Transmission line pre-stranded wire full-autonomous winding method, system, robot and device

Abstract

The present application belongs to the technical field of pre-stranded wire winding, and provides a power transmission line pre-stranded wire full-autonomous winding method, system, robot and equipment to solve the problem of poor automation and difficult quality guarantee of existing pre-stranded wire winding. The power transmission line pre-stranded wire full-autonomous winding method includes wire loop embracing locking: multi-machine cooperative winding: based on visual feedback, the relative pose and covering state of the pre-stranded wire and the wire are identified in real time, and the winding mechanism, the clamping mechanism and the embracing wheel set are cooperatively linked to make the clamping mechanism clamp the middle section of the pre-stranded wire, through the combined motion of rotation and translation of the winding rotary motor and the winding translation motor, the pre-stranded wire is twisted and wound from the middle section to both sides; multi-modal segmented evaluation; it can control the whole process of the robot in the online and offline stage, the pre-stranded wire winding operation stage and the pre-stranded wire winding quality evaluation stage, and guarantee the reinforcement and protection effect of the pre-stranded wire.

Description

Technical Field

[0001] This invention belongs to the field of pre-twisted wire winding technology, and particularly relates to a fully autonomous winding method, system, robot and equipment for pre-twisted wires in power transmission lines. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Pre-twisted wire is primarily used in high-voltage transmission lines, with work sites typically located tens or even hundreds of meters above the ground. Traditional methods usually require manual winding of the pre-twisted wire by operators. Due to the small diameter of the conductors at high altitudes and the lack of fixed stress points, the wires are prone to swaying during the operation, posing a risk of falls from heights. Manual winding is also prone to uneven tension, overlapping gaps, and uneven distribution of gripping force, directly affecting the reinforcing and protective effect of the pre-twisted wire. Furthermore, it relies heavily on worker experience, making it difficult to guarantee consistent quality.

[0004] To address the shortcomings of manual pre-twisted wire winding, robots are used to replace human labor. However, robots face the problem of imbalance in mid-air during the deployment phase, which may lead to collisions between the robot body or the pre-twisted wire and the conductor or fittings. During the pre-twisted wire winding process, the forced deformation during winding generates a strong counter-torque force. This reaction force can easily cause the robot to tilt on the conductor, posing a risk of detachment. In the pre-twisted wire winding quality assessment phase, environmental changes can cause deviations in key indicators such as the size measurement, angle detection, and segmentation boundary of the pre-twisted wire winding image, reducing the accuracy of quality judgment, easily leading to misjudgments and omissions, and reducing the reinforcement and protection effect of the pre-twisted wire. Summary of the Invention

[0005] To address the technical problems mentioned above, this invention provides a fully autonomous winding method, system, robot, and equipment for pre-twisted wires in power transmission lines. This system enables full-process control of the robot during the on-line and off-line stages, the pre-twisted wire winding operation stage, and the pre-twisted wire winding quality assessment stage, ensuring the reinforcement and protection effect of the pre-twisted wires.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: The first aspect of the present invention provides a fully autonomous winding method for pre-twisted wires in power transmission lines.

[0007] A fully autonomous winding method for pre-twisted wire in transmission lines is executed by a controller of a pre-twisted wire winding robot. The pre-twisted wire winding robot includes a winding mechanism, a clamping mechanism, and a ring-shaped wheel assembly, all connected to the controller. The winding mechanism includes a winding translation motor, a winding rotation motor, and two coaxial winches. Pre-twisted wires, matching the conductor type and corresponding number of strands in the transmission line, are pre-synchronously inserted into the two coaxial winches and locked in a bundled, ring-shaped posture. This bundled, ring-shaped posture is characterized by the pre-twisted wire axis being parallel to the conductor, the pre-twisted wire troughs adhering to the conductor, and the two peaks near the center trough serving as fixed fulcrums. The controller executes the following steps: Wire clamping and locking: After the pre-twisted wire winding robot is hoisted and balanced to the preset position based on the collinearity of the hanging point, the center point of the wire and the center of gravity of the robot, the pre-twisted wire winding robot is controlled to maintain the open posture and enter the wire laterally, and then the clamping wheel group is controlled to close and lock the wire. Multi-machine collaborative winding: Based on visual feedback, the relative position and wrapping state of the pre-twisted wire and the conductor are identified in real time. The winding mechanism, clamping mechanism and ring-type wheel group are controlled to work together so that the clamping mechanism clamps the middle section of the pre-twisted wire. Through the combined motion of the rotation and translation of the winding rotary motor and the winding translation motor, the pre-twisted wire is twisted and wound from the middle section to both sides. Multimodal segmented evaluation: During the pre-twisted wire winding process, visible light and X-ray images of the pre-twisted wire winding are sensed in segments and corresponding modal features are extracted. By using the pre-constructed mapping relationship between each modal feature and the winding evaluation result, the probability of different winding evaluation results for the corresponding mode is obtained. Then, the comprehensive evaluation result of each segment is obtained by using preset rules to determine whether to perform winding correction operation until the winding operation is completed.

[0008] As one implementation method, in the multi-machine cooperative winding step, if the clamping force of the clamping mechanism clamping the middle section of the pre-twisted wire does not reach the preset target clamping force, and the preset target clamping force cannot be reached even by gradually increasing the drive stop current threshold, then the drive stop current threshold is corrected online using the gradient descent method based on the relationship curve between the real-time drive current and the deformation of the pre-twisted wire. The correction formula is as follows: ; in, The corrected drive stop current threshold; The original drive stop current threshold was used for correction. α The learning rate; This represents the change in clamping force of the clamping mechanism; The current change value of the clamping mechanism; the drive stop current threshold adjustment range is limited to a preset safety range. , ]Inside.

[0009] As one implementation method, preset dimension features are extracted and normalized from the segmented sensing pre-twisted multimodal data. Combined with a standard template library and chi-square distribution, the winding effect decision boundary for the corresponding modal data is adaptively generated to obtain the probabilities of different winding evaluation results for the corresponding modality, including the probability of passing the evaluation, the probability of failing the evaluation, and the probability of uncertainty. ; ; ; ; in, The probability of different winding evaluation results for the corresponding modes; These are the visible light mode and the X-ray mode, respectively. This indicates that the test is successful. This indicates that the product is unqualified. Indicates uncertainty; The uncertainty is... Decision boundary for entanglement effect; The Mahalanobis distance; For environmental reliability; This represents the Sigmoid function.

[0010] As one implementation method, the decision boundary for the winding effect is: ; ; in, Adaptive significance level; Represents a chi-square distribution with k degrees of freedom. In the middle, the Mahalanobis distance of the modal data is less than The probability is When the Mahalanobis distance of the corresponding modal data is less than At that time, the winding is qualified; when the complete Mahalanobis distance of the modal data is greater than or equal to At that time, there is a tendency for the winding to be substandard or uncertain; The baseline significance level; For template reliability; the value of degree of freedom k is equal to the number of features in the current dimension of the modal data.

[0011] As one implementation method, the Dempster combination rule is used to fuse the probabilities of different winding evaluation results of each mode to obtain a segmented comprehensive evaluation result; When the probability of passing the comprehensive evaluation is greater than the probability of failing the comprehensive evaluation, and the probability of passing the comprehensive evaluation is not less than the first preset threshold, the winding is judged to be qualified and the confidence level is sufficient. When the probability of failing the comprehensive evaluation is greater than the probability of passing the comprehensive evaluation, and the probability of failing the comprehensive evaluation is not less than the first preset threshold, it is determined that the entanglement is unqualified and the confidence level is sufficient. When the probability of uncertainty in the comprehensive assessment is greater than the second preset threshold, or the error between the probability of a successful comprehensive assessment and the probability of a failed comprehensive assessment is less than the third preset threshold, the confidence level is determined to be low and manual review is required; wherein, the first preset threshold is greater than the second preset threshold, and the second preset threshold is greater than the third preset threshold.

[0012] As one implementation method, in the multi-machine collaborative winding step, controlling the coordinated operation of the winding mechanism, clamping mechanism, and ring-type wheel assembly includes: The robot acquires real-time images of the wire in front of the pre-twisted wire-winding robot and identifies obstacle fittings from them, generating path planning and obstacle avoidance strategies to control the forward path of the wrap-around wheel assembly on the wire. The surface image of the conductor is acquired in real time during the forward movement of the encircling wheel assembly, and the coordinates of the center position of the conductor are accurately located from the image. Align the clamping mechanism with the center coordinates of the conductor. According to the preset clamping standard, calibrate the current posture of the clamping mechanism until the clamping state is achieved; After the clamping state is confirmed, the control winding mechanism performs autonomous winding operation, calculates the multi-machine linkage winding parameters of the pre-twisted wire winding robot, and executes the corresponding actions.

[0013] As one implementation method, the preset clamping standard includes: The midpoint of the pre-twisted wire coincides with the center of the conductor. The winch is fully closed and the pre-twisted wire has no deviation in its orientation; When the clamping force reaches the preset threshold, a constant clamping force is maintained to achieve flexible clamping of the pre-twisted wire section.

[0014] In one implementation method, the clamping mechanism clamps the middle section of the pre-twisted wire in the multi-machine cooperative winding step in three stages: rapid feed stage, deceleration contact stage, and flow restriction stop stage.

[0015] In one implementation, translation is performed by a winding translation motor as the main axis, and rotation is performed by a winding rotation motor as the slave axis; the motion control process is as follows: The spindle status is updated by calculating the target rotation position of the motor corresponding to the slave axis based on the cumulative position of the spindle and the master-slave linkage rotation ratio. Real-time reading of the encoder value from the shaft is used to calculate the actual number of motor rotations and determine the position error. Calculate the shaft speed command and perform speed limiting, dead zone, minimum value and force-position mixed adjustment processing; The shaft speed command is sent to the corresponding motor, which controls the winding rotary motor to rotate in the opposite direction, so as to achieve synchronous matching between rotational and translational motion, and make the winch drive the pre-twisted wire to make spiral winding from the middle to both sides.

[0016] As one implementation method, features in three dimensions—geometric regularity, fit, and end winding quality—are extracted from the multimodal data of segmented sensing of pre-twisted wire winding. Features in the geometric regularity dimension include consistency of helical direction and uniformity of spacing. Features in the fit dimension include the gap between the pre-twisted wire and the conductor. Features in the end winding quality dimension include end neatness and transition smoothness.

[0017] A second aspect of the present invention provides a fully autonomous winding system for pre-twisted wires in power transmission lines.

