Robotic automated cable processing and insulation restoration integration method and system for distribution networks

Abstract

The application discloses a robot automatic cable processing and insulation recovery integrated method and system for a power distribution network, and relates to the field of power distribution network maintenance. The application discloses a robot automatic cable processing and insulation recovery integrated method and system for a power distribution network, and relates to the field of power distribution network maintenance. The method comprises the following steps: a robot approaches a work point; a control executor opens and closes a mechanism to close a cable; a cutting module is started, alloy blades in the cutting module rotate at a set first rotating speed and are pushed along the cable at a given first speed; cutting resistance is monitored in real time through double pressure sensors, and the alloy blades are controlled according to a feedback signal of the cutting resistance; when a change value of the cutting resistance exceeds a preset sudden change resistance threshold value, the alloy blades stop pushing and immediately move reversely, and retreat to a second predetermined distance; a stripping module is controlled to strip an insulation section of the cut cable; and an insulation wrapping module is controlled to spiral wrap the exposed conductor with adhesive tape. The application integrates three functional modules of cutting, stripping and insulation recovery, and realizes full unmanned operation of high-altitude high-voltage work.

Description

Technical Field

[0001] This invention belongs to the field of power system distribution network operation and maintenance robot technology, specifically involving an integrated method and system for automatic cable handling and insulation restoration by robots for distribution networks. Background Technology

[0002] The splicing and current diversion of 10kV overhead power lines are high-frequency and high-risk daily maintenance projects. Currently, in addition to traditional manual insulated bucket truck operations, some wire stripping tools have emerged that attempt to achieve automation. However, these tools have limited functions, cannot form a complete operational loop, and have bottlenecks in terms of operational accuracy and safety.

[0003] Chinese patent application CN115642535A discloses a dedicated wire stripping tool for 10kV distribution network live-line working robots. Through the coordination of an adjustment mechanism, clamping mechanism, and cutting mechanism, it achieves automatic clamping and stripping of the wire. However, this tool's function is limited to wire stripping; it is a single-function end-point tool. To complete the entire cable joint processing flow of cutting-stripping-insulation restoration, the operator must change different tools midway. This not only leads to work interruptions and low efficiency but also introduces significant safety risks and cumulative positioning errors during repeated disassembly, reassembly, and repositioning. Its wire stripping action relies on an adjusting toothed belt to move a fixed block. This open-loop control method lacks a real-time feedback protection mechanism. For 10kV cables with tolerances in insulation thickness, inaccurate control can easily damage the conductor, which is an unacceptable safety hazard in 10kV live-line work.

[0004] Chinese patent application CN115513853A discloses an intelligent wire stripping tool for live-line work on distribution networks using an insulated short pole method. This tool solves the problem of manual pole climbing with loads through the cooperation of a rotating component and a working component. However, this tool only has wire stripping functionality; the insulation restoration step still requires manual completion, failing to achieve full automation of the entire operation process. Its working component uses a feed thread for clamping and cutting, a mechanical control with a preset depth. This cannot adaptively adapt to the actual conditions of 10kV cables in outdoor environments, such as ellipticity and uneven insulation thickness. The cutting depth control accuracy is limited, and safety risks remain.

[0005] Therefore, there is an urgent need for an integrated automatic cable processing and insulation restoration method that combines three functional modules: cutting, stripping, and insulation restoration, to achieve closed-loop operation for high-altitude and high-voltage work. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an integrated method and system for automated cable processing and insulation restoration using robots in power distribution networks. Addressing the issues of existing cable stripping tools having limited functionality, requiring manual operation, posing high risks, and causing long operation times, this invention provides an integrated automated cable processing and insulation restoration method that combines cutting, stripping, and insulation restoration modules. This enables fully unmanned operation of high-altitude, high-voltage work, significantly reducing operation time.

