CN-122008291-A - Adsorption control method of magnetic glove and magnetic glove

CN122008291ACN 122008291 ACN122008291 ACN 122008291ACN-122008291-A

Abstract

The invention relates to the field of distribution network live working and discloses an adsorption control method of a magnetic glove and the magnetic glove, comprising the steps of acquiring an object image of a target object to be adsorbed, inputting the extracted comprehensive characteristic data into a preset adsorption magnetic force prediction model for prediction, controlling the magnetic glove to adsorb the target object according to the predicted adsorption magnetic force, acquiring an adsorption real-time pressure value, and carrying out real-time fine adjustment on the adsorption magnetic force to obtain the adsorption magnetic force subjected to real-time fine adjustment, so as to control the magnetic glove to adsorb the target object in real time according to the adsorption magnetic force subjected to real-time fine adjustment; the intelligent magnetic force control and real-time pressure feedback cooperative mechanism is adopted to comprehensively optimize the picking of the fine metal parts, so that the problems that the fine metal parts are difficult to pick and easy to fall off during installation in the traditional live working are solved, the operation efficiency is remarkably improved, the part slipping probability is greatly reduced, and the illegal behaviors in the working are effectively reduced.

Inventors

XU CHENWEI
ZHAO BIAO
LIAO DESHENG
Zu Yuntian
Cao Zhongren
LIU YUN
Yin Yaochen
Yang Yindan
WU XINGBIN
Yang Lintan
WANG SHUCHENG
ZI YUNJIANG
LI HAO
ZHAO XU
HE JIE

Assignees

云南电网有限责任公司电力科学研究院

Dates

Publication Date: 20260512
Application Date: 20260106

Claims (10)

1. An adsorption control method of a magnetic glove, which is characterized by comprising the following steps: acquiring an object image of a target object to be adsorbed; extracting features of the object image to obtain comprehensive feature data, and inputting the comprehensive feature data into a preset adsorption magnetic force prediction model to obtain adsorption magnetic force; controlling the magnetic glove to adsorb the target object according to the adsorption magnetic force; Acquiring a real-time pressure value between the magnetic glove and the target object after the target object is adsorbed by the magnetic glove, and performing real-time fine adjustment on the adsorption magnetic force according to the real-time pressure value to obtain the adsorption magnetic force subjected to real-time fine adjustment; and controlling the magnetic glove to adsorb the target object in real time according to the adsorption magnetic force after the real-time fine adjustment.
2. The method for controlling the adsorption of the magnetic glove according to claim 1, wherein the performing the real-time fine adjustment on the adsorption magnetic force according to the real-time pressure value to obtain the adsorption magnetic force after the real-time fine adjustment comprises: According to the comprehensive characteristic data, a stable adsorption pressure value of the target object adsorbed and moved by the magnetic glove is obtained; determining a real-time pressure deviation value according to the real-time pressure value and the stable adsorption pressure value; and carrying out real-time fine adjustment on the adsorption magnetic force according to the real-time pressure deviation value to obtain the adsorption magnetic force subjected to real-time fine adjustment.
3. The method for controlling the suction of a magnetic glove according to claim 2, wherein the integrated characteristic data includes an object type and an object size, and the acquiring a stable suction pressure value of the target object to be sucked by the magnetic glove according to the integrated characteristic data includes: According to the object type and the object size, matching the object mass and the friction coefficient in a preset matching table to obtain the object mass of the target object and the friction coefficient between the target object and the magnetic glove; and determining the stable adsorption pressure value according to the object mass and the friction coefficient.
4. A suction control method of a magnetic glove according to claim 3, wherein the determining the stable suction pressure value based on the object mass and the friction coefficient includes: using the formula Determining the stable adsorption pressure value; Wherein, the For the value of the stable adsorption pressure, For the mass of the object in question, As a result of the coefficient of friction that is stated, The acceleration of the gravity is that, As a function of the cosine of the wave, In order to preset the inclination angle of the adsorption surface, As a function of the sine of the wave, Is the preset acceleration.
5. The method for controlling the adsorption of the magnetic glove according to claim 2, wherein the performing the real-time fine adjustment on the adsorption magnetic force according to the real-time pressure deviation value to obtain the adsorption magnetic force after the real-time fine adjustment comprises: Under the condition that the real-time pressure deviation value meets a preset pressure deviation range, taking the adsorption magnetic force as the adsorption magnetic force subjected to real-time fine adjustment; When the real-time pressure deviation value does not meet the preset pressure deviation range and is larger than the upper limit of the preset pressure deviation range, the adsorption magnetic force is regulated down in real time according to a preset step length, and the adsorption magnetic force subjected to real-time fine adjustment is obtained; And under the condition that the real-time pressure deviation value does not meet the preset pressure deviation range and is smaller than the lower limit of the preset pressure deviation range, the adsorption magnetic force is regulated in real time according to the preset step length, and the adsorption magnetic force subjected to real-time fine adjustment is obtained.
6. The method for controlling the adsorption of a magnetically attractable glove according to claim 5, further comprising: Acquiring real-time pressure deviation values of the magnetic glove from the starting moment of adsorbing the target object to each moment of the current moment; determining an accumulated pressure deviation value according to the real-time pressure deviation values at all the moments; Determining the change rate of the pressure deviation value according to the real-time pressure deviation value at the current moment; And determining the preset step length by using a PID control algorithm according to the real-time pressure deviation value at the current moment, the accumulated pressure deviation value and the pressure deviation value change rate.
7. The method according to claim 6, wherein determining the preset step size according to the real-time pressure deviation value, the accumulated pressure deviation value, and the pressure deviation value change rate at the current time using a PID control algorithm comprises: using the formula Determining the preset step length; Wherein, the For the preset step size to be used, 、 And Respectively proportional coefficient, integral coefficient and differential coefficient of the PID control algorithm, For the real-time pressure deviation value at the present moment, For the value of the accumulated pressure deviation, For the current moment of time in question, For the real-time pressure deviation value at time t, And the pressure deviation value change rate is used.
8. The method for controlling the adsorption of a magnetic glove according to claim 1, wherein the integrated feature data includes an object type and an object size, and the feature extracting the object image to obtain the integrated feature data includes: and inputting the object image into a preset object recognition model to obtain the object type and the object size of the target object.
9. The method for controlling the adsorption of a magnetically attractable glove according to claim 1, further comprising: acquiring a key operation instruction based on key operation of a user; And controlling the magnetic glove to release the target object according to the key operation instruction.
10. The magnetic glove is characterized by comprising a live working glove, a magnetic block, an array pressure sensor, a miniature camera and a controller; The finger tip part of the index finger of the live working glove is provided with an inner cavity, the magnetic block is embedded in the inner cavity, the array pressure sensor is arranged between the inner wall of the inner cavity close to the outside side and the magnetic block, a miniature camera is arranged beside the magnetic block, the inner cavity is provided with an opening, and the miniature camera is communicated with the outside through the opening; the magnetic block, the array pressure sensor and the miniature camera are all connected with the controller; The magnetic block is used for adsorbing a target object to be adsorbed; the miniature camera is used for shooting the target object to obtain an object image of the target object; The array pressure sensor is used for detecting a real-time pressure value between the magnetic block and the target object after the magnetic block adsorbs the target object; The controller is configured to execute the adsorption control method of the magnetically attractable glove according to any one of claims 1 to 9.

