CN114784702A - Overhead ground wire repair control device, control method and system - Google Patents
Overhead ground wire repair control device, control method and system Download PDFInfo
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- CN114784702A CN114784702A CN202210535636.0A CN202210535636A CN114784702A CN 114784702 A CN114784702 A CN 114784702A CN 202210535636 A CN202210535636 A CN 202210535636A CN 114784702 A CN114784702 A CN 114784702A
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The application relates to an overhead ground wire repairing control device, an overhead ground wire repairing control method and an overhead ground wire repairing control system. The control device is applied to the overhead ground wire repairing device; the control device is used for connecting an upper computer or a terminal; the control device comprises a main control unit, a sensor assembly connected with the main control unit, a walking control unit and an operation control unit; the walking control unit is used for connecting a walking driving motor; the operation control unit is used for connecting an operation driving motor; the main control unit receives fault information transmitted by an upper computer, and if the to-be-moved distance between the repairing device and a fault point on the overhead ground wire is obtained through the sensor assembly, the to-be-moved distance is output to the upper computer or a terminal; the distance to be moved is used for indicating an upper computer or a terminal to feed back a repairing task command; the main control unit analyzes the repair task command to obtain a scheduling command, and the scheduling command is output to the walking control unit and the operation control unit. The automation degree of repairing the overhead ground wire can be improved by the control device.
Description
Technical Field
The application relates to the technical field of electric power overhaul, in particular to an overhead ground wire repairing control device, an overhead ground wire repairing control method and an overhead ground wire repairing control system.
Background
The overhead transmission line is exposed to a severe external environment condition for a long time and is subjected to lightning stroke, external force damage, wind power vibration abrasion and the like for a long time, so that the phenomenon of strand breakage or strand scattering of the ground wire is easily caused. The method for repairing the broken strands of the ground wire at present adopts reinforced preformed armor rods with carborundum to repair, but the preformed armor rod repairing method has high process requirements on winding procedures, directions and the like, meanwhile, an operator generally repairs the defective positions of the ground wire through a flying vehicle, the moving range is small, the movement is inconvenient, and the repairing mode has the defects of difficulty in repairing a lead, non-tight twisting of the preformed armor rods and even peak staggering. If the repairing operation is carried out in a live-line mode, the live-line operation risk is high due to the factors of reduced mechanical strength after the ground wire is broken, reduced ground wire arc hammer during operation, reduced live-line wire clearance and the like, special evaluation needs to be carried out before each operation, a special operation scheme is formulated, and the preparation work before the operation is complex. Therefore, the damage of the overhead transmission line ground wire should be effectively and automatically detected, the repair operation should be timely carried out, and the normal operation of the power system is ensured.
In the implementation process, the inventor finds that at least the following problems exist in the conventional technology: the existing overhead ground wire repairing mode has the problems of low automation degree and the like.
Disclosure of Invention
In view of the above, it is necessary to provide an overhead ground wire repair control device, a control method, and a system that can improve the degree of automation.
In order to achieve the above object, in a first aspect, an embodiment of the present application provides an overhead ground wire repair control device, where the control device is applied to an overhead ground wire repair device; the repairing device comprises a walking driving motor for driving the walking mechanism and an operation driving motor for driving a related action mechanism matched with the winding operation of the preformed armor rods;
the control device is used for connecting an upper computer or a terminal; the control device comprises a main control unit, a sensor assembly, a walking control unit and an operation control unit, wherein the sensor assembly, the walking control unit and the operation control unit are connected with the main control unit; the walking control unit is used for connecting a walking driving motor; the operation control unit is used for connecting an operation driving motor; wherein:
the main control unit receives fault information transmitted by the upper computer, and if the to-be-moved distance between the repairing device and a fault point on the overhead ground wire is acquired through the sensor assembly, the to-be-moved distance is output to the upper computer or the terminal; the distance to be moved is used for indicating an upper computer or a terminal to feed back a repairing task command; the main control unit analyzes the repair task command to obtain a scheduling command, and outputs the scheduling command to the walking control unit and the operation control unit;
the walking control unit controls the walking driving motor to drive the walking mechanism based on the scheduling command so as to drive the repairing device to move on the overhead ground wire; the operation control unit controls the operation driving motor to drive the relevant action mechanism based on the scheduling command so as to execute the preformed armor rod winding operation aiming at the overhead ground wire.
In one embodiment, the main control unit acquires working state parameters of the repairing device through the sensor assembly; the working state parameters are used for indicating the upper computer to send out alarm signals;
the control device further includes:
one end of the first communication unit is connected with the main control unit, and the other end of the first communication unit is used for connecting an upper computer;
the image acquisition unit is connected with the main control unit and is used for acquiring an overhead ground wire image; the overhead ground wire image is used for indicating an upper computer to determine whether the overhead ground wire has a strand breakage fault and/or the winding effect of the preformed armor rods;
the main control unit sends the obtained working state parameters, the overhead ground wire image and/or the distance to be moved to an upper computer through a first communication unit; the main control unit receives fault information through the first communication unit; the fault information is determined by the upper computer based on the overhead ground wire image; the main control unit receives a repair task command output by the upper computer through the first communication unit.
In one embodiment, the control device further comprises:
one end of the second communication unit is connected with the main control unit, and the other end of the second communication unit is used for connecting a terminal;
the main control unit sends the obtained working state parameters and/or the distance to be moved to the terminal for displaying through the second communication unit; the working state parameter is also used for indicating the terminal to send out an alarm signal; and the main control unit receives the repair task command output by the terminal through the second communication unit.
In one embodiment, the first communication unit is a serial communication unit; the second communication unit is a Bluetooth communication unit.
In one embodiment, the operation control unit is also used for controlling the relevant action mechanism based on the scheduling command so as to send the preformed armor rods to the operation position.
