A control method of an unmanned aerial vehicle recycling power transmission line operation robot

Abstract

The application discloses a control method of an unmanned aerial vehicle recycling power transmission line operation robot, and belongs to the technical field of power transmission line operation, and comprises the following steps: when the robot is in a recoverable non-off-line supporting state, the unmanned aerial vehicle and the robot are controlled to complete pre-locking; stable state reference information of the robot in the pre-locking is acquired; the unmanned aerial vehicle end is controlled to be slowly tried to pull and the residual supporting state information of the robot is acquired in real time; it is judged whether the whole pulling interlocking condition is satisfied or not, if yes, the unmanned aerial vehicle end is controlled to be pulled in stages, so that the robot gradually enters a half-load bearing and full-load bearing transition state; if not, a preset control action is executed according to the item not satisfied and abnormal recovery verification is carried out; in the full-load bearing transition stage, when the residual supporting state information satisfies the off-line condition, the unmanned aerial vehicle is controlled to carry the robot away from the line. The application can avoid the robot from being off-line in advance, local jamming, partial load suspension and non-recoverable off-line, and improve the recycling safety and engineering implementability.

Description

Technical Field

[0001] This invention belongs to the field of intelligent operation technology for power transmission lines, and specifically relates to a control method for a drone-based robot for recovering power transmission lines. Background Technology

[0002] Transmission line operation robots can replace manual labor in tasks such as conductor inspection, accessory inspection, defect handling, and live-line auxiliary operations. To improve robot deployment efficiency, drones can be used to deploy robots to transmission lines and retrieve them after the task is completed. Existing technologies focus on the transportation, deployment, and online control of robots or payloads using drones, improving the stability of the robot deployment process through drone hoisting system modeling, payload anti-sway control, visual servoing, interface docking, and safety verification. Other solutions propose mechanical devices for robot deployment, using platforms, guide rails, electromagnetic adsorption, or connecting mechanisms to achieve robot deployment or retrieval.

[0003] However, the robot retrieval process differs fundamentally from the deployment or commissioning process. During deployment, the robot is typically carried by a drone and gradually transferred to the power transmission line, with the drone's load generally decreasing. In contrast, during retrieval, the robot is already walking, straddling, gripping, or supporting the power line, with its walking mechanism, gripping mechanism, sliding support mechanism, or track mechanism having supporting contact with the power line. The drone needs to gradually take over the robot's weight, resulting in an overall increase in the drone's load.

[0004] If the drone directly lifts the robot during retrieval, it may cause sudden changes in the robot's posture, jamming of the walking mechanism, increased impact from the guide wire, failure of the docking mechanism, or a sudden increase in the drone's load. Especially when the robot has not completely detached from the guide wire, but the drone has already begun to bear part of the weight, if it is not possible to accurately determine whether the robot still has the ability to restore the guide wire support, whether there are enough effective support contact points, whether the state changes of each support contact point are consistent, and whether the robot's posture is stable, it is easy to cause premature partial detachment of the robot from the guide wire, partial jamming, uneven load suspension, or irreversible detachment.

[0005] On the other hand, the structural forms of power transmission line operation robots vary considerably. Some robots can be equipped with pressure sensors at each walking wheel or gripping point, while others only have contact switches, motor current detection, gripping mechanism status feedback, inertial measurement unit attitude detection, or visual recognition capabilities. However, if the recovery control method must rely on the precise support force of each support point, it will reduce the scope of engineering applicability and may also lead to difficulties in on-site implementation. Summary of the Invention

[0006] This invention addresses the shortcomings of existing technologies by providing a control method for a drone-based power line recovery robot. This method is compatible with robots using different support status detection configurations. Furthermore, it achieves a safe pre-lock between the drone-end recovery docking mechanism and the robot recovery interface when the robot is not completely detached from the power line and is still partially supported by the power line. The method utilizes recoverable un-detached support state, pre-locking stability reference information, continued overall lifting interlock conditions, and anomaly recovery verification to jointly control the process of transferring robot weight from the power line to the drone. This avoids sudden changes in robot posture, premature detachment, local jamming, sudden increase in force on the docking mechanism, off-center suspension, or irreversible detachment caused by direct lifting or simple staged lifting.

[0007] This invention provides the following technical solution:

[0008] A control method for a drone-based robot for recovering power transmission lines is provided, comprising the following steps: S1: Obtain the support status information of the power transmission line operation robot on the conductor, the load status information of the UAV end recovery docking mechanism, and the relative pose information between the UAV end recovery docking mechanism and the robot recovery interface; S2: Based on the robot's support status information on the wire, determine in real time whether the robot is in a recoverable and undecoupled support state. When the robot is in a recoverable and undecoupled support state, based on the acquired load status information and relative displacement information, control the UAV end recovery docking mechanism and the robot recovery interface to complete the pre-locking. S3: Obtain reference information about the robot's stable state under pre-locking; S4: Control the drone to gradually increase the load-bearing tension in a low-speed trial lifting manner, and obtain the remaining support status information of the robot on the guide wire in real time based on the stable state reference information; S5: Based on the remaining support status information, determine whether the conditions for continuing the overall lifting interlock are met. If met, control the drone end recovery docking mechanism to perform the overall phased lifting of the drone, so that the robot gradually enters the semi-loaded state and the full-loaded transition state. If not met, execute the corresponding preset control action according to the unmet item, and return to step S3 after the abnormal recovery verification is passed. S6: During the full load transition phase, when the remaining support status information meets the derailment conditions, it is determined that the robot has completed the derailment recovery, and the drone is controlled to carry the robot away from the line.

