Additive manufacturing technology-based optical fiber butt joint system in power transmission conductor

Abstract

The invention discloses a transmission conductor internal optical fiber butt joint system based on an additive manufacturing technology, and the system comprises an operation subsystem, a manufacturing subsystem, a scanning subsystem, a teleoperation subsystem, a central control subsystem, and a photovoltaic power supply subsystem. The operation subsystem is used for performing optical fiber stripping, cleaning, cutting and fixing operations; the manufacturing subsystem is used for completing optical fiber butt joint through an additive manufacturing technology; the scanning subsystem is used for detecting an optical fiber fracture position and generating a three-dimensional image; the teleoperation subsystem realizes remote control of the optical fiber butt joint system in the transmission conductor through wireless communication; the central control subsystem is used for coordinating and controlling the movement of the optical fiber butt joint system in the transmission conductor and processing image data; the photovoltaic power supply subsystem provides power for the optical fiber butt joint system in the whole power transmission conductor. The problems that in the prior art, installation and maintenance cost is high, operation is complex, efficiency is low, application scenes are limited, and potential safety hazards and environmental risks are large are solved.

Description

Technical Field

[0001] This invention belongs to the field of power transmission conductor technology, specifically relating to an internal optical fiber connection system for power transmission conductors based on additive manufacturing technology. Background Technology

[0002] Optical fiber combined transmission lines possess the dual functions of optical fiber communication and power transmission. Their main difference from ordinary overhead transmission lines lies in their splicing and installation processes. Ordinary overhead transmission lines are generally installed directly using crimping, and can be connected anywhere except when crossing important facilities. However, optical fiber combined transmission lines cannot be installed directly in the middle of a span; they must be installed from the transmission tower, with the optical fibers connected via fiber optic intermediate splice boxes on the tower. The armor layer of the optical fiber combination is channeled through hardware strings and grounding leads. Some foreign manufacturers have attempted to use a special compression cylindrical box to achieve splicing of transmission lines in the middle of a span, allowing for the use of arbitrary optical cable lengths. However, due to delays in cable laying and the potential for rework, this immature splicing method has largely not been adopted.

[0003] Currently, for longer tension sections, tension towers must be installed within these sections to facilitate the splicing of transmission conductors for fiber optic cable installation. For newly constructed lines, this method requires the redesign of at least one tension-type straight-line tower, which is economically inefficient. For renovated lines, it increases the workload of tower load verification, processing, dismantling, and assembly, extending the construction period and resulting in power outages. Furthermore, if a fiber core breaks during line operation, the transmission conductor in that tension section must be replaced, or a different type of fiber optic cable must be used for temporary connection, which is costly and time-consuming.

[0004] Anhui Huadian Engineering Consulting & Design Co., Ltd. and State Grid Anhui Electric Power Company have developed a ground wire suspension tension string device (application number: CN201720853940.4). This suspension tension string is a type of optical cable hardware that can be used to splice optical cables on ordinary straight-line towers of transmission lines. Using this string on straight-line towers, optical fiber combined cables can be fixed and fiber optic connections can be made. This allows for the replacement of only a few sections of the damaged optical cable up to the nearest tension tower cable junction box, or even just the damaged section, once the specific location of the cable damage is determined. However, it has limitations. While this technology can achieve optical cable splicing on straight-line towers, additional adaptations or modifications may be required for tension towers or other types of towers. Furthermore, to ensure the safety of operators and prevent harm to the surrounding environment and personnel, corresponding protective measures are necessary, which undoubtedly increases the complexity and cost of operation.

[0005] In summary, existing fiber optic splicing technologies within power transmission lines have many shortcomings, and there is an urgent need for an innovative technology to solve these problems, improve the efficiency and quality of fiber optic splicing, reduce costs, and ensure the stable operation of power and communication systems. Summary of the Invention

[0006] To address these issues, this invention provides an internal optical fiber connection system for power transmission conductors based on additive manufacturing technology, which solves the problems of high installation and maintenance costs, complex operation and low efficiency, limited application scenarios, and significant safety hazards and environmental risks associated with traditional technologies.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology, comprising an operation subsystem, a manufacturing subsystem, a scanning subsystem, a remote operation subsystem, a central control subsystem, and a photovoltaic power supply system; The operation subsystem is used to perform fiber stripping, cleaning, cutting and fixing operations; The manufacturing subsystem is used to complete fiber optic connections using additive manufacturing technology; The scanning subsystem is used to detect the location of fiber breakage and generate a three-dimensional image; The remote operation subsystem enables remote control of the internal optical fiber docking system of the power transmission line via wireless communication. The central control subsystem coordinates and controls the movement of the fiber optic docking system inside the power transmission line and processes image data. The photovoltaic power supply system provides power to the fiber optic interconnection system inside the entire power transmission line.

[0008] As a preferred embodiment of the internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology, the operating subsystem includes a frame structure consisting of a base, a vertical support rod, and a horizontal support rod. The vertical support rod is fixed vertically to the base, and the horizontal support rod is vertically connected to the vertical support rod.

[0009] As a preferred embodiment of the internal optical fiber docking system for power transmission conductors based on additive manufacturing technology, the operation subsystem also includes four independent robotic arm bayonets; The robotic arm bayonet is set on the horizontal support rod. The first robotic arm bayonet is connected to the first working robotic arm, the second robotic arm bayonet is connected to the second working robotic arm, the third robotic arm bayonet is connected to the third working robotic arm, and the fourth robotic arm bayonet is connected to the fourth working robotic arm. The operating subsystem also includes a first drive motor, a second drive motor, a third drive motor, and a fourth drive motor.

[0010] The first drive motor is used to control the movement of the first working robot arm, the second drive motor is used to control the movement of the second working robot arm, the third drive motor is used to control the movement of the third working robot arm, and the fourth drive motor is used to control the movement of the fourth working robot arm. The first working robotic arm is equipped with a wire cutter cutting mouth and a wire stripper stripping mouth at its end; the wire cutter cutting mouth and the wire stripping mouth are used to cut and strip the optical fiber, respectively. The second working robotic arm is equipped with an iron clamp and an anhydrous alcohol cleaning cloth storage chamber at its end; the iron clamp is used to fix the optical fiber, and the anhydrous alcohol cleaning cloth storage chamber is used to store anhydrous alcohol cleaning cloth for cleaning the optical fiber; The third robotic arm is equipped with a miniature detail camera at its end; the miniature detail camera is used to acquire detailed image information of the optical fiber. The fourth working robotic arm is equipped with an optical fiber cleaving blade at its end, which is used to cut optical fibers. The operation subsystem further includes a first signal receiver, which is used by the operation subsystem to receive operation control commands.

[0011] As a preferred embodiment of the internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology, the manufacturing subsystem includes a work platform, a vertical lead screw, a loading bin, a control panel, a second signal receiver, a data receiving unit, a coil, a stepper motor, a first row of rollers, a second row of rollers, a nozzle, a heating chamber, a heating rod, a thermocouple, an X-axis motor, an X-axis guide rail, a Y-axis motor, a Y-axis guide rail, a Z-axis motor, an image display, a vertical support column, and a groove. The vertical lead screw is located on both sides of the working platform, the loading bin is located above the working platform, the nozzle is connected to the heating chamber, the heating rod is placed in the heating chamber, and the thermocouple is used to monitor the temperature of the heating chamber. The X-axis motor, the Y-axis motor, and the Z-axis motor respectively drive the nozzle to move in the X-axis guide rail, the Y-axis guide rail, and the Z-axis direction; The material filaments on the reel are conveyed to the nozzle via the first row of rollers, the second row of rollers, and the stepper motor. The control panel is connected to the second signal receiver and the data receiving unit, and is used to receive control commands and manufacturing data and adjust system operating parameters. The image display is used to display manufacturing process information; The vertical support is used to support the working platform, and the groove is used to fix the power transmission wire to be processed.

[0012] As a preferred embodiment of the internal optical fiber docking system for power transmission conductors based on additive manufacturing technology, the scanning subsystem includes an X-ray emitter, an X-ray collector, an optocoupler unit, a wireless signal transmitter, a signal processing unit, and an image processing unit. The X-ray emitter emits X-rays that penetrate the power transmission line, the X-ray collector collects the X-ray signal after penetration, the optocoupler converts the optical signal into an electrical signal, the signal processing unit processes the electrical signal, and the image processing unit converts the processed data into a three-dimensional image. The wireless signal transmitter transmits the three-dimensional imaging data to the central control subsystem.

