A power distribution network live working robot control method and system, a terminal and a medium

Abstract

The application discloses a kind of distribution network live working robot control method, system, terminal and medium, it is related to electric power engineering technical field.The main technical scheme thereof: by constructing combination catenary model, and the mechanics simulation within preset temperature threshold is carried out to the combination catenary model meeting parameter threshold value, to filter out the mechanics simulation result meeting parameter threshold value, then according to the mechanics simulation result meeting parameter threshold value control robot will lead flow line lap joint on main guide wire corresponding position.To expect to reach the purpose of improving the accuracy of lead flow line lap joint position, to reduce the risk of insufficient safety distance caused by excessive sag of lead flow line in summer, and excessive mechanical stress of connection point caused by lead flow line contraction in winter.

Description

Technical Field

[0001] This invention relates to the field of power engineering technology, specifically to a control method, system, terminal, and medium for a live-line working robot in a power distribution network. Background Technology

[0002] In 10 kV and below medium and low voltage distribution networks, live-line connection of lead wires (such as T-connection of lead wires, equipment replacement, etc.) has become a routine operation to ensure the continuity and reliability of power supply to users. Traditional operation methods mainly rely on manual climbing or the use of insulated bucket trucks to assist operators, which has inherent defects such as high personal safety risks, low operation efficiency, and susceptibility to weather conditions (such as wind speed, humidity, temperature, etc.).

[0003] In 10 kV and below medium and low voltage distribution networks, live-line splicing operations (such as T-connection of leads, equipment replacement, etc.) have become an important part of daily operation and maintenance in order to continuously improve the continuity and reliability of power supply to users. Traditional operation methods mainly rely on manual climbing or insulated bucket trucks for assistance, which not only poses high personal safety risks and requires improvement in work efficiency, but is also easily constrained by meteorological conditions such as wind speed, humidity, and temperature.

[0004] In recent years, with the rapid development of power robot technology, live-line working robots for power distribution networks have gradually entered the practical application stage. Currently, mainstream systems mostly employ vision or laser sensing methods to acquire spatial position information of the main power line and target equipment, and based on this, plan the robotic arm's motion trajectory to achieve precise clamping and installation of the lead wire at preset connection points. However, most existing technologies still rely on static geometric models or preset fixed paths for control, failing to fully account for the thermal expansion and contraction effects of conductors caused by changes in ambient temperature. This significantly increases the risk of insufficient electrical clearance to ground due to increased conductor sag and reduced tension during high summer temperatures, and the risk of excessive stress at mechanical connection points due to conductor contraction and sudden increase in tension during low winter temperatures. Summary of the Invention

[0005] The purpose of this invention is to provide a control method, system, terminal, and medium for live-line working robots in power distribution networks. This invention solves the problems that most existing technologies still rely on static geometric models or preset fixed paths for control, failing to fully account for the thermal expansion and contraction effects of conductors caused by changes in ambient temperature. This significantly increases the risk of insufficient electrical clearance to ground due to increased conductor sag and reduced tension caused by thermal expansion during high summer temperatures, and the risk of excessive stress at mechanical connection points due to conductor contraction and sudden increase in tension during low winter temperatures.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] Firstly, a control method for a live-line working robot in a power distribution network is provided, including the following operations:

[0008] Construct a catenary model of the dominant line at the current ambient temperature;

[0009] Based on the current length of the drainage line at the current ambient temperature, determine the potential overlap area on the main catenary model;

[0010] Construct a combined catenary model of the main guide line and the drainage line when the drainage line is overlapped at different overlap positions in the potential overlap area;

[0011] Obtain the first mechanical parameters of the combined catenary model;

[0012] The combined catenary model whose first mechanical parameter satisfies the parameter threshold is marked as a suspected target combined catenary model;

[0013] Based on the thermal expansion coefficients of the dominant line and the drain line, the mechanical response of the suspected target combined catenary model within the preset temperature threshold is simulated to obtain the second mechanical parameters of the suspected target combined catenary model at different temperatures.

