Self-adaptive ice-resistant anti-galloping phase-to-phase spacer and working method

Abstract

The invention relates to the technical field of overhead transmission line protection equipment, in particular to a self-adaptive anti-icing anti-galloping phase-to-phase spacer and a working method, and the system comprises a clamping jaw interference stress recognition module, a vibration and icing state response recognition module, a tail end posture regulation and control execution module, a clamp path compensation coordination module and a structure state linkage verification module. According to the method, stress interference slow release control is completed through continuous judgment of the change trend of the clamping state, the clamping rhythm is adjusted to suppress transient force concentration, and a linkage response condition is constructed in combination with vibration performance and temperature change to synchronously trigger damping and heating actions; attitude direction trend analysis is used for guiding interface guiding state correction to maintain stable assembly, entry path offset correction is matched with propelling rhythm coordination to enhance the adaptive capacity of a guide rail to geometric changes of a wire, and structural action period consistency verification strengthens cooperative operation of multiple execution states; and the structural linkage reliability in the wire clamping process is integrally improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of overhead transmission line protection equipment, in particular to a self-adaptive anti-icing anti-dancing phase spacing rod and a working method. BACKGROUND

[0002] The technical field of overhead transmission line protection equipment relates to various devices for structural protection and state control of mechanical disturbance, electrical fault and physical damage of high-voltage transmission lines during operation under complex weather conditions and special geographical environments, the core matters include inhibiting conductor dancing, preventing icing load, avoiding line-to-line short circuit, limiting conductor displacement and tension anomaly, etc. This technical field mainly controls the stress state, relative position and vibration characteristics of the conductor by arranging anti-dancing structures, spacing structures, anti-icing components and monitoring devices on the conductor, using mechanical connection, damping vibration absorption, heat conduction anti-icing and rigid-flexible coupling structure design, etc. to ensure the stable operation of the power transmission system under the action of external environments such as strong wind, icing and high temperature. Among them, the traditional self-adaptive anti-icing anti-dancing phase spacing rod refers to a connecting structure arranged between adjacent conductors for maintaining the phase spacing and inhibiting the dancing phenomenon of the conductor caused by wind-induced vibration in icing weather. This structure usually connects the aluminum alloy rod body with the conductor clamp by manual bolting in the air, and the clamp contacts the conductor according to the fixed size structure, which cannot automatically adjust the clamping force with the change of the conductor diameter, easily leading to insufficient clamping force causing slippage or excessive clamping force causing conductor aluminum strand injury. In terms of anti-dancing function, the rod body mass is generally increased or a long swing arm structure is arranged to increase inertia and reduce the transverse vibration frequency of the conductor. Such design is mainly aimed at large amplitude motion, and is not sensitive to frequent small amplitude vibration response caused by slight wind, and is prone to structural secondary problems such as bolt loosening and conductor strand breakage due to continuous vibration in long-term operation.

[0003] The existing technology cannot adapt to the slight diameter change of the conductor caused by icing or wear in the actual clamping process of the conductor due to the fixed structure size and manual fastening process, the clamping stability is limited by the static structure characteristics and is difficult to cope with dynamic load disturbance at different stages, the structure response mechanism lacks effective identification means for the actual operation state of the conductor, cannot automatically switch the corresponding control strategy according to the low temperature or vibration trend change, and the attitude control does not include direction change trend judgment process, lacks real-time correction basis in the execution process, is prone to misalignment of the structure docking direction, causing insertion failure, the guide rail path is not analyzed in conjunction with the curvature of the conductor, and the clamping accuracy is easily affected by the deviation of the pushing track, the structure action lacks periodic consistency verification mechanism, making it difficult for the control system to realize multi-action collaborative closed loop. SUMMARY

[0004] In order to solve the technical problems existing in the prior art, the embodiments of the present application provide a self-adaptive anti-icing anti-dancing phase spacing rod and a working method, which comprises: The clamping jaw interference stress identification module obtains a clamping jaw sensing signal, compares adjacent sensing point clamping state change trends, identifies whether the clamping force is continuously enhanced, reduces the operating speed of the servo motor, prolongs the clamping action to the current pushing end, and obtains a clamping jaw interference release marker; The vibration and icing state response identification module obtains the conductor vibration state and the clamp temperature change based on the clamping jaw interference release marker, judges whether the vibration enhancement and the low temperature appear at the same time, switches the damping channel to start the heating action, and obtains an icing vibration linkage response state; The terminal posture adjustment execution module monitors the posture direction change based on the icing vibration linkage response state, adjusts the angle of the guide window and corrects the direction of the clamping arm, and obtains a guide posture correction state; The clamp path compensation coordination module obtains the clamp trajectory and the conductor curvature based on the guide posture correction state, identifies the offset path, resets the insertion starting point and the action rhythm, and obtains a path coordination adjustment state; The structure state linkage verification module monitors the clamp locking action, the heating and damping structure response state based on the path coordination adjustment state, matches whether the structure action is completed in the same operating cycle, and obtains a spacer rod operating linkage state.

[0005] As a further scheme of the present application, the clamping jaw interference release marker includes a servo motor operating speed adjustment value, a clamping action delay parameter, and continuous clamping force change position data, the icing vibration linkage response state includes conductor vibration trend data, contact temperature change information, damping structure response state, and heating component working state, the guide posture correction state includes posture offset direction data, reverse correction instruction, and angle retention parameter, the path coordination adjustment state includes clamp trajectory rearrangement path, pushing sequence adjustment parameter, and insertion action rhythm information, and the spacer rod operating linkage state includes clamp locking and fitting action feedback, damping structure response action record, and heating component on-off response information.

[0006] As a further scheme of the present application, the offset path refers to identifying whether the clamp pushing path deviates from the conductor shape; The damping structure response state refers to triggering the damping and heating component working state at the same time when the conductor vibration intensifies and the temperature drops.