[0013] As a preferred embodiment of the internal optical fiber connection system for power transmission conductors based on additive manufacturing technology, the remote operation subsystem includes a remote operation master hand, an encoder, a joint drive module, a signal acquisition module, a 5G control chip, a first position control joint, a second position control joint, a third position control joint, a first attitude control joint, a second attitude control joint, a third attitude control joint, and redundant joints. The encoder and the joint drive module are installed on the remote control master hand. The signal acquisition module acquires the motion signal of the remote control master hand. The 5G control chip transmits the motion signal to the central control subsystem through the 5G network. The first position control joint, the second position control joint, and the third position control joint are used to control the position of the teleoperating master hand; the first posture control joint, the second posture control joint, and the third posture control joint are used to control the posture of the teleoperating master hand; and the redundant joint is used to increase the movement flexibility of the teleoperating master hand. In the Cartesian coordinate system, the real-time position coordinates of the teleoperation master (401) Satisfy the following formula: ; ; ; Euler angles are used to describe the attitude of the teleoperation master (401), and real-time Euler angles are used. satisfy: ; ; ; Rotation matrix corresponding to real-time Euler angles for: ; The rotation angle of the redundant joint (412) is The redundant joint (412) increases the motion space dimension of the teleoperation master hand (401); In the formula, , , These are the initial position coordinates of the teleoperation master (401) in the Cartesian coordinate system; , , The rotation angles of the first position control joint (406), the second position control joint (407), and the third position control joint (408) are respectively. , , These are the relevant length parameters of the displacement changes caused by the movement of the first position control joint (406), the second position control joint (407), and the third position control joint (408), respectively. , , These are the Euler angles of the initial attitude of the teleoperation master hand (401); , , These are the rotation angles of the first posture control joint (409), the second posture control joint (410), and the third posture control joint (411), respectively. , , These are the proportional coefficients of the rotation angles and Euler angle changes of the first attitude control joint (409), the second attitude control joint (410), and the third attitude control joint (411), respectively. The rotation angle of the redundant joint (412).

[0014] As a preferred embodiment of the internal optical fiber connection system for power transmission conductors based on additive manufacturing technology, the central control subsystem includes a PC, an expansion module, a motion control card, a drive motor signal receiver, an encoder receiver, a first display screen, a second display screen, a bracket, and a chair. The motion control card, the drive motor signal receiver, and the encoder receiver are all connected to the PC via the expansion module; The first display screen is used to display the three-dimensional image generated by the scanning subsystem, and the second display screen is used to display the operating parameters of the scanning subsystem; The bracket is used to support the first and second displays, and the chair is for the use of the operator.

[0015] As a preferred embodiment of the internal optical fiber connection system for power transmission conductors based on additive manufacturing technology, the photovoltaic power supply system includes crystalline silicon solar panels, amorphous silicon solar panels, intelligent control chips, batteries, loads, optical frequency dividers / duplexers, and reflective concentrators. The reflective concentrator focuses sunlight onto the optical frequency divider duplexer, which transmits light of different frequencies to the crystalline silicon solar panel and the amorphous silicon solar panel respectively. The crystalline silicon solar panel and the amorphous silicon solar panel convert light energy into electrical energy, the intelligent control chip controls the charging and discharging of the battery, and the battery supplies power to the load.

[0016] As a preferred embodiment of the internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology, the motion trajectory model of the nozzle on the working platform in the manufacturing subsystem is as follows: ; ; ; In the formula, , , respectively the nozzle Always , , Coordinates on the axis , , As the initial coordinates, , , They are respectively , , The speed of motion on the axis.

[0017] As a preferred embodiment of the internal optical fiber interconnection system for power transmission conductors based on additive manufacturing technology, in the photovoltaic power supply system, the intelligent control chip adjusts according to the light intensity. and load power The charging and discharging of the battery are controlled to satisfy the following relationship: when and When the solar panels are in use, they charge the battery; when... or At this time, the battery supplies power to the load; In the formula, The light intensity threshold, This refers to the output power of the solar panel.

[0018] The present invention has the following advantages: First, the operation subsystem integrates multiple functional robotic arms, each with a clearly defined role, enabling rapid and accurate completion of fiber stripping, cleaning, cutting, and securing operations. Compared to traditional manual operation, this significantly improves operational efficiency and quality stability. The scanning subsystem generates a three-dimensional image of the fiber through X-ray penetration, signal conversion, and processing, accurately detecting breakage locations. This allows the manufacturing subsystem to utilize additive manufacturing technology, based on precise positional information, to move the nozzle on the work platform according to a predetermined mathematical model, achieving precise material deposition and high-precision fiber splicing, greatly improving the splicing success rate and signal transmission quality.

[0019] Secondly, the remote operation subsystem utilizes 5G communication technology, allowing operators to remotely control the entire docking system via a remote operation master hand. Components on the master hand, such as encoders and joint drive modules, combined with multiple position and attitude control joints and redundant joints, enable flexible and precise control of the robotic arm's movements, overcoming spatial limitations. In hazardous environments, high-altitude operations, or areas difficult for personnel to access, fiber optic docking tasks can be completed safely and efficiently, improving operational convenience and applicability.

[0020] Third, the central control subsystem, centered on a PC, connects to components such as motion control cards and signal receivers via expansion modules. It coordinates the movement of various system modules and efficiently processes image data generated by the scanning subsystem. Operators can visually view fiber optic 3D imaging on the first display screen and adjust the system's operating status promptly based on the operating parameters displayed on the second display screen, ensuring a smooth docking process and improving the system's stability and reliability.

[0021] Fourth, the photovoltaic power supply system collects solar energy using crystalline and amorphous silicon solar panels. The energy utilization is optimized through a frequency divider and reflective concentrator. A smart control chip then intelligently manages the charging and discharging of the battery based on light intensity and load power, ensuring a continuous and stable power supply for the entire system. This not only reduces reliance on traditional electricity and lowers operating costs but also offers environmental benefits. It is particularly suitable for remote areas or scenarios with unstable power supply, ensuring the sustainability of the system's operation. Attached Figure Description

[0022] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0023] Figure 1This is a schematic diagram of the overall structure of the internal optical fiber docking system for power transmission conductors based on additive manufacturing technology provided in this embodiment of the invention; Figure 2 This is a schematic diagram of the operating subsystem structure in the optical fiber splicing system inside the power transmission conductor based on additive manufacturing technology provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the manufacturing subsystem structure in the internal optical fiber splicing system of a power transmission conductor based on additive manufacturing technology provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the scanning subsystem in the internal optical fiber docking system of a power transmission conductor based on additive manufacturing technology, provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of the remote operation subsystem structure in the internal optical fiber docking system of a power transmission conductor based on additive manufacturing technology provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the operator in the internal optical fiber splicing system of a power transmission conductor based on additive manufacturing technology provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the central control subsystem architecture in the optical fiber docking system inside the power transmission conductor based on additive manufacturing technology provided in this embodiment of the invention; Figure 8 This is a schematic diagram of a photovoltaic power supply system in an internal optical fiber interconnection system for power transmission lines based on additive manufacturing technology, provided in an embodiment of the present invention.

