Movable electric grounding wire installation vehicle

Abstract

The invention provides a mobile electric ground wire installation vehicle, and relates to the technical field of electric power overhaul, the mobile electric ground wire installation vehicle comprises a mobile carrier unit, a multi-section telescopic insulation lifting mechanism, a multi-dimensional adjusting mechanism, a ground wire clamp, a sensing module, a core electric control unit and a man-machine interaction unit, the mobile carrier unit is used for realizing full-area movement and positioning of the device; the multi-section telescopic insulating lifting mechanism is connected to the mobile carrier unit and is used for driving the grounding wire clamp to lift to a target height; remote operation can be achieved through the man-machine interaction unit, and the problem that the visual field is blocked in traditional manual operation is thoroughly solved; the sensing module can monitor the meshing state of the grounding wire clamp and the wire in real time, identify abnormal conditions such as virtual connection in time, and avoid the risk of grounding failure. The obstacle avoidance function of the mobile carrier unit and the protection mechanism of the power supply can effectively prevent equipment collision and circuit faults, and eliminate personal potential safety hazards from multiple dimensions.

Description

Technical Field

[0001] This invention relates to the field of power maintenance technology, and in particular to a mobile electric grounding wire installation vehicle. Background Technology

[0002] In the maintenance work of 220kV and above substations, the installation of grounding wires is a critical procedure to ensure personnel safety. The core requirement is to achieve stable engagement between the grounding clamp and the high-voltage conductor, while simultaneously preventing workers from being exposed to high-voltage risks. Existing technologies involve pre-embedding metal connecting parts at predetermined locations within the substation. During use, the lower end of the grounding operating rod is connected to the pre-embedded part to achieve initial fixation of the operating rod. These pre-embedded parts are made of stainless steel and fixed to the ground by concrete pouring. Positioning pin holes are provided at the connection point, requiring manual alignment and insertion of the operating rod. This process is cumbersome, and the pre-embedded location is fixed. Other technologies use a ring-shaped lug at the top of the insulated operating rod, with a high-strength nylon insulating rope threaded through the lug. This requires two workers to work together: one worker lifts the 8-meter-long insulated operating rod with both hands to bring the grounding clamp close to the conductor, while the other worker pulls the insulating rope on the ground to adjust the spatial position of the top of the operating rod, assisting in the connection between the grounding clamp and the conductor.

[0003] The two existing technologies mentioned above have significant drawbacks and are difficult to meet the requirements of efficient and safe grounding operations in high-voltage substations. On the one hand, the fixed grounding point device has extremely poor flexibility. Once the pre-embedded components are installed, they cannot be moved and cannot adapt to the different spacing and height (5-8 meters) of conductors within the substation. When the distance between the maintenance area and the pre-embedded point exceeds the radius of the operating rod, the device is completely unusable. Furthermore, during docking, precise alignment of the pin holes by hand is required. Under the weight of the operating rod (approximately 15 kg), workers are prone to fatigue, causing the operating rod to sway, which in turn increases the difficulty of docking. On the other hand, the insulated rope coordination device requires two people to work together, resulting in high labor costs. Furthermore, the tension of the insulated rope is difficult to quantify and control: excessive tension will cause the operating rod to tilt excessively, while insufficient tension will not be able to counteract the shaking of the operating rod. In actual operation, the success rate of grounding clamp and conductor connection is less than 60%. More importantly, neither device has a real-time feedback mechanism. Workers can only judge the connection status by visual observation. Due to the obstruction of the operating rod, the field of vision is severely impaired, making it impossible to accurately identify the gap and engagement depth between the grounding clamp and the conductor. This can easily lead to incomplete connections and pose a safety hazard of grounding failure. At the same time, the 8-meter-long operating rod is manually lifted for a long time, which puts the arm muscles of the workers beyond the limits of human endurance. This can easily lead to operational errors due to fatigue, causing the operating rod to fall or the grounding clamp to fall off, endangering personal and equipment safety. Therefore, this invention proposes a mobile electric grounding wire installation vehicle to solve the problems existing in the prior art. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes a mobile electric grounding wire installation vehicle. This vehicle can be remotely operated via a human-machine interface unit, completely solving the problem of obstructed vision in traditional manual operation. The sensing module can monitor the engagement status of the grounding clamp and the conductor in real time, promptly identifying abnormalities such as loose connections and avoiding the risk of grounding failure.