[0007] This invention employs the following technical solution: an integrated method for robotic automatic cable handling and insulation restoration in power distribution networks, comprising the following steps: Step 1: After obtaining the coordinates of the target cable through the front-end recognition and positioning system, the robot carries the integrated end effector and approaches the work point along the preset path; Step 2: Control the actuator opening and closing mechanism to close, wrap around the cable, and maintain a first predetermined distance between the housing and the cable surface; Step 3: Control the start of the cutting module. The alloy blade in the cutting module rotates at a set first rotation speed and advances radially along the cable at a given first speed. Step 4: The cutting resistance is monitored in real time by dual pressure sensors symmetrically arranged on both sides of the cutting disc. The feed depth of the alloy blade is controlled according to the feedback signal of the cutting resistance. When the change value of the cutting resistance exceeds the preset sudden resistance threshold, the alloy blade is controlled to stop advancing and immediately move in the opposite direction, retreating to the second predetermined distance. Step 5: Control the closing of the claw-type wire stripper of the wire stripping module to clamp the cable insulation layer on both sides of the cutting cut with a predetermined clamping force. The integrated end effector is pulled to move along the cable axis at a given second speed to strip the insulation section of the cut cable. A vision sensor is used to visually inspect the exposed conductor. If the inspection fails, a second stripping process is performed. If it passes, proceed to step 6. Step 6: Control the clamping rollers of the insulation wrapping module to press the insulating tape, drive the insulating tape to wrap around the exposed conductor surface, dynamically adjust the wrapping parameters according to the preset insulation restoration target and real-time sensing information, and detect the insulation restoration quality after wrapping is completed.

[0008] Furthermore, step 4, which involves controlling the feed depth of the alloy insert based on the feedback signal of the cutting resistance, specifically includes: Step 41: Acquire the pressure signal and tangential torque signal output by the dual pressure sensors in real time, and perform data fusion processing; Step 42: Based on the preset resistance-state mapping model, identify the current cutting state, which includes normal cutting, about to touch the conductor shielding layer interface, or encountering an anomaly in the insulation layer. Step 43: When it is detected that the conductor shielding layer interface is about to be touched, the control alloy blade is immediately stopped and retracted; when it is detected that an abnormal state is encountered in the insulation layer, the control alloy blade is paused and the preset abnormal handling strategy is activated.

[0009] Furthermore, the mutation resistance threshold mentioned in step 4 is an adaptive threshold based on a learning model, specifically: Record the resistance characteristics and working condition data of each successful cutting operation to form a historical database; During operation, resistance characteristic data is matched from the historical database based on the current cable condition, and the sudden change resistance threshold is dynamically adjusted.

[0010] Furthermore, the dynamic adjustment of winding parameters in step 6 specifically includes: Before the winding process begins, a three-dimensional scan of multiple exposed conductors is performed using a visual sensor to obtain information on diameter changes and surface defects. Based on the diameter variation information, the winding pitch that varies with the conductor axis is planned; Based on the surface defect information, an enhanced clamping force is planned at the axial position corresponding to the defect.

[0011] Furthermore, the dynamic adjustment of winding parameters in step 6 also includes: During the winding process, the distribution data of the bonding pressure of the insulating tape, measured by the micro-force sensor integrated on the pressure roller, is acquired in real time. The bonding pressure is compared with a preset threshold. When the local bonding pressure is lower than the preset threshold, the clamping force of the corresponding area pressing wheel during the winding process is increased.

[0012] Furthermore, the dynamic adjustment of winding parameters in step 6 also includes: During the winding process, the thickness data of the wound insulation layer is obtained in real time through an online thickness sensor; The thickness data is compared with a preset growth model. When the thickness deviates from the preset growth model, the winding tension or feed speed of the insulating tape is adjusted.