[0007] As a further scheme of the present application, the clamping jaw interference stress identification module includes: The sensing signal acquisition sub-module obtains sensing points arranged circumferentially on the clamp jaw assembly, reads the pressure electric signals generated by each point in parallel, acquires the clamping state data in the current time slice, extracts the values in the order of the sensing point positions and performs standardization processing, and obtains a clamping state signal array; The clamping force trend judgment submodule extracts continuous sections with the same numerical change direction based on the state difference between adjacent sensing points in the clamping state signal array, positions the number sequence, extracts continuous sections with continuously increasing states, and obtains a clamping force continuously increasing section set; The pushing rhythm regulation submodule adjusts the driving speed of the servo motor to be below the initial set value based on the sensing point section position corresponding to the clamping force continuously increasing section set, prolongs the pushing time of the current clamping action until the pushing process ends, and obtains a clamping jaw interference slow-release mark.

[0008] As a further scheme of the present application, the vibration and icing state response recognition module comprises: The clamping stable state extraction submodule extracts the interval range and speed change data of pressure change in the action stage based on the clamping process data recorded by the clamping jaw interference slow-release mark, identifies the action section in which the state change amplitude remains within the set range in the continuous time period, and obtains a clamping stable action section sequence. The environmental state monitoring submodule detects the conductor vibration response value and the clamping fixture contact point temperature change rate recorded by the spacer main structure based on the clamping stable action section sequence, analyzes whether the change direction of the numerical value is consistent in the current stage, extracts the overlapping period of continuous rise and continuous temperature drop, and obtains a vibration enhancement and temperature drop intersection interval. The linkage control response triggering submodule matches and compares the identification signal and the temperature control triggering logic based on the vibration channel identification and the heating device start-stop state data corresponding to the time period in the vibration enhancement and temperature drop intersection interval, identifies the index position of the synchronous state change, and obtains an icing vibration linkage response state.

[0009] As a further scheme of the present application, the terminal posture regulation execution module comprises: The structure response stage identification submodule detects the start control bit section index and the time index sequence in the identification based on the structure control identification data included in the icing vibration linkage response state, screens the number block associated with the posture control in the current control paragraph, extracts the trigger signal sequence of the structure state change in the control section, and obtains a structure posture regulation associated section index group. The posture direction change monitoring submodule collects the posture direction angle sequence of the plug-in interface assembly and the unmanned aerial vehicle clamping device based on the structure posture regulation associated section index group, analyzes the direction angle difference value sequence trend in the current and previous control periods, identifies the difference sign switching behavior in the continuous direction of the angle change, and obtains a posture deviation inversion triggering position index. The guide angle correction control submodule writes control instructions based on the direction angle change data corresponding to the attitude offset reverse trigger position index and the current setting angle value of the guide window, triggers the servo end to maintain the angle control flow, and obtains the guide attitude correction state.

[0010] As a further scheme of the present application, the jig path compensation coordination module comprises: The angle correction data receiving submodule obtains the running track sequence in the current action period of the jig slide rail assembly based on the angle deflection correction value recorded in the guide attitude correction state, extracts the wire curvature data points, maps the angle deflection correction value and the track change sequence, and obtains the attitude influence track relocation parameter set; The path offset judgment submodule judges whether the contact track between the jig slide rail assembly movement path and the wire bending form appears discontinuous change based on the space position comparison between each point coordinate in the attitude influence track relocation parameter set and the wire curvature continuous segment, extracts the abnormal track number sequence in the change interval, and obtains the jig path offset identification sequence; The action rhythm synchronization control submodule rearranges the number order in the push instruction queue based on the push step index corresponding to the number in the jig path offset identification sequence and the action time sequence mapping relationship, allocates the insertion action trigger clock beat duration, and obtains the path coordination adjustment state.

[0011] As a further scheme of the present application, the structure state linkage verification module comprises: The push node information receiving submodule extracts the trigger time index, jig action number and rhythm time sequence group in the node execution stage based on the push node number sequence in the path coordination adjustment state, and combines them into the basic parameters for structure stage judgment to obtain the jig push node execution parameter group; The structure action synchronization monitoring submodule collects the state bit signal of the locking assembly fitting action, the vibration response amplitude signal in the damping structure and the on-off power time point sequence of the heating assembly based on the control period of the numbered node in the jig push node execution parameter group, and obtains the multi-structure action execution tag set; The running cycle consistency comparison submodule synchronously verifies the control trigger and the action position completion time based on the response tag index in the multi-structure action execution tag set and the rhythm time sequence group in the jig push node parameter group, extracts the consistent synchronization region in the action time axis order, and obtains the spacer rod running linkage state.

[0012] As a further scheme of the present application, the on-off power time point sequence of the heating assembly in the multi-structure action execution tag set is controlled to be within the control period range in the jig push node execution parameter group between the adjacent two power-on time points. The plurality of synchronous areas extracted in time sequence: the response label index and the pace timing group in the clamp pushing node execution parameter group are kept corresponding during continuous extraction, and the time interval between the control trigger and the action position completion time is kept within the synchronous pace range.

