Contact line joint clamp impedance reduction-based catenary ice melting method and system

Abstract

The application provides a catenary ice melting method and system based on reducing the impedance of a contact wire joint clamp, relates to the technical field of catenary ice melting, and comprises the following steps: acquiring first information, wherein the first information is the position of the contact wire joint clamp; making a maintenance vehicle stop based on the first information; melting the ice on the contact wire joint clamp based on the stopped maintenance vehicle; adding a conductor to the contact wire joint clamp after the ice melting, so that the contact wire joint clamp with the added conductor is obtained, wherein the conductor is used for reducing the impedance of the contact wire joint clamp; and melting the ice by electrifying the contact wire of the contact wire joint clamp with all the added conductors. The method solves the problem that the existing electrification ice melting method does not consider the overheating of the catenary joint clamp during the ice melting process.

Description

Technical Field

[0001] This invention relates to the field of contact wire de-icing technology, and more specifically, to a contact wire de-icing method and system based on reducing the impedance of contact wire joint clamps. Background Technology

[0002] Ice accumulation on high-speed railway overhead lines is a common and serious hidden danger affecting the safety of high-speed railway power supply. Ice accumulation can cause the overhead contact system to exceed its design load, leading to increased weight and wind pressure on the line, which can cause accidents such as traction power supply line breakage, hardware damage, insulator string overturning, and support collapse. Furthermore, uneven icing of the overhead contact system under wind conditions can cause self-excited oscillations and wind galloping, resulting in serious consequences such as phase-to-phase or phase-to-ground flashover, metal damage, pole collapse, conductor breakage, and power outages. If the contact wire galloping exceeds the pantograph's operating range, pantograph-catenary accidents such as pantograph detachment and pantograph scraping can also occur.

[0003] Currently, energized de-icing is a common method for de-icing overhead contact lines. This method primarily uses electric current to melt the ice by applying a current higher than the normal transmission level to the contact line. This process converts electrical energy into heat energy to melt the ice. However, existing energized de-icing technology has a critical problem: it cannot guarantee that the contact line clamps will not overheat during the de-icing process. The contact line clamps are critical connection points on the contact wire and have relatively high impedance. When using high current for de-icing, the clamps are prone to overheating and even melting, leading to equipment damage and power outages. Furthermore, overheating of the clamps can also cause fires and other safety accidents, threatening the safety of facilities and personnel along the railway line. Summary of the Invention

[0004] The purpose of this invention is to provide a method and system for de-icing contact wires by reducing the impedance of the contact wire joint clamps, thereby improving the aforementioned problems. To achieve the above objective, the technical solution adopted by this invention is as follows:

[0005] In a first aspect, this application provides a method for de-icing contact wires based on reducing the impedance of the contact wire joint clamp, comprising:

[0006] Obtain first information, which is the position of the contact wire connector clamp;

[0007] Based on the first information, the maintenance vehicle is directed to stop.

[0008] The maintenance vehicle parked at the station melted the ice covering the contact wire joint clamps.

[0009] A conductor is added to the contact wire connector clamp after the ice melts to obtain a contact wire connector clamp with an added conductor. The conductor is used to reduce the impedance of the contact wire connector clamp.

[0010] De-icing is achieved by energizing the contact wires of all external conductor contact wire joint clamps.

[0011] Secondly, this application also provides a contact wire de-icing system based on reducing the impedance of the contact wire joint clamp, comprising:

[0012] The acquisition unit is used to acquire first information, wherein the first information is the position of the contact wire connector clamp;

[0013] A docking unit is used to enable the maintenance vehicle to dock based on the first information;

[0014] The first melting unit is used to melt the ice on the contact wire joint clamps based on the parked maintenance vehicle;

[0015] An external conductor unit is used to add a conductor to the contact wire joint clamp after the ice has melted, resulting in a contact wire joint clamp with an external conductor. The conductor is used to reduce the impedance of the contact wire joint clamp.

[0016] The second melting unit is used to melt ice by energizing the contact wires of all external conductor contact wire connector clamps.