[0013] Furthermore, after the winding process is completed in step 6, the insulation recovery quality is inspected, specifically including: The integrity of the tape coverage is detected by a visual sensor, and the adhesion of the insulating tape is detected by an infrared sensor. If a defect is detected, the defect characteristics are analyzed, and local rewinding is performed based on the analysis results, or the winding parameters are adjusted for full coverage rewinding.

[0014] A second aspect of the present invention provides an integrated system for robotic automated cable handling and insulation restoration in power distribution networks, which implements an integrated method for robotic automated cable handling and insulation restoration in power distribution networks, specifically including: The robot body, used to provide degrees of freedom of movement; An integrated end effector, featuring a hinged structure, integrates: Cutting module: includes a drive mechanism and symmetrically arranged dual pressure sensors; Wire stripping module: includes at least one pair of claw wire strippers that can be opened and closed synchronously and their drive unit; Insulated wrapping module: includes a vision sensor for 3D scanning, a tape reel, and pressure rollers; The control unit, which is communicatively connected to the robot body and the integrated end effector, is used to control each module to execute the steps of the method.

[0015] Furthermore, the clamping roller of the insulating wrapping module is a force-controlled clamping roller integrated with a micro-force sensor; The insulation wrapping module also includes an online thickness sensor.

[0016] A third aspect of the present invention provides a terminal, including a processor and a storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of an integrated method for robotic automated cable handling and insulation restoration for power distribution networks.

[0017] A fourth aspect of the invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of an integrated method for robotic automated cable handling and insulation restoration for power distribution networks.

[0018] Compared with the prior art, the beneficial effects of the present invention are that it integrates insulation cutting, wire stripping and insulation wrapping modules, realizing a seamless connection from the exposed conductor to insulation restoration in high-altitude operations. It completely eliminates the problems of process interruption, low efficiency and positioning error caused by tool changing in traditional operations, realizes fully unmanned operation of high-altitude and high-voltage operations, and completely liberates people from high-altitude and high-voltage operations.

[0019] This invention uses force feedback instead of mechanical stroke to control the cutting depth. By sensing and analyzing the sudden changes in cutting resistance in real time, it can actively stop and retract before the blade tip touches the conductor shielding layer, fundamentally eliminating the risk of cutting the conductor, solving the core safety hazard in high-voltage operations, and ensuring operational safety and work accuracy.

[0020] This invention shortens the time for a single cable joint processing operation through integrated processes and intelligent feedback control, improves the efficiency of high-altitude operations, and avoids the risks of manual operation and the limitation of tool functions. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the integrated automatic cable handling and insulation restoration method of the present invention. Figure 2 This is a schematic diagram of the robot's integrated automatic cable handling and insulation restoration system of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this invention.

[0023] like Figure 1 Embodiment 1 of the present invention provides an integrated method for robotic automated cable handling and insulation restoration in power distribution networks. The core hardware support of the present invention is an integrated end effector with an openable coaxial layout. Through functional module integration design, unmanned handling of 10kV power distribution cables is achieved. The actuator integrates a cutting module, a stripping module, and an insulation wrapping module into a compact housing of Φ180mm×220mm, with a maximum opening diameter of 80mm, which can adapt to the wrapping operation of 10kV cables of different specifications.

[0024] Specifically, it includes: Step 1: After obtaining the target cable coordinates through the front-end recognition and positioning system, the robot carries the integrated end effector and approaches the work point along the preset path.

[0025] Specifically, after acquiring the target cable coordinates through a pre-positioning system, the robot's right arm, carrying an integrated end effector, approaches the work point along a preset path. The operator inputs key parameters via a human-machine interface, including: actual cable diameter (Φ20-40mm), insulation thickness (4-8mm), and target stripping length (20-50mm, matching the standard size of a 10kV cable connector). To ensure high-voltage operation accuracy, the integrated end effector first moves to a standard 10kV cable simulator with a cable diameter of 30mm and an insulation thickness of 6mm for calibration. The calibration process is as follows: A visual sensor acquires contour data of the simulated part, and a laser positioning system corrects the robotic arm's posture, ultimately calibrating the repeatability error to ≤±0.2-0.5mm. Simultaneously, the stability of the power output of each module and the flexibility of the opening and closing mechanism are tested. Once calibration is successful, a work-ready signal is generated.