In one embodiment, a sensor assembly comprises:
the distance sensor unit is connected with the main control unit and used for acquiring a distance to be moved so as to ensure that the deviation value of the preformed armor rod winding operation starting point and the fault point is within a preset range;
the temperature sensor unit is connected with the main control unit and is used for acquiring the working temperature of the repairing device; the main control unit controls the start and stop of the repairing device based on the working temperature;
and the motor sensor unit is connected with the main control unit and is also used for connecting the walking driving motor, the conveying motor, the lifting motor and the rotating motor so as to obtain the working voltage of the walking driving motor, the working voltage of the operation driving motor, the working current of the walking driving motor and the working current of the operation driving motor.
In one embodiment, the main control unit is a single chip microcomputer; the image acquisition unit is a camera;
the control device also comprises an expansion board, and the single chip microcomputer is respectively connected with the sensor assembly, the walking control unit, the operation control unit and the Bluetooth communication unit through the expansion board;
the singlechip is connected with the camera through configuring a USB interface.
In a second aspect, an embodiment of the present application provides an overhead ground line repairing control method, where the control method is applied to a main control unit; the main control unit is a main control unit in the overhead ground wire repairing control device; the control device is applied to the overhead ground wire repairing device; the repairing device comprises a walking driving motor for driving the walking mechanism and an operation driving motor for driving a related action mechanism matched with the winding operation of the preformed armor rods;
the control device is used for connecting an upper computer or a terminal; the control device comprises a main control unit, a sensor assembly, a walking control unit and an operation control unit, wherein the sensor assembly, the walking control unit and the operation control unit are connected with the main control unit; the walking control unit is used for connecting a walking driving motor; the operation control unit is used for connecting an operation driving motor;
the control method comprises the following steps:
receiving fault information transmitted by an upper computer, and if a to-be-moved distance between the repairing device and a fault point on the overhead ground wire is acquired through a sensor assembly, outputting the to-be-moved distance to the upper computer or a terminal; the distance to be moved is used for indicating an upper computer or a terminal to feed back a repairing task command;
analyzing the repair task command to obtain a scheduling command, and outputting the scheduling command to a walking control unit and an operation control unit; the scheduling command is used for indicating the walking control unit to control the walking driving motor to drive the walking mechanism so as to drive the repairing device to move on the overhead ground wire; the scheduling command is used for instructing the operation control unit to control the operation driving motor to drive the relevant action mechanism so as to execute the preformed armor rod winding operation aiming at the overhead ground wire.
In one embodiment, the control method further comprises:
acquiring working state parameters of the repairing device through a sensor assembly; the working state parameters comprise the working temperature of the repairing device, the working voltage of the walking driving motor, the working voltage of the operation driving motor, the working current of the walking driving motor and the working current of the operation driving motor; the working state parameters are used for indicating the upper computer and the terminal to send out alarm signals.
In a third aspect, an embodiment of the present application provides an overhead ground wire repairing system, which includes the above control device; the system also includes an overhead ground wire repair device;
the repairing device comprises a walking driving motor for driving the walking mechanism and an operation driving motor for driving a related action mechanism matched with the winding operation of the preformed armor rods;
the operation driving motor comprises a transmission motor for transmitting the preformed armor rods, a lifting motor for driving the preformed armor rod lifting mechanism, a push rod motor for driving the preformed armor rod fixing manipulator and a rotating motor for driving the preformed armor rod winding mechanism; the walking control unit is connected with a walking driving motor; the operation control unit is respectively connected with the transmission motor, the lifting motor, the push rod motor and the rotating motor;
the system also comprises an upper computer connected with the control device and a terminal configured with an application program; the patching task command comprises an automatic patching command; wherein:
the display interface of the application program comprises a first area for generating an automatic repairing command, a second area for generating a preformed armor rod fixing manipulator control command, a third area for generating a travelling mechanism control command, a fourth area for generating a preformed armor rod lifting mechanism control command and a fifth area for generating a preformed armor rod winding mechanism control command; the terminal responds to the click operation or the touch operation in the first area, the second area, the third area, the fourth area and the fifth area to output a patching task command to the control device.
One of the above technical solutions has the following advantages and beneficial effects:
by receiving a scheduling instruction generated by an upper computer or a terminal, the walking control unit controls the walking driving motor to drive the walking mechanism based on the scheduling instruction so as to drive the repairing device to move on the overhead ground wire; the operation control unit controls the operation driving motor to drive the relevant action mechanism based on the scheduling command so as to execute preformed armor rod winding operation aiming at the overhead ground wire, so that the automation degree of the overhead ground wire repairing device is improved, manual operation can be replaced, and automatic repairing of a fault point on the overhead ground wire by the repairing device is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a block diagram showing the construction of an overhead ground wire repair control apparatus according to an embodiment;
fig. 2 is a schematic structural diagram of an overhead ground wire repairing device;
fig. 3 is an exploded schematic view of the structure of the overhead ground wire repairing device;
FIG. 4 is a schematic structural view of a case where a pre-twisted wire is held by a lifting mechanism;
fig. 5 is a block diagram showing the construction of an overhead ground wire repair control apparatus in another embodiment;
fig. 6 is a schematic flow chart of a method of overhead ground wire repair control in one embodiment;
fig. 7 is a block diagram of the overhead ground wire repair system in one embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, 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 application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
Spatially relative terms, such as "under," "below," "beneath," "under," "above," "over," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. In addition, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", and the like if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," or "having," and the like, specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.
