Unmanned aerial vehicle-robot collaborative working device and method suitable for power transmission line

Abstract

The application provides a UAV-robot cooperative operation device and method suitable for a power transmission line, and belongs to the technical field of power transmission line maintenance, and comprises a ground control station, a UAV platform and a robot execution end; the ground control station outputs flight control instructions to the UAV platform and outputs joint control instructions to the robot execution end, so that the flight control of the UAV platform and the joint control of the robot execution end are coordinately scheduled; the robot execution end comprises a multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm comprises rotating joints and moving joints; the robot execution end is provided with a functional module interface, and a functional module is connected to the robot execution end through a quick-change interface.

Description

Technical Field

[0001] This invention belongs to the field of power transmission line maintenance technology, and particularly relates to a drone-robot collaborative operation device and method applicable to 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] In power transmission line maintenance, voltage testing, grounding wire installation / removal, and backup safety rope installation / removal are core steps to ensure operational safety. The "Electric Power Safety Work Regulations (Power Line Section)" (DL / T 409-2023) clearly requires strict adherence to relevant operating procedures to ensure the personal safety of personnel. Traditional operating methods rely on manual tower climbing, which carries safety risks such as falls from heights and electric shocks. Furthermore, operational efficiency is significantly affected by terrain and weather, making it difficult to meet the high-efficiency operation and maintenance needs of large-scale power grids.

[0004] With the integration and development of drone and robotics technologies, the industry is gradually exploring drone-assisted operation solutions. However, existing technologies still face several bottlenecks: First, the topological adaptability of robot equipment is poor. Traditional designs are mostly designed for single operational scenarios, resulting in low module reuse rates, high equipment costs, and difficulties in implementation, making it difficult to cover multiple types of maintenance tasks. Second, the accuracy of kinematic modeling is insufficient. Existing models do not fully consider the coupling effect between drone hovering stability and robot motion, and some modeling methods have parameter sensitivity issues, leading to significant deviations in operational trajectories and making it difficult to meet the requirements for precise operation. Third, the collaborative control system lacks a unified architecture. Issues such as communication delays and incompatible module interfaces between drones and robots are prominent, affecting operational coordination and real-time performance. Fourth, the safety assurance mechanism is imperfect. Existing technologies mostly focus on controlling single safety indicators, lacking comprehensive closed-loop management of alignment reliability, clamping force, and equipment status, resulting in insufficient operational reliability. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, this invention provides a drone-robot collaborative operation device and method suitable for power transmission lines. This device and method, which features adaptive topology, kinematic modeling, modular collaborative control, and multiple safety guarantees, promotes the transformation of power transmission line maintenance towards unmanned and intelligent operation.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions: Firstly, a drone-robot collaborative operation device suitable for power transmission lines was disclosed. Ground control station, drone platform, robot actuator; The ground control station outputs flight control commands to the UAV platform and joint control commands to the robot actuator, thereby achieving coordinated scheduling of flight control of the UAV platform and joint control of the robot actuator. The robot actuator includes a multi-degree-of-freedom robotic arm, which comprises rotary joints and linear joints; the robot actuator is equipped with a functional module interface, and the functional modules are connected to the robot actuator via quick-switch interfaces.

[0007] As a further technical solution, a flexible connection component is also included. The flexible connection component is a universal joint that connects the UAV platform and the robot execution end. The universal joint has multiple rotational degrees of freedom to form a decoupled connection between the UAV platform and the robot execution end, thereby offsetting the impact of the attitude jitter of the UAV platform when hovering on the working accuracy of the robot execution end.

[0008] As a further technical solution, the quick-release interface includes a quick-release buckle, a guide positioning groove, and a locking mechanism; the quick-release buckle engages with the guide positioning groove; the locking mechanism is used to lock the functional module; the functional module includes a voltage detection module, a grounding clamp module, and a detachment / hanging module; the voltage detection module includes a voltage detection unit and a signal processing unit; the grounding clamp module includes a clamping part and a force feedback part; the detachment / hanging module includes an electromagnetic drive structure.

[0009] As a further technical solution, the universal joint has three rotational degrees of freedom: roll, pitch, and yaw; the multi-degree-of-freedom robotic arm includes three rotary joints and two translational joints.

[0010] As a further technical solution, the quick-switch interface also includes an electrical interface, which adopts a waterproof aviation plug and supports dual power interfaces and dual data transmission interfaces; The voltage detection unit of the voltage detection module is a high-voltage voltage sensor; the clamping part of the grounding clamp module is an electric clamping mechanism; the force feedback part is a pressure feedback unit; and the detachment module is used to realize the attachment and removal of the backup protection rope.

[0011] Secondly, a drone-robot collaborative operation method applicable to power transmission lines is disclosed. The robot receives job tasks and configures topology parameters. Based on the job type, it selects the corresponding functional modules and installs them onto the robot's execution end. Job types include: voltage testing, grounding wire installation and removal, and backup protective rope installation and removal. Start the task-aided sensing unit and complete the calibration; complete the task alignment according to the information returned by the task-aided sensing unit, and control the robot execution end to perform the corresponding task action; The safety assurance mechanism is monitored in real time during the operation, and corresponding measures are taken when a safety warning is issued; after the operation is completed, the equipment is controlled to return to base and an operation report is generated.

[0012] As a further technical solution, the operation-aided sensing unit includes one or more of a positioning unit, an image acquisition unit, and a ranging unit; in one embodiment, the positioning unit may be a Beidou RTK positioning unit, the image acquisition unit may be a binocular visual SLAM unit, and the ranging unit may be a line lidar or a line laser ranging unit; the ground control station completes the operation area positioning, target operation point identification, and close-range operation alignment based on the information returned by the positioning unit, the image acquisition unit, and the ranging unit.

[0013] As a further technical solution, the step of calculating the joint parameters based on inverse kinematics includes: establishing the kinematic model of the multi-degree-of-freedom manipulator based on the DH parameter method, solving the inverse kinematics solution using an algebraic method according to the target pose of the end effector, and obtaining the driving parameters of each joint.

[0014] As a further technical solution, the real-time monitoring of the safety assurance mechanism includes: real-time collection of the UAV platform battery voltage, the joint temperature of the robot actuator joint motor, the communication signal strength of the UAV platform Beidou / LoRa communication module, and the operating current status parameters of the robot actuator joint motor and the functional module actuator motor, and establishing a multi-dimensional status early warning model; when any status parameter exceeds the safety threshold, an early warning is triggered, and if the state is judged to be high-risk, an emergency shutdown and fault handling are performed, and if the state is judged to be non-high-risk, the operation trajectory continues to be executed.

[0015] As a further technical solution, for voltage testing operations: The ground control station selects the "voltage detection" operation type and issues the task and end-point target pose via ROS. Information from the Beidou RTK positioning unit, binocular vision SLAM unit and linear lidar is collected, processed to obtain the operation alignment information, and the end target pose is mapped to joint parameters based on inverse kinematics. Trapezoidal velocity planning is used to generate joint space trajectory, and the collaborative control input is applied to the UAV flight control and robot joint control respectively. After the end-effector reaches the working position, the high-voltage sensor of the voltage detection module contacts the wire, the signal processing unit processes the collected voltage data, and the voltage data is transmitted back to the ground control station. If the voltage exceeds the limit, an audible and visual alarm is triggered and subsequent actions are stopped. After verifying that there is no voltage, the grounding wire installation process is initiated or the process ends and returns.

[0016] As a further technical solution, for the operation of hanging and removing grounding wires: The ground control station selects the operation type "hanging and removing grounding wire" and issues the task and expected clamping force parameters through ROS. The system acquires location information of the work area, image information of the clamping position, and distance information between the grounding clamp module and the clamping position. Based on this information, the ground control station controls the robot's execution end to adjust the position or attitude of the grounding clamp module so that the grounding clamp module reaches the allowable clamping position. Entering clamping force closed-loop control: Set the desired clamping force, the pressure feedback unit collects the actual clamping force in real time, calculates the force deviation and outputs the control quantity by the PID controller, dynamically adjusts the driving force of the electric clamping mechanism, and realizes reliable clamping of wires of different specifications. The drone first clamps the wire end clamps, and after the pressure sensor confirms that the clamps are in place, it clamps the tower end clamps. The laser rangefinder confirms that the clamps are in place, and the ground wire forms a reliable grounding channel. The ground end displays the clamp status in real time.

[0017] For the installation and removal of backup safety ropes: Ground control station selects job type: install / remove backup safety rope, and issues task via ROS; The system acquires location information of the work area, image information of the pole attachment point, and distance information between the backup protective rope attachment module and the pole attachment point. The ground control station then identifies the attachment point and confirms its position based on the above information. Based on the results of attachment point identification and positioning confirmation, the robot's execution end is controlled to adjust the position or posture of the backup protective rope attachment module so that it reaches the position where attachment operations are permitted. The drone, carrying the main hook and electromagnetic attachment and detachment components, flies to the top of the tower and attaches to the attachment point. After the main hook touches the point, gravity locking completes the attachment. The ground visual terminal transmits images back in real time to assist in judging the attachment status. Secure the lower end of the safety rope and use the speed differential self-locking device to climb the tower; after the operation is completed, the electromagnetic drive structure of the detachment module receives the control command, and retrieves the main hook and removes the safety rope through electromagnetic adsorption and guidance structure. Throughout the entire process, the system collects and transmits battery voltage, joint temperature, communication signal strength, and motor operating current status parameters via BeiDou and LoRa dual-mode communication. A multi-dimensional early warning model continuously conducts comprehensive evaluations, and in high-risk situations, it immediately triggers audible and visual warnings, stops operations, and activates protection mechanisms.

