A flexible braking control method, equipment and medium for live-line working robotic arms

Abstract

This invention discloses a flexible braking control method, device, and medium for a live-line working robotic arm, relating to the field of robotic arm control technology. The method includes: constructing a dynamic braking responsibility graph based on the basic braking state of the robotic arm; filtering non-continuous transmission edges from the dynamic braking responsibility graph, determining abnormal propagation paths, and rearranging them to form an event topology chain; mapping the manipulation commands in the work state package to the dynamic braking responsibility graph according to the event topology chain, and adjusting the danger and release components in conjunction with a braking resource scheduling table to generate a topology pruning command; placing the topology pruning command into a shadow responsibility graph for verification by contradiction, and generating a dual-channel verification state through a rollback verification strategy. This invention achieves the effects of precise flexible braking allocation and convergent valve control deviation.

Description

Technical Field

[0001] This invention relates to the field of robotic arm control technology, and in particular to a flexible braking control method, equipment and medium for a live-line working robotic arm. Background Technology

[0002] Live-line working robotic arms belong to the field of robotic arm control technology. Conventional methods mostly involve the controller collecting signals such as joint angle, boom length, hydraulic pressure and electro-hydraulic proportional valve opening feedback. Combined with the robotic arm kinematic chain constraints and preset valve control boundaries, the controller monitors the motion trend, braking response margin and proportional valve opening, and implements deceleration or amplitude limiting control when approaching the working boundary to maintain controllable motion.

[0003] In the above conventional methods, on the one hand, braking judgment focuses on single-point boundaries or valve control thresholds, making it difficult to express the responsibility transfer relationship when anomalies are continuously transmitted along movable nodes, constrained nodes, and transmission edges, thus limiting the precision of braking resource allocation; on the other hand, there is a lack of pre-run verification combined with the event topology chain before valve control is executed, and the continuous deviation between the actual valve control response and the expected opening degree is not easy to be corrected in a timely manner. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a flexible braking control method for live-line working robotic arms to solve the problems of insufficient topological constraints for abnormal propagation responsibility and insufficient correction of valve control response deviation.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a flexible braking control method for a live-line working robotic arm, comprising: acquiring a work state package and establishing a state frame chain, and generating a basic braking state for the robotic arm by combining the constraints of the robotic arm's kinematic chain; constructing a dynamic braking responsibility graph based on the basic braking state of the robotic arm; filtering out non-continuous transmission edges from the dynamic braking responsibility graph, determining abnormal propagation paths, and rearranging them to form an event topology chain; mapping the manipulation instructions in the work state package to the dynamic braking responsibility graph according to the event topology chain, and adjusting the danger component and release component by combining the braking resource scheduling table to generate a topology pruning instruction; placing the topology pruning instruction into a shadow responsibility graph for reverse verification, and generating a dual-channel verification state through a rollback verification strategy; triggering branch processing according to the dual-channel verification state to generate a flexible braking strategy and a hard braking takeover instruction, and converting it into a valve control pre-execution curve by combining the valve control boundary; executing an opening action based on the valve control pre-execution curve and the hard braking takeover instruction, and generating a braking execution record by means of deviation correction and valve control response deviation correction; performing drift observation on the verification feedback deviation in the braking execution record, and performing a restricted write-back on the valve control boundary to generate an updated flexible braking control parameter table.

[0007] As a preferred embodiment of the flexible braking control method for a live-line working robot described in this invention, the steps of acquiring the working state packet and establishing a state frame chain, and simultaneously generating the basic braking state of the robot arm by combining the robot arm's kinematic chain constraints, are as follows: Using the controller of the live-line working robot as the execution subject, the operation status package formed by the current operation cycle of the live-line working robot is obtained, and the operation status package is subjected to timing alignment and disturbance folding processing; the signals that can participate in braking judgment in the same operation cycle in the processed operation status package are folded into status frames, and a status frame chain is established according to the timing succession relationship between status frames; Read the pre-stored kinematic chain constraints and flexible braking control parameter table of the robotic arm, and map the state frame chain into motion events and boundary events; based on the motion changes and drive response changes between adjacent state frames in the state frame chain, obtain the motion trend quantity, drive response margin and state reliability before braking, and write them into the same control coordinate to generate the basic state of robotic arm braking.

[0008] As a preferred embodiment of the flexible braking control method for live-line working robotic arms described in this invention, the steps of constructing a dynamic braking responsibility graph based on the basic braking state of the robotic arm, filtering out non-continuous transmission edges from the dynamic braking responsibility graph, determining anomaly propagation paths, and rearranging them to form an event topology chain are as follows: Based on the basic state of the robotic arm braking, the kinematic chain constraint relationship of the robotic arm is converted into a braking event graph. The motion events are written into the movable nodes of the braking event graph, and the boundary events are written into the constraint nodes of the braking event graph. At the same time, a credibility label is established for the movable nodes and constraint nodes according to the credibility of the state, and a credibility braking event graph is generated. Based on the credible braking event graph, the pre-braking motion trend is projected onto the transfer edge established between movable nodes, and the driving response margin is projected onto the braking edge corresponding to the transfer edge. When the transfer edge points to the constraint node and the braking edge response is insufficient, a braking responsibility migration amount is generated, and the association weight between the transfer edge and the braking edge is updated synchronously to construct a dynamic braking responsibility graph. Based on the dynamic braking responsibility graph, the continuous changes of braking responsibility migration amount in adjacent state frames are compared. When the braking responsibility migration amount on the transmission edge continuously increases in multiple adjacent state frames and the transmission edge continuously points to the constraint node, the corresponding node sequence is determined as the abnormal propagation path. Obtain the braking contribution of movable nodes to constrained nodes in the anomaly propagation path, rearrange the execution order of movable nodes in the anomaly propagation path according to the braking contribution, form an event topology chain, and write the event topology chain back to the dynamic braking responsibility graph.

[0009] As a preferred embodiment of the flexible braking control method for live-line working robotic arms described in this invention, the steps of mapping the manipulation commands in the work status package to a dynamic braking responsibility graph based on the event topology chain, and adjusting the danger and release components in conjunction with the braking resource scheduling table to generate topology trimming commands are as follows: The valve control boundary in the flexible braking control parameter table is assigned to the movable nodes of the event topology chain. Combining the response margin threshold and the distance threshold, the braking resource migration position and freezing range between the movable nodes at the front end and the movable nodes at the back end of the event topology chain are marked to generate a braking resource scheduling table. Based on the braking resource scheduling table, the control instructions in the operation status package are mapped to the dynamic braking responsibility map, and the dangerous component and the release component are distinguished according to the event topology chain. The attenuation relationship corresponding to the braking responsibility migration amount is applied to the dangerous component, and the retention relationship corresponding to the state credibility is applied to the release component, generating the topology pruning instruction.