[0005] To achieve the objectives of this invention, the invention is implemented through the following technical solution: a mobile electric grounding wire installation vehicle, comprising a mobile carrier unit, a multi-section telescopic insulating lifting mechanism, a multi-dimensional adjustment mechanism, a grounding wire clamp, a sensing module, a core electrical control unit, and a human-machine interaction unit. The mobile carrier unit is used to realize the full-area movement and positioning of the device; the multi-section telescopic insulating lifting mechanism is connected to the mobile carrier unit and is used to drive the grounding wire clamp to rise and fall to the target height; the multi-dimensional adjustment mechanism is connected between the mobile carrier unit and the multi-section telescopic insulating lifting mechanism and is used to adjust the spatial posture of the multi-section telescopic insulating lifting mechanism.

[0006] The grounding clamp is located at the top of the multi-section telescopic insulated lifting mechanism and is used to engage with the conductor to achieve grounding; the sensing module is located in the grounding clamp and is used to collect data on the engagement status of the grounding clamp and the conductor; the core electrical control unit is used to receive instructions, run control algorithms, and drive the various actuators to work together; the human-machine interaction unit is electrically connected to the core electrical control unit and is used to realize instruction input, operation parameter display, and abnormal status early warning.

[0007] Further improvements include: the core electronic control unit comprises an instruction parsing unit, a motion control unit, an algorithm processing unit, and a data storage unit. The instruction parsing unit is used to parse the target operation parameters input by the human-machine interaction unit; the motion control unit is used to generate control signals for each actuator based on the parsed instructions; the algorithm processing unit pre-stores multi-dimensional adjustment precision control algorithms, lifting speed adaptive algorithms, and engagement degree determination algorithms to calculate the motion parameters of the actuators; and the data storage unit is used to store position, height, pressure, and engagement degree data in real time during the operation.

[0008] Further improvements include: the multi-dimensional adjustment mechanism includes a lifting adjustment wheel and a 360-degree spatial adjustment wheel. The lifting adjustment wheel is used to adjust the pitch angle of the multi-section telescopic insulated lifting mechanism, with an adjustment range of 0°-90°; the 360-degree spatial adjustment wheel is used to adjust the horizontal rotation angle of the multi-section telescopic insulated lifting mechanism, with an adjustment range of 0°-360°; the multi-section telescopic insulated lifting mechanism includes a first-stage lifting insulated column, a second-stage lifting insulated column, and a third-stage lifting insulated column, with a telescopic range of 2-8 meters.

[0009] Further improvements include: the multi-section telescopic insulated lifting mechanism is made of epoxy resin insulation material; the grounding clamp is made of brass alloy with tin plating on the surface, and its clamping range is suitable for conductors with a diameter of 10-40mm.

[0010] A further improvement lies in the following: the multi-dimensional adjustment precision control algorithm is as follows:

[0011] ΔS=Kp×ΔX+Ki×∫0tΔY(τ)dτ+Kd×(dΔZ / dt)

[0012] Wherein, ΔS is the single correction adjustment amount of the multi-dimensional adjustment mechanism, used to correct the spatial deviation between the grounding clamp and the conductor; Kp is the proportional coefficient, ranging from 0.8 to 1.2, dynamically set according to the conductor voltage level, used to quickly offset the current deviation; ΔX is the horizontal coordinate deviation of the top of the multi-section telescopic insulating lifting mechanism relative to the conductor, fed back in real time by the position sensor of the 360-degree spatial adjustment wheel; Ki is the integral coefficient, ranging from 0.3 to 0.5, with a default value of 0.4, used to eliminate static deviations during the adjustment process; ∫0 t ΔY(τ)dτ is the integral term of the pitch angle deviation, τ is the integral variable, t is the duration of the adjustment action, ΔY is the pitch angle deviation of the multi-section telescopic insulated lifting mechanism relative to the conductor, which is fed back in real time by the angle sensor of the lifting adjustment wheel; Kd is the differential coefficient, with a value range of 0.1-0.2 and a default value of 0.15, used to suppress overshoot during the adjustment process; dΔZ / dt is the time derivative of the height position deviation; ΔZ is the height deviation of the multi-section telescopic insulated lifting mechanism relative to the conductor, which is fed back in real time by the displacement sensor of the multi-section telescopic insulated lifting mechanism, used to predict the changing trend of the height deviation.

