Power transmission line hanging type double-arm live working robot and on-line control method thereof

Abstract

The application discloses a power transmission line hanging type double-arm live working robot and an online control method thereof. The power transmission line hanging type double-arm live working robot comprises a robot body, a first mechanical arm and a second mechanical arm. The first mechanical arm is used for quick equipotential connection between the target high-voltage wire and is fixed on the target high-voltage wire to eliminate the potential difference and avoid discharge. The second mechanical arm implements reverse swing suppression to stabilize the suspension posture of the power transmission line hanging type double-arm live working robot. The first mechanical arm and the second mechanical arm are respectively installed on the two sides of the robot body. The top of the robot body is provided with a hanging quick connection interface. The distal end of the first mechanical arm and the second mechanical arm is provided with a dexterous hand. The hanging quick connection interface is provided with a controllable lock catch to realize connection or disconnection with the rope of the unmanned aerial vehicle hanging. The application aims to solve the technical problems of slow equipotential and poor posture stability of the live working robot in the prior art.

Description

Technical Field

[0001] This invention relates to automated robot operation technology in the field of power systems, specifically to a dual-arm live-line working robot suspended on a transmission line and its on-line control method. Background Technology

[0002] As my country's power grid continues to expand and the environment along high-voltage conductor corridors becomes increasingly complex, the requirements for safety and efficiency in live-line maintenance and operation of high-voltage conductors are constantly rising. Current live-line work mainly relies on insulated bucket trucks or manual labor carrying insulated tools for high-altitude operations, but these traditional methods have many shortcomings. On the one hand, manual workers are exposed to high-voltage electric fields for extended periods, posing a high risk of electric shock and falls from heights. On the other hand, large equipment such as insulated bucket trucks are limited by terrain and climate conditions, resulting in low deployment and relocation efficiency in special scenarios such as mountainous areas and crossing areas, making it difficult to meet the high-efficiency needs of emergency repairs and routine maintenance.

[0003] In recent years, with the rapid development of robotics and intelligent equipment, using robots to replace manual labor in live-line work on high-voltage lines has become an important direction for industry research and engineering applications. Some research and products have attempted to use drones to transport robots to high-altitude conductors, combining them with robotic arms to achieve automated live-line work operations, improving the mobility and intelligence of on-site operations. However, existing live-line working robots still face two prominent technical challenges in practical applications: First, when the conductive components at the robot's end face high-voltage conductors, a large potential difference exists. If equipotential bonding cannot be achieved in a very short time, it can easily trigger arc discharge, generating high-frequency pulse currents, posing a serious threat to the robot's internal electronic equipment and on-site personnel. Therefore, how to achieve rapid equipotential bonding at the robot's end is one of the key technologies for the reliable application of live-line working robots. Second, suspended robot systems are usually connected to drones or other carriers via flexible ropes, which is a non-rigid coupling structure. Limited by the nonlinearity, underactuation, and strong coupling characteristics of the system, the robot body is prone to large-scale swaying when the robotic arm moves or the carrier's posture changes, leading to a decrease in positioning accuracy and operational stability. Conventional control methods, such as simple damping or deceleration control, are difficult to balance the dual requirements of sway suppression and work efficiency. Existing high-voltage live-line working robots still have considerable room for improvement in terms of equipotential connection speed, posture stability, and practical engineering applicability. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a suspended dual-arm live-line working robot for power transmission lines and its online control method, in view of the above-mentioned problems in the prior art. The present invention aims to solve the technical problems of slow online equipotential and poor posture stability of live-line working robots in the prior art, and improve the safety, reliability and intelligence level of live-line maintenance operations on high-voltage targets and high-voltage conductors.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A dual-arm live-line working robot for power transmission lines includes a robot body, a first robotic arm, and a second robotic arm. The first robotic arm is used for rapid equipotential connection with the target high-voltage conductor and is fixed to the target high-voltage conductor to eliminate potential differences and prevent discharge. The second robotic arm is used to implement reverse swing suppression when the first robotic arm is fixed to the target high-voltage conductor to stabilize the suspension posture of the dual-arm live-line working robot for power transmission lines. The first and second robotic arms are respectively installed on both sides of the robot body. The top of the robot body is provided with a quick-connect interface for suspension. Dexterous hands are installed at the ends of the first and second robotic arms. The quick-connect interface for suspension has a controllable locking buckle for connecting or disconnecting from the rope suspended by the drone.

[0006] Optionally, an electromagnetic shielding plate is provided on the inner or outer surface of the robot body.

[0007] Optionally, the electromagnetic shielding plate consists of a conductive shielding layer, an insulating shielding layer, and a grounding layer stacked sequentially. The conductive shielding layer forms a Faraday cage structure with a conductive mesh, metal film, or conductive coating to shield high-frequency electromagnetic interference and protect the circuit modules inside the robot body. The grounding layer is a metal structure and is electrically connected to the grounding terminal of the circuit modules inside the robot body to guide high-frequency interference and transient voltages intruding into the robot body to the ground through the grounding line connected by the grounding layer. A high-frequency filter is connected in series between the grounding layer and the grounding terminal of the circuit modules inside the robot body.

[0008] Optionally, the first robotic arm is composed of a first connecting seat, a first root joint, a first upper arm, a first middle joint, a first lower arm, and a first end joint connected in sequence. The first connecting seat is fixed to the robot body, and a dexterous hand is installed on the first end joint. The second robotic arm is composed of a second connecting seat, a second root joint, a second upper arm, a second middle joint, a second lower arm, and a second end joint connected in sequence. The second connecting seat is fixed to the robot body, and another dexterous hand is installed on the second end joint.

[0009] The present invention also provides an online control method for the aforementioned suspended dual-arm live-line working robot for power transmission lines, comprising the following steps: S101 uses a drone to transport a dual-arm live-line working robot for power transmission lines to a predetermined location near the target high-voltage conductor via a quick-connect interface, and enters the preparation state for going online. S102, control the end of the first robotic arm to gradually approach the target high-voltage wire, and complete the rapid equipotential connection with the target high-voltage wire within a preset time threshold and fix it on the target high-voltage wire to eliminate potential difference and avoid discharge; S103, In response to the suspension sway of the dual-arm live-line working robot for power transmission lines, drive the second robotic arm to perform reverse sway suppression so as to stabilize the suspension posture of the dual-arm live-line working robot for power transmission lines. S104, the control system for the dual-arm live-line working robot for power transmission lines, uses its dexterous hand to autonomously fix itself to the target high-voltage conductor. It controls the quick-connect interface of the suspension to open and detach from the rope suspended by the drone, thus completing the smooth transition from the drone sling to autonomous fixation to the target high-voltage conductor and completing the online operation.