[0018] A fully autonomous winding system for pre-twisted wires in transmission lines, comprising: The wire circling and locking module is used to: after the pre-twisted wire winding robot is hoisted and balanced to the preset position based on the collinearity of the hanging point, the center point of the wire and the center of gravity of the robot, control the pre-twisted wire winding robot to maintain the open posture and lateral wire feeding, and then control the circling wheel group to close and lock the wire. The multi-machine collaborative winding module is used to: identify the relative position and wrapping state of the pre-twisted wire and the conductor in real time based on visual feedback, control the winding mechanism, clamping mechanism and the ring-type wheel group to work together so that the clamping mechanism clamps the middle section of the pre-twisted wire, and through the combined motion of the rotation and translation of the winding rotary motor and the winding translation motor, the pre-twisted wire is twisted and wound from the middle section to both sides. The multimodal segmented evaluation module is used to: during the pre-twisted wire winding process, segmentally sense the visible light and X-ray images of the pre-twisted wire winding and extract the corresponding modal features; use the pre-constructed mapping relationship between each modal feature and the winding evaluation result to obtain the probability of different winding evaluation results for the corresponding mode; and then use preset rules to fuse the results to obtain the comprehensive evaluation results of each segment, so as to determine whether to perform the winding correction operation until the winding operation is completed.

[0019] A third aspect of the present invention provides a fully autonomous winding robot for pre-twisted wires in power transmission lines.

[0020] A fully autonomous winding robot for pre-twisted wire of transmission lines includes a winding mechanism, a clamping mechanism, a ring-shaped wheel set, a linkage mechanism, and a controller; the controller is connected to the winding mechanism, the clamping mechanism, the ring-shaped wheel set, and the linkage mechanism respectively; the controller is configured to perform the steps in the fully autonomous winding method for pre-twisted wire of transmission lines as described above.

[0021] In one embodiment, the winding mechanism includes a first winding portion and a second winding portion symmetrically arranged on the left and right sides of the clamping mechanism. Both the first winding portion and the second winding portion adopt an upper and lower split design, which is used to drive the pre-twisted wire to be wound synchronously and in reverse from the middle section to both sides onto the conductor.

[0022] In one embodiment, the first winding part and the second winding part have the same structure, both including a winding motor, a small gear connected to the output shaft of the winding motor, and a split large gear composed of an upper half gear and a lower half gear; the large gear and the small gear mesh.

[0023] In one embodiment, a winch is embedded inside the large gear, and the winch is provided with a plurality of dedicated fixing holes for fixing the pre-twisted wire. The pre-twisted wire is fixed in posture by passing through the dedicated fixing holes.

[0024] In one embodiment, the linkage mechanism includes a transverse transmission assembly and a first vertical transmission assembly and a second vertical transmission assembly respectively connected to both sides of the transverse transmission assembly; a first winding portion is mounted on the first vertical transmission assembly, and a second winding portion is mounted on the second vertical transmission assembly; the transverse transmission assembly is used to drive the first vertical transmission assembly and the second vertical transmission assembly, so that the first winding portion and the second winding portion move closer to or further away from each other along the axial direction of the conductor.

[0025] In one embodiment, the encircling wheel assembly includes a walking U-shaped wheel assembly and a liftable and openable U-shaped wheel assembly. These two are respectively arranged on both sides of the conductor in the transmission line and surround the conductor to form an encircling structure. When the encircling wheel assembly walks along the conductor in an encircling posture, the encircling pressure gradually combs and flattens the conductor metal wires and makes them fit the main conductor.

[0026] In one embodiment, the clamping mechanism includes a clamping assembly and a driving assembly; the clamping assembly includes two clamping blocks arranged opposite each other, and each clamping block is provided with a buffer ring; the driving assembly is used to drive the two clamping blocks to move closer or further apart from each other, so that the buffer ring on the clamping block can clamp or release the entire loop of pre-twisted wire attached to the conductor, so as to fix the middle of the pre-twisted wire before winding and ensure that the pre-twisted wire does not move during the winding process and affect the winding quality.

[0027] A fourth aspect of the present invention provides a computer-readable storage medium.

[0028] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the fully autonomous winding method for pre-twisted wires of transmission lines as described above.

[0029] The fifth aspect of the present invention provides a fully autonomous winding device for pre-twisted wires in power transmission lines.

[0030] A fully autonomous winding device for pre-twisted wires of transmission lines includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it performs the steps in the fully autonomous winding method for pre-twisted wires of transmission lines as described above.

[0031] The beneficial effects of this invention are: (1) This invention innovatively proposes a fully autonomous winding method for pre-twisted wires in transmission lines and develops a pre-twisted wire winding robot. Before the pre-twisted wire winding robot is put into operation, the pre-twisted wires with the corresponding number of strands matching the conductor type in the transmission line are pre-synchronously inserted into two coaxial winches and locked to keep the pre-twisted wires in a bundled and wrapped posture. During the pre-twisted wire winding robot is put into operation, the robot is hoisted to a preset position in a collinear manner based on the suspension point, conductor center point and robot center of gravity, and the robot is controlled to maintain an open posture. The system uses a lateral entry point and a ring-shaped wheel assembly to lock the conductor in place. During the pre-twisted wire winding stage, the multi-machine collaborative control of the winding mechanism by the pre-twisted wire winding robot enables the pre-twisted wire to twist and wind from the middle section outwards. In the pre-twisted wire winding quality assessment stage, segmented sensing and fusion of multi-modal data from the pre-twisted wire winding are used for segmented comprehensive assessment. This achieves full-process control of the pre-twisted wire winding robot's online stage, the pre-twisted wire winding operation stage, and the pre-twisted wire winding quality assessment stage, ensuring the reinforcement and protection effect of the pre-twisted wire.

[0032] (2) This invention innovatively proposes a multi-modal segmented evaluation technology for pre-twisted wire winding. It perceives the multi-modal data of pre-twisted wire winding in segments, extracts and normalizes the preset dimensional features, combines the standard template library and chi-square distribution, adaptively generates the winding effect decision boundary of the corresponding modal data, obtains the probability of different winding evaluation results of the corresponding modality, and then obtains the segmented comprehensive evaluation result by fusion through preset combination rules. This solves the problem of deviations in key indicators such as size measurement, angle detection and segmentation boundary caused by environmental changes, and improves the accuracy of pre-twisted wire winding quality judgment.

[0033] (3) This invention innovatively proposes a pre-twisted wire winding robot loading and unloading operation technology and develops a pre-twisted wire winding robot loading and unloading system. Through the complete process of pre-twisted wire pre-installation and positioning, UAV insulated hoisting, lateral wire entry and wrapping on the wire, winding operation, opening and unlocking off the wire, it solves the core problems such as pre-twisted wire circumferential wrapping of the conductor, aerial attitude imbalance, winding anti-torque overturning, and interference of the wire or hardware on the wire. It enables the robot to safely, stably and efficiently complete the entire process of loading, on-line operation and unloading, and improves the reliability and automation level of loading and unloading operations.

[0034] (4) This invention innovatively proposes a multi-machine collaborative linkage and visual intelligent evaluation technology for autonomous winding of pre-twisted wires in transmission lines. It constructs a fully closed-loop autonomous operation system consisting of visual identification, posture calibration, parameter calculation, master-slave linkage, process monitoring, effect judgment, and autonomous reset. It innovatively designs an encoder cycle counting accurate calculation method, translation-rotation master-slave linkage closed-loop control logic, and segmented winding quality dynamic control strategy. Combined with the visual perception system for accurate identification of the work object, real-time monitoring of the winding process, and multi-dimensional detection of the winding effect, it realizes the whole process of pre-twisted wire winding without human intervention after the robot is put online.

[0035] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0036] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0037] Figure 1 This is a schematic diagram of the fully autonomous winding robot for pre-twisted wires in power transmission lines according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the winding mechanism structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the pre-installation and attitude fixation of the pre-twisted wire according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the bundled encircling posture according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the linkage mechanism structure according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the winding mechanism and the ring-shaped wheel assembly status when the fully autonomous winding robot for pre-twisted wire of the transmission line is put into operation according to an embodiment of the present invention. Figure 7 This is a schematic diagram of the ring-shaped wheel assembly structure according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the clamping mechanism structure according to an embodiment of the present invention; Figure 9 This is a flowchart of the fully autonomous winding method for pre-twisted wires in transmission lines according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the pre-stranded wire fully autonomous winding system for pre-transmission lines according to an embodiment of the present invention.

[0038] Among them, 1. Winding mechanism; 2. Clamping mechanism; 3. Ring-type wheel set; 4. Linkage mechanism; 11. Winding motor; 12. Pinion; 13. Gear; 14. Winch; 15. Special fixing hole; 16. V-shaped pulley; 17. V-shaped pulley groove; 18. Conical guide positioning pin; 21. Clamping block; 22. Buffer ring; 23. Clamping motor; 24. Trapezoidal lead screw; 25. Linear guide rail; 26. Linear slider; 31. Walking drive mechanism; 32. Transmission shaft; 33. First U-shaped wheel; 34. Support motor; 35. Support bracket; 3 6. Second U-shaped wheel; 37. Support screw; 38. Wire; 41. First vertical transmission assembly; 42. Second vertical transmission assembly; 431. Horizontal motor; 432. Horizontal screw; 433. First slider; 434. Second slider; 435. Intermediate fixing block; 436. Horizontal guide rail; 411. First vertical motor; 412. First vertical screw; 413. First upper slider; 414. First lower slider; 421. Second vertical motor; 422. Second vertical screw; 423. Second upper slider; 424. Second lower slider. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0040] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0041] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0042] In one or more embodiments, such as Figure 1 As shown, a fully autonomous winding robot for pre-twisted power transmission line wires includes a winding mechanism 1, a clamping mechanism 2, a ring-shaped wheel set 3, a linkage mechanism 4, and a controller; the controller is connected to the winding mechanism 1, the clamping mechanism 2, the ring-shaped wheel set 3, and the linkage mechanism 4 respectively; the controller is configured to execute the steps in the fully autonomous winding method for pre-twisted power transmission line wires.

[0043] In this embodiment, as Figure 2 and Figure 3As shown, the winding mechanism 1 includes a first winding section and a second winding section symmetrically arranged on the left and right sides of the clamping mechanism 2. Both the first winding section and the second winding section adopt an upper and lower split design, which are used to drive the pre-twisted wire to be wound synchronously and in reverse from the middle section to both sides onto the conductor. The first winding section and the second winding section have the same structure, both including a winding motor 11, a small gear 12 connected to the output shaft of the winding motor 11, and a split large gear 13 composed of an upper half gear and a lower half gear; the large gear 13 and the small gear 12 mesh.

[0044] The large gear 13 has a winch 14 embedded inside. The winch 14 has multiple dedicated fixing holes 15 for fixing the pre-twisted wire. The pre-twisted wire is fixed in position by passing through the dedicated fixing holes 15. The dedicated fixing holes 15 can be adapted to pre-twisted wires of different specifications and are used to fix multiple strands of pre-twisted wire in a circumferential array to ensure the stability of the initial winding state.