[0013] In another aspect, a self-adaptive anti-icing anti-dancing phase spacing rod working method based on the above-mentioned self-adaptive anti-icing anti-dancing phase spacing rod, comprising the following steps: S1: Obtain the sensing state signal of the clamp jaw assembly, compare the adjacent sensing point clamping state change trend, identify whether the clamping force is continuously enhanced, adjust the pushing speed of the servo motor and prolong the clamping action execution time to the pushing process completion, and obtain the clamp jaw interference release mark; S2: Based on the clamp jaw interference release mark, obtain the conductor vibration state and the clamp temperature change, judge whether vibration enhancement and low temperature appear at the same time, switch the damping response channel and start the heating component running program, and obtain the ice vibration linkage response state; S3: Based on the ice vibration linkage response state, monitor the posture change trend between the plug-in interface assembly and the unmanned aerial vehicle clamping device, judge whether the continuous posture direction is reversed, reverse correct the angle of the guide window and adjust the operation direction of the clamping arm, and obtain the guide posture correction state; S4: Based on the guide posture correction state, obtain the corresponding relationship between the running track of the clamp slide rail assembly and the conductor curvature, identify whether the pushing path is deviated, reset the insertion starting point and the action pace, and obtain the path coordination adjustment state; S5: Based on the path coordination adjustment state, monitor the clamping action, heating and damping structure response state, match whether the structure action is completed in the same running cycle, and obtain the spacing rod running linkage state.

[0014] Compared with the prior art, the advantages and positive effects of the present application are: In the present application, stress interference release control is completed through continuous identification of clamping state change trend, clamping pace is adjusted to suppress transient force concentration, linkage response conditions are constructed combining vibration performance and temperature change to synchronously trigger damping and heating actions, posture direction trend analysis is used for guiding interface guide state correction to maintain assembly stability, path deviation correction is matched with pushing pace coordination to enhance the adaptation ability of guide rail to conductor geometric change, structure action cycle consistency verification strengthens the cooperative operation of multiple execution states, and the overall structure linkage reliability in the conductor clamping process is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0016] Figure 1 System flowchart of the present application; Figure 2 System block diagram of the present application; Figure 3 Flowchart of the gripper interference stress identification module in the present application; Figure 4 Flowchart of the vibration and icing state response identification module in the present application; Figure 5 Flowchart of the end posture regulation and execution module in the present application; Figure 6 Flowchart of the gripper path compensation coordination module in the present application; Figure 7 Flowchart of the structure state linkage verification module in the present application; Figure 8 Flowchart of the method steps in the present application. DETAILED DESCRIPTION

[0017] The technical solutions in the present application will be described below with reference to the drawings.

[0018] In the embodiments of the present application, the words such as "example", "for example" and the like are used to represent an example, illustration or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word "example" is intended to present the concept in a specific manner. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be one of the two.

[0019] In the embodiments of the present application, "image" and "picture" can be used interchangeably at times. It should be pointed out that when the distinction is not emphasized, the meanings expressed are consistent. "Of", "corresponding" and "relevant" can be used interchangeably at times. It should be pointed out that when the distinction is not emphasized, the meanings expressed are consistent.

[0020] In the embodiments of the present application, sometimes the subscript such as W1 can be written in the form of non-subscript such as W1. When the distinction is not emphasized, the meanings expressed are consistent.

[0021] In order to make the technical problems, technical solutions and advantages to be solved by the present application more clear, the following will be described in detail in combination with the drawings and specific embodiments.

[0022] The embodiment of the present application provides an adaptive anti-icing anti-swing phase-to-phase spacer bar, such as Figures 1-2 The adaptive anti-icing anti-swing phase-to-phase spacer bar shown in the schematic diagram comprises: The jaw interference stress identification module obtains the sensing state signal of the clamp jaw assembly, compares the clamping state change trend between the adjacent sensing points arranged in the circumferential direction, identifies whether the clamping force change between the sensing points continuously increases in the same direction, locates the continuous change point, adjusts the clamping advancing program, reduces the operation speed of the servo motor to below the original setting, and prolongs the execution time of the clamping action to the completion of the advancing process, to obtain the jaw interference release marker; The vibration and icing state response identification module obtains the conductor vibration performance and the temperature change state of the clamp contact area recorded by the spacer bar main structure based on the clamping stable state recorded by the jaw interference release marker, jointly judges whether the vibration form continuously strengthens and whether the low-temperature state continuously exists, and links to start the damping structure response channel and the working state of the clamp heating assembly, to obtain the icing vibration linkage response state; The end posture control execution module monitors the posture change trend between the plug-in interface assembly and the unmanned aerial vehicle clamping device based on the current structure response stage identified by the icing vibration linkage response state, compares and analyzes the continuous posture deviation direction, identifies whether the direction reversal behavior occurs, reversely corrects the guide window operation and maintains the current angle state, to obtain the guide posture correction state; The clamp path compensation coordination module obtains the corresponding relationship between the running track of the clamp slide rail assembly and the conductor curvature based on the angle deflection correction value recorded by the guide posture correction state, judges whether the clamp entry path deviates, re-arranges the clamp advancing sequence, and synchronously adjusts the insertion action starting rhythm, to obtain the path coordination adjustment state; The structure state linkage verification module monitors whether the clamp locking assembly fitting action is completed based on the advancing node information verified by the path coordination adjustment state, synchronously obtains the vibration response action of the damping structure and the on-off response state of the heating assembly, and correspondingly matches whether the structure action is completed in the same operation cycle, to obtain the spacer bar running linkage state.

[0023] The clamping jaw interference slow-release mark includes a servo motor operating speed adjustment value, a clamping action delay parameter, and continuous clamping force change position data. The icing vibration linkage response state includes conductor vibration trend data, contact temperature change information, damping structure response state, and heating component working state. The guiding posture correction state includes posture deviation direction data, reverse correction instruction, and angle retention parameter. The path coordination adjustment state includes clamp trajectory rearrangement path, propulsion sequence adjustment parameter, and insertion action rhythm information. The spacer rod running linkage state includes clamp locking and fitting action feedback, damping structure response action record, and heating component on-off response information.