[0009] Optionally, in step S1, the support status information of the power transmission line operation robot on the conductor includes one or more of the following: robot walking wheel support force, wheel set support force, clamping mechanism support force, sliding support mechanism support force, track mechanism support force, walking mechanism motor current, conductor contact status, number of effective support contact points, robot attitude angle, robot clamping status, or visually recognized support contact status. The load status information of the UAV terminal recovery docking mechanism includes one or more of the following: load tension of the UAV terminal recovery docking mechanism, mechanism displacement, locking contact force, locking current, locking position signal, locking confirmation signal, or mechanism attitude information.

[0010] Optionally, in step S2, the recoverable undecoupled support state includes one of the following: single support contact state, multi-support contact state, and multi-wire parallel support contact state; the single support contact state indicates that the robot forms support with a wire through one effective support contact point; the multi-support contact state indicates that the robot forms support with a wire through two or more effective support contact points; the multi-wire parallel support contact state indicates that the robot forms support with two or more sub-wires through multiple effective support contact points respectively; In step S2, the real-time determination of whether the robot is in a recoverable undecoupled support state specifically includes: identifying the effective support contact point between the robot and the wire, and determining whether the robot is in a single support contact state, a multi-support contact state, or a multi-wire parallel support contact state.

[0011] Optionally, the effective support contact point between the identification robot and the wire is specifically defined as follows: When the robot is equipped with a support force detection unit, if the corresponding support force state, contact confirmation state, support continuity, robot posture and recovery support capability of each support contact point between the robot and the wire all meet the preset requirements, then the current support contact point is regarded as a valid support contact point. When the robot is not equipped with a support force detection unit, for each support contact point between the robot and the wire, if the corresponding contact confirmation status, walking mechanism motor current, clamping mechanism status, robot posture change or visual recognition result meet the preset requirements, then the current support contact point is a valid support contact point.

[0012] Optionally, in step S3, the reference information for the robot being in a pre-locked stable state includes: The number of effective support contact points in the pre-locked state, the contact confirmation status of each support contact point, the motor current of the walking mechanism, the opening and closing state or position state of the clamping mechanism, the initial attitude angle of the robot, the tensile force of the UAV end recovery docking mechanism in the pre-tightened state, and the relative pose between the UAV end recovery docking mechanism and the robot recovery interface. When the robot is equipped with a support force detection unit, the reference information for the robot in a pre-locked stable state also includes the robot's initial total support force on the conductor and the initial support force of each effective support contact point.

[0013] Optionally, in step S4, the remaining support status information of the robot on the guide wire includes: the remaining support status of the robot on the guide wire, the number of currently effective support contact points, the state changes of each support contact point, the robot's posture and locking state. The remaining support states include: the real-time support force of each effective support contact point, the contact confirmation status of each support contact point, the change in motor current of the walking mechanism relative to the motor current in the stable state reference information, the change in the state of the clamping mechanism relative to the clamping mechanism in the stable state reference information, the change in robot posture relative to the robot posture in the stable state reference information, and the relative position changes between the walking wheel, wheel set, clamping mechanism, sliding support mechanism or track mechanism and the guide wire as visually recognized.

[0014] Optionally, the conditions for continuing the overall lifting interlock in step S5 are: the robot is in a recoverable, undecoupled support state; the number of current effective support contact points meets the preset conditions; the robot's posture is stable; the UAV-end recovery docking mechanism remains locked; the remaining support state does not change abruptly; and the support state changes of each effective support contact point are consistent.

[0015] Optionally, the specific condition for the consistency of the support state changes at each effective support contact point is as follows: When the robot is equipped with a support force detection unit, it acquires the real-time support force of each effective support contact point, calculates the load reduction ratio by combining the initial support force of the current effective support point in the steady state reference information, and calculates the effective load reduction inconsistency based on the deviation between the load reduction ratio of each effective support contact point and the average load reduction ratio of all effective support points: if the effective load reduction inconsistency exceeds the set threshold, then consistency is not satisfied. When the robot is not equipped with a support force detection unit, the system determines whether the support state changes of each support contact point are consistent based on the timing of contact confirmation state changes at each support contact point, the amplitude of motor current changes in the walking mechanism, the state changes of the clamping mechanism, the robot's posture changes, or visual recognition results.

[0016] Optionally, the abnormal recovery verification in step S5 is as follows: determining whether the robot is in a recoverable un-detached support state, determining whether the locking state of the UAV end recovery docking mechanism still meets the preset requirements, determining whether the robot posture has returned to the stable threshold range, and determining whether the current number of effective support contact points has recovered to more than the minimum number of effective support contact points; the preset control actions in step S5 include: reducing the lifting speed, pausing the lifting, or adjusting the lifting direction.