[0024] In the diagram, 1. Operation subsystem; 2. Manufacturing subsystem; 3. Scanning subsystem; 4. Remote operation subsystem; 5. Central control subsystem; 6. Photovoltaic power supply system; 101. Base; 102. Vertical support rod; 103. Horizontal support rod; 104. Robotic arm bayonet; 105. First signal receiver; 106. First drive motor; 107. Second drive motor; 108. Third drive motor; 109. Fourth drive motor; 111. Wire cutter cutting jaw; 112. Wire cutter stripping jaw; 113. Iron clamp; 114. Anhydrous alcohol cleaning cloth storage chamber; 115. Miniature detail camera; 116. Fiber optic cleaver blade; 201. Working platform; 202. Vertical lead screw; 203. Loading bin; 204. Control panel; 205. Second signal receiver; 206. Data receiving unit; 207. Wire reel; 208. Stepper motor; 209. First row of rollers; 210. Second row of rollers; 211. Nozzle; 212. Heating chamber; 213. Heating rod; 214. Thermocouple; 215. X-axis motor; 216. X-axis guide rail; 217. Y-axis motor; 218. Y-axis guide rail; 219. Z-axis motor; 220. Groove; 221. Image display; 222. Vertical support column; 301. X-ray emitter; 302. X-ray collector; 303. Optocoupler unit; 304. Wireless signal transmitter; 305. Signal processing unit; 306. Image processing unit; 401. Remote control master hand; 402. Encoder; 403. Joint drive module; 404. Signal acquisition module; 405. 5G control chip; 406. First position control joint; 407. Second position control joint; 408. Third position control joint; 409. First posture control joint; 410. Second posture control joint; 411. Third posture control joint; 412. Redundant joint; 501. PC; 502. Expansion module; 503. Motion control card; 504. Drive motor signal receiver; 505. Encoder receiver; 506. First display screen; 507. Second display screen; 508. Bracket; 509. Chair; 601. Crystalline silicon solar panel; 602. Amorphous silicon solar panel; 603. Smart control chip; 604. Storage battery; 605. Load; 606. Optical frequency divider / duplexer; 607. Reflective concentrator. Detailed Implementation

[0025] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] See Figure 1 This invention provides an internal optical fiber docking system for power transmission conductors based on additive manufacturing technology, including an operation subsystem 1, a manufacturing subsystem 2, a scanning subsystem 3, a remote operation subsystem 4, a central control subsystem 5, and a photovoltaic power supply system 6; The operation subsystem 1 is used to perform fiber stripping, cleaning, cutting and fixing operations; The manufacturing subsystem 2 is used to complete fiber optic connection using additive manufacturing technology; The scanning subsystem 3 is used to detect the location of fiber breakage and generate a three-dimensional image; The remote operation subsystem 4 achieves remote control of the internal optical fiber docking system of the power transmission line through wireless communication. The central control subsystem 5 coordinates and controls the movement of the internal optical fiber docking system of the power transmission conductor and processes image data. The photovoltaic power supply system 6 provides power to the internal optical fiber connection system of the entire power transmission line.

[0027] Specifically, the fiber optic splicing system inside the power transmission conductor based on additive manufacturing technology integrates multiple subsystems with different functions to achieve complex and high-precision fiber optic splicing tasks. The operation subsystem 1, as the basic operation execution unit, is responsible for the key pre-processing operations on the fiber optics; the manufacturing subsystem 2 uses additive manufacturing technology to complete the core fiber optic splicing process; the scanning subsystem 3 uses X-ray penetration and related signal processing technology to accurately detect the fiber optic break location and generate intuitive three-dimensional images, providing accurate information for subsequent repair; the remote operation subsystem 4 uses wireless communication technology to break spatial limitations and achieve remote control, allowing operators to operate in a safe environment; the central control subsystem 5 acts as the brain, coordinating the movements of each system and efficiently processing the image data generated by the scanning subsystem 3, ensuring the orderly operation of the entire system; and the photovoltaic power supply system 6 uses solar energy to convert into electrical energy, providing a continuous and stable power supply to the entire system, which is both environmentally friendly and reduces dependence on traditional power, making it particularly suitable for remote or unstable power supply scenarios.

[0028] See Figure 2 In this embodiment, the operation subsystem 1 includes a frame structure consisting of a base 101, a vertical support rod 102, and a horizontal support rod 103; the vertical support rod 102 is vertically fixed to the base 101, and the horizontal support rod 103 is vertically connected to the vertical support rod 102.

[0029] The base 101 ensures the stability of the entire operating subsystem 1 during placement, effectively distributing the gravity and external forces generated by various components and during operation, preventing the system from shaking or tipping over, and providing a stable platform for subsequent operations. The vertical support rod 102 is fixed vertically to the base 101, determining the system's vertical height and serving as a support for the horizontal support rod 103, ensuring its stable installation. This creates a stable right-angle support system for the entire frame structure, providing reliable structural support for the installation and operation of components such as the robotic arm. The horizontal support rod 103 is vertically connected to the vertical support rod 102. This vertical layout constructs a structure similar to a Cartesian coordinate system, enabling precise horizontal positioning and operation of various components installed on the horizontal support rod 103. It also facilitates the even transmission and distribution of forces, enhancing the stability and durability of the frame structure and simplifying the installation, debugging, and maintenance of components such as the robotic arm.

[0030] The operation subsystem 1 also includes four independent robotic arm slots 104; the robotic arm slots 104 are set on the horizontal support rod 103, the first robotic arm slot 104 is connected to the first working robotic arm, the second robotic arm slot 104 is connected to the second working robotic arm, the third robotic arm slot 104 is connected to the third working robotic arm, and the fourth robotic arm slot 104 is connected to the fourth working robotic arm. Specifically, the robotic arm bayonet 104 is a key connecting component between the robotic arm and the frame structure of the operating subsystem 1. Four independently designed robotic arm bayonets 104 endow the operating subsystem 1 with high flexibility and versatility. Each bayonet is independently configured, allowing for flexible selection, installation, and replacement of the corresponding robotic arm according to different fiber optic processing task requirements during actual operation. It enables rapid replacement of suitable robotic arms for fibers of different specifications or materials. Simultaneously, the independent bayonets ensure that the movement of each robotic arm is independent and does not interfere with each other, allowing each arm to move precisely according to preset programs and operator instructions. Positioning the robotic arm bayonets 104 on the horizontal support rod 103 fully utilizes the horizontal extension characteristics of the horizontal support rod 103, giving the robotic arm a relatively wide operating space in the horizontal direction. This facilitates the processing of fibers at different locations, and the rational layout of the bayonets further optimizes the operating range of the robotic arms, preventing collisions or interference between the robotic arms during operation, and ensuring efficient and orderly fiber optic preprocessing.

[0031] In this embodiment, the operation subsystem 1 further includes a first drive motor 106, a second drive motor 107, a third drive motor 108, and a fourth drive motor 109. The first drive motor 106 controls the movement of the first working robotic arm, the second drive motor 107 controls the movement of the second working robotic arm, the third drive motor 108 controls the movement of the third working robotic arm, and the fourth drive motor 109 controls the movement of the fourth working robotic arm. The first working robotic arm has a wire cutter cutting port 111 and a wire stripping port 112 at its end. The wire cutter cutting port 111 and the wire stripping port 112 are used for cutting and stripping optical fibers, respectively. The second working robotic arm has a metal clamp 113 at its end, next to which is an anhydrous alcohol cleaning cloth storage chamber 114. The metal clamp 113 is used to fix the optical fiber, and the anhydrous alcohol cleaning cloth storage chamber 114 is used to store anhydrous alcohol cleaning cloth for cleaning the optical fiber. The third working robotic arm has a miniature detail camera 115 at its end. The miniature detail camera 115 is used to acquire detailed image information of the optical fiber. The fourth working robotic arm has an optical fiber cleaver 116 at its end, which is used for cleaving the optical fiber.

[0032] Specifically, the drive motors are the power source for the movement of the robotic arms. Each drive motor corresponds to one working robotic arm, achieving precise one-to-one control. The drive motors convert electrical energy into mechanical energy, and the rotation of the motors drives the joints and actuators of the robotic arms. After receiving instructions from the control system, the first drive motor 106 adjusts its speed, direction, and torque to precisely control the movement trajectory, speed, and force of the first working robotic arm, enabling it to accurately perform operations such as cutting and stripping. Similarly, the second drive motor 107 controls the second working robotic arm to perform fixing and cleaning operations, the third drive motor 108 controls the third working robotic arm to acquire detailed images of the optical fiber, and the fourth drive motor 109 controls the fourth working robotic arm to perform cutting operations. This independent drive control method can flexibly and precisely adjust the motion parameters of each robotic arm according to different operational tasks and optical fiber characteristics, greatly improving the operational accuracy and efficiency of the operation subsystem 1 and meeting the high requirements of complex optical fiber preprocessing work for robotic arm motion control.

[0033] The design of the wire cutter cutting end 111 and the stripping end of the first working robotic arm is based on the principles of mechanical levers and materials mechanics. During fiber cutting, the first working robotic arm, under the control of the first drive motor 106, accurately moves the wire cutter cutting end 111 to the area of ​​the fiber to be cut. The drive motor precisely controls the pressure applied by the robotic arm, utilizing the sharp edge of the cutting end to concentrate pressure on the fiber, causing it to break under shearing force, achieving precise cutting. Because optical fibers are relatively fragile, this precise control avoids damage to the fiber core caused by excessive force or inaccurate cutting position. During stripping, the wire cutter stripping end 112 clamps the insulation layer of the optical fiber through the movement of the robotic arm. The drive motor then controls the robotic arm to rotate or move linearly, using the friction between the stripping end and the insulation layer to peel the insulation layer off the fiber. In this process, the movement force and speed of the robotic arm also need to be precisely controlled to ensure effective stripping of the insulation layer without causing any damage to the internal fiber core, thus efficiently and accurately completing the two important steps of fiber pretreatment: cutting and stripping.