At present, the overhead ground wire repairing mode of the power transmission line mainly comprises the following steps: an electrified repairing method, a vertical ladder operation method and a power failure repairing method. The live-line restoration method is that under the condition of live-line operation of the line, an operator uses a flying vehicle or a pulley to enter a broken position along the ground wire for processing, and the wire diameter of the overhead ground wire of the old line in the system is generally 50mm2And 10.3.8.1 minimum section for the operation of climbing up the person for the stranded wire of the specified ground wire is 50mm2When strand breakage occurs, climbing operation is not allowed, so that the charged restoration method is not suitable for 50mm2And the following ground line. The vertical ladder operation method is that an operator carries out treatment from an insulating vertical ladder to a strand breaking point, but the method has high labor intensity and is limited by terrain, ground wire height, weather and the like, and the operation development difficulty is high. The power failure restoration method is to forcibly stop the line so as to put the ground wire on the ground for processing, and brings great threat to the reliable operation of the power grid.In the domestic overhead ground wire automatic repairing device, the success rate of the structure accuracy is required to be improved in the process of repairing the broken strand. The application provides an overhead ground wire repair control device capable of realizing a full-automatic control repair device so as to reduce the operation risk and operation difficulty of workers.
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
As shown in fig. 1, an embodiment of the present application provides an overhead ground wire repairing control device, where the control device is applied to an overhead ground wire repairing device; as shown in fig. 2, the repairing device includes a traveling driving motor for driving the traveling mechanism 260, a working driving motor for driving the relevant action mechanism in cooperation with the winding work of the preformed armor rods;
the control device is used for connecting an upper computer or a terminal; the control device comprises a main control unit 120, a sensor assembly 110 connected with the main control unit 120, a walking control unit 140 and a working control unit 130; the walking control unit 140 is used for connecting a walking driving motor; the operation control unit 130 is used for connecting an operation driving motor; wherein:
the main control unit 120 receives fault information transmitted by the upper computer, and if the distance to be moved of the repairing device from a fault point on the overhead ground wire is obtained through the sensor assembly 110, the distance to be moved is output to the upper computer or the terminal; the distance to be moved is used for indicating an upper computer or a terminal to feed back a repairing task command; the main control unit 120 analyzes the repair task command to obtain a scheduling command, and outputs the scheduling command to the walking control unit 140 and the job control unit 130;
the walking control unit 140 controls the walking driving motor to drive the walking mechanism 260 based on the scheduling command so as to drive the repairing device to move on the overhead ground wire; the job control unit 130 controls the job driving motor to drive the relevant action mechanism based on the scheduling command to perform the pretwist winding job for the overhead ground wire.
It should be noted that the repairing device is erected on an overhead ground line, and includes a device truss, a traveling mechanism 260, a preformed armor rod bin, a preformed armor rod lifting mechanism 230, a preformed armor rod fixing manipulator 210, and a preformed armor rod winding mechanism 220. As shown in fig. 3 and 4, the preformed armor rod bin can contain a plurality of preformed armor rods arranged according to a preset angle and direction; the traveling mechanism 260 can drive the traveling wheels to rotate through the traveling driving motor so as to push the repairing device to move on the overhead ground wire; the related action mechanisms comprise a preformed armor rods fixing manipulator 210, a preformed armor rods winding mechanism 220 and a preformed armor rods lifting mechanism 230, and the preformed armor rods lifting mechanism 230 can transfer preformed armor rods in a preformed armor rods bin to the preformed armor rods winding mechanism 220 from a discharge hole one by one; the preformed armor rod fixing manipulator 210 can fix one end of the preformed armor rod transferred from the preformed armor rod lifting mechanism 230, so that the preformed armor rod winding mechanism 220 winds the preformed armor rod on the overhead ground wire to be repaired.
Specifically, the control device may be provided inside the control box 10 of the patching device; the sensor assembly 110 may include a distance sensor unit; the command from the upper computer is first sent to the lower computer (i.e. the main control unit 120), and the lower computer interprets the command into a corresponding time sequence signal to directly control the repairing device. The main control unit 120 receives fault information transmitted by the upper computer, for example, if a fault point (a damaged or broken line) exists on an overhead ground wire erected by the repairing device, the main control unit 120 acquires a to-be-moved distance from the repairing device to the fault point on the overhead ground wire through the distance sensor unit, and outputs the to-be-moved distance to the upper computer or the terminal; after the host computer or the terminal feeds back the repair task command based on the distance to be moved, the main control unit 120 receives and analyzes the repair task command to obtain a scheduling command for instructing the walking control unit 140 and the operation control unit 130. Based on the scheduling command, the walking control unit 140 controls the walking driving motor to drive the walking mechanism 260, so that when the fault point on the overhead ground wire needs to be repaired, the repairing device automatically moves to the fault point; the operation control unit 130 controls the preformed armor rod fixing mechanical arm 210, the preformed armor rod winding mechanism 220 and the preformed armor rod lifting mechanism 230, so that the preformed armor rod lifting mechanism 230 can transfer preformed armor rods in a bin of the repairing device to the preformed armor rod winding mechanism 220 one by one, and the preformed armor rods can be inserted into the preformed armor rod winding mechanism 220 without manual assistance; the preformed armor rod winding mechanism 220 winds preformed armor rods at fault points of the overhead ground wires to repair the overhead ground wires, full-automatic repair operation is achieved through scheduling commands, manual winding operation is not needed, repair efficiency is improved, and labor cost is reduced. By adopting a master-slave control mode in which the master control unit 120 is separated from the job control unit 130 and the walking control unit 140, the resource utilization rate of the control device is improved.
In some examples, the main control unit 120 may continuously obtain the distance to be moved through the sensor assembly 110, and convert the analog quantity into a digital signal and feed back the digital signal to the upper computer; the main control unit 120 may adopt a main control board, and the main control board may be configured with interface circuits such as an IIC (Inter-Integrated Circuit), a serial port, a PWM (Pulse Width Modulation) port, an I/O (Input/Output) port, and the like, so as to be conveniently connected to an external device; the main control unit 120, the sensor assembly 110 and the motors (including the walking driving motor and the operation driving motor) may adopt an independent power supply mode to ensure the stability of the operation.