[0045] Multiple V-shaped pulleys 16 are mounted on the back of the large gear 13. The robot body is fixedly equipped with V-shaped pulley grooves 17, including a first half-circle V-shaped pulley groove and a second half-circle V-shaped pulley groove. Bearings are installed inside the V-shaped pulleys 16, which are fixed within their respective half-circle V-shaped pulley grooves. When the half-circle V-shaped pulley grooves of the upper and lower gears are joined together, a full-circle V-shaped pulley groove 17 is formed, allowing the V-shaped pulleys 16 that fix the gears to slide circumferentially within the full-circle V-shaped pulley groove 17. Through this simple and compact split-type structural design, the V-shaped pulley groove 17 ensures reliable circumferential rotation, and the conical guide positioning pin 18 ensures concentricity. In this embodiment, the V-shaped pulleys 16 are 90-degree V-shaped pulleys.

[0046] The operation process of winding mechanism 1 includes: The winding motors 11 of the first and second winding sections are powered on synchronously and operate in opposite directions. The small gears 12 of the two sections mesh with the large gears 13 and rotate. The winch 14 of the first winding section rotates clockwise, and the winch 14 of the second winding section rotates counterclockwise. As a result, the pre-twisted wire fixed by the winch 14 twists and winds from the middle to both sides. With continuous rotation, the pre-twisted wire repair strip completes the winding work of the wire from the middle to both sides in stages. In this way, the winding motor 11 transmits torque to the winch 14 through the large and small gears to increase the torque. The upper and lower half gears are kept concentric by two conical guide positioning pins 18, and the V-shaped pulley groove 17 ensures reliable circumferential motion.

[0047] like Figure 4 As shown, the bundled coiling posture is such that the axis of the pre-twisted wire is parallel to the conductor, the middle trough is attached to the conductor, and the two peaks near the center trough serve as fixed support points.

[0048] By rationally designing the initial posture and fixing of the pre-twisted wire, the pre-encirclement of the wire before winding is completed, indirectly improving the winding efficiency. It also solves the problems that may occur during the process of the robot carrying the pre-twisted wire onto the line, such as the pre-twisted wire coming loose, shifting, or interfering.

[0049] like Figure 5 As shown, the linkage mechanism 4 includes a horizontal transmission assembly and a first vertical transmission assembly 41 and a second vertical transmission assembly 42 respectively connected to both sides of the horizontal transmission assembly; the first winding portion is mounted on the first vertical transmission assembly 41, and the second winding portion is mounted on the second vertical transmission assembly 42; the horizontal transmission assembly is used to drive the first vertical transmission assembly 41 and the second vertical transmission assembly 42, so that the first winding portion and the second winding portion move closer to or further away from each other along the axial direction of the conductor.

[0050] The horizontal transmission assembly includes a horizontal motor 431 and a horizontal lead screw 432, which are fixed to the robot body. The horizontal lead screw 432 is a symmetrical positive and negative toothed lead screw, with a first slider 433 and a second slider 434 connected to its left and right sides respectively. The first slider 433 and the second slider 434 are mounted on a horizontal guide rail 436. The first vertical transmission assembly 41 is mounted on the first slider 433, and the second vertical transmission assembly 42 is mounted on the second slider 434. The transverse transmission assembly is also provided with an intermediate fixing block 435, and the clamping mechanism 2 is installed and fixed on the intermediate fixing block 435; the first vertical transmission assembly 41 and the second vertical transmission assembly 42 have the same structure but opposite installation directions and are arranged symmetrically with respect to the intermediate fixing block 435. Both the first vertical transmission assembly 41 and the second vertical transmission assembly 42 include a vertical motor and a vertical lead screw. The vertical lead screw is a symmetrical positive and negative toothed lead screw, with an upper slider and a lower slider connected to it. The upper slider and the lower slider are respectively connected to the upper and lower halves of the corresponding winding parts, and are used to drive the winding parts to open or close. The vertical motor and the lead screw are both fixed on the two sliders of the horizontal transmission assembly.

[0051] Specifically, the first vertical transmission assembly 41 includes a first vertical motor 411 and a first vertical lead screw 412. A first upper slider 413 and a first lower slider 414 are connected to the first vertical lead screw 412. The first upper slider 413 and the first lower slider 414 are connected to the upper half and the lower half of the first winding part. The second vertical transmission assembly 42 includes a second vertical motor 421 and a second vertical lead screw 422. A second upper slider 423 and a second lower slider 424 are connected to the second vertical lead screw 422. The second upper slider 423 and the second lower slider 424 are connected to the upper and lower halves of the second winding portion. The working principle of the linkage mechanism is as follows: In the vertical transmission, the upper right motor rotates forward, driving the vertical lead screw to rotate to the right. Since the right vertical lead screw is a symmetrical lead screw with both positive and negative teeth, the upper right slider and the lower right slider move outward relative to the middle position of the lead screw (moving away from each other), causing the second winding part, which is fixed together, to open. When the vertical motor reverses, the second winding part opens. Similarly, when the vertical motor rotates left forward or reverse, it also causes the first winding part to open or close. In the horizontal transmission, the horizontal motor rotates forward, driving the horizontal lead screw with symmetrical positive and negative teeth to rotate. The left and right sliders move outward relative to the middle fixed block (moving away from each other), causing the winding parts connected to the left and right vertical linkages to also move outward. Similarly, when the horizontal motor reverses, it causes the left and right vertical linkages to return to center (moving closer to each other).

[0052] like Figure 6 As shown, when the fully autonomous winding robot for pre-twisted wires of transmission lines is put into operation, the winding mechanism opens, and the ring-shaped wheel group gradually combs and flattens the wires of the conductor and fits them into the main conductor through the ring pressure.

[0053] like Figure 7 As shown, the encircling wheel assembly 3 includes a traveling U-shaped wheel assembly and a liftable and openable U-shaped wheel assembly. These two are respectively arranged on both sides of the conductor in the transmission line and surround the conductor to form an encircling structure. This allows the encircling wheel assembly 3 to travel along the conductor in an encircling posture, gradually combing and smoothing the conductor wires and making them conform to the main conductor through encircling pressure. In this embodiment, the traveling U-shaped wheel assembly includes a traveling drive mechanism 31, a drive shaft 32, and a first U-shaped wheel 33. The traveling drive mechanism 31 is connected to the drive shaft 32, and the first U-shaped wheel 33 is mounted on the drive shaft 32. The groove angle of the first U-shaped wheel 33 matches the curvature of the conductor it conforms to. The outer surface of the first U-shaped wheel 33 is provided with a flexible wear-resistant layer.

[0054] In this embodiment, the liftable and closable U-shaped wheel assembly includes a support drive mechanism, a support base 35, and a second U-shaped wheel 36. The second U-shaped wheel 36 is mounted on the support base 35. The support drive mechanism is connected to the support base 35 and is used to drive the support base 35 to move up and down, thereby driving the second U-shaped wheel 36 to move up and down, so that the ring-shaped structure can open and close. The width of the first U-shaped wheel 33 is greater than the width of the second U-shaped wheel 36.

[0055] In this embodiment, the support drive mechanism includes a support motor 34 and a support screw 37. The support support 35 is fixed on the support screw 37, and the support motor 34 is used to drive the support screw 37 to rotate.

[0056] The working principle of the wraparound wheelset 3 is as follows: After the robot is put into operation, the walking U-shaped wheel assembly and the liftable opening and closing U-shaped wheel assembly are controlled to surround the conductor 38 in the power transmission line; after surrounding the conductor 38, the ring-shaped wheel group 3 is controlled to walk along the conductor in a ring posture, and the metal wires of the conductor are gradually combed and flattened and attached to the main conductor through the ring pressure.

[0057] Once the robot has completed all its winding operations, the adjustable U-shaped wheel assembly is opened. During the movement of the encircling wheel assembly 3 along the guide wire, the encircling pressure remains constant.

[0058] like Figure 8 As shown, the clamping mechanism 2 of this embodiment includes a clamping assembly and a driving assembly; the clamping assembly includes two clamping blocks 21 arranged opposite to each other, and each clamping block 21 is provided with a buffer ring 22; the driving assembly is used to drive the two clamping blocks 21 to move closer or further away from each other, so that the buffer ring 22 on the clamping block 21 can clamp or release the whole loop of pre-twisted wire repair strip attached to the wire, so as to fix the middle of the pre-twisted wire before winding, and ensure that the pre-twisted wire does not move and damage the wire during the winding process.

[0059] In one or more embodiments, the clamping block 21 is integrally formed from a high-strength alloy. In specific implementation, an inner arc-shaped notch is formed at the relative position of the two clamping blocks 21, and the buffer ring 22 is disposed on the inner arc-shaped notch. The buffer ring 22 is made of elastic flexible rubber to avoid damage to the wire during clamping, and the clamping surface conforms to the shape of the pre-twisted wire.

[0060] The buffer rings 22 on the two clamping blocks 21 leave a buffer gap when clamping the whole loop of pre-twisted wire repair strip attached to the wire. This ensures that when the middle section of the pre-twisted wire is circumferentially twisted during the winding process, it provides buffer space for rubber deformation. At the same time, it increases the friction between the rubber and the pre-twisted wire to further enhance clamping stability and prevent relative slippage.

[0061] The drive assembly includes a clamping motor 23, a trapezoidal lead screw 24, a linear guide rail 25, and a linear slider 26. The output shaft of the clamping motor 23 is fixedly connected to one end of the trapezoidal lead screw 24, transmitting the rotational power of the clamping motor 23 to the trapezoidal lead screw 24. The trapezoidal lead screw 24 passes through the linear slider 26, and the two are engaged by a trapezoidal thread pair. When the lead screw rotates, it drives the linear slider 26 to move linearly along the axial direction. The linear slider 26 straddles the linear guide rail 25. The groove at the bottom of the linear slider 26 and the raised contour of the linear guide rail 25 form a sliding guide engagement, ensuring that the slider can only move smoothly along the guide rail direction.

[0062] It should be noted that linear sliders are generally threaded or fitted with actuators such as grippers and pressure plates to convert the linear motion of the slider into clamping or releasing actions. The drive assembly in this embodiment can also be replaced with other forms; this is just one example. For instance, it can also use a motor + pulley + synchronous belt + linear guide rail; a motor + gear rack + linear guide rail; or an electric push rod + guide rod. The connection relationships between these components are also mature products and will not be elaborated upon.

[0063] The core of the clamping mechanism's control method lies in constructing a dual closed-loop control method of "coarse position adjustment + fine current control". During the clamping block's closing process, it first performs rapid approach through the position mode; when the buffer ring contacts the pre-twisted wire, it switches to a force control mode based on motor current feedback. By monitoring the output current of the clamping motor in real time, the clamping force acting on the pre-twisted wire is calculated. When the clamping force (i.e., current) reaches a preset threshold, the movement automatically stops, thereby achieving adaptive flexible clamping of the entire pre-twisted wire repair strip attached to the conductor, avoiding damage to the pre-twisted wire or conductor caused by rigid impact.