[0013] Further improvements include: the sensing module includes a wireless pressure sensor, a displacement sensor, an obstacle avoidance sensor, a data transmission subunit, and an anomaly alarm subunit. The wireless pressure sensor is embedded in the inner clamping surface of the grounding clamp to collect the meshing contact pressure between the grounding clamp and the conductor. The displacement sensor is respectively installed in the multi-section telescopic insulated lifting mechanism and the multi-dimensional adjustment mechanism to collect height and angle deviation data. The obstacle avoidance sensor is installed around the mobile carrier unit to detect the distance to surrounding obstacles. The data transmission subunit and the anomaly alarm subunit are used for data transmission and trigger an audible and visual alarm when the contact pressure exceeds the range of 50-200N.

[0014] A further improvement is made in that the adaptive algorithm for acceleration and deceleration speed is as follows:

[0015] v = v0 × [1 - k × (H / Hmax)]

[0016] Wherein, v is the real-time telescopic insulated lifting mechanism, used to control the smoothness of the lifting process; v0 is the initial telescopic speed, ranging from 0.4 to 0.6 m / s, with a default value of 0.5 m / s, which is the initial speed when the lifting height H = 0; k is the speed attenuation coefficient, ranging from 0.3 to 0.5, with a default value of 0.4, used to control the attenuation of speed as height increases; H is the current lifting height of the multi-section telescopic insulated lifting mechanism, which is fed back in real time by the displacement sensors of the three levels of the lifting insulated column, ranging from 0 to 8 m; Hmax is the maximum lifting height of the multi-section telescopic insulated lifting mechanism, a fixed value of 8 m, which is the limit lifting height designed for the mechanism.

[0017] A further improvement is made in that the meshing degree determination algorithm is as follows:

[0018] C = (P / P0) × 100%

[0019] Wherein, C is the engagement degree between the grounding clamp and the conductor, used to determine whether the engagement is qualified. The judgment standard is that C≥90% is qualified, and C<90% is judged as a loose connection; P is the real-time engagement contact pressure collected by the wireless pressure sensor, with a value range of 50-200N. The pressure value changes positively with the tightness of engagement; P0 is the standard engagement pressure corresponding to the conductor, dynamically matched according to the conductor diameter: when the conductor diameter is 10-20mm, P0=100N; when the conductor diameter is 20-30mm, P0=150N; when the conductor diameter is 30-40mm, P0=200N.

[0020] Further improvements include: the mobile carrier unit comprises a grounding vehicle body, grounding vehicle steering wheels, a lithium battery power supply, and a servo drive mechanism; the grounding vehicle body adopts a steel structure frame; the grounding vehicle steering wheels have a braking function; the lithium battery power supply has a specification of 48V / 100Ah, supports fast charging mode, and triggers a low battery warning when the remaining power is ≤20%; the servo drive mechanism is connected to the grounding vehicle steering wheels, and the driving speed range is 0.2-0.5m / s.

[0021] Further improvements include: the human-machine interaction unit is a touch screen display, including a parameter display area, a command input area, and a status warning area. The parameter display area displays the current height, pitch angle, horizontal deviation, contact pressure, and engagement degree in real time; the command input area is used to manually input the target height, horizontal distance, and wire diameter; and the status warning area displays the operating status through a three-color indicator light.

