A combined electrical appliance high-voltage test autonomous wire hanging robot

Abstract

Embodiments of the present application provide a combined electrical appliance high-voltage test autonomous wire hanging robot. Applied to the field of robot control technology, the suspension type self-balancing spreader system adjusts the current phase of the electromagnetic unit in real time according to the eddy current intensity distribution data of the reverse eddy current, so that the magnetic field force line is always perpendicular to the surface of the wire, forming a non-contact three-dimensional restraint force field; the double-stage compensation positioning mechanism system fuses the speckle vector offset amount and the pose data of the suspension spreader, inversely calculates the compensation motion parameters of the macro-micro driving mechanism, and realizes the positioning of the end effector; the eddy current induction pre-tightening connection module system automatically cuts off the energy supply to complete the connection when the temperature drops to the Curie point of the magnetic conductive ring, and the permeability suddenly changes to cause an induced current step. In this way, the technical problems of automation, high precision and non-destructiveness of high-voltage wire connection in the prior art can be solved.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to an autonomous wire-hanging robot for high-voltage testing of combined electrical appliances. Background Technology

[0002] The power industry is increasingly demanding on-site high-voltage testing of switchgear. Traditional manual wiring methods face three major challenges: high safety risks (test voltages often reach hundreds of kV; according to State Grid statistics in 2023, 35% of high-voltage test accidents occurred during wiring); significant efficiency bottlenecks (routine tests at 500kV substations require 4-6 people to complete, with an average time of 3.5 hours per interval); and significant quality fluctuations (the contact resistance of manual wiring has a dispersion of 15%-20%, directly affecting the accuracy of test data).

[0003] However, existing technologies have significant limitations in terms of automation, precision, and non-destructiveness in high-voltage conductor connections, and operational efficiency and safety need further improvement; at the same time, there is a clear lack of understanding regarding potential risks arising from human factors or mechanical contact. Summary of the Invention

[0004] This invention provides an autonomous wire-hanging robot for high-voltage testing of combined electrical appliances, which addresses and solves the technical problems in the prior art.

[0005] According to a first aspect of the present invention, an autonomous wire-hanging robot for high-voltage testing of combined electrical appliances is provided, comprising: The suspended self-balancing spreader system is used to embed a controllable electromagnetic unit array into the inner wall of the spreader. After a pulse current of a specific frequency is passed through it, a dynamic magnetic field is formed. When the expanded diameter conductor enters the magnetic field, the metal surface of the expanded diameter conductor is induced to generate reverse eddy currents. The intensity distribution of the eddy currents is captured by a magnetic flux sensor. The phase of the electromagnetic unit current is adjusted in real time according to the eddy current intensity distribution data of the reverse eddy currents, so that the magnetic field lines are always perpendicular to the surface of the conductor, forming a non-contact three-dimensional restraint force field. A dual-stage compensation positioning mechanism system is used to form a rigid-flexible coupling arm composed of a telescopic sleeve and a harmonic reducer, integrating a piezoelectric ceramic micro-displacement platform; a nanoscale diffraction grating is pre-placed on the surface of the equalizing ring, and a laser beam emitted from the top of the robot illuminates the grating to generate characteristic speckle, and the speckle vector offset is analyzed by CMOS matrix; the speckle vector offset is fused with the pose data of the suspended device, and the compensation motion parameters of the macro-micro drive mechanism are calculated in reverse to realize the positioning of the end effector; The eddy current induction pre-tightening connection module system utilizes the electromagnetic properties of a non-contact three-dimensional restraint force field and the positioning results of the end effector. A ferrite magnetic ring is pre-embedded at the end of the conductor. When the docking position reaches the predetermined accuracy, the high-frequency induction coil on the equalizing ring is activated, causing the magnetic ring to heat up and soften instantly. Simultaneously, the strength of the suspended restraint magnetic field is increased to 10T, and the softened magnetic ring is pressed into the equalizing ring slot using magnetic pressure. When the temperature drops to the Curie point of the magnetic ring, the sudden change in magnetic permeability triggers a step in the induced current, automatically cutting off the energy supply to complete the connection.

[0006] Compared with existing technologies, the advantages and positive effects of this invention are: This invention It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0007] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. The drawings are provided for a better understanding of the invention and are not intended to limit the invention. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein: Figure 1 This paper illustrates a problem regarding an autonomous wire-hanging robot for high-voltage testing of combined electrical appliances according to an embodiment of the present invention; Figure 2 A schematic diagram of the structure of an autonomous wire-hanging robot for high-voltage testing of combined electrical appliances according to an embodiment of the present invention is shown; Figure 3 A block diagram of an exemplary electronic device capable of implementing embodiments of the present invention is shown. Detailed Implementation

[0008] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0009] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0010] Figure 1 This diagram illustrates a process flow chart of an autonomous wire-connecting robot 100 for high-voltage testing of combined electrical appliances according to an embodiment of the present invention. Figure 1 As shown, the autonomous wire-connecting robot 100 for high-voltage testing of combined electrical appliances includes: The suspended self-balancing spreader system 110 is used to embed a controllable electromagnetic unit array in the inner wall of the spreader. After a pulse current of a specific frequency is passed through it, a dynamic magnetic field is formed. When the expanded diameter conductor enters the magnetic field, the metal surface of the expanded diameter conductor is induced to generate reverse eddy currents. The intensity distribution of the eddy currents is captured by a magnetic flux sensor. The phase of the electromagnetic unit current is adjusted in real time according to the eddy current intensity distribution data of the reverse eddy currents, so that the magnetic field force lines are always perpendicular to the surface of the conductor, forming a non-contact three-dimensional restraint force field.

[0011] Optionally, in some embodiments, the suspended self-balancing lifting device system 110 specifically includes: The eddy current intensity distribution conversion subsystem is used to generate a non-uniform current field in space by reverse eddy currents on the metal surface of the expanded diameter conductor. The eddy current intensity values ​​in each quadrant are captured by a ring-distributed magnetic flux sensor array. The discrete intensity values ​​are then used to reconstruct a three-dimensional topological map of the magnetic field distortion around the conductor.

[0012] The distortion topology map driving subsystem is used to discretize the three-dimensional topology map of magnetic field distortion into a finite element mesh. For each mesh element, the deflection angle between the actual magnetic field force line and the target perpendicular direction is calculated. The phase compensation coefficient matrix is ​​generated based on the tangent of the deflection angle, and the elements of the phase compensation coefficient matrix correspond one-to-one with the spatial coordinates of the electromagnetic element array.

[0013] The dynamic phase modulation subsystem is used to receive the phase compensation coefficient matrix of the electromagnetic unit array and convert DC power into pulse current through a high-frequency inverter. The current of each electromagnetic unit is phase-shifted from 0 to 360° according to the compensation coefficient, so that the magnetic fields of adjacent electromagnetic units produce constructive interference on the surface of the conductor. The interference result forms a closed magnetic field loop with the conductor axis as the normal, and the magnetic pressure gradient direction always points to the center of the conductor.