According to the embodiment of the application, the walking control unit controls the walking driving motor to drive the walking mechanism based on the scheduling command by receiving the scheduling command generated by the upper computer or the terminal so as to drive the repairing device to move on the overhead ground wire; the operation control unit controls the operation driving motor to drive the relevant action mechanism based on the scheduling command so as to execute the preformed armor rods winding operation aiming at the overhead ground wire, so that the automation degree of the overhead ground wire repairing device is improved, manual operation can be replaced, and automatic repairing of fault points on the overhead ground wire by the repairing device is realized.
In one embodiment, the main control unit 120 obtains the operating state parameters of the repairing device through the sensor assembly 110; the working state parameters are used for indicating the upper computer to send out alarm signals;
the control device further includes:
one end of the first communication unit 160 is connected with the main control unit 120, and the other end of the first communication unit 160 is used for connecting an upper computer;
the image acquisition unit 150, the image acquisition unit 150 is connected to the main control unit 120, and is used for acquiring an overhead ground wire image; the overhead ground wire image is used for indicating the upper computer to determine whether the overhead ground wire has a strand breaking fault and/or the winding effect of the preformed armor rods;
the main control unit 120 sends the acquired working state parameters, the overhead ground wire image and/or the distance to be moved to the upper computer through the first communication unit 160; the main control unit 120 receives the failure information through the first communication unit 160; the fault information is determined by the upper computer based on the overhead ground wire image; the main control unit 120 receives the repair task command output by the upper computer through the first communication unit 160.
Specifically, as shown in fig. 5, the first communication unit 160 may transmit the overhead ground wire image acquired by the main control unit 120 to an upper computer in real time, so that a ground worker can know about the overhead ground wire condition of the power transmission line. Based on the overhead ground wire image, the upper computer may feed back fault information so that the sensor assembly 110 acquires the distance to be moved; the main control unit 120 can continuously acquire working state parameters and a distance to be moved through the sensor assembly 110, convert analog quantity into digital signals and feed back the digital signals to the upper computer through the first communication unit 160; the working state parameters can be used for indicating an upper computer to display and indicating the upper computer to send out an alarm signal under the condition that the working state parameters are abnormal; the main control unit 120 receives a repairing task command output by the upper computer through the first communication unit 160 to control the coordinated operation of each mechanism of the repairing device; the scheduling command may be a start-stop timing signal of the traveling mechanism 260, the preformed armor rod fixing manipulator 210, the preformed armor rod winding mechanism 220, and the preformed armor rod lifting mechanism 230, which is obtained by decomposing the repair task command.
In some examples, if the received repair task command is an automatic repair command, the start-stop timing signal of the traveling mechanism 260 may be determined based on the distance to be moved, and the start-stop timing signals of the preformed armor rod fixing manipulator 210, the preformed armor rod winding mechanism 220, and the preformed armor rod lifting mechanism 230 may be determined based on the distance to be moved and corresponding preset values; if the received repair task command includes one or more of a preformed armor rod fixing manipulator control command, a traveling mechanism control command, a preformed armor rod winding mechanism control command and a preformed armor rod lifting mechanism control command, start-stop time sequence signals of the traveling mechanism 260, the preformed armor rod fixing manipulator 210, the preformed armor rod winding mechanism 220 and the preformed armor rod lifting mechanism 230 are determined based on the received manual repair command.
In one embodiment, the control device further comprises:
a second communication unit 170, one end of the second communication unit 170 is connected to the main control unit 120, and the other end is used for connecting a terminal;
the main control unit 120 sends the acquired working state parameters and/or the distance to be moved to the terminal for display through the second communication unit 170; the working state parameter is also used for indicating the terminal to send out an alarm signal; the main control unit 120 receives the repair task command output from the terminal through the second communication unit 170.
Specifically, as shown in fig. 5, the terminal may be a mobile phone or a tablet computer; the main control unit 120 can continuously obtain the working state parameters and the distance to be moved through the sensor assembly 110, convert the analog quantity into a digital signal, and feed back the digital signal to the terminal through the second communication unit 170; the working state parameters can be used for indicating the terminal to display and indicating the terminal to send out an alarm signal under the condition that the working state parameters are abnormal; the main control unit 120 receives the repairing task command output by the terminal through the second communication unit 170, so as to control the coordinated operation of each mechanism of the repairing device; the scheduling command may be a start-stop timing signal of the traveling mechanism 260, the preformed armor rod fixing manipulator 210, the preformed armor rod winding mechanism 220, and the preformed armor rod lifting mechanism 230, which is obtained by decomposing the repair task command.
In some examples, if the received repair task command is an automatic repair command, the start-stop timing signal of the traveling mechanism 260 may be determined based on the distance to be moved, and the start-stop timing signals of the preformed armor rod fixing manipulator 210, the preformed armor rod winding mechanism 220, and the preformed armor rod lifting mechanism 230 may be determined based on the distance to be moved and corresponding preset values; if the received repair task command includes one or more of a preformed armor rod fixing manipulator control command, a traveling mechanism control command, a preformed armor rod winding mechanism control command and a preformed armor rod lifting mechanism control command, start-stop time sequence signals of the traveling mechanism 260, the preformed armor rod fixing manipulator 210, the preformed armor rod winding mechanism 220 and the preformed armor rod lifting mechanism 230 are determined based on the received manual repair command.
In one embodiment, the first communication unit 160 is a serial communication unit; the second communication unit 170 is a bluetooth communication unit.
