Delivery and recovery method and system for airborne network blocking device of power transmission line

Abstract

The invention discloses a putting and recycling method and system for an airborne blocking device of a power transmission line, and relates to the technical field of blocking device laying, and the method comprises the steps: carrying out the rope putting according to a putting line based on a friction wheel type meter counting device, and outputting a release node signal according to a judgment result of a wheel rotation angle and a preset rope releasing length; executing hanging buckle release according to the release node signal based on a release mechanism, and obtaining a release state signal; according to the release state signal, selecting to execute a hanging buckle repeated release action or a hanging buckle self-locking fixing action; in response to the recovery signal, generating a recovery path according to the hanging buckle coordinates in the release stage, and executing hanging buckle unlocking according to the recovery path and a dual unlocking mechanism; and performing rope recovery based on a preset tension threshold and the dynamic speed adjustment function. The device has the beneficial effects that the net blocking rope and the hanging buckle are automatically put and recycled without manual participation, and the safety and reliability of putting and recycling are both considered.

Description

Technical Field

[0001] This application relates to the field of wire mesh deployment technology, and in particular to the deployment and retrieval method and system for airborne wire mesh devices for transmission lines. Background Technology

[0002] Currently, the industry's net sealing operations mainly rely on two traditional methods: (1) Manual Flying Car Netting: Workers ride in a "flying car" along the conductors on both sides, estimate the spacing based on experience, and manually hang and tie steel wire ropes or Dyneema ropes as a netting barrier. However, this method has significant drawbacks. The risks of working at heights with live or de-energized conductors are extremely high, and personnel safety cannot be fundamentally guaranteed. Secondly, the netting spacing relies entirely on manual visual estimation, resulting in poor consistency and uneven protection. At complex tower types such as straight-line towers, it is difficult for personnel to climb up and down the conductors, and line hardware or insulators may be damaged. To ensure safety, it is often necessary to extend the power outage time, resulting in high social and economic costs.

[0003] (2) Constructing a physical crossing frame: Steel pipes, bamboo or scaffolding are erected on both sides of the crossing point as support, and then protective netting is laid on it. Although this method is relatively safe, it has problems such as long construction period, great restriction by terrain, high material transportation and dismantling costs, and significant impact on traffic or environment, making it difficult to adapt to complex construction scenarios such as urban areas and mountainous areas. Summary of the Invention

[0004] This application addresses the issues of reliance on manual operation and low safety and reliability in the deployment and retrieval of airborne wire mesh sealing devices for transmission lines in existing technologies. It provides a method and system for deploying and retrieving such devices. The system automatically assesses the release point of the hook by measuring the rotation angle of the clamping rope, eliminating the need for manual intervention. At the same time, the system ensures the reliability of the hook based on a dual unlocking mechanism and uses a dynamic speed adjustment function to ensure that the rope retrieval meets the tension requirements, thus balancing the safety and reliability of deployment and retrieval.

[0005] To achieve the aforementioned technical objectives, this application provides a method for deploying and retrieving a transmission line airborne wire mesh sealing device, comprising: responding to a deployment signal, deploying a rope according to the deployment line based on a friction wheel metering device, acquiring the wheel circumference angle of the friction wheel metering device in real time, and outputting a release node signal based on the judgment result of the wheel circumference angle and a preset rope length; releasing the hook according to the release node signal based on a release mechanism, and acquiring a release status signal; selecting to perform a repeated hook release action or a hook self-locking action based on the release status signal; responding to a retrieval signal, generating a retrieval path based on the hook coordinates during the deployment stage, and unlocking the hook according to the retrieval path and a dual unlocking mechanism; wherein, the dual unlocking mechanism includes a shape memory alloy strain-driven unlocking mechanism and a mechanical striker unlocking mechanism; and retrieving the rope based on a preset tension threshold and a dynamic speed adjustment function.

[0006] Furthermore, based on the friction wheel metering device, the rope is deployed according to the deployment route, and the wheel rotation angle of the friction wheel metering device is obtained in real time. This includes: using the coded measuring wheel and the clamping pressure wheel in the friction wheel metering device to clamp the rope of the sealing device with two wheels; and using the photoelectric encoder of the friction wheel metering device to obtain the wheel rotation angle based on the rotation of the coded measuring wheel as the rope is deployed.

[0007] Furthermore, the step of outputting the release node signal based on the judgment result of the wheel circumference angle and the preset release length includes: calculating the real-time release length based on the wheel circumference angle and the wheel angular velocity function; if the real-time release length reaches the preset release length, outputting the release node signal; if the real-time release length does not reach the preset release length, not outputting the release node signal.