[0018] The above one or more technical solutions have the following beneficial effects: The technical solution of this invention addresses the problems of high safety risks, significant environmental impact on work efficiency, unstable precision of drone-robot collaboration, insufficient equipment versatility and rapid deployment capabilities, and lack of closed-loop safety management in existing high-altitude manual operations on power transmission lines. It proposes a drone-robot collaborative auxiliary operation device suitable for power transmission lines. This invention employs a layered and progressive technical approach to systematically design equipment structure, motion solving, collaborative control, and safety assurance. First, it constructs a topology for the UAV, flexible connection components, and robot actuators, using flexible connections to decouple external disturbances and achieve multi-scenario adaptation. Then, it establishes forward and inverse kinematics models for the robot, enabling a calculable mapping between the end-effector's pose and joint parameters to ensure the accuracy and feasibility of reaching the work point. Next, it uses modular design to unify mechanical / electrical interfaces and communication mechanisms, enabling rapid assembly and reliable interchangeability of functional modules such as voltage detection, grounding clamps, and backup protective ropes. A collaborative control architecture is built based on the robot's operating system to coordinate the UAV's flight control and the robot's joint control. Finally, a safety closed-loop mechanism is constructed, including work alignment, clamping force closed-loop, and status monitoring and early warning, combined with trapezoidal velocity planning and online environmental parameter correction to achieve trajectory smoothing and disturbance resistance adjustment. Through this combination of technologies, this invention can improve operational safety, collaborative efficiency, and work alignment reliability under complex working conditions, reduce the risks of manual high-altitude operations, and possesses good engineering feasibility.

[0019] 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

[0020] 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.

[0021] Figure 1 This is a flowchart of a method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the system structure according to an embodiment of the present invention. Detailed Implementation

[0022] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration 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.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations of the present invention.

[0024] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0025] Example 1 See appendix Figure 1 , 2 As shown, this embodiment discloses a drone-robot collaborative operation device suitable for power transmission lines, including: The ground control station, UAV platform, and robot actuator communicate sequentially. The robot actuator is connected to the functional modules through interfaces, and the UAV platform and robot actuator are connected through flexible connection components.

[0026] In one implementation example, the flexible connection component is a universal joint that connects the UAV platform and the robot actuator. The universal joint has three rotational degrees of freedom: roll, pitch, and yaw. The robot actuator includes a multi-degree-of-freedom robotic arm, which contains rotary joints and prismatic joints. The robot actuator is equipped with a functional module interface, and the functional modules are connected to the robot actuator through quick-change interfaces. The quick-change interfaces include quick-release buckles, guide positioning slots, and locking mechanisms. The functional modules include a voltage detection module, a grounding clamp module, and a detachment module. The voltage detection module includes a voltage detection unit and a signal processing unit. The grounding clamp module includes a clamping part and a force feedback part. The detachment module includes an electromagnetic drive structure.

[0027] In the above technical solution, the decoupling connection between the UAV platform and the robot execution end is achieved by using a flexible connecting component universal joint. The multiple rotational degrees of freedom of the universal joint can effectively offset the impact of the slight shaking of the UAV when hovering on the operation accuracy. The flexible connection decouples external disturbances and achieves multi-scenario adaptation, thereby improving the attitude stability of the robot execution end.

[0028] Meanwhile, the multi-degree-of-freedom robotic arm includes rotary and linear joints, enabling multi-dimensional movement of the end effector and meeting the positional requirements of different tasks such as voltage testing, grounding wire installation / removal, and backup safety rope installation / removal. Through a standardized quick-change interface design, including quick-release buckles, guide positioning slots, and locking mechanisms, it achieves rapid module replacement and reliable connection, significantly improving equipment versatility and operational flexibility.

[0029] In one implementation example, the omnidirectional linkage has three rotational degrees of freedom: roll, pitch, and yaw. These three rotational degrees of freedom correspond to the roll, pitch, and yaw directions, respectively, and can absorb the attitude jitter of the drone when hovering in all directions, ensuring that the robot's actuator maintains a stable attitude during operation and avoiding deviations in the work trajectory caused by the drone's unstable hovering.

[0030] In one implementation example, the multi-degree-of-freedom robotic arm includes three rotary joints and two prismatic joints. This five-degree-of-freedom robotic arm structure achieves attitude adjustment of the end effector through three rotary joints and position adjustment of the end effector through two prismatic joints, which can cover the spatial posture requirements of various operation scenarios in power transmission line maintenance, such as voltage testing, grounding wire installation and removal, and installation and removal of backup protective ropes.

[0031] In one implementation example, the quick-change interface also includes an electrical interface, which uses a waterproof aviation connector and supports dual power supply interfaces and dual data transmission interfaces. The waterproof aviation connector design ensures the reliability of the electrical interface under complex working conditions, the dual power supply interfaces provide stable power to the functional modules, and the dual data transmission interfaces enable data interaction between the functional modules and the robot's actuator, meeting the signal transmission requirements for voltage detection data acquisition, clamping force feedback, and drive control.

[0032] In one implementation example, the voltage detection unit of the voltage detection module is a high-voltage voltage sensor. The high-voltage voltage sensor can meet the voltage detection requirements of transmission lines of different voltage levels, ensuring a reliable judgment of the voltage-free state of the line before operation and protecting the safety of operators. The clamping part of the grounding clamp module is an electric clamping mechanism. The electric clamping mechanism achieves clamping action through motor drive, providing a more stable and controllable clamping force compared to traditional manual clamping methods. Combined with the force feedback unit, it achieves closed-loop control of the clamping force, preventing the tool from falling off due to insufficient clamping force. The force feedback unit is a pressure feedback unit. The pressure feedback unit collects the actual clamping force in real time and feeds it back to the control system. The control system dynamically adjusts the driving force of the electric clamping mechanism according to the force deviation, achieving closed-loop control of the clamping force and ensuring that the clamping force is stable near the target value, meeting the grounding requirements of different conductor specifications. The attachment / removal module is used to attach and detach the backup protective rope. The attach / detach module employs an electromagnetic drive structure, enabling rapid attachment and detachment. Compared to traditional mechanical drive methods, this offers faster response and more precise, controllable movements, improving the efficiency and reliability of backup protective rope installation and removal. Quick-release buckles engage with the guide positioning groove. This engagement structure allows for rapid alignment and positioning of the functional module and the robot's execution end base. The guide positioning groove provides an assembly positioning reference, while the quick-release buckles ensure the functional module's centering and positioning with the base.

[0033] In one embodiment, a locking mechanism is used to lock the functional module. The locking mechanism locks the functional module after it is assembled in place, preventing it from loosening or falling off during operation due to vibration or external force. This ensures the reliability of the connection between the functional module and the robot's actuator base, and the locking mechanism meets the load-bearing and anti-loosening requirements of the functional module during operation.

[0034] In one implementation example, the above-mentioned device, when in operation, includes: receiving the task and configuring the topology parameters, initializing the device and starting the positioning unit, image acquisition unit, and ranging unit; in one embodiment, the positioning unit may be a Beidou RTK positioning unit, the image acquisition unit may be a binocular visual SLAM unit, and the ranging unit may be a line lidar. The ground control station completes the task alignment based on the above-mentioned sensing information, and controls the robot execution end to perform corresponding task actions based on the task alignment results, monitors the safety assurance mechanism in real time, and generates a report upon returning to base after the task is completed. Universal joint decoupling connection offsets the drone's hovering jitter, the multi-degree-of-freedom robotic arm realizes the position and attitude adjustment of functional modules, standardized quick-change interfaces enable rapid replacement of functional modules, and a three-level collaborative control architecture ensures operational safety and real-time performance.

[0035] In one implementation example, more specifically, the process of calculating joint parameters and executing the work trajectory based on inverse kinematics includes: (1) Define the rotational degree of freedom of the universal joint. These correspond to roll, pitch, and yaw directions, respectively, with a value range of [-30°, 30°]. They can be dynamically adjusted according to the operational scenario to adapt to different angle requirements. The robot's actuator adopts a 5-DOF robotic arm structure, including 3 rotary joints and 2 prismatic joints. The joint parameter set... ,in For the rotational joint angle, This refers to the displacement of the moving joint.

[0036] The above topology, through parametric design, can adaptively adjust the joint configuration according to the type of operation (voltage testing, grounding wire installation / removal, backup protection rope installation / removal), achieving multi-scenario operation coverage, adjusting the allowable attitude / angle adaptation range of the universal linkage, and adjusting the joint configuration of the robotic arm to adapt to different motion spaces and operating postures; thereby enabling rapid switching between different operation modules on the same platform and covering multiple scenarios.

[0037] (2) Kinematic forward modeling: The kinematic model of the robot arm is established based on the DH parameter method. This method can completely describe the rigid body transformation between the coordinate systems of adjacent links of the robot arm at the execution end with only 4 parameters. It has the advantages of simple parameters and high computational efficiency.

[0038] The kinematic modeling object is a 5-DOF robotic arm structure for the robot's actuator, including 3 rotary joints and 2 translational joints. Coordinate system setup: The base coordinate system is fixed to the robot's actuator base, and the end effector coordinate system is fixed to the center point of the working tool.

[0039] The specific expression of DH parameters: Four parameters are set for each joint: link length a, link offset d, joint angle θ, and joint torsion α.

[0040] (3) Establish an independent coordinate system on each link of the robotic arm. The base coordinate system is fixed to the robot's execution end base, and the end coordinate system is fixed to the center point of the working tool. The relative displacement between adjacent coordinate systems is defined by four parameters: link length, link offset, joint angle, and joint torsion.

[0041] The formula for the homogeneous transformation matrix of a single joint is as follows:

[0042] in, The length of the link. For link offset, For joint angle, The joint torsion angle is represented by this matrix, which comprehensively describes the rotation and translation relationships between adjacent coordinate systems. i = 1, 2, 3, 4, and 5 correspond to the five joints.