[0014] The suspected target combined catenary model whose second mechanical parameter meets the parameter threshold is marked as the target combined catenary model, and the robot is controlled to connect the drainage line to the corresponding connection position of the target combined catenary model.

[0015] A further proposed solution is: the process of constructing the main catenary model under the current ambient temperature includes:

[0016] Obtain the current ambient temperature and the target parameters of the main conductor under the current ambient temperature; among which, the target parameters of the main conductor include the mass per unit length of the main conductor, the current length of the main conductor, and the coordinates of the main connection point between the main conductor and the tower;

[0017] Based on the current ambient temperature, the mass per unit length of the main line, the current length of the main line, and the coordinates of the main connection point, construct a main catenary model of the main line under the current ambient temperature.

[0018] A further approach is: the process of determining the potential overlap area on the main catenary model includes:

[0019] Obtain the coordinates of the connection point between the diversion line and the tower;

[0020] Calculate the theoretical distance between the coordinates of the connecting point and any position on the main catenary model;

[0021] The positions where the theoretical distance is less than or equal to the current length of the drainage line are marked as overlap positions, and potential overlap areas containing each overlap position are formed.

[0022] A further solution is: the process of constructing a catenary model combining the main guideline and the drainage line when the drainage line is overlapped at different overlap positions within the potential overlap area includes:

[0023] Obtain the mass per unit length of the drainage line at the current ambient temperature;

[0024] Based on the unit length mass of the drainage line, the current length of the drainage line, the coordinates of the connection point, the main catenary model, and the potential overlap area, a combined catenary model of the main line and the drainage line is constructed under the current ambient temperature.

[0025] A further proposed solution is that the mechanical parameters include the maximum tension of the drainage line, the force at the overlap position, and the minimum distance between the drainage line and the ground.

[0026] In a second aspect, a control system for a live-line working robot in a power distribution network is provided. This control system is applicable to the live-line working robot control method described in the first aspect. The control system includes a first construction module, a first processing module, a second construction module, a first acquisition module, a second processing module, a third processing module, and a fourth processing module. The first construction module is used to construct a main catenary model of the main conductor at the current ambient temperature. The first processing module is used to determine potential overlap areas on the main catenary model based on the current length of the guide conductor at the current ambient temperature. The second construction module is used to construct combined catenaries of the main conductor and the guide conductor at different overlap positions within the potential overlap areas. The system comprises four modules: a catenary model and a target catenary model. The first acquisition module acquires the first mechanical parameters of the combined catenary model. The second processing module marks combined catenary models whose first mechanical parameters meet a parameter threshold as potential target combined catenary models. The third processing module simulates the mechanical response of the potential target combined catenary model within a preset temperature threshold based on the thermal expansion coefficients of the main guideline and the drainage line, respectively, to obtain the second mechanical parameters of the potential target combined catenary model at different temperatures. The fourth processing module marks the potential target combined catenary models whose second mechanical parameters meet the parameter threshold as target combined catenary models, and controls the robot to overlap the drainage line at the corresponding overlap position of the target combined catenary model.

[0027] Thirdly, a terminal is provided, including a processor and a memory, the memory being used to store processor-executable instructions; wherein the processor is configured to invoke the instructions stored in the memory to execute the live-line working robot control method as described in the first aspect.

[0028] Fourthly, a computer-readable storage medium is provided, on which computer program instructions are stored, wherein when executed by a processor, the computer program instructions implement the control method for a live-line working robot in a power distribution network as described in the first aspect.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] By constructing a combined catenary model and performing mechanical simulations within a preset temperature threshold on the combined catenary models that meet the parameter thresholds, the mechanical simulation results that meet the parameter thresholds are selected. Then, based on these results, the robot is controlled to attach the drainage line to the corresponding position on the main guide line. The aim is to improve the accuracy of the drainage line attachment position, thereby reducing the risk of insufficient safety distance due to excessive drainage line sag in summer and excessive mechanical stress at the connection point due to drainage line contraction in winter. Attached Figure Description

[0031] Figure 1 This is a flowchart illustrating a control method for a live-line working robot in a power distribution network, as described in this embodiment. Detailed Implementation

[0032] The invention will now be further described with reference to the accompanying drawings.