[0010] Optionally, step S103 includes: S201, based on the joint state quantities of the joint servo driver of the second robotic arm Conductor phase voltage And robot-to-ground capacitance Perform trajectory planning to obtain a second robotic arm Expected joint trajectory at any moment and minimum safe distance ,in For the joint angle of the joint servo driver, For the joint speed of the joint servo driver, For time; S202, according to the joint servo driver of the second robotic arm Joint state quantity at time Robot attitude angle and angular velocity Perform disturbance prediction to obtain perturbation estimator at time ; S203, based on the joint state quantities of the joint servo driver of the second robotic arm. The desired joint trajectory of the first robotic arm Second robotic arm Expected joint trajectory at any moment Perform partial feedback linearization to obtain Expected acceleration at any moment and linearized compensation torque ; S204, Expected acceleration at any moment Linearized compensation torque Minimum safe distance Perturbation estimator and robot attitude angle The optimal joint torque is obtained by observing the pre-set model prediction observer. To control the joint servo drivers of the second robotic arm.

[0011] Optionally, step S201 includes: S301, Calculate the open-circuit voltage of a suspended dual-arm live-line working robot for power transmission lines. And the pulse discharge current amplitude of the suspended dual-arm live-line working robot for power transmission lines and the target high-voltage conductor. ; S302, determine the air gap breakdown field strength constraint and pulse current constraint respectively, and determine the safety distance based on the air gap breakdown field strength constraint and pulse current constraint. : ; ; ; in, The safe distance for the air gap breakdown field strength. Open circuit voltage, Let be the critical field strength constant for air breakdown. The safe distance under pulsed current. Distance The pulse current under, The maximum permissible pulse discharge current amplitude; S303, based on the determined safe distance Constructing an artificial potential field : ; in, To attract the potential field, It is a repulsive potential field, and we have: ; ; in, , These are the gain coefficients for the attractive and repulsive potential fields, respectively. For the target joint angle, This represents the real-time distance between the end of the first robotic arm and the target high-voltage wire. S304, Calculating the desired joint acceleration based on robot dynamics equations : ; in, Here is the inertia matrix of the second robotic arm. Let Jacobian matrix be the end effector matrix of the second robotic arm. Artificial potential field The resultant force, For Coriolis force and centrifugal force terms, For the joint speed of the joint servo driver, For gravity, ,in Joint angle for joint servo driver The gradient; at discrete time steps Internally, for the desired joint acceleration Recursively generate the desired joint trajectory: , ; in, and They are respectively and The expected joint velocity of the second robotic arm is obtained through this recursion. and They are respectively and The expected joint trajectory of the second robotic arm is obtained through recursion; a weighted moving average is used to smooth the expected joint trajectory obtained through recursion. ; in, For the second robotic arm Expected joint trajectory at any given moment These are the weighting coefficients. and They are obtained by recursion respectively Time and The desired joint trajectory of the second robotic arm at a given time.

[0012] Optionally, step S202 includes: S401, Obtain the joint servo driver for the second robotic arm. Joint state quantity at time moment Robot attitude angle and angular velocity And perform filtering and noise reduction: , ; in, After filtering and denoising The robot's attitude angle at any given moment. After filtering and denoising Attitude angular velocity at time t, This is the gain matrix of the disturbance prediction module; S402, in the sliding window Internal computation The main perturbation amplitude of the robot's attitude angle at time t. With main frequency : , , in, The starting time of the sliding window. For the time within the sliding window, After filtering and denoising The robot's attitude angle at any given moment. The zero-crossing count refers to the number of zero-crossing points of the robot's attitude angle within the sliding window. The oscillation period of the robot body; estimated based on robot inverse kinematics. Equivalent disturbance torque at time t : ; ; in, Here is the inertia matrix of the second robotic arm. for The joint acceleration of the joint servo driver at any given time. For Coriolis force and centrifugal force terms, for The joint speed of the joint servo driver at any given moment. For gravity, For input torque, for The joint speed of the joint servo driver at any given moment. For time step; S403, determined according to the following formula The main direction of the disturbance at any moment : ; in, for The main perturbation amplitude of the i-th robot attitude angle at time i , ∈{yaw, pitch, roll}, and generate Perturbation estimator at time : ; in, for The magnitude of the main perturbation of the robot's attitude angle at time t. for The main frequency of the robot's attitude angle at any given moment. for The equivalent disturbance torque at time t, for The main direction of the disturbance at any given moment.

[0013] Optionally, step S203 includes: S501, calculate the second robotic arm according to the following formula. Joint angle error at time and joint speed error ; ; ; in, For the second robotic arm Expected joint trajectory at any given moment for The joint angle of the joint servo driver at any given time; For the second robotic arm Expected joint velocity at any given moment for The joint speed of the joint servo driver at any given moment; S502, Joint angle error at time and joint speed error The second robotic arm is calculated according to the following formula. Expected acceleration at any moment : ; in, For the second robotic arm The expected joint angle acceleration at time t, This is the joint velocity error feedback gain matrix; This is the joint angle error feedback gain matrix; S503, Decomposing the robot's dynamics model: ; in, Here is the inertia matrix of the second robotic arm. for The joint acceleration of the joint servo driver at any given time. For Coriolis force and centrifugal force terms, for The joint speed of the joint servo driver at any given moment. For gravity, For the second robotic arm The actual input torque at any given moment. for The moment-to-moment coupling compensation torque of the two arms, for The equivalent disturbance torque at time t, where: ; in, The inertia coupling matrix, For the first robotic arm Expected joint acceleration at any given moment; Inertia coupling matrix The derivative with respect to time, For the first robotic arm The expected joint velocity at time; the second robotic arm is calculated according to the following formula. Linearized compensation torque at time step : ; in, For the second robotic arm Expected acceleration at any moment for The moment-to-moment coupling compensation torque of the two arms, for The equivalent disturbance torque at time t.