[0024] Specifically, as shown in Figure 2 、 3 , the clamping jaw interference stress recognition module includes: The sensing signal acquisition sub-module acquires sensing points arranged circumferentially on the clamp jaw assembly, reads the pressure electrical signals generated by each point in parallel, acquires the clamping state data in the current time slice, extracts the values in the order of sensing point positions and performs standardization processing to obtain a clamping state signal array; First, in the sensing signal acquisition stage, 8 sensing points arranged equidistantly in a circumferential direction on the clamp jaw assembly are positioned. These sensing points correspond to high-precision thin-film pressure sensors integrated in the clamp jaw lining. The 0-50 millivolt analog electrical signals output by each sensor are read in real time through a parallel bus interface, and are amplified and analog-digital converted by a signal regulation circuit to be converted into digital quantities. In the current time slice, the sampling period is set to 50 milliseconds, and the initial pressure values of the 8 sensing points are continuously acquired. The extraction process strictly follows the physical position numbering in the clockwise direction on the inside of the clamp jaw, and the original pressure values generated by sensors 1 to 8 are extracted. In view of the range deviation caused by individual differences of the sensors, standardization processing is performed, specifically, the calibration coefficients corresponding to each sensing point are called, for example, the calibration coefficient of sensor 1 is 1.01, and the calibration coefficient of sensor 2 is 0.99. The original acquired pressure value is multiplied by the calibration coefficient and then divided by the full-scale reference value of the sensor, which is 20 megapascals. After calculation, the original value of sensor 1 is 4.20 megapascals, and the standardized value is 0.2121 megapascals. The original value of sensor 2 is 4.50 megapascals, and the standardized value is 0.22275 megapascals. The standardized data form a floating-point array containing 8 elements, and a clamping state signal array is obtained.

[0025] The clamping force trend judgment sub-module extracts the continuous segments with the same value change direction based on the state difference between adjacent sensing points in the clamping state signal array, locates the number sequence, extracts the continuous segments with continuously increasing state, and obtains a clamping force continuously increasing segment set. Firstly, the obtained clamping state signal array is called to perform a comparison action, and the numerical difference between adjacent sensing points in the array is calculated. By analyzing the positive and negative properties of the difference, continuous segments with the same value change direction are identified. When the pressure difference between sensor 2 and sensor 1 is 0.213 MPa, the difference between sensor 3 and sensor 2 is 0.441 MPa, and the values are both positive, it is determined that the interval is in a synchronous enhancement state. Subsequently, the number sequence of sensing points with continuously increasing values is located and recorded, for example, sequence 1 to sequence 4. By further extracting the segment in which the pressure value of a specific number sequence remains increasing trend within 5 consecutive sampling time periods. When it is detected that the arithmetic mean of the pressure at each time in the segment is higher than that at the previous time, and the difference between adjacent sampling points is greater than 0.01 MPa, there is no value falling back or stagnation phenomenon, the continuous data segments that meet the conditions are aggregated to obtain a clamping force continuous growth segment set.

[0026] The advance rhythm regulation sub-module adjusts the driving rate of the servo motor to below the initial set value based on the sensing point segment position corresponding to the clamping force continuous growth segment set, and prolongs the advance time of the current clamping action until the advance process ends to obtain a clamp interference release marker; Firstly, the physical position of the sensing point corresponding to the clamping force continuous growth segment set is called in the advance rhythm regulation stage. It is determined that there is an interference risk of over-extruding the wire to cause permanent deformation of the aluminum strand when the current pressure growth slope exceeds the preset safety boundary value of 0.5 MPa per second. The speed limit instruction is issued to the direct current brushless servo motor that drives the opening and closing of the clamp to reduce the driving rate of the servo motor from the initial setting of 10 mm per second to 3 mm per second. At the same time of reducing the rate, according to the 12 mm remaining stroke feedback of the current clamp opening degree encoder, the advance time is recalculated and prolonged, and the original 1.2 seconds is adjusted to 4 seconds until the sensor feedback pressure reaches the preset 5.5 MPa stable clamping threshold and the motor torque feedback reaches the rated locking current. After the advance process is completely finished, the logic variable is set to 1 in the control register, and the clamp interference release marker is obtained by recording the execution record of the stress release.

[0027] Specifically, as shown in Figure 2 , 4 The vibration and icing state response identification module includes: The clamping stable state extraction sub-module extracts the interval range and speed change data of the pressure change in the action stage based on the clamping process data recorded by the clamp interference release marker, identifies the action segment in which the state change amplitude remains within the set range in the continuous time period, and obtains a clamping stable action segment sequence. First, the complete pressure time series of the clamping process recorded by the gripper interference slow-release markers is retrieved. An identification action is performed, setting a fluctuation deviation threshold of 0.1 MPa. By scanning the pressure data within the action phase, the difference between the maximum and minimum pressure values ​​within three consecutive seconds is calculated. If this difference is 0.08 MPa, it is determined that it does not exceed the 0.1 MPa setting. Simultaneously, the corresponding motor encoder pulse feedback data is extracted, and its position change rate is analyzed. When it is identified that the pressure fluctuation is extremely small and the motor displacement speed is constantly below 0.01 mm per second within a specific time period, this time interval is defined as a stable segment. By sequentially arranging the index points of these action segments that meet the conditions, for example from 500 ms to 3500 ms, a sequence of stable clamping action segments is obtained.

[0028] The environmental condition monitoring submodule, based on the clamping stabilization action segment sequence, detects the conductor vibration response value and the temperature change rate of the clamp contact point recorded by the main structure of the spacer bar, analyzes whether the change direction of the values ​​is consistent in the current stage, extracts the overlapping period of continuous rise and continuous cooling, and obtains the intersection interval of vibration enhancement and temperature drop. Firstly, during the environmental condition monitoring phase, sensor monitoring of the spacer bar's main structure is simultaneously initiated within the time window corresponding to the clamping stabilization action sequence. An integrated triaxial accelerometer is used to detect the vertical vibration amplitude of the conductor in real time, and a thermistor records the temperature data at the contact point between the clamp and the conductor. Analysis is then performed to calculate the rate of change of vibration amplitude and temperature over time. If the vibration amplitude continuously increases from 20 mm to 40 mm within 60 seconds, and the temperature continuously decreases from 0 degrees Celsius to -3 degrees Celsius during the same time period, it is determined that the directions of change of the two have a continuous physical consistency. By comparing the starting time of the increase in vibration intensity with the starting time of the decrease in temperature, a logical AND operation is used to extract the overlapping interval on the time axis. By performing this intersection operation, the time interval in which both are simultaneously in a severe weather evolution state is located, obtaining the intersection interval of vibration enhancement and temperature decrease.