[0064] The control process of the clamping mechanism specifically includes the following steps: Step a: Parameter loading; Based on the current conductor and pre-twisted wire model information, load the clamping control parameters.

[0065] In this embodiment, the clamping control parameters include at least the clamping drive stop current threshold. Warning current threshold Buffer reserved gap and maintain torque ratio ; Specifically, the drive stop current threshold (Unit: A): Motor current value when the target clamping force is reached after the buffer ring contacts the surface of the pre-twisted wire. When the current reaches this value, the system immediately cuts off the movement command to prevent overload; Warning current threshold (Unit: A): Used for early warning, for example, it can be set to 0.8 times; Buffer Reserved Gap (Unit: mm): This refers to the elastic deformation space reserved after the buffer rings on the two clamping blocks are fully closed; Maintain torque ratio This refers to the percentage of the torque output by the clamping motor after clamping to the maximum torque. Depending on the type of pre-twisted wire, its value ranges from 0.3 to 0.6.

[0066] The system resets the encoder cumulative position variable of the clamping motor, clears the revolution overflow count, and enables the clamping motor, setting it to speed / current hybrid control mode.

[0067] Step b: Clamping stroke segment control: The drive component drives the clamping blocks to move in opposite directions, sequentially executing the rapid feed stage, the deceleration contact stage, and the flow-limiting stop stage; In this embodiment, the clamping process is divided into three stages: rapid feed stage, deceleration contact stage, and flow-limiting stop stage. During this process, the trapezoidal lead screw is driven to rotate, which in turn drives two symmetrically arranged clamping blocks to move towards each other via linear guide rails and linear sliders.

[0068] First, based on the preset target clamping force The drive stop current threshold is calculated using a pre-built clamping force-current mapping model. and warning threshold .

[0069] The construction process of the clamping force-current mapping model is as follows: Establish the output torque of the clamping motor With phase current The linear relationship between them; ; in, The combined coefficient of the clamping motor torque constant and the lead screw transmission ratio is determined in advance through calibration experiments and stored in the system.

[0070] Combined with the transmission efficiency of the trapezoidal lead screw and guide L The clamping force of the clamping mechanism is derived. F clamp With current I motor Functional relationship: ; Therefore, based on the preset target clamping force Calculate the corresponding theoretical current threshold. and .

[0071] Phase 1: During the rapid feed phase, the clamping motor is driven to rotate forward at the set target speed, causing the clamping block to move rapidly from its initial open position towards the conductor. During this phase, only the clamping motor current is monitored to ensure it does not exceed the warning threshold. If the feed rate is not exceeded, maintain a high-speed feed to shorten the operation time.

[0072] In this embodiment, the target speed is set to 200-300 r / min; The second stage is the deceleration contact stage. When the buffer ring on the clamping block reaches the set distance range from the surface of the pre-twisted wire, the target speed of the clamping motor is linearly reduced to the set feed value to avoid the buffer ring hitting the pre-twisted wire at high speed, causing position rebound or pre-twisted wire deviation.

[0073] In this embodiment, the distance range is set to 2-3 mm; the feed rate range is set to 30-50 r / min. The distance between the buffer ring on the clamping block and the pre-twisted wire surface can be determined by position estimation or visual assistance. The third stage: the current limiting and stopping stage. As the clamping blocks continue to move towards each other, the buffer ring and the surface of the pre-twisted wire gradually press together, the load on the clamping motor increases, and the drive current rises accordingly. When the set stopping criterion is reached, the current limiting stops. The stopping criterion can be expressed as: and ; in, It represents the rate of change of current, used to distinguish between actual contact clamping and instantaneous current spike interference.

[0074] The current feedback value of the clamping motor is read in real time at a preset period. and the drive stop current threshold When comparing, ≥ Immediately lock the speed command of the clamping motor to stop its rotation, and simultaneously record the current encoder position as the clamping position. In this embodiment, the current feedback value of the clamping motor is read in real time at a period of 2ms. .

[0075] In this embodiment, a dynamic control model with three levels of current thresholds—"no-load—early warning—stop"—was constructed to address the differences in clamping force requirements for different pre-twisted wire specifications and conductor types. This model can correct the current threshold online based on real-time clamping force feedback, ensuring the clamping force remains within the optimal range and achieving a smooth transition from high-speed approximation to low-speed voltage holding. By replacing fixed thresholds with defined dynamic thresholds, the technical challenge of a single threshold not being adaptable to multiple operating conditions is effectively solved, ensuring compatibility with various conductor and pre-twisted wire specifications and significantly improving the system's versatility.

[0076] After the clamping motor stops, because the buffer ring is made of elastic and flexible rubber, it does not immediately lock the motor position. Instead, it performs an adaptive adjustment of "micro-retreat-re-advance," employing a buffer gap adaptive adjustment strategy to ensure stable and uniform contact between the buffer ring and the pre-twisted wire surface. Specifically, this includes the following steps: The clamping motor is controlled to rotate in the reverse direction, corresponding to the stroke of the lead screw displacement. It is then fed forward again at the set speed, and the current limiting stop threshold is detected again to eliminate the nonlinear effects of mechanical backlash and initial rubber compression. In this embodiment, the clamping motor rotates in the reverse direction for a very short stroke, for example, corresponding to a trapezoidal screw displacement of 0.1 to 0.2 mm, slightly loosening the clamping block. Then, it is fed forward again at a low speed, and the current limiting stop threshold is detected again. This process is repeated 1 to 2 times to eliminate the nonlinear effects of mechanical backlash and initial rubber compression, ensuring that the buffer ring forms a stable and uniform contact with the pre-twisted wire surface.

[0077] After adaptive adjustment, the clamping motor is switched to torque holding mode, outputting a constant holding torque to achieve flexible clamping of the pre-twisted wire middle section.

[0078] In this embodiment, after completing the adaptive adjustment, the clamping motor is switched to torque holding mode: the clamping motor outputs a constant holding torque. ,in, The rated torque for clamping the motor; To maintain the torque coefficient, the current value corresponding to the maintaining torque is specified. Usually below This can prevent the pre-twisted wire from moving axially or slipping circumferentially during the winding process, and also avoid damaging the pre-twisted wire or conductor due to excessive clamping force.

[0079] The buffer rings on the two clamping blocks provide a buffer gap when clamping the entire loop of pre-twisted wire repair strip attached to the conductor. The gap is adaptively matched by the elastic deformation of the rubber, ensuring that when circumferential twisting occurs in the middle of the pre-twisted wire winding process, it provides a buffer space for rubber deformation, while increasing the friction between the rubber and the pre-twisted wire to further enhance the clamping stability.

[0080] The clamping force status is automatically determined by real-time current feedback, and the motor holding torque is dynamically adjusted using a proportional-integral control law to compensate for the clamping force attenuation caused by rubber creep or mechanical vibration, ensuring that the pre-twisted wire section maintains stable axial and circumferential constraints throughout the winding process. Simultaneously, utilizing the elastic rubber material of the buffer ring, an adaptive adjustment step of "micro-retreat-re-advance" is designed to eliminate the nonlinear effects of mechanical clearance and rubber, allowing the buffer clearance to automatically match through elastic deformation. This provides buffer space for circumferential twisting during the winding process and enhances clamping stability by increasing friction, achieving truly flexible and adaptive clamping.

[0081] Step c: Acquire images of the clamping area and analyze the adhesion between the pre-twisted wire and the conductor, as well as the position of the clamping block. After the clamping motor enters holding mode, the camera below the machine body is used to acquire images of the clamping area. Image processing algorithms are then used to analyze the adhesion between the pre-twisted wire and the conductor, as well as the position of the clamping block. Specifically, this includes the following steps: Step c1: Use the camera to capture images of the clamping area and determine the degree of overlap between the center line of the clamping block and the pre-twisted wire marking point, the state of the pre-twisted wire lifting, and the contact gap of the buffer ring. In this embodiment, the degree of overlap between the symmetrical center line of the clamping block and the pre-twisted wire marking point, the state of the pre-twisted wire tilting, and the contact gap of the buffer ring can be determined by manual visual analysis or by existing visual analysis algorithms, which will not be elaborated in detail.

[0082] Step c2: If visual inspection confirms the operation is successful, set the "clamping complete" flag to allow subsequent winding operations; if the inspection fails, adjustments are made according to the type of anomaly, specifically including: If the clamping force is determined to be insufficient, the current threshold is gradually increased in a step manner, and the clamping process is repeated until visual confirmation is obtained. If the clamping block is determined to be misaligned, the clamping motor is controlled to release in the opposite direction by a set distance and then move towards each other again, using the high-precision repeatability of the trapezoidal screw drive to correct the misalignment. If the pre-twisted wire deviates, the linkage mechanism will be triggered for fine-tuning or a manual intervention prompt will be issued.

[0083] Step c3: If the clamping force is determined to be insufficient and the target cannot be met even after increasing the threshold, the system will automatically switch to the "current limiting threshold dynamic adaptive adjustment mode". That is, based on the relationship curve between real-time current feedback and pre-twisted wire deformation, the drive stop current threshold will be corrected online using the gradient descent method. The corrected formula is: ; in, The corrected drive stop current threshold; The original drive stop current threshold was used for correction. α The learning rate; This represents the change in clamping force of the clamping mechanism; The current change value of the clamping mechanism; the drive stop current threshold adjustment range is limited to a preset safety range. , [Inside, ensure that the wires are not damaged.]

[0084] Step d: Dynamically monitor the pre-twisted wire winding process. During the winding operation, read the real-time current value of the clamping motor and compare it with the holding current threshold range. Adopt the corresponding control strategy according to different comparison results. During the pre-twisted wire winding process, the clamping mechanism needs to continuously fix the middle section of the pre-twisted wire. Due to the circumferential torsional force and axial tensile force generated during pre-twisted wire winding, the clamping force may change.

[0085] The system reads the current feedback value of the clamping motor at a period of 2ms. and maintain current threshold range [ , Comparison: like < This indicates that the clamping force has decreased (possibly due to rubber creep or vibration). The system automatically increases the motor holding torque until the current returns to the range.

[0086] like > This indicates an abnormal increase in clamping force (possibly due to pre-twisted wire jamming or mechanical interference). The system immediately suspends the winding operation and attempts to slightly reverse the rotation of the clamping motor to release the pressure. Winding resumes once the current returns to normal.

[0087] If the current exceeds the warning threshold If the fault persists for more than 1 second, an audible and visual alarm will be triggered, and fault information will be uploaded to the remote control.

[0088] In this embodiment, the dynamic monitoring strategy is expressed as follows: ; in, To maintain the torque adjustment amount for clamping the motor; This indicates the current feedback value of the clamping motor; , These are PI control parameters; The reference value for the clamping motor holding current.