[0043] The pose matrix of the end effector is the product of the homogeneous transformation matrices of each joint:

[0044] in, , This is the attitude matrix, used to describe the spatial attitude of the end effector. The position vector describes the three-dimensional coordinates of the end effector in the world coordinate system. This matrix can fully characterize the spatial pose of the work tool and realize the computable mapping between the end target pose and joint parameters to ensure the accuracy and feasibility of reaching the work point.

[0045] The pose matrix is ​​decomposed into (P) and (R), and equations are established to calculate the joint parameters. The pose matrix will then be decomposed into position vectors (P): used to establish geometric relationships, the law of cosines, spatial distance formulas, etc., to calculate (P). (d) and (R): used to describe the end attitude.

[0046] The end-effector pose matrix is ​​obtained from the joint parameters, or the joint parameters are derived from the known end-effector pose (matrix).

[0047] Calculate the end position error And as an optimization target, The position vector (P) from the end-effector pose matrix is ​​used to describe the three-dimensional coordinates of the end effector in the world coordinate system.

[0048] The pose matrix (R) is the top-left 3×3 submatrix obtained by decomposing the end-effector pose matrix into blocks. In other words, the pose matrix (R) is directly extracted from the product of the homogeneous transformation matrices of each joint. R is... top left corner The submatrix is ​​obtained directly from the product of the homogeneous transformation matrices of each joint.

[0049] (4) The pose matrix is ​​subsequently used as the output of the forward solution and the input of the inverse solution to establish a computable mapping between the end-effector pose and joint parameters; in the inverse solution, the pose matrix is ​​decomposed to obtain the position vector (P) and the attitude matrix (R), and equations are established to calculate the rotational joint angle and the translational joint displacement, respectively; in the cooperative control, (P) is used to calculate the end-effector position error. And it serves as an optimization objective; in trajectory planning, joint space trajectories are generated based on this kinematic mapping, ensuring that the end-effector tracks the target trajectory.

[0050] In this embodiment, the kinematic model of the robotic arm is established using the DH parameter method: a coordinate system is established on each link of the 5-DOF robotic arm at the robot's actuator end, with the base coordinate system fixed to the actuator base and the end effector coordinate system fixed to the center point of the working tool; a four-parameter kinematic model is used. Describe the rigid body transformation of the coordinate systems of adjacent links, and use the homogeneous transformation matrix of a single joint. Indicates; end-effector pose via Received, among which The attitude matrix and position vector are given respectively. The end effector refers to the end-effector / tool ​​center point (TCP) of the robot's end-effector, which is used for specific operations such as voltage detection, clamping, and detachment; while the robot's end-effector is the overall execution unit that includes the robot arm and various functional modules.

[0051] Regarding the subsequent inverse kinematics solution: To achieve the planning of the operation trajectory, the inverse kinematics solution is solved based on the algebraic method, that is, given the target pose of the end effector. Then, the joint parameters J are calculated. By decomposing the end-effector pose matrix, the position vector and attitude matrix are separated, and equations are established to solve for the rotational joint angles and translational joint displacements.

[0052] For rotational joint angle By establishing geometric relationships through the x and y components of the position vector P, the following can be derived:

[0053] This formula is used to solve for the corresponding joint parameters based on the position vector.

[0054] For rotational joint angle Based on the link length , The spatial geometric relationship between the position vector and the position vector is derived using the law of cosines:

[0055] This formula can accurately calculate the angle of joint 2, providing a basis for adjusting the posture of the robotic arm.

[0056] For the displacement of the moving joint Based on the calculation results of the preceding joint parameters, the following formula is derived using spatial distance:

[0057] The remaining joint parameters are derived using a similar method. The inverse kinematics results provide the joint space control target for trajectory planning, ensuring that the end effector can reach the target pose.

[0058] In this invention, the flexible connection component (universal linkage) is not only used to decouple the UAV and robot actuator and counteract hovering micro-shakes, but also serves as a key parameter input for multi-scenario adaptive and collaborative control: its rotational degree of freedom range can be dynamically adjusted according to the operation scenario; at the same time, the collaborative architecture of the UAV platform, robot actuator and ground control station supports parameter configuration according to operation types such as voltage testing, grounding wire installation and removal, and backup protection rope installation and removal; furthermore, with the collaboration of operation alignment, clamping force closed loop and status monitoring and early warning safety closed loop, reliable control of the operation process is achieved.

[0059] Modular Design and Collaborative Control System: Modular Division and Interface Matching: The robot's execution end is divided into three major functional modules: an electrical detection module, a grounding clamp module, and a backup protective rope attachment module. Each module adopts a standardized design to ensure interchangeability and compatibility.

[0060] The voltage detection module, grounding clamp module, and backup protective rope attachment / removal module correspond to three types of operational functions: voltage detection, grounding wire attachment / removal, and backup protective rope attachment / removal, respectively. They achieve rapid assembly and reliable interchangeability through a unified, standardized mechanical / electrical interface and communication mechanism, and share a three-level collaborative control architecture encompassing drones, robots, and ground control. In the safety closed loop, the grounding clamp module confirms clamping in place through clamping status detection, the backup protective rope attachment / removal module confirms the main hook's attachment or removal status through an attachment status acquisition unit, and the voltage detection module provides voltage detection information for safety criteria and operational decisions.

[0061] The voltage detection module integrates a high-voltage sensor and a signal processing unit, enabling voltage detection / live status identification or voltage detection functions for scenarios corresponding to voltage levels. The grounding clamp module includes an electric clamping mechanism and a pressure feedback unit. The pressure feedback unit provides real-time clamping force feedback to the electric clamping mechanism, and the PID controller adjusts the driving force of the clamping mechanism based on the force deviation, forming a clamping force closed loop to meet the grounding requirements of different specifications of conductors. The backup protective rope attachment / removal module adopts an electromagnetic drive structure to achieve rapid attachment and removal of the backup protective rope.

[0062] Task Trigger: When the job type is "Hanging / Removing Grounding Wire", select the grounding clamp module to perform the operation. Clamping Target Setting: Set the desired clamping force (F). * (Example file is 200N). Clamping execution: The electric clamping mechanism performs the clamping action and outputs driving force (adjusted by the controller). Force feedback measurement: The pressure sensor acquires the actual clamping force (F) in real time. Closed-loop adjustment: Calculates the force deviation (e_F=F). * -F), the PID controller outputs a control quantity to dynamically adjust the clamping mechanism's driving force, stabilizing the clamping force near the target value and achieving the control accuracy (|error|≤5N) given in the text. It meets the needs of different wire specifications: Reliable clamping of wires under different working conditions / specifications is achieved through "clamping force closed-loop + adjustable clamping driving force" (the corresponding description in the text is "meeting the grounding requirements of different wire specifications," and the closed-loop paragraph explains how to avoid tool slippage due to insufficient clamping force).

[0063] In the grounding clamp module, the electric clamping mechanism is the actuating end, and the pressure feedback unit is the measuring feedback end. Together, they form a clamping force closed loop under the control of the controller. Taking the grounding clamp as an example, the system sets the desired clamping force F*=200N. The pressure sensor collects the actual clamping force F in real time, calculates the force deviation, and the PID controller dynamically adjusts the driving force of the clamping mechanism to stabilize the clamping force near the target value (control accuracy|error|≤5N), thereby achieving reliable clamping and meeting the grounding requirements of different wire specifications.

[0064] To ensure reliable module connection, standardized mechanical and electrical interfaces are established: Mechanical Interface: Utilizing a quick-release snap-fit ​​structure, the design incorporates guide positioning grooves and a locking mechanism. The mechanical interface connects various functional modules to the base interface, serving as the module mounting base / interface base for the robot's actuator end. Functional modules include a voltage detection module, a grounding clamp module, and a backup protective rope attachment module. The quick-release snap-fit ​​and guide positioning grooves ensure alignment and positioning of the modules with the base, while the locking mechanism ensures reliable fixation, preventing module loosening.

[0065] Define the interface matching metric as follows:

[0066] In the formula The positional error after any functional module is assembled is specifically the assembly positional error of any functional module (voltage detection / grounding clamp / protective rope attachment) relative to the base interface of the robot execution end after it is installed on the base interface. Locate the reference point for the module. The reference point position for the base interface; To allow for positional error.

[0067] This indicator ensures precise matching of mechanical interfaces, preventing modules from becoming loose during operation.

[0068] Electrical interface: Used to connect: functional modules (voltage detection module / grounding clamp module / backup protective rope attachment module), robot actuator base interface. The robot actuator base interface is the electrical interface on the module mounting base side, so as to realize power supply of functional modules, transmission of operation control commands and status information feedback.

[0069] The communication reliability index is defined by the following formula:

[0070] In the formula To count the number of lost / timeout messages (or messages that do not arrive within the control cycle) within the statistical window; η represents the total number of messages sent within the statistical window; η represents the communication reliability (success rate). When η is lower than the preset communication reliability threshold, the ground control station determines that the communication is abnormal.

[0071] The redundancy design and error retransmission mechanism of the CAN bus ensure that the communication reliability meets the operational requirements.

[0072] By verifying both interface compatibility and communication reliability, the system enables rapid switching and stable collaboration between the base interfaces of each functional module and the robot's execution end, significantly improving operational flexibility.

[0073] In this embodiment, the rapid switching and stable collaboration of the sub-technical solution occur between the functional modules and the robot actuator base interface: rapid switching is achieved through a standardized mechanical interface and verified by the interface matching degree (positional error / matching degree between the module positioning reference point and the base interface reference point); stable collaboration is achieved through a standardized electrical interface for module power supply and data interaction, and verified by communication reliability indicators. The CAN redundancy and error retransmission mechanism verifies communication reliability, thereby enabling stable collaborative operation.