[0033] Example 1: This example provides a control method for a live-line working robot in a power distribution network, such as... Figure 1 As shown, the following operations are included:

[0034] S100. Construct a catenary model of the dominant line at the current ambient temperature;

[0035] In this embodiment, the process of constructing the main catenary model of the main catenary at the current ambient temperature includes:

[0036] S101. Obtain the current ambient temperature and the target parameters of the main conductor under the current ambient temperature; wherein, the target parameters of the main conductor include the mass per unit length of the main conductor, the current length of the main conductor, and the coordinates of the main connection point between the main conductor and the tower;

[0037] For example, during implementation, a temperature sensor carried on the robot is used to collect the current ambient temperature of the main conductor in real time. The current length of the main conductor under the current ambient temperature is obtained through laser ranging and visual recognition. The mass per unit length of the main conductor is obtained from a historical database. The coordinates of the main connection points between the main conductor and the towers are obtained using LiDAR. The connection point between one end of the main conductor and a tower is designated as the main connection point. , main connection point The coordinates of the principal connection point are marked. The connection point between the other end of the main line and another tower is designated as the main connection point. , main connection point The coordinates of the principal connection point are marked. .

[0038] S102. Based on the current ambient temperature, the mass per unit length of the main line, the current length of the main line, and the coordinates of the main connection point, construct the main catenary model of the main line under the current ambient temperature.

[0039] For example, during implementation, based on the mass per unit length of the main line Current length of the dominant line Main connection point and main connection point With the main connection point With the origin as the starting point and the main connecting point as the connecting point To the main link The direction is The direction of extension of the shaft and tower is... Based on the axis, construct the main catenary model of the dominant line, and obtain the main catenary model as shown in equation (1):

[0040] (1),

[0041] in, To dominate any point online The x-coordinate; To dominate any point online The ordinate; The x-coordinate of the lowest point of the main traverse line; The ordinate of the lowest point of the main traverse line; , The tension in the horizontal direction of the main conductor; Mass per unit length of the main conductor; This is the acceleration due to gravity.

[0042] Based on the main connection point coordinates ( ) and main connection point coordinates ( ), calculate the primary join point and main connection point gear ratio and elevation difference Among them, gear length elevation difference .

[0043] main join point After defining the origin, the primary connect point The coordinates are (0,0), and the main connection point is... The coordinates are ( , ).

[0044] Based on the main connection point The coordinates (0,0), the main connection point coordinates ( , ), Current length of the dominant line Based on the main catenary model, a set of nonlinear equations for the main catenary is constructed, as shown in equation (2):

[0045] (2),

[0046] in, The current length of the main conductor.

[0047] Define the residual function. As shown in equation (3):

[0048] (3),

[0049] in, This is a regularization optimization term used to simultaneously satisfy the main line length constraint and the suspension point elevation (height) matching constraint during the optimization process.

[0050] The Levenberg-Marquardt algorithm and Newton's iteration method are used to solve for the horizontal tension of the dominant line. x-coordinate of the lowest point of the dominant line ; the ordinate of the lowest point of the dominant line That's all.

[0051] In this embodiment, a robot is used to measure the current length of the main catenary in real time. The current length of the main catenary includes the current actual state caused by factors such as temperature deformation and historical creep, so that the main catenary model is synchronized with the physical world in real time, in order to achieve the desired accuracy of the main catenary model.

[0052] S200. Based on the current length of the drainage line at the current ambient temperature, determine the potential overlap area on the main catenary model;

[0053] In this embodiment, the process of determining the potential overlap area on the main catenary model includes:

[0054] S201. Obtain the coordinates of the connection point between the diversion line and the tower;

[0055] For example, in the implementation process, assume that one end of the diversion line is connected to a tower at one end of the main line, and use LiDAR to obtain the coordinates of the connection point between the diversion line and the tower. The connection point between the diversion line and the tower is denoted as the connection point. Connect the points The coordinates of the connecting point are marked as the coordinates of the connecting point. .