Specifically, the serial communication unit may adopt a wireless data transmission module (e.g., a DL-20 wireless serial module) with a 2.4GHz frequency band, so as to implement serial communication between the main control unit 120 and the upper computer. The serial port communication unit can be configured in a point-to-point mode and a broadcast mode. The serial port communication unit can adopt a communication mode of Bluetooth connection.
In some examples, the serial communication unit is configured in a point-to-point mode to enable the overhead ground wire image received by the main control unit 120 to be transmitted to an upper computer in real time; the upper computer reads the images of the overhead ground wires and is used for displaying, and ground workers can observe the fault condition and the repair condition of the overhead ground wires conveniently. The serial communication unit can adopt a Socket communication principle, and if data is to be sent, a bluetooth Socket is firstly established at the upper computer end, then the serial communication unit address of the main control unit 120 is searched and connected with the main control unit 120, and then the data is sent. Similarly, the master control unit 120 first creates a Socket and then reads the data.
In one embodiment, the job control unit 130 is further configured to control the associated action mechanism to deliver the preformed yarn to the job location based on the scheduling command.
Specifically, the preformed armor rods lifting mechanism 230 sends the preformed armor rods discharged from the warehouse to the operation position based on the scheduling command; after the preformed armor rods are delivered to the working position by the preformed armor rod lifting mechanism 230, the preformed armor rod fixing manipulator 210 and the preformed armor rod winding mechanism 220 start to work based on the scheduling command, so that the preformed armor rod fixing manipulator 210 fixes one end of the preformed armor rods transmitted by the preformed armor rod lifting mechanism 230 (for example, one end of the preformed armor rods is clamped with the overhead ground wire to fix the preformed armor rods on the overhead ground wire), and the preformed armor rods are wound on the overhead ground wire to be repaired by the preformed armor rod winding mechanism 220.
In some examples, the preformed armor rod winding mechanism 220 includes two winding units, both of which are slidably connected to the device truss, and the preformed armor rod holding robot 210. Based on the scheduling command, the winding unit can move away from the preformed armor rod fixing manipulator 210 at a certain interval in a synchronous uniform rotation mode; the two winding units can be operated for multiple times to wind a plurality of preformed armor rods, so that preformed armor rods can be wound.
In one embodiment, the sensor assembly 110 includes:
the distance sensor unit is connected with the main control unit 120 and is used for acquiring a distance to be moved so as to ensure that the deviation value of the preformed armor rods winding operation starting point and the fault point is within a preset range;
the temperature sensor unit is connected with the main control unit 120 and is used for acquiring the working temperature of the repairing device; the main control unit 120 controls the start and stop of the repairing device based on the working temperature;
and the motor sensor unit is connected with the main control unit 120, and is further used for connecting the walking driving motor, the conveying motor, the lifting motor and the rotating motor so as to obtain the working voltage of the walking driving motor, the working voltage of the operation driving motor, the working current of the walking driving motor and the working current of the operation driving motor.
Specifically, the distance sensor unit acquires the distance to be moved so as to ensure that the deviation value between the winding operation starting point of the preformed armor rods and the fault point is within a preset range, so that the winding range of the preformed armor rods on the overhead ground wire can cover the fault point; the distance sensor unit may employ ultrasonic ranging. The motor sensor unit may include a voltage sensor and a current sensor; the temperature sensor unit may detect an operating temperature (e.g., an ambient temperature) of the repairing apparatus using a thermistor and switch in an operating circuit of the repairing apparatus using a relay to automatically cut off a power supply of the repairing apparatus in case the operating temperature of the repairing apparatus exceeds a temperature threshold. The main control unit 120 may also send an alarm signal to an upper computer or a terminal based on the operating temperature, so as to remind a worker to cut off the power supply in time and protect the repair device under the condition that the repair device is operated too hot.
In some examples, the current sensor may employ a MAX471 chip to achieve precise amplification of current detection; the voltage sensor can be designed by adopting a resistance voltage division principle so as to reduce the voltage value accessed by the voltage sensor. The relay of the temperature sensor unit can directly control an alternating current or direct current load, and a normally open interface limits the load to be large: alternating current is 0V-250V/10A, and direct current is 0V-30V/10A; the temperature threshold is adjusted through a potentiometer, the relay is closed when the ambient temperature is higher than the temperature threshold, and the relay is released when the ambient temperature is lower than the temperature threshold; the problem of repeated actions of the critical value of the relay can be solved by automatically fine-tuning the action threshold after the relay acts; the temperature sensor unit may be configured as a temperature sensor having a power reverse connection preventing function. The distance sensor unit may employ an ultrasonic ranging transducer HC-SR 04; the ultrasonic ranging transducer HC-SR04 uses IO port TRIG to trigger ranging, for example, to send out a high level signal of at least 10 us; the ultrasonic ranging transducer HC-SR04 automatically sends 8 square waves of 40kHz and automatically detects whether a signal returns; if a signal returns, the ultrasonic ranging transducer HC-SR04 outputs a high level through the IO port ECHO, and the duration of the high level is the time from the transmission of the ultrasonic wave to the return (obtained by timing of a timer), wherein the test distance is (high level time is sound speed (340 m/s))/2; and the mobile ranging is realized through continuous periodic measurement.
In one embodiment, the main control unit 120 is a single chip; the image acquisition unit 150 is a camera;
the control device also comprises an expansion board, and the single chip microcomputer is respectively connected with the sensor assembly 110, the walking control unit 140, the operation control unit 130 and the Bluetooth communication unit through the expansion board;
the singlechip is connected with the camera through configuring a USB interface.