[0074] The overall collaborative control architecture of this example is as follows: a three-level collaborative control architecture of UAV-robot-ground control station is constructed. Based on ROS (Robot Operating System), data interaction and command issuance between multiple devices are realized, and the coordinated scheduling of UAV flight control and robot joint control is achieved. This architecture has the advantages of modularity and scalability, and can be flexibly adapted to different operation scenarios.

[0075] Data acquisition: data comes from the operation assistance sensing unit, functional module sensors, and equipment status. Operation assistance sensing information can come from the positioning unit, image acquisition unit, and ranging unit; in one embodiment, the positioning unit can be a BeiDou RTK positioning unit, the image acquisition unit can be a binocular visual SLAM unit, and the ranging unit can be a line lidar; the functional module sensors are voltage and pressure sensors; the equipment status includes battery voltage, joint temperature, signal strength, and motor current.

[0076] Data processing: The system processes positioning information, image information, and ranging information to obtain work alignment information; it judges the power detection status, clamping status, or hanging status based on the information returned by the sensors of the functional modules; it performs status warning assessment based on the equipment status information and generates corresponding control commands or alarm commands.

[0077] Command issuance: The command is issued to the UAV flight control and robot joint / end-effector module respectively, and the results / alarms are sent back to the ground station.

[0078] Specifically, Scenario A: Voltage detection (voltage detection module); 1) Data Acquisition: The voltage detection module integrates a high-voltage sensor and signal processing unit for voltage detection and acquisition of voltage detection data. Simultaneously, it acquires auxiliary sensing information: a Beidou RTK positioning unit acquires the location information of the work area, a binocular vision SLAM unit acquires the image information of the target work point, and a line lidar acquires the distance information between the voltage detection module and the conductor to be tested.

[0079] 2) Data Processing: The positioning information, image information, and ranging information are processed to obtain the operation alignment information, providing input for target operation point identification and operation alignment. Voltage testing data is processed by the voltage testing module's signal processing unit to form data usable for decision-making.

[0080] 3) Data output / command issuance: to the robot's execution end (robotic arm): based on the collaborative control objective of "minimizing the end-effector position error". Combining forward / inverse kinematics solutions and trajectory planning, the system outputs the joint space control target, enabling the end effector to reach the electrical testing posture. This is relayed to the ground control station: the electrical testing results and operational status are transmitted back as part of human-machine collaborative monitoring and record-keeping (the document describes the ground support system / collaborative control architecture for multi-device interaction and command issuance, emphasizing "safety assurance / early warning," therefore, the back-transmission monitoring is part of the data interaction within this framework). To the UAV flight control: to achieve "coordinated scheduling of flight control and joint control," the ground station / ROS collaborative layer outputs a portion of the UAV control input (U(t)) to coordinate with the robotic arm's operation.

[0081] Scenario B: Hanging and removing the grounding wire (grounding clamp module); 1) Data Acquisition: The grounding clamp module includes an "electric clamping mechanism and pressure feedback unit," with a pressure sensor collecting the actual clamping force (F) in real time. It also acquires operational assistance sensing information for clamping position identification, distance judgment, and positioning confirmation.

[0082] 2) Data processing: Taking the grounding clamp as an example, set the desired clamping force. =200N, collected by a pressure sensor (F), the force deviation is calculated and the driving force of the clamping mechanism is dynamically adjusted by a PID controller, and the control accuracy is given. -F|≤5N. Cooperative control still aims to minimize the end-position error, ensuring the fixture is in place and stable.

[0083] 3) Data Output / Command Issuance: To the electric clamping mechanism of the grounding clamp module: Issue clamping drive force / control quantity (output by PID) to complete the clamping action and maintain the clamping force. To the robot joint control: Issue joint trajectory / pose control target to ensure the fixture is in place (joint parameters are given by inverse kinematics solution, and trajectory is generated by trapezoidal velocity planning). To the ground control station: Transmit clamping force (F), force deviation, and alarm status (the document explicitly states "equipment status monitoring and early warning," and can trigger audible and visual warnings and stop operation).

[0084] Scenario C: Installing and removing the backup protective rope (attachment module); 1) Data Acquisition: The backup protective rope attachment / detachment module adopts an electromagnetic drive structure and is an execution module; its attachment status, detachment status, or abnormal status is transmitted back to the ground control station through the attachment status acquisition unit. Simultaneously, it acquires the location information of the work area, the image information of the pole attachment point, and distance information for attachment point identification and positioning confirmation.

[0085] 2) Data processing: Combining collaborative control architecture and trajectory planning, the end effector reaches the detachment / attachment position; and the operation process is constrained through a safety closed-loop mechanism (operation alignment + status monitoring and early warning).

[0086] 3) Data Output / Command Issuance: To the backup protective rope attachment / removal module (electromagnetic drive execution): Issues relevant control commands for the electromagnetic drive to achieve rapid attachment and removal. To the robot joint control: Issues joint spatial trajectory / control targets to coordinate with the attachment / removal actions (inverse kinematics solution + trapezoidal velocity planning). To the ground control station: Transmits back status monitoring and early warning results (high-risk trigger audible and visual warnings, operation stop).

[0087] Under a three-tiered collaborative architecture of UAVs, robots, and ground control stations, ROS enables multi-device data interaction and command issuance. The system acquires real-time location information of the work area, image information of the target work point, and distance information from the BeiDou RTK positioning unit, binocular vision SLAM unit, and line lidar, and processes this information to obtain work alignment information. Based on the work type, it selects between a voltage detection module, a grounding clamp module, and a backup protective rope attachment module. In the voltage detection scenario, the voltage detection module collects the voltage and outputs the result through the signal processing unit. In the grounding clamp scenario, the pressure sensor collects the clamping force F and compares it with the desired clamping force. The deviation is generated and output as a control quantity by a PID controller to adjust the driving force of the electric clamping mechanism; in the case of attachment / detachment, the attachment / detachment module executes attachment / detachment according to the electromagnetic drive command. Coordinated control minimizes end-position error. With the goal of generating joint spatial trajectories by combining inverse kinematics and trapezoidal velocity planning, the operation process is constrained by operation alignment, clamping force closed loop and status monitoring and early warning safety closed loop; the execution results and alarm information are transmitted back to the ground control station for monitoring and handling.

[0088] Specifically, we define the state equations for coordinated control to comprehensively characterize the dynamic properties of the system:

[0089] Where X(t) is the system state vector, U(t) is the control input vector; A and B are the system matrix and input matrix, respectively; w(t) is the external disturbance / modeling uncertainty term.

[0090] The above state equation is an abstract description of the dynamic characteristics of the UAV and robot as a collaborative control object in a closed loop; while the ground control station assumes the role of upper-level control for data interaction and command issuance / coordination and scheduling. It organizes information and commands through ROS, and does not require the ground station itself to be part of the controlled object to enter (X(t)).

[0091] X(t): System state vector, corresponding to the system state of the UAV and robot, and the state set of the UAV and robot, used to describe the system dynamics. U(t): Control input vector, corresponding to the control input sent to the UAV and robot, and the control input generated and sent by the coordinated scheduling, for UAV flight control and robot joint control. A, B: System matrix / input matrix, corresponding to the parameterized expression of the relationship between system dynamic characteristics and input effects; w(t): External disturbance / modeling uncertainty, corresponding to external disturbances and coupling effects; where the cooperative control input (U(t)) is coordinated and calculated by the ground control station under the ROS architecture and applied to UAV flight control and robot joint control respectively.

[0092] The core objective of coordinated control is to minimize the position error of the end effector. The objective function is defined as follows:

[0093]

[0094] in, Q represents the end position error; Q is the error weight matrix (semi-positive definite), and R is the control cost weight matrix (positive definite), used to balance "accuracy" and "control smoothness / energy consumption". The desired position of the end effector. For the actual position, the control vector is optimized using the gradient descent algorithm. This improves the positioning reliability of the end effector and meets the needs of high-altitude operations.

[0095] In addition, to improve the reliability and safety of operational alignment, a BeiDou RTK positioning unit, a binocular vision SLAM unit, and a line lidar are used to acquire operational auxiliary perception information. Specifically, the BeiDou RTK positioning unit acquires the location information of the operational area from the UAV platform or robot execution end; the binocular vision SLAM unit acquires image information of target operational points such as conductors, grounding clamp positions, or pole mounting points; and the line lidar acquires the distance information between functional modules and target operational points. Based on this information, the ground control station completes a step-by-step confirmation from operational area positioning to close-range operational alignment.

[0096] RTK is used to acquire location information of the work area, binocular SLAM is used to acquire image information of the target work point, and line LiDAR is used to acquire distance information between the functional module and the target work point.

[0097] A. Beidou RTK positioning unit – installed on the upper part of the UAV platform, used to obtain the location information of the working area of ​​the UAV platform or robot execution end.

[0098] B. Binocular vision SLAM unit – positioned near the robot's end effector or end effector and facing the target, used to acquire image information of the target work point.

[0099] C. Linear LiDAR – Placed near the robot's execution end or end face, and facing the target work point such as a guide wire, fittings, or pole mounting point, it is used to obtain distance information between the functional module and the target work point.

[0100] BeiDou RTK Data Acquisition: The RTK receiver outputs the location information of the work area. Binocular Vision SLAM Data Acquisition: Acquires image information of the target work point and outputs relative pose or image recognition results. Linear LiDAR Data Acquisition: Acquires laser ranging data and outputs the distance information between the functional module and the target work point.

[0101] Single-source sensing: RTK provides location estimation of the work area. Binocular SLAM provides image recognition of target work points or relative pose estimation. The line lidar provides distance measurement results. .

[0102] Multi-source information processing: The ground control station processes the above-mentioned sensing information and determines the operation alignment information based on the stability or reliability of each sensing information; the operation alignment information is used for target operation point identification, distance judgment and subsequent control.