[0014] Optionally, in step S204, Expected acceleration at any moment Linearized compensation torque Minimum safe distance Perturbation estimator and robot attitude angle The optimal joint torque is obtained by observing the pre-set model prediction observer. When controlling the joint servo actuators of the second robotic arm, the optimal joint torque is obtained by iteratively solving the problem using a preset model predictive observer with preset objective functions and constraints. The objective function, expressed as a joint servo actuator for controlling the second robotic arm, is: ; in, The value calculated for the objective function, To predict the length of the time domain, and The first The actual acceleration and the expected acceleration at the next iteration and The first The actual input torque and linearized compensation torque at the next iteration and The weighting matrix is ​​used; the functional expression of the constraint condition is: ; in, and These are the physical upper and lower bounds of torque. The actual safe distance related to the body's attitude. For the first Robot pose angle at the next iteration. For the first Minimum safe distance in the next iteration for The disturbance of a moment. The upper limit of the disturbance, and These are the physical upper and lower bounds of the joint velocity, respectively. For the first The joint speed of the joint servo actuator during the next iteration; the optimal joint torque is obtained by iteratively solving the problem using a preset model predictive observer with preset objective function and constraints. This refers to using a quadratic programming optimization algorithm to predict and solve for the optimal joint torque at the current moment in each control cycle based on the above objective function and constraints. .

[0015] Compared with the prior art, the present invention can mainly achieve the following beneficial effects: 1. The present invention relates to a transmission line suspended dual-arm live-line working robot, comprising a robot body, a first robotic arm, and a second robotic arm. The first robotic arm is used for rapid equipotential connection with the target high-voltage conductor and is fixed to the target high-voltage conductor to eliminate potential difference and prevent discharge. The second robotic arm is used to implement reverse swing suppression when the first robotic arm is fixed to the target high-voltage conductor to stabilize the suspension posture of the transmission line suspended dual-arm live-line working robot. The first and second robotic arms are respectively installed on both sides of the robot body. The first robotic arm is used for live-line work, and the second robotic arm cooperates in balancing to improve suspension stability. The quick-connect interface facilitates rapid connection between the robot and a drone, enabling efficient deployment.

[0016] 2. The top of the robot body of the present invention is provided with a quick-connect hanging interface, which has a controllable locking buckle for connecting or disconnecting with the rope suspended by the drone, so as to facilitate cooperation with the drone for operation.

[0017] 3. The robot body of this invention has dexterous hands installed at the ends of the first and second robotic arms. These dexterous hands can adapt to various working tools and achieve automatic tool changing. Compared with traditional solutions, this invention can significantly reduce manual labor intensity, improve the safety and efficiency of live-line work, and is suitable for live-line maintenance and emergency repair of various overhead high-voltage transmission lines. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a dual-arm live-line working robot suspended on power transmission lines, as described in an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the layered structure of the electromagnetic shielding plate in an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the basic process of the method in an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the robot in the ready-to-go-on state in an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the structure in which the robot drives the second robotic arm to implement reverse swing suppression in an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram illustrating the control principle for implementing reverse oscillation suppression in an embodiment of the present invention.

[0024] Figure 7 This is a comparison of the time response of the robot's deflection angle when reverse oscillation suppression is implemented / not implemented in the embodiments of the present invention.

[0025] Figure 8 This is a comparison of the time response of the robot's pitch angle when reverse sway suppression is implemented / not implemented in the embodiments of the present invention.

[0026] Figure 9 This is a comparison of the time response of the robot's roll angle when reverse oscillation suppression is implemented / not implemented in the embodiments of the present invention.

[0027] Legend: 1. Robot body; 2. First robotic arm; 21. First connecting seat; 22. First root joint; 23. First upper arm; 24. First middle joint; 25. First lower arm; 26. First end joint; 3. Second robotic arm; 31. Second connecting seat; 32. Second root joint; 33. Second upper arm; 34. Second middle joint; 35. Second lower arm; 36. Second end joint; 4. Hanging quick-connect interface; 5. Dexterous hand; 6. Electromagnetic shielding plate; 61. Conductive shielding layer; 62. Insulating protective layer; 63. Grounding layer. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be further described in detail below with reference to the accompanying drawings in the embodiments of the present invention.

[0029] like Figure 1 As shown, this embodiment of the transmission line suspended dual-arm live-line working robot includes a robot body 1, a first robotic arm 2, and a second robotic arm 3. The first robotic arm 2 is used for quick equipotential connection with the target high-voltage conductor and fixed on the target high-voltage conductor to eliminate potential difference and avoid discharge. The second robotic arm 3 is used to implement reverse swing suppression when the first robotic arm 2 is fixed on the target high-voltage conductor to stabilize the suspension posture of the transmission line suspended dual-arm live-line working robot. That is, the first robotic arm is the working arm, and the second robotic arm is the balancing arm. The first robotic arm 2 and the second robotic arm 3 are respectively installed on both sides of the robot body 1. The top of the robot body 1 is provided with a quick-connect interface 4. The ends of the first robotic arm 2 and the second robotic arm 3 are equipped with dexterous hands 5. The quick-connect interface 4 has a controllable lock to achieve connection or disconnection with the rope suspended by the drone.

[0030] The robot body 1 in this embodiment includes: a chassis for mounting and supporting various functional components, and equipped with an equipotential bonding interface; a sensing unit including an inertial measurement unit, a vision sensor, and an electric field strength sensor, used to perceive the robot's three-axis acceleration, angular velocity, environmental image, and the electric field distribution and potential difference between the robot and the target wire in real time; the output signals of the sensing unit are fused and processed for attitude estimation and environmental perception; and a controller connected to the sensing unit and the robotic arm for coordinating the movement of the two robotic arms to achieve motion planning, attitude control, and sway suppression during the online process. The control components inside the chassis adopt a modular layout, and multiple functional modules can be independently disassembled and replaced. In this embodiment, the robot body 1 is equipped with a sensing unit module for real-time perception of the robot's status and operating environment. The sensing unit module 5 includes: an inertial measurement unit, a vision sensor, a positioning sensor, and an electric field strength sensor. An inertial measurement unit (IMU) (three-axis gyroscope and accelerometer) measures the robot's three-axis acceleration and angular velocity to obtain attitude change information; a vision sensor (depth camera) acquires images and depth information of the work site to identify obstacles and guide wire positions; a positioning sensor (GPS / BeiDou module or RTK positioning unit) determines the robot's three-dimensional position in space to assist in path planning and positioning control; an electric field strength sensor measures the electric field distribution and potential difference between the robot and the target guide wire in real time to assist in safety distance judgment and equipotential bonding. The data collected by each sensing unit is processed by extended Kalman filtering or sensor fusion algorithms and then sent to the robot controller module to achieve closed-loop monitoring and accurate perception of the robot's attitude and working environment.