[0017] Optionally, in step S6, the de-threading conditions include: The supporting force of each effective support contact point is lower than the corresponding derailment support force threshold, or the contact state of each effective support contact point changes from contact state to non-contact state; During the process of decreasing support force or changing contact state at each effective support contact point, no single point experienced premature sudden drop, premature disappearance, delayed maintenance, or jamming. The robot's attitude angle did not exceed the attitude stability threshold; The locking state of the drone-end recovery docking mechanism meets the load-bearing requirements; The above conditions are continuously met within the preset sampling period.

[0018] Compared with the prior art, the beneficial effects of the present invention are: (1) This invention changes the robot recovery process from direct lifting to a process involving pre-locking, obtaining reference information on the pre-locking stable state, low-speed trial lifting, continued overall lifting interlocking, and abnormal recovery verification in a recoverable un-detached support state. This reduces the risks of sudden changes in robot posture, jamming of the walking mechanism, and sudden increases in the load on the UAV. This invention does not limit the specific walking structure of the robot and can be applied to single-wheel, two-wheel, multi-wheel, wheel-set, clamping, sliding, or tracked power transmission line operation robots. This invention uses pre-locking stable state reference information and does not require precise acquisition of the support force at each support point, thus adapting to robots with different sensor configurations. If any interlocking condition is not met, the process does not simply stop. Instead, it determines whether to re-enter the low-speed trial pull based on the anomaly type and through anomaly recovery verification. This invention forms a closed-loop control chain of "judgment of recoverable underailed support state - acquisition of pre-locking stable state reference information - continued overall pull interlocking - anomaly recovery verification," which can reduce the risk of local premature derailment and irrecoverable derailment caused by existing single docking, single detection, or single staged pull methods. In addition, the sensor information that can be directly obtained and the executable UAV actions of this invention form a recovery control process, which is easy to implement in engineering and suitable for the field operation environment of transmission lines.

[0019] (2) This invention does not only determine whether the robot has contacted the wire, but also determines whether the robot still has the ability to restore the wire support in case of an abnormality, thereby avoiding irreversible derailment. In view of the actual characteristics that a single UAV can only perform overall lifting and cannot control each support point separately, this invention proposes the interlocking condition for continuing overall lifting, so that the UAV is allowed to continue lifting only when the support state, the number of support points, the consistency of the support state change, the robot posture and the locking state all meet the requirements at the same time. Attached Figure Description

[0020] Figure 1 This is a flowchart of the control method for the unmanned aerial vehicle (UAV) robot used for recovering power transmission lines according to the present invention; Figure 2 This is a schematic diagram of the effective support contact point number determination process of the present invention; Figure 3 This is a schematic diagram of the low-speed trial lifting and continued overall lifting interlocking process of the present invention; Figure 4 This is a schematic diagram of the consistency judgment process for support state changes in this invention; Figure 5 This is a schematic diagram of the abnormal recovery verification process of the present invention; Figure 6 This is a schematic diagram of the unmanned aerial vehicle (UAV) end-recovery docking mechanism of the present invention. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be used to limit the scope of protection of the present invention. It should be noted that the term "comprising" and any variations thereof in the specification, claims and the above-mentioned drawings of the present invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or devices.

[0022] like Figure 1 As shown, a control method for a drone-based robot for recovering power transmission lines includes the following steps: S1: Obtain the support status information of the power transmission line operation robot on the conductor, the load status information of the UAV-end recovery docking mechanism, and the relative pose information between the UAV-end recovery docking mechanism and the robot recovery interface.

[0023] The support status information of the power transmission line operation robot on the conductor includes one or more of the following: robot walking wheel support force, wheel set support force, clamping mechanism support force, sliding support mechanism support force, track mechanism support force, walking mechanism motor current, conductor contact status, number of effective support contact points, robot attitude angle, robot clamping status or visually recognized support contact status.

[0024] The load status information of the UAV-end recovery docking mechanism includes one or more of the following: load tension of the UAV-end recovery docking mechanism, mechanism displacement, locking contact force, locking current, locking position signal, locking confirmation signal, or mechanism attitude information.

[0025] The drone-end recovery docking mechanism includes one or more of the following: hook, buckle, mechanical gripper, guide frame, locking mechanism, load-bearing hooking mechanism, or recovery docking device; the robot recovery interface is compatible with the drone recovery docking mechanism and specifically includes one or more of the following: lifting ring, hooking hole, buckle seat, guide post, locking seat, ball head seat, or recovery connection seat.

[0026] like Figure 6 As shown, the drone-end recovery docking mechanism, referencing existing technology, can specifically include an inlet section, a flexible correction component, a pre-locking mechanism, a main load-bearing locking mechanism, and a secondary locking mechanism. The inlet section guides the robot's recovery interface to the recovery docking center area; the flexible correction component absorbs small relative deviations and reduces contact impact; the pre-locking mechanism maintains the relative position of the interface under low tension; the main load-bearing locking mechanism supports the robot's weight; and the secondary locking mechanism performs redundant verification of load-bearing safety before the robot derails. The robot is equipped with a recovery interface, which can be a lifting ring, guide post, ball joint, plug connector, snap-fit ​​seat, locking seat, or a combination thereof. The robot can use wheels, wheel sets, clamping mechanisms, sliding support mechanisms, or track mechanisms to travel or support along the power transmission line.