[0017] The beneficial effects of this invention are as follows: By adding an external conductor and wrapping it tightly around the contact wire joint clamp, the impedance of the contact wire is reduced, thus reducing the heat generated at the joint under the same de-icing current. Furthermore, the contact network can adapt to a larger de-icing current, accelerating the melting of ice. Simultaneously, it ensures equipment safety; the external conductor increases the cross-sectional area of ​​the conductor at the joint clamp, reducing resistance and the risk of overheating, preventing overheating and melting, and extending the service life of the equipment. Moreover, the method of this invention employs automated operation, avoiding the risks of manual work at heights, reducing operational errors, achieving automated control of the de-icing process, and reducing the workload of manual inspection and maintenance, thereby lowering energy consumption and maintenance costs.

[0018] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1This is a schematic diagram of the contact wire de-icing method based on reducing the impedance of the contact wire joint clamp as described in this embodiment of the invention.

[0021] Figure 2 This is a diagram of the traction power supply for high-speed trains in an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the operation of the maintenance vehicle and robot in an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the robot body in an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the robotic arm in an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of the contact wire connector clamp in an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the conductor in an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of the contact wire connector clamp with an external conductor added in an embodiment of the present invention.

[0028] The diagram is labeled as follows: 1. Train; 2. Pantograph; 3. Clamp; 4. Contact wire; 5. Vacuum circuit breaker; 6. High-voltage busbar on the roof; 7. Traction substation; 8. Traction transformer; 9. Traction motor; 10. Working ground; 11. Return line; 12. Rail; 13. Railway maintenance car; 14. Robot body; 15. Insulator; 16. Catenary wire; 17. Dropper; 18. Flat arm; 19. Angled arm; 20. Support column; 21. Robotic arm; 22. Pneumatic rod of the robotic arm; 23. Robotic arm bracket; 24. Robotic arm coupling; 25. Rotating base of the robotic arm; 26. Beidou positioning module; 27. Optical position detection module; 28. Electromagnetic coil; 29. ​​Robot shell; 30. Infrared icing temperature detection module; 31. External conductor mechanical gripper; 32. External conductor of the contact wire connector clamp. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0030] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] Example 1:

[0032] This embodiment provides a method for de-icing contact wires based on reducing the impedance of the contact wire joint clamp.

[0033] In this embodiment, as Figure 2 This is a diagram showing the traction power supply for high-speed trains. Maintenance vehicles can use... Figure 3 The railway maintenance car 13 shown is equipped with a robot and runs along the contact line. The robot adds an external conductor to the contact line connector clamp. The robot includes a robot body 14 and a robot arm 21.

[0034] like Figure 4 As shown, the robot body 14 is equipped with a Beidou positioning module 26, an optical position detection module 27, an electromagnetic coil 28, a robot shell 29, an infrared icing temperature detection module 30, and an external conductor mechanical gripper 31. Figure 5 The robot arm 21 shown includes a pneumatic rod 22, a support 23, a connecting shaft 24, and a rotating base 25.

[0035] The Beidou positioning module 26 obtains the position of the maintenance vehicle, while the optical position detection module 27 is used to obtain the distance between the maintenance vehicle and the contact wire connector clamp, as well as to obtain a 3D image of the contact wire connector clamp for fit detection. The electromagnetic coil 28 is used to heat the icing area of ​​the contact wire connector clamp, and the infrared icing temperature detection module 30 is used to detect the temperature of the contact wire connector clamp.

[0036] The external conductor mechanical gripper 31 is used to add an external conductor. The external conductor mechanical gripper 31 wraps the conductor onto the wire clamp 3, which refers to the contact wire connector wire clamp in the embodiment.

[0037] See Figure 1 The figure shows that the method includes steps S1, S2, S3, S4 and S5.

[0038] Step S1: Obtain first information, the first information being the position of the contact wire connector clamp;

[0039] Step S2: Based on the first information, the maintenance vehicle is brought to a stop;

[0040] In this embodiment, an adaptive dynamic programming parking algorithm is used to park the maintenance vehicle at the contact wire connector clamp position. Simultaneously, the final parking position can be recorded for use in the next operation.

[0041] Step S2 includes:

[0042] Step S21: Set a preset distance threshold;

[0043] Step S22: Based on the first information, obtain the current status in real time. The current status includes environmental parameters, maintenance vehicle speed, maintenance vehicle direction, maintenance vehicle position, and the distance between the maintenance vehicle and the contact wire connector clamp.

[0044] In this embodiment, the distance between the maintenance vehicle and the contact wire connector clamp is actually the distance between the robot and the contact wire connector clamp.