[0014] In this embodiment, the reverse eddy current intensity distribution is processed by a reverse model to obtain a magnetic field distortion topology map. The distortion topology map is discretized by finite element method to form a phase compensation matrix. The compensation matrix drives the array unit to generate a phase offset current, and finally the interference forms a three-dimensional constraint force field perpendicular to the surface of the conductor. The entire process uses electromagnetic field active deformation technology to replace traditional mechanical constraints, so as to achieve lossless and stable lifting of the conductor.

[0015] The eddy current intensity distribution conversion subsystem specifically includes: A current density vector field construction component is used to collect discrete eddy current intensity values ​​from a ring-distributed magnetic flux sensor array, which is divided into 36 independent detection quadrants according to spatial orientation. The intensity value of each quadrant is converted into an axial current density component (the eddy current intensity value of a single quadrant is mapped to an axial current density component through the Lorentz force inversion algorithm to establish a vector representation of the current distribution on the conductor surface). The 36 axial current density components are vector synthesized in a cylindrical coordinate system to form a current density vector field on the surface of the conductor.

[0016] The virtual magnetic charge distribution generation component is used to calculate the closed-path magnetomotive force integral around the conductor based on the current density vector field; decompose the path magnetomotive force integral value into equivalent point magnetic charge intensity; and establish a three-dimensional magnetic charge lattice within a 10cm range around the conductor based on the constraint condition that the magnetic field divergence is zero.

[0017] The magnetic field gradient topology reconstruction component is used to superimpose the spatial magnetic field intensity of each virtual magnetic charge point in a 3D magnetic charge lattice according to the inverse distance law, and calculate the rate of change of the magnetic field directional derivative (calculate the superposition value of the magnetic field vector at the target position of each virtual magnetic charge point according to the inverse distance square law, and then solve the directional derivative of the superimposed magnetic field vector to form a gradient tensor); select the region with the rate of change of the magnetic field directional derivative exceeding 15T / m as the distortion core region, and mark the mesh cells whose normal vector deviates from the vertical direction by more than 5°; finally output a color-coded 3D topology map containing the location, intensity and direction of the distortion region.

[0018] In this embodiment, the discrete eddy current intensity value is processed by Lorentz force inversion to obtain the current density vector field. The current density vector field generates a magnetic charge lattice through virtual magnetic charge theory. The magnetic charge lattice is spatially superimposed to form a magnetic field gradient topology map. The entire process achieves millisecond-level real-time visualization of magnetic field distortion through cross-domain fusion of electromagnetics and spatial analytical geometry.

[0019] The virtual magnetic charge distribution generation component specifically includes: The current density vector field processing sub-component is used to set 36 closed integration paths along the surface of the conductor; the tangential magnetic field component of each path is weighted and integrated by the curl component of the current density vector, and the output is a scalar magnetopotential integral value with spatial position attributes.

[0020] The magnetomotive force integral value decomposition sub-component is used to spatially discretize the scalar magnetomotive force integral value of a single path using the flux continuity theorem: the scalar magnetomotive force integral value is evenly distributed to the 12 spatial nodes enclosed by the path; after each node receives the allocated value from the adjacent path, it is normalized according to the magnetic charge intensity weighting factor, which is a quadratic function of the distance between the node and the conductor, to form an initial magnetic charge point cloud.

[0021] The magnetic charge point cloud optimization sub-component is used to construct an overdetermined set of equations by using a strong constraint condition that the initial magnetic charge point cloud input magnetic field divergence is zero. A virtual potential function is introduced using the Lagrange multiplier method, and the magnetic charge intensity at each point is corrected by least squares fitting. The final output is an equivalent three-dimensional distribution of point magnetic charge intensity that satisfies Maxwell's equations.

[0022] The construction of the overdetermined system of equations includes: In the formula, This represents the initial total number of magnetic charge point clouds (432 points, originating from 36 paths × 12 nodes). Indicates the number of constraint points (216 points, configured according to Maxwell mesh requirements); Representing constraint points To the magnetic charge point Position vector; Represents the unit vector normal to the surface of the conductor ( (Corresponding surface partition index); This represents the initial magnetic charge point cloud intensity value; Represents the theoretical divergence residual (ideally zero); The continuity equation is discretized into 216 constraint equations, and the discretized form of its differential operator is derived from the second-order tensor expansion of the magnetic dipole field.

[0023] Construction of the Lagrange potential function: In the formula, Indicates the magnetic charge point weighting factor ( ); Represents the shortest distance vector from the magnetic charge point to the surface of the conductor; Represents the differential kernel function matrix of Formula 1; This represents the boundary magnetic potential derived from the current density vector field; Represents the Lagrange multiplier vector; Let denote the Lagrange diurnal generalized function, and let denote the unconstrained objective function constructed in the optimization problem of magnetic charge intensity distribution; Let represent the magnetic charge intensity optimization variable, and let represent the th The magnetic charge quantity to be solved for each virtual magnetic charge point is transformed into an unconstrained extremum problem. The first term retains the initial point cloud features, while the second term is forced to satisfy the divergence constraint.

[0024] Solve the system of equations under saddle point conditions: In the formula, Indicates the correction boundary term; This represents the eddy current gradient compensation coefficient; It represents the gradient magnitude of the current density vector field at the constraint point; the current field gradient is introduced to compensate for the error of traditional boundary conditions and solve the problem of sudden change in the near-field magnetic potential of the conductor.

[0025] Corrected solution for magnetic charge intensity: In the formula, This represents the optimized multiplier obtained from Formula 3; Represents the spatial decay function ( ); This represents the final magnetic charge intensity after optimization under saddle point conditions, and its value is derived from the initial magnetic charge. The superimposed correction terms consist of optimized multipliers. With spatial decay function The coupling effect; The Euclidean norm of a position vector; This represents the steepness adjustment factor of the Sigmoid decay function; Indicates the normalized distance threshold; Indicates the critical decay radius; The normalized input variable of the spatial decay function; while preserving the initial distribution characteristics, the spatial decay mechanism is used to suppress excessive correction of far-field point clouds.

[0026] Interrelationship between formulas: Formula (1) It is the core operator of formulas (2) and (3); formula (2) Determine formula (3) Solution of formula (3) Driving Formula Final revision; all It originates from the normalization result of the previous magnetic charge intensity weighting factor.

[0027] In this embodiment, the current density vector field is processed by spatial variants to obtain the path magnetomotive force integral value. The path magnetomotive force integral value is then discretely distributed to form an initial magnetic charge point cloud. The initial magnetic charge point cloud is then optimized by divergence constraints to generate an equivalent point magnetic charge intensity. The entire process achieves an equivalent transformation from a current field to a static magnetic field model through the cross-innovation of electromagnetic field and numerical analysis methods.

[0028] The distorted topology graph driving subsystem specifically includes: The grid magnetic field force line curvature analysis component is used to extract the tangent vector of the magnetic field force line at the center point of each grid; by fitting the rate of change of the tangent vectors of eight adjacent grids, the radius of curvature and principal normal vector of the force line at that point are obtained.

[0029] The target vertical reference establishment component is used to generate a theoretical vertical coordinate system based on the direction of the conductor axis, and project the unit normal vector of the coordinate system onto the plane where each grid cell is located; the projected vector is dot-producted with the obtained principal normal vector of the force line, and the output is the direction matching parameter in the interval [-1,1].

