CN114784702B - 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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- CN114784702B CN114784702B CN202210535636.0A CN202210535636A CN114784702B CN 114784702 B CN114784702 B CN 114784702B CN 202210535636 A CN202210535636 A CN 202210535636A CN 114784702 B CN114784702 B CN 114784702B
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- H—ELECTRICITY
- 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 repair control device, a control method and a 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 the upper computer, and if the distance to be moved between the repairing device and 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 an upper computer or a terminal to feed back a repair 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 job control unit. The control device can improve the automation degree of repairing the overhead ground wire.
Description
Technical Field
The application relates to the technical field of electric power overhaul, in particular to an overhead ground wire repair control device, a control method and a system.
Background
The overhead transmission line is exposed under severe external environment conditions for a long time, is subjected to lightning stroke, external damage, wind vibration abrasion and the like for a long time, and is easy to cause the phenomena of strand breakage or strand scattering of the ground wire. The existing method for repairing broken strands of the ground wire adopts reinforced preformed armor rods with silicon carbide for repairing, but the preformed armor rods repairing method has higher technological requirements on winding procedures, directions and the like, and meanwhile, operators repair the defect positions of the ground wire by a galloping car in general, the moving range is small, the movement is inconvenient, and the repairing method has the defects of difficult wire repairing, imprecise preformed armor rods twisting and even peak staggering. If the repair operation is carried out in an electrified manner, the risk of the electrified operation is higher due to factors such as the reduction of mechanical strength after the breakage of the ground wire, the reduction of the arc hammer of the ground wire and the clearance of the electrified wire during the operation, and the like, special evaluation is 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 ground wire of the overhead transmission line should be effectively and automatically detected and the repair operation should be timely carried out, so as to ensure the normal operation of the power system.
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 foregoing, it is desirable to provide an overhead ground wire repair control device, control method, and 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 relevant action mechanism matched with the pre-twisted wire winding operation;
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; wherein:
the main control unit receives fault information transmitted by the upper computer, and if the distance to be moved between the repairing device and 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 an upper computer or a terminal to feed back a repair 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 traveling control unit controls the traveling driving motor to drive the traveling mechanism based on the dispatching command so as to drive the repairing device to move on the overhead ground wire; the job control unit controls the job drive motor to drive the relevant action mechanism based on the scheduling command to perform the pre-twisted wire winding job for the overhead ground wire.
In one embodiment, the main control unit obtains working state parameters of the repairing device through the sensor assembly; the working state parameter is used for indicating the upper computer to send out an alarm signal;
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 an upper computer to determine whether the overhead ground wire has broken strand faults and/or winding effects of the preformed armor rods;
the main control unit 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; 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 being connected with 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 parameters are also used for indicating the terminal to send out an alarm signal; 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 job control unit is further configured to control the associated action mechanism based on the scheduling command to deliver the pre-twisted wire to the job location.
In one embodiment, a sensor assembly includes:
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 starting point and the fault point of the winding operation of the preformed armor rods is within a preset range;
the temperature sensor unit is connected with the main control unit and used for acquiring the working temperature of the repairing device; the main control unit controls the starting and stopping 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 acquire 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 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 singlechip 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 the USB interface.
In a second aspect, an embodiment of the present application provides an overhead ground wire repair 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 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 relevant action mechanism matched with the pre-twisted wire winding operation;
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 control method comprises the following steps:
receiving fault information transmitted by an upper computer, and outputting the distance to be moved to the upper computer or the terminal if the distance to be moved between the repairing device and a fault point on the overhead ground wire is obtained through the sensor assembly; the distance to be moved is used for indicating an upper computer or a terminal to feed back a repair task command;
analyzing the repairing task command to obtain a scheduling command, and outputting the scheduling command to the walking control unit and the job control unit; the dispatching 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 job control unit to control the job driving motor to drive the relevant action mechanism so as to execute the pre-twisted wire winding job for the overhead ground wire.
In one embodiment, the control method further includes:
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; 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 repair system, including the control device described above; the system also comprises an 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 relevant action mechanism matched with the pre-twisted wire winding operation;
the operation driving motor comprises a conveying motor for conveying the preformed armor rods, a lifting motor for driving the preformed armor rods lifting mechanism, a push rod motor for driving the preformed armor rods fixing manipulator and a rotating motor for driving the preformed armor rods winding mechanism; the walking control unit is connected with a walking driving motor; the operation control unit is respectively connected with the conveying 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 provided with an application program; the repair task commands include an automatic repair command; wherein:
the display interface of the application program comprises a first area for generating an automatic repair command, a second area for generating a preformed armor rod fixing manipulator control command, a third area for generating a running 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 clicking operation or touch operation in the first area, the second area, the third area, the fourth area and the fifth area so as to output a repair task command to the control device.