[0034] The iron clamp 113 at the end of the second robotic arm uses a mechanical clamping principle to fix the optical fiber. Before performing operations such as cleaning and cutting the optical fiber, the second drive motor 107 controls the robotic arm to move the iron clamp 113 to a suitable position. The motor controls the opening and closing force of the iron clamp 113 to accurately clamp the optical fiber, providing stable fixation for subsequent operations. Stable fixation prevents the optical fiber from shifting during operation, ensuring the accuracy and stability of other operations. The anhydrous alcohol cleaning cloth storage chamber 114 is designed based on the good solubility and volatility of anhydrous alcohol. Anhydrous alcohol can effectively dissolve oil, dust, and other impurities on the surface of the optical fiber. When cleaning the optical fiber, the second robotic arm, under the control of the second drive motor 107, moves the anhydrous alcohol cleaning cloth in the anhydrous alcohol cleaning cloth storage chamber 114 to the surface of the optical fiber for wiping. After wiping, the anhydrous alcohol evaporates quickly, leaving no residue on the surface of the optical fiber, thus ensuring the cleanliness of the optical fiber surface. The cleaned optical fiber surface can better achieve splicing, reduce interference and loss during signal transmission, and improve the quality of optical fiber splicing.

[0035] The miniature detail camera 115 at the end of the third robotic arm operates based on optical imaging and electronic signal conversion principles. When the miniature detail camera 115 is aligned with the optical fiber, the light reflected from the fiber surface is focused onto the image sensor through a lens. The image sensor converts the light signal into an electrical signal, which is then digitized by an internal image processing chip. This includes signal amplification, filtering, and analog-to-digital conversion to remove noise interference and enhance the effective signal. Finally, the processed image data is transmitted to the central control subsystem 5 via a data cable. Operators can observe the details of the optical fiber in real time on the display screen of the central control subsystem 5, such as whether the fiber end face is flat, whether there are any micro-cracks, and whether there are any impurities attached to the surface. This detailed image information provides intuitive and accurate visual information for subsequent fiber optic splicing operations, helping operators to promptly identify problems and take corresponding measures, thereby improving the success rate and quality of fiber optic splicing.

[0036] The fiber optic cleaving blade 116 at the end of the fourth robotic arm is made of a hard material, possessing high hardness and a sharp cutting edge. During fiber optic cleaving, the fourth drive motor 109 controls the robotic arm to accurately move the fiber optic cleaving blade 116 to the position to be cleaved. By precisely controlling the movement speed and force of the robotic arm, the cleaving blade acts on the fiber at a suitable angle and pressure. Due to the high hardness and sharp cutting edge of the cleaving blade, sufficient stress is generated upon contact with the fiber, causing the fiber to break under this stress, thus achieving precise cleaving. Precise control of the robotic arm's movement trajectory and parameters is crucial during the cleaving process. Only in this way can the smooth and flat end face of the cleaved fiber be ensured, meeting the stringent requirements for end face quality in fiber optic splicing. A smooth and flat fiber end face reduces signal reflection and loss at the splicing point, improving the stability and reliability of fiber optic communication. The first signal receiver 105 is used by the operation subsystem 1 to receive operation control commands. The operation subsystem 1 receives fiber stripping, cleaning, cleaving, and fixing operation commands through the first signal receiver 105.

[0037] See Figure 3 In this embodiment, the manufacturing subsystem 2 includes a work platform 201, a vertical lead screw 202, a loading bin 203, a control panel 204, a second signal receiver 205, a data receiving unit 206, a coil 207, a stepper motor 208, a first row of rollers 209, a second row of rollers 210, a nozzle 211, a heating chamber 212, a heating rod 213, a thermocouple 214, an X-axis motor 215, an X-axis guide rail 216, a Y-axis motor 217, a Y-axis guide rail 218, a Z-axis motor 219, an image display 221, a vertical support column 222, and a groove 220.

[0038] The vertical lead screw 202 is located on both sides of the working platform 201, the loading bin 203 is located above the working platform 201, the nozzle 211 is connected to the heating chamber 212, the heating rod 213 is placed in the heating chamber 212, and the thermocouple 214 is used to monitor the temperature of the heating chamber 212; the X-axis motor 215, the Y-axis motor 217, and the Z-axis motor 219 respectively drive the nozzle 211 to move in the X-axis guide rail 216, the Y-axis guide rail 218, and the Z-axis direction; The material filaments on the reel 207 are conveyed to the nozzle 211 via the first roller 209, the second roller 210, and the stepper motor 208; the control panel 204 is connected to the second signal receiver 205 and the data receiving unit 206, and is used to receive control commands and manufacturing data and adjust system operating parameters; the image display 221 is used to display manufacturing process information; the vertical support 222 is used to support the work platform 201, and the groove 220 is used to fix the power transmission wire to be processed.

[0039] Specifically, vertical lead screws 202 are positioned on both sides of the work platform 201, primarily serving to provide auxiliary support and adjust the height or position of the work platform 201. During additive manufacturing, the height of the work platform 201 may need to be fine-tuned according to different manufacturing requirements. The vertical lead screws 202 can achieve this function through rotation, ensuring the work platform 201 is in the appropriate position and providing a stable foundation for the manufacturing process. The loading bin 203 is located above the work platform 201. Utilizing gravity, it facilitates the material filament's smooth entry into the subsequent conveying system, reducing additional power requirements. The nozzle 211 is connected to the heating chamber 212, and the heating rod 213 is placed inside the heating chamber 212. When energized, the heating rod 213 generates heat, heating the material filament within the heating chamber 212 to a molten state. Thermocouple 214 acts as a temperature sensor, using the thermoelectric effect to convert the temperature within the heating chamber 212 into an electrical signal, which is then fed back to the control system in real time. The control system adjusts the power of the heating rod 213 according to the feedback temperature signal, so that the heating chamber 212 is kept within a suitable temperature range, ensuring that the material filament can be stably melted and extruded from the nozzle 211.

[0040] The X-axis motor 215, Y-axis motor 217, and Z-axis motor 219 together constitute a three-dimensional motion drive system. In additive manufacturing, to accurately deposit material at the fiber optic splice site, the nozzle 211 needs to be able to move freely in three dimensions. The X-axis motor 215 drives the nozzle 211 to move on the X-axis guide rail 216, controlling the position of the nozzle 211 in the horizontal direction; the Y-axis motor 217 drives the nozzle 211 to move on the Y-axis guide rail 218, controlling the position of the nozzle 211 in the horizontal direction; and the Z-axis motor 219 drives the nozzle 211 to move in the vertical direction, controlling the distance between the nozzle 211 and the work platform 201. By precisely controlling the rotation of these three motors, the nozzle 211 can move in three-dimensional space according to a preset trajectory, thereby achieving precise control of the material deposition position and ensuring the accuracy and quality of the fiber optic splice. Material filaments for additive manufacturing are wound on the reel 207. The first row of rollers 209 and the second row of rollers 210 serve as guides and auxiliary conveyors, adjusting the conveying direction and tension of the material filament to ensure smooth transport. The stepper motor 208, as the power source, precisely controls the material filament conveying speed by controlling the number and frequency of steps. Each step of the stepper motor 208 moves the material filament forward a fixed distance, allowing for accurate control of the amount of material delivered to the nozzle 211 according to manufacturing process requirements. This ensures a stable and accurate delivery of the material filament to the nozzle 211, providing a reliable material supply for additive manufacturing.