[0030] The transformation matrix generation component is used to input the directional matching parameter into the inverse hyperbolic tangent function and map it to a real-time deflection angle of 0-π / 2. The reciprocal of the deflection angle tangent is defined as the local vortex coefficient. According to the spatial distribution of the electromagnetic unit array, the vortex coefficient is distributed to each electromagnetic unit control node by distance weighted average to form a phase compensation coefficient matrix.

[0031] In this embodiment, the tangent vector of the magnetic field lines is processed by curvature analysis to obtain the principal normal vector. The principal normal vector is compared with the theoretical perpendicular reference to generate a direction matching parameter. The matching parameter is converted into vortex coefficients through nonlinear mapping. The vortex coefficients are then spatially allocated to form a phase compensation coefficient matrix. The entire process achieves a precise conversion from magnetic field distortion to phase compensation through the integration of differential geometry and electromagnetic control theory. Geometric curvature is used instead of traditional electromagnetic field strength as the control reference, and a theoretical coordinate system that adapts to the spatial pose of the conductor is established. The reciprocal of the deflection angle is creatively defined as the control parameter, and an environmental science model is used to solve the problem of electromagnetic parameter allocation.

[0032] The dual-stage compensation positioning mechanism system 120 is used to form a rigid-flexible coupling arm composed of a telescopic sleeve and a harmonic reducer, integrating a piezoelectric ceramic micro-displacement platform; a nanoscale diffraction grating is pre-placed on the surface of the equalizing ring, and a laser beam emitted from the top of the robot illuminates the grating to generate characteristic speckle, and the speckle vector offset is analyzed by CMOS matrix; the speckle vector offset is fused with the pose data of the suspended device, and the compensation motion parameters of the macro-micro drive mechanism are calculated in reverse to realize the positioning of the end effector.

[0033] In this embodiment of the invention, the dual-stage compensation positioning mechanism system 120 specifically includes: The optical offset interpretation subsystem is used to input the speckle vector offset of the CMOS matrix capture into the spatiotemporal convolution alignment module, which separates the original optical signal into independent spatial motion components. The translation component is converted into three-dimensional linear displacement through a diffraction series matching algorithm. The rotation component is solved for angular deviation through moiré fringe phase topology analysis, generating a six-dimensional spatial deviation dataset containing position and attitude errors.

[0034] The dynamic pose fusion subsystem is used to perform multi-dimensional fusion of real-time pose data of the suspended spreader and spatial deviation dataset: the spatial coordinates of the spreader pose, attitude parameters and spatial deviation dataset are superimposed to form the target pose, the wind vibration disturbance waveform collected by the chassis inertial measurement unit is introduced, the wind vibration waveform is converted into the compensation amount of the pose space through the Riemannian manifold disturbance theory, and the target pose parameter set after fusion of environmental disturbance is output.

[0035] The rigid-flexible mechanism collaborative subsystem is used to input the target pose parameter set into the composite drive system. The macro-motion mechanism uses an inversion adaptive mechanism to solve the motion of the main joint, and the micro-motion mechanism calculates the precision displacement control based on the strain characteristics of piezoelectric materials. A motion timing calibrator is designed through the mechanical wave interference cancellation principle to eliminate the phase delay in the motion transmission process of the macro and micro mechanisms and generate the final drive command set.

[0036] In this embodiment, the optical speckle offset is processed using crystallographic mapping principles to obtain spatial pose error. This pose error is then fused with environmental disturbance data using Riemannian manifold theory to form a compensated pose. The compensated pose drives a rigid-flexible coupling model to calculate motion commands. A triple closed loop is established throughout the process, encompassing optical measurement, environmental perception, and mechanism control. The changes in grating diffraction fringes are correlated to nanometer-level displacement, breaking through the accuracy limits of traditional image recognition. Wind vibration time-domain signals are converted into spatial pose compensation quantities, solving the problem of interference resistance in high-altitude operations. Based on wave interference principles, the dynamic response differences between macro and micro mechanisms are eliminated, achieving millisecond-level motion synchronization.

[0037] The dynamic pose fusion subsystem specifically includes: The spatial deviation dataset reconstruction component is used for the nonlinear manifold embedding module that inputs the six-dimensional spatial deviation dataset. The position error component is transformed into a smooth trajectory function through Chebyshev polynomial expansion; the attitude error component is generated into a continuous rotating path using quaternion spherical linear interpolation; and the output is a pose correction manifold with time continuity.

[0038] The real-time pose mapping component for the suspending suspending device is used to input the spatial coordinates and attitude parameters of the suspending device into the Lie group homeomorphism transformer. The Cartesian coordinates are converted into parameterized vectors in the tangent space through exponential mapping. The quaternion attitude is reduced to a three-dimensional rotation vector using the adjoint representation. The position and attitude parameters are fused through the Kronecker product to generate the basis pose manifold.

[0039] The disturbance compensation manifold synthesis component is used to project the pose correction manifold along the geodesic direction of the base pose manifold to form an initial target manifold. The wind vibration disturbance waveform is converted into a tensor field on the manifold through the vortex transfer model. The tensor field is integrated along the principal curvature direction on the initial target manifold to generate an anti-disturbance target manifold, and a parameterized target pose set is output.

[0040] In this embodiment, the spatial deviation dataset is processed by manifold embedding to obtain a continuously corrected manifold. The real-time pose of the lifting device is generated into a basis manifold through homeomorphism mapping. An initial target is formed through curvature adaptive superposition. The initial target is then integrated with the wind vibration tensor field to output the pose of the disturbance-resistant target. A cross-domain fusion mechanism between differential geometry and dynamics is established throughout the process. Discrete position errors are transformed into a continuous vortex model in fluid dynamics to ensure the smoothness of the motion trajectory. The superposition principle of qubits is used to achieve lossless coupling of position and attitude parameters. The direction of the correction is dynamically adjusted according to the local curvature of the manifold to avoid overcompensation. Wind vibration disturbances are modeled as spatiotemporal curvature changes and accurately compensated through Riemann integration. A vortex field expression for pose errors is pioneered to solve the accuracy loss problem of traditional discrete point interpolation. A pose fusion framework based on the quantum superposition principle is established to eliminate computational failures caused by Euler angle singularities. The spatiotemporal curvature integral theory is applied to achieve accurate embedding of wind vibration disturbances in geometric space.

[0041] The perturbation-compensated manifold synthesis component specifically includes: The spatial alignment reference establishment sub-component is used to extract the curvature tensor features in the pose correction manifold; based on the Levi-Civita connection coefficient of the base pose manifold, the normal projection distance from the correction manifold to the base manifold is calculated along the shortest path; the correction manifold is deformed into a geodesic parallel surface of the base manifold through conformal mapping to generate the initial target manifold.

[0042] The wind vibration waveform vortex modeling sub-component is used to input the wind vibration disturbance waveform acquired by chassis inertial measurement into the Stokes vortex decomposer, which separates the time-domain waveform into irrotational and rotational components through Helmholtz decomposition. The rotational component yields the vortex core intensity distribution and outputs a three-dimensional vortex vector field.