[0045] Step S23: Evaluate the strategy based on the current state and select the optimal control action;

[0046] Step S23 includes:

[0047] Step S231: Set the action space, wherein the actions in the action space include increasing the speed of the maintenance vehicle, maintaining the speed of the maintenance vehicle, decreasing the speed of the maintenance vehicle, and changing the direction of travel of the maintenance vehicle;

[0048] Step S232: Combine actions based on the action space to obtain multiple action strategies;

[0049] Step S233: Input the current state and action strategy into the strategy evaluation network to obtain the parking effect of each action strategy, wherein the parking effect includes parking accuracy, parking time and efficiency;

[0050] Step S234: Calculate the value score of each action strategy based on the parking effect, and select the action strategy based on the greedy algorithm and the value score to obtain the optimal control action.

[0051] Step S24: Control the maintenance vehicle to move based on the optimal control action and update the current state;

[0052] Step S25: Based on the updated current state, determine whether the distance between the maintenance vehicle and the contact wire connector clamp is less than the preset distance threshold. If so, stop the maintenance vehicle; otherwise, select the next optimal control action based on the updated current state.

[0053] In this embodiment, a policy evaluation network is constructed using a deep neural network. Taking the current state and action policy as input, it outputs the corresponding parking effect. The network is trained using a large amount of historical parking data and simulated parking scenario data (including environmental parameters), enabling it to accurately evaluate parking effects under different combinations of states and actions.

[0054] As the robot approaches the contact wire connector clamp, the distance between the maintenance vehicle and the contact wire connector clamp is acquired in real time, and the current state is dynamically updated. The current state is then input into the policy evaluation network to obtain the parking effect of each possible action strategy.

[0055] Then, a value function is constructed based on parking performance to calculate a value score. This value score is obtained by a weighted combination of parking accuracy score, parking time score, and efficiency score. The parking accuracy score is inversely proportional to the error between the actual parking location and the target parking location, and can be calculated using this error. The parking time score is inversely proportional to the parking time, and can be calculated using the actual parking time, the preset minimum allowable time, and the preset maximum allowable time. The efficiency score can be calculated by considering factors such as energy consumption and speed variation.

[0056] After obtaining the value score, the optimal control action is selected and executed based on the greedy algorithm. For example, the robot's deceleration rate is gradually adjusted so that the robot can approach the target position (the position of the contact wire connector clamp) with the optimal trajectory and speed.

[0057] Meanwhile, the designed adaptive dynamic programming algorithm possesses online learning capabilities. After each parking operation, the state, actions, and final parking effect during this parking process are used as new training samples to update the weight parameters of the policy evaluation network. Furthermore, by monitoring changes in the parking environment in real time (actually changes in environmental parameters, such as changes in lighting conditions and minute displacements of contact wire connectors), the structure and parameters of the policy evaluation network are dynamically adjusted to adapt to parking control requirements under different environments, achieving adaptive optimization. During the parking control process, three key objectives are comprehensively considered: parking accuracy, parking time, and parking efficiency. A suitable value function is designed to improve parking accuracy while minimizing parking time, avoiding inefficiencies caused by excessive deceleration or frequent adjustments. The adaptive dynamic programming algorithm continuously optimizes the control strategy to achieve the optimal balance between parking accuracy, parking time, and efficiency.

[0058] Step S3: Melt the ice on the contact wire connector clamps based on the parked maintenance vehicle;

[0059] Step S3 includes:

[0060] Step S31: Based on the parked maintenance vehicle and the first condition, heat the ice-covered contact wire connector clamp and obtain the real-time temperature of the ice-covered contact wire connector clamp. The first condition is that when the real-time temperature reaches the normal operating temperature of the contact wire, heating is stopped for a first preset time and then heating continues.

[0061] In this embodiment, the ice covering the contact wire connector clamp is heated by the electromagnetic coil 28.

[0062] Step S32: Calculate the slope of temperature change based on real-time temperature;

[0063] Step S33: Determine whether the second condition is met during the heating process. If yes, calculate the temperature fluctuation range; otherwise, continue heating. The second condition is that the temperature change slope reaches the ice-free heating temperature rise slope and is maintained for a second preset time.

[0064] Step S34: If the temperature fluctuation range is less than the preset range, perform infrared detection on the ice-covered area of ​​the contact wire joint clamp to obtain the clamp reflectivity;

[0065] Step S35: Obtain the ice melting result based on the reflectivity of the wire clamp, and stop heating based on the ice melting result.