[0056] S202. Calculate the theoretical distance between the coordinates of the connecting point and any position on the main catenary model;

[0057] For example, during implementation, based on the main connection point coordinates ( ) and connector coordinates Calculate the primary join point and connector gear ratio and elevation difference Among them, gear length elevation difference .

[0058] main join point After defining the origin, the primary connect point The coordinates are (0,0), connect the points. The coordinates are ( , ).

[0059] Assuming any position on the main catenary model The coordinates are ( , ).

[0060] According to the connection point coordinates ( , ) and any position coordinates ( , ), calculate the connection point With any position Euclidean distance between .

[0061] S203. Mark the positions where the theoretical distance is less than or equal to the current length of the drainage line as the overlapping positions, and form a potential overlapping area containing each overlapping position.

[0062] For example, during implementation, the Euclidean distance is determined. Is it less than or equal to the current length of the drainage line? If so, the location is marked as an overlap location, and the area formed by all overlap locations is marked as a potential overlap area.

[0063] S300. Construct a combined catenary model of the main guide line and the drainage line when the drainage line is overlapped at different overlap positions in the potential overlap area;

[0064] In this embodiment, the process of constructing a combined catenary model of the main guideline and the drainage line when the drainage line is overlapped at different overlap positions within the potential overlap area includes:

[0065] S301. Obtain the mass per unit length of the drainage line at the current ambient temperature;

[0066] For example, during implementation, the mass per unit length of the drainage line is obtained from a historical database. .

[0067] S302. Based on the unit length mass of the drainage line, the current length of the drainage line, the coordinates of the connection point, the main catenary model, and the potential overlap area, construct a combined catenary model of the main line and the drainage line under the current ambient temperature.

[0068] For example, during implementation, based on the mass per unit length of the drainage line Current length of the drainage line , connection point ( , ) and any overlapping position on the main catenary model ( , ), with the main connection point With the origin as the starting point and the main connecting point as the connecting point To the main link The direction is The direction of extension of the shaft and tower is... Based on the axis, construct the suspension catenary model of the drainage line, and obtain the suspension catenary model as shown in equation (4):

[0069] (4),

[0070] in, For any point on the traffic-driving line x-coordinate For any point on the traffic-driving line The ordinate; The x-coordinate of the lowest point of the drainage line; The ordinate of the lowest point of the drainage line; , The horizontal tension of the drainage line; Mass per unit length of the main conductor; This is the acceleration due to gravity.

[0071] According to the connection point ( , ) and any overlapping position on the main catenary model ( , ), calculate the connection point and any overlapping position on the main catenary model gear ratio and elevation difference Among them, gear length elevation difference .

[0072] According to the connection point ( , Any overlapping position on the main catenary model ( , ), Current length of the drainage line Based on the catenary model, a set of nonlinear equations for the drainage line is constructed, as shown in equation (5):

[0073] (5),

[0074] in, This is the current length of the drainage line.

[0075] Define the residual function. As shown in equation (6):

[0076] (6),

[0077] in, This is a regularization optimization term used to simultaneously satisfy the drainage line length constraint and the suspension point elevation (height) matching constraint during the optimization process.

[0078] The Levenberg-Marquardt algorithm and Newton's iteration method are used to solve for the horizontal tension of the drainage line. x-coordinate of the lowest point of the drainage line ; the ordinate of the lowest point of the drainage line That's all.

[0079] Based on the overlap point between the drainage line and the main line at any point Based on the mechanical equilibrium at the point, the main catenary model and the guide catenary model are optimized to obtain the overlap of the drainage line at the overlap position. The catenary model is a combination of the main catenary model and the lead catenary model.

[0080] In this embodiment, a combined catenary model of the main catenary model and the guide catenary model is constructed to realistically reflect the "drooping-pulling" effect of the guide line, with the aim of significantly improving the accuracy of mechanical analysis.