[0089] Due to the high-voltage live-line working environment, the clamping mechanism may be triggered by instantaneous overcurrent or temperature fluctuations, causing it to stop under protection. To avoid work interruptions caused by occasional interference, a built-in "motor fault three-sampling recovery mechanism" is implemented. When the clamping motor stops due to overcurrent, overheating, or a fault code, the clamping motor current, temperature, and fault code are continuously sampled every 20 ms. If the current, temperature, and fault code recover to below the normal threshold after three consecutive samples (approximately 60 ms in total), the stop state is automatically cleared, the clamping motor state flag is restored from Stop to Normal, and the clamping motor is re-enabled to continue performing the clamping task. If the motor remains in an abnormal state during any of the three samples, the counter is reset to zero and the motor remains stopped, while an unrecoverable fault is reported to the intelligent control system. The specific state transition of this mechanism can be described as follows: ; Automatic recovery after three normal samplings effectively avoids accidental termination of operations due to brief current spikes or temperature fluctuations, improving the robustness of the system and the reliability of high-altitude operations.

[0090] Unlike traditional protection methods that shut down the machine after a single sample, this embodiment features a unique "three-sample recovery" logic. When the motor stops due to overcurrent, overheating, or a fault, the system must take three consecutive samples, all of which must recover to below the normal threshold, before automatically clearing the fault state and re-enabling it; otherwise, it remains locked. This mechanism creates an effective filtering effect in the time domain, accurately distinguishing between "real contact resistance" and "instantaneous current spikes," greatly reducing the false alarm rate, avoiding frequent work interruptions due to occasional interference, and significantly improving the reliability and fault tolerance of high-altitude operations.

[0091] Step e: Clamping and release control after winding is completed; after determining that the pre-twisted wire winding operation is completed and both ends have completely disengaged from the winch fixing holes, the clamping and release process is executed; This process also relies on current feedback to achieve safe release, specifically including: Drive the clamping motor to reverse at a set low speed (about 50 r / min), causing the two clamping blocks to move in opposite directions and begin to release the clamping of the pre-twisted wire.

[0092] During the release process, the motor current is monitored in real time. If the current value exceeds the current limiting stop threshold (for example, when the clamping block is stuck with the pre-twisted wire or the wire), the process is immediately paused and forward and reverse shaking is attempted to eliminate the sticking. When the clamping motor current drops to near the no-load current and the encoder position indicates that the clamping block has returned to the fully open position, the system determines that the release is complete. Simultaneously, to prevent the clamping motor from being mistakenly stopped due to overcurrent protection during the release process, the control program is configured to forcibly ignore the current protection stop logic (i.e., the "forceEnable" mechanism) when the release command (with a negative speed command) is activated, ensuring that the release action can be completed even under slight jamming conditions.

[0093] By employing an asymmetric control strategy of "flexible clamping and rigid release," the clamping mechanism can reliably reset even in the event of slight jamming or interference from foreign objects. This completely solves the technical problem of the robot being unable to release due to obstruction in complex field environments, greatly improving the robustness of the system.

[0094] Figure 9 This invention provides a fully autonomous winding method for pre-twisted wires in power transmission lines, based on an embodiment of the present invention. Combined with... Figure 9 An embodiment of the present invention provides a fully autonomous winding method for pre-twisted wires in transmission lines, comprising at least the following steps: Step S1: Wire clamping and locking: After hoisting the pre-twisted wire winding robot to the preset position in a collinear manner based on the suspension point, the center point of the wire and the center of gravity of the robot, control the pre-twisted wire winding robot to maintain an open posture and lateral wire feeding, and then control the clamping wheel group to close and lock the wire.

[0095] In the specific implementation process, the pre-twisted wire is threaded into the winch and fixed so that the pre-twisted wire is kept in a bundled and wrapped posture; wherein, the bundled and wrapped posture is that the axis of the pre-twisted wire is parallel to the conductor, the middle section of the wave trough is attached to the conductor, and the two peaks near the center wave trough are used as fixed support points. Control the drone to hoist the pre-twisted wire winding robot, and make the hoisting point of the pre-twisted wire winding robot, the center point of the wire, and the center of gravity of the pre-twisted wire winding robot collinear to maintain the balance of attitude in the air; Keep the winding mechanism, clamping mechanism, and circumferential wheel assembly of the pre-twisted wire winding robot in the open state. Control the drone to lift the pre-twisted wire winding robot from the side of the wire. Control the circumferential wheel assembly to close and lock the wire, thus completing the onboard fixation of the pre-twisted wire winding robot and allowing the drone to detach from the pre-twisted wire winding robot.

[0096] Specifically, when controlling the drone to lift the robot, an insulated rod and a barbed hook are installed at the bottom of the drone, and a matching insulated lifting seat is set at the top of the robot. The drone is controlled to connect to the insulated lifting seat on the top of the robot through the insulated rod and the barbed hook.

[0097] Before takeoff, the drone places the robot statically in a safe area on the ground. Based on the transmitted images, it confirms the positions of the wires, ground wires, and fittings, and determines whether the safety distance and space conditions for hoisting are met. If so, it controls the drone to take off and complete the docking with the robot.

[0098] During deployment, the system checks whether the robot is in a vertically balanced state. If the posture deviation exceeds a preset threshold, the intelligent main control system sends an adjustment command to the drone via the communication module, requiring the robot to be repositioned and its posture adjusted until the operational requirements are met.

[0099] Once the posture is stable, the front and rear wheel assembly support motors drive the support screws, causing the narrow U-shaped wheel to rise vertically and form an encircling posture with the wide U-shaped wheel, wrapping the conductor in the middle. The wheel assembly support motors are servo motors, which convert rotational motion into linear motion through screw transmission, driving the narrow U-shaped wheel to move upward. The encircling pressure is indirectly measured through motor current feedback, and the lifting stops when the current reaches a preset threshold.

[0100] This bidirectional constraint structure not only ensures stable contact between the robot and the wire, reducing the risk of wire derailment due to imbalance in the robot's posture, but also gradually combs and gathers broken or loose wires through the encircling pressure of the wheel set, making them flat and attached to the main wire, thus preventing secondary damage to broken strands or affecting the robot's movement on the wire due to shaking.

[0101] Step S2: Multi-machine collaborative winding: Based on visual feedback, the relative position and covering state of the pre-twisted wire and the conductor are identified in real time. The winding mechanism, clamping mechanism and the ring-type wheel group are controlled to work together so that the clamping mechanism clamps the middle section of the pre-twisted wire. Through the combined motion of the rotation and translation of the winding rotary motor and the winding translation motor, the pre-twisted wire is twisted and wound from the middle section to both sides.

[0102] In the specific implementation process, during the multi-machine collaborative winding step, the coordinated linkage of multiple mechanisms controlling the pre-twisted wire winding robot includes: The robot acquires real-time images of the wire in front of it and identifies obstacle fittings from them, generating path planning and obstacle avoidance strategies to control the robot's forward path on the wire. The robot acquires real-time images of the conductor surface during the advance of the pre-twisted wire winding robot and accurately locates the center coordinates of the conductor from these images. The clamping part of the winding mechanism of the pre-twisted wire winding robot is aligned with the center position coordinate of the wire. According to the preset clamping standard, calibrate the current posture of the pre-twisted wire winding robot until it reaches the clamping state; After the clamping state is confirmed, the pre-twisted wire winding robot is controlled to perform autonomous winding operations, calculate the multi-motor linkage winding parameters of the pre-twisted wire winding robot, and execute the corresponding actions.

[0103] The preset clamping standards include: The midpoint of the pre-twisted wire coincides with the center of the conductor. The winch in the winding mechanism is closed in place and the pre-twisted wire posture is not deviated; When the clamping force reaches the preset threshold, a constant clamping force is maintained to achieve flexible clamping of the pre-twisted wire section.

[0104] Mid-section clamping and fixing: After the upper and lower parts of the winches in the first and second winding sections are closed, the peak and valley portions of the pre-twisted wire need to be tightly clamped onto the conductor. The clamping motor drives the bidirectional lead screw to rotate, causing the symmetrically arranged upper and lower clamping blocks to move towards each other. After the flexible rubber rings embedded in the end faces of the clamping blocks contact the surface of the pre-twisted wire, the force sensor monitors the clamping force in real time. When the clamping force reaches a preset threshold, the clamping motor switches to force control mode to maintain a constant clamping force, achieving flexible clamping of the mid-section of the pre-twisted wire. This clamping state provides axial and radial rigid constraints for subsequent winding operations, preventing axial movement or circumferential slippage of the pre-twisted wire during winding, thus ensuring reliable fixation without damaging the conductor or the pre-twisted wire.

[0105] In practical implementation, the winding mechanism includes a winding translation motor, a winding rotary motor, and a winch; the translational motion is executed by the winding translation motor and serves as the main shaft, while the rotational motion is executed by the winding rotary motor and serves as the driven shaft; its motion control process is as follows: The spindle status is updated by calculating the target rotation position of the motor corresponding to the slave axis based on the cumulative position of the spindle and the master-slave linkage rotation ratio. Real-time reading of the encoder value from the shaft is used to calculate the actual number of motor rotations and determine the position error. Calculate the shaft speed command and perform speed limiting, dead zone, minimum value and force-position mixed adjustment processing; The shaft speed command is sent to the corresponding motor, which controls the winding rotary motor to rotate in the opposite direction, so as to achieve synchronous matching between rotational and translational motion, and make the winch drive the pre-twisted wire to make spiral winding from the middle to both sides.

[0106] Master-slave linkage control strategy: After the robot goes online, the pre-twisted wire autonomous and precise winding operation process is autonomously scheduled by the intelligent master control system, with each module cooperating and no manual intervention required.

[0107] The robot's winding operation is as follows: After the clamping state is confirmed, the robot begins autonomous winding, entering a multi-motor linkage winding control mode. Two winding rotary motors are simultaneously powered on and operate in opposite directions. Two small gears mesh with and rotate the large gears, causing the winch of the first winding section to rotate clockwise and the winch of the second winding section to rotate counterclockwise. Simultaneously, a winding translation motor drives the winding section to move outwards to both sides synchronously. Through this combined rotation and translation motion, the pre-twisted wire repair strip, fixed by the winch, twists and winds from the middle outwards. As it rotates continuously, the pre-twisted wire repair strip completes the winding of the wire from the middle to both sides, pitch by pitch.