[0022] The beneficial effects of this invention are as follows:

[0023] 1. This invention significantly improves operational safety. Workers do not need to approach high-voltage lines and heavy insulated operating rods; they can remotely operate the equipment through the human-machine interface unit, completely solving the problem of obstructed vision in traditional manual operation. The sensing module can monitor the engagement status of the grounding clamp and the conductor in real time, promptly identifying abnormalities such as loose connections and avoiding the risk of grounding failure. The obstacle avoidance function of the mobile carrier unit and the power protection mechanism can effectively prevent equipment collisions and circuit failures, eliminating personal safety hazards from multiple dimensions.

[0024] 2. This invention requires only one person to complete all grounding operations, reducing manpower input; the multi-dimensional adjustment mechanism and the core electronic control unit work together to accurately adjust the spatial posture of the grounding clamp, avoiding the deviation problems of traditional manual operation and shortening the docking time; key data such as position and pressure during the operation can be automatically stored without manual recording, providing convenience for subsequent operation and maintenance traceability and further improving the efficiency of the overall operation process.

[0025] 3. The mobile carrier unit of this invention can move throughout the entire area, eliminating the dependence on fixed grounding points and adapting to the conductor layout of substations with different intervals and voltage levels; the design of the multi-section telescopic insulated lifting mechanism and grounding clamp can be compatible with conductors of various diameters to meet diverse operational needs; the lithium battery power supply does not require external power supply, making it suitable for field substations or temporary maintenance scenarios, and improving the long-term economic efficiency. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the components of the present invention;

[0027] Figure 2 This is the front view of the present invention.

[0028] The components include: 1. Lifting and adjusting wheel; 2. 360-degree spatial adjusting wheel; 3. Level 1 lifting insulating column; 4. Level 2 lifting insulating column; 5. Level 3 lifting insulating column; 6. Grounding clamp; 7. Wireless pressure sensor; 8. Grounding vehicle body; 9. Grounding vehicle steering wheel; 10. Lithium battery power supply; 11. Core electronic control unit; 12. Touch screen display. Detailed Implementation

[0029] To enhance understanding of the present invention, the present invention will be further described in detail below with reference to embodiments. These embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0030] Example 1

[0031] according to Figure 1 , 2As shown, this embodiment proposes a mobile electric grounding wire installation vehicle, including a mobile carrier unit, a multi-section telescopic insulating lifting mechanism, a multi-dimensional adjustment mechanism, a grounding wire clamp 6, a sensing module, a core electrical control unit 11, and a human-machine interaction unit. The mobile carrier unit is used to realize the full-area movement and positioning of the device; the multi-section telescopic insulating lifting mechanism is connected to the mobile carrier unit and is used to drive the grounding wire clamp 6 to rise and fall to the target height; the multi-dimensional adjustment mechanism is connected between the mobile carrier unit and the multi-section telescopic insulating lifting mechanism and is used to adjust the spatial posture of the multi-section telescopic insulating lifting mechanism.

[0032] The grounding clamp 6 is located at the top of the multi-section telescopic insulated lifting mechanism and is used to engage with the conductor to achieve grounding; the sensing module is located in the grounding clamp 6 and is used to collect data on the engagement status of the grounding clamp 6 and the conductor; the core electrical control unit 11 is used to receive instructions, run control algorithms and drive the various actuators to work together; the human-machine interaction unit is electrically connected to the core electrical control unit 11 and is used to realize instruction input, operation parameter display and abnormal status warning.