[0081] S400. Obtain the first mechanical parameters of the combined catenary model;

[0082] In this embodiment, the mechanical parameters include the maximum tension of the drainage line, the force at the overlap position, and the minimum distance between the drainage line and the ground.

[0083] For example, during implementation, the mechanical parameters of the combined catenary model, such as the maximum tension of the guide line, the force at the overlap position, and the minimum distance between the guide line and the ground, are obtained and recorded as the first mechanical parameters. These are the first maximum tension of the guide line, the force at the first overlap position, and the minimum distance between the guide line and the ground. The maximum tension of the guide line is the maximum axial tensile force generated by the guide line under its own weight and suspension geometric constraints. The force at the overlap position is the concentrated reaction force exerted by the guide line on the main line through the clamp. The minimum distance between the guide line and the ground is the minimum vertical / spatial distance from any point on the guide line to the ground (or building, tree, etc.).

[0084] S500. Mark the combined catenary model whose first mechanical parameter satisfies the parameter threshold as a suspected target combined catenary model;

[0085] For example, during implementation, the parameter threshold for the maximum tension of the drainage line can be determined based on the breaking force of the drainage line and the safety factor.

[0086] The parameter thresholds of the force applied at the lap joint can be determined based on factors such as the allowable load-bearing capacity of the clamp, the local bending / shear strength of the main conductor, and the frictional conditions to prevent clamp slippage.

[0087] The minimum ground clearance parameter threshold for the diverter can be determined according to the "GB 50061-2010 Design Code for Overhead Power Lines of 66kV and Below".

[0088] Determine whether the maximum tension of the first drainage line meets the parameter threshold of the maximum tension of the drainage line, whether the force at the first overlap position meets the parameter threshold of the force at the overlap position, and whether the minimum distance between the first drainage line and the ground meets the parameter threshold of the minimum distance between the drainage line and the ground.

[0089] If the maximum tension of the first drainage line meets the parameter threshold of the maximum tension of the drainage line, the force at the first overlap position meets the parameter threshold of the force at the overlap position, and the minimum distance between the first drainage line and the ground meets the parameter threshold of the minimum distance between the drainage line and the ground, then the combined catenary model is marked as a suspected target combined catenary model. Otherwise, the combined catenary model is deleted.

[0090] S600. Based on the thermal expansion coefficients of the dominant line and the drain line, simulate the mechanical response of the suspected target combination catenary model within a preset temperature threshold to obtain the second mechanical parameters of the suspected target combination catenary model at different temperatures.

[0091] For example, during implementation, the preset temperature threshold is set based on the historical maximum and minimum ambient temperatures of the area where the dominant line is located. For instance, the historical maximum ambient temperature of the area where the dominant line is located is... The historical maximum ambient temperature was The preset temperature threshold is .

[0092] Based on the current ambient temperature The preset temperature threshold is The thermal expansion coefficients of the main flow line and the drainage line are calculated at any temperature within a preset temperature threshold. At that time, the theoretical length of the dominant line is... Theoretical length of the drainage line According to the dominant line theory, the line length... Theoretical length of the drainage line The catenary model of the suspected target combination was optimized and updated to obtain the updated model. The mechanical parameters of the updated model were obtained and recorded as the second mechanical parameters. These parameters are: the maximum tension of the second drainage line, the force at the second overlap position, and the minimum distance between the second drainage line and the ground.

[0093] S700. Mark the suspected target combination catenary model whose second mechanical parameter meets the parameter threshold as the target combination catenary model, and control the robot to connect the drainage line to the corresponding connection position of the target combination catenary model.

[0094] Determine whether the maximum tension of the second drainage line meets the parameter threshold of the maximum tension of the drainage line, whether the force at the second overlap position meets the parameter threshold of the force at the overlap position, and whether the minimum distance between the second drainage line and the ground meets the parameter threshold of the minimum distance between the drainage line and the ground.