[0026] Step 2: Control the actuator opening and closing mechanism to close, wrap around the cable, and maintain a first predetermined distance between the housing and the cable surface.

[0027] Specifically, the actuator switch mechanism is closed to encircle the cable with a coaxiality of ≤±3mm, so that the gap between the housing and the cable surface is maintained at a first predetermined distance. In this embodiment, the first predetermined distance is 5-8mm to avoid friction damage to the cable insulation layer.

[0028] Step 3: Control the start of the cutting module. The alloy blade in the cutting module rotates at a set first rotation speed and advances radially along the cable at a given first speed.

[0029] Specifically, in this embodiment, the cutting module uses a high-strength alloy blade with a hardness of HRC60 and a blade angle of 45°, which is adapted to cross-linked polyethylene material. When the cutting module is started, the alloy blade rotates at a preset first speed and simultaneously advances slowly along the radial direction of the cable at a first speed. In this embodiment, the first speed is 600 rpm and the first speed is set within the range of 0.5-1.0 mm / s.

[0030] Step 4: The cutting resistance is monitored in real time by dual pressure sensors symmetrically arranged on both sides of the cutting disc. The feed depth of the alloy blade is controlled according to the feedback signal of the cutting resistance. When the change value of the cutting resistance exceeds the preset sudden resistance threshold, the alloy blade is controlled to stop advancing and immediately move in the opposite direction, retreating to the second predetermined distance.

[0031] This embodiment employs dual pressure sensors, symmetrically arranged on both sides of the cutter head radially, to monitor the cutting radial pressure. With tangential torque Radial pressure directly reflects the vertical resistance required for the blade tip to penetrate insulating materials, while tangential torque reflects the rotational friction and shear resistance during the cutting process. The sensor performs synchronous high-speed acquisition at a sampling frequency of no less than 1kHz to ensure that it can capture the transient change characteristics of cutting resistance when penetrating interfaces of different materials.

[0032] Specifically, the control unit receives signals from the dual pressure sensors in real time and performs data fusion processing, including: The original signal is low-pass filtered to suppress high-frequency noise caused by mechanical vibration.

[0033] The radial pressure collected synchronously With tangential torque The resultant force eigenvector is synthesized to reflect the overall cutting load. And calculate the real-time rate of change. Through the resultant force eigenvector It reflects the overall cutting difficulty and identifies key sensitive indicators of the material interface through real-time change rate.

[0034] Simultaneously, statistical characteristics such as the root mean square value and peak value of the dual pressure sensor signals within a short time window are extracted to describe the cutting state of the cable.

[0035] This embodiment establishes a resultant force feature vector based on a pre-defined resistance-state mapping model from numerous cutting experiments. Real-time rate of change The correspondence between cutting states, specifically including: State A, normal cutting: The resultant force rises steadily, and the rate of change remains in a low positive range, indicating that the alloy insert is uniformly cutting the cross-linked polyethylene insulation layer; State B is about to reach the conductor shielding interface: When the alloy blade is about to penetrate the cross-linked polyethylene insulation layer and reach the semi-conductive shielding layer, due to the significant increase in material hardness, the rate of change of the resultant force will show a steep positive spike within milliseconds, i.e., a sudden change. The threshold of this spike, i.e., the sudden change resistance threshold, is the decision boundary for triggering the motor protection action; State C encounters anomalies within the insulation layer: When abnormal high-frequency vibrations of shear torque occur, or when the resultant force vibrates violently and irregularly, there may be non-standard objects such as process impurities and metal fragments within the cross-linked polyethylene insulation layer.