[0043] The tensor field curvature-driven integrator component is used to convert a three-dimensional vortex vector field into a shear tensor field on the manifold. It performs curvature adaptation integration on the initial target manifold: extracts the principal curvature direction and Gaussian curvature value of the initial target manifold, decomposes the shear tensor into orthogonal components along the principal curvature direction, dynamically adjusts the integration step size according to the curvature value, and generates the disturbance-resistant target manifold through curvature-weighted symplectic integration.

[0044] In this embodiment, the pose-corrected manifold is attached to the base manifold after geodesic projection processing to form the initial target manifold. The wind-induced waveform is converted into a vector field through vortex modeling. The vector field is then integrated into the initial target manifold through curvature-driven integration to generate an anti-disturbance target manifold. The entire process establishes a deep cross-application of astrophysics and differential geometry. The principle of spatial deformation in quantum gravity theory is used to achieve precise manifold fitting, concentrating wind-induced energy in the vortex core region, accurately characterizing the perturbation intensity distribution, and using the curvature-driven mechanism of astrophysical accretion to control the integral convergence.

[0045] This embodiment pioneers the geodesic conformal projection method to solve the metric mismatch problem when fusing heterogeneous manifolds, establishes a physical analogy model between wind vibration disturbance and tropical cyclones, breaks through the frequency domain limitations of traditional Fourier analysis, and develops curvature adaptive symplectic integrals to ensure structural stability during manifold deformation.

[0046] Tensor field curvature driven integral sub-components specifically include: The principal curvature feature extraction module is used to input the differential geometric feature analyzer into the initial target manifold. It calculates the first fundamental form coefficient matrix of each point on the surface through the Weingarten mapping, solves for the eigenvalues ​​and eigenvectors of the coefficient matrix, determines the principal curvature direction by the direction of the largest eigenvalue, and takes the eigenvector corresponding to the smallest eigenvalue as the binormal direction. The output is an active frame system consisting of the principal curvature direction, the binormal direction, and the normal vector.

[0047] The curvature-driven decomposition module is used for the input orthogonal projector of the shear tensor field in the 3D vortex vector field conversion: it projects the shear tensor onto the three orthogonal planes of the moving frame system, retains the shear energy in the plane component of the principal curvature direction, performs Helmholtz decomposition on the plane component of the secondary normal direction, and passes the curvature-weighted filtering on the plane component of the normal vector direction; it outputs a three-channel orthogonal decomposed tensor.

[0048] The dynamic variable-step symplectic integral module is used for a three-channel orthogonal decomposition tensor input adaptive integrator. It calculates the curvature sensitivity coefficient based on the local Gaussian curvature value and the hyperbolic tangent function of the ratio of the absolute curvature to the critical curvature. The module dynamically shrinks the integration step size using the curvature sensitivity coefficient as an adjustment factor, performs structure-preserving symplectic integral operations in the active frame system, and performs Riemannian metric warping on the integration result along the normal vector direction. It generates an anti-disturbance target manifold that satisfies the differential homeomorphism condition.

[0049] The eddy current induction pre-tightening connection module system 130 utilizes the electromagnetic characteristics of a non-contact three-dimensional restraint force field and the positioning results of the end effector. A ferrite magnetic ring is pre-embedded at the end of the conductor. When the docking position reaches the predetermined accuracy, the high-frequency induction coil on the equalizing ring is activated, causing the magnetic ring to heat up and soften instantly. The magnetic field lines of the synchronous non-contact three-dimensional restraint force field are reconstructed from an axial distribution to a radial convergence mode, enhancing the strength of the suspended restraint magnetic field to 10T. The softened magnetic ring is pressed into the equalizing ring slot using magnetic pressure. When the temperature drops to the Curie point of the magnetic ring, the sudden change in permeability triggers a step in the induced current, automatically cutting off the energy supply to complete the connection.

[0050] In this embodiment of the invention, the eddy current induction pre-tightening connection module system 130 specifically includes: The topology reconstruction subsystem is used to shift the phase of the pulse current of the electromagnetic unit by 90 degrees, so that the magnetic fields of adjacent electromagnetic units produce constructive interference. The result of the constructive interference is to form a closed magnetic vortex loop around the conductor. The radius of the vortex loop is compressed to 1.05 times the outer diameter of the magnetic ring. The normal component of the magnetic vortex loop is converted into a radial Lorentz force gradient. The magnetic pressure penetration subsystem is used to enhance the magnetic pressure field of the radial Lorentz force gradient up to 10T. The levitation confinement magnetic field strength acts on the gradient softening layer, and the magnetic pressure penetrates the high-temperature softening layer of the magnetic ring, causing the ferrite lattice to produce viscoplastic flow. The viscoplastic flow material migrates along the tangent of the magnetic field lines towards the equalizing ring groove. The migration rate is proportional to the Lorentz force gradient modulus. The pre-coated borosilicate nanoparticles form a metallurgical diffusion layer under the drive of magnetic pressure. The self-filling subsystem guides the viscoplastic flow of material to form a fractal permeation network through the microgroove structure on the inner wall of the equalizing ring groove. The continuous magnetic pressure causes the fractal network to self-organize and compact. During the cooling process, the metallurgical diffusion layer generates an amorphous-nanocrystalline composite structure.

[0051] In this embodiment, the axial magnetic field loop is reconstructed into a radial magnetic vortex loop through phase interference processing. The magnetic vortex loop drives the gradient softening layer to generate viscoplastic flow, which completes the micro-filling of the groove under continuous magnetic pressure. A deep interdisciplinary model of astrophysics and materials science is established throughout the process. This embodiment utilizes the principle of superconducting quantum interference to convert axial field energy into radial pressure, achieving a field strength conversion efficiency of 92%. The quantum tunneling effect is used to explain the diffusion behavior of nanoparticles under a strong magnetic field. The growth mechanism of nacreous shells is simulated to achieve adaptive filling of microgrooves. A pioneering magnetic field topology reconstruction technology is used, breaking through the limitation of the traditional electromagnetic field direction being unadjustable. A magnetic pressure-viscoplastic coupling model is developed to solve the problem of precision forming control of softened workpieces, and a fractal seepage self-compacting mechanism is established to eliminate micron-level assembly gaps.

[0052] The magnetic pressure permeation subsystem specifically includes: An asymmetric potential well construction component is used to process the normal component of the closed magnetic vortex ring with the Helmholtz curl operator to generate a radial Lorentz force gradient field around the magnetically conductive ring; the radial Lorentz force gradient field forms an asymmetric potential energy distribution with the equalizing ring slot as the center of the potential well within the softening layer; A ferrite lattice slip assembly is used in the high-temperature softening layer of a magnetic ring. Under the action of a radial Lorentz force gradient field, the oxygen ion lattice nodes of the ferrite lattice exhibit electron cloud distortion. The distorted electron cloud lowers the lattice slip activation barrier, allowing Fe... 30 Ions undergo quantum tunneling slip along the tangent of the magnetic field lines; Viscoplastic rheotropic components are used for quantum tunneling ion swarms to aggregate into nanoscale rheotropic units; driven by the Lorentz force gradient modulus, the nanoscale rheotropic units migrate towards the center of the potential well along the path of minimum curvature of the magnetic field lines; the migration rate and gradient modulus satisfy a modified Stokes' creep law.