[0103] In the task-aided perception unit, the BeiDou RTK positioning unit is located on the upper part of the UAV platform to acquire the location information of the task area; the binocular camera and line LiDAR are located near the robot's execution end or end face and facing the task target to collect image information and short-range ranging information of the target task point, respectively. The system acquires the above perception information in real time and processes it according to the stability or reliability of each perception information to obtain auxiliary information for target task point identification and task alignment.

[0104] In one implementation, the multi-source sensing information returned by the job-aided sensing unit can be weighted to obtain the job alignment reference value:

[0105] in, , , These represent the sensing information transmitted back by the positioning unit, image acquisition unit, and ranging unit, or the position / distance reference values ​​obtained by converting them, respectively. For the weighting coefficients, satisfying The weighting coefficients are adaptively adjusted based on the error variance of each sensor.

[0106] Error variance or stability evaluation parameters for each sensing method are obtained by calculating the stability of sensor output data in real time, providing position or distance reference for operation alignment.

[0107] Clamping force closed-loop control: For the grounding clamp module, a clamping force closed-loop control system based on a PID algorithm is designed to ensure clamping reliability. Taking the grounding clamp as an example, the desired clamping force is set. =200N, the actual clamping force is collected in real time by a pressure sensor. The force deviation is calculated and the driving force of the clamping mechanism is dynamically adjusted through a PID controller.

[0108] Pressure / force sensors are placed on the jaws, clamping blocks, or force-bearing components of the grounding clamp that are in contact with the wire, so that the force generated during clamping can be directly measured and output. .

[0109] The PID controller is deployed in the local control hardware at the robot's actuator end (grounding clamp module side) to read the actual clamping force output by the pressure sensor locally. It calculates the force deviation and outputs a control quantity to adjust the driving force of the electric clamping mechanism, thereby realizing closed-loop control of the clamping force.

[0110] The clamping force control model is as follows:

[0111] Among them, the proportionality coefficient Used to quickly respond to force deviation and improve system dynamic performance; integral coefficient This is used to eliminate static errors and ensure that the clamping force remains stable at the target value; The differential coefficients are used to suppress system oscillations and improve control stability; through this control model, the clamping force control accuracy reaches | |≤5N, meeting the clamping reliability requirements under different working conditions, and avoiding the tool falling off due to insufficient clamping force.

[0112] The clamping force control model is deployed in the local control hardware at the robot's actuator end (grounding clamp module side). The local controller reads the pressure sensor output in real time. Calculate the force deviation and output it according to formula (14). It is used to drive the electric clamping mechanism to achieve closed-loop control of clamping force.

[0113] Equipment status monitoring and early warning: Integrating Beidou and LoRa dual-mode communication modules, a full-link equipment status monitoring network is constructed to collect key status parameters such as battery voltage, joint temperature, communication signal strength, and motor operating current in real time.

[0114] LoRa link: LoRa gateway / receiving terminal at the device end and ground control station end; Transmitter: device end, on the execution end side of the UAV / robot where the status acquisition source is located, transmits status data through a dual-mode communication module.

[0115] Receiver: LoRa receiver / gateway on the ground control station side (LoRa / LoRaWAN uses a star topology of "end device, gateway, server / application"). LoRa is used to transmit device status data back to the LoRa receiver / gateway at the ground control station over short / medium to long distances for monitoring and alarm processing.

[0116] BeiDou Link: The system connects the device end, the BeiDou satellite short message system, and the ground monitoring / control station, receiving data via the operation platform / dedicated line. The transmitting end uses the BeiDou communication terminal / module integrated into the device (part of a dual-mode communication module) to send status messages. The receiving end is the ground receiving side of the BeiDou short message system, which can receive data via a dedicated line / forward it to the business system via the platform. BeiDou is used to transmit device status information back to the ground monitoring / control station via the satellite short message link, serving as a long-distance / emergency coverage status feedback channel.

[0117] The BeiDou and LoRa dual-mode communication modules establish two status backhaul links respectively: First, the LoRa link connects the device end with the LoRa receiver / gateway on the ground control station side for normal status data backhaul; Second, the BeiDou link connects the BeiDou short message terminal on the device end with the BeiDou satellite short message ground receiving / operation platform, and forwards the status messages to the ground monitoring end / ground control station for status backhaul and early warning in the case of long distance or when the public network is unavailable.

[0118] Battery voltage refers to the battery voltage of the device's power supply system / power source. Joint temperature: The temperature of the relevant components of the robot's actuator arm joints. Communication signal strength: The communication signal strength of the BeiDou + LoRa dual-mode communication link itself. Motor operating current: The operating current of the device's actuator motor.

[0119] Establish a multi-dimensional status early warning model to comprehensively assess the equipment's operating status:

[0120] in, For the first The actual values ​​of each state parameter; , The safety thresholds for these parameters are determined based on the equipment's technical specifications and industry standards. For example, the battery voltage safety threshold is set to 18V-24V, and the joint temperature safety threshold is set to -10℃-60℃. For the weighting coefficients, satisfying The parameters are weighted according to their impact on operational safety, with battery voltage and communication signal strength having the highest weights (0.3 each), and the remaining parameters having a combined weight of 0.4. When the state assessment value... When the system determines that a high-risk state has been reached, it immediately triggers an audible and visual warning, stops operations, and activates a protection mechanism to ensure the safety of equipment and operations.

[0121] The input to the above multi-dimensional state early warning model is the actual value of the (i)th state parameter. The state parameters include: battery voltage, joint temperature, communication signal strength, motor operating current, etc. Threshold criteria: Each state parameter has a safe threshold range; Comprehensive evaluation: A weighted fusion based on weighting coefficients is used to obtain the state evaluation value.

[0122] Weighting coefficients ( It satisfies the normalization constraint (the sum of the weights is 1); Weights are allocated based on the "degree of impact on operational safety"; Battery voltage and communication signal strength have the highest weights, both at 0.3, while the remaining parameters have a combined weight of 0.4.

[0123] Specifically, for each state parameter ( ) and its threshold , By comparing, we can obtain the "safety / risk" characterization of this parameter (whether it exceeds the threshold and the degree of exceeding the threshold). By weight ( The risk characterization values ​​of each parameter are weighted and summed to obtain the comprehensive state assessment value (S); (S) is compared with preset criteria. If a high-risk condition is met, an alarm and shutdown protection will be triggered.

[0124] Triggering strategy: High risk triggers audible and visual warning + work stoppage + activation of protection mechanism. When the comprehensive assessment reaches a high-risk state, an audible and visual warning will be triggered immediately, operations will be stopped, and the protection mechanism will be activated to ensure the safety of equipment and operations.

[0125] The multi-dimensional state early warning model takes battery voltage, joint temperature, communication signal strength, motor operating current, etc. as inputs, and targets each state parameter ( Set the safety threshold range (( , (The thresholds are determined based on the equipment's technical specifications and industry standards, such as battery voltage 18–24V and joint temperature -10–60℃), and weighting coefficients are set according to the degree of influence of each parameter on operational safety. Furthermore, it satisfies normalization constraints, with battery voltage and communication signal strength each having a maximum weight of 0.3. The system compares each parameter against thresholds to form a risk characterization quantity, and obtains a comprehensive status assessment value through weighted summation; when the comprehensive assessment meets the high-risk criteria, an audible and visual warning is immediately triggered, operations are stopped, and the protection mechanism is activated.

[0126] Trajectory Planning and Dynamic Adjustment: Based on a kinematic model and cooperative control architecture, a trapezoidal velocity planning algorithm is used to generate joint space trajectories. This algorithm achieves smooth transitions in joint motion through three phases: acceleration, constant velocity, and deceleration, avoiding mechanical shock caused by sudden acceleration or deceleration. The velocity curve for trajectory planning is defined as follows:

[0127] in, To speed up the process, For uniform time, The deceleration time is dynamically adjusted based on the working distance and control requirements. This represents the maximum joint velocity.

[0128] The velocity curve defined above for trajectory planning is used to generate the joint space trajectory in the subsequent process: After obtaining the joint space control target through inverse kinematics, a trapezoidal velocity planning algorithm is used to generate a smooth joint motion trajectory based on acceleration time, constant speed time, deceleration time and maximum joint velocity constraints, so as to avoid mechanical shock caused by sudden acceleration and deceleration. The desired trajectory generated by the velocity curve is further used as the reference trajectory for dynamic adjustment. The trajectory correction amount is calculated in combination with environmental parameters such as wind speed and guide wire tilt angle, and the desired trajectory is corrected in real time, so as to ensure that the end effector can still track the target trajectory under complex working conditions.

[0129] The trajectory is adjusted in real time based on dynamic environmental parameters at the work site. Wind speed is selected. conductor inclination angle As the main influencing factor, the trajectory correction amount is obtained based on numerical simulation and engineering experience fitting:

[0130] In the formula, φ is the wind speed; φ is the conductor tilt angle; Δt is the trajectory update / control cycle; , The fitting coefficients (with a time dimension) are identified from simulation or field test data and are used to characterize the equivalent impact of wind disturbance on lateral / vertical displacement.

[0131] The desired trajectory is dynamically adjusted using this correction amount:

[0132] Improve the stability of the end effector in tracking the target trajectory under complex working conditions, and enhance the reliability of the operation.

[0133] Three typical scenarios for assisting manual tasks in different work environments: Scenario A: Voltage Testing (Confirming No Voltage Before Climbing the Tower): The ground support system issues a "voltage testing task". The drone carrying the device arrives near the conductor. It contacts the conductor through the device's guide structure and performs digital voltage testing. The voltage data is transmitted back to the ground terminal. If the voltage exceeds the limit, an audible and visual alarm is triggered and subsequent actions are stopped. After confirming that there is no voltage, the drone proceeds to Scenario B (grounding wire installation) or returns.