[0031] As an optional implementation, this embodiment employs a modular plug-in mounting structure inside the chassis. Internal functional modules include a controller module, power supply module, communication module, filter grounding module, sensor unit module, and drive control module. Each functional module connects to the internal busbar and signal bus of the chassis via standardized conductive pins and is fixed to the chassis rails using drawer-type connectors for quick plug-in and maintenance. Each functional module's outer shell is equipped with a sealing baffle and sealing ring to ensure the integrity of electromagnetic shielding and the environmental protection level inside the chassis. The entire chassis is integrally molded from lightweight, high-strength insulating composite material, with reinforcing ribs at the module partitions to balance structural strength and weight control.

[0032] As an optional implementation, in this embodiment, both the first robotic arm 2 and the second robotic arm 3 have four-degree-of-freedom joints, enabling them to coordinate complex movements in space. Both are driven by harmonic reduction motors to achieve a four-degree-of-freedom range of motion, covering the required working space around the conductor. Figure 1 The first robotic arm 2 shown is composed of a first connecting seat 21, a first root joint 22, a first upper arm 23, a first middle joint 24, a first lower arm 25, and a first end joint 26 connected in sequence. The first connecting seat 21 is fixedly mounted on the robot body 1, and a dexterous hand 5 is mounted on the first end joint 26. The second robotic arm 3 is composed of a second connecting seat 31, a second root joint 32, a second upper arm 33, a second middle joint 34, a second lower arm 35, and a second end joint 36 connected in sequence. The second connecting seat 31 is fixedly mounted on the robot body 1, and another dexterous hand 5 is mounted on the second end joint 36. The dexterous hand can adapt to various working tools and realize automatic replacement.

[0033] In this embodiment, the quick-connect splice interface 4 is located on the upper part of the chassis and is used for detachable connection to the drone via a sling, enabling the robot to be deployed by the drone. The quick-connect splice interface 4 employs a controllable locking mechanism for secure connection with the drone's sling. When the robot needs to be deployed, the drone uses the quick-connect splice interface 4 to suspend and transport the robot to the high-altitude work position. After the work is completed, the quick-connect splice interface 4 facilitates the rapid release of the robot for retrieval by the drone, making the entire deployment and retrieval process efficient and safe. Optionally, the quick-connect splice interface 4 has a built-in electrical connector to provide a data link between the robot's control system and the drone or ground station when the robot is suspended.

[0034] In this embodiment, the dexterous hand 5 is respectively located at the end of the first robotic arm 2 and the second robotic arm 3, and is used to grasp or change working tools, enabling rapid grasping and release of end-effector tools. Specifically, the dexterous hand 5 can adopt a mechanical snap-fit ​​or electromagnetic adsorption structure, allowing operators to complete the installation or removal of tools within seconds without the use of special tools. Through the dexterous hand 5, the robot can quickly grasp and change the corresponding end-effector tools according to different work tasks. For example, when installing wire spacers, the dexterous hand 5 can grasp a clamp or robotic arm to grasp and fix the spacers; when replacing wire vibration dampers, the dexterous hand 5 can grasp a special clamp; when performing wire connection hardware tightening operations, the dexterous hand 5 can quickly grasp tools such as electric wrenches or hydraulic fasteners. The application of the dexterous hand 5 gives the robot the characteristic of "one machine, multiple functions", greatly improving the adaptability of on-site operations.

[0035] like Figure 2 As shown, in this embodiment, an electromagnetic protection plate 6 is provided on the internal or external surface of the robot body 1. The electromagnetic protection unit effectively protects the safety of internal electronic equipment through shielding, insulation, filtering, and grounding measures. The electromagnetic protection plate 6 can be configured inside or on the external surface of the chassis to shield and filter external electromagnetic interference. As an optional implementation, the electromagnetic protection plate 6 in this embodiment consists of a conductive shielding layer 61, an insulating protection layer 62, and a grounding layer 63 stacked sequentially. The conductive shielding layer 61 forms a Faraday cage structure with a conductive mesh, metal film, or conductive coating to shield high-frequency electromagnetic interference and protect the circuit modules inside the robot body 1. The grounding layer 63 is a metal structure and is electrically connected to the grounding terminal of the circuit module inside the robot body 1 to guide high-frequency interference and transient voltages invading the robot body 1 to ground through the grounding line connected by the grounding layer 63. A high-frequency filter is connected in series between the grounding layer 63 and the grounding terminal of the circuit module inside the robot body 1 to prevent high-frequency discharge from damaging the circuit module. The insulating protection layer 62 is used to prevent corona discharge and leakage current.

[0036] like Figure 3 As shown, this embodiment also provides an online control method for the aforementioned suspended dual-arm live-line working robot for power transmission lines, including the following steps: S101, using a drone and quick-connect interface 4, transports the power transmission line suspended dual-arm live-line working robot to a predetermined location near the target high-voltage conductor, entering the preparation state for online operation. Figure 4 As shown; S102, control the end of the first robotic arm 2 to gradually approach the target high-voltage wire, and complete the rapid equipotential connection with the target high-voltage wire within a preset time threshold and fix it on the target high-voltage wire to eliminate potential difference and avoid discharge; S103, to address the suspension swaying of the dual-arm live-line working robot for power transmission lines, the second robotic arm 3 is driven to perform reverse sway suppression to stabilize the suspension posture of the dual-arm live-line working robot for power transmission lines. Figure 5 As shown; S104, the control system controls the dual-arm live-line working robot to autonomously fix itself to the target high-voltage conductor via the dexterous hand 5, and controls the quick-connect interface 4 of the dual-arm live-line working robot to open so as to detach from the rope suspended by the drone, so as to complete the smooth transition from the drone sling to autonomous fixation to the target high-voltage conductor, and the online work is completed.

[0037] In step S103 of this embodiment, driving the second robotic arm 3 to implement reverse swing suppression is based on dual-arm collaborative trajectory planning, combined with partial feedback linearization and model predictive control, to achieve rapid equipotential connection and active swing suppression at the robot's end effector, thereby improving the robot's online speed and operational stability. Figure 6 As shown, step S103 in this embodiment includes: S201, based on the joint state quantity of the joint servo driver of the second robotic arm 3 Conductor phase voltage And robot-to-ground capacitance Perform trajectory planning to obtain the second robotic arm 3 Expected joint trajectory at any moment and minimum safe distance ,in For the joint angle of the joint servo driver, For the joint speed of the joint servo driver, For time; S202, according to the joint servo driver of the second robotic arm 3 Joint state quantity at time moment Robot attitude angle and angular velocity Perform disturbance prediction to obtain perturbation estimator at time ; S203, based on the joint state quantity of the joint servo driver of the second robotic arm 3 The desired joint trajectory of the first robotic arm 2 Second robotic arm 3 Expected joint trajectory at any moment Perform partial feedback linearization to obtain Expected acceleration at any moment and linearized compensation torque ; S204, Expected acceleration at any moment Linearized compensation torque Minimum safe distance Perturbation estimator and robot attitude angle The optimal joint torque is obtained by observing the pre-set model prediction observer. To control the joint servo driver of the second robotic arm 3.