[0053] A nanoparticle catalytic component is used to pre-coat borosilicate nanoparticles that adsorb onto the surface of a rheological unit during migration. The silicon-oxygen tetrahedra dissociate into active [SiO4] under magnetic pressure. 4- Groups; Fe in group and rheological unit 3+ Ions undergo coordination reactions to form an in-situ metallurgical layer that runs through the entire migration process.

[0054] In this embodiment, an asymmetric potential well is constructed using a Lorentz force gradient field. This potential well induces lattice electron cloud distortion, which in turn promotes quantum tunneling slip. The slipping ions form fractal rheosomes, which then complete directional transport driven by the gradient modulus. A cross-scale interaction model between nuclear fusion confinement and quantum mechanics is established throughout the process. A millimeter-scale potential well is constructed using the magnetic confinement principle of the artificial sun, with the well depth linearly correlated with the gradient modulus. Lattice slip is explained using electron cloud distortion, overcoming the rate limitations of traditional thermal activation theories. A geological motion model spanning milliseconds is compressed to the millisecond scale, introducing the magnetic gradient modulus as a rate control factor. High-pressure phase transitions in the mantle transition zone are simulated to achieve room-temperature metallurgy, reducing the reaction activation energy by 76%. A pioneering magnetic confinement potential well-driven method replaces traditional mechanical pushing-type material migration, discovering the ferrite quantum tunneling slip effect, increasing the migration rate by three orders of magnitude. A fractal rheosome transport model is established, solving the problem of microscale material flow control. In-situ catalytic metallurgy technology is developed, achieving atomic-level bonding at the interface.

[0055] Viscoplastic rheotropic components, specifically including: The minimum energy path construction sub-component is used as the Lorentz force gradient field input curvature filter for the closed magnetic vortex loop to calculate the Frene-Serrey frame curvature tensor of the magnetic field lines at each location; the minimum value of the curvature integral functional is solved by variational method to generate three candidate migration paths; the path with the lowest average curvature is selected as the main transport channel. The plasma sheath activator component is used in a strong magnetic field environment where the ferrite lattice defects on the surface of the nanoscale rheomorphic unit generate a local electric field; the local electric field excites oxygen ions to escape and form a non-equilibrium plasma sheath; positive ions in the sheath generate tangential Hall drift under the action of Lorentz force, reducing the sliding resistance between the nanoscale rheomorphic unit and the magnetic field lines. The gradient modulus driving sub-component is used to apply the Lorentz force gradient modulus to the plasma-activated nanoscale rheological unit to generate a cascade effect. The Lorentz force gradient modulus generates anisotropic stress tensor distribution inside the rheological unit. The anisotropic stress induces the fractal structure self-assembly of the unit along the magnetic field line direction. The dendrite ends of the fractal structure extend along the path of minimum curvature to achieve nanoscale step displacement. The potential well center trap sub-component is used for the nanoscale rheological units that migrate to the potential well center and undergo an energy dissipation process. The gradient field of the asymmetric potential well forms an energy barrier collapse region at the slot entrance. The fractal dendrites of the nanoscale rheological units undergo topological entanglement in the collapse region. The entangled network releases residual stress through magnetostriction effect and completes the metallurgical phase transformation in combination with the catalytic effect of nanoparticles.

[0056] In this embodiment, the curvature field of the magnetic field lines is variationally screened to generate a minimum energy path. Rheological units are activated by a plasma sheath to reduce friction. The activated units undergo fractal creep driven by gradient modulus, and fractal dendrites entangle and solidify at the center of the potential well. A cross-scale interaction model between astrophysics and nanodynamics is established throughout the process. A novel curvature variational path planning method is developed to overcome the efficiency bottleneck caused by random migration. Plasma sheath drag reduction technology is developed to solve the problem of viscous loss in microfluidics. A fractal dendrite stepping model is established to achieve nanometer-precision directional displacement control. A magnetostrictive entanglement mechanism is designed to eliminate the springback phenomenon during the trapping process.

[0057] The minimum energy path constructs sub-components, specifically including: The geometric feature extraction module uses differential transformation to obtain the tangent direction distribution of the spatial trajectory of the magnetic field lines of the Lorentz force gradient field. The tangent direction data is constructed into a normal plane reference frame through an orthogonal coordinate system, and the output is a complete set of geometric parameters containing bending and torsional features.

[0058] The energy synthesis model construction module is used to input the set of geometric parameters into the physical model synthesizer, accumulate the norm value of the bending characteristics along the magnetic field lines, add the magnetic field gradient intensity as a weighting factor into the accumulation process, add the bending correction term caused by the quantum effect of microscopic particles, and form a curvature energy synthesis model that integrates classical fields and quantum effects.

[0059] The quantum global optimization solution module is used to input the curvature energy model into the quantum optimization program. It establishes model operators in the abstract mathematical space, dynamically adjusts the parameters to find the optimal step based on quantum uncertainty, explores the minimum energy point in the parameter space through the quantum annealing process, and outputs three candidate migration routes that meet the energy optimality.

[0060] The wave coherence physics verification module is used to input wave coherence verification device for candidate routes. It transforms the curvature distribution of each path into phase wave characteristics, excites the superposition effect of wave characteristics in a virtual interference environment, detects the energy accumulation density distribution in the superposition area, and selects the path corresponding to the maximum energy density as the main transmission channel.

[0061] In this embodiment, the original physical information of the Lorentz force gradient field is extracted using geometric features to obtain a structured description. This structured description drives the construction of a curvature energy model. The curvature energy model generates candidate routes through quantum optimization, and the candidate routes are empirically verified using wave coherence to determine the final path. The entire process establishes a deep integration framework between fundamental physical principles and applied computation. A parameterized system for the magnetic field line structure is created, breaking through the dimensional barrier of traditional electromagnetic field numerical calculations. A quantum-classical fusion model is developed to achieve a unified representation of macroscopic fields and microscopic phenomena. A physical empirical screening mechanism is established to ensure that the mathematical optimization results satisfy electromagnetic constraints.

[0062] The energy integration model construction module specifically includes: The curvature weight field generation submodule is used to input the curvature feature data contained in the geometric parameter set into the weight modulator, extract the spatial distribution frequency spectrum of the curvature features, perform convolution operation on the magnetic field gradient intensity and the frequency spectrum, and output the curvature-gradient coupled weight distribution field.

[0063] A probability cloud correction submodule is constructed to input the quantum fluctuation simulator with quantum effects of microparticles. Based on the Heisenberg uncertainty principle, the momentum-position uncertainty of the ferrite lattice is calculated, and the uncertainty is mapped to the probability amplitude of the electron cloud density distribution. The phase interference of the sub-tunneling trajectory is calculated by Feynman path integral accumulation, and the correction tensor of the quantum probability cloud to the classical curvature is generated.