[0029] The linkage control response triggering submodule is based on the vibration channel identifier and heating device start / stop status data corresponding to the time interval of the intersection of vibration enhancement and temperature drop. It matches and compares the identifier signal with the temperature control triggering logic, identifies the index position of synchronous status change, and obtains the icing vibration linkage response status. First, multiple sets of structural state data corresponding to the intersection of vibration enhancement and temperature decrease are acquired. The preset vibration damping channel identifier and the current feedback status bit of the electric heating device are extracted for this time period. A matching comparison is performed, verifying the real-time channel opening command against the internally fixed icing and anti-vibration linkage strategy matrix. This matrix defines that linkage is triggered when the temperature is below or equal to 0 degrees Celsius and the vibration amplitude is greater than or equal to 30 mm. The high-frequency sampling index triggered by the vibration sensor and the level signal index of the heating relay closure are identified. By calculating the synchronization offset of the two types of signals on the time axis, if the measured offset is 110 milliseconds, which is less than the set range of 200 milliseconds, the structure is determined to have entered an effective linkage response state. By indexing and marking the moments of these state synchronization changes and injecting the linkage characteristic parameters into the controller cache, the icing vibration linkage response state is obtained.

[0030] Specifically, such as Figure 2 , 5 As shown, the end-effector attitude control execution module includes: The structural response stage identification submodule is based on the structural control identification data included in the ice-covering vibration linkage response state. It detects the start-up position segment index and time index sequence within the identification, filters the numbered blocks associated with attitude control in the current control segment, extracts the trigger signal sequence of structural state changes within the control segment, and obtains the structural attitude control associated segment index group. First, the structural control identification data contained in the icing vibration linkage response state is retrieved. A filtering process is performed, retrieving specific control start-up segment from the control command stream using a masking operator. By identifying hexadecimal numbered blocks related to the attitude control function, such as address ranges 0C to 10, the structural state switching trigger pulse sequence recorded within these blocks is extracted. In this embodiment, the attitude compensation command is identified as being activated in the 12th control cycle. Subsequently, the time index within this control segment is logically segmented, categorizing all stepper motor pulses involved in adjusting the angle of the gripper arm and servo control signal points related to guide window deflection. By aggregating these strongly correlated control time nodes and operation numbers, a structural attitude control associated segment index group is obtained.

[0031] The attitude direction change monitoring submodule collects the attitude direction angle sequence of the plug-in interface component and the UAV clamping device based on the structural attitude control associated segment index group, analyzes the trend of the direction angle difference sequence within the current and previous control cycles, identifies the positive and negative sign switching behavior of the difference in the continuous direction of angle change, and obtains the attitude offset reversal trigger position index. First, during the attitude change monitoring phase, based on the structural attitude control associated segment index group, the nine-axis inertial sensor sequence of the plug-in interface component and the UAV clamping device is collected in real time. Analysis is performed to calculate the difference between the yaw and pitch angle values ​​of the current sampling period and the values ​​of the previous sampling period. For example, if the current yaw angle is 5.5 degrees and the previous yaw angle was 5.2 degrees, the difference is +0.3 degrees. The trend of this difference sequence is continuously monitored. When the difference jumps from +0.1 degrees to -0.1 degrees, it is determined that the instantaneous attitude of the spacer relative to the conductor has reversed direction. By accurately locating the instantaneous sampling point index where the sign of the difference changes, and recording the absolute value of the angle at that moment, the attitude offset reversal trigger position index is obtained.

[0032] The guidance angle correction control submodule writes control commands based on the direction angle change data corresponding to the attitude offset reversal trigger position index and the current set angle value of the guidance window, and triggers the servo end to maintain the angle control process to obtain the guidance attitude correction status. First, the angle deviation value corresponding to the attitude offset reversal trigger position index is retrieved. For example, if the yaw angle offset relative to the guide axis is identified as 1.5 degrees, a write operation is performed, inputting a compensation value of -1.5 degrees to the controller of the guide window. This is then combined with the current initial setting angle of 10 degrees in the guide window for calculation, resulting in a corrected target angle of 8.5 degrees. The servo motor is triggered to deflect according to the new target value, and the absolute position feedback of the motor encoder is monitored in real time. A proportional-integral-derivative algorithm is used to ensure that the overlap error between the physical centerline of the gripper arm and the guide axis is less than 0.05 degrees. After the motor reaches the target position and maintains the locked torque, the current attitude control record is updated to obtain the guide attitude correction state.

[0033] Specifically, such as Figure 2 , 6 As shown, the fixture path compensation and coordination module includes: The angle correction data receiving submodule obtains the running trajectory sequence of the fixture slide rail component within the current action cycle based on the angle deflection correction value recorded in the guide attitude correction state record, extracts the conductor curvature data points, and maps the angle deflection correction value with the trajectory change sequence to obtain the attitude-affected trajectory repositioning parameter set. First, the 1.5-degree angle deflection correction value from the guide attitude correction status record is received. An acquisition action is executed, retrieving the 3D trajectory coordinate sequence of the fixture slide rail assembly within the current action cycle, and extracting the guide wire curvature model data points obtained from the UAV LiDAR scan from the database. An overlay operation is performed, constructing a rotation transformation matrix using the deflection correction value, and arithmetically multiplying each original trajectory point coordinate value with this rotation matrix. For example, the original coordinate points 100.0, 200.0, and 300.0 are rotated and mapped to compensated spatial coordinate points 98.5, 201.2, and 300.0. By remapping the coordinates point-by-point along the entire installation path, the geometric displacement deviation caused by the attitude deviation is compensated, resulting in the attitude-affected trajectory repositioning parameter set.