Specifically, an overhead ground wire image of the power transmission line acquired by a camera is acquired through a USB port, and the upper computer is used for displaying the overhead ground wire image and determining whether the overhead ground wire has a strand breakage fault and/or the winding effect of preformed armor rods according to the overhead ground wire image received by the serial port communication unit;
the single chip microcomputer can adopt an STM32 single chip microcomputer, is compatible with AT series single chip microcomputers, and realizes application serial port downloading programs through improvement, thereby facilitating subsequent development; the sensor expansion board facilitates the connection of the sensor assembly 110, the walking control unit 140, the operation control unit 130 and the bluetooth communication unit with the single chip microcomputer (for example, a digital pin of the single chip microcomputer is connected with the sensor assembly 110, the walking control unit 140, the operation control unit 130 and the bluetooth communication unit through the sensor expansion board);
in some examples, the terminal configured with the application program can communicate with the bluetooth communication unit of the control device through bluetooth of the terminal, so as to send a repair task command to the single chip microcomputer to realize control over the action of the repair device and display the working state parameters of the repair device;
in one embodiment, as shown in fig. 6, there is provided an overhead ground wire repair control method, which is applied to the main control unit 120; the main control unit 120 is the main control unit 120 in the overhead ground wire repair control device; the control device is applied to the overhead ground wire repairing device; the repairing device comprises a walking driving motor for driving the walking mechanism and an operation driving motor for driving a related action mechanism matched with the winding operation of the preformed armor rods;
the control device is used for connecting an upper computer or a terminal; the control device comprises a main control unit 120, a sensor assembly 110 connected with the main control unit 120, a walking control unit 140 and a working control unit 130; the walking control unit 140 is used for connecting a walking driving motor; the operation control unit 130 is used for connecting an operation driving motor;
the control method comprises the following steps:
step 610, receiving fault information transmitted by an upper computer, and if the distance to be moved of the repairing device from a fault point on the overhead ground wire is obtained through the sensor assembly 110, outputting the distance to be moved to the upper computer or a terminal; the distance to be moved is used for indicating an upper computer or a terminal to feed back a repairing task command;
step 620, analyzing the repair task command to obtain a scheduling command, and outputting the scheduling command to the walking control unit 140 and the job control unit 130; the scheduling command is used for instructing the walking control unit 140 to control the walking driving motor to drive the walking mechanism so as to drive the repairing device to move on the overhead ground wire; the scheduling command is used to instruct the job control unit 130 to control the job driving motor to drive the relevant action mechanism to perform the pretwist winding job for the overhead ground wire.
In one embodiment, the control method further comprises:
acquiring working state parameters of the repairing device through the sensor assembly 110; the working state parameters comprise the working temperature of the repairing device, the working voltage of the walking driving motor, the working voltage of the operation driving motor, the working current of the walking driving motor and the working current of the operation driving motor; the working state parameters are used for indicating the upper computer and the terminal to send out alarm signals.
It should be understood that, although the steps in the flowchart of fig. 6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a portion of the steps in fig. 6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
Based on the same inventive concept, the embodiment of the application also provides an overhead ground wire repair control system for implementing the overhead ground wire repair control method. The implementation scheme for solving the problem provided by the control system is similar to the implementation scheme described in the above method, so specific limitations in one or more overhead ground wire repair control system embodiments provided below can be referred to as the limitations on the overhead ground wire repair control method in the foregoing, and details are not described here again.
In one embodiment, as shown in fig. 7, there is provided an overhead ground wire repair control system including:
the to-be-moved distance acquisition module 710 is configured to receive fault information transmitted by an upper computer, and output a to-be-moved distance to the upper computer or a terminal if the to-be-moved distance from the repairing device to a fault point on the overhead ground wire is acquired through the sensor assembly 110; the distance to be moved is used for indicating an upper computer or a terminal to feed back a repairing task command;
the scheduling command executing module 720 is configured to analyze the repair task command to obtain a scheduling command, and output the scheduling command to the walking control unit 140 and the job control unit 130; the scheduling command is used for instructing the walking control unit 140 to control the walking driving motor to drive the walking mechanism so as to drive the repairing device to move on the overhead ground wire; the scheduling command is used to instruct the job control unit 130 to control the job driving motor to drive the relevant action mechanism to perform the pretwist winding job for the overhead ground wire.
In one embodiment, the control system further comprises:
a working state parameter obtaining module, configured to obtain a working state parameter of the repair device through the sensor assembly 110; the working state parameters comprise the working temperature of the repairing device, the working voltage of the walking driving motor, the working voltage of the operation driving motor, the working current of the walking driving motor and the working current of the operation driving motor; the working state parameters are used for indicating the upper computer and the terminal to send out alarm signals.
Specific limitations regarding the overhead ground wire restoration control system can be found in the above limitations regarding the overhead ground wire restoration control method, which are not described in detail herein. The modules in the overhead ground wire repair control system can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and another division manner may be available in actual implementation.
In one embodiment, an overhead ground wire repairing system is provided, the system comprising the above-mentioned control device; the system also includes an overhead ground wire repair device;
the repairing device comprises a walking driving motor for driving the walking mechanism and an operation driving motor for driving a related action mechanism matched with the winding operation of the preformed armor rods;
the operation driving motor comprises a transmission motor for transmitting preformed armor rods, a lifting motor for driving the preformed armor rod lifting mechanism 230, a push rod motor for driving the preformed armor rod fixing manipulator 210 and a rotating motor for driving the preformed armor rod winding mechanism 220; the walking control unit 140 is connected with a walking driving motor; the operation control unit 130 is connected with a transmission motor, a lifting motor, a push rod motor and a rotating motor respectively;
the system also comprises an upper computer connected with the control device and a terminal configured with an application program; the patching task command comprises an automatic patching command; wherein:
the display interface of the application program comprises a first area for generating an automatic repairing command, a second area for generating a preformed armor rod fixing manipulator control command, a third area for generating a travelling mechanism control command, a fourth area for generating a preformed armor rod lifting mechanism control command and a fifth area for generating a preformed armor rod winding mechanism control command; the terminal responds to click operation or touch operation in the first area, the second area, the third area, the fourth area and the fifth area to output a patching task command to the control device.