[0095] If the maximum tension of the second drainage line meets the parameter threshold of the maximum tension of the drainage line, the force at the second overlap position meets the parameter threshold of the force at the overlap position, and the minimum distance between the second drainage line and the ground meets the parameter threshold of the minimum distance between the drainage line and the ground, then the suspected target combined catenary model is marked as the target combined catenary model, and the robot is controlled to overlap the drainage line at the corresponding overlap position of the target combined catenary model. Otherwise, delete the suspected target combination catenary model.

[0096] The control method for live-line working robots in this example has two aspects. First, it constructs a combined catenary model and performs mechanical simulations within a preset temperature threshold on the combined catenary model that meets the parameter thresholds. This filters out the mechanical simulation results that meet the parameter thresholds, and then controls the robot to connect the drain line to the corresponding position on the main line based on the mechanical simulation results that meet the parameter thresholds. The aim is to improve the accuracy of the drain line connection position, thereby reducing the risk of insufficient safety distance due to excessive drain line sag in summer and excessive mechanical stress at the connection point due to drain line contraction in winter. Second, it aims to enable the robot to operate beyond "mild weather" and intelligently adapt to diurnal temperature differences and seasonal changes, thus broadening the window of available working time.

[0097] Example 2: This example provides a control system for a live-line working robot in a power distribution network. The control system is applicable to the live-line working robot control method described in Example 1. The control system includes a first construction module, a first processing module, a second construction module, a first acquisition module, a second processing module, a third processing module, and a fourth processing module.

[0098] The system comprises the following components: the first construction module constructs a main catenary model of the main guideline at the current ambient temperature; the first processing module determines potential overlap areas on the main catenary model based on the current length of the guideline at the current ambient temperature; the second construction module constructs combined catenary models of the main guideline and guideline at different overlap positions within the potential overlap areas; the first acquisition module acquires the first mechanical parameters of the combined catenary models; the second processing module marks combined catenary models whose first mechanical parameters meet a parameter threshold as suspected target combined catenary models; the third processing module simulates the mechanical response of suspected target combined catenary models within a preset temperature threshold based on the thermal expansion coefficients of the main guideline and the guideline, obtaining second mechanical parameters of the suspected target combined catenary models at different temperatures; and the fourth processing module marks suspected target combined catenary models whose second mechanical parameters meet the parameter threshold as target combined catenary models and controls the robot to overlap the guideline at the corresponding overlap position of the target combined catenary model.

[0099] The control system for the live-line working robot in this example has two main aspects. First, it constructs a combined catenary model using a second building module. A third processing module performs mechanical simulations within a preset temperature threshold on the combined catenary model that meets the parameter thresholds. This filters out simulation results that meet the thresholds. Then, a fourth processing module controls the robot to connect the drain line to the corresponding position on the main line based on these simulation results. This aims to improve the accuracy of the drain line connection, thereby reducing the risk of insufficient safety distance due to excessive drain line sag in summer and excessive mechanical stress at the connection point due to drain line contraction in winter. Second, it aims to enable the robot to operate beyond "mild weather," intelligently adapting to diurnal temperature variations and seasonal changes, thus expanding the available working time window.

[0100] In this embodiment, a terminal is also provided, including a processor and a memory, wherein the memory is used to store processor-executable instructions; wherein the processor is configured to invoke the instructions stored in the memory to execute the live-line working robot control method as described in Embodiment 1.

[0101] In this embodiment, a computer-readable storage medium is also provided, on which computer program instructions are stored, which, when executed by a processor, implement the control method for a live-line working robot in a distribution network as described in Embodiment 1.

[0102] Although the invention has been described herein with reference to several illustrative embodiments, it should be understood that many other modifications and implementations can be devised by those skilled in the art, which will fall within the scope and spirit of the principles disclosed herein. More specifically, various variations and modifications can be made to the components and / or layout of the subject matter arrangement within the scope of the disclosure, drawings, and claims. Besides variations and modifications to the components and / or layout, other uses will be apparent to those skilled in the art.