[0027] S2: Based on the robot's support status information on the guide wire, determine in real time whether the robot is in a recoverable un-detached support state. When the robot is in a recoverable un-detached support state, based on the acquired load status information and relative displacement information, control the UAV end recovery docking mechanism to complete the pre-locking with the robot recovery interface.

[0028] The recoverable undetached support state includes one of the following: single-support contact state, multi-support contact state, and multi-wire parallel support contact state. Specifically, the recoverable undetached support state of this invention refers to a situation where, during the drone recovery process, the robot has not completely detached from the power transmission line and remains in contact with the line through its wheels, wheel sets, clamping mechanism, sliding support mechanism, or track mechanism, with the line bearing part of the robot's weight. Simultaneously, when the drone stops lifting, reduces the preload, or releases a small amount of load-bearing tension, the robot can return to a stable support state. This recoverable undetached support state differs from ordinary contact detection. Ordinary contact detection typically only determines whether a single sensor has detected a contact signal, while this invention requires the robot to retain the ability to restore wire support even in abnormal situations. Therefore, the recoverable undetached support state is both a state identification result and a safety prerequisite for allowing the drone to continue lifting as a whole. When the robot no longer possesses the recoverable undetached support capability, even if the drone-end recovery docking mechanism has not yet achieved reliable load bearing, further lifting is not permitted; instead, an abnormal recovery or safe withdrawal process should commence.

[0029] A single-support contact state indicates that the robot is supported by a single effective support contact point and a single wire; a multi-support contact state indicates that the robot is supported by a single wire and two or more effective support contact points; a multi-wire parallel support contact state indicates that the robot is supported by two or more sub-wires and two or more effective support contact points respectively.

[0030] Step S2 specifically includes: Step S21: Determine in real time whether the robot is in a recoverable, un-detached support state.

[0031] Specifically, this includes: identifying the effective support contact point between the robot and the wire, determining whether the robot is in a single support contact state, a multi-support contact state, or a multi-wire parallel support contact state; if so, determining that the robot is in a recoverable, un-detached support state; otherwise, determining that the robot is not in a recoverable, un-detached support state, and outputting a safe retraction or requesting manual intervention command.

[0032] An effective support contact point refers to a contact position where the robot maintains effective contact with the guide wire during retrieval, providing support or a stable contact state, and restoring or maintaining its support function after the drone stops lifting or reduces preload. Effective support contact points can be formed by wheels, wheel sets, clamping mechanisms, sliding support mechanisms, or track mechanisms.

[0033] like Figure 2 As shown, when the robot is equipped with a support force detection unit, a support contact point is determined to be a valid support contact point if it simultaneously meets the following conditions: Effective support condition 1: The support force at the current support contact point is greater than the contact force threshold; Effective support condition two: The traveling wheel, wheel set, clamping mechanism, sliding support mechanism or track mechanism corresponding to the current support contact point is in a contact confirmation state; Effective support condition three: The support force corresponding to the current support contact point has not experienced a sudden drop or distortion within several consecutive sampling periods; Valid support condition four: The robot's posture does not exceed the allowable posture range corresponding to the current support contact point; Effective support condition five: When the UAV-end recovery docking mechanism reduces the preload or pauses the lifting, the current support contact point can restore or maintain its support for the conductor.

[0034] When the robot is not equipped with a support force detection unit, it can determine whether the support contact point is a valid support contact point based on the contact confirmation status corresponding to the support contact point, the motor current of the walking mechanism, the status of the clamping mechanism, the robot's posture change, or the visual recognition result.

[0035] Step S22: Based on the acquired load status information and relative displacement information, control the UAV end recovery docking mechanism and the robot recovery interface to complete the pre-locking.

[0036] Control the drone-side recovery docking mechanism to enter the import area of ​​the robot recovery interface, and complete the pre-locking under the condition that the drone-side recovery docking mechanism does not bear the main weight of the robot.

[0037] During retrieval operations, robots are typically in a stopped or low-speed parking state. Therefore, this invention does not require separate measurement of the robot's retrieval interface speed. Instead, it calculates the approach speed of the UAV-end retrieval docking mechanism relative to the robot's retrieval interface by continuously sampling the position error changes.

[0038] Positional error between the drone-side recovery docking mechanism and the robot recovery interface for: ; Approach speed error of the drone-end recovery docking mechanism relative to the robot recovery interface for: ; in, R r This is the attitude matrix of the recycling docking coordinate system constructed based on the robot recycling interface. This is the current reference point location for the drone's on-board recovery docking mechanism. This is the current reference point position for the robot's recycling interface. The sampling period is defined as follows: When the position error, proximity speed error, attitude error, and contact force are all less than their respective thresholds, and the drone-end recovery docking mechanism is not bearing the main weight of the robot, the drone-end recovery docking mechanism is controlled to enter a pre-locking state. In the pre-locking state, the drone-end recovery docking mechanism only provides a small preload, and the robot is still mainly supported by the wires.

[0039] S3: Obtain reference information about the robot's stable pre-locked state.

[0040] The pre-locking stability reference information does not need to include the precise support force at each support contact point, but rather includes reference information that can be directly obtained or reliably estimated on site.