[0066] In this embodiment, the slope of temperature change is calculated in real time as the temperature begins to rise. Throughout the heating process, heating is stopped when the real-time temperature reaches the normal operating temperature of the contact wire, and it is determined whether the ice has completely melted. If ice still exists, heating is resumed only after the temperature drops to avoid exceeding the normal operating temperature of the contact wire and affecting its use.

[0067] Simultaneously, throughout the heating process, the slope of the temperature change is compared with the preset slope for heating without icing. If the current slope of the temperature change is significantly lower than the slope for heating without icing, it is determined that some icing still exists, heating continues, and the heating power is adjusted according to the slope difference to accelerate the icing melting efficiency.

[0068] When the slope of the temperature change is equal to the preset slope of the ice-free heating (or considered equal if it is less than the preset error threshold), and remains stable for a period of time, the stability of the real-time temperature is evaluated. If the temperature fluctuation is within the preset range, and the infrared detection result (wire clip reflectivity) shows that the area is no longer covered by ice (the change in wire clip reflectivity matches the characteristics of a bare contact wire), then heating is stopped.

[0069] For example, heating is initiated by electromagnetic coil 28 with a heating power of 10kW and a heating time of 2 minutes. During the heating process, the temperature of the ice layer is recorded every second, and it is determined whether the ice layer is gradually melting until it is completely removed. When the real-time temperature of the contact wire connector clamp is detected to exceed 200℃, heating is stopped and a determination is made as to whether further melting of the ice is necessary.

[0070] Therefore, the above heating steps can ensure that the ice melts completely and safely, avoid overheating or stopping heating when the ice has not melted completely, effectively improve the accuracy and reliability of heating and ice detection, and enhance the operating efficiency and safety of the entire heating process.

[0071] Step S4: Add a conductor to the contact wire connector clamp after the ice melts to obtain a contact wire connector clamp with an added conductor. The conductor is used to reduce the impedance of the contact wire connector clamp.

[0072] In this embodiment, a schematic diagram of the contact wire connector clamp is shown below. Figure 6 As shown, a schematic diagram of the conductor is as follows: Figure 7 As shown, a schematic diagram of the contact wire connector clamp with an external conductor is as follows. Figure 8 As shown.

[0073] In step S4, adding an external conductor to the contact wire connector clamp after the ice has melted includes:

[0074] Step S41: Remove the conductor from the parked maintenance vehicle and cover and wrap the conductor around the contact wire joint clamp after the ice has melted;

[0075] Step S42: Calculate the bonding index of the conductor;

[0076] Step S42 includes:

[0077] Step S421: Obtain a 3D image of the conductor-wrapped region;

[0078] Step S422: Perform edge detection on the 3D image and calculate the overlap between the conductor edge and the contour of the contact wire connector clamp;

[0079] Step S423: Obtain the pressure distribution on the conductor surface and calculate the uniform pressure value of the conductor based on the pressure distribution;

[0080] Step S424: Calculate the bonding index of the conductor based on the overlap and pressure uniformity.

[0081] Step S43: Determine whether the conductor is properly bonded based on the bonding index. If it is, complete the addition of the conductor; otherwise, re-cover and wrap the conductor around the contact wire connector clamp after the ice has melted.

[0082] In this embodiment, 3D images or point cloud data of the conductor-wrapped area are acquired in real time. An edge detection algorithm is used to analyze the overlap between the conductor edge and the contact wire connector profile to ensure no offset. Secondly, the pressure distribution applied to the conductor surface is monitored by a six-dimensional force / torque sensor built into the external conductor mechanical gripper 31 on the robot. The pressure uniformity value of the conductor is calculated based on the pressure distribution (used to determine whether there are localized areas of low pressure or gaps on the contact surface). Finally, a preset threshold algorithm is used to combine the overlap and pressure uniformity parameters to obtain the conductor's fit index, where the fit index is obtained by weighting the overlap score and the pressure score.