[0010] As a preferred embodiment of the flexible braking control method for live-line working robotic arms described in this invention, the steps of placing the topology trimming command into the shadow responsibility graph for counter-verification and generating a dual-channel verification state through a rollback verification strategy are as follows: Construct a shadow execution environment and copy the dynamic braking responsibility graph into a shadow responsibility graph; in the shadow responsibility graph, rehearse the impact of the topology pruning instruction on the event topology chain; when the dangerous component does not make the transit edge continuously point to the constraint node corresponding to the preset hard braking boundary, determine that the topology pruning instruction passes the proof by contradiction and generate the proof by contradiction state. Based on the proof-of-contrast verification status, rollback is executed for topology pruning instructions that fail proof-of-contrast verification, and the braking resource scheduling table is updated according to the event topology chain before rollback to obtain the post-verified braking resource scheduling table; for topology pruning instructions that pass proof-of-contrast verification, the current braking resource scheduling table is used as the post-verified braking resource scheduling table and bound to the dynamic braking responsibility graph to generate a rollback verification strategy. Based on the rollback verification strategy, a flexible braking verification flag is generated according to the proof-of-contrast verification state, and a hard braking trigger flag is generated when the abnormal propagation path reaches the hard braking boundary; the flexible braking verification flag and the hard braking trigger flag are combined to generate a dual-channel verification state.

[0011] As a preferred embodiment of the flexible braking control method for live-line working robotic arms described in this invention, the steps of generating a flexible braking strategy and a hard braking takeover command based on the dual-channel verification state trigger branch processing, and converting them into a valve control pre-execution curve in conjunction with the valve control boundary, are as follows: Based on the dual-channel verification status, when the flexible braking verification is marked as passed and no hard braking trigger mark is formed, a flexible braking strategy is generated based on the dynamic braking responsibility graph, event topology chain, post-verification braking resource scheduling table, and rollback verification strategy; when the flexible braking verification is marked as failed, the post-verification braking resource scheduling table is used as the basis for the next braking judgment; when a hard braking trigger mark is formed, a hard braking takeover command is generated. Based on the flexible braking strategy, the braking responsibility transfer amount is converted into the braking weight of the robotic arm kinematic chain; according to the topology pruning instruction, the target motion attenuation amount is obtained, and the target motion attenuation amount is allocated to the corresponding movable nodes according to the braking weight of the robotic arm kinematic chain to generate a braking allocation sequence. Based on the braking distribution sequence and valve control boundary, the target motion attenuation of each movable node is converted into a proportional valve opening curve, and the proportional valve opening curve is pre-compensated according to the drive response margin to generate a valve control pre-execution curve.

[0012] As a preferred embodiment of the flexible braking control method for live-line working robotic arms described in this invention, the steps of executing the opening action based on the valve-controlled pre-execution curve and the hard braking takeover command, and generating a braking execution record through deviation correction and valve-controlled response deviation correction, are as follows: Before a hard braking trigger mark is formed, the opening pre-adjustment is performed according to the valve-controlled pre-execution curve; when a hard braking trigger mark is formed, the hard braking takeover command is executed, and the electro-hydraulic proportional valve is driven to perform the corresponding opening action; the braking execution feedback state is obtained and written into the dynamic braking responsibility diagram; when the verification feedback deviation between the braking execution feedback state and the counter-verification state exceeds the allowable deviation threshold, the braking responsibility migration amount is re-obtained according to the event topology chain, and a closed-loop correction state is generated; when the verification feedback deviation between the braking execution feedback state and the counter-verification state does not exceed the allowable deviation threshold, the consistent state between the braking execution feedback state and the counter-verification state is taken as the closed-loop correction state. Based on the closed-loop correction status, when the distance between the termination node of the abnormal propagation path and the constraint node is greater than the distance threshold, the release component is restored according to the topology pruning instruction, and the release component restoration status is generated; the release component restoration status is associated with the closed-loop correction status to generate a braking execution record.

[0013] As a preferred embodiment of the flexible braking control method for live-line working robotic arms described in this invention, the steps of drift observation of the verification feedback deviation in the braking execution record and restricted write-back of the valve control boundary to generate an updated flexible braking control parameter table are as follows: Based on the braking execution record, the verification feedback deviation between the counter-evidence verification state and the braking execution feedback state on the same event topology chain is continuously compared. When the verification feedback deviation accumulates in the same direction on the same event topology chain, the verification feedback deviation is associated with the dynamic braking responsibility map, and the braking responsibility migration amount corresponding to the current event topology chain is frozen to generate a drift precursor frozen state. Based on the event topology chain recorded in the drift precursor frozen state, the movable nodes of the valve control boundary allocation in the event topology chain are located, and the corresponding valve control boundary in the flexible braking control parameter table is written back under restricted conditions without exceeding the allowable opening range of the valve control boundary; the written-back flexible braking control parameter table is re-bound with the dynamic braking responsibility map to generate an updated flexible braking control parameter table.

[0014] In a second aspect, the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, wherein when the computer program is executed by the processor, it implements any step of the flexible braking control method for a live-line working robot as described in the first aspect of the present invention.

[0015] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, it implements any step of the flexible braking control method for a live-line working robot as described in the first aspect of the present invention.

[0016] The beneficial effects of this invention are as follows: by using a dynamic braking responsibility diagram and event topology chain, the abnormal propagation path is sorted and a topology pruning instruction is generated, thereby realizing the centralized scheduling of braking resources to the main risk locations; by using shadow responsibility diagram for reverse verification, valve control pre-execution curve, and closed-loop correction state, the opening action of the electro-hydraulic proportional valve is verified and then corrected, achieving the effect of fine flexible braking allocation and convergent valve control deviation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a flexible braking control method for a live-line working robotic arm.

[0019] Figure 2 A flowchart for generating the basic state of the robotic arm's braking.

[0020] Figure 3 A flowchart for generating dual-channel verification status.

[0021] Figure 4 This is a flowchart for drift observation. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0025] Reference Figures 1-4 As one embodiment of the present invention, this embodiment provides a flexible braking control method for a live-line working robot, comprising the following steps: S1. Obtain the operation status package and establish a state frame chain. At the same time, combine the constraints of the robotic arm kinematic chain to generate the basic state of robotic arm braking.

[0026] Using the controller of the live-line working robot as the execution subject, the operation status package formed by the current operation cycle of the live-line working robot is obtained, and the operation status package is subjected to timing alignment and disturbance folding processing; the signals that can participate in braking judgment in the same operation cycle in the processed operation status package are folded into status frames, and a status frame chain is established according to the timing succession relationship between status frames.