[0038] In this embodiment, step S201 includes: S301, calculate the open-circuit voltage of the suspended dual-arm live-line working robot for power transmission lines according to the following formula. : ; in, Target high-voltage conductor Phase voltage at time 10:00 and These are, respectively, dual-arm live-line working robots suspended on power transmission lines. The robot's equivalent capacitance to ground and its capacitance to the conductor at any given moment; calculate the pulse discharge current amplitude of the suspended dual-arm live-line working robot and the target high-voltage conductor according to the following formula. ; ; in, The distance between the suspended dual-arm live-line working robot and the target high-voltage conductor. , and These are the parameters for empirical fitting; S302, determine the air gap breakdown field strength constraint and pulse current constraint respectively, where the functional expression of the air gap breakdown field strength constraint is: ; The functional expression for pulse current constraint is: ; in, For the air gap breakdown field strength, Let be the critical field strength constant for air breakdown. For pulse current, The maximum permissible pulse discharge current amplitude; the safe distance is determined based on the air gap breakdown field strength constraint and the pulse current constraint. : ; ; ; in, The safe distance for the air gap breakdown field strength. The safe distance under pulsed current. Distance The pulse current below; S303, based on the determined safe distance Constructing an artificial potential field : ; in, To attract the potential field, It is a repulsive potential field, and we have: ; ; in, , These are the gain coefficients for the attractive and repulsive potential fields, respectively. For the target joint angle, This refers to the real-time distance between the end of the first robotic arm 2 and the target high-voltage wire; S304, Calculating the desired joint acceleration based on robot dynamics equations : ; in, Here is the inertia matrix of the second robotic arm 3. The Jacobian matrix of the end effector of the second robotic arm 3 is given. Artificial potential field The resultant force, For Coriolis force and centrifugal force terms, For the joint speed of the joint servo driver, For gravity, ,in Joint angle for joint servo driver The gradient; it should be noted that the Coriolis force, centrifugal force, and gravity terms are all existing force terms. The Coriolis force and centrifugal force terms are composed of the Coriolis force term and the centrifugal force term. The Coriolis force term is formed by the velocity coupling effect generated by the relative motion between adjacent links of the robotic arm, and is related to the relative angular velocity of each joint. The centrifugal force term is the inertial force term caused by the rotational motion of each joint of the robotic arm, and its magnitude is proportional to the square of the rotational angular velocity of each joint of the robotic arm. The above force terms are reflected in the dynamic equation as nonlinear terms related to the joint position and joint velocity, that is, the velocity coupling terms in the dynamic equation, which are used to describe the velocity-related dynamic disturbances that occur during the real-time motion of the robot. The gravity term refers to the torque term in the robot robotic arm dynamic equation, which is generated by the mass of each link of the robotic arm and the position of the center of gravity under the action of the gravitational field and is related to the joint position of the robotic arm.

[0039] Discrete time steps Internally, for the desired joint acceleration Recursively generate the desired joint trajectory: , ; in, and They are respectively and The expected joint velocity of the second robotic arm 3 is obtained through this recursion. and They are respectively and The expected joint trajectory of the second robotic arm 3 is obtained through recursion; the expected joint trajectory is smoothed by a weighted moving average. ; in, For the second robotic arm 3 Expected joint trajectory at any given moment These are the weighting coefficients. and They are obtained by recursion respectively Time and The desired joint trajectory of the second robotic arm 3 at a given time.

[0040] In this embodiment, step S202 includes: S401, Obtain the joint servo driver of the second robotic arm 3. Joint state quantity at time moment Robot attitude angle and angular velocity And perform filtering and noise reduction: , ; in, After filtering and denoising The robot's attitude angle at any given moment. After filtering and denoising Attitude angular velocity at time t, This is the gain matrix of the disturbance prediction module; S402, in the sliding window Internal computation The main perturbation amplitude of the robot's attitude angle at time t. With main frequency : , , in, The starting time of the sliding window. For the time within the sliding window, After filtering and denoising The robot's attitude angle at any given moment. This refers to the number of zero-crossing points of the sliding window, which is the number of zero-crossing points of the robot's attitude angle within the sliding window. The oscillation period of the robot body; estimated based on robot inverse kinematics. Equivalent disturbance torque at time t : ; ; in, Here is the inertia matrix of the second robotic arm 3. for The joint acceleration of the joint servo driver at any given time. For Coriolis force and centrifugal force terms, for The joint speed of the joint servo driver at any given moment. For gravity, For input torque, for The joint speed of the joint servo driver at any given moment. For time step; S403, determined according to the following formula The main direction of the disturbance at any moment : ; in, for The main perturbation amplitude of the i-th robot attitude angle at time i , ∈{yaw, pitch, roll}, and generate perturbation estimator at time : ; in, for The magnitude of the main perturbation of the robot's attitude angle at time t. for The main frequency of the robot's attitude angle at any given moment. for The equivalent disturbance torque at time t, for The main direction of the disturbance at any given moment.

[0041] In this embodiment, step S203 includes: S501, calculate the second robotic arm 3 according to the following formula. Joint angle error at time and joint speed error ; ; ; in, For the second robotic arm 3 Expected joint trajectory at any given moment for The joint angle of the joint servo driver at any given time; For the second robotic arm 3 Expected joint velocity at any given moment for The joint speed of the joint servo driver at any given moment; S502, Joint angle error at time and joint speed error The second robotic arm 3 is calculated according to the following formula. Expected acceleration at any moment : ; in, For the second robotic arm 3 The expected joint angle acceleration at time t, This is the joint velocity error feedback gain matrix; This is the joint angle error feedback gain matrix; S503, Decomposing the robot's dynamics model: ; in, Here is the inertia matrix of the second robotic arm 3. for The joint acceleration of the joint servo driver at any given time. For Coriolis force and centrifugal force terms, for The joint speed of the joint servo driver at any given moment. For gravity, For the second robotic arm 3 The actual input torque at any given moment. for The moment-to-moment coupling compensation torque of the two arms, for The equivalent disturbance torque at time t, where: ; in, The inertia coupling matrix, For the first robotic arm 2 Expected joint acceleration at any given moment; Inertia coupling matrix The derivative with respect to time, For the first robotic arm 2 The expected joint velocity at time 3; calculate the second robotic arm 3 according to the following formula. Linearized compensation torque at time step : ; in, For the second robotic arm 3 Expected acceleration at any moment for The moment-to-moment coupling compensation torque of the two arms, for The equivalent disturbance torque at time t.