[0134] Scenario B: Grounding Wire Installation and Removal (Forming a Reliable Grounding Channel + Verifiable Status): The drone first clamps the wire end (pressure sensor confirms placement), then clamps the tower end (laser ranging / placement confirmation), forming a grounding channel; the clamps have self-locking and anti-loosening functions; the ground end displays the clamp status / power, etc.; optional integrated operation-aided sensing and image acquisition can realize the grounding wire installation location and image retention, facilitating subsequent verification and control.

[0135] Scenario C: Dropping / Removing Personal Safety Rope (Providing Fall Protection for Personnel Climbing the Tower): The drone, carrying the main hook and electromagnetic attachment assembly, flies to the attachment point at the top of the tower. After the main hook touches the point, gravity locking completes the attachment. The ground-based visual terminal transmits images in real time to assist in judging the attachment status. Personnel fix the lower end of the safety rope and use the speed difference self-locking device to climb the tower. After the operation is completed, the drone retrieves the main hook and removes the safety rope through electromagnetic adsorption and guidance structure.

[0136] This embodiment of the technical solution develops a general-purpose UAV platform and a ground support system operation platform, achieving real-time interconnection and integrated control with the complete set of robotic equipment. This enables unmanned operation of necessary safety measures before climbing towers, such as voltage testing, grounding wire installation and removal, and installation and removal of backup protective ropes. It also conducts research on work-oriented UAV attitude control, optimizing the overall robot design to create a complete set of operational equipment adaptable to multiple scenarios, improving the stability of UAVs in complex flight environments. Furthermore, it develops a "UAV + robot" auxiliary manual operation device for power transmission lines. Through real-time interconnection between the general-purpose UAV platform, the ground support system operation platform, and the complete set of robotic equipment, it replaces manual labor in performing unmanned high-altitude operations such as installing protective ropes on power transmission towers, voltage testing, and grounding wire installation—essential safety measures before climbing towers.

[0137] To address the high safety risks, poor equipment adaptability, and insufficient reliability of collaborative control in traditional manual tower climbing operations for power transmission line maintenance, this invention achieves unmanned execution of high-altitude safety measures such as voltage testing, grounding wire installation / removal, and backup safety rope installation / removal by constructing an adaptive topology, establishing a kinematic model, designing a modular collaborative control system, and implementing multiple safety assurance mechanisms. First, this invention establishes a kinematic and dynamic model of the robotic equipment, clarifies the motion relationships of each joint and trajectory planning methods, and uses the DH parameter method to describe the pose of the multi-degree-of-freedom robotic arm. Second, based on modular design principles, standardized mechanical and electrical interfaces are established to achieve flexible combination and efficient collaboration of functional modules. Finally, a comprehensive safety assurance system is constructed through multi-source sensing for alignment, closed-loop clamping force control, and comprehensive equipment status monitoring. This device can adapt to different voltage levels and terrain conditions, providing efficient and reliable technical support for power transmission line maintenance and possessing significant engineering application value.

[0138] The kinematic and dynamic models of the robot equipment, the forward and inverse solutions of the DH parameter method, and the trajectory planning algorithm are configured in the airborne computing platform (the control computing unit running ROS) at the device end. This is used to solve the joint motion relationship and generate the trajectory, and to realize the interaction and issuance of commands with the UAV flight control and robot joint control through ROS.

[0139] Example 2 The purpose of this embodiment is to provide a method for UAV-robot collaborative operation on power transmission lines, applied to the UAV-robot collaborative auxiliary operation device described in Embodiment 1. This method, under a three-level collaborative architecture of UAV, robot actuator, and ground control station, utilizes ROS to achieve multi-device data interaction and command issuance, following a unified closed-loop control process: the ground control station issues tasks and parameters; operation-aided sensing information is collected and processed; inverse kinematics and trajectory planning generate joint trajectories; collaborative control inputs are applied to UAV flight control and robot joint control; functional module execution and closed-loop control are implemented; and status feedback and early warning handling are performed.

[0140] Step 1: Receiving and Configuring Job Tasks. The ground control station receives job task instructions and selects the corresponding functional module to install on the robot's execution end according to the job type (voltage testing, attaching / removing grounding wires, or installing / removing backup protective ropes). Mechanical connections and electrical connections are completed through standardized quick-change interfaces, and topology parameters are configured, including the rotational degree of freedom range of the universal joint and the parameter set of the robotic arm joints.

[0141] Step 2: Initialization of the Collaborative Control System and Startup of the Operation Assist Perception Unit. Based on ROS, the initialization and self-test of the three-level collaborative control architecture—ground control station, UAV platform, and robot actuator—are completed. BeiDou RTK, binocular vision SLAM, and line LiDAR are started, and calibration of each sensor is completed. The BeiDou RTK positioning unit is positioned on the upper part of the UAV platform to acquire the location information of the work area; the binocular camera is positioned near the robot actuator and facing the work target to acquire image information of the target work point; the line LiDAR is positioned near the robot actuator to acquire distance information between the functional modules and the target work point. The system acquires the above perception information in real time and processes it according to the stability or reliability of each perception information to obtain auxiliary information for target work point identification and work alignment.

[0142] Step 3: Inverse kinematics calculation of joint parameters and execution of the work trajectory. A 5-DOF robotic arm kinematic model is established based on the DH parameter method. The target pose of the end effector is determined according to the work alignment information. The inverse kinematics solution is solved using an algebraic method to obtain the angles of each rotary joint and the displacement parameters of each translating joint. For the rotary joint angles... The following is derived by establishing geometric relationships using the x and y components of the position vector P: For rotational joint angles Based on the spatial geometric relationship between the link length and the position vector, the following can be derived using the law of cosines: The remaining joint parameters were derived using a similar method, and the inverse solution results provided joint space control targets for trajectory planning. A trapezoidal velocity planning algorithm was used to generate the joint space trajectory, which achieved a smooth transition of joint motion through three stages: acceleration, constant speed, and deceleration. The trajectory was adjusted in real time based on dynamic environmental parameters at the work site, including wind speed. conductor inclination angle As the main influencing factor, the trajectory correction amount is: The corrected trajectory is as follows: This improves the tracking stability of the end effector on the target trajectory under complex operating conditions. Cooperative control aims to minimize the end-effector position error, and the objective function is defined as follows: ,in To address the end-effector position error, the control vector U is optimized using a gradient descent algorithm to improve the tracking stability of the end effector to the target work position.

[0143] Step four: Real-time monitoring of the safety assurance mechanism. During operation, the communication system uses a BeiDou / LoRa dual-mode communication module to collect key status parameters in real time, such as battery voltage, joint temperature, communication signal strength, and motor operating current, to establish a multi-dimensional status early warning model. ,in This represents the actual value of the k-th state parameter. , The safety thresholds are: (battery voltage safety threshold is 18 volts to 24 volts, and joint temperature safety threshold is -10 degrees Celsius to 60 degrees Celsius). The weighting coefficients are satisfied. Battery voltage and communication signal strength each have a maximum weight of 0.3. When the comprehensive state assessment value... When the system determines that the situation is high-risk, it immediately triggers an audible and visual warning, stops the operation, and activates the protection mechanism; when the status assessment value is within the warning range but not in the high-risk range, the system issues a warning prompt and continues to execute the operation trajectory.

[0144] Step 5: Operation Completion and Equipment Return. Once the operation is deemed complete, the ground control station sends a return command. The UAV, carrying the robot actuator, returns to the takeoff and landing point. The system automatically generates an operation report, recording information such as operation time, operation type, alignment status, and safety warnings for subsequent analysis and archiving.

[0145] This embodiment further describes the specific execution process of the collaborative control method under three typical work scenarios.

[0146] Scenario 1: Voltage Testing Operation. The ground control station selects the "Voltage Testing" operation type and issues the task and end-effector target pose via ROS. The system collects the operation area location information, target operation point image information, and distance information transmitted back by the Beidou RTK positioning unit, binocular vision SLAM unit, and line LiDAR. After processing, the operation alignment information is obtained. Based on inverse kinematics, the end-effector target pose is mapped to joint parameters. Trapezoidal velocity planning is used to generate the joint spatial trajectory. Coordinated control inputs are applied to the UAV flight control (in conjunction with hovering and pose adjustment) and robot joint control (tracking the planned trajectory). After the end-effector reaches the operation pose, the voltage sensor of the voltage testing module contacts the wire. The signal processing unit processes the collected voltage data, and the voltage data is transmitted back to the ground control station. If the voltage exceeds the limit, an audible and visual alarm is triggered, and subsequent actions are stopped. After verifying that there is no voltage, the grounding wire installation process is initiated or the operation ends and returns. The entire process is continuously monitored by a multi-dimensional status early warning model, and high-risk states result in immediate shutdown for protection.

[0147] Scenario 2: Grounding wire attachment / removal operation. The ground control station selects the operation type "Grounding wire attachment / removal" and issues the task and desired clamping force parameters via ROS. The system acquires the operation area location information, clamping position image information, and distance information between the grounding clamp module and the clamping position. Based on this information, the ground control station controls the robot's actuator to adjust the position or attitude of the grounding clamp module, bringing it to the permissible clamping position. Entering closed-loop clamping force control: setting the desired clamping force. The pressure feedback unit collects the actual clamping force in real time. The force deviation is calculated and the control quantity is output by the PID controller to dynamically adjust the driving force of the electric clamping mechanism. The clamping force control model is as follows: The proportionality coefficient Integral coefficient Differential coefficients The clamping force control accuracy reaches This system enables reliable clamping of conductors of different specifications. The drone first clamps the conductor ends, and after the pressure sensor confirms that it is in place, it clamps the tower ends. Laser ranging confirms that it is in place, and the grounding wire forms a reliable grounding channel. The ground end displays the clamp status in real time. The entire process is constrained by operational alignment, clamping force closed-loop, and status monitoring and early warning. High-risk situations trigger audible and visual warnings and stop operations.