[0027] Furthermore, using the controller of the live-line working robot as the execution subject, it receives feedback on joint angle, boom length, rotation angle, bucket load, hydraulic pressure, and electro-hydraulic proportional valve opening within the current work cycle, and establishes a work status package according to the controller's sampling cycle; one sampling cycle corresponds to one time cell, and signals falling into the same time cell at the sampling time are grouped into the same time cell to complete timing alignment; when performing disturbance folding on the timing aligned work status package, the small offsets formed by the same signal continuously within the same time cell are merged into one offset record.

[0028] It should be noted that the electro-hydraulic proportional valve opening feedback is the percentage signal returned to the controller by the actual opening of the electro-hydraulic proportional valve; the electro-hydraulic proportional valve is a valve that receives electrical signals from the controller and adjusts the hydraulic oil flow opening according to the magnitude of the electrical signals, and is used to change the hydraulic action speed and braking force of the robotic arm.

[0029] The operation status packet after time alignment and disturbance folding is compressed into a status frame according to time grid, and then connected in sequence according to time grid to form a status frame chain, which facilitates subsequent braking judgment to retain the order of operation status changes.

[0030] It should be noted that disturbance folding refers to the merging of amplitudes of small fluctuations with the same source and direction within the same time frame. For example, when the opening of an electro-hydraulic proportional valve shifts by 1%, 1.5%, and 2% consecutively within a time frame, it is folded to 4.5%.

[0031] Read the pre-stored kinematic chain constraints and flexible braking control parameter table of the robotic arm, and map the state frame chain into motion events and boundary events; based on the motion changes and drive response changes between adjacent state frames in the state frame chain, obtain the motion trend quantity, drive response margin and state reliability before braking, and write them into the same control coordinate to generate the basic state of robotic arm braking.

[0032] Furthermore, the controller retrieves the pre-stored kinematic chain constraint relationship and flexible braking control parameter table of the robotic arm, and assigns the joint angle, arm length and rotation angle to the corresponding positions in the kinematic chain constraint relationship of the robotic arm according to the order of the state frames, thus forming motion events.

[0033] It should be noted that the kinematic chain constraint relationship of the robotic arm is the sequential relationship of joint angles, boom length, and rotation angle in the movement of the robotic arm; the flexible braking control parameter table is set with the controllable action position in the kinematic chain constraint relationship of the robotic arm as the index. Each movable node is configured with a bucket load boundary, hydraulic pressure boundary, valve control boundary, response margin threshold, and temporary zone (initial value is 0). The bucket load boundary is set according to the rated load capacity of the bucket, for example, 200 kg; the hydraulic pressure boundary is set according to the upper limit of the stable braking allowable pressure of the corresponding movable node, for example, 16 MPa; the valve control boundary is set according to the upper limit of the flexible braking allowable opening, for example, 60%; and the response margin threshold is set according to 10% of the valve control boundary, for example, 6%.

[0034] The feedback of bucket load, hydraulic pressure, and electro-hydraulic proportional valve opening is compared with the corresponding boundaries in the flexible braking control parameter table, and a boundary event is formed at the position where the boundary is reached. Based on the changes in the joint angle, boom length, and rotation angle between adjacent state frames, the pre-braking motion trend is obtained, and the drive response margin is obtained based on the changes in the feedback of hydraulic pressure and electro-hydraulic proportional valve opening. The state reliability is generated based on the signal integrity within the state frame. The pre-braking motion trend, drive response margin, and state reliability are written into the same control coordinate to generate the basic state of the robotic arm braking.

[0035] It should be noted that the drive response margin is determined according to the interval between the corresponding boundary and the current feedback value. For example, when the valve control boundary is 60% and the current electro-hydraulic proportional valve opening feedback is 42%, the drive response margin is 18%. The state reliability is determined according to the completeness of the six types of signals in the operation state package. For example, completeness is recorded as 1, and each missing type is reduced by 0.1. The control coordinate is the common writing position of the pre-braking motion trend, drive response margin and state reliability under the same state frame, which establishes a stable input basis for the subsequent dynamic braking responsibility map.

[0036] S2. Construct a dynamic braking responsibility graph based on the basic state of the robotic arm braking; filter out non-continuous transmission edges from the dynamic braking responsibility graph, determine the abnormal propagation path, and rearrange it to form an event topology chain; based on the event topology chain, map the operation instructions in the operation state package to the dynamic braking responsibility graph, and combine it with the braking resource scheduling table to adjust the danger component and release component to generate topology pruning instructions; place the topology pruning instructions into the shadow responsibility graph for reverse verification, and generate a dual-channel verification state through a rollback verification strategy.

[0037] Based on the basic state of the robotic arm braking, the kinematic chain constraint relationship of the robotic arm is converted into a braking event graph. Motion events are written into the movable nodes of the braking event graph, and boundary events are written into the constraint nodes of the braking event graph. At the same time, a credibility label is established for the movable nodes and constraint nodes according to the credibility of the state, and a credibility braking event graph is generated.

[0038] Furthermore, based on the basic state of the robotic arm braking, a braking event diagram is established according to the sequential relationship in the constraint relationship of the robotic arm's kinematic chain; the motion events in the basic state of the robotic arm braking are written one by one into the movable nodes of the braking event diagram, and the movable nodes are kept in the sequential order in the state frame chain.

[0039] Write the boundary events in the basic state of the robotic arm braking into the constraint nodes of the braking event graph, and connect the constraint nodes to the state frames that have reached the corresponding boundaries; write the state credibility into the movable nodes and constraint nodes to form credibility markers and generate a credible braking event graph.

[0040] Based on the reliable braking event graph, the pre-braking motion trend is projected onto the transfer edge established between movable nodes, and the driving response margin is projected onto the braking edge corresponding to the transfer edge. When the transfer edge points to the constraint node and the braking edge response is insufficient, a braking responsibility migration amount is generated, and the association weight between the transfer edge and the braking edge is updated synchronously to construct a dynamic braking responsibility graph.

[0041] Furthermore, based on the reliable braking event graph, a transfer edge is established between adjacent movable nodes in the state frame chain, and the pre-braking motion trend in the basic braking state of the robotic arm is written into the corresponding transfer edge; a braking edge is established next to each transfer edge, and the drive response margin is written into the corresponding braking edge; when the transfer edge extends to the constraint node, and the drive response margin in the braking edge is lower than the response margin threshold in the flexible braking control parameter table, the corresponding pre-braking motion trend and drive response margin are written into the same control coordinate, and a braking responsibility migration amount is generated according to the part of the pre-braking motion trend that exceeds the drive response margin, and the association weight between the transfer edge and the braking edge is updated through the braking responsibility migration amount to construct a dynamic braking responsibility graph.

[0042] It should be noted that the transfer edge represents the motion connection relationship between adjacent movable nodes, and the braking edge represents the drive response margin bearing position corresponding to the same transfer edge. The association weight between the transfer edge and the braking edge is set according to the ratio of the braking responsibility migration amount to the pre-braking motion trend amount. For example, when the pre-braking motion trend amount is 10 and the braking responsibility migration amount is 3, the association weight is 30%, which is used to locate the transfer edge that needs to be prioritized for constraint in the future.