[0041] The control panel 204 is the core control unit of the entire manufacturing subsystem 2. The second signal receiver 205 receives control commands from external sources, which may originate from operator signals sent via remote devices or from control signals generated by the central control subsystem 5 based on the detection results of the scanning subsystem 3. The data receiving unit 206 receives manufacturing data, such as 3D model data of fiber optic connections and material stacking path data. After receiving these commands and data, the control panel 204 analyzes and processes them, then adjusts the system's operating parameters according to preset algorithms and programs. For example, based on the material stacking path data, it adjusts the motion parameters of the X-axis motor 215, Y-axis motor 217, and Z-axis motor 219; based on the material characteristics and manufacturing requirements, it adjusts the power of the heating rod 213 and the conveying speed of the stepper motor 208, thereby achieving precise control of the entire manufacturing process. The image display 221 operates based on electronic display technology. During the manufacturing process, the system collects various information in real time, such as the position of the nozzle 211, the material conveying status, and the temperature of the heating chamber 212. After processing, this information is displayed on the image display 221 in the form of images and data. By observing the image display 221, operators can monitor the progress of the manufacturing process in real time, promptly identify potential problems such as nozzle 211 blockage or abnormal material delivery, and take appropriate measures to adjust accordingly based on the displayed information to ensure the smooth operation of the manufacturing process.

[0042] The main function of the vertical support column 222 is to support the weight of the work platform 201, ensuring its stability during manufacturing. The vertical support column 222 is typically made of high-strength materials, possessing sufficient load-bearing capacity to support the weight of the work platform 201 and the various components mounted on it, preventing the work platform 201 from tilting or swaying due to uneven stress, thus providing a stable operating environment for additive manufacturing. The groove 220 is designed to fix the transmission wire to be processed. During fiber optic splicing, it is necessary to ensure the position of the transmission wire is fixed to prevent movement during material accumulation, which would affect the accuracy and quality of the splicing. The shape and size of the groove 220 are adapted to the transmission wire to be processed. By placing the transmission wire in the groove 220, movement of the transmission wire can be effectively restricted, ensuring that the additive manufacturing process is carried out accurately in the predetermined position.

[0043] See Figure 4 In this embodiment, the scanning subsystem 3 includes an X-ray emitter 301, an X-ray collector 302, an optocoupler 303, a wireless signal transmitter 304, a signal processing unit 305, and an image processing unit 306. The X-ray emitter 301 emits X-rays that penetrate the power transmission line, the X-ray collector 302 collects the X-ray signal after penetration, the optocoupler 303 converts the optical signal into an electrical signal, the signal processing unit 305 processes the electrical signal, the image processing unit 306 converts the processed data into a three-dimensional image, and the wireless signal transmitter 304 transmits the three-dimensional image data to the central control subsystem 5.

[0044] Specifically, the X-ray emitter 301 acts as a signal source, emitting X-rays with strong penetrating power; the X-ray collector 302 is responsible for collecting X-ray signals after penetrating the power transmission line, and these signals carry information about the internal structure of the power transmission line; the optocoupler unit 303 builds a conversion bridge between optical and electrical signals, converting the collected optical signals into electrical signals that are easy to process later; the signal processing unit 305 performs a series of processes such as noise reduction and amplification on the electrical signals to improve signal quality; the image processing unit 306 uses professional algorithms to convert the processed electrical signal data into intuitive three-dimensional images; and the wireless signal transmitter 304 uses wireless communication technology to quickly transmit the generated three-dimensional imaging data to the central control subsystem 5 for further analysis and application.

[0045] See Figure 5 and Figure 6 In this embodiment, the teleoperation subsystem 4 includes a teleoperation master hand 401, an encoder 402, a joint drive module 403, a signal acquisition module 404, a 5G control chip 405, a first position control joint 406, a second position control joint 407, a third position control joint 408, a first posture control joint 409, a second posture control joint 410, a third posture control joint 411, and a redundant joint 412. The encoder 402 and the joint drive module 403 are installed in the remote operation master hand 401. The signal acquisition module 404 acquires the motion signal of the remote operation master hand 401. The 5G control chip 405 transmits the motion signal to the central control subsystem 5 through the 5G network. The first position control joint 406, the second position control joint 407, and the third position control joint 408 are used to control the position of the teleoperation master hand 401. The first posture control joint 409, the second posture control joint 410, and the third posture control joint 411 are used to control the posture of the teleoperation master hand 401. The redundant joint 412 is used to increase the movement flexibility of the teleoperation master hand 401.

[0046] Specifically, the remote control master hand 401 is the direct tool for the operator to interact with the system, and the operator issues commands by operating it; the encoder 402 is used to convert the motion information of the master hand into recognizable electrical signals; the joint drive module 403 provides power for operation and feedback on the operation status; the signal acquisition module 404 collects various motion signals; the 5G control chip 405 uses the 5G network to realize high-speed, low-latency remote transmission of signals; multiple position control joints, attitude control joints, and redundant joints 412 work together to achieve precise and flexible control of the position and attitude of the remote control master hand 401, ensuring that the operator's intentions can be accurately conveyed and complex remote operation tasks can be completed.

[0047] The first position control joint 406, the second position control joint 407, and the third position control joint 408 together constitute the position control system of the teleoperated master hand 401 in three-dimensional space. These joints change the position coordinates of the master hand through rotation or translation. For example, the first position control joint 406 is responsible for adjusting the position of the master hand in the X-axis direction, the second position control joint 407 is responsible for the Y-axis direction, and the third position control joint 408 is responsible for the Z-axis direction. Each position control joint is driven by a motor, and the rotation of the motor is converted into the movement of the joint through a transmission device, thereby driving the master hand to move in the corresponding direction. The encoder 402 monitors the motion state of the joints in real time and feeds back the position information to the control system to achieve precise position control.

[0048] The first attitude control joint 409, the second attitude control joint 410, and the third attitude control joint 411 are used to control the attitude of the teleoperated master hand 401, that is, the rotation angle of the teleoperated master hand 401 in space. For example, the first attitude control joint 409 can control the rotation of the master hand around the X-axis (pitch angle), the second attitude control joint 410 controls the rotation around the Y-axis (yaw angle), and the third attitude control joint 411 controls the rotation around the Z-axis (roll angle). Similarly, each attitude control joint is driven by a motor, and the rotation of the motor realizes the rotation of the joint through transmission mechanisms such as gears and linkages, thereby adjusting the attitude of the master hand. The encoder 402 provides real-time feedback on the rotation angle of the joints to ensure the accuracy of attitude control.

[0049] The introduction of redundant joint 412 increases the mobility of the teleoperated master hand 401. Building upon traditional position and attitude control joints, redundant joint 412 provides additional degrees of freedom. For example, when the master hand needs to avoid obstacles or perform special operations in a complex spatial environment, redundant joint 412 can provide the master hand with more movement path options through its own movement. Its movement is also driven by a motor and works in coordination with other joints. The control system comprehensively controls the movement of all joints based on the operator's instructions and environmental information, enabling the teleoperated master hand 401 to complete tasks more flexibly and accurately in complex situations.

[0050] See Figure 5 and Figure 7 In this embodiment, the central control subsystem 5 includes a PC 501, an expansion module 502, a motion control card 503, a drive motor signal receiver 504, an encoder receiver 505, a first display screen 506, a second display screen 507, a bracket 508, and a chair 509. The motion control card 503, the drive motor signal receiver 504, and the encoder receiver 505 are all connected to the PC 501 through the expansion module 502; The first display screen 506 is used to display the three-dimensional image generated by the scanning subsystem 3, and the second display screen 507 is used to display the operating parameters of the scanning subsystem 3; The bracket 508 is used to support the first display screen 506 and the second display screen 507, and the chair 509 is used by the operator.

[0051] Specifically, the central control subsystem 5 is the core hub of the entire fiber optic docking system, responsible for coordinating the operation of various subsystems and data processing and display. The PC 501, as the system's control core, runs the control software and possesses powerful data processing and logic operation capabilities, enabling comprehensive management of the entire system's operation. The expansion module 502 bridges the gap between the PC 501 and other functional modules, enabling hardware expansion and connection, and ensuring smooth data communication between each module and the PC 501. The motion control card 503 is used to precisely control the movement of various motors. The drive motor signal receiver 504 receives control signals from external sources (such as the remote operation subsystem 4) to the drive motors. The encoder receiver 505 receives position and attitude signals fed back by the encoder 402 in the system. These modules work together to ensure the precise movement of each component in the system. The first display screen 506 and the second display screen 507 are used to visually display the 3D image generated by the scanning subsystem 3 and its operating parameters, providing key information to the operator. The bracket 508 provides stable support for the display screens, facilitating viewing for the operator, while the chair 509 provides a comfortable operating environment.