[0083] For example, when the overlap error is ≤0.2mm, the overlap score is 100%, and a tolerance range of 0.3mm is set (which can be adjusted according to the process). When 0.2mm < overlap error ≤0.5mm, a linear function is used to calculate the overlap score. When the overlap error >0.5mm, the overlap score is 0%. Similarly, the pressure score is calculated based on the pressure uniformity fluctuation. When the fluctuation value is <15%, the pressure score is 100%, and a tolerance range of 10% is set (which can be adjusted according to material characteristics). When the fluctuation value is ≥25%, the pressure score is 0%. It can be set that when the adhesion index reaches 95% or higher, it is considered a complete adhesion, and the external conductor is added.

[0084] Step S5: De-ice by energizing the contact wires of all external conductor contact wire connectors.

[0085] In this embodiment, after adding external conductors to all contact wire joint clamps on the same contact wire, the entire line can be energized to melt ice. For example, the current can be increased to 1000A for 30 minutes, while the temperature change at the contact wire joint clamps is monitored in real time, and the rate of temperature rise and the ice-melting effect are recorded. The ice-melting current can be increased because adding external conductors reduces the overall line impedance, allowing it to accommodate a larger ice-melting current, thereby accelerating the ice-melting speed.

[0086] In summary, the method of this invention can improve the ice-melting efficiency of the overhead contact line. By adding an external conductor and wrapping it tightly to the contact wire joint clamp, the impedance of the contact wire joint clamp is significantly reduced, resulting in lower heat generation at the contact wire joint under the same ice-melting current. This also allows the entire overhead contact line to accommodate a larger ice-melting current during ice melting, thereby greatly accelerating the melting speed of the ice and improving the efficiency and reliability of electrified railways in winter operation.

[0087] Secondly, the method of this invention ensures the safety of the overhead contact line equipment. Traditional contact wire clamps are prone to melting due to overheating when carrying high currents for de-icing, leading to equipment damage and power outages. This invention, by adding an external conductor wrapping, increases the cross-sectional area of ​​the conductor at the contact wire clamp, effectively reducing the current passing through a unit cross-section, i.e., reducing resistance, lowering the risk of overheating of the clamp, and avoiding problems such as melting due to overheating. This significantly improves the safety and service life of the overhead contact line equipment.

[0088] Simultaneously, the use of robotic automation avoids the risks associated with manual work at heights on the overhead contact line and reduces operational errors caused by human factors. Real-time monitoring of ice melting by robots enables automated control of the de-icing process, further enhancing the safety and reliability of the operation. Precise positioning and automated operation also reduce the workload of manual inspection and maintenance. The external conductor wrapping method allows the contact line to utilize current more efficiently during de-icing, reducing the energy consumption required for de-icing and thus lowering the overall maintenance costs and resource consumption of electrified railways.

[0089] Example 2:

[0090] This embodiment provides a contact wire de-icing system based on reducing the impedance of the contact wire joint clamp, the system comprising:

[0091] The acquisition unit is used to acquire first information, wherein the first information is the position of the contact wire connector clamp;

[0092] A docking unit is used to enable the maintenance vehicle to dock based on the first information;

[0093] The first melting unit is used to melt the ice on the contact wire joint clamps based on the parked maintenance vehicle;

[0094] An external conductor unit is used to add a conductor to the contact wire joint clamp after the ice has melted, resulting in a contact wire joint clamp with an external conductor. The conductor is used to reduce the impedance of the contact wire joint clamp.

[0095] The second melting unit is used to melt ice by energizing the contact wires of all external conductor contact wire connector clamps.

[0096] The docking unit includes:

[0097] Set sub-units to set preset distance thresholds;

[0098] The first acquisition subunit is used to acquire the current status in real time based on the first information. The current status includes environmental parameters, maintenance vehicle speed, maintenance vehicle direction, maintenance vehicle position, and the distance between the maintenance vehicle and the contact wire connector clamp.

[0099] The action selection subunit is used to evaluate the strategy based on the current state and select the optimal control action;

[0100] The control subunit is used to control the maintenance vehicle to move based on the optimal control action and update the current state;

[0101] The first judgment subunit is used to determine whether the distance between the maintenance vehicle and the contact wire connector clamp is less than a preset distance threshold based on the updated current state. If so, the maintenance vehicle is stopped; otherwise, the next optimal control action is selected based on the updated current state.

[0102] The first melting unit includes:

[0103] The heating and detection subunit is used to heat the ice on the contact wire joint clamp based on the parked maintenance vehicle and a first condition, and to obtain the real-time temperature of the ice on the contact wire joint clamp. The first condition is that when the real-time temperature reaches the normal operating temperature of the contact wire, heating is stopped for a first preset time and then heating is resumed.