Specifically, the main part of the repairing device is a device truss which comprises two long longitudinal beams and a plurality of short cross beams crossed with the long longitudinal beams, and the device truss has high mechanical strength; the preformed armor rod bin, the travelling mechanism 260, the preformed armor rod lifting mechanism 230, the preformed armor rod fixing manipulator 210 and the preformed armor rod winding mechanism 220 are connected with the device truss through corresponding connecting pieces. The traveling mechanism 260 can drive the whole repairing device to move forwards or backwards along the overhead ground wire and comprises two same driving units, each driving unit is fixed at two ends of the truss structure in a hinged mode, and four driving pulleys of the two groups of driving units can be in close contact with the overhead ground wire in a hinged mode so as to improve the traveling stability and the climbing capability of the repairing device. The preformed armor rod bin is fixedly connected with the device truss through five high-strength cantilever beams; the pre-twisted wire discharging is realized by a synchronous wheel driven by a motor and a synchronous belt with a clamping groove, and the pre-twisted wire is conveyed into the bin by the reverse motion of the synchronous wheel and the synchronous belt. The preformed armor rod lifting mechanism 230 is used for transferring preformed armor rods in the preformed armor rod bin to the preformed armor rod winding mechanism 220 one by one from the discharge port; the preformed armor rod winding mechanism 220 includes two winding units, and the winding units and the preformed armor rod fixing manipulator 210 are both connected with the device truss in a sliding manner. The winding unit can wind a plurality of preformed armor rods aiming at fault points on the overhead ground wire through synchronous constant-speed repeated operation at a preset distance, so that preformed armor rod winding operation is realized.
After an application program configured by the terminal is opened, Bluetooth connection is firstly carried out, after the connection is finished, the Bluetooth connection is prompted, and the movement of the automatic overhead ground wire repairing device can be controlled through clicking operation or touch operation in a third area of a display interface, wherein the movement comprises left movement and right movement; through the click operation or the touch operation in the first area, an automatic repair operation command can be sent to the control device, wherein the automatic repair operation command comprises the starting and stopping of the automatic repair operation; through clicking operation or touch operation in the second area, a preformed armor rod fixing manipulator control command can be sent to the control device, and the preformed armor rod fixing manipulator control command comprises left movement, right movement, clamping and opening of the preformed armor rod fixing manipulator; through click operation or touch operation in the fourth area, a control command of the preformed armor rod lifting mechanism can be sent to the control device, wherein the command comprises ascending and descending; through clicking operation or touch operation in the fifth area, a preformed armor rod winding mechanism control command can be sent to the control device, wherein the preformed armor rod winding mechanism control command comprises starting and stopping of the preformed armor rod winding mechanism. The application program configured by the terminal can also be used for displaying working state parameters, the distance to be moved and alarm signals in real time.
The upper computer can be configured with upper computer software, and workers operate the upper computer software and send repairing task commands to the main control unit 120 through the serial port communication unit so as to control the repairing device to move on the overhead ground wire and control related action mechanisms to execute preformed armor rod winding operation aiming at the overhead ground wire; the upper computer software can display the overhead ground wire image, the working state parameters and the alarm signal which are received by the serial port communication unit; the worker may send a stop signal to the main control unit 120 by operating the upper computer software, so as to realize an emergency stop of the repairing apparatus.
In some examples, each travel drive unit includes two drive pulleys geared by a 200W servo motor. The pre-stranding silo can hold 11 individual filaments of 4.1mm diameter and 1575mm in length. The preformed armor rod fixing manipulator 210 comprises a guide rail, a slide block, a fixing claw and a push rod motor; the preformed armor rod winding mechanism 220 comprises a fixed outer ring, a rotary inner ring, a roller, a driving motor, a transmission gear and a sliding clamping groove; the display interface of the application program can also comprise a fifth area, and the emergency stop of the patching device is realized in response to the click operation or the touch operation in the fifth area. The terminal can be configured with a remote control handle to control the action of the patching device through an application program configured with the terminal. In a sudden event that may cause damage to the control device and/or the repair device, the application may prompt a worker to enter a protection state for the control device and/or the repair device and prompt a fault and a solution that may occur to the control device and/or the repair device. The repairing device can be provided with a manual operation unit, and before the repairing device is on-line or after the repairing device is off-line, workers can adjust the pose states of the walking driving motor, the conveying motor, the lifting motor, the push rod motor and the rotating motor by directly operating the manual operation unit, so that the repairing device can be controlled by manual operation when no mobile phone or tablet computer exists or communication faults occur.
In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An overhead ground wire repair control device is characterized in that the control device is applied to an overhead ground wire repair device; the repairing device comprises a walking driving motor for driving the walking mechanism and an operation driving motor for driving a related action mechanism matched with the winding operation of the preformed armor rods;
the control device is used for connecting an upper computer or a terminal; the control device comprises a main control unit, a sensor assembly, a walking control unit and an operation control unit, wherein the sensor assembly, the walking control unit and the operation control unit are connected with the main control unit; the walking control unit is used for connecting the walking driving motor; the operation control unit is used for connecting the operation driving motor; wherein:
the main control unit receives fault information transmitted by the upper computer, and if the distance to be moved of the repairing device from a fault point on the overhead ground wire is obtained through the sensor assembly, the distance to be moved is output to the upper computer or the terminal; the distance to be moved is used for indicating the upper computer or the terminal to feed back a repairing task command; the main control unit analyzes the repair task command to obtain a scheduling command, and the scheduling command is output to the walking control unit and the operation control unit;
the walking control unit controls the walking driving motor to drive the walking mechanism based on the scheduling command so as to drive the repairing device to move on the overhead ground wire; and the operation control unit controls the operation driving motor to drive a related action mechanism based on the scheduling command so as to execute preformed armour rod winding operation aiming at the overhead ground wire.