[0043] The expression for generating the braking responsibility migration is: ; in, The first in the dynamic braking responsibility diagram Passive edge; For the first in the state frame chain One state frame; For the first Within the state frame, the first The braking responsibility migration amount corresponding to the transfer edge; For the first Within the state frame, the first The tendency of pre-braking motion on the transmission edge; For the first Within the state frame, the first The driving response margin on the corresponding braking side of the transmission edge.

[0044] It should be noted that before writing the pre-braking motion trend and drive response margin into the same control coordinate system, the changes in joint angle, boom length, and slewing angle are converted into motion trend percentages according to the corresponding allowable action ranges; for hydraulic pressure and electro-hydraulic proportional valve opening feedback, the interval between the corresponding boundary and the current feedback value is converted into response margin percentages to ensure that they participate in the calculation of braking responsibility transfer under the same percentage control scale.

[0045] Based on the dynamic braking responsibility graph, the continuous changes of braking responsibility migration amount in adjacent state frames are compared. When the braking responsibility migration amount on the transmission edge continuously increases in multiple adjacent state frames and the transmission edge continuously points to the constraint node, the corresponding node sequence is determined as the abnormal propagation path.

[0046] Furthermore, based on the dynamic braking responsibility graph, the controller compares the braking responsibility migration amount on the same transmission edge frame by frame along the state frame chain. When the same transmission edge has braking responsibility migration amounts in multiple (e.g., at least three) consecutive state frames, and the amounts increase sequentially according to the order of the state frames (e.g., the increase in braking responsibility migration amount of the later state frame relative to the previous state frame reaches more than 10% of the braking responsibility migration amount of the previous state frame), and the transmission edge continuously points to the constraint node, the movable node and constraint node connected by the transmission edge are determined as the abnormal propagation path according to the order of the state frames.

[0047] It should be noted that the pointing constraint node refers to the constraint node whose end of the transit edge is connected to the boundary event; the corresponding node sequence in the anomaly propagation path follows the node name and connection order in the dynamic braking responsibility graph, which is convenient for subsequent rearrangement to form an event topology chain; the discontinuous transit edge is the transit edge in the dynamic braking responsibility graph that cannot stably express the anomaly propagation direction, including the transit of braking responsibility migration interruption, insufficient increase or connection direction detachment from the constraint node.

[0048] Obtain the braking contribution of movable nodes to constrained nodes in the anomaly propagation path, rearrange the execution order of movable nodes in the anomaly propagation path according to the braking contribution, form an event topology chain, and write the event topology chain back to the dynamic braking responsibility graph.

[0049] Furthermore, based on the anomaly propagation path, according to the node connection order in the dynamic braking responsibility graph, the braking responsibility migration amount, association weight, and credibility mark of each movable node pointing to the constraint node are obtained one by one; the braking responsibility migration amount, association weight, and state credibility corresponding to the same movable node are multiplied by the braking contribution; the execution order of movable nodes in the anomaly propagation path are rearranged according to the braking contribution from large to small, and written back to the dynamic braking responsibility graph to form an event topology chain.

[0050] It should be noted that the braking contribution represents the degree to which the movable node assumes the braking responsibility of the constrained node. The larger the value, the earlier it is executed, so that the braking resources are prioritized to the main propagation position.

[0051] The valve control boundary in the flexible braking control parameter table is assigned to the movable nodes of the event topology chain. Combining the response margin threshold and the distance threshold, the braking resource migration position and freezing range between the movable nodes at the front end and the movable nodes at the back end of the event topology chain are marked to generate a braking resource scheduling table.

[0052] Furthermore, based on the event topology chain, the controller writes the valve control boundary from the flexible braking control parameter table into the corresponding movable node. When the drive response margin of the front movable node is lower than the response margin threshold, braking resources (i.e., adjustable opening within the valve control boundary) are allocated from the valve control boundary of the front movable node according to the difference below the response margin threshold, and written into the back movable node to generate the braking resource migration position. When the distance from the back movable node to the constraint node is less than the distance threshold, the freezing range of the front movable node is recorded, and a braking resource scheduling table is generated. The braking resource scheduling table uses the movable nodes in the event topology chain as indexes to record the valve control boundary allocation, braking resource migration position, and freezing range, which serve as the basis for subsequently distinguishing between dangerous components and release components.

[0053] It should be noted that the distance from the movable node to the constraint node is the number of transmitted edges between the termination node and the constraint node; the distance threshold is set according to the number of transmitted edges allowed to be retained between the movable node at the back end of the event topology chain and the constraint node, with an exemplary value range of 2 to 4 transmitted edges; the braking resource migration position is jointly defined by the braking resource migration-out position and the braking resource migration-in position, used to indicate from which movable node the braking resource is transferred to which movable node; the freeze range refers to the range within which the valve control boundary allocation corresponding to the movable node at the front end of the event topology chain is set to prohibit the addition of markers, for example, when the valve control boundary is 60% and the valve control boundary allocation corresponding to the movable node at the front end is 18%, the freeze range is the 18% valve control boundary allocation corresponding to the movable node at the front end; the valve control boundary allocation refers to the adjustable value of the electro-hydraulic proportional valve opening allocated to a certain movable node in the event topology chain.

[0054] Based on the braking resource scheduling table, the control instructions in the operation status package are mapped to the dynamic braking responsibility map, and the dangerous component and the release component are distinguished according to the event topology chain. The attenuation relationship corresponding to the braking responsibility migration amount is applied to the dangerous component, and the retention relationship corresponding to the state credibility is applied to the release component, generating the topology pruning instruction.

[0055] Furthermore, based on the braking resource scheduling table, the control commands in the operation status package are mapped to the dynamic braking responsibility graph according to the event topology chain; when the valve control boundary allocation corresponding to the control command is written into the movable node of the frozen range, and the movable node belongs to the abnormal propagation path, it is identified as a dangerous component; when the valve control boundary allocation corresponding to the control command is written into the movable node of the unmarked frozen range, it is identified as a release component.

[0056] It should be noted that the control command is the control quantity in the work status package used to drive changes in joint angle, boom length or slewing angle. After being mapped to the event topology chain, it is used to determine whether the valve control boundary allocation quantity in the corresponding movable node belongs to the dangerous component or the release component. The dangerous component and the release component both originate from the control command in the same work status package and are distinguished according to the node position, freeze range mark and abnormal propagation path attribution relationship in the event topology chain.