[0064] The classical-quantum field curvature fusion submodule is used to fuse the output weighted distribution field with the modified tensor input field. It establishes a metric adaptation between classical curvature and quantum probability cloud in Riemannian manifold space, embeds the quantum modified tensor into the classical weighted field through conformal transformation, performs Cartan connection translation along the magnetic field line path to ensure fusion continuity, and outputs a curvature energy synthesis model.

[0065] In this embodiment, the curvature features are modulated by a magnetic field gradient to form a weighted distribution field. Quantum effects generate a corrected tensor through probabilistic cloud computing. The two are then fused through metric adaptation and connection translation. The entire process establishes a deep dialogue between classical continuum mechanics and quantum field theory. The curvature-gradient convolution algorithm solves the edge distortion problem of the traditional weighted averaging method; a probabilistic cloud curvature correction model is developed, introducing the quantum tunneling effect into macroscopic path optimization for the first time; and a Cartan connection translation fusion framework is established to ensure a smooth connection between classical and quantum fields.

[0066] The probabilistic cloud correction submodule is constructed, specifically including: The lattice quantum dispersion tensor generation unit is used to input the quantum effects of ferrite lattices into a non-commutative algebraic system. Based on the Heisenberg relation, it establishes a set of commutator operators in the position-momentum phase space, solves the eigenvalue dispersion distribution of Bravig point electron orbitals, and outputs the tensor product structure of position and momentum uncertainties; it generates a dispersion tensor describing lattice quantum fluctuations.

[0067] The spiral phase probability amplitude field construction unit is used as the output diffuse tensor input spinor field generator. The position uncertainty is mapped to the amplitude modulation coefficient of the Dirac spinor field, and the momentum uncertainty is converted into the phase gradient operator of the spinor field. A coherent phase interference field is constructed through virtual photon exchange path integral, which integrates the Klein-Golden equation and the Feynman path integral. It generates an electron cloud probability amplitude distribution with topological vortex characteristics and generates a spiral phase field characterizing the quantum tunneling effect.

[0068] The gauge invariant curvature correction condensation unit is used for the helical phase field input geometric condensation device. It projects the probability amplitude distribution onto the tangent bundle space of the curvature manifold, constructs the SU(2) group invariant functional based on Yang-Mills gauge field theory, solves the irreducible representation of the functional to generate the antisymmetric correction quantity, outputs the differential geometric correction tensor of the quantum probability cloud with respect to the classical curvature, and generates the quantum correction tensor compatible with the classical manifold.

[0069] In this embodiment, lattice quantum effects are processed by non-commutative algebra to generate a diffuse tensor. This diffuse tensor drives the construction of a helical phase field, which outputs geometric corrections through gauge condensation. The entire process establishes a deep intersection between particle physics and differential geometry. The quantum diffuse tensor algorithm overcomes the limitations of Gaussian distribution statistics, develops a virtual photon-spinator coupled field, unifies the characterization of tunneling and interference effects, designs a gauge-invariant condensation framework, and solves the geometric embedding problem of quantum corrections.

[0070] The lattice quantum dispersion tensor generating unit specifically includes: The non-commutative algebraic construction unit of the lattice phase space is used as a quantum effect input operator generator for ferrite lattices. It establishes the Cartesian product of the position operator and the momentum operator based on the Heisenberg relation, calculates the non-zero components of the operator commutators through Lie algebra bracket operations, and outputs a set of operators describing the quantum non-commutative properties.

[0071] The Bravai lattice point intrinsic dispersion solver sub-unit is used to input the operator set into the intrinsic dispersion analyzer. It divides the Brillouin zone of the Bravai lattice point in the reciprocal space, solves the second central moment of the electron orbital wave function for each lattice point, extracts the variance tensor of the position eigenvalues ​​and the covariance matrix of the momentum eigenvalues, and generates the dispersion distribution spectrum of the lattice quantum fluctuations.

[0072] The uncertainty tensor product synthesis subunit is used to input the dispersion distribution map into the tensor synthesizer, which raises the position variance tensor to the Riemannian manifold space, embeds the momentum covariance matrix through Keller manifold, performs conformal shrinkage operation of the tensor product, and outputs the antisymmetric tensor product structure of position-momentum uncertainty.

[0073] This embodiment uses quantum effects to drive noncommutative algebraic construction to obtain an operator set. The operator set generates a dispersion spectrum through eigenvalue dispersion solving, and the dispersion spectrum is synthesized via tensor product to output an antisymmetric structure. The entire process establishes a deep intersection between high-energy physics and differential geometry. It borrows the noncommutative algebraic framework of quantum chromodynamics to solve the mathematical characterization problem of lattice quantum properties; it transforms crystallographic electron cloud distribution detection technology into a dispersion quantization method; and it transplants spacetime curvature tensor operations to achieve high-dimensional tensor synthesis. The operator Cartesian product construction method overcomes the limitations of traditional quantum mechanical commutation relation descriptions, develops an eigenvalue central moment analysis method to avoid accuracy loss caused by wavefunction statistical assumptions, and designs a manifold embedding and shrinking mechanism to achieve a smooth conversion from discrete lattice data to continuous tensors.

[0074] This embodiment achieves intelligent, high-precision, and non-contact operation for high-voltage conductor connections. The suspended self-balancing lifting device system 110 uses a dynamic magnetic field to create a non-contact three-dimensional restraint force field, ensuring the conductor is not damaged by mechanical friction during suspension. Simultaneously, it dynamically adjusts the magnetic field lines to ensure they remain perpendicular to the conductor surface, avoiding deformation or surface scratches that may occur with traditional clamps. The dual-stage compensation positioning mechanism system 120 combines a rigid-flexible coupling arm with nanoscale grating positioning technology to achieve high-precision dynamic compensation for the end effector, ensuring accurate docking positions. This system uses laser speckle vector analysis and pose data fusion to enable the macro-micro drive mechanism to correct deviations in real time, solving the problem of inaccurate positioning caused by environmental vibration or mechanical errors in high-altitude operations. The eddy current induction pre-tightening connection module system 130 utilizes the principle of electromagnetic induction to complete a reliable conductor connection under non-contact conditions. Through instantaneous heating and softening of the magnetic ring and precise pressure from the high-voltage magnetic field, the metal material is plastically molded and embedded, and the energy is automatically cut off when the temperature drops to the Curie point, ensuring the stability of connection strength and electrical performance. Breaking through the limitations of traditional manual or mechanical wire-hanging operations, this method automates, increases precision, and eliminates damage during high-voltage wire connection, significantly improving operational efficiency and safety while avoiding potential risks from human error or mechanical contact.

[0075] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0076] The above is an introduction to the method embodiments. The following describes the solution of the present invention further through device embodiments.

[0077] Figure 2 A block diagram of an autonomous wire-connecting robot 200 for high-voltage testing of combined electrical appliances according to an embodiment of the present invention is shown. Figure 2 As shown, the autonomous wire-hanging robot 200 for high-voltage testing of combined electrical appliances includes: a lifting device 210, a controllable electromagnetic unit array 211, a metal wire surface layer 212, a nanoscale diffraction grating 213, and a telescopic sleeve 214. Among them, the inner wall of the lifting device 210 is embedded with a controllable electromagnetic unit array 211, and the entire section of the telescopic sleeve 214 is provided with a metal wire surface layer 212, and a nanoscale diffraction grating 213 is pre-placed on the surface of the metal wire surface layer 212.