[0034] The path offset judgment submodule compares the spatial position of each point coordinate in the attitude influence trajectory relocation parameter set with the continuous segment of the conductor curvature to determine whether there is a discontinuous change in the contact track between the motion path of the fixture slide rail assembly and the bending shape of the conductor. It extracts the abnormal trajectory number sequence within the change range to obtain the fixture path offset recognition sequence. First, the spatial coordinates of each point in the attitude-affected trajectory relocation parameter set are compared with the spatial position of the conductor curvature model. A judgment action is performed, setting a critical threshold of 10 mm for path deviation. By calculating the vertical distance from the relocation trajectory point to the conductor curvature centerline, if it is detected that the vertical distance between multiple trajectory points increases from 8 mm to 15 mm within a continuous segment, exceeding the 10 mm critical threshold, it is determined that the motion path of the clamp guide rail has discontinuous contact or severe deviation from the actual curvature of the conductor. Then, the unique time series number corresponding to these trajectory points with excessive distances is extracted, and these abnormal points are arranged in chronological order to obtain the clamp path offset identification sequence.

[0035] The motion rhythm synchronization control submodule rearranges the number order in the propulsion instruction queue and allocates the timing duration of the inserted action trigger clock based on the mapping relationship between the propulsion step index corresponding to the number in the fixture path offset identification sequence and the action timing. This results in the path coordination adjustment state. First, the abnormal number and its corresponding advancement step index in the fixture path offset identification sequence are called. A reordering action is performed, adjusting the execution priority of instructions in the advancement instruction queue and inserting path compensation instructions into the current execution stack. Simultaneously, the clock ticks for action triggering are reallocated. For example, the normal advancement step time is extended from 100 milliseconds to 250 milliseconds, i.e., by reducing the control pulse transmission frequency, the advancement speed of the servo mechanism when passing through high curvature or path offset sections is reduced to 40% of the original speed. Through this dynamic reordering of instruction execution timing, sufficient time is ensured for the mechanical mechanism to respond to path correction instructions, enabling the mechanical displacement and the spatial morphology of the guide wire to achieve spatiotemporal synchronization, resulting in a path coordination adjustment state.

[0036] Specifically, such as Figure 2 , 7 As shown, the structural state linkage verification module includes: The advance node information receiving submodule extracts the trigger time index, fixture action number and rhythm timing group within the node execution phase based on the advance node number sequence in the path coordination and adjustment state, and combines them into the basic parameters for structural phase determination to obtain the fixture advance node execution parameter group. First, the rearranged sequence of propulsion node numbers is extracted from the path coordination and adjustment state. An extraction process is performed to obtain the precise trigger timestamp, corresponding fixture servo motor speed parameters, and adjusted rhythm cycle for each node during the execution phase. For example, node number 12 is extracted, with a trigger time of 10.5 seconds after startup and an action step size set to 5 millimeters. These data items are encapsulated and transformed into a basic reference vector set for structural phase determination. By combining execution time, action type, and timing frequency in a multi-dimensional manner, a standard reference model for verifying the interoperability of various mechanisms is constructed, resulting in the fixture propulsion node execution parameter set.

[0037] The structural motion synchronization monitoring submodule collects the status position signal of the locking component's contact action, the vibration response amplitude signal inside the damping structure, and the on / off time sequence of the heating component based on the control cycle of the numbered node in the parameter group of the fixture advancement node, and obtains a multi-structure motion execution tag set. First, based on the control cycle provided by the parameter group of the fixture propulsion node, multi-source data acquisition is initiated. The aggregation action is performed, simultaneously acquiring the contact status signal generated by the limit switch of the locking component, the response amplitude fed back by the pressure sensor within the damping structure, and the current value of the power circuit of the electric heating component. For example, during the operation of node 12, it was detected that the locking signal became closed at 100 milliseconds, the damping pressure peak appeared at 115 milliseconds, and the heating current reached the rated 4.2 amperes at 120 milliseconds. These response data from different physical actuators are tagged according to a unified time base, and aggregated into a data package containing multi-dimensional state characteristics, resulting in a multi-structure action execution tag set.

[0038] The cycle consistency comparison submodule is based on the response tag index in the multi-structure action execution tag set and the rhythm timing group in the fixture propulsion node parameter group. It synchronously verifies the control trigger and action position completion time, extracts the consistent synchronization area according to the action time axis, and obtains the interval bar running linkage status. First, during the consistency comparison phase of the operating cycle, various response tags from the multi-structure action execution tag set are retrieved. A comparison operation is performed, subtracting the actual monitored locking action completion time, damping response time, and heating start time from the preset node rhythm sequence to obtain the synchronization deviation value for each action. The allowable deviation range for consistency judgment is set to ±50 milliseconds. If the absolute value of the deviation value for all actions is less than 50 milliseconds, for example, the measured deviations are -25 milliseconds, +10 milliseconds, and +15 milliseconds respectively, all within the set range, then it is determined that the structural actions within this operating cycle have achieved logical and physical synchronization. All verified synchronization regions are extracted sequentially along the timeline to obtain the spacer bar's operational linkage status.