[0057] Apply a decay relationship corresponding to the braking responsibility migration amount to the dangerous component, and reduce the valve control boundary allocation amount corresponding to the dangerous component according to the association weight between the transmission edge and the braking edge; apply a retention relationship corresponding to the state credibility to the release component, and retain the valve control boundary allocation amount corresponding to the release component according to the state credibility; write the reduced dangerous component and the retained release component into the event topology chain to generate a topology pruning instruction.

[0058] It should be noted that the attenuation relationship is based on the ratio of the braking responsibility migration amount to the pre-braking motion trend amount, reducing the allocation amount of the valve control boundary corresponding to the dangerous component. For example, when the dangerous component is 20% and the ratio is 30%, it is reduced by 6% and retained by 14%. The retention relationship is based on the state confidence level, retaining the allocation amount of the valve control boundary corresponding to the release component. For example, when the release component is 20% and the state confidence level is 0.9, it is retained by 18% and deducted by 2%.

[0059] Construct a shadow execution environment and copy the dynamic braking responsibility graph into a shadow responsibility graph; in the shadow responsibility graph, rehearse the impact of the topology pruning instruction on the event topology chain; when the dangerous component does not make the transit edge continuously point to the constraint node corresponding to the preset hard braking boundary, determine that the topology pruning instruction passes the proof by contradiction and generate a proof by contradiction state.

[0060] Furthermore, a temporary computation area is established within the controller that only receives dynamic braking responsibility graphs and topology trimming instructions, and sets the electro-hydraulic proportional valve opening output port to a write-prohibited area. This creates a shadow execution environment, allowing topology trimming instructions to only participate in verification and not drive the electro-hydraulic proportional valve. The movable nodes, constraint nodes, transit edges, braking edges, associated weights, and event topology chains in the dynamic braking responsibility graph are copied into a shadow responsibility graph.

[0061] It should be noted that the shadow execution environment is a virtual pre-simulation environment established within the controller. It uses the same input and dynamic braking responsibility diagram as the actual braking process, but does not output opening actions to the electro-hydraulic proportional valve. It is only used to verify the impact of topology trimming instructions on the event topology chain.

[0062] In the shadow responsibility graph, the dangerous and released components are attenuated and retained according to the topology pruning instruction, and the transmission edge is re-marked along the event topology chain. When the dangerous component fails to keep the same transmission edge connected to the constraint node corresponding to the hard braking boundary in multiple consecutive state frames (e.g., three state frames) and fails to make the valve control boundary allocation corresponding to the constraint node reach the hard braking boundary, a pass mark is written to generate a counter-proof verification state.

[0063] It should be noted that the hard braking boundary is the constraint node boundary that triggers the hard braking takeover command. It is set according to the high-level opening range between the valve control boundary and the maximum opening of the electro-hydraulic proportional valve. An exemplary value range is 85% to 95%, for example, 90%.

[0064] Based on the proof-of-contrast verification status, rollback is executed for topology pruning instructions that fail proof-of-contrast verification, and the braking resource scheduling table is updated according to the event topology chain before rollback to obtain the post-verified braking resource scheduling table; for topology pruning instructions that pass proof-of-contrast verification, the current braking resource scheduling table is used as the post-verified braking resource scheduling table and bound to the dynamic braking responsibility graph to generate a rollback verification strategy.

[0065] Furthermore, based on the proof-of-contrast status, if the topology pruning instruction is not written to the pass flag, the decay operation of the dangerous component and the retention operation of the released component in the shadow responsibility graph of the topology pruning instruction are revoked, and the event topology chain is restored to the state before the topology pruning instruction was executed.

[0066] Based on the restored event topology chain, the braking resource migration location and freeze range are remarked, and the braking resource scheduling table is updated to obtain the verified braking resource scheduling table. If the topology pruning instruction is written to the pass mark, the current braking resource scheduling table is used as the verified braking resource scheduling table. The verified braking resource scheduling table is bound to the dynamic braking responsibility graph to generate a rollback verification strategy.

[0067] It should be noted that the rollback verification strategy is to verify the binding relationship between the verification status, the post-verification braking resource scheduling table, and the dynamic braking responsibility graph. For example, when three consecutive status frames point to the 90% hard braking boundary, the corresponding movable nodes will be included in the freeze range to prevent unverified pruning from entering subsequent braking allocation.

[0068] Based on the rollback verification strategy, a flexible braking verification flag is generated according to the proof-of-contrast verification state, and a hard braking trigger flag is generated when the abnormal propagation path reaches the hard braking boundary; the flexible braking verification flag and the hard braking trigger flag are combined to generate a dual-channel verification state.

[0069] Furthermore, based on the rollback verification strategy, when the counter-verification status is passed and the brake resource scheduling table has been bound to the dynamic brake responsibility map after verification, a flexible brake pass mark is generated; when the counter-verification status is failed, a flexible brake fail mark is generated.

[0070] In the shadow responsibility graph, the constraint nodes connected by the transmission edges are checked one by one along the event topology chain; when the valve control boundary allocation corresponding to the constraint node reaches the hard braking boundary after being recalculated by the topology pruning instruction, a hard braking trigger mark is generated; the flexible braking verification mark (including the flexible braking pass mark and the flexible braking fail mark) and the hard braking trigger mark are written to the same verification position to generate a dual-channel verification state.

[0071] It should be noted that the dual-channel verification state retains both the flexible braking verification flag and the hard braking trigger flag, which facilitates the generation of flexible braking strategies or hard braking takeover commands in subsequent branches.

[0072] S3. Trigger branch processing based on dual-channel verification status to generate flexible braking strategy and hard braking takeover command, and combine them with valve control boundary to convert them into valve control pre-execution curve; based on valve control pre-execution curve and hard braking takeover command, execute opening action, and generate braking execution record through deviation correction and valve control response deviation correction.

[0073] Based on the dual-channel verification status, when the flexible braking verification is marked as passed and no hard braking trigger mark is formed, a flexible braking strategy is generated based on the dynamic braking responsibility graph, event topology chain, post-verification braking resource scheduling table, and rollback verification strategy; when the flexible braking verification is marked as failed, the post-verification braking resource scheduling table is used as the basis for the next braking judgment; when a hard braking trigger mark is formed, a hard braking takeover command is generated.

[0074] Furthermore, based on the dual-channel verification status, when the flexible braking verification is marked as passed and no hard braking trigger mark is formed, the transmission edges that need to be constrained are determined through the dynamic braking responsibility graph, the execution order of movable nodes is determined according to the event topology chain, the braking resource migration location and freezing range are determined by the post-verification braking resource scheduling table, and the topology pruning instruction has been confirmed to have passed the reverse verification by the rollback verification strategy, thus generating a flexible braking strategy; when the flexible braking verification is marked as failed, the post-verification braking resource scheduling table bound in the rollback verification strategy is used as the basis for the next braking judgment; when a hard braking trigger mark is formed, a hard braking takeover instruction is generated.