[0041] In one embodiment, the pre-locking stability reference information includes: the current number of effective support contact points, the contact confirmation status of each support contact point, the motor current of the walking mechanism, the opening and closing status or position status of the clamping mechanism, the robot's initial attitude angle, the pre-tightening load of the UAV end-end recovery docking mechanism, and the initial relative pose between the UAV end-end recovery docking mechanism and the robot recovery interface.

[0042] When the robot is equipped with a support force detection unit, the pre-locking stability reference information may also include the robot's initial total support force on the conductor and the initial support force at each effective support contact point.

[0043] The pre-locking stability reference information is used to subsequently determine the degree of robot weight transfer, whether the number of support contact points has decreased, whether the support state changes abruptly, whether the changes in the support state are consistent, and whether the robot's posture deviates from the stable range. By employing pre-locking stability reference information, this invention avoids limiting the implementation to precisely calibrating the initial support force of each support contact point, thus improving adaptability to different robot structures, sensor configurations, and field posture conditions.

[0044] S4: Control the drone to gradually increase the load-bearing tension by slowly lifting, and obtain the robot's remaining support status information on the guide wire in real time based on the stable state reference information.

[0045] like Figure 3 As shown, the remaining support status information of the robot on the guide wire includes: the remaining support status of the robot on the guide wire, the number of currently effective support contact points, the state changes of each support contact point, the robot's posture and locking state.

[0046] The remaining support status includes: the real-time support force of each effective support contact point, the contact confirmation status of each support contact point, the change in motor current of the walking mechanism relative to the motor current in the stable state reference information, the change in the state of the clamping mechanism relative to the clamping mechanism in the stable state reference information, the change in robot posture relative to the robot posture in the stable state reference information, and the relative position changes between the walking wheel, wheel set, clamping mechanism, sliding support mechanism or track mechanism and the guide wire as recognized by vision.

[0047] After pre-locking is completed and reference information on the stable pre-locking state is obtained, the UAV-side recovery docking mechanism does not immediately lift the robot at high speed, but instead enters a low-speed trial lifting phase. The low-speed trial lifting includes the following process: First, keep the drone-end recovery docking mechanism locked, and pull it upwards or along the preset recovery direction at a trial pull speed that is slower than the normal pull speed. Second, real-time data collection is performed on the tensile force of the drone-end recovery docking mechanism, the robot's remaining support status on the guide wire, the number of current effective support contact points, the status changes of each support contact point, and the robot's posture and locking status. Third, the real-time data during the low-speed trial lifting process is compared with the pre-locking stable state reference information to obtain the remaining support state information of the robot on the guide wire.

[0048] S5: Based on the remaining support status information, determine whether the conditions for continuing the overall lifting interlock are met. If met, control the drone end recovery docking mechanism to perform the overall phased lifting of the drone, so that the robot gradually enters the semi-loaded state and the full-loaded transition state. If not met, execute the corresponding preset control action according to the unmet item, and return to step S3 after the abnormal recovery verification is passed.

[0049] Step S5 specifically includes: Step S51: Define the conditions for continuing the overall lifting interlock as follows: The robot is in a recoverable, unbroken support state; the number of current effective support contact points meets the preset conditions; the robot's posture is stable; the drone-end recovery docking mechanism remains locked; the remaining support state has not changed abruptly; and the support state changes of each effective support contact point are consistent.

[0050] The continued overall lifting interlock condition of this invention is not a typical condition judgment, but a safety interlock logic for the overall lifting and recovery process of a UAV. Ordinary condition judgments typically execute a corresponding action when a certain condition is met. However, the continued overall lifting interlock condition of this invention requires multiple safety conditions to be met simultaneously. Only when the following requirements are met—that the undecoupled support state can be restored, the number of currently effective support contact points, the remaining support state, the consistency of support state changes at each support contact point, the robot's posture, and the locking state of the UAV-end recovery docking mechanism—is the UAV-end recovery docking mechanism allowed to continue increasing the lifting amount. If any continued overall lifting interlock condition is not met, the UAV-end recovery docking mechanism is prohibited from further increasing the lifting amount and enters an abnormal handling process. At this time, a single UAV does not independently control a particular support contact point, but instead performs overall control actions such as reducing the overall lifting speed, pausing the lifting, adjusting the lifting direction, reducing the preload, restoring the wire support, or retreating to a safe airspace. Therefore, the role of the interlocking condition for continuing overall lifting is not simply to determine "whether lifting is possible," but rather to use recoverable support capability, support contact state, consistency of support state changes, attitude stability, and locking reliability as safety gates for continuing lifting during the transfer of the robot from wire support to drone-borne load. This interlocking logic can prevent continued lifting when there is premature derailment of local support, support jamming, attitude imbalance, or unreliable locking, thereby reducing the risks of premature derailment, uneven suspension, and irreversible derailment.

[0051] S52: Based on the remaining support status information, determine whether the conditions for continuing overall lifting interlock are met. When all conditions for continuing overall lifting interlock are met, the robot is determined to meet the requirements for continuing overall lifting. When any condition for continuing overall lifting interlock is not met, the robot is determined not to meet the requirements for continuing overall lifting, and the UAV-end recovery docking mechanism is prohibited from increasing the lifting amount.