[0036] When the control unit recognizes state B, it indicates that the alloy blade has reached the preset insulation-shielding layer safety boundary, that is, the alloy blade is about to contact the conductor shielding layer. At this time, a stop command is immediately triggered, and the alloy blade stops cutting immediately. At this time, the cutting head stops at a distance of 0.3mm from the conductor shielding layer. At the same time, the control unit controls the alloy blade to move in the opposite direction and retract to the second predetermined distance. In this embodiment, the second predetermined distance is 5mm.

[0037] When the control unit detects state C, it immediately stops the feed of the alloy blade and initiates a graded abnormality handling strategy based on the intensity of the abnormal signal. If the abnormality is minor, the feed speed is reduced and the blade passes through again. If the abnormality is severe, the operation is stopped and an alarm is triggered to prompt personnel to check.

[0038] In this embodiment, the mutation resistance threshold is an adaptive threshold based on a machine learning model, specifically including: After each successful cutting operation, the system automatically records resistance characteristic data and operating condition data such as cable diameter, insulation layer thickness, and ambient temperature, and establishes a historical database. Before each new job begins, the system uses the current job's operating data as query criteria to search the historical database for several historical records with the most similar operating conditions. By analyzing the distribution of mutation resistance thresholds in these similar historical records using the K-nearest neighbor algorithm, the system dynamically predicts and sets the most suitable mutation resistance threshold for the current job, rather than always using a fixed value.

[0039] Step 5: Control the closing of the claw-type wire stripper of the wire stripping module to clamp the cable insulation layer on both sides of the cutting cut with a predetermined clamping force. The integrated end effector is pulled to move along the cable axis at a given second speed to strip the insulation section of the cut cable. A vision sensor is used to visually inspect the exposed conductor. If the inspection fails, a second stripping process is performed.

[0040] Within one second of the cutting completion, the wire stripping module is activated. The claw-type wire strippers of the stripping module simultaneously close at a preset opening of cable diameter + 2mm, clamping the cable insulation layer on both sides of the cut with a predetermined clamping force. In this embodiment, the clamping force is 1.5MPa, the near-end clamping range of the claw-type wire strippers is 10mm, and the far-end clamping range is the target stripping length + 10mm. The inner side of the claws is embedded with a high-friction coefficient silicone pad and has force control adaptive capability. The clamping force is finely adjusted in real time during the traction process to ensure that the clamping force is distributed and does not damage the surface of the insulation layer.

[0041] The robotic arm pulls the integrated end effector at a given second speed of 5-10 mm / s along the cable axis. The claw wire stripper moves synchronously while maintaining the clamping state. At the same time, the claw wire stripper has a passive rotational degree of freedom and can adaptively deflect according to the traction direction to avoid torsional tearing of the insulation layer. Utilizing the difference in adhesion between the insulation layer and the conductor, the insulation section in the cutting area is completely peeled off. During the peeling process, the tensile force is monitored in real time and controlled within the range of 50-80 N to avoid conductor deformation.

[0042] After the wire stripping is completed, a visual sensor is used to scan the exposed conductor 360° to confirm that there is no insulation residue and that the depth of the scratch on the conductor surface is ≤0.1mm. If an abnormality is detected, the second wire stripping is automatically started. At this time, the clamping force is increased to 1.8MPa and the traction speed is reduced to 1.5mm / s.

[0043] Step 6: Control the clamping rollers of the insulation wrapping module to press the insulating tape, drive the insulating tape to wrap around the exposed conductor surface, dynamically adjust the wrapping parameters according to the preset insulation restoration target and real-time sensing information, and detect the insulation restoration quality after wrapping is completed.

[0044] Before the winding process begins, a high-precision structured light vision sensor integrated into the insulation coating module performs a 360° rotational scan of the exposed conductor segment to acquire dense three-dimensional point cloud data. The control system processes this point cloud data, specifically including: A 3D model of the conductor surface is reconstructed using point cloud registration and cylinder fitting algorithms, and its central axis is extracted. The actual diameter of the conductor is then calculated along this axis at fixed intervals. , forming a line along the axial position A changing diameter curve. Used to reflect irregular shapes such as ellipticity and taper that may result from manufacturing tolerances, wear, or previous stripping operations.

