring data to the remote monitoring platform. If an abnormality is detected, immediately trigger the pause mechanism and resume the operation after the abnormality is eliminated.

[0099] In this embodiment of the invention, a clamping stability confirmation signal is generated after continuous confirmation that the clamping stability meets the standard. This overcomes the problem that a single determination of stability is prone to risks to subsequent operations due to sudden fluctuations, ensuring that the clamping state has continuous reliability. Based on the confirmation signal, a de-icing request is initiated and the equipment operating status (such as whether the de-icing components are normal and whether the power is sufficient) and external environmental parameters (such as whether the wind speed is within a safe range and whether there is extreme weather) are verified. This overcomes the safety hazard of directly starting de-icing while ignoring abnormal operating conditions. After the verification is passed, de-icing is started and the operation status is monitored in real time to avoid the failure to detect sudden problems during the operation. Ultimately, this ensures that the de-icing operation is carried out efficiently under the premise of safety.

[0100] In a preferred embodiment of the present invention, step 7 above may include:

[0101] Step 7.1: During the de-icing operation, continuously receive and monitor real-time clamping status data, and extract pressure distribution, displacement, and attitude deviation features. Specifically, this includes: continuously receiving real-time clamping status data every 100 milliseconds during the ongoing de-icing operation. This data covers pressure feedback at the clamping contact points, displacement changes of the clamping points relative to the line, and overall clamping attitude deviation. Extract key features from the received data: For pressure distribution, calculate the average level and maximum difference of pressure values ​​at each contact point to determine the uniformity of pressure distribution, and monitor whether the pressure values ​​show a continuous downward trend (which may indicate clamping loosening); For displacement data, statistically analyze the deviation between the actual position of the clamping point and the initial clamping position, and record the rate of change of the deviation; For attitude deviation, extract the tilt angle of the clamping attitude relative to the reference state and the duration of this angle.

[0102] Step 7.2 involves comparing the pressure distribution, displacement, and attitude deviation characteristics with preset safety thresholds in real time. If loose clamping or deviation exceeding the permissible range is detected, a work stop request signal is generated. This process includes: retrieving preset safety thresholds, which are set based on clamping stability requirements and line protection standards, specifically including pressure distribution thresholds, displacement thresholds, and attitude deviation thresholds; comparing the pressure distribution, displacement, and attitude deviation characteristics with the above thresholds one by one in real time: if the pressure difference exceeds 15% or the pressure drop at a single point exceeds 20%, it is determined that the clamping is loose; if the displacement deviation exceeds 3mm or the attitude tilt angle exceeds 2° and lasts for more than 1 second, it is determined that the deviation exceeds the permissible range; when any of these determinations occur, a work stop request signal is immediately generated, which includes the abnormal characteristic type (such as pressure loosening or displacement exceeding the standard) and the specific value of the abnormal data.

[0103] Step 7.3: Based on the work pause request signal, a pause command is sent to the de-icing execution control unit to stop the current de-icing operation and trigger the clamping control parameter readjustment process to obtain the latest clamping status data. Specifically, this includes: upon receiving the work pause request signal, immediately sending a pause command to the de-icing operation execution stage to stop the current de-icing action, avoiding continuous de-icing under abnormal clamping conditions that could lead to line damage or further loosening of the clamp; simultaneously triggering the clamping control parameter readjustment process, in which the clamping status data at the current moment is re-acquired, focusing on collecting the real-time value of the current pressure distribution, the latest displacement deviation of the clamping part, and the current tilt angle. These data are then subjected to noise reduction processing to ensure that the data can truly reflect the actual state of the current clamping, ultimately obtaining the latest clamping status data.