[0042] Partial feedback linearized model predictive control is used to optimize the control input of a dual-arm robot while considering system constraints. For the dual-arm live-line robot in this embodiment, the controller design fully integrates a partial feedback linearization strategy and a dual-arm dynamics model. First, the robot is divided into active degrees of freedom (the joints of the robotic arms) and passive degrees of freedom (the swing angle of the suspension rope). Using a partial feedback linearization method, control torques are applied to the active degrees of freedom (the joints of the robotic arms), while the passive swing angle is treated as one of the controlled outputs. By accurately calculating the control laws of the robotic arm joints to counteract nonlinear terms in the system (such as Coriolis force, gravity, etc.), the robotic arm subsystem is "linearized under control," thus simplifying the control problem of the suspended swing. Then, based on this, a partial feedback linearized model predictive control algorithm is introduced to predict and optimize the system behavior over several future time steps. The controller aims to minimize robot posture deviation and control energy, solving for the optimal joint torque sequence online. During the optimization process, the controller considers various constraints, including kinematic / dynamic constraints of the robotic arms, joint torque and velocity limits, and equipotential time constraints. Among them, the "equipotential time constraint" is one of the key constraints of the control strategy of this invention, which is used to ensure that the end effector of the first robotic arm must reach the wire to achieve equipotential connection within a limited time window (e.g., within 2 seconds). If the prediction shows that the current trajectory cannot meet the time requirement, the controller will automatically increase the acceleration of the robotic arm or adjust the path to complete the equipotential operation before the deadline. Through the above optimization solution, the controller obtains the optimal control input of each joint at the current moment and executes it; then it rolls to the next moment to re-optimize, and so on iteratively, so that the robot gradually converges to the target state. Thanks to the introduction of the controller, the control system of this invention can simultaneously take into account the two objectives of rapid equipotential connection and suppression of swaying, and deploy the robot quickly and stably in place while ensuring safety. Specifically, in step S204 of this embodiment, Expected acceleration at any moment Linearized compensation torque Minimum safe distance Perturbation estimator and robot attitude angle The optimal joint torque is obtained by observing the pre-set model prediction observer. When controlling the joint servo actuators of the second robotic arm 3, the optimal joint torque is obtained by iteratively solving the problem using a preset model predictive observer with preset objective functions and constraints. The objective function for controlling the joint servo actuators of the second robotic arm 3 is expressed as follows: ; in, The value calculated for the objective function, To predict the length of the time domain, and The first The actual acceleration and the expected acceleration at the next iteration and The first The actual input torque and linearized compensation torque at the next iteration and The weighted matrix is ​​used; the functional expression for the constraints is: ; in, and These are the physical upper and lower bounds of torque. This refers to the actual safe distance related to the body's attitude. For the first Robot pose angle at the next iteration. For the first Minimum safe distance in the next iteration for The disturbance of time. The upper limit of the disturbance, and These are the physical upper and lower bounds of the joint velocity, respectively. For the first The joint velocity of the joint servo actuator during the next iteration; using a preset model predictive observer, the optimal joint torque is obtained by iteratively solving the problem using a preset objective function and constraints. This refers to using a quadratic programming optimization algorithm to predict and solve for the optimal joint torque at the current moment in each control cycle based on the above objective function and constraints. In this embodiment, the second robotic arm 3 is used to implement collaborative compensation to actively suppress suspension sway. To this end, the control system implements control according to the closed-loop logic of "sway detection - compensation amount calculation - periodic reverse compensation", specifically: (1) Sway period / frequency detection: The chassis sway angle and angular velocity or acceleration signal are obtained in real time through the sensing unit module. The controller counts the time interval between adjacent sway peaks (or zero cross points) to determine the current sway period / frequency; at the same time, the sway energy is characterized by peak-to-peak amplitude or root mean square value, providing a basis for subsequent compensation amount estimation. (2) Compensation torque calculation: The model predictive controller combines the expected output amount and linearized torque of the partially feedback linearized output, and calculates the compensation torque required by the second robotic arm 3 according to the system momentum coupling relationship or the pre-calibrated proportional / gain matrix. and necessary compensation speed commands; the compensation torque is positively correlated with the current swing amplitude, the larger the swing, The larger the value, the faster the excess kinetic energy is offset. (3) Periodic reverse compensation execution: The control system uses the detected oscillation period as the time reference and applies a compensation torque opposite to the oscillation direction at the optimal phase of each oscillation period (preferably the instant when the oscillation reverses to the pole); the model predictive controller obtains the optimal joint torque sequence by rolling optimization in the prediction time domain. The drive control module sends the signal to the joint servo driver to achieve continuous and multiple reverse compensations until the swing amplitude drops to the preset threshold. This step outputs the "swing stability achieved" status signal and the system status after stabilization. Under the dual conditions of "equipotential completion" and "swing stability", the quick-connect interface 4 will be triggered to release and switch to the operation mode. Specifically: (1) The control system sends a release command to the quick-connect interface 4 to make the robot's center of gravity smoothly transition from the drone rope to the wire support; (2) Set the subsequent control strategy of the second robotic arm 3: maintain a small-amplitude active balance standby posture or lock in a specific support posture to maintain long-term stability; (3) Switch the control mode from "online control" to "operation control" and output the "online completion" flag and the subsequent operation ready signal.

[0043] To verify the effectiveness of the method for driving the second robotic arm 3 to implement reverse swing suppression in step S103 of this embodiment, tests were conducted on various robot attitude angles (yaw angle, pitch angle, and roll angle) in this embodiment. The time response of the robot yaw angle with and without reverse swing suppression was compared as follows: Figure 7 As shown, the time response of the robot's pitch angle with / without reverse sway suppression is compared to, for example... Figure 8 As shown, the time response of the robot's roll angle with / without reverse sway suppression is compared to, for example... Figure 9 As shown, comparison Figures 7 to 9It can be seen that the method of driving the second robotic arm 3 to perform reverse swing suppression in step S103 of this embodiment can effectively reduce the disturbances on various robot attitude angles (yaw angle, pitch angle and roll angle), proving the effectiveness of the method of driving the second robotic arm 3 to perform reverse swing suppression in step S103 of this embodiment.