[0045] By analyzing the deviation between point cloud data and the fitted ideal cylindrical surface, defects such as pits and scratches on the conductor surface are identified and quantified, and their axial positions are recorded. ,depth and area.

[0046] Based on the diameter variation and surface defect information obtained from 3D scanning, the initial planning of winding parameters is performed, specifically including: Based on the diameter variation information, the winding pitch that varies with the conductor axis is planned, and the calculation formula is as follows: ; in, For the winding pitch, The width of the tape is 30mm in this embodiment. This represents the tape overlap rate.

[0047] When winding to a joint where the conductor diameter increases, the system automatically increases the pitch to prevent excessive overlap and accumulation of tape; at smaller diameter joints, it automatically decreases the pitch to avoid insufficient overlap. At points of abrupt diameter change, a smoothing filtering algorithm is used to smooth the winding pitch command, preventing tape wrinkles caused by the robotic arm's acceleration impact.

[0048] Based on the surface defect information, at the axial position corresponding to the defect Nearby, the planned increased compaction force is calculated using the following formula:

[0049] in, To enhance the localized compaction force in the plan, As the reference clamping force, This is a compensation factor. It ensures that when wrapping around a defect, the pressure on the insulating tape is increased to fill the pit and eliminate potential air gaps.

[0050] During the winding process, a micro-force sensor integrated on the silicone pressure roller measures the interfacial bonding pressure distribution data between the insulating tape and the conductor in real time. The control system compares the real-time pressure distribution data with a preset minimum effective bonding pressure threshold. A comparison is performed. When a local pressure is detected to be consistently lower than [a certain value], [the comparison is made]. If a risk of improper adhesion is detected at that location, the system immediately responds by dynamically increasing the output force of the pressure roller in that localized area until the pressure reaches and stabilizes above the threshold, ensuring that the insulating tape fully adheres to the conductor surface.

[0051] During the winding process, a non-contact laser rangefinder sensor installed near the winding point measures the total thickness of the wound insulation layer in real time. A theoretical thickness growth model is constructed based on the planned winding pitch, the theoretical thickness of a single layer of tape, and the overlap rate. The measured insulation layer thickness is then used as the basis for the winding process. With model theoretical thickness The comparison is as follows: like consistently higher This indicates that the insulating tape may be piled up or wrapped too loosely. In this case, the winding tension of the insulating tape will be increased to make the insulating tape stretch tighter and thinner before winding, or the feed speed will be appropriately increased to make the winding of the insulating tape sparser. like consistently below This indicates that the insulating tape is overstretched or the actual thickness is insufficient. In this case, the winding tension will be reduced or the feed speed will be lowered to ensure that the winding of the insulating tape meets the requirements.

[0052] After the wrapping is completed, a 360° image is taken using a visible light camera to check the integrity of the insulating tape coverage and identify macroscopic defects such as missing wrapping, tape breakage, or severe edge lifting. Utilizing the principle that the air gap at the interface between the tape and the conductor causes a difference in thermal resistance, the section that has just been wrapped is slightly heated and scanned with an infrared thermal imager to detect the adhesion of the insulating tape.

[0053] If a defect is detected, feature analysis is performed on the defect, specifically including: For point-like or small-area defects, the integrated end effector can be precisely positioned and locally overlapped and wrapped to repair the defect location. For defects that are strip-shaped or have large areas of poor adhesion, the winding parameters in that area are optimized by increasing the reference clamping force or adjusting the pitch, and the defective section is precisely rewound to cover it.