[0033] The core electronic control unit 11 includes an instruction parsing unit, a motion control unit, an algorithm processing unit, and a data storage unit. The instruction parsing unit is used to parse the target operation parameters input by the human-machine interaction unit. The motion control unit is used to generate control signals for each actuator based on the parsed instructions. The algorithm processing unit pre-stores multi-dimensional adjustment precision control algorithms, lifting speed adaptive algorithms, and engagement degree judgment algorithms to calculate the motion parameters of the actuators. The data storage unit is used to store position, height, pressure, and engagement degree data in real time during the operation. The multi-dimensional adjustment mechanism includes a lifting adjustment wheel 1 and a 360-degree spatial adjustment wheel 2. The lifting adjustment wheel 1 is used to adjust the pitch angle of the multi-section telescopic insulated lifting mechanism, with an adjustment range of 0°-90°. The 360-degree spatial adjustment wheel 2 is used to adjust the horizontal rotation angle of the multi-section telescopic insulated lifting mechanism, with an adjustment range of 0°-360°. The multi-section telescopic insulated lifting mechanism includes a first-stage lifting insulated column 3, a second-stage lifting insulated column 4, and a third-stage lifting insulated column 5, with a telescopic range of 2-8 meters. The multi-section telescopic insulated lifting mechanism uses epoxy resin insulation material; the grounding clamp 6 is made of brass alloy with a tin-plated surface, and its clamping range is suitable for wires with a diameter of 10-40mm. The sensing module includes a wireless pressure sensor 7, a displacement sensor, an obstacle avoidance sensor, a data transmission subunit, and an abnormal alarm subunit. The wireless pressure sensor 7 is embedded in the inner clamping surface of the grounding clamp 6 and is used to collect the meshing contact pressure between the grounding clamp 6 and the wire; the displacement sensor is respectively set in the multi-section telescopic insulated lifting mechanism and the multi-dimensional adjustment mechanism and is used to collect height and angle deviation data; the obstacle avoidance sensor is set around the mobile carrier unit and is used to detect the distance of surrounding obstacles; the data transmission subunit and the abnormal alarm subunit are used for data transmission and trigger an audible and visual alarm when the contact pressure exceeds the range of 50-200N. The mobile carrier unit includes a grounding vehicle body 8, grounding vehicle steering wheels 9, a lithium battery power supply 10, and a servo drive mechanism. The grounding vehicle body 8 adopts a steel structure frame; the grounding vehicle steering wheels 9 have a braking function; the lithium battery power supply 10 has a specification of 48V / 100Ah, supports fast charging mode, and triggers a low battery warning when the remaining power is ≤20%; the servo drive mechanism is connected to the grounding vehicle steering wheels, and the driving speed range is 0.2-0.5m / s. The human-machine interaction unit is a touch screen display 12, including a parameter display area, a command input area, and a status warning area. The parameter display area displays the current height, pitch angle, horizontal deviation, contact pressure, and engagement degree in real time; the command input area is used to manually input the target height, horizontal distance, and wire diameter; the status warning area displays the operating status through three-color indicator lights.

[0034] In use, the mobile carrier unit powered by lithium battery power supply 10 is used as the basis for full-area mobile positioning through servo drive mechanism and obstacle avoidance sensor. After the staff inputs the target wire height, diameter and other parameters through the touch screen 12, the core electronic control unit EUC parses the instructions. The algorithm processing unit runs multi-dimensional adjustment precision control algorithm, lifting speed adaptive algorithm and engagement degree judgment algorithm to drive the lifting adjustment wheel 1 of the multi-dimensional adjustment mechanism to adjust the pitch angle and the 360-degree spatial adjustment wheel 2 to adjust the horizontal angle. The multi-section telescopic insulated lifting mechanism achieves 2-8 meter telescopic coordinated adjustment of spatial attitude through a first-stage lifting screw and transmission insulated belt. At the same time, the sensing module wireless pressure sensor 7 and displacement sensor collect data such as horizontal deviation, height deviation and engagement pressure in real time and feed them back to the core electronic control unit 11. When the grounding clamp 6 is close to the wire, the core electronic control unit 11 dynamically adjusts the lifting speed and attitude according to the algorithm until the real-time pressure detected by the wireless pressure sensor 7 meets the engagement degree judgment standard C≥90%, and the grounding operation is completed. The entire operation data is stored in the data storage unit. Abnormal status such as loose connection and low battery is warned by the three-color indicator light on the display screen.