[0052] See Figure 8 In this embodiment, the photovoltaic power supply system 6 includes a crystalline silicon solar panel 601, an amorphous silicon solar panel 602, a smart control chip 603, a battery 604, a load 605, a light frequency divider duplexer 606, and a reflective concentrator 607. The reflective concentrator 607 focuses sunlight onto the optical frequency divider duplexer 606, which transmits light of different frequencies to the crystalline silicon solar panel 601 and the amorphous silicon solar panel 602 respectively. The crystalline silicon solar panel 601 and the amorphous silicon solar panel 602 convert light energy into electrical energy. The intelligent control chip 603 controls the charging and discharging of the storage battery 604, and the storage battery 604 supplies power to the load 605.

[0053] Specifically, crystalline silicon solar panels 601 and amorphous silicon solar panels 602 serve as core photoelectric conversion components, converting light energy into electrical energy. The intelligent control chip 603 precisely manages the charging and discharging process of the battery 604 based on the system's operating status. The battery 604 stores electrical energy, continuously supplying power to the load 605 when solar energy is insufficient. The optical frequency divider duplexer 606 works in conjunction with the reflective concentrator 607 to improve the efficiency of solar energy collection and utilization, ensuring the efficient operation of the entire system.

[0054] The intelligent control chip 603 monitors parameters such as the output voltage and current of the solar panel and the voltage, current, and remaining capacity of the battery 604, and controls the charging and discharging process of the battery 604 according to preset algorithms and logic. When the solar panel outputs sufficient electrical energy and the load 605 has low demand, the intelligent control chip 603 determines that the battery 604 can be charged. Through the control circuit, it adjusts the charging current and voltage to store the electrical energy output by the solar panel in the battery 604 in a suitable manner, while preventing overcharging from damaging the battery 604. When solar energy is insufficient or the load 605 has high demand and the electrical energy output by the solar panel cannot meet the demand of the load 605, the intelligent control chip 603 controls the battery 604 to discharge, stably outputting the electrical energy stored in the battery 604 to the load 605. During the discharge process, the intelligent control chip 603 continuously monitors the capacity of the battery 604, and when the capacity falls below a certain threshold, it takes measures to protect the battery 604 and prevent over-discharge. The precise control of the intelligent control chip 603 ensures that the battery 604 can efficiently and safely power the load 605, guaranteeing the stable operation of the entire fiber optic docking system under different lighting conditions.

[0055] In one possible embodiment, the real-time position coordinates of the teleoperation master 401 are in a Cartesian coordinate system. Satisfy the following formula: ; ; ; Euler angles are used to describe the attitude of the teleoperation master 401, and real-time Euler angles are used. satisfy: ; ; ; Rotation matrix corresponding to real-time Euler angles for: ; The rotation angle of the redundant joint 412 is The redundant joint 412 increases the motion space dimension of the teleoperation master hand 401; In the formula, , , These are the initial position coordinates of the teleoperation master 401 in the Cartesian coordinate system; , , The first position controls the rotation angle of joint 406, the second position controls the rotation angle of joint 407, and the third position controls the rotation angle of joint 408, respectively. , , These are the relevant length parameters related to the displacement changes caused by the movement of the first position control joint 406, the second position control joint 407, and the third position control joint 408, respectively. , , These are the Euler angles of the initial attitude of the teleoperation master 401; , , These are the rotation angles of the first posture control joint 409, the second posture control joint 410, and the third posture control joint 411, respectively. , , These are the proportional coefficients of the rotation angles and Euler angle changes of the first attitude control joint 409, the second attitude control joint 410, and the third attitude control joint 411, respectively. The rotation angle of redundant joint 412.

[0056] Specifically, the Cartesian coordinate system provides a standard framework for describing the position of an object in three-dimensional space. Within this system, , , The initial position coordinates of the teleoperation master hand 401 determine the starting reference point of the teleoperation master hand 401 in space. The first position control joint 406, the second position control joint 407, and the third position control joint 408, through their respective rotation angles... , , This affects the position of the remote control master 401.

[0057] by Taking the axial direction as an example, This demonstrates the role of the first position control joint 406. When this joint rotates... At an angle, due to its correlation with the position adjustment of the remote control master 401, the remote control master 401 will... A displacement change occurs in the axial direction. As a relevant length parameter, it determines the magnitude of the effect of joint rotation on displacement. For example, in a mechanical structure, the rotation of the joint is transmitted to the remote control master 401 through components such as links. This is related to factors such as the length of the connecting rod or the lever arm of the joint movement. With Changes, The value also changes accordingly, thus enabling remote operation of the master hand 401. Relative to the initial position in the axial direction The position is adjusted. Similarly, in shaft and In the axial direction, the second position control joint 407 and the third position control joint 408 are respectively controlled by... and The position of the teleoperation master 401 is adjusted, and finally the real-time position coordinates of the teleoperation master 401 in the Cartesian coordinate system are determined by these three formulas.

[0058] Among them, the first posture control joint 409, the second posture control joint 410, and the third posture control joint 411 are respectively controlled by rotation angle , , To change the posture of the master remote control 401. , , As a scaling factor, it reflects the relationship between the rotation angle of each attitude control joint and the change in Euler angle. This is because different joints have different degrees of influence on the Euler angle when changing the attitude of the teleoperator 401, and the scaling factor quantifies this difference. For example, the first attitude control joint 409 rotates around a certain axis. When the angle is adjusted, it will cause the teleoperation master 401 to rotate in space around the corresponding axis, thereby changing the Euler angle. The value of . The value depends on factors such as the mechanical connection structure between the joint and the teleoperator 401, and the relative position of the rotation axis. In this way, each attitude control joint adjusts its corresponding Euler angle according to a proportional coefficient based on its own rotation angle, thereby determining the Euler angle of the real-time attitude of the teleoperator 401. .

[0059] Wherein, rotation matrix This transforms Euler angles into a mathematical matrix form, used to accurately describe the rotational operations of objects in three-dimensional space. Taking the ZYX sequence as an example, this matrix is ​​constructed based on the principles of spatial geometric rotation. Each element of the matrix is ​​derived from real-time Euler angles. , , Obtained through trigonometric function operations. Rotation around the Z-axis in three-dimensional space. Angle, rotation around the Y-axis Angle, rotation around the X-axis Angles—this series of rotation operations can be achieved through this matrix. For example, for a vector in space (which can be understood as a vector describing the position or attitude of the master hand in a certain direction), when multiplied by this rotation matrix, the direction of the vector will change according to the corresponding Euler angle rotation rules, thereby realizing the mathematical description and transformation of the attitude of the teleoperation master hand 401. This rotation matrix is ​​widely used in computer graphics, robot kinematics, and other fields. In this system, it is used to accurately calculate the attitude transformation of the teleoperation master hand 401 in space, so as to accurately control its movement and achieve precise control of operations such as fiber optic docking.

[0060] The redundant joint 412 adds extra degrees of freedom to the teleoperation master hand 401. Based on the motion space defined by traditional position control joints and attitude control joints, the redundant joint 412 adds additional degrees of freedom through its rotation angle. This introduces a new dimension of motion into the system. For example, in some complex operational scenarios, relying solely on the original position and posture control joints, the primary hand may not be able to reach the target position or achieve a specific posture without colliding with surrounding objects. The presence of redundant joint 412 provides more motion possibilities. It can change the movement path of the primary hand through its own rotation, avoiding obstacles. From a mathematical perspective, the original position and posture control joints determine the position and posture of the primary hand in the three-dimensional Cartesian coordinate system using the formulas mentioned earlier, but the addition of redundant joint 412 increases the number of parameters describing the motion state of the primary hand. Previously, it might have only needed to consider... , , In addition to parameters such as coordinates and Euler angles, the rotation angle of redundant joint 412 now needs to be considered separately. This is equivalent to adding a dimension to the original movement space, greatly enriching the movement flexibility of the dominant hand and enabling it to complete tasks in more complex environments.

[0061] In one possible embodiment, in the manufacturing subsystem 2, the motion trajectory model of the nozzle 211 on the work platform 201 is as follows: ; ; ; In the formula, , , They are respectively nozzle 211 Always , , Coordinates on the axis , , As the initial coordinates, , , They are respectively , , The speed of motion on the axis.