[0104] The first calculation subunit is used to calculate the slope of temperature change based on real-time temperature.

[0105] The second judgment subunit is used to determine whether the second condition is met during the heating process. If so, the temperature fluctuation amplitude is calculated; otherwise, heating continues. The second condition is that the temperature change slope reaches the ice-free heating temperature rise slope and is maintained for a second preset time.

[0106] The detection subunit is used to perform infrared detection on the ice-covered area of ​​the contact wire joint clamp if the temperature fluctuation range is less than the preset range, and obtain the reflectivity of the clamp.

[0107] The heating stop subunit is used to obtain the ice melting result based on the wire clamp reflectivity, and to stop heating based on the ice melting result.

[0108] The external conductor unit includes:

[0109] An additional conductor subunit is used to remove the conductor by a parked maintenance vehicle and cover and wrap the conductor to the contact wire joint clamp after the ice has melted;

[0110] The second calculation subunit is used to calculate the bonding index of the conductor;

[0111] The third judgment subunit is used to determine whether the conductor is in contact based on the fit index. If it is, the external conductor is added; otherwise, the conductor is re-covered and wrapped around the contact wire connector clamp after the ice has melted.

[0112] It should be noted that the specific methods by which each module performs operations in the system described in the above embodiments have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0113] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0114] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A catenary de-icing method based on reducing the impedance of the contact line joint clamp, characterized by, The method comprises the following steps: acquiring first information, the first information being the position of the contact wire joint clamp; based on the first information, making the maintenance vehicle stop; based on the stopped maintenance vehicle, melting the ice on the contact wire joint clamp; after the ice on the contact wire joint clamp is melted, adding a conductor to the contact wire joint clamp, the conductor being used to reduce the impedance of the contact wire joint clamp; melting the ice by electrifying the contact wire of the contact wire joint clamp with all the conductors; the step of adding the conductor to the contact wire joint clamp after the ice is melted comprises the following steps: taking out the conductor by the stopped maintenance vehicle and wrapping the conductor around the contact wire joint clamp after the ice is melted; calculating the fitting index of the conductor; judging whether the conductor is fitted according to the fitting index, if yes, completing the addition of the conductor, otherwise, wrapping the conductor around the contact wire joint clamp after the ice is melted again.

2. The catenary de-icing method based on reducing the impedance of the contact wire joint clamp according to claim 1, characterized in that The step of making the maintenance vehicle stop based on the first information comprises the following steps: setting a preset distance threshold; based on the first information, acquiring the current state in real time, the current state comprising environmental parameters, the speed of the maintenance vehicle, the direction of the maintenance vehicle, the position of the maintenance vehicle and the distance between the maintenance vehicle and the contact wire joint clamp; based on the current state, performing strategy evaluation and selecting the optimal control action; based on the optimal control action, controlling the maintenance vehicle to drive and updating the current state; based on the updated current state, judging whether the distance between the maintenance vehicle and the contact wire joint clamp is less than the preset distance threshold, if yes, making the maintenance vehicle stop, otherwise, based on the updated current state, selecting the optimal control action again.

3. The catenary de-icing method based on reducing the impedance of the contact wire joint clamp according to claim 2, characterized in that The step of performing strategy evaluation based on the current state and selecting the optimal control action comprises the following steps: setting an action space, the actions in the action space comprising increasing the speed of the maintenance vehicle, maintaining the speed of the maintenance vehicle, decreasing the speed of the maintenance vehicle and changing the forward direction of the maintenance vehicle; based on the action space, performing action combination to obtain a plurality of action strategies; inputting the current state and the action strategies into a strategy evaluation network to obtain the parking effect of each action strategy, the parking effect comprising parking accuracy, parking time and efficiency; based on the parking effect, calculating the value score of each action strategy, and based on the greedy algorithm and the value score, selecting the action strategies to obtain the optimal control action.