[0148] Scenario 3: Installation and removal of backup protective rope. The ground control station selects the operation type "Installation and removal of backup protective rope" and issues the task via ROS. The system acquires the location information of the operation area, the image information of the tower attachment point, and the distance information between the backup protective rope attachment / removal module and the tower attachment point. After processing, the system obtains the operation alignment information for attachment point identification and positioning confirmation. The system then uses inverse kinematics to solve the joint parameters, generates the trajectory through trapezoidal velocity planning, and coordinates the UAV flight control and robot joint control through collaborative control inputs to ensure the end effector reaches the attachment / removal operation posture. The UAV, carrying the main hook and electromagnetic attachment / removal component, flies to the top of the tower attachment point. After the main hook touches the point, gravity locking completes the attachment. The ground visual terminal transmits images in real time to assist in judging the attachment status. Personnel fix the lower end of the protective rope and use the speed difference self-locking device to climb the tower for the operation. After the operation is completed, the electromagnetic drive structure of the attachment / removal module receives the control command and retrieves the main hook and removes the protective rope through electromagnetic adsorption and guidance structures. Throughout the entire process, the system collects and transmits status parameters such as battery voltage, joint temperature, communication signal strength, and motor operating current through BeiDou / LoRa dual-mode communication. The multi-dimensional early warning model continuously conducts comprehensive evaluations, and in high-risk situations, it immediately triggers audible and visual warnings, stops operations, and activates protection mechanisms.

[0149] This embodiment's sub-technical solution can achieve a safety closed loop: closed-loop status monitoring and early warning of the operation alignment and clamping force, which can trigger audible and visual warnings, stop the operation, and activate the protection mechanism. Each scenario follows a unified closed loop: ground station issues tasks / parameters, operation-aided sensing information is collected and processed, inverse kinematics + trajectory planning generates joint trajectories, collaborative control issues U(t) to the UAV and joints, module execution / closed-loop control, status feedback and early warning handling.

[0150] Scenario 1: Voltage Testing (Voltage Testing Module): The ground control station selects the operation type "Voltage Testing" and issues the task and end target (target pose / operation point) via ROS. Operation-aided perception information is acquired by the BeiDou RTK positioning unit, the binocular visual SLAM unit, and the line lidar; specifically, the BeiDou RTK positioning unit acquires the location information of the operation area, the binocular visual SLAM unit acquires the image information of the target operation point, and the line lidar acquires the distance information between the voltage testing module and the conductor to be tested.

[0151] The voltage detection data is collected and output by the high-voltage sensor and signal processing unit of the voltage detection module.

[0152] The multi-source sensing information returned by the operation auxiliary sensing unit is processed to obtain the operation alignment information; when the ground control station adopts a weighted processing method, the corresponding weights can be adjusted according to the stability or reliability of each sensing information.

[0153] Based on the forward / inverse kinematics model, the end-target pose is mapped to joint parameters (the inverse kinematics result provides joint space control targets for trajectory planning).

[0154] Trapezoidal velocity planning is used to generate joint space trajectories (three segments: acceleration / constant speed / deceleration, satisfying maximum joint velocity constraints). Command issuance and execution (output to which execution device): Ground station / ROS collaborative layer issues control input (U(t)): One part is used for drone flight control (in conjunction with hovering / attitude adjustment); another part is used for robot joint control (tracking and planning trajectory).

[0155] The voltage detection module completes voltage detection; the results and status are transmitted back to the ground station for record-keeping. If the status warning model determines it to be high-risk, an audible and visual warning is triggered, operations are stopped, and the protection mechanism is activated.

[0156] Scenario 2: Hanging and removing the grounding wire (grounding clamp module); Task and Data Acquisition: The ground control station selects the operation type "Hang and Remove Grounding Wire" and issues the task and parameters (including the expected clamping force value) via ROS. Operation-aided sensing information is collected and processed by the operation-aided sensing unit for clamping position identification, distance judgment, and positioning confirmation. Clamping force data is collected in real-time by a pressure sensor to measure the actual clamping force. ) .

[0157] Data processing: Job alignment, inverse kinematics calculation of joint parameters, trapezoidal velocity planning to generate trajectory (same as scenario 1). Clamping force closed-loop control: The force deviation is calculated and the control quantity is output by the PID controller to dynamically adjust the driving force of the clamping mechanism; and the clamping force control model (Equation (14)) is given. .

[0158] Command issuance and execution: UAV: ​​Coordinates with stable hovering / attitude adjustment (in coordination with joint control). Robot joint: Executes the planned trajectory to reach the clamping posture. Grounding clamp electric clamping mechanism: Executes the driving force / control quantity output by PID control to achieve reliable clamping and holding.

[0159] The entire process is constrained by work alignment, clamping force closed loop, and status monitoring and early warning; high risk triggers audible and visual warnings and stops the operation.

[0160] Scenario 3: Installing and removing the backup protective rope (attachment module); Task and Data Acquisition: The ground control station selects the operation type "Install / Remove Backup Protective Rope" and issues the task via ROS. Operation Auxiliary Sensing Information: Acquires location information of the operation area, image information of the pole attachment points, and distance information between the backup protective rope attachment / removal module and the pole attachment points for attachment point identification and positioning confirmation. Status Data: Collects / transmits key status data such as battery voltage, joint temperature, communication signal strength, and motor current via the "BeiDou + LoRa dual-mode communication module" for comprehensive evaluation by the early warning model.

[0161] Data processing: job alignment, inverse kinematics, and trapezoidal velocity trajectory planning. Status warning model: Multi-dimensional status parameters are comprehensively evaluated according to weights (battery voltage and communication signal strength have the highest weight of 0.3 each). If high-risk criteria are met, an audible and visual warning is triggered, operations are stopped, and protection mechanisms are activated.

[0162] Command issuance and execution: Coordinated scheduling of UAV flight control and robot joint control to ensure that the end effector reaches the detachment / attachment operation position.

[0163] The attach / detach module uses an electromagnetic drive structure to perform rapid attachment and detachment.

[0164] In the three-level collaborative architecture of UAV, robot, and ground control station, the ground station issues tasks and parameters based on ROS. The system collects operation-aided perception information from Beidou RTK positioning unit, binocular vision SLAM unit and line lidar, and processes it to obtain operation alignment information. Joint trajectories are generated through inverse kinematics and trapezoidal velocity planning. The collaborative control input (U(t)) is applied to the flight control of UAV and the joint control of robot respectively. In three scenarios of voltage detection / grounding clamp / protective rope, the corresponding functional modules are driven to execute. At the same time, the operation alignment, clamping force closed loop and status monitoring and early warning safety closed loop constrain the whole process and handle alarms, realizing the unmanned execution of necessary safety measures before climbing the tower.

[0165] A. Device-side data processing flowchart The processing chain on the equipment side (drone platform + robot execution end) within each control cycle Δt: Data acquisition (Sensors & Status Acquisition) Operation-assisted perception: Beidou RTK positioning unit outputs the location information of the operation area, binocular vision SLAM unit outputs the image information of the target operation point or the relative pose estimation result, and line lidar outputs the short-range ranging information.

[0166] The operating module senses: Voltage detection module outputs the voltage detection result (including signal processing unit output). Grounding clamp module pressure sensor outputs the clamping force. ).

[0167] Status monitoring: Collects data such as battery voltage, joint temperature, communication signal strength, and motor operating current.

[0168] Data preprocessing: Real-time monitoring of the stability of output data from each sensor and calculation of error variance. This is used for subsequent adaptive weighting.

[0169] Multi-source sensing information processing: This process weights and processes the information transmitted from the positioning unit, image acquisition unit, and ranging unit to obtain the operational alignment reference value. .

[0170] Task & Motion Solve: Select the corresponding functional module based on the task type (voltage detection / grounding clamp / protective rope attachment / detachment). Kinematics: Establish the "endpoint target pose" using forward / inverse kinematics. The computable mapping of "joint parameters"; the inverse solution results provide the joint space control target.

[0171] Trajectory Planning: Trapezoidal velocity planning generates a joint space trajectory (acceleration-uniform speed-deceleration in three segments). For dynamic adjustments: The trajectory correction is obtained by combining wind speed and conductor inclination angle, and the desired trajectory is corrected in real time (the formula for the correction and the update period Δt are given in the text).

[0172] Control Output to Actuators: The coordinated control input (U(t)) acts on both the UAV flight control and the robot joint control to achieve coordinated scheduling, with the goal of minimizing the end-effector position error. The control vector is then optimized using gradient descent.

[0173] Functional module execution control: Grounding clamp / protective rope related operations are constrained by "clamping force closed-loop control". Safety Loop & Alarm: Safety closed-loop mechanism: Operation alignment + clamping force closed-loop + status monitoring and early warning. Multi-dimensional early warning model: Status parameters are comprehensively evaluated according to weights (battery voltage and communication signal strength have the highest weight of 0.3 each). If the high-risk criteria are met, audible and visual warnings are issued, operations are stopped, and protection mechanisms are activated.

[0174] Data transmission and logging (Telemetry & Logging): Transmitting operation results, status and alarm information through a three-level collaborative architecture of drones, robots and ground control stations (ROS data interaction and command issuance).

[0175] B. Expanding on specific scenarios: Scenario 1: Voltage detection (voltage detection module): Obtain the location information of the work area, the image information of the target work point and the distance information, and obtain the work alignment information after processing.

[0176] Determine the end-effector pose based on the alignment information → Obtain the joint parameters target through inverse kinematics solution.

[0177] Trapezoidal velocity planning generates joint trajectories → Cooperative control (U(t)) is issued (the UAV adjusts its attitude / position and the robotic arm tracks the trajectory).

[0178] The voltage detection module collects the voltage and outputs the voltage detection result after signal processing.

[0179] The system assesses the status and will trigger an alarm and shut down if the risk level is high.

[0180] Unmanned aerial vehicle (UAV) flight control: Receives a portion of the cooperative control input (U(t)) for positioning and stabilization.