[0008] Furthermore, the release mechanism performs hook release based on the release node signal and obtains the release status signal, including: adjusting the rotation angle of the hook claw based on the linear slide rail and the micro servo motor to perform hook release; obtaining the release status based on the Hall limit sensor and the angle detection element, and outputting the release status signal; wherein, the release status signal includes at least a release success status signal and a release failure status signal.

[0009] Furthermore, the step of selecting to perform the buckle repeated release action or the buckle self-locking action based on the release status signal includes: if the release status signal is a release failure status signal, then perform the buckle repeated release action; if the release status signal is a release success status signal, then perform the buckle self-locking action.

[0010] Furthermore, the step of selecting to execute the hook repeat release action or the hook self-locking action based on the release status signal also includes: in response to the hook self-locking action execution signal, calculating the dynamic self-locking tension based on the maximum design tension of the rope and the rope inclination angle, and driving the hook self-locking device to act based on the dynamic self-locking tension.

[0011] Furthermore, the step of generating a retrieval path based on the hook coordinates during the deployment phase, and performing hook unlocking based on the retrieval path and the dual unlocking mechanism, includes: generating a retrieval path based on the hook deployment order and hook coordinates during the deployment phase; and performing hook unlocking based on a shape memory alloy electric heating unlocking mechanism and a mechanical striker-assisted unlocking mechanism.

[0012] Furthermore, the process of performing rope retrieval based on a preset tension threshold and a dynamic speed adjustment function includes: acquiring real-time tension information, outputting a rope retrieval speed based on the real-time tension information and the dynamic speed adjustment function according to the preset tension threshold constraint, and performing rope retrieval according to the rope retrieval speed.

[0013] Furthermore, it also includes: acquiring real-time tension information, outputting tension error and tension error change rate based on real-time tension information and preset tension reference value; performing dynamic disturbance compensation calculation on tension error and tension error change rate based on fuzzy-PID composite controller, and outputting disturbance correction control signal.

[0014] Another technical solution provided in this application is a deployment and retrieval system for an airborne wire mesh sealing device for transmission lines, comprising: a friction wheel-type metering device for clamping the rope and deploying it according to the deployment line; a release mechanism for releasing the hook; a hook self-locking device, including at least a shape memory alloy unlocking coil and a bidirectional ratchet pawl structure for performing the hook self-locking and fixing action; and a control unit for performing the deployment and retrieval method of the airborne wire mesh sealing device for transmission lines as described above.

[0015] The beneficial effects of this application are as follows: 1. During the deployment of the netting rope, the rotation angle signal of the friction wheel metering device provides real-time feedback, enabling dynamic monitoring of the rope deployment length and automatic calculation of the hook release point, avoiding errors from manual estimation. Simultaneously, the release status signal provides feedback on whether the hook is locked, ensuring the effectiveness of the hook release and improving the safety and reliability of the robot's automatic netting operation. 2. During the netting rope retrieval process, a retrieval path is generated based on the hook coordinates recorded during the deployment phase, ensuring that each hook is retrieved. A dual unlocking mechanism, combining shape memory alloy strain-driven unlocking and mechanical pin unlocking, is used to perform hook unlocking. The two unlocking methods form a redundancy backup; if either method fails, the other can independently complete the unlocking operation, ensuring the reliability of the unlocking action under complex working conditions. Furthermore, rope retrieval is performed according to a preset tension threshold and dynamic speed adjustment function, ensuring that the rope always maintains appropriate tension, preventing slack, entanglement, or excessive stretching that could damage the rope, while also improving retrieval efficiency and reducing equipment operating energy consumption. By implementing closed-loop control of the deployment and recovery processes, the deployment and recovery of the netting device can be carried out without manual intervention, thus improving the safety of deployment and recovery. At the same time, the accuracy, reliability, and recovery efficiency of deployment and recovery are improved by utilizing status feedback mechanisms, dual unlocking mechanisms, and dynamic speed adjustment mechanisms.

[0016] 2. Utilize incremental verification mechanisms to promptly correct local issues such as encoder wheel slippage and rope micro-extension and contraction, avoiding the gradual accumulation of errors. Utilize absolute value verification mechanisms to correct the cumulative errors of the meter counting mechanism, preventing error out of control after local corrections fail, and improving the accuracy of netting deployment.