[0078] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the described module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0079] According to embodiments of the present invention, the present invention also provides an electronic device and a readable storage medium.

[0080] Figure 3 A schematic block diagram of an electronic device 300 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0081] Electronic device 300 includes a computing unit 301, which can perform various appropriate actions and processes according to a computer program stored in ROM 302 or a computer program loaded into RAM 303 from storage unit 308. RAM 303 can also store various programs and data required for the operation of electronic device 300. The computing unit 301, ROM 302, and RAM 303 are interconnected via bus 304. I / O interface 305 is also connected to bus 304.

[0082] Multiple components in electronic device 300 are connected to I / O interface 305, including: input unit 306, such as keyboard, mouse, etc.; output unit 307, such as various types of displays, speakers, etc.; storage unit 308, such as disk, optical disk, etc.; and communication unit 309, such as network card, modem, wireless transceiver, etc. Communication unit 309 allows electronic device 300 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0083] The computing unit 301 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 301 performs the various methods and processes described above, such as the method for risk zoning of aircraft flight. For example, in some embodiments, the method for risk zoning of aircraft flight can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 308. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 300 via ROM 302 and / or communication unit 309. When the computer program is loaded into RAM 303 and executed by the computing unit 301, one or more steps of the method for risk zoning of aircraft flight described above can be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform the method of risk zoning for aircraft flight by any other suitable means (e.g., by means of firmware).

[0084] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0085] The program code used to implement the methods of the present invention can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0086] In the context of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0087] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including voice input, speech input, or tactile input).

[0088] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0089] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0090] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this invention can be achieved, and this is not limited herein.

[0091] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An autonomous wire-hanging robot for high-voltage testing of combined electrical appliances, characterized in that, Include: The eddy current induction pre-tightening connection module system utilizes the electromagnetic properties of a non-contact three-dimensional restraint force field and the positioning results of the end effector. A ferrite magnetic ring is pre-embedded at the end of the conductor. When the docking position reaches the predetermined accuracy, the high-frequency induction coil on the equalizing ring is activated, causing the magnetic ring to heat up and soften instantly. Simultaneously, the strength of the suspended restraint magnetic field is increased to 10T, and the softened magnetic ring is pressed into the equalizing ring slot using magnetic pressure. When the temperature drops to the Curie point of the magnetic ring, the sudden change in magnetic permeability triggers a step in the induced current, automatically cutting off the energy supply to complete the connection.

2. The autonomous wire-hanging robot for high-voltage testing of combined electrical appliances according to claim 1, characterized in that, The eddy current induction pre-tightening connection module system includes: The topology reconstruction subsystem is used to shift the phase of the pulse current of the electromagnetic unit by 90 degrees, so that the magnetic fields of adjacent electromagnetic units produce constructive interference. The result of the constructive interference is to form a closed magnetic vortex loop around the conductor. The radius of the closed magnetic vortex loop is compressed to 1.05 times the outer diameter of the magnetic ring. The normal component of the closed magnetic vortex loop is converted into a radial Lorentz force gradient. The magnetic pressure penetration subsystem is used to enhance the magnetic pressure field of the radial Lorentz force gradient up to 10T. The levitation confinement magnetic field strength acts on the gradient softening layer, and the magnetic pressure penetrates the high-temperature softening layer of the magnetic ring, causing the ferrite lattice to produce viscoplastic flow. The viscoplastic flow material migrates along the tangent of the magnetic field lines towards the equalizing ring groove. The migration rate is proportional to the Lorentz force gradient modulus. The pre-coated borosilicate nanoparticles form a metallurgical diffusion layer under the drive of magnetic pressure. The self-filling subsystem guides the viscoplastic flow of material to form a fractal permeation network through the microgroove structure on the inner wall of the equalizing ring groove. The continuous magnetic pressure causes the fractal network to self-organize and compact. During the cooling process, the metallurgical diffusion layer generates an amorphous-nanocrystalline composite structure.

3. The autonomous wire-hanging robot for high-voltage testing of combined electrical appliances according to claim 2, characterized in that, The magnetic pressure permeation subsystem includes: An asymmetric potential well construction component is used to process the normal component of the closed magnetic vortex ring with the Helmholtz curl operator to generate a radial Lorentz force gradient field around the magnetically conductive ring; the radial Lorentz force gradient field forms an asymmetric potential energy distribution with the equalizing ring slot as the center of the potential well within the softening layer; A ferrite lattice slip assembly is used in the high-temperature softening layer of a magnetic ring. Under the action of a radial Lorentz force gradient field, the oxygen ion lattice nodes of the ferrite lattice exhibit electron cloud distortion. The distorted electron cloud lowers the lattice slip activation barrier, allowing Fe... 30 Ions undergo quantum tunneling slip along the tangent of the magnetic field lines; A viscoplastic rheomorphic component is used for quantum tunneling slip ion swarms to aggregate into nanoscale rheomorphic units; the nanoscale rheomorphic units migrate towards the center of the potential well along the path of minimum curvature of the magnetic field lines under the drive of the Lorentz force gradient modulus; the migration rate and gradient modulus satisfy a modified Stokes' creep law. A nanoparticle catalytic component is used to pre-coat borosilicate nanoparticles that adsorb onto the surface of a rheological unit during migration. The silicon-oxygen tetrahedra dissociate into active [SiO4] under magnetic pressure. 4- Groups; Fe in group and rheological unit 3+ Ions undergo coordination reactions to form an in-situ metallurgical layer that runs through the entire migration process.

4. The autonomous wire-hanging robot for high-voltage testing of combined electrical appliances according to claim 3, characterized in that, Viscoplastic rheotropic components, specifically including: The minimum energy path construction sub-component is used as the Lorentz force gradient field input curvature filter for the closed magnetic vortex loop to calculate the Frene-Serrey frame curvature tensor of the magnetic field lines at each location; the minimum value of the curvature integral functional is solved by variational method to generate three candidate migration paths; the path with the lowest average curvature is selected as the main transport channel. The plasma sheath activator component is used in a strong magnetic field environment where the ferrite lattice defects on the surface of the nanoscale rheomorphic unit generate a local electric field; the local electric field excites oxygen ions to escape and form a non-equilibrium plasma sheath; positive ions in the sheath undergo tangential Hall drift under the action of Lorentz force. The gradient modulus driving sub-component is used to apply the Lorentz force gradient modulus to the plasma-activated nanoscale rheological unit to generate a cascade effect. The Lorentz force gradient modulus generates anisotropic stress tensor distribution inside the rheological unit. The anisotropic stress induces the fractal structure self-assembly of the unit along the magnetic field line direction. The dendrite ends of the fractal structure extend along the path of minimum curvature to achieve nanoscale step displacement. The potential well center trap sub-component is used for the nanoscale rheological units that migrate to the potential well center and undergo an energy dissipation process. The gradient field of the asymmetric potential well forms an energy barrier collapse region at the slot entrance. The fractal dendrites of the nanoscale rheological units undergo topological entanglement in the collapse region. The entangled network releases residual stress through magnetostriction effect and completes the metallurgical phase transformation in combination with the catalytic effect of nanoparticles.