[0062] Specifically, in the Cartesian coordinate system, , , The initial coordinates of nozzle 211 determine the spatial position of nozzle 211 at the start of its movement, and serve as the starting reference point for the entire movement trajectory. , , These represent nozzle 211 in , , The velocity along the axes. Velocity is a vector, possessing both magnitude and direction. In this model, the magnitude of the velocity remains constant, meaning that the nozzle 211 moves at a constant linear velocity along each coordinate axis. For example, Indicates that nozzle 211 is in The change in displacement per unit time along the axial direction. This refers to the change in displacement over time after the nozzle 211 begins to move. As time went on, In the axial direction, nozzle 211 will... It continues to move at a speed of [speed], and its displacement is [displacement]. plus initial coordinates , and then I got Sprayer 211 at all times coordinates on the axis Similarly, in In the axial direction, the nozzle 211 moves at a speed sports, coordinates of time From initial coordinates Plus It can be concluded that; in In the axial direction, the nozzle 211 moves at a speed sports, coordinates of time From initial coordinates Plus Sure.

[0063] In additive manufacturing, to accurately deposit material at the fiber optic splice site, the nozzle 211 needs to move along a specific trajectory. This is achieved by precisely controlling the movement speed of the nozzle 211 along three coordinate axes. , , This allows for precise planning of the nozzle 211's movement trajectory. For example, when the nozzle 211 needs to move linearly on a horizontal plane to deposit material, appropriate settings can be configured. and and keep This is achieved by (i.e., no vertical displacement); if three-dimensional material deposition is required, adjustments are made simultaneously according to actual needs. , , The value of ...

[0064] In one possible embodiment, in the photovoltaic power supply system 6, the intelligent control chip 603 adjusts according to the light intensity. and load power 605 The charging and discharging of the storage battery 604 are controlled to satisfy the following relationship: when and At that time, the solar panel charges the 604 battery; when or At that time, battery 604 supplies power to load 605; In the formula, The light intensity threshold, This refers to the output power of the solar panel.

[0065] Specifically, when the light intensity Greater than the light intensity threshold This means that the current lighting conditions are good, and the solar panels can generate enough electricity. Light intensity threshold. This is a value preset based on the photoelectric conversion characteristics of the solar panel and the operating requirements of the system. When the light intensity reaches or exceeds this threshold, the photoelectric conversion efficiency of the solar panel is high, and it can output relatively stable and sufficient electrical energy.

[0066] Meanwhile, when the load power is 605 Less than the output power of the solar panel This indicates that the electrical energy generated by the solar panel, besides meeting the current load 605's needs, has surplus energy available for storage. In this situation, the intelligent control chip 603 controls the circuit to charge the battery 604 using the solar panel. This is because not storing the surplus energy would result in waste. By charging the battery 604, the excess energy can be stored in the battery 604 in the form of chemical energy, so that it can be used when there is insufficient sunlight or when the load 605's demand increases.

[0067] When the light intensity Less than the light intensity threshold At this time, the photoelectric conversion efficiency of the solar panel decreases, resulting in less electrical energy generated. In this situation, even if the load power remains constant at 605, the solar panel may not be able to provide enough electrical energy to meet the demand of load 605. Or, when the load power of 605... Greater than the output power of the solar panel This indicates that the power demand of load 605 exceeds the current power supply capacity of the solar panel. In both cases, the intelligent control chip 603 will control the battery 604 to discharge, converting the chemical energy stored in the battery 604 into electrical energy to power load 605. This ensures that load 605 can continuously obtain the required power and maintain the normal operation of the system.

[0068] The intelligent control chip 603 monitors light intensity in real time. and load power 605 and the preset light intensity threshold and solar panel output power By comparing the results, the charging and discharging process of the battery 604 is automatically controlled, realizing the rational allocation and efficient utilization of electrical energy in the photovoltaic power supply system 6, and ensuring the stable operation of the system under different lighting conditions and load 605.

[0069] The usage process of this invention embodiment is as follows: First, preliminary system preparation:

[0070] The power transmission line to be connected is placed in a suitable position in the operation subsystem 1. The four independent robotic arm bays 104 of the operation subsystem 1 can be equipped with robotic arms of different functions as needed. The first working robotic arm, under the control of the first drive motor 106, uses the wire cutter cutting end 111 and stripping end to cut and strip the optical fiber; the second working robotic arm, under the control of the second drive motor 107, uses iron clamps 113 to fix the optical fiber and takes out a cleaning cloth from the anhydrous alcohol cleaning cloth storage chamber 114 to clean the optical fiber; the third working robotic arm, under the control of the third drive motor 108, acquires detailed image information of the optical fiber through the miniature detail camera 115 at its end and transmits it to the central control subsystem 5 for the operator to view; the fourth working robotic arm, under the control of the fourth drive motor 109, cuts the optical fiber with the optical fiber cleaver 116 to complete the pre-processing.

[0071] Second, power supply preparation

[0072] In the photovoltaic power supply system 6, a reflective concentrator 607 focuses sunlight onto an optical frequency divider / duplexer 606. The optical frequency divider / duplexer 606 transmits light of different frequencies to crystalline silicon solar panels 601 and amorphous silicon solar panels 602 for photoelectric conversion. An intelligent control chip 603 monitors relevant parameters and, when solar energy is abundant and the load 605 has low demand, controls the solar panels to charge the battery 604; conversely, it controls the battery 604 to supply power to the load 605 (i.e., the entire fiber optic connection system).

[0073] Third, fiber optic break detection

[0074] The scanning subsystem 3 starts working. The X-ray emitter 301 emits X-rays that penetrate the power transmission line. The X-ray collector 302 collects the signal after penetration. The signal is converted into an electrical signal by the optocoupler unit 303 and then processed by the signal processing unit 305. The image processing unit 306 converts the processed data into a three-dimensional image. Finally, the three-dimensional imaging data is transmitted to the central control subsystem 5 through the wireless signal transmitter 304.

[0075] Fourth, remote operation and manufacturing

[0076] In a safe environment, the operator operates the remote control master hand 401. The encoder 402 on the master hand converts motion information into electrical signals, the signal acquisition module 404 collects these signals, and the 5G control chip 405 transmits the signals to the central control subsystem 5 via a 5G network. First position control joints 406, 407, and 408 control the position of the remote control master hand 401; first posture control joints 409, 410, and 411 control the posture of the remote control master hand 401; and redundant joints 412 increase movement flexibility and ensure accurate transmission of operator commands.

[0077] Fifth, additive manufacturing docking

[0078] The central control subsystem 5 processes and coordinates the received information. The manufacturing subsystem 2 receives control commands and manufacturing data, and the control panel 204 adjusts the system operating parameters. The vertical lead screw 202 can adjust the height of the work platform 201 as needed. The material filament in the loading bin 203 is conveyed to the nozzle 211 via the first row of rollers 209, the second row of rollers 210, and the stepper motor 208. The heating rod 213 heats the material filament, and the heating chamber 212 melts the material filament. Thermocouple 214 monitors the temperature and feeds it back to the control system to adjust the heating power. The X-axis motor 215, Y-axis motor 217, and Z-axis motor 219 drive the nozzle 211 to move along a preset trajectory in three-dimensional space, precisely accumulating the molten material at the fiber optic splicing point to complete the fiber optic splicing.

[0079] Sixth, process monitoring and system coordination

[0080] The PC 501 of the central control subsystem 5 manages the overall system operation and connects to the motion control card 503, drive motor signal receiver 504, encoder receiver 505, etc., through the expansion module 502. The motion control card 503 precisely controls the motor movement, the drive motor signal receiver 504 receives external control signals, and the encoder receiver 505 receives position and attitude feedback signals. The first display screen 506 displays the 3D image generated by the scanning subsystem 3, and the second display screen 507 displays its operating parameters. The operator views the information using the display screen supported by the bracket 508, and monitors and adjusts the system while sitting in the chair 509 to ensure successful fiber optic connection.

[0081] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. An internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology, characterized in that: It includes an operation subsystem (1), a manufacturing subsystem (2), a scanning subsystem (3), a teleoperation subsystem (4), a central control subsystem (5), and a photovoltaic power supply system (6). The operation subsystem (1) is used to perform fiber stripping, cleaning, cutting and fixing operations; The manufacturing subsystem (2) is used to complete the fiber optic connection using additive manufacturing technology; The scanning subsystem (3) is used to detect the location of the fiber break and generate a three-dimensional image; The remote operation subsystem (4) realizes remote control of the internal optical fiber docking system of the power transmission line through wireless communication; The central control subsystem (5) coordinates and controls the movement of the internal optical fiber docking system of the power transmission conductor and processes image data; The photovoltaic power supply system (6) provides power to the fiber optic docking system inside the entire power transmission line.