[0108] In this embodiment, a "one master, two slaves" linkage control architecture is adopted, involving the precise coordinated control of three parts of the winding mechanism: the left rotation of the winch in the first winding section, the right rotation of the winch in the second winding section, and the left and right translation of the horizontal movement module in the winding translation section. One winding horizontal motor driving the horizontal movement module is the "master shaft," and two winding rotary motors driving the left / right winches are the "slave shafts." The master shaft receives speed control commands, and the slave shafts calculate and follow the target position in real time based on the actual position of the master shaft. The movements of the three must meet strict proportional relationships and synchronous timing to achieve precise coordination of the three axes, ultimately completing the standard spiral winding operation of the pre-twisted wire from the middle to both sides.

[0109] The linkage parameter calculation enables the coordinated movement of the horizontal moving module (driven by the winding horizontal motor) and the two winches (driven by the winding rotary motor). That is, the left and right translation process of winding (the screw drives the first winding part to move to the left and the second winding part to move to the right) must be coordinated with the rotation angle of the winches. When the winches rotate one revolution (the two winches rotate in opposite directions), the horizontal moving module must move one "crest-to-crest" length (i.e., pitch) of the pre-twisted wire.

[0110] It should be noted that, due to the need for weight reduction and structural simplification, neither the winch rotation nor the module translation is equipped with angle or displacement sensors. Therefore, the three changes in the rotation angle of the two winches and the translation position of the horizontal moving module must be calculated from the number of rotations of their respective drive motors and the drive ratio. For ease of understanding, the mechanism position mentioned below can be understood as the number of rotations of its drive motor; that is, mechanism position and motor rotations are the same concept in the following text.

[0111] The intelligent main control system loads the pre-twisted wire pitch from the parameter database according to the pre-twisted wire specifications. Translation drive ratio Rotary gear ratio Motor reduction ratio Parameters; when the winding horizontal moving module moves by one pre-twisted thread pitch In this case, the master-slave linkage control relationship is as follows: The number of rotations required for the winding translation motor is: ; The number of rotations required for the winding rotary motor is ; Master-slave linkage rotation ratio .

[0112] The process of handling overflow is as follows: The robot's various drive motors are equipped with incremental encoders. The encoder output value is a relative position, cyclically changing at numerical boundaries, with a change range of [...]. To achieve precise position control for long-distance winding, the system needs to address the issue of motor rotation count overflow. Here, an absolute position calculation method based on cycle counting is adopted.

[0113] Since the drive motor encoder records the number of rotations cyclically within a fixed range, the system needs to handle count overflow: Real-time detection of position jumps; when the absolute value of the position difference between two adjacent counts exceeds a threshold, it is considered a cyclic jump. The cycle count increases during a forward jump; The loop count decreases during a reversal transition; Total number of laps = Number of cycles × Single lap count + (Current position - Initial position).

[0114] set up The number of loops (during a positive jump) Add 1, during the reverse transition Subtract 1), then the total number of cumulative rotations of the motor. The calculation formula is: ; in, This represents the positional deviation between the current position and the initial position. This represents the single-lap count value.

[0115] This calculation method effectively overcomes the limitation of numerical cycling of motor encoders, realizes continuous accumulation of motor position, and provides reliable position feedback for long-stroke winding operations.

[0116] The process of position tracking conversion is as follows: The encoder reading indicates the current position of the motor. The encoder reading indicates the initial position of the motor; the position difference between the current position and the starting position of the winding translation motor is calculated in real time, which is the change in the number of revolutions of the winding translation motor. for: ; The winding rotary motor adjusts the rotation ratio according to the position difference. Converted to its corresponding expected position Considering the two winches rotate in opposite directions (counterclockwise on the left, clockwise on the right), the desired positions of the two winding rotary motors are respectively... and Its expression is: ; Desired position of the right-hand winding rotary motor: ; in, The initial number of revolutions of the winding rotary motor rotating to the left; The initial number of revolutions of the clockwise rotating motor; This represents the position difference between the current position and the starting position of the rotating motor.

[0117] All motor drives employ speed loop control, but the speed control methods for the spindle and the driven axis differ: The spindle speed control process is as follows: To avoid impact during winding start and stop, a "speed look-ahead planning" algorithm is introduced into the speed control of the spindle (winding translation motor). The system calculates the speed curve in real time based on the remaining length of the pre-twisted wire (calculated based on the type of pre-twisted wire and the current winding progress), the current speed, and the maximum acceleration constraint, to achieve a smooth transition during acceleration and deceleration.

[0118] Define the current position of the winding translation motor as If the target winding length is L (half the total length of the pre-twisted wire), then the remaining length is However, in actual motor control, count overflow needs to be considered, and the length unit needs to be converted into the number of motor rotations before control calculations can be performed. Therefore, the formula for calculating the remaining rotations of the winding translation motor should be: ; Calculate the maximum permissible speed for the current cycle based on the S-curve acceleration / deceleration model. and with command speed Compare the values ​​and take the smaller value as the actual output speed.

[0119] The S-curve model takes into account the continuity of acceleration. By limiting the magnitude of acceleration, it effectively suppresses mechanical vibration and improves the stability of winding quality.

[0120] The process of controlling the shaft speed is as follows: The speed control of the slave axis (winding rotary motor) needs to follow the position changes of the master shaft, realizing position-based speed loop control, that is, by calculating the "current position of the winding rotary motor". "and "desired position of the winding rotary motor" The positional difference is used to calculate the following speed of each winding rotary motor. The proportional-integral (PI) control algorithm is used in motor control, which means: Position error : ; Follow speed : .

[0121] in, This is the proportional control coefficient. This is the integral gain coefficient, which is tuned according to the system's dynamic characteristics.

[0122] In addition, speed limiting, dead zone and minimum value processing are required to avoid motor vibration.

[0123] Maintaining appropriate winding tension is crucial for ensuring a tight fit during the pre-twisted wire winding process; however, the structural properties of the winding mechanism itself do not support the installation of tension or force sensors. Therefore, this invention introduces a force / position hybrid control strategy based on a current loop, in addition to position-based speed loop control. The intelligent main control system reads the current value of the drive motor in real time and calculates the current motor output power based on the motor voltage and current values, thereby determining the winding tension of the pre-twisted wire.

[0124] Set the target value of pre-twisted wire tension Current tension value of pre-twisted wire and tension tolerance .when During operation, the system fine-tunes the rotational speed: if the tension is too high, it appropriately reduces the speed of the winding rotary motor or increases the speed of the winding translation motor to loosen the pre-twisted wire; if the tension is too low, it appropriately increases the speed of the winding rotary motor or decreases the speed of the winding translation motor to tighten the pre-twisted wire. This hybrid control strategy maintains stable tension while ensuring winding pitch accuracy, avoiding poor bonding caused by excessively loose pre-twisted wire or wire damage caused by excessively tight pre-twisted wire.

[0125] Multi-machine linkage winding master-slave control calculation process: Based on the above calculation process, the motion control process of the winding mechanism's master and slave axes ("master axis" refers to the winding translation motor, and "slave axis" refers to the winding rotation motor) is as follows: Step 1: Spindle Status Update. After the winding clamping section closes and locks the pre-twisted wire, the system controls the spindle rotation according to the preset winding speed, driving the left and second winding sections to move synchronously horizontally in opposite directions along the conductor axis. The system reads the spindle encoder value in real time, detects value jumps between adjacent cycles, and updates the cycle count value accordingly. Calculate the actual number of rotations of the spindle. ; Step 2: Calculate from the target axis position. Based on the cumulative position of the spindle. The ratio of master-slave linkage rotation Calculate the target rotational position of the two motors on the shaft. and ; Step 3: Calculate the shaft position error. Read the encoder value from the shaft in real time to calculate the actual number of motor revolutions. and Calculate position error and ; Step 4: Generating the slave axis speed command. The slave axis speed command is calculated using a PI control algorithm. and And perform speed limiting, dead zone, minimum value and force position mixed adjustment processing; Step 5: Command Issuance and Execution. The intelligent master control system sends the slave axis speed command. , The commands are sent to the corresponding drive motors to control the left and right winding rotary motors to rotate in opposite directions (left clockwise, right counterclockwise), so as to achieve synchronous matching of rotational and translational motion, and make the left and right winches drive the pre-twisted wire to make spiral winding from the middle to both sides.

[0126] Step S3: Multimodal segmented evaluation: During the pre-twisted wire winding process, the visible light image and X-ray image of the pre-twisted wire winding are sensed segment by segment and the corresponding modal features are extracted. Using the pre-constructed mapping relationship between each modal feature and the winding evaluation result, the probability of different winding evaluation results for the corresponding mode is obtained. Then, the comprehensive evaluation result of each segment is obtained by using preset rules to determine whether to perform the winding correction operation until the winding operation is completed.

[0127] The winding evaluation results include three types: qualified, unqualified, and uncertain.

[0128] In one or more embodiments, the preset mapping relationship between each modal data and the winding evaluation result can be obtained by pre-training a large model or an existing neural network model.

[0129] In some alternative embodiments, the preset mapping relationship between each modal data and the winding evaluation results can be determined in the following manner: Preset dimensional features are extracted and normalized from the segmented sensing pre-twisted multimodal data. Combined with a standard template library and chi-square distribution, the winding effect decision boundary of the corresponding modal data is adaptively generated to obtain the probability of different winding evaluation results for the corresponding modality.

[0130] A segmented winding quality dynamic control strategy is adopted. After each segment of winding is completed, the motor is paused to comprehensively judge the effect of the segmented winding operation. Only if the judgment is qualified can the operation continue. If it is unqualified, the abnormal correction process is initiated.

[0131] Specifically, features in three dimensions—geometric regularity, fit, and end winding quality—are extracted from the multimodal data of segmented sensing of pre-twisted wire winding. Features in the geometric regularity dimension include consistency of helical direction and uniformity of spacing. Features in the fit dimension include the gap between the pre-twisted wire and the conductor. Features in the end winding quality dimension include end neatness and smoothness of transition.

[0132] The multimodal data in this embodiment includes visible light images and X-ray images of the pre-twisted wire winding section. It should be noted that the features of the three dimensions of geometric regularity, fit, and end winding quality can be calculated based on the visible light images and X-ray images and the corresponding feature extraction models or existing analysis algorithms.

[0133] In some optional embodiments, the Dempster combination rule is used to fuse the probabilities of different winding evaluation results of each mode to obtain a segmented comprehensive evaluation result; When the probability of passing the comprehensive evaluation is greater than the probability of failing the comprehensive evaluation, and the probability of passing the comprehensive evaluation is not less than the first preset threshold (e.g., 0.6), the winding is deemed to be qualified, and the confidence level is sufficient. When the probability of failing the comprehensive evaluation is greater than the probability of passing the comprehensive evaluation, and the probability of failing the comprehensive evaluation is not less than the first preset threshold (e.g., 0.6), it is determined that the entanglement is unqualified, and the confidence level is sufficient. When the probability of uncertainty in the comprehensive assessment is greater than the second preset threshold (e.g., 0.4), or the error between the probability of passing the comprehensive assessment and the probability of failing the comprehensive assessment is less than the third preset threshold (e.g., 0.2), it is judged as having low confidence and requires manual review; wherein, the first preset threshold is greater than the second preset threshold, and the second preset threshold is greater than the third preset threshold.