[0044] In summary, this embodiment of the suspended dual-arm live-line working robot for power transmission lines combines a dual-arm structural design with a collaborative control strategy, achieving the goal of rapid and safe deployment of the robot for live-line working on high-voltage power transmission lines. The dual-arm structure enables the robot to simultaneously perform tasks and maintain posture balance: the first robotic arm 2 is responsible for completing equipotential bonding and live-line work, while the second robotic arm 3 actively generates a balancing torque to counteract suspension sway, structurally ensuring the robot's posture stability. The deployment control method in this embodiment is based on visual and inertial sensing information, combined with artificial potential field planning and model predictive control, to actively suppress swaying during suspension, accelerating deployment while ensuring a safe distance. Compared with traditional live-line working solutions, this embodiment significantly reduces manual labor intensity and improves the safety, reliability, and efficiency of live-line work, making it suitable for live-line maintenance and emergency repairs of power transmission lines in various complex environments. The dual-arm live-line working robot and its deployment control method provided in this embodiment successfully solve two major problems in the prior art—rapid equipotential bonding and posture stability control. Actual test results of high-voltage suspension operations show that the robot in this embodiment, with the assistance of the drone, can quickly reach the target conductor and autonomously complete the equipotential connection. The entire process takes much less time than manual methods. The coordinated swing reduction control of the two arms significantly reduces the swing amplitude of the robot after contacting the line, without any instability or collision hazards. This greatly improves the safety and efficiency of live-line work on high-voltage lines and has broad application prospects in the fields of power grid emergency repair and maintenance.

[0045] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling the online operation of a suspended dual-arm live-line working robot for power transmission lines, characterized in that, The power transmission line suspended dual-arm live-line working robot includes a robot body (1), a first mechanical arm (2), and a second mechanical arm (3). The first mechanical arm (2) is used to quickly connect to the target high-voltage conductor at the same potential and fix it on the target high-voltage conductor to eliminate potential difference and avoid discharge. The second mechanical arm (3) is used to implement reverse swing suppression when the first mechanical arm (2) is fixed on the target high-voltage conductor so as to stabilize the suspension posture of the power transmission line suspended dual-arm live-line working robot. The first mechanical arm (2) and the second mechanical arm (3) are respectively installed on both sides of the robot body (1). The top of the robot body (1) is provided with a quick-connect interface (4). The ends of the first mechanical arm (2) and the second mechanical arm (3) are equipped with dexterous hands (5). The quick-connect interface (4) has a controllable lock for connecting or disconnecting from the rope suspended by the drone. The online control method includes the following steps: S101, using a drone to transport the power transmission line suspended double-arm live-line operation robot to a predetermined position near the target high-voltage conductor, and enter the preparation for online operation state; S102, control the end of the first robotic arm (2) to gradually approach the target high-voltage wire, and complete the rapid equipotential connection with the target high-voltage wire within the preset time threshold and fix it on the target high-voltage wire to eliminate the potential difference and avoid discharge; S103, for the suspension sway of the dual-arm live-line working robot for power transmission lines, drive the second robotic arm (3) to perform reverse sway suppression to stabilize the suspension posture of the dual-arm live-line working robot for power transmission lines, including: S201, based on the joint state quantity of the joint servo driver of the second robotic arm (3) Conductor phase voltage And robot-to-ground capacitance Perform trajectory planning to obtain the second robotic arm (3) Expected joint trajectory at any moment and minimum safe distance ,in For the joint angle of the joint servo driver, For the joint speed of the joint servo driver, For time; S202, according to the joint servo driver of the second robotic arm (3) Joint state quantity at time moment Robot attitude angle and angular velocity Perform disturbance prediction to obtain perturbation estimator at time S203, based on the joint state quantity of the joint servo driver of the second robotic arm (3) , The desired joint trajectory of the first robotic arm (2) 、Second robotic arm (3) Expected joint trajectory at any moment Perform partial feedback linearization to obtain Expected acceleration at any moment and linearized compensation torque S204, will Expected acceleration at any moment Linearized compensation torque Minimum safe distance Perturbation estimator and robot attitude angle The optimal joint torque is obtained by observing the pre-set model prediction observer. To control the joint servo driver of the second robotic arm (3); S104, control the power transmission line hanging double-arm live-line operation robot to autonomously fix itself on the target high-voltage conductor through the dexterous hand (5), control the quick-connect interface (4) to open to detach from the rope of the drone, complete the smooth transition from the drone sling to autonomous fixation on the target high-voltage conductor, and the online work is completed.

2. The online control method for the suspended dual-arm live-line working robot for power transmission lines according to claim 1, characterized in that, The robot body (1) is provided with an electromagnetic protection plate (6) on its internal or external surface.

3. The online control method for a suspended dual-arm live-line working robot for power transmission lines according to claim 2, characterized in that, The electromagnetic shielding plate (6) is composed of a conductive shielding layer (61), an insulating shielding layer (62), and a grounding layer (63) stacked in sequence. The conductive shielding layer (61) is formed by a conductive mesh, a metal film, or a conductive coating to form a Faraday cage structure to shield high-frequency electromagnetic interference and protect the circuit modules inside the robot body (1). The grounding layer (63) is a metal structure and is electrically connected to the grounding terminal of the circuit module inside the robot body (1) to guide the high-frequency interference and transient voltage that invade the robot body (1) to the ground through the grounding line connected to the grounding terminal. A high-frequency filter is connected in series between the grounding layer (63) and the grounding terminal of the circuit module inside the robot body (1).

4. The online control method for a suspended dual-arm live-line working robot for power transmission lines according to claim 1, characterized in that, The first robotic arm (2) is composed of a first connecting seat (21), a first root joint (22), a first upper arm (23), a first middle joint (24), a first lower arm (25), and a first end joint (26) connected in sequence. The first connecting seat (21) is fixed on the robot body (1), and a dexterous hand (5) is installed on the first end joint (26). The second robotic arm (3) is composed of a second connecting seat (31), a second root joint (32), a second upper arm (33), a second middle joint (34), a second lower arm (35), and a second end joint (36) connected in sequence. The second connecting seat (31) is fixed on the robot body (1), and another dexterous hand (5) is installed on the second end joint (36).