2. The control device according to claim 1, wherein the main control unit obtains the operating state parameters of the repairing device through the sensor assembly; the working state parameters are used for indicating the upper computer to send out alarm signals;
the control device further includes:
one end of the first communication unit is connected with the main control unit, and the other end of the first communication unit is used for being connected with the upper computer;
the image acquisition unit is connected with the main control unit and is used for acquiring an overhead ground wire image; the overhead ground wire image is used for indicating the upper computer to determine whether the overhead ground wire has a strand breaking fault and/or the winding effect of the preformed armor rods;
the main control unit sends the acquired working state parameters, the overhead ground wire images and/or the distance to be moved to the upper computer through the first communication unit; the main control unit receives the fault information through the first communication unit; the fault information is determined by the upper computer based on the overhead ground wire image; and the main control unit receives a repair task command output by the upper computer through the first communication unit.
3. The control device according to claim 2, characterized by further comprising:
one end of the second communication unit is connected with the main control unit, and the other end of the second communication unit is used for connecting the terminal;
the main control unit sends the acquired working state parameters and/or the distance to be moved to the terminal for display through the second communication unit; the working state parameter is also used for indicating the terminal to send out an alarm signal; and the main control unit receives a repairing task command output by the terminal through the second communication unit.
4. The control device according to claim 3, wherein the first communication unit is a serial communication unit; the second communication unit is a Bluetooth communication unit.
5. The control device according to claim 1, wherein the work control unit is further adapted to control the associated action mechanism based on the scheduling command to deliver preformed threads to a work location.
6. The control device of claim 1, wherein the sensor assembly comprises:
the distance sensor unit is connected with the main control unit and used for acquiring the distance to be moved so as to ensure that the deviation value of the preformed armor rod winding operation starting point and the fault point is within a preset range;
the temperature sensor unit is connected with the main control unit and is used for acquiring the working temperature of the repairing device; the main control unit controls the start and stop of the repairing device based on the working temperature;
the motor sensor unit is connected with the main control unit and is also used for connecting the walking driving motor, the conveying motor, the lifting motor and the rotating motor so as to obtain the working voltage of the walking driving motor, the working voltage of the operation driving motor, the working current of the walking driving motor and the working current of the operation driving motor.
7. The control device of claim 4, wherein the master control unit is a single chip microcomputer; the image acquisition unit is a camera;
the control device also comprises an expansion board, and the single chip microcomputer is respectively connected with the sensor assembly, the walking control unit, the operation control unit and the Bluetooth communication unit through the expansion board;
the single chip microcomputer is connected with the camera through a USB interface.
8. The overhead ground wire repairing control method is characterized in that the control method is applied to a main control unit; the main control unit is a main control unit in the overhead ground wire repairing control device; the control device is applied to the overhead ground wire repairing device; the repairing device comprises a walking driving motor for driving the walking mechanism and an operation driving motor for driving a related action mechanism matched with the winding operation of the preformed armor rods;
the control device is used for connecting an upper computer or a terminal; the control device comprises the main control unit, a sensor assembly connected with the main control unit, a walking control unit and an operation control unit; the walking control unit is used for connecting the walking driving motor; the operation control unit is used for connecting the operation driving motor;
the control method comprises the following steps:
receiving fault information transmitted by the upper computer, and if a to-be-moved distance between the repairing device and a fault point on the overhead ground wire is acquired through the sensor assembly, outputting the to-be-moved distance to the upper computer or the terminal; the distance to be moved is used for indicating the upper computer or the terminal to feed back a repairing task command;
analyzing the repair task command to obtain a scheduling command, and outputting the scheduling command to the walking control unit and the operation control unit; the dispatching command is used for instructing the walking control unit to control the walking driving motor to drive the walking mechanism so as to drive the repairing device to move on the overhead ground wire; the scheduling command is used for instructing the operation control unit to control the operation driving motor to drive the relevant action mechanism so as to execute the preformed armor rod winding operation aiming at the overhead ground wire.
9. The control method according to claim 8, characterized by further comprising:
acquiring working state parameters of the repairing device through the sensor assembly; the working state parameters comprise the working temperature of the repairing device, the working voltage of the walking driving motor, the working voltage of the operation driving motor, the working current of the walking driving motor and the working current of the operation driving motor; and the working state parameters are used for indicating the upper computer and the terminal to send out alarm signals.
10. An overhead ground line repair system, characterized in that the system comprises a control device according to any one of claims 1 to 7; the system further comprises an overhead ground wire repair device;
the repairing device comprises a walking driving motor for driving the walking mechanism and an operation driving motor for driving a related action mechanism matched with the winding operation of the preformed armor rods;
the operation driving motor comprises a conveying motor for conveying preformed armor rods, a lifting motor for driving a preformed armor rod lifting mechanism, a push rod motor for driving a preformed armor rod fixing manipulator and a rotating motor for driving a preformed armor rod winding mechanism; the walking control unit is connected with the walking driving motor; the operation control unit is respectively connected with the transmission motor, the lifting motor, the push rod motor and the rotating motor;
the system also comprises an upper computer connected with the control device and a terminal configured with an application program; the patching task command comprises an automatic patching command; wherein:
the display interface of the application program comprises a first area for generating the automatic repairing command, a second area for generating a preformed armor rod fixing manipulator control command, a third area for generating a walking mechanism control command, a fourth area for generating a preformed armor rod lifting mechanism control command and a fifth area for generating a preformed armor rod winding mechanism control command; the terminal responds to the click operation or the touch operation in the first area, the second area, the third area, the fourth area and the fifth area to output the patching task command to the control device.
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