[0104] Step 7.4: Based on the latest clamping status data and historical adjustment strategies, recalculate and generate a new generation of clamping control parameters, and re-execute the clamping action according to the new generation of clamping control parameters until the clamping state returns to stability, so as to perform closed-loop control of the clamping action. Specifically, this includes: retrieving the historical adjustment strategy library, which stores parameter adjustment records corresponding to similar clamping anomalies in the past (such as pressure loosening, displacement exceeding the limit, attitude deviation), including the correspondence between anomaly type and adjustment direction (such as increasing the pressure at the corresponding contact point when pressure is loosening, and fine-tuning the clamping position when displacement exceeds the limit) and adjustment magnitude (such as the pressure increase ratio, position adjustment amount); combining the latest clamping status data, analyzing the core cause of the current anomaly, and referring to historical adjustment strategies. The adjustment logic for similar cases involves recalculating the clamping control parameters: if the pressure is loose, increase the pressure value at the corresponding contact point by 5% to 10% of the initial pressure; if the displacement exceeds the standard, adjust the clamping position according to the direction of the displacement deviation to bring the deviation back within the threshold; if the posture is off-center, fine-tune the clamping posture angle to counteract the tilt; after obtaining the new generation of clamping control parameters, re-execute the clamping action based on these parameters, continuously monitoring the clamping status data during the action execution. If the clamping status does not reach the stable standard after a single adjustment, repeat the process of analyzing abnormalities, adjusting parameters, executing clamping, and monitoring the status until the clamping characteristic parameters monitored for three consecutive times all meet the preset safety threshold, at which point it is determined that the clamping status has returned to stability, completing the closed-loop control of the clamping action.

[0105] In this embodiment of the invention, by continuously monitoring real-time clamping status data and extracting pressure distribution, displacement, and attitude deviation features, the problem of intermittent clamping status monitoring in traditional de-icing operations is overcome, allowing for real-time monitoring of clamping dynamics and preventing the accumulation of hidden dangers. The extracted features are compared with preset safety thresholds in real time, and a work stoppage request is immediately generated once clamping looseness or deviation exceeding the range is detected, solving the defect of delayed anomaly detection and quickly preventing the risk from escalating. Based on the stoppage request, the de-icing operation is stopped and the clamping parameter readjustment process is triggered to avoid line damage caused by continuous operation under abnormal conditions. New parameters are generated by combining the latest clamping status data with historical adjustment strategies, and the clamping action is re-executed to form a closed-loop control, ensuring that the clamping status quickly recovers to stability.

[0106] like Figure 2 As shown, an embodiment of the present invention also provides a clamping control system for a power transmission line de-icing device, comprising:

[0107] The acquisition module is used to receive the initial landing point position information and obtain the clamping start command based on the initial landing point position information;

[0108] The processing module synchronously acquires image data and attitude data of the target line according to the clamping start command, processes the image data, extracts the morphological features and icing area features of the line surface, classifies and identifies the line surface state according to preset rules, and determines whether the clamping conditions are met based on the identification results.

[0109] If the clamping conditions are met, the calculation module analyzes the spatial relationship between the surface morphology of the line and the icing area by fusing image data and attitude data. It optimizes the selection of clamping points by calculating the percentage of polygon overlap between the clamping target area and the expected clamping position. Based on real-time attitude data, it dynamically adjusts the clamping parameters to maximize the contact area between the clamping mechanism and the line surface and to distribute the pressure evenly, thus obtaining the final clamping control parameters.

[0110] The execution module drives the clamping device to perform clamping actions according to the final clamping control parameters, and verifies the clamping status in real time during the clamping process to obtain the clamping status verification result; it judges the clamping stability based on the clamping status verification result. If it is determined to be unstable, it dynamically adjusts the clamping control parameters and re-executes the clamping action according to the adjusted parameters until the clamping status is determined to be stable.

[0111] The adjustment module receives a de-icing start signal after the clamping state stabilizes, and triggers the de-icing operation process based on the de-icing start signal. During the de-icing process, the clamping state is continuously monitored. If the clamping is detected to be loose or the offset exceeds the preset threshold, the clamping control parameters are readjusted.