One of the above technical solutions has the following advantages and beneficial effects:
the traveling control unit controls the traveling driving motor to drive the traveling 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 pre-twisted wire winding operation aiming at the overhead ground wire, thereby improving the automation degree of the overhead ground wire repairing device, being capable of replacing manual operation and realizing the automatic repairing of the fault point on the overhead ground wire by the repairing device.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments or the conventional techniques of the present application, the drawings required for the descriptions of the embodiments or the conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a block diagram of an overhead ground wire repair control device in one embodiment;
fig. 2 is a schematic structural view of an overhead ground wire repair device;
FIG. 3 is a schematic exploded view of an overhead ground wire repair device;
FIG. 4 is a schematic view of the structure of the lifting mechanism holding the preformed armor rods;
FIG. 5 is a block diagram of another embodiment overhead ground wire repair control device;
FIG. 6 is a flow chart of a method of overhead ground wire repair control in one embodiment;
fig. 7 is a block diagram of an overhead ground wire repair system in one embodiment.
Detailed Description
In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. Embodiments of the application are illustrated 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 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 the terms first, second, etc. as used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another element.
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 and 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 "under" or "beneath" other elements would then be oriented "on" the other elements or features. Thus, the exemplary terms "below" and "under" may include both an upper and a lower orientation. Furthermore, the device may also include an additional orientation (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. Further, "connection" in the following embodiments should be understood as "electrical connection", "communication connection", and the like if there is transmission of electrical signals or data between objects to be connected.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," and/or the like, specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof. Also, the term "and/or" as used in this specification includes any and all combinations of the associated listed items.
At present, the repair mode of the overhead ground wire of the power transmission line mainly comprises the following steps: live repair, vertical ladder operation, and power outage repair. The live repair method is that an operator uses a gallows or a pulley to process the ground wire entering a broken strand position under the condition of live operation of the line, and the line diameter of the overhead ground wire of the old line in the system is generally 50mm 2 While 10.3.8.1 of the electric safety regulations (line section) clearly define that the minimum section of the climbing operation of the ground wire steel strand bearing personnel is 50mm 2 When the strand breakage occurs, the climbing operation is not allowed, so the electrified repairing method is not suitable for 50mm 2 And the following ground lines. The straight ladder operation method is that operators process along the insulated straight ladder to the broken strand point, but the method has high labor intensity and is limited by the conditions such as topography, ground wire height, weather and the like, and the operation is difficult to develop. The power failure repair method is that the line is forced to be stopped so as to put the ground wire to the ground for processing, and the reliable operation of the power grid is threatened greatly. The automatic repair device for the overhead ground wire in China has the advantage that the success rate of structural accuracy is required to be improved in the process of repairing broken strands. The application provides the overhead ground wire repair control device capable of realizing full-automatic control of the repair device, so as to reduce the operation risk and operation difficulty of workers.
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
As shown in fig. 1, the embodiment of the application provides an overhead ground wire repair control device, which is applied to an overhead ground wire repair device; as shown in fig. 2, the repairing device comprises a walking driving motor for driving the walking mechanism 260 and a working driving motor for driving a relevant action mechanism matched with the pre-twisted wire winding work;
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 job control unit 130 is used for connecting a job driving motor; wherein:
the main control unit 120 receives fault information transmitted by the upper computer, and if the to-be-moved distance between the repairing device and the fault point on the overhead ground wire is obtained through the sensor assembly 110, 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 repair 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 traveling control unit 140 controls the traveling driving motor to drive the traveling mechanism 260 based on the scheduling command 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 schedule command to perform the pre-twisted wire winding job for the overhead ground wire.
It should be noted that the repairing device is erected on the overhead ground wire and includes a device truss, a traveling mechanism 260, a preformed armor rod storage 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 pre-twisted wire magazine may accommodate a plurality of pre-twisted wires arranged at a predetermined angle and direction; the travelling mechanism 260 can drive the travelling wheels to rotate through the travelling driving motor so as to push the repairing device to move on the overhead ground wire; the related action mechanisms comprise a preformed armor rod fixing manipulator 210, a preformed armor rod winding mechanism 220 and a preformed armor rod lifting mechanism 230, wherein the preformed armor rod lifting mechanism 230 can transfer preformed armor rods in a preformed armor rod storage bin to the preformed armor rod winding mechanism 220 one by one from a discharge port; the preformed armor rod fixing manipulator 210 may 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 around the overhead ground wire to be repaired.