[0054] After the tape is properly wrapped, a miniature pneumatic cutter is used to cut the tape. The pressure roller maintains a pressure of 1.0 MPa for 5 seconds to ensure that the end of the tape is firmly adhered and to prevent it from falling off due to outdoor wind or vibration.

[0055] like Figure 2 Embodiment 2 of the present invention provides an integrated robotic automatic cable handling and insulation restoration system for power distribution networks, specifically including: The robot body is used to drive the integrated end effector to perform multi-degree-of-freedom motion and positioning in space; The integrated end effector adopts an openable structure and integrates a cutting module, a wire stripping module, and an insulation wrapping module; The control unit communicates with the robot body and the integrated end effector to interrupt, pause, or resume operations.

[0056] Specifically, the integrated end effector includes: Housing and opening / closing drive mechanism; The cutting module includes a rotatable and radially fed cutter head, a cutting motor that drives the cutter head, and a pressure sensor for real-time monitoring of cutting resistance. The pressure sensor is a dual pressure sensor symmetrically arranged on both sides of the cutter head in the radial direction. The wire stripping module includes at least one pair of claw wire strippers that can be opened and closed synchronously, a clamping drive unit for driving the claw wire strippers, and a rotary joint for driving the claw wire strippers to rotate. The insulation wrapping module includes a vision sensor for 3D scanning, a tape reel, a guide wheel assembly, a clamping wheel for tightening the tape, and a tape cutting device. The clamping wheel is a force-controlled clamping wheel integrated with a micro-force sensor. The insulation wrapping module also includes an online thickness sensor for real-time online measurement of the total thickness of the wrapped insulation layer.

[0057] Embodiment 3 of the present invention provides a terminal, including a processor and a storage medium; Storage media are used to store instructions; The processor is configured to operate according to the instructions to execute the steps of an integrated robotic automated cable handling and insulation restoration method for power distribution networks.

[0058] Embodiment 4 of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of an integrated method for robotic automated cable handling and insulation restoration for power distribution networks.

[0059] This disclosure can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this disclosure.

[0060] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0061] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0062] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A robotic integrated method for automated cable handling and insulation restoration in power distribution networks, characterized in that, Includes the following steps: Step 1: After obtaining the coordinates of the target cable through the front-end recognition and positioning system, the robot carries the integrated end effector and approaches the work point along the preset path; Step 2: Control the actuator opening and closing mechanism to close, wrap around the cable, and maintain a first predetermined distance between the housing and the cable surface; Step 3: Control the start of the cutting module. The alloy blade in the cutting module rotates at a set first rotation speed and advances radially along the cable at a given first speed. Step 4: The cutting resistance is monitored in real time by dual pressure sensors symmetrically arranged on both sides of the cutting disc. The feed depth of the alloy blade is controlled according to the feedback signal of the cutting resistance. When the change value of the cutting resistance exceeds the preset sudden resistance threshold, the alloy blade is controlled to stop advancing and immediately move in the opposite direction, retreating to the second predetermined distance. Step 5: Control the closing of the claw-type wire stripper of the wire stripping module to clamp the cable insulation layer on both sides of the cutting cut with a predetermined clamping force. The integrated end effector is pulled to move along the cable axis at a given second speed to strip the insulation section of the cut cable. A vision sensor is used to visually inspect the exposed conductor. If the inspection fails, a second stripping process is performed. If it passes, proceed to step 6. Step 6: Control the clamping rollers of the insulation wrapping module to press the insulating tape, drive the insulating tape to wrap around the exposed conductor surface, dynamically adjust the wrapping parameters according to the preset insulation restoration target and real-time sensing information, and detect the insulation restoration quality after wrapping is completed.