[0035] The multi-dimensional adjustment precision control algorithm is as follows:

[0036] ΔS=Kp×ΔX+Ki×∫0 t ΔY(τ)dτ+Kd×(dΔZ / dt)

[0037] Wherein, ΔS is the single correction adjustment amount of the multi-dimensional adjustment mechanism, used to correct the spatial deviation between the grounding clamp 6 and the conductor; Kp is the proportional coefficient, ranging from 0.8 to 1.2, dynamically set according to the conductor voltage level, used to quickly offset the current deviation; ΔX is the horizontal coordinate deviation of the top of the multi-section telescopic insulating lifting mechanism relative to the conductor, fed back in real time by the position sensor of the 360-degree spatial adjustment wheel; Ki is the integral coefficient, ranging from 0.3 to 0.5, with a default value of 0.4, used to eliminate static deviations during the adjustment process; ∫0 t ΔY(τ)dτ is the integral term of the pitch angle deviation, τ is the integral variable, t is the duration of the adjustment action, ΔY is the pitch angle deviation of the multi-section telescopic insulated lifting mechanism relative to the conductor, which is fed back in real time by the angle sensor of the lifting adjustment wheel; Kd is the differential coefficient, with a value range of 0.1-0.2 and a default value of 0.15, used to suppress overshoot during the adjustment process; dΔZ / dt is the time derivative of the height position deviation; ΔZ is the height deviation of the multi-section telescopic insulated lifting mechanism relative to the conductor, which is fed back in real time by the displacement sensor of the multi-section telescopic insulated lifting mechanism, used to predict the changing trend of the height deviation.

[0038] The adaptive algorithm for acceleration and deceleration speed is as follows:

[0039] v = v0 × [1 - k × (H / Hmax)]

[0040] Wherein, v is the real-time telescopic insulated lifting mechanism, used to control the smoothness of the lifting process; v0 is the initial telescopic speed, ranging from 0.4 to 0.6 m / s, with a default value of 0.5 m / s, which is the initial speed when the lifting height H = 0; k is the speed attenuation coefficient, ranging from 0.3 to 0.5, with a default value of 0.4, used to control the attenuation of speed as height increases; H is the current lifting height of the multi-section telescopic insulated lifting mechanism, which is fed back in real time by the displacement sensors of the three levels of the lifting insulated column, ranging from 0 to 8 m; Hmax is the maximum lifting height of the multi-section telescopic insulated lifting mechanism, a fixed value of 8 m, which is the limit lifting height designed for the mechanism.

[0041] The meshing degree determination algorithm is as follows:

[0042] C = (P / P0) × 100%

[0043] Wherein, C is the engagement degree between the grounding clamp 6 and the conductor, used to determine whether the engagement is qualified. The judgment standard is that C≥90% is qualified, and C<90% is judged as a loose connection; P is the real-time engagement contact pressure collected by the wireless pressure sensor 7, with a value range of 50-200N. The pressure value changes positively with the tightness of engagement; P0 is the standard engagement pressure corresponding to the conductor, dynamically matched according to the conductor diameter: when the conductor diameter is 10-20mm, P0=100N; when the conductor diameter is 20-30mm, P0=150N; when the conductor diameter is 30-40mm, P0=200N.

[0044] Example 2

[0045] according to Figure 1 , 2 As shown in the figure, this embodiment proposes a mobile electric grounding wire installation vehicle, which is applied to outdoor line grounding operations in 330kV substations:

[0046] The staff pushed the device to the 330kV outdoor line maintenance area, started the system through the touch screen 12, and showed that the lithium battery power was 85%; select the "line grounding" mode, input the target line height (7 meters) and conductor diameter (28 mm), and there is no need to input the horizontal distance (relying on the device for automatic positioning).

[0047] The obstacle avoidance sensor scans the surrounding environment (no obstacles) to generate a straight-line movement path. The servo drive mechanism drives the grounding vehicle's steering wheel to move at a speed of 0.3 m / s. After 15 seconds, it stops directly under the line with a positioning error of 35 mm.

[0048] The core electrical control unit 11 automatically matches the proportional coefficient (Kp = 1.2) for the 330kV voltage level, driving the 360-degree adjustment wheel 2 to rotate 90° to align with the line, and the lifting adjustment wheel 1 adjusts the pitch angle to 40°; a multi-dimensional adjustment precision control algorithm calculates the adjustment amount.