[0112] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A clamping control method for de-icing equipment on power transmission lines, characterized in that, The method includes: Receive initial landing position information and obtain clamping start command based on the initial landing position information; Image and attitude data of the target line are collected synchronously according to the clamping start command. The image data is processed to extract the morphological features and icing area features of the line surface. The line surface condition is classified and identified according to preset rules, and the clamping conditions are determined based on the identification results. If the clamping conditions are met, the spatial relationship between the line surface morphology and the icing area is analyzed by fusing image data and attitude data. The selection of clamping points is optimized by calculating the percentage of polygon overlap between the clamping target area and the expected clamping position. The clamping parameters are dynamically adjusted based on real-time attitude data to maximize the contact area between the clamping mechanism and the line surface and to ensure uniform pressure distribution, thus obtaining the final clamping control parameters. The clamping device is driven to perform clamping actions according to the final clamping control parameters, and the clamping status is verified in real time during the clamping process to obtain the clamping status verification result; The clamping stability is determined based on the clamping status verification results. If it is determined to be unstable, the clamping control parameters are dynamically adjusted and the clamping action is re-executed based on the adjusted parameters until the clamping status is determined to be stable. Once the clamping state is stable, a de-icing start signal is received, and the de-icing operation process is triggered based on the de-icing start signal. During the de-icing process, the clamping status is continuously monitored. If the clamping becomes loose or the offset exceeds the preset threshold, the clamping control parameters are readjusted.

2. The clamping control method for a power transmission line de-icing device according to claim 1, characterized in that, Receive initial landing position information, and obtain clamping start command based on the initial landing position information, including: Receive the initial landing point location information of the de-icing equipment, and parse and verify the validity of the initial landing point location information to obtain the verified location data; Based on the verified position data, it is determined whether the device is within the preset operable area. If the determination result is within the preset operable area, the clamping start command is automatically obtained; if the determination result is not within the preset operable area, the issuance of the clamping start command is paused.

3. The clamping control method for a power transmission line de-icing device according to claim 2, characterized in that, Image and attitude data of the target line are simultaneously acquired according to the clamping start command. The image data is processed to extract the morphological features and icing area features of the line surface. The line surface condition is classified and identified according to preset rules. Based on the identification results, it is determined whether the clamping conditions are met, including: Based on the clamping start command, high-definition image data and real-time attitude data of the target line are acquired simultaneously, and the high-definition image data and real-time attitude data are spatiotemporally aligned and format unified to obtain a fused data source. Based on the fused data source, the morphological contours of the line surface and the texture and thickness distribution features of the icing area are identified and extracted to obtain the line surface state feature set. The surface condition feature set of the line is matched with the preset rule base, and the condition is classified according to the icing type, surface smoothness and obstacle distribution to obtain the surface condition category identifier. Based on surface condition category identification and real-time attitude data, determine whether the current line section is in a clampable state: if the ice thickness is within the allowable range, there is no structural damage, and the attitude is stable, then the clamping conditions are met; otherwise, an abnormal status signal is obtained and the clamping process is paused.

4. The clamping control method for a power transmission line de-icing device according to claim 3, characterized in that, If the clamping conditions are met, the spatial relationship between the line surface morphology and the icing area is analyzed by fusing image data and attitude data. The selection of clamping points is optimized by calculating the percentage of polygon overlap between the clamping target area and the expected clamping position. The clamping parameters are dynamically adjusted based on real-time attitude data to maximize the contact area between the clamping mechanism and the circuit surface and to ensure uniform pressure distribution, resulting in the final clamping control parameters, including: Based on the fusion of data sources and surface condition category identifiers, the spatial relationship between the line surface morphology and the icing area is analyzed. By calculating the percentage of polygon overlap between the clamping target area and the expected clamping position, the final clamping point position is determined. Based on the final clamping point position and real-time attitude data, the contact angle and pressure distribution parameters of the clamping mechanism are dynamically calculated to obtain the initial clamping control parameters. Based on the initial clamping control parameters, the contact state between the clamping mechanism and the circuit surface is simulated. With the optimization objectives of maximizing the contact area and uniformly distributing the pressure, the initial clamping control parameters are iteratively adjusted to obtain the final clamping control parameters.

5. The clamping control method for a power transmission line de-icing device according to claim 4, characterized in that, The clamping device is driven to perform clamping actions according to the final clamping control parameters, and the clamping status is verified in real time during the clamping process, including: Based on the final clamping control parameters, the clamping device drive command is obtained; According to the driving command of the clamping device, the clamping device is controlled to perform clamping action, and pressure distribution, displacement and attitude offset data are collected synchronously during the action to serve as real-time clamping status data. The real-time clamping status data is analyzed and features are extracted. The clamping action is then judged to determine whether it is executed as expected, and finally the clamping status verification result is obtained.