4. The catenary de-icing method based on reducing the impedance of the contact wire joint clamp according to claim 1, characterized in that The step of melting the ice comprises the following steps: based on the stopped maintenance vehicle and the first condition, heating the ice on the contact wire joint clamp, acquiring the real-time temperature at the ice on the contact wire joint clamp, and stopping heating when the real-time temperature reaches the normal operating temperature of the contact wire, and judging whether the ice is completely melted, if not, continuing to heat after waiting for a first preset time; based on the real-time temperature, calculating the temperature change slope; judging whether the second condition is met during the heating process, if yes, calculating the temperature fluctuation amplitude, otherwise, continuing to heat, wherein the second condition is that the temperature change slope reaches the no-ice heating temperature change slope and remains for a second preset time; if the temperature fluctuation amplitude is less than a preset amplitude, performing infrared detection on the ice on the contact wire joint clamp to obtain the reflectivity of the clamp; based on the reflectivity of the clamp, obtaining the ice melting result, and stopping heating based on the ice melting result.

5. The catenary de-icing method based on reducing the impedance of the contact wire joint clamp according to claim 1, characterized in that The method comprises the following steps: obtaining a 3D image of the conductor wrapping area; performing edge detection on the 3D image to calculate the coincidence degree of the conductor edge and the contact line joint clamp profile; obtaining the pressure distribution of the conductor surface and calculating the pressure uniformity value of the conductor based on the pressure distribution; calculating the fitting index of the conductor based on the coincidence degree and the pressure uniformity value.

6. An overhead line de-icing system based on reducing the impedance of the contact wire joint clamp, characterized in that, The method comprises the following steps: an acquisition unit is configured to acquire first information, the first information being the position of the contact line joint clamp; a parking unit is configured to cause the inspection vehicle to park based on the first information; a first melting unit is configured to melt the ice on the contact line joint clamp based on the parked inspection vehicle; an additional conductor unit is configured to add a conductor to the contact line joint clamp after the ice on the contact line joint clamp is melted, the conductor being used to reduce the impedance of the contact line joint clamp; a second melting unit is configured to melt the ice by electrifying the contact line of the contact line joint clamp with all the additional conductors; the additional conductor unit comprises: an additional conductor subunit configured to take out the conductor by the parked inspection vehicle and wrap the conductor around the contact line joint clamp after the ice on the contact line joint clamp is melted; a second calculation subunit configured to calculate the fitting index of the conductor; a third judgment subunit configured to determine whether the conductor is fitted according to the fitting index, if yes, the additional conductor is completed, otherwise, the conductor is wrapped around the contact line joint clamp after the ice on the contact line joint clamp is melted again.

7. The catenary de-icing system based on reducing the impedance of the contact wire joint clamp according to claim 6, characterized in that, The parking unit comprises: a setting subunit configured to set a preset distance threshold; a first acquisition subunit configured to acquire a current state in real time based on the first information, the current state comprising environmental parameters, the speed of the inspection vehicle, the direction of the inspection vehicle, the position of the inspection vehicle, and the distance between the inspection vehicle and the contact line joint clamp; an action selection subunit configured to select an optimal control action based on the current state; a control subunit configured to control the inspection vehicle to travel based on the optimal control action and update the current state; a first judgment subunit configured to determine whether the distance between the inspection vehicle and the contact line joint clamp is less than the preset distance threshold based on the updated current state, if yes, the inspection vehicle is caused to park, otherwise, the selection of the next optimal control action is performed based on the updated current state.

8. The catenary de-icing system based on reducing the impedance of the contact wire joint clamp according to claim 6, characterized in that, The first melting unit comprises: a heating and detection subunit configured to heat the ice on the contact line joint clamp based on the parked inspection vehicle and a first condition and acquire the real-time temperature at the ice on the contact line joint clamp, the first condition being to stop heating when the real-time temperature reaches the normal operating temperature of the contact line and to determine whether the ice is completely melted, if the ice is not completely melted, the heating is continued after waiting for a first preset time period; a first calculation subunit configured to calculate the temperature change slope based on the real-time temperature; a second judgment subunit configured to determine whether a second condition is met during the heating, if yes, the temperature fluctuation amplitude is calculated, otherwise, the heating is continued, wherein the second condition is that the temperature change slope reaches the no-ice heating temperature rise slope and is maintained for a second preset time period; a detection subunit configured to perform infrared detection on the ice on the contact line joint clamp to obtain the clamp reflectivity if the temperature fluctuation amplitude is less than a preset amplitude. stopping the heating sub-unit for obtaining an ice-melting result based on the clip reflectivity and stopping the heating based on the ice-melting result.

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