[0017] 3. By utilizing a hook self-locking device that includes a shape memory alloy unlocking coil and a bidirectional ratchet and pawl structure, the hook achieves double locking. During the recycling process, the unlocking coil is heated to deform it, and the mechanical striker unlocks the bidirectional ratchet and pawl structure to achieve a double unlocking mechanism, ensuring the reliability of the hook and further improving the reliability of the net sealing device. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the deployment and recovery method of the airborne wire mesh sealing device for transmission lines in this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description of this application is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely one preferred embodiment of this application and are only used to explain this application. They do not limit the scope of protection of this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] like Figure 1 As shown in Embodiment 1 of this application, the method for deploying and retrieving an airborne wire mesh enclosure device for transmission lines includes: In response to the release signal, the friction wheel metering device performs rope release according to the release line, and the wheel rotation angle of the friction wheel metering device is acquired in real time. Based on the judgment result of the wheel rotation angle and the preset rope release length, the release node signal is output. The release mechanism releases the latch based on the release node signal and acquires the release status signal; Based on the release status signal, select to perform the buckle repeated release action or the buckle self-locking action; In response to the retrieval signal, a retrieval path is generated based on the hook coordinates during the deployment phase, and the hook is unlocked based on the retrieval path and the dual unlocking mechanism; the dual unlocking mechanism includes a shape memory alloy strain-driven unlocking mechanism and a mechanical striker unlocking mechanism. Rope retrieval is performed based on a preset tension threshold and a dynamic speed adjustment function.

[0021] In this embodiment, during the deployment of the netting rope, the rotation angle signal of the friction wheel metering device provides real-time feedback, enabling dynamic monitoring of the rope deployment length. It automatically calculates the hook release point, avoiding errors from manual estimation. Simultaneously, the release status signal provides feedback on whether the hook is locked, ensuring the effectiveness of the hook release and improving the safety and reliability of the robot's automatic netting operation. During the netting rope retrieval process, a retrieval path is generated based on the hook coordinates recorded during deployment, ensuring that each hook is retrieved. A dual unlocking mechanism, combining shape memory alloy strain-driven unlocking and mechanical pin unlocking, is used to unlock the hooks. These two unlocking methods form a redundancy backup; if one method fails, the other can independently complete the unlocking operation, ensuring the reliability of the unlocking action under complex working conditions. Furthermore, rope retrieval is performed according to a preset tension threshold and dynamic speed adjustment function, ensuring that the rope always maintains appropriate tension, preventing slack, entanglement, or excessive stretching that could damage the rope, while also improving retrieval efficiency and reducing equipment operating energy consumption. By implementing closed-loop control of the deployment and recovery processes, the deployment and recovery of the netting device can be carried out without manual intervention, thus improving the safety of deployment and recovery. At the same time, the accuracy, reliability, and recovery efficiency of deployment and recovery are improved by utilizing status feedback mechanisms, dual unlocking mechanisms, and dynamic speed adjustment mechanisms.

[0022] Specifically, based on the friction wheel metering device, the rope is deployed according to the deployment route, and the wheel rotation angle of the friction wheel metering device is obtained in real time, including: The rope of the sealing net device is clamped by a double wheel using the coding measuring wheel and the clamping pressure wheel in the friction wheel metering device. The photoelectric encoder based on the friction wheel metering device obtains the wheel rotation angle according to the rotation of the encoding and measuring wheel as it is deployed by the rope.

[0023] The rope of the sealing device is clamped by a coding and measuring wheel and a clamping pressure wheel. The coding and measuring wheel rotates with the rope, and the clamping pressure wheel provides clamping force. The clamping pressure wheel prevents relative slippage between the rope and the coding and measuring wheel, ensuring that the rotation of the coding and measuring wheel is synchronized with the rope deployment length. Then, a photoelectric encoder is used to collect the circumferential angle of the coding and measuring wheel, and the rope deployment length is calculated based on the circumferential angle, thus realizing the automatic measurement of the rope deployment length.

[0024] Based on the judgment results of the wheel rotation angle and the preset rope length, the release node signal is output, including: Calculate the real-time rope length based on the wheel rotation angle and wheel angular velocity function; If the real-time rope length reaches the preset rope length, a release node signal will be output; If the real-time rope length does not reach the preset rope length, no release node signal will be output.

[0025] In this embodiment, the real-time rope length is calculated based on the wheel rotation angle and the wheel angular velocity function as follows: ; in, express The cumulative length of rope released at any given moment; Indicates the radius of the coding measuring wheel; express The cumulative rotation angle over time; This represents the wheel angular velocity function, specifically the instantaneous angular velocity of the encoding and measuring wheel. This represents the integral variable.