6. The clamping control method for a power transmission line de-icing device according to claim 5, characterized in that, The clamping stability is determined based on the clamping state verification results. If the clamping is determined to be unstable, the clamping control parameters are dynamically adjusted, and the clamping action is re-executed based on the adjusted parameters until the clamping state is determined to be stable, including: The pressure distribution uniformity, displacement fluctuation and attitude deviation features in the clamping state verification results are received and extracted. Based on the predefined stability criteria, a comprehensive evaluation is performed to obtain the clamping stability judgment result. If the clamping stability determination result is unstable, the dominant factors causing instability are analyzed based on real-time clamping status data, and an optimized clamping control parameter scheme is obtained based on the historical adjustment case library and adaptive adjustment strategy. Based on the clamping control parameter optimization scheme, the current clamping control parameters are dynamically corrected to obtain the new generation of clamping control parameters, and the clamping action execution process is retried. Based on the new generation of clamping control parameters, the clamping action is driven iteratively, and the process of acquiring state data and evaluating stability is executed to form a closed-loop feedback control until the clamping state is determined to be stable.

7. The clamping control method for a power transmission line de-icing device according to claim 6, characterized in that, Once the clamping state stabilizes, a de-icing start signal is received. Based on this signal, the de-icing operation process is triggered, including: When the clamping stability determination result continuously reaches the preset stability standard, a clamping stability confirmation signal is obtained; Based on the clamping stability confirmation signal, a de-icing start request command is obtained, and the current equipment operating status and external environmental parameters are safely verified. If the safety check passes, the official de-icing start signal will be received; It responds to the de-icing start signal, initiates the de-icing operation process, and monitors the de-icing operation status in real time.

8. The clamping control method for a power transmission line de-icing device according to claim 7, characterized in that, During the de-icing process, the clamping status is continuously monitored. If loosening or displacement exceeding a preset threshold is detected, the clamping control parameters are readjusted, including: During the de-icing operation, real-time clamping status data is continuously received and monitored, and the pressure distribution, displacement and attitude deviation characteristics are extracted. The pressure distribution, displacement, and attitude deviation characteristics are compared with the preset safety threshold in real time. If the clamping is found to be loose or the deviation exceeds the permissible range, a work stop request signal is obtained. Based on the work pause request signal, a pause command is sent to the de-icing execution control unit to stop the current de-icing operation and trigger the clamping control parameter readjustment process to obtain the latest clamping status data. Based on the latest clamping status data and historical adjustment strategies, a new generation of clamping control parameters is recalculated and generated. The clamping action is then re-executed according to the new generation of clamping control parameters until the clamping state returns to stability, so as to perform closed-loop control of the clamping action.

9. A clamping control system for a power transmission line de-icing device, the system implementing the method as described in any one of claims 1 to 8, characterized in that, include: The acquisition module is used to receive the initial landing point position information and obtain the clamping start command based on the initial landing point position information; The processing module synchronously acquires image data and attitude data of the target line according to the clamping start command, processes the image data, extracts the morphological features and icing area features of the line surface, classifies and identifies the line surface state according to preset rules, and determines whether the clamping conditions are met based on the identification results. If the clamping conditions are met, the calculation module analyzes the spatial relationship between the surface morphology of the line and the icing area by fusing image data and attitude data, and optimizes the selection of clamping points by calculating the percentage of polygon overlap between the clamping target area and the expected clamping position. The clamping parameters are dynamically adjusted based on real-time attitude data to maximize the contact area between the clamping mechanism and the circuit surface and to ensure uniform pressure distribution, thus obtaining the final clamping control parameters. The execution module drives the clamping device to perform clamping actions according to the final clamping control parameters, and verifies the clamping status in real time during the clamping process to obtain the clamping status verification result; it judges the clamping stability based on the clamping status verification result. If it is determined to be unstable, it dynamically adjusts the clamping control parameters and re-executes the clamping action according to the adjusted parameters until the clamping status is determined to be stable. The adjustment module receives a de-icing start signal after the clamping state stabilizes, and triggers the de-icing operation process based on the de-icing start signal. During the de-icing process, the clamping state is continuously monitored. If the clamping is detected to be loose or the offset exceeds the preset threshold, the clamping control parameters are readjusted.

10. A clamping control device for de-icing equipment on power transmission lines, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the method as described in any one of claims 1 to 7.

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