Description

Adsorption control method of magnetic glove and magnetic glove Technical Field The invention relates to the field of distribution network live working, in particular to an adsorption control method of a magnetic glove and the magnetic glove. Background In the field of distribution network live working, the existing live working glove system (comprising sweat-absorbent cotton glove, insulating glove and puncture-preventing glove) can provide basic mechanical protection, but has obvious defects in the operation scene of tiny metal parts. The method is characterized in that when an operator works at high altitude in an insulating bucket of the insulating bucket arm vehicle, the operator faces metal parts such as nuts, shrapnel and gaskets with the specification of 6mm-22mm, and the operator needs to finish picking and installing operations under the condition of wearing multi-layer protective gloves. Because of the physical characteristics of the traditional glove, operators cannot directly pinch the small parts by fingers, and are forced to adopt an alternative mode of picking the small iron wires or the aluminum wires piece by piece into the palm, so that the operation flow is tedious and the efficiency is low. More seriously, when a gasket, an elastic sheet and a nut are arranged on a screw rod with the thickness of 6mm-22mm, the phenomenon of part slipping often occurs due to the lack of effective fixing force between the glove and the part, so that C, D type illegal operation is frequently initiated, the operation safety risk is obviously increased, and vicious circulation of inconvenient operation, low efficiency and potential safety hazard is formed. Disclosure of Invention Based on the above, it is necessary to provide a magnetic glove adsorption control method and a magnetic glove, which comprehensively optimize the picking of fine metal parts through a cooperative mechanism of intelligent magnetic force regulation and real-time pressure feedback, solve the problems of difficult picking and easy falling off during installation of the fine metal parts in traditional live working, realize remarkable improvement of operation efficiency, greatly reduce the part slipping probability, effectively reduce the offending behavior in the working, remarkably reduce the safety risk of the high-altitude working, and finally form a high-efficiency, safe and compliant working technical system, thereby providing reliable technical guarantee for the live working of a distribution network. In order to achieve the above object, the present invention provides in a first aspect an adsorption control method of a magnetic glove, the method comprising: acquiring an object image of a target object to be adsorbed; extracting features of the object image to obtain comprehensive feature data, and inputting the comprehensive feature data into a preset adsorption magnetic force prediction model to obtain adsorption magnetic force; controlling the magnetic glove to adsorb the target object according to the adsorption magnetic force; Acquiring a real-time pressure value between the magnetic glove and the target object after the target object is adsorbed by the magnetic glove, and performing real-time fine adjustment on the adsorption magnetic force according to the real-time pressure value to obtain the adsorption magnetic force subjected to real-time fine adjustment; and controlling the magnetic glove to adsorb the target object in real time according to the adsorption magnetic force after the real-time fine adjustment. Optionally, the performing real-time fine adjustment on the adsorption magnetic force according to the real-time pressure value to obtain the adsorption magnetic force after real-time fine adjustment includes: According to the comprehensive characteristic data, a stable adsorption pressure value of the target object adsorbed and moved by the magnetic glove is obtained; determining a real-time pressure deviation value according to the real-time pressure value and the stable adsorption pressure value; and carrying out real-time fine adjustment on the adsorption magnetic force according to the real-time pressure deviation value to obtain the adsorption magnetic force subjected to real-time fine adjustment. Optionally, the comprehensive feature data includes an object type and an object size, and the acquiring, according to the comprehensive feature data, a stable adsorption pressure value of the target object adsorbed and moved by the magnetic attraction glove includes: According to the object type and the object size, matching the object mass and the friction coefficient in a preset matching table to obtain the object mass of the target object and the friction coefficient between the target object and the magnetic glove; and determining the stable adsorption pressure value according to the object mass and the friction coefficient. Optionally, the determining the stable adsorption pressure value according to the object