[0049] ΔS=1.2×1.5+0.4×∫0.8dt+0.15×d2 / dt=1.8+0.32+0.3=2.42mm

[0050] ΔX = 1.5mm, ΔY = 0.8°, ΔZ = 2mm, adjustment time 8 seconds.

[0051] The adaptive algorithm for lifting speed starts with an initial speed of v = 0.5 × (1 - 0.4 × 0 / 8) = 0.5 m / s. When H = 5 meters, the speed is adjusted to v = 0.5 × (1 - 0.4 × 5 / 8) = 0.25 m / s. After 22 seconds, the height reaches 7 meters and the mechanism automatically stops.

[0052] When the grounding clamp 6 contacts the conductor, the wireless pressure sensor 7 collects the pressure P = 148N. Combined with the standard pressure P0 = 150N corresponding to the conductor diameter of 28mm, the engagement degree judgment algorithm calculates C = (148 / 150) × 100% = 98.7%, which is qualified. The display screen lights up green, and the entire process is completed by a single person.

[0053] After maintenance is completed, input the "reset" command, and within 18 seconds, the multi-section telescopic insulated lifting mechanism will return to its initial position, the mobile carrier unit will move to the storage area, and the operation will be completed.

[0054] Validation data: Three work sites were selected, with the traditional manual (insulated rope coordination) method as the control. Each test was repeated 5 times and the average value was taken. The results show that: In terms of operational efficiency, traditional methods require two people to work together and are time-consuming at each work point, while this device only requires one person to operate, significantly reducing the time spent at each work point. Key data such as position and pressure during the operation can also be automatically stored, eliminating the need for manual recording. In terms of adjustment accuracy, traditional manual operation results in significant errors in horizontal, pitch, and height adjustments. This device, through the collaboration of a multi-dimensional adjustment mechanism and a core electronic control unit algorithm, significantly reduces these three types of adjustment errors. In terms of meshing stability, traditional methods have a low meshing pass rate and are prone to "loose connections." This device, relying on a wireless pressure sensor and meshing degree judgment algorithm, can accurately identify the meshing state, achieving a 100% meshing pass rate. In terms of labor intensity and endurance, traditional methods result in significant muscle fatigue for workers after operation, requiring personnel rotation and having a short duration for continuous operation. With this device, workers experience no significant fatigue after operation, and continuous operation can be performed without rotation and for a significantly longer duration. In terms of equipment safety, traditional methods pose a risk of equipment collision. This device's obstacle avoidance function effectively avoids collision risks, and no equipment collisions occurred during the test.

[0055] This mobile electric grounding wire installation vehicle significantly improves operational safety. Workers can operate remotely via a human-machine interface unit without needing to approach high-voltage conductors or heavy insulated operating rods, completely eliminating the problem of obstructed vision in traditional manual operations. The sensing module can monitor the engagement status of the grounding clamp and conductor in real time, promptly identifying abnormalities such as loose connections and avoiding the risk of grounding failure. The obstacle avoidance function of the mobile carrier unit and the power protection mechanism effectively prevent equipment collisions and circuit faults, eliminating personal safety hazards from multiple dimensions. Furthermore, the device requires only one person to complete all grounding work, reducing manpower input. The multi-dimensional adjustment mechanism and the algorithm of the core electrical control unit 11 work together to precisely adjust the spatial posture of the grounding clamp 6, avoiding deviations caused by traditional manual operations and shortening docking time. Key data such as position and pressure during the operation can be automatically stored, eliminating the need for manual recording and facilitating subsequent maintenance and traceability, further improving the efficiency of the overall operation process. Finally, the mobile carrier unit can move throughout the entire area, eliminating the dependence on fixed grounding points and adapting to the conductor layout of substations with different intervals and voltage levels; the design of the multi-section telescopic insulated lifting mechanism and grounding clamp 6 can be compatible with conductors of various diameters to meet diverse operational needs; the lithium battery power supply 10 does not require external power supply, making it suitable for field substations or temporary maintenance scenarios, and improving the long-term economic efficiency.