[0134] The probabilities of different winding evaluation results for each mode include the probability of passing the evaluation, the probability of failing the evaluation, and the probability of uncertainty: ; ; ; ; in, The probability of different winding evaluation results for the corresponding modes; These are the visible light mode and the X-ray mode, respectively. This indicates that the test is successful. This indicates that the product is unqualified. Indicates uncertainty; The uncertainty is... Decision boundary for entanglement effect; The Mahalanobis distance; For environmental reliability; This represents the Sigmoid function.

[0135] ; ; ; ; For example, when and When the value is not less than the first preset threshold, the winding is deemed qualified and the confidence level is sufficient; when and When the value is not less than the first preset threshold, the winding is deemed unqualified, and the confidence level is sufficient; when Greater than the second preset threshold or If the value is less than the third preset threshold or K > 0.5, it is judged as low confidence and requires manual review; the first preset threshold is greater than the second preset threshold, and the second preset threshold is greater than the third preset threshold. To comprehensively assess the probability of passing; To comprehensively assess the probability of non-compliance; is the probability of comprehensive assessment being uncertain; is the probability that the visible light modality assessment is qualified; is the probability that the visible light modality assessment is unqualified; is the probability that the visible light modality assessment is uncertain; is the probability that the X-ray modality assessment is qualified; is the probability that the X-ray modality assessment is unqualified; is the probability that the X-ray modality assessment is uncertain; K is the conflict coefficient.

[0136] Combining the standard template library and the chi-square distribution, the process of adaptively generating the winding effect decision boundary corresponding to the modality data is as follows: ; ; wherein, is the adaptive significance level; represents the chi-square distribution with k degrees of freedom in which the Mahalanobis distance of the modality data is less than the probability of ; when the Mahalanobis distance of the corresponding modality data is less than , it tends to be qualified for winding; when the complete Mahalanobis distance of the modality data is greater than or equal to , it tends to be unqualified / uncertain for winding; is the reference significance level; is the template reliability; the value of the degree of freedom k is equal to the number of current dimensional features of the modality data.

[0137] Calculate the template reliability: ; wherein, the sample sufficiency: ; Matrix condition number score: ; Marginal distribution rationality: ; If the samples in the template library are sufficient (N≥k+1), query the multivariate normal distribution parameters (mean , covariance matrix , number of samples); if the samples are insufficient (N<k+1), query the marginal mean of each dimension , standard deviation . Aiming at the singular problem of Σ caused by insufficient sample size, ridge regularization is dynamically applied according to the sample size, that is, the fewer the samples, the stronger the regularization: ; wherein, For the i-th acceptance dimension, the security covariance matrix is ​​regularized. Without disrupting the original data distribution, matrix singularity is forcibly eliminated to generate a mathematically valid and engineering-stable regularized covariance matrix. This is the original covariance matrix obtained from the normalized feature statistics; To adapt the correction strength: The fewer the samples (small N) and the higher the feature dimension (large k) → the larger λ is, the stronger the correction; the more samples and the lower the dimension → the smaller λ is, the less the original matrix is ​​modified, and the true information is preserved; it is fully adaptive to the on-site data scenario and does not require manual parameter tuning.

[0138] It is a diagonalized matrix of the original covariance matrix, retaining only the elements on the diagonal (the variance of each feature), temporarily clearing the correlation information between features, and serving as the most stable and singular-risk-free basis. The regularization coefficients are graded according to the sufficiency of the sample, with 10k samples and 3k samples as the benchmarks, and the corresponding adaptive correction strength values ​​are shown in Table 1.

[0139] Table 1. Adaptive correction strength values;

[0140] Based on the sample size and query results, the Mahalanobis distance is calculated, and the adaptive decision boundary is defined. First, the Mahalanobis distance is used to measure the correlation between different dimensions. The complete formula for calculating the Mahalanobis distance is: ; when hour, Values Its expression is: ; in, This represents the sample vector to be calculated; Represents the sample mean vector; This represents the samples corresponding to each dimension; Represents the marginal mean of samples in each dimension; This represents the standard deviation of the samples in each dimension; It is the complete Mahalanobis distance, which, when the sample size is sufficient, removes all feature correlations and environmental interference, and gives the most accurate "qualified deviation score". When the marginal Mahalanobis distance samples are too few to calculate a complete matrix, the deviation of each feature is calculated separately and then summed up to ensure that the system can continue to make judgments and does not crash.

[0141] It should be noted that in other embodiments, other combination rules may also be used for fusion, such as Bayesian probability fusion principle or fuzzy comprehensive evaluation fusion principle, which will not be described in detail here.

[0142] When the winding operation is underway, a shutdown command is triggered, which dispatches a drone to lift the pre-twisted wire winding robot. At the same time, the drone is controlled to unlock and release the wire, completing the shutdown operation of the pre-twisted wire winding robot.

[0143] If the winding effect is satisfactory, perform the reset operation in sequence: (1) Clamping and releasing: The clamping motor reverses, driving the symmetrical clamping block to move outward, restoring it to the fully open state, and releasing the clamping of the middle section of the pre-twisted wire; (2) Attitude return to zero: The winding rotary motor rotates in the opposite direction, causing the winch to rotate back to the initial horizontal angle position, which facilitates the opening of the winch mechanism; (3) Mechanism opening: The lifting and opening U-shaped wheel assembly and the clamping assembly of the clamping mechanism are all opened, providing the robot with lateral cable exit space for the robot to lift and unload the line; (4) Wheel set detachment: The support motor drives the support screw in the reverse direction, and the second U-shaped wheel descends vertically to the maximum stroke position, releasing the encircling constraint on the wire, so that the second U-shaped wheel no longer adheres to the wire, providing convenience for the first U-shaped wheel to move. During the resetting process of the winding mechanism, the status of each mechanism is continuously monitored to ensure that the resetting is in place and to avoid mechanism interference.

[0144] Return to a safe position and lift off the line: After the reset operation is completed, the intelligent main control system controls the robot to walk autonomously to a safe position (away from the obstacle fittings, so as to facilitate drone hoisting). During the walking process, the vision system continuously monitors the obstacles in front to ensure walking safety.

[0145] Once the robot reaches a safe position, its attitude is detected by the six-axis inertial sensor and tilt sensor in the attitude detection unit to determine if the robot is in a vertically balanced state. If it is in a vertically balanced state, the system sends a positioning signal and waits for the drone to hoist it.

[0146] The drone connects to the top of the robot via a sling mechanism, slowly lifting the robot away from the wire and safely transferring it to the ground or a transport platform.

[0147] In one or more embodiments, such as Figure 10 As shown, a fully autonomous winding system for pre-twisted wires in transmission lines is provided, which includes at least the following modules: The wire circling and locking module is used to: after the pre-twisted wire winding robot is hoisted and balanced to the preset position based on the collinearity of the hanging point, the center point of the wire and the center of gravity of the robot, control the pre-twisted wire winding robot to maintain the open posture and lateral wire feeding, and then control the circling wheel group to close and lock the wire. The multi-machine collaborative winding module is used to: identify the relative position and wrapping state of the pre-twisted wire and the conductor in real time based on visual feedback, control the winding mechanism, clamping mechanism and the ring-type wheel group to work together so that the clamping mechanism clamps the middle section of the pre-twisted wire, and through the combined motion of the rotation and translation of the winding rotary motor and the winding translation motor, the pre-twisted wire is twisted and wound from the middle section to both sides. The multimodal segmented evaluation module is used to: during the pre-twisted wire winding process, segmentally sense the visible light and X-ray images of the pre-twisted wire winding and extract the corresponding modal features; use the pre-constructed mapping relationship between each modal feature and the winding evaluation result to obtain the probability of different winding evaluation results for the corresponding mode; and then use preset rules to fuse the results to obtain the comprehensive evaluation results of each segment, so as to determine whether to perform the winding correction operation until the winding operation is completed.

[0148] In other embodiments, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps in the fully autonomous winding method for pre-twisted wires of transmission lines as described above.

[0149] In one or more embodiments, a fully autonomous winding device for pre-twisted wires of transmission lines is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the fully autonomous winding method for pre-twisted wires of transmission lines as described above.

[0150] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including functions for executing... Figure 10 The program code for the method shown. In such an embodiment, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by the central processing unit, it performs the various functions defined in the apparatus of this application.

[0151] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0152] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A fully autonomous winding method for pre-twisted wires in transmission lines, characterized in that, The process is executed by the controller of the pre-twisted wire winding robot. The pre-twisted wire winding robot includes a winding mechanism, a clamping mechanism, and a ring-shaped wheel assembly, all connected to the controller. The winding mechanism includes a winding translation motor, a winding rotation motor, and two coaxial winches. Pre-twisted wires, matching the conductor type and corresponding number of strands in the transmission line, are pre-synchronously inserted into the two coaxial winches and locked in place, maintaining the pre-twisted wires in a bundled, ring-shaped posture. This bundled, ring-shaped posture is characterized by the pre-twisted wire axis being parallel to the conductor, the pre-twisted wire troughs adhering to the conductor, and the two peaks near the center trough serving as fixed fulcrums. The controller executes the following steps: Wire clamping and locking: After the pre-twisted wire winding robot is hoisted and balanced to the preset position based on the collinearity of the hanging point, the center point of the wire and the center of gravity of the robot, the pre-twisted wire winding robot is controlled to maintain the open posture and enter the wire laterally, and then the clamping wheel group is controlled to close and lock the wire. Multi-machine collaborative winding: Based on visual feedback, the relative position and wrapping state of the pre-twisted wire and the conductor are identified in real time. The winding mechanism, clamping mechanism and ring-type wheel group are controlled to work together so that the clamping mechanism clamps the middle section of the pre-twisted wire. Through the combined motion of the rotation and translation of the winding rotary motor and the winding translation motor, the pre-twisted wire is twisted and wound from the middle section to both sides. Multimodal segmented evaluation: During the pre-twisted wire winding process, the visible light image and X-ray image of the pre-twisted wire winding are sensed segment by segment and the corresponding modal features are extracted. The mapping relationship between each modal feature and the winding evaluation result is pre-constructed to obtain the probability of different winding evaluation results for the corresponding mode. Then, the comprehensive evaluation result of each segment is obtained by using preset rules to determine whether to perform winding correction operation until the winding operation is completed. Features in three dimensions—geometric regularity, fit, and end winding quality—are extracted from the multimodal data of segmented sensing of pre-twisted wire winding. Features in the geometric regularity dimension include consistency of helix direction and uniformity of spacing. Features in the fit dimension include the gap between the pre-twisted wire and the conductor. Features in the end winding quality dimension include end neatness and transition smoothness. The probabilities of different winding evaluation results for each mode are fused using the Dempster combination rule to obtain a segmented comprehensive evaluation result.