2. The internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology according to claim 1, characterized in that: The operating subsystem (1) includes a frame structure consisting of a base (101), a vertical support rod (102), and a horizontal support rod (103); The vertical support rod (102) is vertically fixed to the base (101), and the horizontal support rod (103) is vertically connected to the vertical support rod (102).

3. The internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology according to claim 2, characterized in that: The operation subsystem (1) also includes four independent robotic arm bayonets (104). The robotic arm bayonet (104) is set on the horizontal support rod (103). The first robotic arm bayonet is connected to the first working robotic arm, the second robotic arm bayonet is connected to the second working robotic arm, the third robotic arm bayonet is connected to the third working robotic arm, and the fourth robotic arm bayonet is connected to the fourth working robotic arm. The operation subsystem (1) also includes a first drive motor (106), a second drive motor (107), a third drive motor (108) and a fourth drive motor (109). The first drive motor (106) is used to control the movement of the first working robot arm, the second drive motor (107) is used to control the movement of the second working robot arm, the third drive motor (108) is used to control the movement of the third working robot arm, and the fourth drive motor (109) is used to control the movement of the fourth working robot arm. The first working robotic arm is provided with a wire cutter cutting port (111) and a wire stripping port (112) at its end; the wire cutter cutting port (111) and the wire stripping port (112) are used to cut and strip the optical fiber, respectively. The second working robotic arm is equipped with an iron clamp (113) at its end, and an anhydrous alcohol cleaning cloth storage chamber (114) is located on the side of the horizontal support rod (103); the iron clamp (113) is used to fix the optical fiber, and the anhydrous alcohol cleaning cloth storage chamber (114) is used to store anhydrous alcohol cleaning cloth for cleaning the optical fiber. The third working robotic arm is equipped with a miniature detail camera (115) at its end; the miniature detail camera (115) is used to acquire detailed image information of the optical fiber; The fourth working robotic arm is equipped with an optical fiber cutting blade (116) at its end, which is used to cut optical fibers. The operation subsystem (1) further includes a first signal receiver (105), which is used by the operation subsystem (1) to receive operation control commands.

4. The internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology according to claim 1, characterized in that: The manufacturing subsystem (2) includes a work platform (201), a vertical lead screw (202), a loading bin (203), a control panel (204), a second signal receiver (205), a data receiving unit (206), a coil (207), a stepper motor (208), a first row of rollers (209), a second row of rollers (210), a nozzle (211), a heating chamber (212), a heating rod (213), a thermocouple (214), an X-axis motor (215), an X-axis guide rail (216), a Y-axis motor (217), a Y-axis guide rail (218), a Z-axis motor (219), an image display (221), a vertical support column (222), and a groove (220). The vertical lead screw (202) is located on both sides of the working platform (201), the loading bin (203) is located above the working platform (201), the nozzle (211) is connected to the heating chamber (212), the heating rod (213) is placed inside the heating chamber (212), and the thermocouple (214) is used to monitor the temperature of the heating chamber (212). The X-axis motor (215), the Y-axis motor (217), and the Z-axis motor (219) respectively drive the nozzle (211) to move along the X-axis guide rail (216), the Y-axis guide rail (218), and the Z-axis direction; The material filaments on the spool (207) are conveyed to the nozzle (211) via the first roller (209), the second roller (210) and the stepper motor (208). The control panel (204) is connected to the second signal receiver (205) and the data receiving unit (206) for receiving control commands and manufacturing data and adjusting system operating parameters; The image display (221) is used to display manufacturing process information; The vertical support (222) is used to support the working platform (201), and the groove (220) is used to fix the power transmission wire to be processed.

5. The internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology according to claim 1, characterized in that: The scanning subsystem (3) includes an X-ray emitter (301), an X-ray collector (302), an optocoupler (303), a wireless signal transmitter (304), a signal processing unit (305), and an image processing unit (306). The X-ray emitter (301) emits X-rays that penetrate the power transmission line, the X-ray collector (302) collects the X-ray signal after penetration, the optocoupler (303) converts the optical signal into an electrical signal, the signal processing unit (305) processes the electrical signal, and the image processing unit (306) converts the processed data into a three-dimensional image. The wireless signal transmitter (304) transmits the three-dimensional imaging data to the central control subsystem (5).

6. The internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology according to claim 1, characterized in that: The teleoperation subsystem (4) includes a teleoperation master hand (401), an encoder (402), a joint drive module (403), a signal acquisition module (404), a 5G control chip (405), a first position control joint (406), a second position control joint (407), a third position control joint (408), a first attitude control joint (409), a second attitude control joint (410), a third attitude control joint (411), and a redundant joint (412). The encoder (402) and the joint drive module (403) are mounted on the remote operation master hand (401). The signal acquisition module (404) acquires the motion signal of the remote operation master hand (401). The 5G control chip (405) transmits the motion signal to the central control subsystem (5) through the 5G network. The first position control joint (406), the second position control joint (407), and the third position control joint (408) are used to control the position of the teleoperating master hand (401), the first posture control joint (409), the second posture control joint (410), and the third posture control joint (411) are used to control the posture of the teleoperating master hand (401), and the redundant joint (412) is used to increase the movement flexibility of the teleoperating master hand (401); In the Cartesian coordinate system, the real-time position coordinates of the teleoperation master (401) Satisfy the following formula: ； ； ； Euler angles are used to describe the attitude of the teleoperation master (401), and real-time Euler angles are used. satisfy: ； ； ； Rotation matrix corresponding to real-time Euler angles for: ； The rotation angle of the redundant joint (412) is The redundant joint (412) increases the motion space dimension of the teleoperation master hand (401); In the formula, , , These are the initial position coordinates of the teleoperation master (401) in the Cartesian coordinate system; , , The rotation angles of the first position control joint (406), the second position control joint (407), and the third position control joint (408) are respectively. , , These are the relevant length parameters of the displacement changes caused by the movement of the first position control joint (406), the second position control joint (407), and the third position control joint (408), respectively. , , These are the Euler angles of the initial attitude of the teleoperation master hand (401); , , These are the rotation angles of the first posture control joint (409), the second posture control joint (410), and the third posture control joint (411), respectively. , , These are the proportional coefficients of the rotation angles and Euler angle changes of the first attitude control joint (409), the second attitude control joint (410), and the third attitude control joint (411), respectively. The rotation angle of the redundant joint (412).

7. The internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology according to claim 1, characterized in that: The central control subsystem (5) includes a PC (501), an expansion module (502), a motion control card (503), a drive motor signal receiver (504), an encoder receiver (505), a first display screen (506), a second display screen (507), a bracket (508), and a chair (509). The motion control card (503), the drive motor signal receiver (504), and the encoder receiver (505) are all connected to the PC (501) through the expansion module (502). The first display screen (506) is used to display the three-dimensional image generated by the scanning subsystem (3), and the second display screen (507) is used to display the operating parameters of the scanning subsystem (3); The bracket (508) is used to support the first display screen (506) and the second display screen (507), and the chair (509) is used by the operator.

8. The internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology according to claim 1, characterized in that: The photovoltaic power supply system (6) includes a crystalline silicon solar panel (601), an amorphous silicon solar panel (602), a smart control chip (603), a battery (604), a load (605), a light frequency divider duplexer (606), and a reflective concentrator (607). The reflective concentrator (607) focuses sunlight onto the optical frequency divider duplexer (606), which transmits light of different frequencies to the crystalline silicon solar panel (601) and the amorphous silicon solar panel (602), respectively. The crystalline silicon solar panel (601) and the amorphous silicon solar panel (602) convert light energy into electrical energy. The intelligent control chip (603) controls the charging and discharging of the storage battery (604), and the storage battery (604) supplies power to the load (605).

9. The internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology according to claim 4, characterized in that: In the manufacturing subsystem (2), the motion trajectory model of the nozzle (211) on the working platform (201) is as follows: ； ； ； In the formula, , , respectively the nozzle Always , , Coordinates on the axis , , As the initial coordinates, , , They are respectively , , The speed of motion on the axis.

10. The internal optical fiber splicing system for power transmission conductors based on additive manufacturing technology according to claim 8, characterized in that: In the photovoltaic power supply system (6), the intelligent control chip (603) adjusts the power supply according to the light intensity. and load power The charging and discharging of the battery (604) are controlled to satisfy the following relationship: when and When the solar panels are in use, they charge the battery; when... or At this time, the battery supplies power to the load; In the formula, The light intensity threshold, This refers to the output power of the solar panel.

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