[0075] It should be noted that the hard brake takeover command is a forced takeover command for the opening action of the electro-hydraulic proportional valve when the abnormal propagation path reaches the hard brake boundary. For example, it is generated when the hard brake boundary is 90% and the opening value corresponding to the constraint node reaches 90%. This step realizes the branch isolation between flexible braking and hard brake takeover, and avoids the topology trimming command that has not passed the proof by contradiction from entering the braking execution.

[0076] Based on the flexible braking strategy, the braking responsibility transfer amount is converted into the braking weight of the robotic arm kinematic chain; according to the topology pruning instruction, the target motion attenuation amount is obtained, and the target motion attenuation amount is allocated to the corresponding movable nodes according to the braking weight of the robotic arm kinematic chain to generate a braking allocation sequence.

[0077] Furthermore, based on the flexible braking strategy, the braking responsibility migration amounts corresponding to each movable node in the event topology chain are summed, and the braking weight of the robotic arm kinematic chain is obtained (i.e., the proportion of the braking responsibility migration amount of each movable node to the aforementioned sum). According to the topology trimming instruction, the valve control boundary allocation amount after the dangerous component is deducted by the attenuation relationship is obtained, and the deducted valve control boundary allocation amount is converted into the target motion attenuation amount of the corresponding movable node. According to the braking weight of the robotic arm kinematic chain, the target motion attenuation amount is allocated to the corresponding movable node in the event topology chain to generate a braking allocation sequence, which is used to carry out the subsequent proportional valve opening curve conversion.

[0078] It should be noted that the braking weight of the robotic arm kinematic chain represents the proportion of the target motion attenuation borne by the movable node; the target motion attenuation is the reduction value of the motion change corresponding to the attenuation of the dangerous component in the topology trimming instruction.

[0079] Based on the braking distribution sequence and valve control boundary, the target motion attenuation of each movable node is converted into a proportional valve opening curve, and the proportional valve opening curve is pre-compensated according to the drive response margin to generate a valve control pre-execution curve.

[0080] Furthermore, based on the braking allocation sequence, the controller compares the target motion attenuation of each movable node with the pre-braking motion trend of the same movable node according to the order of movable nodes in the event topology chain, and generates the motion attenuation ratio.

[0081] The valve control boundary is integrated with the motion attenuation ratio to obtain the opening reduction amount. The opening reduction amount is then deducted from the valve control boundary and arranged in the order of movable nodes to form a proportional valve opening curve. When the drive response margin is lower than the response margin threshold, the difference between the drive response margin and the response margin threshold is added to the initial opening of the corresponding movable node of the proportional valve opening curve. The addition direction is to increase the initial opening to form a braking response in advance. After the pre-compensation, the opening does not exceed the valve control boundary, thus generating a valve control pre-execution curve.

[0082] Before a hard braking trigger mark is formed, the opening pre-adjustment is performed according to the valve-controlled pre-execution curve; when a hard braking trigger mark is formed, the hard braking takeover command is executed, and the electro-hydraulic proportional valve is driven to perform the corresponding opening action; the braking execution feedback state is obtained and written into the dynamic braking responsibility diagram; when the verification feedback deviation between the braking execution feedback state and the counter-verification state exceeds the allowable deviation threshold, the braking responsibility migration amount is re-obtained according to the event topology chain, and a closed-loop correction state is generated; when the verification feedback deviation between the braking execution feedback state and the counter-verification state does not exceed the allowable deviation threshold, the consistent state between the braking execution feedback state and the counter-verification state is taken as the closed-loop correction state.

[0083] Furthermore, when no hard braking trigger mark is formed in the dual-channel verification state, the controller writes the opening degree corresponding to each movable node into the electro-hydraulic proportional valve according to the movable node sequence in the valve control pre-execution curve and performs opening pre-adjustment; when a hard braking trigger mark is formed in the dual-channel verification state, the controller stops the opening pre-adjustment corresponding to the valve control pre-execution curve and switches the opening degree of the electro-hydraulic proportional valve to the opening degree corresponding to the hard braking boundary according to the hard braking takeover command.

[0084] After the electro-hydraulic proportional valve completes its opening action, the controller collects the most recent timestamp of the electro-hydraulic proportional valve opening feedback, hydraulic pressure, and joint angle changes to form a braking execution feedback state, which is then written into the dynamic braking responsibility map. The braking execution feedback state and the counter-verification state are mapped to the same position in the dynamic braking responsibility map, and in the same movable node, the same braking edge, and the same transmission edge, a comparison is performed based on the electro-hydraulic proportional valve opening feedback, hydraulic pressure, and joint angle changes to obtain the verification feedback deviation (including opening deviation, pressure deviation, and angle deviation). When any corresponding data in the verification feedback deviation exceeds the allowable deviation threshold, a deviation event is determined to have occurred, and the braking responsibility migration amount is re-acquired according to the event topology chain to generate a closed-loop correction state. When the braking execution feedback state and the counter-verification state data are consistent, the consistent state is taken as the closed-loop correction state.

[0085] It should be noted that the allowable deviation thresholds are set according to a fixed proportion of the corresponding boundaries of similar data, including the opening deviation threshold, pressure deviation threshold and angle deviation threshold; the opening deviation threshold is set at 3% to 8% of the valve control boundary, and is 5% for example; the pressure deviation threshold is set at 3% to 8% of the hydraulic pressure boundary, and is 5% for example; the angle deviation threshold is set at 3% to 8% of the pre-braking motion trend, and is 5% for example.

[0086] It should be noted that the expected opening degree is the target opening degree corresponding to the same movable node in the valve control pre-execution curve, which is formed by the proportional valve opening degree curve after pre-compensation of the drive response margin.

[0087] Based on the closed-loop correction status, when the distance between the termination node of the abnormal propagation path and the constraint node is greater than the distance threshold, the release component is restored according to the topology pruning instruction, and the release component restoration status is generated; the release component restoration status is associated with the closed-loop correction status to generate a braking execution record.

[0088] Furthermore, based on the closed-loop correction state, when the distance between the termination node of the abnormal propagation path and the constraint node is greater than the distance threshold, the recoverable valve control boundary allocation amount of the release component is obtained according to the retention relationship in the topology pruning instruction, and the recoverable valve control boundary allocation amount is written back to the corresponding movable node in the event topology chain to generate the release component recovery state; the release component recovery state and the closed-loop correction state are written into the same event topology chain to generate the braking execution record.

[0089] It should be noted that the distance is the number of edges passed between the termination node and the constraint node, and the distance threshold is the same as the aforementioned 2 to 4 passing edges.

[0090] S4. Observe the drift of the verification feedback deviation in the braking execution record, and perform a restricted write-back on the valve control boundary to generate an updated flexible braking control parameter table.