[0026] The real-time rope length is obtained by converting angles to line lengths based on the rotation angle of the coded measuring wheel. It is understood that both the deployment and retrieval processes in this embodiment can be performed using existing netting robots; that is, the robot system performs rope deployment, hook release, rope retrieval, and hook unlocking according to the method described in this embodiment.

[0027] In other cases, based on the friction wheel metering device, the rope is deployed according to the deployment line. The wheel rotation angle of the friction wheel metering device is acquired in real time, and the release node signal is output based on the wheel rotation angle and the preset rope length. This also includes: The real-time pulse count of the photoelectric encoder is obtained according to the preset incremental verification step size, and the pulse correction strategy is output based on the comparison result between the real-time pulse count and the theoretical pulse count. Adjusting the friction wheel metering device based on a pulse correction strategy.

[0028] In this situation, considering that even with dual-wheel clamping, there is still a possibility of counting errors due to slippage or external force, the difference between the real-time pulse count of the photoelectric encoder and the theoretical pulse count is used to determine whether there is a possibility of slippage, and then the friction wheel meter counting device is adjusted accordingly.

[0029] Specifically, if the difference between the real-time pulse count and the theoretical pulse count is less than or equal to the preset pulse deviation threshold, it is considered to be caused by normal encoder noise or slight elastic deformation of the rope, and no pulse correction is performed. If the difference between the real-time pulse count and the theoretical pulse count is greater than the preset pulse deviation threshold, it is considered that there may be relative slippage between the rope and the encoder measuring wheel, and a pulse correction strategy is output. It is understandable that the preset incremental verification step size and the preset pulse deviation threshold can be obtained based on expert experience, or can be set based on the step size and pulse deviation that occurred during historical network deployment.

[0030] Specifically, the real-time pulse count is obtained based on the pulse count collected in real time by the photoelectric encoder, and the theoretical pulse count is obtained based on the number of photoelectric encoder pulses corresponding to the number of rotations of the encoding metering wheel at the preset incremental verification step size.

[0031] In this embodiment, the pulse correction strategy is to adjust the pressure of the clamping roller according to the difference between the real-time pulse count and the theoretical pulse count, and to correct the cumulative pulse count of the photoelectric encoder according to the difference between the real-time pulse count and the theoretical pulse count.

[0032] In other cases, based on the friction wheel metering device, the rope is deployed according to the deployment line. The wheel rotation angle of the friction wheel metering device is acquired in real time, and the release node signal is output based on the wheel rotation angle and the preset rope length. This also includes: Absolute displacement data is acquired based on inertial measurement units; Calculate the real-time rope length based on the wheel rotation angle and wheel angular velocity function; The displacement deviation is calculated based on the absolute displacement data and the real-time rope length. If the displacement deviation is greater than the preset displacement deviation threshold, the release node signal will be output based on the judgment result of the absolute displacement data and the preset rope length. If the displacement deviation is less than or equal to the preset displacement deviation threshold, the weighted average of the real-time rope length and absolute displacement data is obtained, and the release node signal is output based on the judgment result of the weighted average and the preset rope length.

[0033] In this scenario, the robot's actual displacement is obtained as absolute displacement data through the accelerometer built into the inertial measurement unit (IMU). Based on this absolute displacement data, the rope length is corrected in real time to avoid deviations caused by slippage of the friction wheel metering device, thereby further improving the accuracy of the netting deployment.

[0034] In other embodiments, the method of using a friction wheel metering device to deploy ropes according to a deployment route, acquiring the wheel circumference angle of the friction wheel metering device in real time, and outputting a release node signal based on the wheel circumference angle and a preset rope length determination result, further includes: Pulse increment correction and real-time rope length correction are performed based on the incremental verification mechanism and the absolute value verification mechanism. The release node signal is output based on the correction result and the judgment result of the preset rope length.

[0035] The incremental verification mechanism outputs a pulse correction strategy based on the comparison between the real-time pulse count and the theoretical pulse count, while the absolute value verification mechanism corrects the rope length in real time based on the absolute displacement data. Through this dual-mechanism correction, the incremental verification mechanism promptly corrects local issues such as encoder wheel slippage and rope micro-extension, preventing the gradual accumulation of errors. The absolute value verification mechanism corrects the cumulative error of the meter-counting mechanism, preventing error runaway after local correction failure and improving the accuracy of the netting deployment.

[0036] In this embodiment, the preset rope length is 10m, meaning the spacing between the hooks on each section of the sealing rope is set to 10m. The friction wheel metering device is based on a dual-wheel clamping distance measuring structure and uses a photoelectric encoder to count the feedback signal, working in conjunction with the robot's main control system to trigger the release cycle. Once the preset rope length is reached, the release mechanism drives a micro servo motor to rotate the worm gear-slider mechanism, causing the elastic hook to rotate and release the rope hooks.