[0181] Robot joint control: Receive joint trajectory / control target to be executed in place.

[0182] Voltage detection module: Outputs voltage detection result data and transmits it back to the ground station.

[0183] Scenario 2: Connecting and disconnecting the grounding wire (grounding clamp module) Similarly, the location information of the working area, the image information of the clamping position, and the distance information between the grounding clamp module and the clamping position are obtained, and then processed to obtain the work alignment information. .

[0184] The inverse kinematics yields the joint target → Trapezoidal velocity planning generates the trajectory and executes it to the clamping pose.

[0185] Entering clamping force closed loop: Setting =200N, pressure sensor adopted ( The force deviation is calculated, and the driving force of the clamping mechanism is adjusted by the PID output control quantity (Equation (14) is given in the text and the accuracy is given). - |≤5N).

[0186] The safety closed-loop and status early warning model continuously evaluates the system, and alarms and shutdowns are triggered when the risk is high.

[0187] Unmanned aerial vehicle (UAV) flight control: In conjunction with hovering / attitude control, ensures stable end-of-pipe operations.

[0188] Robot joint control: execution and holding.

[0189] Grounding clamp electric clamping mechanism: Receives PID output control quantity, generates clamping driving force and maintains it.

[0190] Scenario 3: Installing and removing the backup protective rope (attachment module) Steps: Acquire location information of the work area, image information of the tower attachment points, and distance information. After processing, these are used for attachment point identification and positioning confirmation. Inverse kinematics → Trapezoidal velocity planning to generate trajectory → Cooperative control (U(t)) to coordinate the UAV and joint control to achieve positioning.

[0191] The attach / detach module performs rapid attachment and detachment via electromagnetic drive. Simultaneously, it collects / transmits status parameters through BeiDou + LoRa dual-mode communication, which are then used for comprehensive evaluation by a multi-dimensional early warning model. If a high-risk condition is detected, an alarm is triggered and the system shuts down. Output is sent to which execution device? For UAV flight control: it coordinates with attitude / position stabilization. For robot joint control: it tracks the trajectory to the correct position. The electromagnetic drive structure of the attach / detach module receives execution commands to complete the attachment / detachment.

[0192] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computer devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computer device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. The present invention is not limited to any particular combination of hardware and software.

[0193] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A drone-robot collaborative operation device suitable for power transmission lines, characterized in that, include: Ground control station, drone platform, robot actuator; The ground control station outputs flight control commands to the UAV platform and joint control commands to the robot actuator, thereby achieving coordinated scheduling of flight control of the UAV platform and joint control of the robot actuator. The robot actuator includes a multi-degree-of-freedom robotic arm, which comprises rotary joints and linear joints; the robot actuator is equipped with a functional module interface, and the functional modules are connected to the robot actuator via quick-switch interfaces.

2. The UAV-robot collaborative operation device for power transmission lines as described in claim 1, characterized in that, It also includes a flexible connection component, which is a universal joint that connects the UAV platform and the robot actuator. The universal joint has multiple rotational degrees of freedom to form a decoupled connection between the UAV platform and the robot actuator, thereby offsetting the impact of the attitude jitter of the UAV platform when hovering on the working accuracy of the robot actuator.

3. The UAV-robot collaborative operation device for power transmission lines as described in claim 1, characterized in that, The quick-release interface includes a quick-release buckle, a guide positioning groove, and a locking mechanism; the quick-release buckle engages with the guide positioning groove; the locking mechanism is used to lock the functional module; the functional module includes a voltage detection module, a grounding clamp module, and a detachment / hanging module; the voltage detection module includes a voltage detection unit and a signal processing unit; the grounding clamp module includes a clamping part and a force feedback part; the detachment / hanging module includes an electromagnetic drive structure.

4. The UAV-robot collaborative operation device for power transmission lines as described in claim 1, characterized in that, The universal joint has three rotational degrees of freedom: roll, pitch, and yaw; the multi-degree-of-freedom robotic arm includes three rotary joints and two translating joints. The quick-switch interface also includes an electrical interface, which uses a waterproof aviation plug and supports dual power interfaces and dual data transmission interfaces. The voltage detection unit of the voltage detection module is a high-voltage voltage sensor; the clamping part of the grounding clamp module is an electric clamping mechanism; the force feedback part is a pressure feedback unit; and the detachment module is used to realize the attachment and removal of the backup protection rope.

5. A drone-robot collaborative operation method applicable to power transmission lines, characterized in that: include: Receive the task and configure the topology parameters, and select the corresponding functional module according to the task type and install it to the robot execution end; The types of work include: voltage testing, grounding wire installation and removal, and backup protective rope installation and removal. Start the task-aided sensing unit and complete the calibration; complete the task alignment according to the information returned by the task-aided sensing unit, and control the robot execution end to perform the corresponding task action; The safety assurance mechanism is monitored in real time during the operation, and corresponding measures are taken when a safety warning is issued; after the operation is completed, the equipment is controlled to return to base and an operation report is generated.

6. The UAV-robot collaborative operation method for power transmission lines as described in claim 5, characterized in that, The operation-aided sensing unit includes one or more of a positioning unit, an image acquisition unit, and a ranging unit. The positioning unit uses a BeiDou RTK positioning unit, the image acquisition unit uses a binocular visual SLAM unit, and the ranging unit uses a line lidar or a line laser ranging unit. The ground control station completes the positioning of the work area, the identification of the target work point, and the close-range work alignment based on the information returned by the positioning unit, the image acquisition unit, and the ranging unit.

7. The UAV-robot collaborative operation method for power transmission lines as described in claim 5, characterized in that, The steps for calculating the joint parameters based on inverse kinematics include: establishing the kinematic model of the multi-degree-of-freedom manipulator based on the DH parameter method, solving the inverse kinematics using an algebraic method according to the target pose of the end effector, and obtaining the driving parameters of each joint.

8. The UAV-robot collaborative operation method for power transmission lines as described in claim 5, characterized in that, The real-time monitoring of the safety assurance mechanism includes: real-time collection of the UAV platform battery voltage, the joint temperature of the robot actuator joint motor, the communication signal strength of the UAV platform Beidou / LoRa communication module, and the operating current status parameters of the robot actuator joint motor and functional module actuator motor, and establishing a multi-dimensional status early warning model; when any status parameter exceeds the safety threshold, an early warning is triggered, and if the status is determined to be high-risk, an emergency shutdown and fault handling are performed, and if the status is determined to be non-high-risk, the operation trajectory continues to be executed.

9. The UAV-robot collaborative operation method for power transmission lines as described in claim 5, characterized in that, For electrical testing operations: The ground control station selects the "voltage detection" operation type and issues the task and end-point target pose via ROS. The system collects location information of the work area, image information of the target work point, and distance information transmitted back by the Beidou RTK positioning unit, binocular vision SLAM unit, and line lidar. After processing, it obtains the work alignment information. Based on the inverse kinematics solution, the end target pose is mapped to joint parameters. Trapezoidal velocity planning is used to generate the joint space trajectory. The collaborative control inputs are applied to the UAV flight control and robot joint control, respectively. After the end-effector reaches the working position, the high-voltage sensor of the voltage detection module contacts the wire, the signal processing unit processes the collected voltage data, and the voltage data is transmitted back to the ground control station. If the voltage exceeds the limit, an audible and visual alarm is triggered and subsequent actions are stopped. After verifying that there is no voltage, the grounding wire installation process is initiated or the process ends and returns.

10. The UAV-robot collaborative operation method for power transmission lines as described in claim 5, characterized in that, For the work of hanging and removing grounding wires: The ground control station selects the operation type "hanging and removing grounding wire" and issues the task and expected clamping force parameters through ROS. The system acquires location information of the work area, image information of the clamping position, and distance information between the grounding clamp module and the clamping position. Based on this information, the ground control station controls the robot's execution end to adjust the position or attitude of the grounding clamp module. Entering clamping force closed-loop control: Set the desired clamping force, the pressure feedback unit collects the actual clamping force in real time, calculates the force deviation and outputs the control quantity by the PID controller, dynamically adjusts the driving force of the electric clamping mechanism, and realizes reliable clamping of wires of different specifications. The drone first clamps the wire end clamps, and after the pressure sensor confirms that the clamps are in place, it clamps the tower end clamps. The laser rangefinder confirms that the clamps are in place, and the ground wire forms a reliable grounding channel. The ground end displays the clamp status in real time. As a further technical solution, for the installation and removal of backup safety ropes: Ground control station selects job type: install / remove backup safety rope, and issues task via ROS; The system acquires location information of the work area, image information of the pole hanging point, and distance information between the backup protective rope attachment module and the pole hanging point. After processing, it obtains work alignment information, which is used for hanging point identification and positioning confirmation. Inverse kinematics is used to solve joint parameters, trapezoidal velocity planning is used to generate trajectory, and collaborative control input is used to coordinate the UAV flight control and robot joint control, so that the end effector reaches the detachment and attachment operation posture. The drone, carrying the main hook and electromagnetic attachment and detachment components, flies to the top of the tower and attaches to the attachment point. After the main hook touches the point, gravity locking completes the attachment. The ground visual terminal transmits images back in real time to assist in judging the attachment status. Secure the lower end of the safety rope and use a speed-differential self-locking device to climb the tower. After the operation is completed, the electromagnetic drive structure of the hook-and-unhook module receives the control command and retrieves the main hook and removes the protective rope through the electromagnetic adsorption and guidance structure. Throughout the entire process, the system collects and transmits battery voltage, joint temperature, communication signal strength, and motor operating current status parameters via BeiDou and LoRa dual-mode communication. A multi-dimensional early warning model continuously conducts comprehensive evaluations, and in high-risk situations, it immediately triggers audible and visual warnings, stops operations, and activates protection mechanisms.

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