Specifically, the control device may be disposed inside the control box 10 of the repair device; the sensor assembly 110 may include a distance sensor unit; the command sent by the upper computer is firstly sent to the lower computer (i.e. the main control unit 120), and the lower computer is then interpreted into a corresponding time sequence signal according to the command to directly control the repairing device. The main control unit 120 receives fault information transmitted by the upper computer, for example, a fault point (a line is broken or broken) exists on the overhead ground wire erected by the repairing device, and then the main control unit 120 obtains a distance to be moved from the repairing device to the fault point on the overhead ground wire through the distance sensor unit and outputs the distance to be moved to the upper computer or the terminal; after the upper computer or the terminal feeds back the repair task command based on the distance to be moved, the main control unit 120 receives and parses the repair task command to obtain scheduling commands for instructing the walking control unit 140 and the job control unit 130. Based on the dispatching command, the traveling control unit 140 controls the traveling driving motor to drive the traveling 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 rods fixing manipulator 210, the preformed armor rods winding mechanism 220 and the preformed armor rods lifting mechanism 230, so that the preformed armor rods lifting mechanism 230 can transfer preformed armor rods in a bin of the repairing device to the preformed armor rods winding mechanism 220 one by one, and the preformed armor rods can be inserted into the preformed armor rods winding mechanism 220 without manual assistance; the preformed armor rods winding mechanism 220 winds the preformed armor rods around the fault point of the overhead ground wire to repair the overhead ground wire, and the full-automatic repair operation is realized through the dispatching command without manually performing manual winding operation, so that the repair efficiency is improved and the 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 travel control unit 140, the resource utilization rate of the control device is improved.
In some examples, the main control unit 120 may continuously acquire the distance to be moved through the sensor assembly 110, and convert the analog quantity into a digital signal and feed the digital signal back to the upper computer; the main control unit 120 may be a main control board, which may be configured with interface circuits such as IIC (Inter-Integrated Circuit, integrated circuit bus), serial port, PWM (Pulse Width Modulation, pulse width modulation technique) port, I/O (Input/Output) port, etc., so as to facilitate connection with peripheral devices; the main control unit 120, the sensor assembly 110, and the above-described motors (including the travel drive motor and the operation drive motor) may employ independent power supply modes to ensure stability of operation.
According to the embodiment of the application, the traveling control unit controls the traveling driving motor to drive the traveling 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 pre-twisted wire winding operation aiming at the overhead ground wire, thereby improving the automation degree of the overhead ground wire repairing device, being capable of replacing manual operation and realizing the automatic repairing of the fault point on the overhead ground wire by the repairing device.
In one embodiment, the main control unit 120 obtains the working state parameters of the repair device through the sensor assembly 110; the working state parameter is used for indicating the upper computer to send out an alarm signal;
the control device further includes:
the first communication unit 160, one end of the first communication unit 160 is connected with the main control unit 120, and the other end is connected with the upper computer;
the image acquisition unit 150 is connected with the main control unit 120 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 broken strand faults and/or winding effects 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 fault 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 send the overhead ground wire image acquired by the main control unit 120 to the upper computer in real time, so that ground staff can know the condition of the overhead ground wire of the power transmission line. Based on the overhead ground wire image, the upper computer can feed back fault information so that the sensor assembly 110 can acquire the distance to be moved; the main control unit 120 can continuously acquire the working state parameters and the distance to be moved through the sensor assembly 110, and convert the analog quantity into a digital signal, and feed the digital signal back to the upper computer through the first communication unit 160; the working state parameters can be used for indicating the 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 the repair task command output by the upper computer through the first communication unit 160 to control the coordinated operation of all mechanisms of the repair device; the scheduling command may be a start-stop time sequence signal of the running 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 are 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 running mechanism 260 may be determined based on the distance to be moved, and the start-stop timing signals of the pre-twisted wire fixing robot 210, the pre-twisted wire winding mechanism 220, and the pre-twisted wire 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 running gear control command, a preformed armor rod winding mechanism control command, and a preformed armor rod lifting mechanism control command, then start-stop timing signals of the running gear 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:
the second communication unit 170, one end of the second communication unit 170 is connected with the main control unit 120, and the other end is used for connecting with 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 parameters are 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 acquire 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 repair task command output by the terminal through the second communication unit 170 to control the coordinated operation of the mechanisms of the repair device; the scheduling command may be a start-stop time sequence signal of the running 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 are 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 running mechanism 260 may be determined based on the distance to be moved, and the start-stop timing signals of the pre-twisted wire fixing robot 210, the pre-twisted wire winding mechanism 220, and the pre-twisted wire 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 running gear control command, a preformed armor rod winding mechanism control command, and a preformed armor rod lifting mechanism control command, then start-stop timing signals of the running gear 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 port communication unit may adopt a wireless data transmission module (for example, DL-20 wireless serial port module) with a frequency band of 2.4GHz, so as to implement serial port communication between the main control unit 120 and the upper computer. The serial communication unit may be configured in a point-to-point mode or in a broadcast mode. The serial 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 realize real-time transmission of the overhead ground wire image received by the main control unit 120 to the upper computer; the upper computer reads the overhead ground wire image and is used for displaying, so that ground workers can observe the fault condition and repair condition of the overhead ground wire conveniently. The serial port communication unit may adopt Socket communication principle, if data is to be sent, firstly, a bluetooth Socket is created at the host computer end, then the serial port communication unit address of the main control unit 120 is searched, connection is created with the main control unit 120, and then data is sent. Similarly, the master unit 120 also first creates a Socket to read the data.
In one embodiment, the job control unit 130 is further configured to control the relevant action mechanism based on the scheduling command to send the pre-twisted wire to the job location.
Specifically, the pre-twisted wire lifting mechanism 230 sends the pre-twisted wire that is taken out of the bin to the operation position based on the scheduling command; after the pre-twisted wire lifting mechanism 230 sends the pre-twisted wire to the working position, the pre-twisted wire fixing manipulator 210 and the pre-twisted wire winding mechanism 220 start working based on the scheduling command, so as to realize that the pre-twisted wire fixing manipulator 210 fixes one end of the pre-twisted wire (for example, clamps one end of the pre-twisted wire and the overhead ground wire to fix the pre-twisted wire on the overhead ground wire) transferred by the pre-twisted wire lifting mechanism 230, and the pre-twisted wire winding mechanism 220 winds the pre-twisted wire on the overhead ground wire to be repaired.
In some examples, the pre-twisted wire winding mechanism 220 includes two winding units, each of which is slidably coupled to the device truss, along with the pre-twisted wire securing robot 210. Based on the scheduling command, the winding unit can keep a certain interval and move in a synchronous and uniform rotation manner in a direction away from the preformed armor rods fixing manipulator 210; the two winding units can operate for a plurality of times to wind a plurality of preformed armor rods, thereby realizing the preformed armor rods winding operation.
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 the distance to be moved so as to ensure that the deviation value of the starting point and the fault point of the winding operation of the preformed armor rods 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 also used for connecting a walking driving motor, a conveying motor, a lifting motor and a rotating motor so as to acquire 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 obtains the distance to be moved so as to ensure that the deviation value of the starting point of the winding operation 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 repair device using a thermistor and may access an operating circuit of the repair device using a relay to automatically cut off power to the repair device if the operating temperature of the repair device exceeds a temperature threshold. The main control unit 120 can also send an alarm signal to the upper computer or the terminal based on the working temperature, so as to remind the staff to cut off the power supply in time to protect the repairing device under the condition of overheat operation of the repairing device.
In some examples, the current sensor may employ a MAX471 chip to enable accurate amplification of current detection; the voltage sensor can be designed by adopting a resistor 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 alternating current or direct current load, and the normally open interface limits heavy load: alternating current is 0V-250V/10A, direct current is 0V-30V/10A; the temperature threshold is regulated through the potentiometer, when the ambient temperature is higher than the temperature threshold, the relay is attracted, and when the ambient temperature is lower than the temperature threshold, the relay is released; the problem of repeated action of the critical value of the relay can be solved by automatically fine-tuning the action threshold value after the relay acts; the temperature sensor unit may be configured as a temperature sensor having a power supply reverse connection preventing function. The distance sensor unit may employ an ultrasonic ranging transducer HC-SR04; the ultrasonic ranging transducer HC-SR04 adopts an IO port TRIG to trigger ranging, for example, sends out a high-level signal of at least 10 us; the ultrasonic ranging transducer HC-SR04 automatically transmits 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 time of the high level is the time from the emission to the return of ultrasonic waves (obtained by timer timing), wherein the test distance is = (high level time is sound velocity (340 m/s))/2; through continuous periodic measurement, the mobile ranging is realized.