[0037] Based on the release mechanism, the buckle is released according to the release node signal, and the release status signal is obtained, including: The release of the hook is achieved by adjusting the rotation angle of the hook claw using a linear guide rail and a micro servo motor. The release status is obtained based on the Hall limit sensor and the angle detection element, and the release status signal is output; wherein, the release status signal includes at least a release success status signal and a release failure status signal.

[0038] In this embodiment, the release mechanism is a worm gear driven servo release mechanism. The hook is located in a flip-out claw groove, and the rotation angle of the claw is controlled by a linear slide rail and a micro servo motor to achieve a rapid flip-out release action. At the same time, the results collected by the Hall limit sensor and the angle detection element are used to determine whether the hook has been released, and release status feedback is provided to ensure the effectiveness of the release.

[0039] Specifically, the release of the latch is achieved by adjusting the rotation angle of the hook pawl using a linear guide rail and a micro servo motor. The PWM duty cycle is adjusted according to the required rotation angle, and the rotational torque of the micro servo is output according to the PWM duty cycle. The rotational torque of the micro servo motor and the worm gear slider mechanism control the movement of the linear guide rail, adjust the rotation angle of the hook claw, and execute the hook release.

[0040] In this embodiment, based on the required rotation angle of the hook release latch, the PWM duty cycle can be calculated according to the actual hook parameters. Since a larger PWM duty cycle results in a higher average voltage and a larger motor rotation angle, the release angle of the latch hook can be adjusted by adjusting the PWM duty cycle.

[0041] Specifically, the target angle output based on the PWM duty cycle is: ; in, Indicates the target angle. Represents the Laplace field. Indicates the magnification factor. Represents the response time constant. This indicates a control command that includes the PWM duty cycle.

[0042] The target angle is output based on the PWM duty cycle, and the rotational torque of the micro servo is output based on the difference between the current angle and the target angle. By amplifying the PWM duty cycle through the amplification factor and the inertial delay of the response time constant, the motor can be prevented from turning to the target angle instantly, ensuring the smooth rotation of the grappling hook. This enables rapid start-up and slow-stop positioning of the release action, keeping the entire action response time within a reasonable range.

[0043] The release state is obtained based on the Hall limit sensor and the angle detection element, and the output release state signal includes: Based on whether the Hall limit sensor has acquired a high-level signal, it is determined whether the hook claw has rotated to the target angle, and the first judgment result is obtained. Based on whether the corner detection element collects a conduction signal, it is determined whether the hook has disengaged from the pawl, and a second judgment result is obtained; Output a release status signal based on the first and second judgment results.

[0044] In this embodiment, a magnetic component is installed at the hinge of the hook slot. When the hook rotates to the target angle, the magnetic component aligns with the Hall effect limit sensor, which can then acquire a high-level signal. The angle detection element is an infrared through-beam optical sensor, with the transmitter and receiver installed at opposite ends of the hook slot. When the hook is inside the slot, it blocks the infrared light, resulting in no signal at the receiver. After the hook is detached, the infrared light is activated, and a signal can be acquired. It is understood that in other embodiments, other detection elements can also be used to identify whether the hook has detached from the hook.

[0045] If either the first or second judgment result is negative, the release status signal is a release failure signal; if both the first and second judgment results are positive, the release status signal is a release success signal. This dual release judgment mechanism ensures the effectiveness of the hook release, thereby ensuring the reliability of the network sealing.

[0046] Based on the release status signal, the following options are selected: Performing a repeated release action or a self-locking action on the buckle. If the release status signal is a release failure signal, then the buckle release action is repeated. If the release status signal is a successful release signal, then the hook self-locking action is executed.

[0047] In this embodiment, the release status signal is used to determine whether the buckle has been successfully released. If the buckle has not been successfully released, the buckle release is repeated until the buckle is released repeatedly, or an alarm is triggered when the release count threshold is reached, thus ensuring the reliability of the action.

[0048] In this embodiment, selecting to perform either the repeated release action or the self-locking action of the buckle based on the release status signal further includes: In response to the self-locking action signal of the hook, the dynamic self-locking tension is calculated based on the maximum design tension of the rope and the rope inclination angle, and the hook self-locking device is driven to operate according to the dynamic self-locking tension.

[0049] Based on the maximum design tension of the rope and the rope inclination angle, the dynamic self-locking tension is calculated as follows: ; in, Indicates dynamic self-locking tension. Indicates the maximum design tension of the rope. This indicates the coefficient of friction between the contact surface of the rope and the self-locking device of the hook. This indicates the angle of inclination of the rope.