[0039] Installation method of drones: The positioning drone uses an RTK positioning system and high-definition camera equipment to obtain the target location coordinates of the power transmission line and the spraying operation. After receiving the location information, the transport and installation drone takes off, determines the position of the conductor through visual recognition, and controls the robotic arm to adjust the orientation of the clamp to enter the docking preparation stage. The carrier drone drives a servo motor to push the clamp to hold the wire. It analyzes and provides real-time feedback on changes in the clamping state. If the clamping process shows a continuous increasing trend, it automatically reduces the running speed and extends the clamping duration to balance the clamping process. It continues to monitor the vibration amplitude of the wire and the temperature change of the contact area. When the vibration increases and the low temperature persists, it automatically starts the damping component and heating device. The system continuously monitors the attitude changes between the gripper and the drone, dynamically adjusts the gripper's movement trajectory and advancement sequence, optimizes the insertion force and entry direction, and locks the controller when the pressure sensor detects that the clamping value has reached the set range. The drone then releases the gripper and evacuates.

[0040] Please see Figure 8The adaptive anti-icing and anti-galloping phase-spacer operation method is based on the aforementioned adaptive anti-icing and anti-galloping phase-spacer and includes the following steps: S1: Obtain the sensing status signal of the gripper jaw assembly, compare the clamping status change trend of adjacent sensing points, identify whether the clamping force is continuously increasing, adjust the servo motor advance rate and extend the clamping action execution time until the advance process is completed, and obtain the gripper interference relief mark. S2: Based on the clamp interference slow-release mark, obtain the conductor vibration state and clamp temperature change, determine whether vibration enhancement and low temperature occur simultaneously, switch the damping response channel and start the heating component operation program to obtain the ice-covering vibration linkage response state. S3: Based on the icing vibration linkage response state, monitor the attitude change trend between the plug-in interface component and the UAV clamping device, determine whether the continuous attitude direction has been reversed, correct the guide window angle in the opposite direction and adjust the clamping arm operation direction to obtain the guide attitude correction state. S4: Based on the guide attitude correction state, obtain the correspondence between the running trajectory of the fixture slide rail assembly and the curvature of the guide wire, identify whether the propulsion path has deviated, reset the insertion starting point and action rhythm, and obtain the path coordination adjustment state; S5: Based on the path coordination adjustment status, monitor the clamp locking action, the heating and damping structure response status, and match whether the structural actions are completed within the same running cycle to obtain the spacer bar running linkage status.

[0041] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An adaptive anti-icing and anti-galloping interleaved spacer bar, characterized in that, The spacer includes: The gripper interference stress recognition module acquires the gripper sensing signal, compares the gripping state change trend of adjacent sensing points, identifies whether the gripping force is continuously increasing, reduces the servo motor running speed, extends the gripping action until the current advance ends, and obtains the gripper interference relief mark. The vibration and icing state response identification module, based on the clamp interference slow-release mark, obtains the conductor vibration state and clamp temperature change, determines whether vibration enhancement and low temperature occur simultaneously, switches the damping channel to start the heating action, and obtains the icing vibration linkage response state. The end attitude control execution module monitors the attitude direction change based on the ice-covering vibration linkage response state, adjusts the guide window angle and corrects the clamping arm direction to obtain the guide attitude correction state. The fixture path compensation and coordination module obtains the fixture trajectory and wire curvature based on the guide posture correction state, identifies the offset path, resets the insertion starting point and action rhythm, and obtains the path coordination adjustment state. The structural state linkage verification module monitors the clamping action, heating and damping structural response status based on the path coordination adjustment status, and matches whether the structural actions are completed within the same operating cycle to obtain the spacer bar operation linkage status.

2. The adaptive anti-icing and anti-galloping interleaved spacer according to claim 1, characterized in that, The gripper interference mitigation markers include servo motor operating speed adjustment values, gripping action delay parameters, and continuous gripping force change position data. The icing vibration linkage response status includes conductor vibration trend data, contact temperature change information, damping structure response status, and heating component working status. The guide attitude correction status includes attitude offset direction data, reverse correction commands, and angle holding parameters. The path coordination adjustment status includes gripper trajectory rearrangement, advancement sequence adjustment parameters, and insertion action rhythm information. The spacer bar running linkage status includes gripper locking and fitting action feedback, damping structure response action recording, and heating component on / off response information.

3. The adaptive anti-icing and anti-galloping interleaved spacer according to claim 1, characterized in that, The offset path refers to whether the clamp's advance path deviates from the shape of the guide wire; The damping structure response state refers to the state in which the damping and heating components are activated simultaneously when the conductor vibration intensifies and the temperature drops.

4. The adaptive anti-icing and anti-galloping interleaved spacer according to claim 1, characterized in that, The gripper interference stress identification module includes: The sensing signal acquisition submodule acquires the sensing points arranged circumferentially by the clamping jaw assembly, reads the pressure electrical signal generated by each point in parallel, collects the clamping state data in the current time slice, extracts the values ​​in the order of the sensing point positions and performs standardization processing to obtain the clamping state signal array. The clamping force trend judgment submodule extracts continuous segments with the same direction of numerical change based on the state difference between adjacent sensing points in the clamping state signal array, locates the number sequence, extracts continuous segments with continuously increasing state, and obtains a set of segments with continuously increasing clamping force. The advance rhythm control submodule adjusts the drive speed of the servo motor to below the initial set value based on the sensing point segment position corresponding to the continuously increasing clamping force segment set, and at the same time extends the advance time of the current clamping action until the advance process ends, thus obtaining the gripper interference relief mark.