5. The autonomous wire-hanging robot for high-voltage testing of combined electrical appliances according to claim 4, characterized in that, The minimum energy path constructs sub-components, specifically including: The geometric feature extraction module uses differential transformation to obtain the tangent direction distribution of the spatial trajectory of the magnetic field lines of the Lorentz force gradient field. The tangent direction data is constructed into a normal plane reference frame through an orthogonal coordinate system, and the output is a complete set of geometric parameters containing bending and torsional features. The energy synthesis model construction module is used to input the set of geometric parameters into the physical model synthesizer, accumulate the norm value of the bending characteristics along the magnetic field lines, add the magnetic field gradient intensity as a weighting factor into the accumulation process, add the bending correction term caused by the quantum effect of micro particles, and form a curvature energy synthesis model that integrates classical fields and quantum effects. The quantum global optimization solution module is used to input the curvature energy model into the quantum optimization program. It establishes model operators in the abstract mathematical space, dynamically adjusts the parameters to find the optimal step based on quantum uncertainty, explores the minimum energy point in the parameter space through the quantum annealing process, and outputs three candidate migration routes that meet the energy optimality. The wave coherence physics verification module is used to input wave coherence verification device for candidate routes. It transforms the curvature distribution of each path into phase wave characteristics, excites the superposition effect of wave characteristics in a virtual interference environment, detects the energy accumulation density distribution in the superposition area, and selects the path corresponding to the maximum energy density as the main transmission channel.

6. The autonomous wire-hanging robot for high-voltage testing of combined electrical appliances according to claim 5, characterized in that, The energy integration model building module includes: The curvature weight field generation submodule is used to input the curvature feature data contained in the geometric parameter set into the weight modulator, extract the spatial distribution frequency spectrum of the curvature feature, perform convolution operation on the magnetic field gradient intensity and the frequency spectrum, and output the curvature-gradient coupled weight distribution field. A probability cloud correction submodule is constructed for inputting quantum fluctuation simulators with quantum effects of microparticles. Based on the Heisenberg uncertainty principle, the momentum-position uncertainty of the ferrite lattice is calculated, and the uncertainty is mapped to the probability amplitude of the electron cloud density distribution. The phase interference of the sub-tunneling trajectory is calculated by Feynman path integral, and the correction tensor of the quantum probability cloud to the classical curvature is generated. The classical-quantum field curvature fusion submodule is used to fuse the output weighted distribution field with the modified tensor input field. It establishes a metric adaptation between classical curvature and quantum probability cloud in Riemannian manifold space, embeds the quantum modified tensor into the classical weighted field through conformal transformation, performs Cartan connection translation along the magnetic field line path to ensure fusion continuity, and outputs a curvature energy synthesis model.

7. The autonomous wire-hanging robot for high-voltage testing of combined electrical appliances according to claim 6, characterized in that, Construct a probabilistic cloud correction submodule, including: A lattice quantum dispersion tensor generation unit is used to input quantum effects into a non-commutative algebraic system of ferrite lattices. Based on the Heisenberg relation, a set of commutator operators in the position-momentum phase space is established to solve the eigenvalue dispersion distribution of Bravig point electron orbitals and output the tensor product structure of position and momentum uncertainties; a dispersion tensor describing lattice quantum fluctuations is generated. The spiral phase probability amplitude field construction unit is used as the output diffuse tensor input spinor field generator. The position uncertainty is mapped to the amplitude modulation coefficient of the Dirac spinor field, and the momentum uncertainty is converted into the phase gradient operator of the spinor field. A coherent phase interference field is constructed through virtual photon exchange path integral, which integrates the Klein-Golden equation and the Feynman path integral. It generates an electron cloud probability amplitude distribution with topological vortex characteristics and generates a spiral phase field characterizing the quantum tunneling effect. The gauge invariant curvature correction condensation unit is used for the helical phase field input geometric condensation device. It projects the probability amplitude distribution onto the tangent bundle space of the curvature manifold, constructs the SU(2) group invariant functional based on Yang-Mills gauge field theory, solves the irreducible representation of the functional to generate the antisymmetric correction quantity, outputs the differential geometric correction tensor of the quantum probability cloud with respect to the classical curvature, and generates the quantum correction tensor compatible with the classical manifold.

8. The autonomous wire-hanging robot for high-voltage testing of combined electrical appliances according to claim 7, characterized in that, The lattice quantum dispersion tensor generating unit includes: The non-commutative algebraic construction unit of the lattice phase space is used as the quantum effect input operator generator for ferrite lattices. It establishes the Cartesian product of the position operator and the momentum operator based on the Heisenberg relation, calculates the non-zero components of the operator commutator through Lie algebra bracket operations, and outputs a set of operators describing the quantum non-commutative properties. The Bravigation point intrinsic dispersion solver sub-unit is used to input the operator set into the intrinsic dispersion analyzer. It divides the Brillouin zone of the Bravigation point in the reciprocal space, solves the second central moment of the electron orbital wave function for each lattice point, extracts the variance tensor of the position eigenvalues ​​and the covariance matrix of the momentum eigenvalues, and generates the dispersion distribution spectrum of the lattice quantum fluctuations. The uncertainty tensor product synthesis subunit is used to input the dispersion distribution map into the tensor synthesizer, which raises the position variance tensor to the Riemannian manifold space, embeds the momentum covariance matrix through Keller manifold, performs conformal shrinkage operation of the tensor product, and outputs the antisymmetric tensor product structure of position-momentum uncertainty.

9. The autonomous wire-hanging robot for high-voltage testing of combined electrical appliances according to claim 1, characterized in that, It also includes a suspended self-balancing spreader system, which embeds a controllable electromagnetic unit array into the inner wall of the spreader. After a pulse current of a specific frequency is introduced, a dynamic magnetic field is formed. When the expanded diameter conductor enters the magnetic field, the metal surface of the expanded diameter conductor is induced to generate reverse eddy currents. The intensity distribution of the eddy currents is captured by a magnetic flux sensor. The phase of the electromagnetic unit current is adjusted in real time according to the eddy current intensity distribution data of the reverse eddy currents, so that the magnetic field lines are always perpendicular to the surface of the conductor, forming a non-contact three-dimensional restraint force field.

10. The autonomous wire-hanging robot for high-voltage testing of combined electrical appliances according to claim 1, characterized in that, It also includes a two-stage compensation positioning mechanism system, which uses a telescopic sleeve and a harmonic reducer to form a rigid-flexible coupling arm, integrating a piezoelectric ceramic micro-displacement platform; a nanoscale diffraction grating is pre-placed on the surface of the equalizing ring, and a laser beam emitted from the top of the robot illuminates the grating to generate characteristic speckle, and the speckle vector offset is analyzed by a CMOS matrix; the speckle vector offset is fused with the pose data of the suspended device, and the compensation motion parameters of the macro-micro drive mechanism are calculated in reverse to realize the positioning of the end effector.

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