[0050] The dynamic self-locking tension is calculated by using the maximum design tension of the rope and the rope inclination angle to ensure that the hook has sufficient anti-slip capability under any load angle.

[0051] In this embodiment, the hook self-locking device is a two-way ratchet and pawl structure. It works in conjunction with the symmetrical distribution of the tension direction of the blocking line to achieve positive load self-locking. The two-way anti-reverse ratchet device works with the silicon nitride ceramic pawl. After self-locking is completed, the blocking rope is firmly locked to the wire.

[0052] The process of rope deployment, hook release, and hook self-locking is repeated until all hooks are released, thus completing the automated deployment of the netting device.

[0053] A retrieval path is generated based on the hook coordinates during the deployment phase. The hook unlocking process is then performed based on the retrieval path and the dual unlocking mechanism, including: A retrieval path is generated based on the order of hook placement and the coordinates of the hooks during the placement phase; The buckle is unlocked using a shape memory alloy electrothermal unlocking mechanism and a mechanical striker-assisted unlocking mechanism.

[0054] In this embodiment, the hook-and-loop self-locking device incorporates a shape memory alloy (SMA) unlocking coil. Shape memory alloy damping material is a high-damping functional material based on the shape memory effect, capable of recovering its original shape after deformation through heating. Its properties originate from the reversible phase transformation between martensite and austenite, possessing advantages such as high energy absorption, corrosion resistance, and composite performance.

[0055] The damping performance of this material depends on the strain amplitude rather than the frequency, and decreases with increasing strain after reaching a peak value, and is also sensitive to temperature. Its mechanism involves stress-induced phase transformation and hysteresis effects during loading-unloading cycles, with energy dissipation related to the hysteresis loop area. Commonly used alloys include Mn-Cu and Ti-Ni systems, but are limited by the cost and processing difficulty of non-ferrous metals. Foamed metals, as a novel high-damping form, combine the strength of metals with the characteristics of foam structures, achieving damping performance 5-10 times that of the matrix material.

[0056] The unlocking coil releases through phase transformation controlled by electric heating. Upon heating, the material transforms from martensite to austenite, generating strain that allows for elastic disengagement. The unlocking current is controlled to complete within 1.5 seconds, with a release voltage of 12V and a maximum power consumption not exceeding 8W.

[0057] Simultaneously, during the retrieval process, the robot moves to the hook position, triggering the front-end striker to push the slot mechanism to reset, causing the hook to detach from the wire, completing the retrieval pre-processing. The reliability of the hook is ensured through dual-mechanism locking and unlocking.

[0058] Rope retrieval based on a preset tension threshold and a dynamic speed adjustment function includes: Obtain real-time tension information, output rope retrieval speed based on preset tension threshold constraints, real-time tension information, and dynamic speed adjustment function, and execute rope retrieval according to the rope retrieval speed.

[0059] A preset tension threshold is used as an adjustment constraint to prevent speed adjustments from causing the tension to exceed the preset maximum tension threshold or fall below the preset minimum tension threshold, thus avoiding over-tensioning or over-relaxation of the rope. The preset tension threshold can be set according to the actual rope tension recovery requirements.

[0060] Based on real-time tension information and the dynamic speed adjustment function, the output rope recovery speed is: ; in, The rope retrieval speed at a given moment. This represents the proportionality coefficient. This represents the differential coefficient.

[0061] The proportional coefficient reflects the increase in winding speed as tension increases, while the differential coefficient reflects the increase in winding speed as the rate of change of tension increases. This allows for dynamic adjustment of the rope recovery speed based on real-time tension conditions, preventing issues such as rope tangling due to excessive speed or rope slack due to excessive speed.

[0062] In this embodiment, the retrieval process follows a path opposite to the deployment direction, with the robot equipped with a winding system returning along the original route. The retrieval power system shares a drive unit, using a motor reversal to actuate the winding wheel. To ensure continuous tension during retrieval, the system is equipped with a thin-film tension sensor to provide real-time feedback on the rope tension. The control unit dynamically adjusts the winding speed based on tension changes, maintaining stable rope force and preventing over-tensioning or retrieval imbalance. The rope arrangement section uses a sliding ball bearing cable arranger to control the arrangement rhythm, ensuring the retrieved blocking rope is neat and orderly, improving its reusability and maintenance efficiency.