[0052] like Figure 4 As shown, the specific conditions for the consistency of the support state changes at each effective support contact point are as follows: When the robot is not equipped with a support force detection unit, the system determines whether the support state changes of each support contact point are consistent based on the timing of contact confirmation state changes at each support contact point, the amplitude of motor current changes in the walking mechanism, the state changes of the clamping mechanism, the robot's posture changes, or visual recognition results.

[0053] When the robot is equipped with a support force detection unit, it acquires the real-time support force of each effective support contact point and calculates the load reduction ratio by combining the initial support force of the current effective support point in the steady state reference information. It calculates the effective load reduction inconsistency based on the deviation between the load reduction ratio of each effective support contact point and the average load reduction ratio of all effective support points. If the effective load reduction inconsistency exceeds the set threshold, the consistency is not satisfied.

[0054] Specifically, when the robot is equipped with a support force detection unit, the first... r Real-time support force of each effective support contact point F r And based on the initial support force of the support contact point in the pre-locking stable state reference information. F r0 Calculate the load reduction ratio: ; Calculate the average load reduction ratio for all effective support contact points: ; in, This represents the current number of effective support contact points.

[0055] The effective load reduction inconsistency is calculated based on the deviation between the load reduction ratio at each effective support contact point and the average load reduction ratio. The effective load reduction inconsistency can be the average or maximum value of the load reduction inconsistency at all effective support points; or

[0056] when When the unloading inconsistency threshold is less than or equal to the threshold value, the robot is deemed to meet the balanced unloading condition and is allowed to continue lifting as a whole; when When the load inconsistency threshold is exceeded, it is determined that the robot has the risk of premature derailment, local jamming, or uneven load suspension. The drone-end recovery docking mechanism is then controlled to reduce the lifting speed, pause the lifting, adjust the lifting direction, or restore the wire support.

[0057] The threshold for unloading inconsistency can be determined through low-speed trial lifting calibration. When the robot can maintain stable posture and restore wire support within a certain unloading inconsistency range, this range is taken as the allowable range; when the unloading inconsistency increases, causing sudden changes in posture, local jamming, or off-center loading, this value is used as an anomaly judgment reference.

[0058] When the support force detection method is not used, the threshold for determining inconsistent support state changes can be determined based on the timing difference of contact state changes, the amplitude difference of motor current changes, the difference of clamping mechanism state changes, or the amplitude of posture changes.

[0059] Step S53: When any of the conditions for continuing overall lifting interlocking are not met, execute the corresponding overall control action according to the type of abnormality.

[0060] like Figure 5 As shown, when the remaining support state decreases too quickly or a sudden change occurs, the lifting speed of the UAV-end recovery docking mechanism should be reduced or the lifting should be paused. Specifically: If the current number of effective support contact points is less than the minimum number of effective support contact points, stop lifting and reduce the preload to restore wire support while the robot is still in a recoverable undecoupled support state. If the support status changes significantly inconsistently at each support contact point, reduce the lifting speed, pause the lifting, or adjust the lifting direction. If the robot's attitude angle exceeds the attitude stability threshold, pause the lifting or control the drone to retreat to a safe airspace. If the locking state of the drone-end recovery docking mechanism is abnormal, stop lifting and reduce the preload while the robot is still in a recoverable undecoupled support state, so that the robot can restore the wire support; If the drone's attitude angle exceeds the drone's safe attitude threshold, stop pulling up or retreat to a safe airspace.

[0061] The above control actions are all overall control actions that a single UAV can directly execute, and do not involve applying independent control force to a single support contact point.

[0062] After pausing the lifting action, reducing the preload, or adjusting the lifting direction, perform an abnormal recovery verification.

[0063] Anomaly recovery verification includes the following steps: First, determine whether the robot is still maintaining effective support contact with the wires; Second, determine whether the current number of effective support contact points has recovered to or exceeded the minimum number of effective support contact points; Third, determine whether the robot's posture has returned to a stable threshold range; Fourth, determine whether the locking state of the drone-end recovery docking mechanism still meets the preset requirements; Fifth, determine whether the robot can regain the state of being able to recover from being disconnected from the wires.

[0064] If the robot recovers to a recoverable unbroken support state, it will reacquire the pre-locked stable state reference information and re-enter the low-speed trial lifting process.

[0065] If the robot fails to return to a recoverable, un-detached support state, but the locking state of the drone-end recovery docking mechanism meets the load-bearing requirements, then control the drone to carry the robot back to a safe airspace.

[0066] If the robot fails to return to a recoverable undecoupled support state, and the locking state of the drone-end recovery docking mechanism does not meet the load-bearing requirements, then control the drone to maintain the minimum safe load-bearing tension and request manual or upper-level control system intervention.

[0067] The minimum number of effective support contact points can be determined based on the robot structure; for a single-support contact robot, the minimum number of effective support contact points can be 1; for a multi-support contact robot, the minimum number of effective support contact points can be 2 or more; for a multi-wire parallel support robot, the minimum number of effective support contact points can be determined based on the number of sub-wires involved in the support and the number of support mechanisms.

[0068] Step S54: Perform phased overall lifting control.