In one embodiment, the main control unit 120 is a single-chip microcomputer; the image acquisition unit 150 is a camera;
the control device also comprises an expansion board, and the singlechip 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 the USB interface.
Specifically, an overhead ground wire image of the power transmission line acquired by the camera is acquired through the USB port, and the upper computer is used for displaying the overhead ground wire image and determining whether the overhead ground wire has a broken strand fault and/or a winding effect of the preformed armor rods according to the overhead ground wire image received by the serial port communication unit;
the SCM can adopt STM32 SCM, is compatible with AT series SCM, and is convenient for subsequent development by improving the application serial port downloading program; the sensor expansion board facilitates connection of the sensor assembly 110, the walking control unit 140, the operation control unit 130 and the Bluetooth communication unit with the singlechip (for example, digital pins of the singlechip are 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 control of the action of the patching device can be realized by sending a patching task command to the singlechip through the Bluetooth communication unit of the control device and the Bluetooth of the terminal by the terminal configured with the application program, and the control is used for displaying the working state parameters of the patching 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 relevant action mechanism matched with the pre-twisted wire winding operation;
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 job control unit 130 is used for connecting a job driving motor;
the control method comprises the following steps:
step 610, receiving fault information transmitted by the upper computer, and if a distance to be moved between the repairing device and 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 the terminal; the distance to be moved is used for indicating an upper computer or a terminal to feed back a repair 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 dispatching command is used for instructing the traveling control unit 140 to control the traveling driving motor to drive the traveling 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 pre-twisted wire winding job for the overhead ground wire.
In one embodiment, the control method further includes:
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 strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 6 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Based on the same inventive concept, the embodiment of the application also provides an overhead ground wire repair control system for realizing the overhead ground wire repair control method. The implementation of the solution provided by the control system is similar to the implementation described in the above method, so the specific limitation in the embodiments of the overhead ground wire repair control system or systems provided below may be referred to the limitation of the overhead ground wire repair control method hereinabove, and will not be repeated herein.
In one embodiment, as shown in fig. 7, there is provided an overhead ground wire repair control system comprising:
the to-be-moved distance obtaining module 710 is configured to receive the fault information transmitted by the upper computer, and if the to-be-moved distance between the repairing device and the fault point on the overhead ground wire is obtained through the sensor assembly 110, output the to-be-moved distance 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 repair task command;
the scheduling command execution module 720 is configured to parse 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 dispatching command is used for instructing the traveling control unit 140 to control the traveling driving motor to drive the traveling 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 pre-twisted wire winding job for the overhead ground wire.
In one embodiment, the control system further comprises:
an operating state parameter obtaining module, configured to obtain an operating 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.
The specific limitation of the overhead ground wire repair control system can be referred to as limitation of the overhead ground wire repair control method, and is not repeated herein. The above-mentioned various modules in the overhead ground wire repair control system may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules. It should be noted that, in the embodiment of the present application, the division of the modules is schematic, which is merely a logic function division, and other division manners may be implemented in actual implementation.
In one embodiment, an overhead ground wire repair system is provided, the system comprising the control device described above; the system also comprises an 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 relevant action mechanism matched with the pre-twisted wire winding operation;
the operation driving motor includes a transfer motor for transferring the pre-twisted wire, a lifting motor for driving the pre-twisted wire lifting mechanism 230, a push rod motor for driving the pre-twisted wire fixing manipulator 210, and a rotating motor for driving the pre-twisted wire winding mechanism 220; the walking control unit 140 is connected with a walking driving motor; the operation control unit 130 is respectively connected with a conveying motor, a lifting motor, a push rod motor and a rotating motor;
the system also comprises an upper computer connected with the control device and a terminal provided with an application program; the repair task commands include an automatic repair command; wherein:
the display interface of the application program comprises a first area for generating an automatic repair command, a second area for generating a preformed armor rod fixing manipulator control command, a third area for generating a running 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 clicking operation or touch operation in the first area, the second area, the third area, the fourth area and the fifth area so as to output a repair task command to the control device.