[0091] Based on the braking execution record, the verification feedback deviation between the counter-evidence verification state and the braking execution feedback state on the same event topology chain is continuously compared. When the verification feedback deviation accumulates in the same direction on the same event topology chain, the verification feedback deviation is associated with the dynamic braking responsibility map, and the braking responsibility migration amount corresponding to the current event topology chain is frozen, generating a drift precursor frozen state.

[0092] Furthermore, based on the braking execution records, verification feedback deviations (including opening deviation, pressure deviation, and angle deviation) are extracted from multiple consecutive braking execution records along the same event topology chain. The verification feedback deviation in the subsequent braking execution record is compared with the verification feedback deviation in the previous braking execution record. When the verification feedback deviations are in the same direction, their values ​​continue to increase, and the cumulative value of any item in the verification feedback deviation reaches the drift judgment threshold, the verification feedback deviation is written into the corresponding transmission edge of the dynamic braking responsibility graph, and the braking responsibility migration amount corresponding to the current event topology chain is fixed as the frozen value, generating a drift precursor frozen state.

[0093] It should be noted that the drift judgment limit is set at twice the triggered deviation threshold. For example, when the opening deviation threshold is 3%, the drift judgment limit is 6%. The freeze value is the braking responsibility migration amount in the previous braking execution record before triggering the same direction accumulation. After being written into the drift precursor freeze state, it will no longer be updated as the verification feedback deviation increases.

[0094] Based on the event topology chain recorded in the drift precursor frozen state, the movable nodes of the valve control boundary allocation in the event topology chain are located, and the corresponding valve control boundary in the flexible braking control parameter table is written back under restricted conditions without exceeding the allowable opening range of the valve control boundary; the written-back flexible braking control parameter table is re-bound with the dynamic braking responsibility map to generate an updated flexible braking control parameter table.

[0095] Furthermore, based on the event topology chain in the pre-drift frozen state, the transmission edge for writing the frozen value is locked, and the movable node for the valve control boundary allocation is located along the transmission edge; the write-back direction is determined according to the opening deviation direction in the verification feedback deviation. When the opening feedback of the electro-hydraulic proportional valve in the verification feedback deviation is higher than the expected opening, the valve control boundary is lowered (i.e., the write-back amount is reduced by one at the valve control boundary of the corresponding movable node, and the write-back amount is determined by half of the opening deviation threshold); when it is lower than the expected opening, the valve control boundary is raised (i.e., the write-back amount is added to the valve control boundary of the corresponding movable node), and the valve control boundary remains within the allowable opening range after the write-back; the flexible braking control parameter table after the write-back is rebound with the dynamic braking responsibility map to generate an updated flexible braking control parameter table, and overwrites the pre-stored position of the flexible braking control parameter table, so that the updated valve control boundary can be read in S1 in the next operation cycle.

[0096] It should be noted that the direction of the opening deviation is the direction of the deviation of the electro-hydraulic proportional valve opening feedback from the expected opening in the verification feedback deviation. If the electro-hydraulic proportional valve opening feedback is higher than the expected opening, it is a positive deviation, and if it is lower than the expected opening, it is a negative deviation. The allowable opening range is the upper and lower limit range that can be changed when the valve control boundary is restricted during write-back. For example, if the valve control boundary is set to fluctuate by 5% above or below before write-back and is lower than the hard braking boundary, and the valve control boundary is 60%, the allowable opening range is 55% to 65%.

[0097] This embodiment also provides a computer device applicable to the flexible braking control method for a live-line working robot arm, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the flexible braking control method for a live-line working robot arm as proposed in the above embodiment.

[0098] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0099] This embodiment also provides a storage medium storing a computer program, which, when executed by a processor, implements the flexible braking control method for a live-line working robotic arm as proposed in the above embodiments. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0100] In summary, this invention achieves centralized scheduling of braking resources to major risk locations by: using dynamic braking responsibility graphs and event topology chains to sort anomaly propagation paths and generate topology pruning instructions; and by using shadow responsibility graphs for reverse verification, valve control pre-execution curves, and closed-loop correction states to verify and then correct the opening action of electro-hydraulic proportional valves, thus achieving the effects of fine flexible braking allocation and convergent valve control deviations.

[0101] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A flexible braking control method for a live-line working robotic arm, characterized in that, include: Acquire the operation status package and establish a state frame chain. At the same time, combine the constraints of the robot arm's kinematic chain to generate the robot arm's basic braking state. A dynamic braking responsibility graph is constructed based on the basic state of the robotic arm braking. Non-continuous transitive edges are filtered from the dynamic braking responsibility graph to determine anomaly propagation paths, which are then rearranged to form an event topology chain. The steps are as follows: Based on the basic state of the robotic arm braking, the kinematic chain constraint relationship of the robotic arm is converted into a braking event graph. The motion events are written into the movable nodes of the braking event graph, and the boundary events are written into the constraint nodes of the braking event graph. At the same time, a credibility label is established for the movable nodes and constraint nodes according to the credibility of the state, and a credibility braking event graph is generated. Based on the credible braking event graph, the pre-braking motion trend is projected onto the transfer edge established between movable nodes, and the driving response margin is projected onto the braking edge corresponding to the transfer edge. When the transfer edge points to the constraint node and the braking edge response is insufficient, a braking responsibility migration amount is generated, and the association weight between the transfer edge and the braking edge is updated synchronously to construct a dynamic braking responsibility graph. Based on the dynamic braking responsibility graph, the continuous changes of braking responsibility migration amount in adjacent state frames are compared. When the braking responsibility migration amount on the transmission edge continuously increases in multiple adjacent state frames and the transmission edge continuously points to the constraint node, the corresponding node sequence is determined as the abnormal propagation path. Obtain the braking contribution of movable nodes to constrained nodes in the anomaly propagation path, rearrange the execution order of movable nodes in the anomaly propagation path according to the braking contribution, form an event topology chain, and write the event topology chain back to the dynamic braking responsibility graph. Based on the event topology chain, the operation instructions in the operation status package are mapped to the dynamic braking responsibility map, and combined with the braking resource scheduling table, the danger component and release component are adjusted to generate topology trimming instructions; the topology trimming instructions are placed into the shadow responsibility map for reverse verification, and a dual-channel verification status is generated through the rollback verification strategy. Based on the dual-channel verification state triggering branch processing, a flexible braking strategy and a hard braking takeover command are generated, and combined with the valve control boundary, they are converted into a valve control pre-execution curve; based on the valve control pre-execution curve and the hard braking takeover command, the opening action is executed, and a braking execution record is generated through deviation correction and valve control response deviation correction; Drift observation is performed on the verification feedback deviation in the braking execution record, and the valve control boundary is restricted and written back to generate an updated flexible braking control parameter table.