Claims

1. A control method for a live-line working robot in a power distribution network, characterized in that, Includes the following operations: Construct a catenary model of the dominant line at the current ambient temperature; Based on the current length of the drainage line at the current ambient temperature, determine the potential overlap area on the main catenary model; Construct a combined catenary model of the main guide line and the drainage line when the drainage line is overlapped at different overlap positions in the potential overlap area; Obtain the first mechanical parameters of the combined catenary model; The combined catenary model whose first mechanical parameter satisfies the parameter threshold is marked as a suspected target combined catenary model; Based on the thermal expansion coefficients of the dominant line and the drain line, the mechanical response of the suspected target combined catenary model within the preset temperature threshold is simulated to obtain the second mechanical parameters of the suspected target combined catenary model at different temperatures. The suspected target combined catenary model whose second mechanical parameter meets the parameter threshold is marked as the target combined catenary model, and the robot is controlled to connect the drainage line to the corresponding connection position of the target combined catenary model.

2. The control method for a live-line working robot in a power distribution network according to claim 1, characterized in that, The process of constructing the main catenary model of the dominant line at the current ambient temperature includes: Obtain the current ambient temperature and the target parameters of the main conductor under the current ambient temperature; among which, the target parameters of the main conductor include the mass per unit length of the main conductor, the current length of the main conductor, and the coordinates of the main connection point between the main conductor and the tower; Based on the current ambient temperature, the mass per unit length of the main line, the current length of the main line, and the coordinates of the main connection point, construct a main catenary model of the main line under the current ambient temperature.

3. The control method for a live-line working robot in a power distribution network according to claim 2, characterized in that, The process of determining potential overlap areas on the main catenary model includes: Obtain the coordinates of the connection point between the diversion line and the tower; Calculate the theoretical distance between the coordinates of the connecting point and any position on the main catenary model; The positions where the theoretical distance is less than or equal to the current length of the drainage line are marked as overlap positions, and potential overlap areas containing each overlap position are formed.

4. The control method for a live-line working robot in a power distribution network according to claim 3, characterized in that, The process of constructing a catenary model of the combination of the main guide line and the drainage line when the drainage line is overlapped at different overlap positions within the potential overlap area includes: Obtain the mass per unit length of the drainage line at the current ambient temperature; Based on the unit length mass of the drainage line, the current length of the drainage line, the coordinates of the connection point, the main catenary model, and the potential overlap area, a combined catenary model of the main line and the drainage line is constructed under the current ambient temperature.

5. The control method for a live-line working robot in a power distribution network according to claim 1, characterized in that: The mechanical parameters include the maximum tension of the drainage line, the force at the overlap position, and the minimum distance between the drainage line and the ground.

6. A control system for a live-line working robot in a power distribution network, characterized in that, The power distribution network live-line working robot control system is applicable to the power distribution network live-line working robot control method as described in any one of claims 1-5, and the power distribution network live-line working robot control system includes: The first construction module is used to construct the main catenary model of the main catenary under the current ambient temperature; The first processing module is used to determine the potential overlap area on the main catenary model based on the current length of the drainage line at the current ambient temperature. The second construction module is used to construct the combined catenary model of the main guide line and the drainage line when the drainage line is overlapped at different overlap positions in the potential overlap area; The first acquisition module is used to acquire the first mechanical parameters of the combined catenary model. The second processing module is used to mark the combined catenary model whose first mechanical parameters satisfy the parameter threshold as a suspected target combined catenary model. The third processing module is used to simulate the mechanical response of the suspected target combined catenary model within a preset temperature threshold according to the thermal expansion coefficient of the main line and the thermal expansion coefficient of the drain line, and to obtain the second mechanical parameters of the suspected target combined catenary model at different temperatures. The fourth processing module is used to mark the suspected target combined catenary model whose second mechanical parameters meet the parameter threshold as the target combined catenary model, and control the robot to attach the drainage line to the corresponding attachment position of the target combined catenary model.

7. A terminal, characterized in that, include: A processor and a memory, wherein the memory is used to store processor-executable instructions; The processor is configured to invoke instructions stored in the memory to execute the control method for a live-line working robot in a power distribution network as described in any one of claims 1-5.

8. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, the control method for live-line working robots in distribution networks as described in any one of claims 1-5 is implemented.

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