Specifically, the main body part of the repairing device is a device truss, and the device truss comprises two long longitudinal beams and a plurality of short cross beams crisscrossed with the long longitudinal beams, so that the repairing device has higher mechanical strength; the preformed armor rods bin, the traveling mechanism 260, the preformed armor rods lifting mechanism 230, the preformed armor rods fixing manipulator 210 and the preformed armor rods winding mechanism 220 are all connected with the device truss by corresponding connectors. The travelling mechanism 260 can drive the repairing device to wholly move forwards or backwards along the overhead ground wire, and comprises two identical driving units, each driving unit is fixed at two ends of the truss structure in a hinged mode, and the hinged fixation can ensure that four driving pulleys of two groups of driving units are in close contact with the overhead ground wire so as to improve the travelling stability and climbing capacity of the repairing device. The preformed armor rods bin is fixedly connected with the device truss through five high-strength cantilever beams; the preformed armor rods are taken out of the warehouse by driving a synchronous wheel and a synchronous belt with a clamping groove by a motor, and the synchronous wheel and the synchronous belt move reversely to realize the taking in of the preformed armor rods. The preformed armor rods lifting mechanism 230 is used for transferring preformed armor rods in the preformed armor rod storage bin to the preformed armor rod winding mechanism 220 one by one from the discharge port; the pre-twisted wire winding mechanism 220 includes two winding units, and the winding units and the pre-twisted wire fixing manipulator 210 are both slidably connected with the device truss. The winding unit can wind a plurality of preformed armor rods aiming at fault points on the overhead ground wire by synchronously operating at a constant speed for a plurality of times at a preset distance, thereby realizing the preformed armor rod winding operation.
After an application program configured by the terminal is opened, bluetooth connection is firstly carried out, after connection is completed, bluetooth connection is prompted, and movement of the automatic repair device of the overhead ground wire can be controlled through clicking operation or touch operation in a third area of the display interface, including left movement and right movement; the automatic repair operation command can be sent to the control device through clicking operation or touch operation in the first area, wherein the automatic repair operation command comprises starting and stopping of the automatic repair operation; the control command of the preformed armor rods fixing manipulator can be sent to the control device through clicking operation or touch operation in the second area, wherein the control command comprises left movement, right movement, clamping and opening of the preformed armor rods fixing manipulator; the control device can send out a preformed armor rod lifting mechanism control command comprising lifting and descending through clicking operation or touch operation in the fourth area; and sending a control command of the pre-twisted wire winding mechanism to the control device through clicking operation or touch operation in the fifth area, wherein the control command comprises starting and stopping of the pre-twisted wire 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 a worker operates the upper computer software and sends a repair task command to the main control unit 120 through the serial port communication unit so as to control the movement of the repair device on the overhead ground wire and control the related action mechanism to execute the pre-twisted wire winding operation for the overhead ground wire; the upper computer software can display the overhead ground wire image, the working state parameters and the alarm signals received by the serial port communication unit; the worker may transmit a stop signal to the main control unit 120 by operating the upper computer software to implement an emergency stop of the repair device.
In some examples, each travel drive unit includes two drive pulleys driven by a 200W servo motor through gears. The preformed armor rods bin can hold 11 preformed armor rods having a diameter of 4.1mm and a length of 1575 mm. The preformed armor rods fixing manipulator 210 comprises a guide rail, a sliding block, a fixing claw and a push rod motor; the preformed armor rods winding mechanism 220 comprises a fixed outer ring, a rotating inner ring, rollers, a driving motor, a transmission gear and a sliding clamping groove; the display interface of the application program may further include a fifth area, in response to a click operation or a touch operation within the fifth area, to implement an emergency stop of the patching device. The remote control handle can also be configured by the terminal so as to control the action of the repairing device through the application program configured by the terminal. In the burst period part which may cause the damage of the control device and/or the repair device, the application program may remind the staff to enter the protection state of the control device and/or the repair device, and prompt the control device and/or the repair device to possibly generate faults and solutions. The manual operation unit can be installed on the repairing device, and a worker can directly operate the manual operation unit to adjust the pose states of the walking driving motor, the conveying motor, the lifting motor, the push rod motor and the rotating motor before the repairing device is on line or after the repairing device is off line, so that the repairing device can be controlled through manual operation when no mobile phone or tablet personal computer is available or communication faults occur.