2. The flexible braking control method for a live-line working robotic arm as described in claim 1, characterized in that, The steps for acquiring the operation status packet and establishing the state frame chain, and simultaneously generating the basic braking state of the robotic arm by combining the constraints of the robotic arm's kinematic chain, are as follows: Using the controller of the live-line working robot as the execution subject, the operation status package formed by the current operation cycle of the live-line working robot is obtained, and the operation status package is subjected to timing alignment and disturbance folding processing. The signals that can participate in braking judgment within the same work cycle in the processed work status package are folded into status frames, and a status frame chain is established based on the temporal sequence relationship between status frames. Read the pre-stored robotic arm kinematic chain constraints and flexible braking control parameter table, and map the state frame chain into motion events and boundary events; Based on the motion changes and drive response changes between adjacent state frames in the state frame chain, the motion trend quantity before braking, drive response margin, and state reliability are obtained and written into the same control coordinates to generate the basic state of the robotic arm braking.

3. The flexible braking control method for a live-line working robotic arm as described in claim 1, characterized in that, Based on the event topology chain, the operation instructions in the operation status package are mapped to the dynamic braking responsibility map, and combined with the braking resource scheduling table, the danger component and release component are adjusted to generate topology pruning instructions. The steps are as follows: The valve control boundary in the flexible braking control parameter table is assigned to the movable nodes of the event topology chain. Combining the response margin threshold and the distance threshold, the braking resource migration position and freezing range between the movable nodes at the front end and the movable nodes at the back end of the event topology chain are marked to generate a braking resource scheduling table. Based on the braking resource scheduling table, the control commands in the operation status package are mapped to the dynamic braking responsibility map, and the danger component and release component are distinguished according to the event topology chain; Apply a decay relationship corresponding to the braking responsibility migration to the dangerous component, apply a retention relationship corresponding to the state credibility to the release component, and generate a topology pruning instruction.

4. The flexible braking control method for a live-line working robotic arm as described in claim 3, characterized in that, The steps for placing the topology pruning instruction into the shadow responsibility graph for disproven verification and generating a dual-channel verification state through a rollback verification strategy are as follows: Construct a shadow execution environment and copy the dynamic braking responsibility graph into a shadow responsibility graph; in the shadow responsibility graph, rehearse the impact of the topology pruning instruction on the event topology chain; when the dangerous component does not make the transit edge continuously point to the constraint node corresponding to the preset hard braking boundary, determine that the topology pruning instruction passes the proof by contradiction and generate the proof by contradiction state. Based on the proof-of-contrast verification status, rollback is executed for topology pruning instructions that fail proof-of-contrast verification, and the braking resource scheduling table is updated according to the event topology chain before rollback to obtain the post-verified braking resource scheduling table; for topology pruning instructions that pass proof-of-contrast verification, the current braking resource scheduling table is used as the post-verified braking resource scheduling table and bound to the dynamic braking responsibility graph to generate a rollback verification strategy. Based on the rollback verification strategy, a flexible braking verification flag is generated according to the proof-of-contrast verification state, and a hard braking trigger flag is generated when the abnormal propagation path reaches the hard braking boundary. The flexible braking verification marker and the hard braking trigger marker are combined to generate a dual-channel verification state.

5. The flexible braking control method for a live-line working robotic arm as described in claim 1 or 4, characterized in that, The process of triggering branch processing based on dual-channel verification status to generate flexible braking strategy and hard braking takeover command, and combining it with valve control boundary, is converted into valve control pre-execution curve. The steps are as follows: Based on the dual-channel verification status, when the flexible braking verification is marked as passed and no hard braking trigger mark is formed, a flexible braking strategy is generated based on the dynamic braking responsibility graph, event topology chain, post-verification braking resource scheduling table, and rollback verification strategy; when the flexible braking verification is marked as failed, the post-verification braking resource scheduling table is used as the basis for the next braking judgment; when a hard braking trigger mark is formed, a hard braking takeover command is generated. Based on the flexible braking strategy, the braking responsibility transfer amount is converted into the braking weight of the robotic arm kinematic chain; Based on the topology trimming instruction, the target motion attenuation amount is obtained, and the target motion attenuation amount is allocated to the corresponding movable nodes according to the braking weight of the robotic arm kinematic chain to generate a braking allocation sequence. Based on the braking distribution sequence and valve control boundary, the target motion attenuation of each movable node is converted into a proportional valve opening curve, and the proportional valve opening curve is pre-compensated according to the drive response margin to generate a valve control pre-execution curve.

6. The flexible braking control method for a live-line working robotic arm as described in claim 5, characterized in that, The process of executing the opening action based on the valve-controlled pre-execution curve and the hard brake takeover command, and generating a brake execution record through deviation correction and valve-controlled response deviation correction, is as follows: Before a hard braking trigger mark is formed, the opening pre-adjustment is performed according to the valve-controlled pre-execution curve; when a hard braking trigger mark is formed, the hard braking takeover command is executed, and the electro-hydraulic proportional valve is driven to perform the corresponding opening action; the braking execution feedback state is obtained and written into the dynamic braking responsibility diagram; when the verification feedback deviation between the braking execution feedback state and the counter-verification state exceeds the allowable deviation threshold, the braking responsibility migration amount is re-obtained according to the event topology chain, and a closed-loop correction state is generated; when the verification feedback deviation between the braking execution feedback state and the counter-verification state does not exceed the allowable deviation threshold, the consistent state between the braking execution feedback state and the counter-verification state is taken as the closed-loop correction state. Based on the closed-loop correction status, when the distance between the termination node of the abnormal propagation path and the constraint node is greater than the distance threshold, the release component is restored according to the topology pruning instruction, and the release component restoration status is generated; the release component restoration status is associated with the closed-loop correction status to generate a braking execution record.

7. The flexible braking control method for a live-line working robotic arm as described in claim 1 or 6, characterized in that, The steps for drift observation of the verification feedback deviation in the braking execution record and restricted write-back of the valve control boundary to generate an updated flexible braking control parameter table are as follows: Based on the braking execution record, the verification feedback deviation between the counter-evidence verification state and the braking execution feedback state on the same event topology chain is continuously compared. When the verification feedback deviation accumulates in the same direction on the same event topology chain, the verification feedback deviation is associated with the dynamic braking responsibility map, and the braking responsibility migration amount corresponding to the current event topology chain is frozen to generate a drift precursor frozen state. Based on the event topology chain recorded in the drift precursor frozen state, locate the movable node of the valve control boundary allocation in the event topology chain, and perform a restricted write-back of the corresponding valve control boundary in the flexible braking control parameter table without exceeding the allowable opening range of the valve control boundary. The rewritten flexible braking control parameter table is re-bound to the dynamic braking responsibility map to generate an updated flexible braking control parameter table.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the flexible braking control method for live-line working robotic arms according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the flexible braking control method for live-line working robotic arms as described in any one of claims 1 to 7.

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