5. The adaptive anti-icing and anti-galloping interleaved spacer according to claim 1, characterized in that, The vibration and icing state response identification module includes: The clamping stability state extraction submodule extracts the range of pressure changes and speed changes within the action phase based on the clamping process data recorded by the gripper interference release markers, identifies the action segments in which the amplitude of state changes within the phase does not exceed the set range within a continuous time period, and obtains the clamping stability action segment sequence. Based on the clamping stabilization action segment sequence, the environmental condition monitoring submodule detects the conductor vibration response value and the temperature change rate of the clamp contact point recorded by the main structure of the spacer bar, analyzes whether the change direction of the values ​​is consistent in the current stage, extracts the overlapping period of continuous rise and continuous cooling, and obtains the intersection interval of vibration enhancement and temperature drop. The linkage control response triggering submodule, based on the vibration channel identifier and heating device start / stop status data corresponding to the time interval of the intersection of vibration enhancement and temperature drop, matches and compares the identifier signal with the temperature control triggering logic, identifies the index position of synchronous state change, and obtains the icing vibration linkage response status.

6. The adaptive anti-icing and anti-galloping interleaved spacer according to claim 1, characterized in that, The end-effector attitude control execution module includes: The structural response stage identification submodule, based on the structural control identification data included in the ice-covering vibration linkage response state, detects the start-control position segment index and time index sequence within the identification, filters the numbered blocks associated with attitude control in the current control segment, extracts the trigger signal sequence of structural state changes within the control segment, and obtains the structural attitude control associated segment index group. The attitude direction change monitoring submodule collects the attitude direction angle sequence of the plug-in interface component and the UAV clamping device based on the structural attitude control associated segment index group, analyzes the trend of the direction angle difference sequence within the current and previous control cycles, identifies the positive and negative sign switching behavior of the difference in the continuous direction of angle change, and obtains the attitude offset reversal trigger position index. The guidance angle correction control submodule writes control instructions based on the direction angle change data corresponding to the attitude offset reversal trigger position index and the current set angle value of the guidance window, and triggers the servo end to maintain the angle control process to obtain the guidance attitude correction state.

7. The adaptive anti-icing and anti-galloping interleaved spacer according to claim 1, characterized in that, The fixture path compensation and coordination module includes: The angle correction data receiving submodule obtains the running trajectory sequence of the fixture slide rail assembly in the current action cycle based on the angle deflection correction value recorded in the guide attitude correction state record, extracts the conductor curvature data points, and maps the angle deflection correction value with the trajectory change sequence to obtain the attitude-affected trajectory repositioning parameter set. The path offset judgment submodule compares the coordinates of each point in the attitude influence trajectory relocation parameter set with the continuous segment of the conductor curvature to determine whether there is a discontinuous change in the contact track between the motion path of the clamp slide rail assembly and the bending shape of the conductor. It then extracts the abnormal trajectory number sequence within the change range to obtain the clamp path offset identification sequence. The motion rhythm synchronization control submodule rearranges the numbering order in the propulsion instruction queue and allocates the timing duration of the insertion action trigger clock based on the propulsion step index corresponding to the number in the fixture path offset identification sequence and the action timing mapping relationship, thereby obtaining the path coordination adjustment state.

8. The adaptive anti-icing and anti-galloping interleaved spacer according to claim 1, characterized in that, The structural state linkage verification module includes: The advancement node information receiving submodule extracts the trigger time index, fixture action number and rhythm timing group within the node execution phase based on the advancement node number sequence in the path coordination and adjustment state, and combines them into the basic parameters for structural phase determination to obtain the fixture advancement node execution parameter group. The structural motion synchronization monitoring submodule collects the status position signal of the locking component's contact action, the vibration response amplitude signal inside the damping structure, and the on / off time sequence of the heating component based on the control cycle of the numbered node in the parameter group of the fixture advancement node, and obtains a multi-structure motion execution tag set. The cycle consistency comparison submodule, based on the response tag index in the multi-structure action execution tag set and the rhythm timing group in the fixture propulsion node parameter group, synchronously verifies the control trigger and action position completion time, extracts the consistent synchronization area in the action time axis order, and obtains the spacer bar running linkage state.

9. The adaptive anti-icing and anti-galloping interleaved spacer according to claim 8, characterized in that, In the sequence of power-on and power-off times of the heating component in the multi-structure action execution tag set, the interval between two adjacent power-on times is controlled within the control cycle range of the fixture advance node execution parameter group. The multiple synchronous regions extracted in chronological order: When extracting continuously, it is necessary to maintain the correspondence between the response tag index and the rhythm timing group in the execution parameter group of the fixture propulsion node, and to keep the time interval between the control trigger and the completion time of the action position within the synchronous rhythm range.

10. A method for the operation of an adaptive anti-icing and anti-galloping interleaved spacer bar, characterized in that, The adaptive anti-icing and anti-galling phase-spacer bar according to any one of claims 1-9 comprises the following steps: S1: Obtain the sensing status signal of the gripper jaw assembly, compare the clamping status change trend of adjacent sensing points, identify whether the clamping force is continuously increasing, adjust the servo motor advance rate and extend the clamping action execution time until the advance process is completed, and obtain the gripper interference relief mark. S2: Based on the clamp interference slow-release mark, obtain the conductor vibration state and clamp temperature change, determine whether vibration enhancement and low temperature occur simultaneously, switch the damping response channel and start the heating component operation program to obtain the ice-covering vibration linkage response state. S3: Based on the ice-covering vibration linkage response state, monitor the attitude change trend between the plug-in interface component and the UAV clamping device, determine whether the continuous attitude direction has been reversed, correct the guide window angle in the opposite direction and adjust the clamping arm operation direction to obtain the guide attitude correction state. S4: Based on the guide posture correction state, obtain the correspondence between the running trajectory of the clamp slide rail assembly and the curvature of the guide wire, identify whether the propulsion path has deviated, reset the insertion starting point and action rhythm, and obtain the path coordination adjustment state. S5: Based on the path coordination adjustment state, monitor the clamp locking action, the heating and damping structure response state, and whether the matching structure action is completed within the same running cycle to obtain the spacer bar running linkage state.

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