[0069] Based on the degree of robot weight transfer, the ability to restore the unbroken support state, and the conditions for continued overall lifting and interlocking, the recovery process is divided into the following stages: The first stage is the un-decoupled support stage. At this time, the drone-end recovery docking mechanism only performs input correction, pre-locking, pre-locking stable state reference information acquisition, and low-speed trial lifting. The robot is mainly supported by wires.

[0070] The second stage is the semi-load-bearing stage. At this time, the drone-end recovery docking mechanism gradually bears part of the robot's weight, but the robot is still partially supported by the wires. This stage requires that all conditions for continuing the overall lifting interlocking be met. That is, if the conditions for continuing the overall lifting interlocking are not met (the allowable range of the conditions for continuing the lifting interlocking in the semi-load-bearing stage is different from the allowable range in step S52), then return to step S3 and re-obtain the reference information of the robot being in a pre-locked stable state.

[0071] The third stage is the full-load transition stage. At this time, the drone-end recovery docking mechanism bears the main weight of the robot and continuously monitors the remaining support status, the number of effective support contact points, the consistency of support status changes, the robot's posture, and the locking status.

[0072] During the semi-load-bearing phase, the load-bearing tensile force increases dynamically. At this time, the drone bears part of the weight, while the wires still bear the remainder. When the tensile force increases sufficiently to support the majority of the robot's weight, it enters the full-load-bearing transition phase, during which the load-bearing tensile force remains constant (load-preserving mode).

[0073] Before performing the phased overall lifting, the main load-bearing locking mechanism completes the main locking operation.

[0074] S6: During the full load transition phase, when the remaining support status information meets the derailment conditions, it is determined that the robot has completed the derailment recovery, and the drone is controlled to carry the robot away from the line.

[0075] Based on the decrease in support force at each effective support contact point, changes in contact state, or visual recognition results, determine whether the robot meets the consistent derailment condition.

[0076] The robot is deemed to have met the derailment condition when all of the following conditions are met: First, the supporting force of each effective support contact point is lower than the corresponding derailment support force threshold, or the contact state of each effective support contact point changes from the contact state to the non-contact state. Second, during the process of decreasing support force or changing contact state at each effective support contact point, no single point experienced premature sudden drop, premature disappearance, delayed maintenance, or jamming. Third, the robot's attitude angle did not exceed the attitude stability threshold; the attitude stability threshold can be determined based on the robot's allowable pitch angle, roll angle, and the drone's carrying capacity.

[0077] Fourth, the locking state of the drone-end recovery docking mechanism meets the load-bearing requirements; Fifth, the above conditions are continuously met within the preset sampling period.

[0078] If any support contact point becomes derailed prematurely or derailed beyond the allowable range, it is determined that the robot has a risk of sudden attitude change, support jamming, or off-center loading, and the drone is controlled to stop lifting or enter the abnormal recovery verification process.

[0079] In this embodiment, when the derailment condition is about to be met (e.g., the number of contact points has dropped to 1 or 2), or after the locking state meets the load-bearing requirements, the secondary locking mechanism is executed to lock.

[0080] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of the present invention.

[0081] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A control method for a drone-based robot for recovering power transmission lines, characterized in that, Includes the following steps: S1: Obtain the support status information of the power transmission line operation robot on the conductor, the load status information of the UAV end recovery docking mechanism, and the relative pose information between the UAV end recovery docking mechanism and the robot recovery interface; S2: Based on the robot's support status information on the wire, determine in real time whether the robot is in a recoverable and undecoupled support state. When the robot is in a recoverable and undecoupled support state, based on the acquired load status information and relative displacement information, control the UAV end recovery docking mechanism and the robot recovery interface to complete the pre-locking. S3: Obtain reference information about the robot's stable state under pre-locking; S4: Control the drone to gradually increase the load-bearing tension in a low-speed trial lifting manner, and obtain the remaining support status information of the robot on the guide wire in real time based on the stable state reference information; S5: Based on the remaining support status information, determine whether the conditions for continuing the overall lifting interlock are met. If met, control the drone end recovery docking mechanism to perform the overall phased lifting of the drone, so that the robot gradually enters the semi-loaded state and the full-loaded transition state. If not met, execute the corresponding preset control action according to the unmet item, and return to step S3 after the abnormal recovery verification is passed. S6: During the full load transition phase, when the remaining support status information meets the derailment conditions, it is determined that the robot has completed the derailment recovery, and the drone is controlled to carry the robot away from the line.

2. The control method for the UAV-based power transmission line recovery robot according to claim 1, characterized in that, In step S1, the support status information of the power transmission line operation robot on the conductor includes one or more of the following: robot walking wheel support force, wheel set support force, clamping mechanism support force, sliding support mechanism support force, track mechanism support force, walking mechanism motor current, conductor contact status, number of effective support contact points, robot attitude angle, robot clamping status or visually recognized support contact status. The load status information of the UAV terminal recovery docking mechanism includes one or more of the following: load tension of the UAV terminal recovery docking mechanism, mechanism displacement, locking contact force, locking current, locking position signal, locking confirmation signal, or mechanism attitude information.