In the description of the present specification, reference to the terms "some embodiments," "other embodiments," "desired embodiments," and the like, means 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, schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (9)
1. The overhead ground wire repair control device is characterized in that the control device is applied to the 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 relevant action mechanism matched with the pre-twisted wire winding operation;
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, an operation control unit, a first communication unit and an image acquisition 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; 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 broken strand fault and/or the winding effect of the preformed armor rods; 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 obtained 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 the upper computer or the terminal to feed back a repair task command; the main control unit acquires working state parameters of the repairing device through the sensor assembly; the working state parameter is used for indicating the upper computer to send out an alarm signal; the main control unit 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; 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; the main control unit receives a repair task command output by the upper computer through the first communication unit; 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 job control unit;
The walking control unit controls the walking driving motor to drive the walking mechanism based on the dispatching command so as to drive the repairing device to move on the overhead ground wire; the job control unit controls the job drive motor to drive a related action mechanism based on the scheduling command to perform a pre-twisted wire winding job for the overhead ground wire.
2. The control device according to claim 1, characterized in that 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 being connected with 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 the repair task command output by the terminal through the second communication unit.
3. The control device according to claim 2, wherein the first communication unit is a serial communication unit; the second communication unit is a Bluetooth communication unit.
4. The control device according to claim 1, wherein the job control unit is further configured to control the relevant action mechanism based on the scheduling command to send the pre-twisted wire to a job location.
5. 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 starting point of the pre-twisted wire winding operation and the fault point is within a preset range;
the temperature sensor unit is connected with the main control unit and used for acquiring the working temperature of the repairing device; the main control unit controls the starting and stopping 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 being connected with the walking driving motor, a conveying motor for conveying preformed armor rods, a lifting motor for driving the preformed armor rods lifting mechanism and a rotating motor for driving the preformed armor rods winding mechanism, so as to obtain the working voltage of the walking driving motor, the working voltage of the working driving motor, the working current of the walking driving motor and the working current of the working driving motor.
6. The control device according to claim 3, wherein the main control unit is a single-chip microcomputer; the image acquisition unit is a camera;
The control device further comprises an expansion board, and the singlechip 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.
7. The overhead ground wire repair 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 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 relevant action mechanism matched with the pre-twisted wire winding operation;
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, a working control unit, a first communication unit and an image acquisition 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; 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 broken strand fault and/or the winding effect of the preformed armor rods;
The control method comprises the following steps:
receiving fault information transmitted by the upper computer, and if the distance to be moved between the repairing device and a fault point on the overhead ground wire is obtained through the sensor assembly, outputting the distance to be moved 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 repair task command;
analyzing the repair task command to obtain a scheduling command, and outputting the scheduling command to the walking control unit and the job control unit; the dispatching command is used for indicating the traveling control unit to control the traveling driving motor to drive the traveling mechanism so as to drive the repairing device to move on the overhead ground wire; the scheduling command is used for instructing the job control unit to control the job driving motor to drive a related action mechanism so as to execute a preformed armor rod winding job for the overhead ground wire;
the receiving the fault information transmitted by the upper computer, if the sensor assembly obtains the distance to be moved between the repairing device and the fault point on the overhead ground wire, outputting the distance to be moved to the upper computer or the terminal, including:
Acquiring working state parameters of the repairing device through the sensor assembly; the working state parameter is used for indicating the upper computer to send out an alarm signal; the main control unit 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;
receiving 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 the repair task command output by the upper computer through the first communication unit.
8. The control method according to claim 7, characterized in that the control method further comprises:
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; the working state parameter is used for indicating the upper computer and the terminal to send out an alarm signal.
9. An overhead ground wire repair system, characterized in that it comprises a control device according to any one of claims 1 to 6; the system also comprises an 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 relevant action mechanism matched with the winding operation of the preformed armor rods;
the operation driving motor comprises a conveying motor for conveying the preformed armor rods, a lifting motor for driving the preformed armor rods lifting mechanism, a push rod motor for driving the preformed armor rods fixing manipulator and a rotating motor for driving the preformed armor rods winding mechanism; the walking control unit is connected with the walking driving motor; the operation control unit is respectively connected with the conveying 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 provided with an application program; the repair task command includes an automatic repair command; wherein:
the display interface of the application program comprises a first area for generating the automatic repair command, a second area for generating a preformed armor rod fixing manipulator control command, a third area for generating a running 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 clicking operation or touch operation in the first area, the second area, the third area, the fourth area and the fifth area so as to output the repair task command to the control device.
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