2. The fully autonomous winding method for pre-twisted wires in transmission lines as described in claim 1, characterized in that, In the multi-machine collaborative winding step, if the clamping force of the clamping mechanism on the middle section of the pre-twisted wire does not reach the preset target clamping force, and the preset target clamping force cannot be reached even by gradually increasing the drive stop current threshold, then the drive stop current threshold is corrected online using the gradient descent method based on the relationship curve between the real-time drive current and the deformation of the pre-twisted wire. The correction formula is as follows: ； in, The corrected drive stop current threshold; The original drive stop current threshold was used for correction. α The learning rate; This represents the change in clamping force of the clamping mechanism; The current change value of the clamping mechanism; the drive stop current threshold adjustment range is limited to a preset safety range. , ]Inside.

3. The fully autonomous winding method for pre-twisted wires in transmission lines as described in claim 1, characterized in that, Pre-defined dimensional features are extracted and normalized from the segmented sensing pre-twisted multimodal data. Combined with a standard template library and chi-square distribution, the winding effect decision boundary for the corresponding modal data is adaptively generated to obtain the probabilities of different winding evaluation results for the corresponding modality, including the probability of passing the evaluation, the probability of failing the evaluation, and the probability of uncertainty. ； ； ； ； in, The probability of different winding evaluation results for the corresponding modes; These are the visible light mode and the X-ray mode, respectively. This indicates that the test is successful. This indicates that the product is unqualified. Indicates uncertainty; The uncertainty is... Decision boundary for entanglement effect; The Mahalanobis distance; For environmental reliability; This represents the Sigmoid function.

4. The fully autonomous winding method for pre-twisted wires in transmission lines as described in claim 3, characterized in that, The decision boundary for the entanglement effect is: ； ； in, Adaptive significance level; Represents a chi-square distribution with k degrees of freedom. In the data, the Mahalanobis distance of the modal data is less than The probability is When the Mahalanobis distance of the corresponding modal data is less than At that time, the winding is qualified; when the complete Mahalanobis distance of the modal data is greater than or equal to At that time, there is a tendency for the winding to be substandard or uncertain; The baseline significance level; For template reliability; the value of degree of freedom k is equal to the number of features in the current dimension of the modal data.

5. The fully autonomous winding method for pre-twisted wires in transmission lines as described in claim 1, characterized in that, When the probability of passing the comprehensive evaluation is greater than the probability of failing the comprehensive evaluation, and the probability of passing the comprehensive evaluation is not less than the first preset threshold, the winding is judged to be qualified and the confidence level is sufficient. When the probability of failing the comprehensive evaluation is greater than the probability of passing the comprehensive evaluation, and the probability of failing the comprehensive evaluation is not less than the first preset threshold, it is determined that the entanglement is unqualified and the confidence level is sufficient. When the probability of uncertainty in the comprehensive assessment is greater than the second preset threshold, or the error between the probability of a successful comprehensive assessment and the probability of a failed comprehensive assessment is less than the third preset threshold, the confidence level is determined to be low and manual review is required; wherein, the first preset threshold is greater than the second preset threshold, and the second preset threshold is greater than the third preset threshold.

6. The fully autonomous winding method for pre-twisted wires in transmission lines as described in claim 1, characterized in that, In the multi-machine collaborative winding process, the winding mechanism, clamping mechanism, and ring-type wheel assembly are controlled to work in coordination, including: The robot acquires real-time images of the wire in front of the pre-twisted wire-winding robot and identifies obstacle fittings from them, generating path planning and obstacle avoidance strategies to control the forward path of the wrap-around wheel assembly on the wire. The surface image of the conductor is acquired in real time during the forward movement of the encircling wheel assembly, and the coordinates of the center position of the conductor are accurately located from the image. Align the clamping mechanism with the center coordinates of the conductor. According to the preset clamping standard, calibrate the current posture of the clamping mechanism until the clamping state is achieved; After the clamping state is confirmed, the control winding mechanism performs autonomous winding operation, calculates the multi-machine linkage winding parameters of the pre-twisted wire winding robot, and executes the corresponding actions.

7. The fully autonomous winding method for pre-twisted wires in transmission lines as described in claim 6, characterized in that, Preset clamping standards include: The midpoint of the pre-twisted wire coincides with the center of the conductor. The winch is fully closed and the pre-twisted wire has no deviation in its orientation; When the clamping force reaches the preset threshold, a constant clamping force is maintained to achieve flexible clamping of the pre-twisted wire section.

8. The fully autonomous winding method for pre-twisted wires in transmission lines as described in claim 1, characterized in that, In the multi-machine collaborative winding process, the clamping mechanism clamps the middle section of the pre-twisted wire in three stages: rapid feed stage, deceleration contact stage, and current limiting stop stage.

9. The fully autonomous winding method for pre-twisted wires in transmission lines as described in claim 1, characterized in that, Translation is performed by a winding translation motor, which acts as the main axis, while rotation is performed by a winding rotation motor, which acts as the slave axis; the motion control process is as follows: The spindle status is updated by calculating the target rotation position of the motor corresponding to the slave axis based on the cumulative position of the spindle and the master-slave linkage rotation ratio. Real-time reading of the encoder value from the shaft is used to calculate the actual number of motor rotations and determine the position error. Calculate the shaft speed command and perform speed limiting, dead zone, minimum value and force-position mixed adjustment processing; The shaft speed command is sent to the corresponding motor, which controls the winding rotary motor to rotate in the opposite direction, so as to achieve synchronous matching between rotational and translational motion, and make the winch drive the pre-twisted wire to make spiral winding from the middle to both sides.

10. A fully autonomous winding system for pre-twisted wires in transmission lines, characterized in that, The fully autonomous winding method for pre-twisted wires of transmission lines according to any one of claims 1-9 includes: The wire circling and locking module is used to: after the pre-twisted wire winding robot is hoisted and balanced to the preset position based on the collinearity of the hanging point, the center point of the wire and the center of gravity of the robot, control the pre-twisted wire winding robot to maintain the open posture and lateral wire feeding, and then control the circling wheel group to close and lock the wire. The multi-machine collaborative winding module is used to: identify the relative position and wrapping state of the pre-twisted wire and the conductor in real time based on visual feedback, control the winding mechanism, clamping mechanism and the ring-type wheel group to work together so that the clamping mechanism clamps the middle section of the pre-twisted wire, and through the combined motion of the rotation and translation of the winding rotary motor and the winding translation motor, the pre-twisted wire is twisted and wound from the middle section to both sides. The multimodal segmented evaluation module is used to: during the pre-twisted wire winding process, segmentally sense the visible light and X-ray images of the pre-twisted wire winding and extract the corresponding modal features; use the pre-constructed mapping relationship between each modal feature and the winding evaluation result to obtain the probability of different winding evaluation results for the corresponding mode; and then use preset rules to fuse the results to obtain the comprehensive evaluation results of each segment, so as to determine whether to perform the winding correction operation until the winding operation is completed. Features in three dimensions—geometric regularity, fit, and end winding quality—are extracted from the multimodal data of segmented sensing of pre-twisted wire winding. Features in the geometric regularity dimension include consistency of helix direction and uniformity of spacing. Features in the fit dimension include the gap between the pre-twisted wire and the conductor. Features in the end winding quality dimension include end neatness and transition smoothness. The probabilities of different winding evaluation results for each mode are fused using the Dempster combination rule to obtain a segmented comprehensive evaluation result.

11. A fully autonomous winding robot for pre-twisted wires in power transmission lines, characterized in that, The method includes a winding mechanism, a clamping mechanism, a ring-shaped wheel assembly, a linkage mechanism, and a controller; the controller is connected to the winding mechanism, the clamping mechanism, the ring-shaped wheel assembly, and the linkage mechanism respectively; the controller is configured to perform the steps of the fully autonomous winding method for pre-twisted wires of transmission lines as described in any one of claims 1-9.

12. The fully autonomous winding robot for pre-twisted wires in transmission lines as described in claim 11, characterized in that, The winding mechanism includes a first winding section and a second winding section symmetrically arranged on the left and right sides of the clamping mechanism. Both the first winding section and the second winding section adopt an upper and lower split design, which is used to drive the pre-twisted wire to be wound synchronously and in reverse from the middle section to both sides onto the conductor.

13. The fully autonomous winding robot for pre-twisted wires in transmission lines as described in claim 12, characterized in that, The first winding section and the second winding section have the same structure, both including a winding motor, a small gear connected to the output shaft of the winding motor, and a split large gear composed of an upper half gear and a lower half gear; the large gear and the small gear mesh.

14. The fully autonomous winding robot for pre-twisted wires in transmission lines as described in claim 13, characterized in that, The large gear is fitted with a winch, which has multiple dedicated fixing holes for fixing the pre-twisted wire. The pre-twisted wire is fixed in position by passing through the dedicated fixing holes.

15. The fully autonomous winding robot for pre-twisted wires in transmission lines as described in claim 13, characterized in that, The linkage mechanism includes a transverse transmission assembly and a first vertical transmission assembly and a second vertical transmission assembly respectively connected to both sides of the transverse transmission assembly; the first winding portion is mounted on the first vertical transmission assembly, and the second winding portion is mounted on the second vertical transmission assembly; the transverse transmission assembly is used to drive the first vertical transmission assembly and the second vertical transmission assembly, so that the first winding portion and the second winding portion move closer to or further away from each other along the axial direction of the conductor.

16. The fully autonomous winding robot for pre-twisted wires in transmission lines as described in claim 11, characterized in that, The encircling wheel assembly includes a walking U-shaped wheel assembly and a liftable and openable U-shaped wheel assembly. These two are respectively arranged on both sides of the conductor in the transmission line and surround the conductor to form an encircling structure. When the encircling wheel assembly walks along the conductor in an encircling posture, the encircling pressure gradually combs and flattens the conductor metal wires and makes them fit the main conductor.

17. The fully autonomous winding robot for pre-twisted wires in transmission lines as described in claim 11, characterized in that, The clamping mechanism includes a clamping assembly and a driving assembly; the clamping assembly includes two clamping blocks arranged opposite each other, and each clamping block is provided with a buffer ring; the driving assembly is used to drive the two clamping blocks to move closer or further apart from each other, so that the buffer ring on the clamping block can clamp or release the entire loop of pre-twisted wire attached to the conductor, so as to fix the middle of the pre-twisted wire before winding and ensure that the pre-twisted wire does not move during the winding process and affect the winding quality.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the fully autonomous winding method for pre-twisted wires of transmission lines as described in any one of claims 1-9.

19. A fully autonomous winding device for pre-twisted wires in transmission lines, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the fully autonomous winding method for pre-twisted wires of transmission lines as described in any one of claims 1-9.

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