[0063] Methods for deploying and recovering airborne wire mesh enclosures for power transmission lines also include: Acquire real-time tension information, and output tension error and tension error change rate based on real-time tension information and preset tension reference value; Based on the fuzzy-PID composite controller, dynamic disturbance compensation calculations are performed on the tension error and the rate of change of the tension error, and the disturbance correction control signal is output.

[0064] In this embodiment, the fuzzy-PID composite controller is: ; in, express The disturbance correction control signal at any given time; This represents the output component of the fuzzy control algorithm, with tension error and the rate of change of tension error as inputs. Indicates tension error; Indicates the rate of change of tension error; This represents the proportional gain of the fuzzy-PID composite controller; Represents the integral coefficients of the fuzzy-PID composite controller; This represents the derivative coefficients of the fuzzy-PID composite controller.

[0065] The tension error is obtained based on the difference between real-time tension information and the preset tension reference value. The preset tension reference value can be set according to the rope tension requirements, or the median value of the preset tension threshold can be used as the preset tension reference value.

[0066] Because the deployment of the barrier ropes needs to adapt to multiple dynamic nonlinear influences, such as high-altitude strong wind disturbances, conductor vibration disturbances, and inconsistent movements between the two machines, a dynamic compensation algorithm based on tension feedback is introduced to regulate the robot's travel difference, ensuring stable deployment trajectory, accurate pitch, and reliable locking of the barrier ropes. The tension compensation control algorithm is implemented based on fuzzy logic regulation laws, and quickly activates speed-limiting protection when tension disturbances exceed a threshold.

[0067] As a second embodiment of this application, the deployment and retrieval system for an airborne wire mesh enclosure device for transmission lines includes: Friction wheel type meter counting device is used to clamp the rope and release the rope according to the release line; Release mechanism, used to release the latch; The hook self-locking device includes at least a shape memory alloy unlocking coil and a bidirectional ratchet pawl structure for performing the hook self-locking and fixing action; The control unit is used to execute the deployment and retrieval method of the airborne wire mesh sealing device for transmission lines.

[0068] In this embodiment, a hook self-locking device including a shape memory alloy unlocking coil and a bidirectional ratchet and pawl structure is used to achieve double locking of the hook. During the recycling process, the unlocking coil is heated to deform it, and the mechanical striker unlocks the bidirectional ratchet and pawl structure to achieve a double unlocking mechanism, ensuring the reliability of the hook and further improving the reliability of the sealing device.

[0069] The control unit uses the STM32F407ZGT6 chip. The system employs a multi-threaded task state machine to manage the coordinated operation of modules such as deployment, retrieval, hook release, and tension adjustment. The state logic is divided into six main states: initialization → deployment operation → pitch detection → hook deployment → retrieval operation → fault handling. Each state has built-in redundancy protection and timeout control logic. System communication is via CAN to interact with the robot's main controller, and it also supports manual remote control and remote telemetry.

[0070] In other cases, the deployment and retrieval system for airborne wire mesh enclosures on transmission lines also includes: Tension sensors, including miniature tension sensors, are used to acquire real-time tension information; The reel unit is used for rope deployment and retrieval.

[0071] During rope deployment and retrieval, the structural configuration of the reel unit directly affects the stability of deployment and the orderliness of retrieval. In this embodiment, a coaxial structure of motor-reducer-reel shaft is adopted, driving the main shaft to rotate the reel forward and backward to switch between rope deployment and retrieval. The motor, as the core drive source in the actuator, primarily undertakes the mechanical energy output function required by the system. In automation systems, motors are often used in combination with reduction mechanisms (reducers) to improve system output torque, reduce speed, and enhance control accuracy. The angular velocity output by the motor is relatively high (hundreds to thousands of rpm), making it difficult to meet the low-speed, high-torque requirements when directly driving the load. Therefore, a reduction structure must be introduced to convert high speed into controllable low-speed power output. The rope arrangement structure uses a combination of a spiral guide rail and a slider-type transverse rope arrangement system, achieving axial synchronous arrangement through synchronous belt linkage.

[0072] It is understood that the friction wheel metering device, release mechanism, tension sensor, control unit, and reel unit mentioned in this embodiment are each packaged as replaceable independent units inside the sealing robot's housing, and are quickly connected via onboard aviation connectors. The overall structural materials are mainly carbon fiber composite shell, 7075-T6 aluminum alloy bracket, and stainless steel fasteners. The entire machine meets the IP65 protection rating and operating temperature requirements of -20~60°C.

[0073] The specific embodiments described above are preferred embodiments of the deployment and recovery method and system of the airborne wire mesh sealing device for transmission lines in this application, and are not intended to limit the specific scope of this application. The scope of this application includes but is not limited to the specific embodiments described above. All equivalent changes made in accordance with the shape and structure of this application are within the protection scope of this application.