2. The integrated method for robotic automated cable handling and insulation restoration for power distribution networks according to claim 1, characterized in that, Step 4, which involves controlling the feed depth of the alloy insert based on the feedback signal of the cutting resistance, specifically includes: Step 41: Acquire the pressure signal and tangential torque signal output by the dual pressure sensors in real time, and perform data fusion processing; Step 42: Based on the preset resistance-state mapping model, identify the current cutting state, which includes normal cutting, about to touch the conductor shielding layer interface, or encountering an anomaly in the insulation layer. Step 43: When it is detected that the conductor shielding layer interface is about to be touched, the control alloy blade is immediately stopped and retracted; when it is detected that an abnormal state is encountered in the insulation layer, the control alloy blade is paused and the preset abnormal handling strategy is activated.

3. The integrated method for robotic automated cable handling and insulation restoration for power distribution networks according to claim 2, characterized in that, The mutation resistance threshold mentioned in step 4 is an adaptive threshold based on a learning model, specifically: Record the resistance characteristics and working condition data of each successful cutting operation to form a historical database; During operation, resistance characteristic data is matched from the historical database based on the current cable condition, and the sudden change resistance threshold is dynamically adjusted.

4. The integrated method for robotic automated cable handling and insulation restoration for power distribution networks according to claim 1, characterized in that, The dynamic adjustment of winding parameters in step 6 specifically includes: Before the winding process begins, a three-dimensional scan of multiple exposed conductors is performed using a visual sensor to obtain information on diameter changes and surface defects. Based on the diameter variation information, the winding pitch that varies with the conductor axis is planned; Based on the surface defect information, an enhanced clamping force is planned at the axial position corresponding to the defect.

5. The integrated method for robotic automated cable handling and insulation restoration for power distribution networks according to claim 4, characterized in that, The dynamic adjustment of winding parameters in step 6 also includes: During the winding process, the distribution data of the bonding pressure of the insulating tape, measured by the micro-force sensor integrated on the pressure roller, is acquired in real time. The bonding pressure is compared with a preset threshold. When the local bonding pressure is lower than the preset threshold, the clamping force of the corresponding area pressing wheel during the winding process is increased.

6. The integrated method for robotic automated cable handling and insulation restoration for power distribution networks according to claim 5, characterized in that, The dynamic adjustment of winding parameters in step 6 also includes: During the winding process, the thickness data of the wound insulation layer is obtained in real time through an online thickness sensor; The thickness data is compared with a preset growth model. When the thickness deviates from the preset growth model, the winding tension or feed speed of the insulating tape is adjusted.

7. The integrated method for robotic automated cable handling and insulation restoration for power distribution networks according to claim 1, characterized in that, Step 6 involves inspecting the insulation recovery quality after the winding process is completed, specifically including: The integrity of the tape coverage is detected by a visual sensor, and the adhesion of the insulating tape is detected by an infrared sensor. If a defect is detected, the defect characteristics are analyzed, and local rewinding is performed based on the analysis results, or the winding parameters are adjusted for full coverage rewinding.

8. An integrated robotic automated cable handling and insulation restoration system for power distribution networks, used to implement the integrated robotic automated cable handling and insulation restoration method for power distribution networks as described in any one of claims 1-7, characterized in that, Specifically, it includes: The robot body, used to provide degrees of freedom of movement; An integrated end effector, featuring a hinged structure, integrates: Cutting module: includes a drive mechanism and symmetrically arranged dual pressure sensors; Wire stripping module: includes at least one pair of claw wire strippers that can be opened and closed synchronously and their drive unit; Insulated wrapping module: includes a vision sensor for 3D scanning, a tape reel, and pressure rollers; The control unit, which is communicatively connected to the robot body and the integrated end effector, is used to control each module to execute the steps of the method.

9. The integrated robotic automatic cable handling and insulation restoration system for power distribution networks according to claim 8, characterized in that, The clamping roller of the insulating wrapping module is a force-controlled clamping roller with an integrated micro-force sensor; The insulation wrapping module also includes an online thickness sensor.

10. A terminal, comprising a processor and a storage medium; characterized in that: The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to any one of claims 1-7.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-7.

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