3. The control method for the unmanned aerial vehicle (UAV) robot for recovering power transmission lines according to claim 1, characterized in that, In step S2, the recoverable undecoupled support state includes one of the following: single support contact state, multi-support contact state, and multi-wire parallel support contact state; the single support contact state means that the robot forms support with a wire through one effective support contact point; the multi-support contact state means that the robot forms support with a wire through two or more effective support contact points; the multi-wire parallel support contact state means that the robot forms support with two or more sub-wires through multiple effective support contact points respectively; In step S2, the real-time determination of whether the robot is in a recoverable undecoupled support state specifically includes: identifying the effective support contact point between the robot and the wire, and determining whether the robot is in a single support contact state, a multi-support contact state, or a multi-wire parallel support contact state.

4. The control method for the UAV-based power transmission line recovery robot according to claim 3, characterized in that, The effective support contact point between the identification robot and the wire is specifically: When the robot is equipped with a support force detection unit, if the corresponding support force state, contact confirmation state, support continuity, robot posture and recovery support capability of each support contact point between the robot and the wire all meet the preset requirements, then the current support contact point is regarded as a valid support contact point. When the robot is not equipped with a support force detection unit, for each support contact point between the robot and the wire, if the corresponding contact confirmation status, walking mechanism motor current, clamping mechanism status, robot posture change or visual recognition result meet the preset requirements, then the current support contact point is a valid support contact point.

5. The control method for the unmanned aerial vehicle (UAV) robot for recovering power transmission lines according to claim 1, characterized in that, In step S3, the reference information for the robot being in a pre-locked stable state includes: The number of effective support contact points in the pre-locked state, the contact confirmation status of each support contact point, the motor current of the walking mechanism, the opening and closing state or position state of the clamping mechanism, the initial attitude angle of the robot, the tensile force of the UAV end recovery docking mechanism in the pre-tightened state, and the relative pose between the UAV end recovery docking mechanism and the robot recovery interface. When the robot is equipped with a support force detection unit, the reference information for the robot in a pre-locked stable state also includes the robot's initial total support force on the conductor and the initial support force of each effective support contact point.

6. The control method for the unmanned aerial vehicle (UAV) robot for recovering power transmission lines according to claim 1, characterized in that, In step S4, the remaining support status information of the robot on the guide wire includes: the remaining support status of the robot on the guide wire, the number of currently effective support contact points, the state changes of each support contact point, the robot's posture and locking state. The remaining support states include: the real-time support force of each effective support contact point, the contact confirmation status of each support contact point, the change in motor current of the walking mechanism relative to the motor current in the stable state reference information, the change in the state of the clamping mechanism relative to the clamping mechanism in the stable state reference information, the change in robot posture relative to the robot posture in the stable state reference information, and the relative position changes between the walking wheel, wheel set, clamping mechanism, sliding support mechanism or track mechanism and the guide wire as visually recognized.

7. The control method for the unmanned aerial vehicle (UAV) robot for recovering power transmission lines according to claim 1, characterized in that, The conditions for continuing the overall lifting and interlocking in step S5 are: the robot is in a recoverable, undecoupled support state; the number of current effective support contact points meets the preset conditions; the robot's posture is stable; the UAV-end recovery docking mechanism remains locked; the remaining support state does not change abruptly; and the support state changes of each effective support contact point are consistent.

8. The control method for the unmanned aerial vehicle (UAV) robot for recovering power transmission lines according to claim 7, characterized in that, The specific condition for the consistency of the support state changes at each effective support contact point is as follows: When the robot is equipped with a support force detection unit, it acquires the real-time support force of each effective support contact point, calculates the load reduction ratio by combining the initial support force of the current effective support point in the steady state reference information, and calculates the effective load reduction inconsistency based on the deviation between the load reduction ratio of each effective support contact point and the average load reduction ratio of all effective support points: if the effective load reduction inconsistency exceeds the set threshold, then consistency is not satisfied. When the robot is not equipped with a support force detection unit, the system determines whether the support state changes of each support contact point are consistent based on the timing of contact confirmation state changes at each support contact point, the amplitude of motor current changes in the walking mechanism, the state changes of the clamping mechanism, the robot's posture changes, or visual recognition results.

9. The control method for the unmanned aerial vehicle (UAV) robot for recovering power transmission lines according to claim 7, characterized in that, The abnormal recovery verification in step S5 is as follows: determine whether the robot is in a recoverable un-detached support state, determine whether the locking state of the UAV end recovery docking mechanism still meets the preset requirements, determine whether the robot posture has returned to the stable threshold range, and determine whether the current number of effective support contact points has recovered to more than the minimum number of effective support contact points. The preset control actions in step S5 include: reducing the lifting speed, pausing the lifting, or adjusting the lifting direction.

10. The control method for the unmanned aerial vehicle (UAV) robot for recovering power transmission lines according to claim 1, characterized in that, In step S6, the de-threading conditions include: The supporting force of each effective support contact point is lower than the corresponding derailment support force threshold, or the contact state of each effective support contact point changes from contact state to non-contact state; During the process of decreasing support force or changing contact state at each effective support contact point, no single point experienced premature sudden drop, premature disappearance, delayed maintenance, or jamming. The robot's attitude angle did not exceed the attitude stability threshold; The locking state of the drone-end recovery docking mechanism meets the load-bearing requirements; The above conditions are continuously met within the preset sampling period.

Images