5. The online control method for a suspended dual-arm live-line working robot for power transmission lines according to claim 1, characterized in that, Step S201 includes: S301, Calculate the open-circuit voltage of a suspended dual-arm live-line working robot for power transmission lines. And the pulse discharge current amplitude of the suspended dual-arm live-line working robot for power transmission lines and the target high-voltage conductor. ; S302, determine the air gap breakdown field strength constraint and pulse current constraint respectively, and determine the safety distance based on the air gap breakdown field strength constraint and pulse current constraint. : ； ； ； in, The safe distance for the air gap breakdown field strength. Open circuit voltage, Let be the critical field strength constant for air breakdown. The safe distance under pulsed current. Distance The pulse current under, The maximum permissible pulse discharge current amplitude; S303, based on the determined safe distance Constructing an artificial potential field : ； in, To attract the potential field, It is a repulsive potential field, and we have: ； ； in, , These are the gain coefficients for the attractive and repulsive potential fields, respectively. For the target joint angle, The real-time distance between the end of the first robotic arm (2) and the target high-voltage wire; S304, Calculating the desired joint angular acceleration based on robot dynamics equations : ； in, Let be the inertia matrix of the second robotic arm (3). The Jacobian matrix of the end effector of the second robotic arm (3) is given. Artificial potential field The resultant force, For Coriolis force and centrifugal force terms, For the joint speed of the joint servo driver, For gravity, ,in Joint angle for joint servo driver The gradient; at discrete time steps Internally, for the desired joint angular acceleration Recursively generate the desired joint trajectory: ， ； in, and They are respectively and The expected joint angular velocity of the second robotic arm (3) obtained by the next recursion, and They are respectively and The expected joint trajectory of the second robotic arm (3) is obtained by the recursion; the expected joint trajectory is smoothed by a weighted moving average: ； in, For the second robotic arm (3) Expected joint trajectory at any moment These are the weighting coefficients. and They are obtained by recursion respectively Time and The expected joint trajectory of the second robotic arm (3) at time t.

6. The online control method for a suspended dual-arm live-line working robot for power transmission lines according to claim 1, characterized in that, Step S202 includes: S401, Obtain the joint servo driver of the second robotic arm (3) Joint state quantity at time moment Robot attitude angle and angular velocity And perform filtering and noise reduction: ， ； in, After filtering and denoising The robot's attitude angle at any given moment. After filtering and denoising Attitude angular velocity at time t, This is the gain matrix of the disturbance prediction module; S402, in the sliding window Internal computation The main perturbation amplitude of the robot's attitude angle at time t. With main frequency : ， ， in, The starting time of the sliding window. For the time within the sliding window, After filtering and denoising The robot's attitude angle at any given moment. The zero-crossing count refers to the number of zero-crossing points of the robot's attitude angle within the sliding window. The oscillation period of the robot body (1) is estimated based on the robot's inverse kinematics. Equivalent disturbance torque at time t : ； ； in, Let be the inertia matrix of the second robotic arm (3). for The joint acceleration of the joint servo driver at any given time. For Coriolis force and centrifugal force terms, for The joint speed of the joint servo driver at any given moment. For gravity, For input torque, for The joint speed of the joint servo driver at any given moment. For time step; S403, determined according to the following formula The main direction of the disturbance at any moment : ； in, for The main perturbation amplitude of the i-th robot attitude angle at time i , ∈{yaw, pitch, roll}, and generate Perturbation estimator at time : ； in, for The magnitude of the main perturbation of the robot's attitude angle at time t. for The main frequency of the robot's attitude angle at any given moment. for The equivalent disturbance torque at time t, for The main direction of the disturbance at any given moment.

7. The online control method for a suspended dual-arm live-line working robot for power transmission lines according to claim 1, characterized in that, Step S203 includes: S501, calculate the second robotic arm (3) according to the following formula. Joint angle error at time and joint speed error ; ； ； in, For the second robotic arm (3) Expected joint trajectory at any moment for The joint angle of the joint servo driver at any given time; For the second robotic arm (3) The expected joint angular velocity at time t, for The joint speed of the joint servo driver at any given moment; S502, Joint angle error at time and joint speed error The second robotic arm (3) is calculated according to the following formula. Expected acceleration at any moment : ； in, For the second robotic arm (3) The expected joint angle acceleration at time t, This is the joint velocity error feedback gain matrix; This is the joint angle error feedback gain matrix; S503, Decomposing the robot's dynamics model: ； in, Let be the inertia matrix of the second robotic arm (3). for The joint acceleration of the joint servo driver at any given time. For Coriolis force and centrifugal force terms, for The joint speed of the joint servo driver at any given moment. For gravity, For the second robotic arm (3) The actual input torque at any given moment. for The moment-to-moment coupling compensation torque of the two arms, for The equivalent disturbance torque at time t, where: ； in, The inertia coupling matrix, For the first robotic arm (2) The expected joint angle acceleration at any given moment; Inertia coupling matrix The derivative with respect to time, For the first robotic arm (2) The expected joint angular velocity at time t; calculate the second robotic arm (3) according to the following formula. Linearized compensation torque at time step : ； in, For the second robotic arm (3) Expected acceleration at any moment for The moment-to-moment coupling compensation torque of the two arms, for The equivalent disturbance torque at time t.

8. The online control method for a suspended dual-arm live-line working robot for power transmission lines according to claim 1, characterized in that, In step S204, Expected acceleration at any moment Linearized compensation torque Minimum safe distance Perturbation estimator and robot attitude angle The optimal joint torque is obtained by observing the pre-set model prediction observer. When controlling the joint servo actuator of the second robotic arm (3), the optimal joint torque is obtained by iteratively solving the problem using a preset model predictive observer with preset objective function and constraints. The objective function is expressed as follows: (This is a description of the objective function, which is used to control the joint servo actuators of the second robotic arm (3).) ； in, The value calculated for the objective function, To predict the length of the time domain, and The first The actual acceleration and the expected acceleration at the next iteration and The first The actual input torque and linearized compensation torque at the next iteration and The weighting matrix is ​​used; the functional expression of the constraint condition is: ； in, and These are the physical upper and lower bounds of torque. for The actual safe distance below, For the first Robot pose angle at the next iteration. For the first Minimum safe distance in the next iteration for The disturbance of time. The upper limit of the disturbance, and These are the physical upper and lower bounds of the joint velocity, respectively. For the first The joint speed of the joint servo actuator during the next iteration; the optimal joint torque is obtained by iteratively solving the problem using a preset model predictive observer with preset objective function and constraints. This refers to using a quadratic programming optimization algorithm to predict and solve for the optimal joint torque at the current moment in each control cycle based on the above objective function and constraints. .

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