Claims

1. Method for launching and recovering a power line airborne netting device, characterized in that: The method comprises the following steps: in response to a launching signal, a rope is launched based on a friction wheel type metering device according to a launching route, the wheel rotation angle of the friction wheel type metering device is acquired in real time, and a release node signal is output based on the wheel rotation angle and a preset rope launching length; a hanging buckle is released based on a release mechanism according to the release node signal, and a release state signal is acquired; based on the release state signal, a hanging buckle repeated release action or a hanging buckle self-locking fixing action is selected to be performed; in response to a recovery signal, a recovery path is generated according to the hanging buckle coordinates in the launching stage, and the hanging buckle is unlocked according to the recovery path and a double unlocking mechanism; wherein the double unlocking mechanism comprises a shape memory alloy strain driven unlocking mechanism and a mechanical striker unlocking mechanism; the rope is recovered based on a preset tension threshold and a dynamic speed adjustment function.

2. The launching and recovery method of the power transmission line airborne net sealing device according to claim 1, wherein: the rope is launched based on the friction wheel type metering device according to the launching route, and the wheel rotation angle of the friction wheel type metering device is acquired in real time, which comprises the following steps: the rope of the net sealing device is clamped by two wheels by using an encoding metering wheel and a clamping pressure wheel in the friction wheel type metering device; the wheel rotation angle is acquired based on the photoelectric encoder of the friction wheel type metering device according to the rotation condition of the encoding metering wheel with the rope launching.

3. The launching and recovery method of the power transmission line airborne net sealing device according to claim 1, wherein: the release node signal is output based on the wheel rotation angle and the preset rope launching length, which comprises the following steps: the real-time rope launching length is calculated according to the wheel rotation angle and a wheel angle speed function; if the real-time rope launching length reaches the preset rope launching length, the release node signal is output; if the real-time rope launching length does not reach the preset rope launching length, the release node signal is not output.

4. The launching and recovery method of the power transmission line airborne net sealing device according to claim 1, wherein: the hanging buckle is released based on the release mechanism according to the release node signal, and the release state signal is acquired, which comprises the following steps: the rotation angle of the hanging buckle hook is adjusted based on a straight line slide rail and a micro steering engine to perform the hanging buckle release; the release state is acquired based on a Hall limit sensor and a rotation angle detection element, and the release state signal is output; wherein the release state signal at least comprises a release success state signal and a release unsuccessful state signal.

5. The launching and recovery method of the power transmission line airborne net sealing device according to claim 4, wherein: the hanging buckle repeated release action or the hanging buckle self-locking fixing action is selected to be performed according to the release state signal, which comprises the following steps: if the release state signal is the release unsuccessful state signal, the hanging buckle repeated release action is performed; if the release state signal is the release success state signal, the hanging buckle self-locking fixing action is performed.

6. The launching and recovery method of the power transmission line airborne net sealing device according to claim 5, wherein: the hanging buckle repeated release action or the hanging buckle self-locking fixing action is selected to be performed according to the release state signal, which further comprises the following steps: in response to the hanging buckle self-locking fixing action execution signal, the dynamic self-locking tension is calculated according to the maximum design tension of the rope and the rope inclination angle, and the hanging buckle self-locking device is driven to act according to the dynamic self-locking tension.

7. The method of claim 1, wherein the method further comprises: generating a retrieval path according to the hanging buckle coordinates of the launching stage, and performing the hanging buckle unlocking according to the retrieval path and the double unlocking mechanism.

8. The method of claim 1, wherein the method further comprises: performing the rope retrieval according to the preset tension threshold and the dynamic speed adjustment function.

9. The method of claim 1, wherein the method further comprises: obtaining real-time tension information, and outputting a tension error and a tension error change rate according to the real-time tension information and a preset tension reference value; performing a dynamic disturbance compensation operation on the tension error and the tension error change rate based on a fuzzy-PID compound controller, and outputting a disturbance correction control signal.

9. The method of claim 1, wherein:

10. The method of claim 1, wherein the method further comprises: a friction wheel type metering device for clamping the rope to perform rope launching according to a launching line; a release mechanism for performing hanging buckle release; 10. A launch and recovery system for a power line airborne netting device, characterized by: a hanging buckle self-locking device comprising at least a shape memory alloy unlocking coil and a bidirectional ratchet pawl structure for performing a hanging buckle self-locking fixing action; a control unit for performing the method of claim 1 to claim 9. ​ ​ ​

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