[0056] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mobile electric grounding wire installation vehicle, comprising a mobile carrier unit, a multi-section telescopic insulated lifting mechanism, a multi-dimensional adjustment mechanism, a grounding wire clamp (6), a sensing module, a core electrical control unit (11), and a human-machine interaction unit, characterized in that: The mobile carrier unit is used to realize the full-area movement and positioning of the device; the multi-section telescopic insulating lifting mechanism is connected to the mobile carrier unit and is used to drive the grounding clamp (6) to rise and fall to the target height; the multi-dimensional adjustment mechanism is connected between the mobile carrier unit and the multi-section telescopic insulating lifting mechanism and is used to adjust the spatial attitude of the multi-section telescopic insulating lifting mechanism. The grounding clamp (6) is located at the top of the multi-section telescopic insulated lifting mechanism and is used to engage with the conductor to achieve grounding; the sensing module is located in the grounding clamp (6) and is used to collect the engagement status data between the grounding clamp (6) and the conductor; the core electrical control unit (11) is used to receive instructions, run control algorithms and drive each actuator to work together; the human-machine interaction unit is electrically connected to the core electrical control unit (11) and is used to realize instruction input, operation parameter display and abnormal status warning.

2. The mobile electric grounding wire installation vehicle according to claim 1, characterized in that: The core electronic control unit (11) includes an instruction parsing unit, a motion control unit, an algorithm processing unit, and a data storage unit. The instruction parsing unit is used to parse the target operation parameters input by the human-machine interaction unit. The motion control unit is used to generate control signals for each actuator according to the parsed instructions. The algorithm processing unit pre-stores multi-dimensional adjustment precision control algorithms, lifting speed adaptive algorithms, and engagement degree determination algorithms to calculate the action parameters of the actuators. The data storage unit is used to store position, height, pressure, and engagement degree data in real time during the operation.

3. The mobile electric grounding wire installation vehicle according to claim 2, characterized in that: The multi-dimensional adjustment mechanism includes a lifting adjustment wheel (1) and a 360-degree spatial adjustment wheel (2). The lifting adjustment wheel (1) is used to adjust the pitch angle of the multi-section telescopic insulated lifting mechanism, with an adjustment range of 0°-90°. The 360-degree spatial adjustment wheel (2) is used to adjust the horizontal rotation angle of the multi-section telescopic insulated lifting mechanism, with an adjustment range of 0°-360°. The multi-section telescopic insulated lifting mechanism includes a first-stage lifting insulated column (3), a second-stage lifting insulated column (4), and a third-stage lifting insulated column (5), with a telescopic range of 2-8 meters.

4. The mobile electric grounding wire installation vehicle according to claim 3, characterized in that: The multi-section telescopic insulated lifting mechanism is made of epoxy resin insulation material; the grounding clamp (6) is made of brass alloy with tin plating on the surface, and the clamping range is suitable for conductors with a diameter of 10-40mm.

5. The mobile electric grounding wire installation vehicle according to claim 4, characterized in that: The multi-dimensional adjustment precision control algorithm is as follows: ΔS=Kp×ΔX+Ki×∫0 t ΔY(τ)dτ+Kd×(dΔZ / dt) Wherein, ΔS is the single correction adjustment amount of the multi-dimensional adjustment mechanism, used to correct the spatial deviation between the grounding clamp (6) and the conductor; Kp is the proportional coefficient, with a value range of 0.8-1.2, dynamically set according to the conductor voltage level, used to quickly offset the current deviation; ΔX is the horizontal coordinate deviation of the top of the multi-section telescopic insulating lifting mechanism relative to the conductor, which is fed back in real time by the position sensor of the 360-degree spatial adjustment wheel; Ki is the integral coefficient, with a value range of 0.3-0.5, and a default value of 0.4, used to eliminate static deviations during the adjustment process; ∫0 t ΔY(τ)dτ is the integral term of the pitch angle deviation, τ is the integral variable, t is the duration of the adjustment action, ΔY is the pitch angle deviation of the multi-section telescopic insulated lifting mechanism relative to the conductor, which is fed back in real time by the angle sensor of the lifting adjustment wheel; Kd is the differential coefficient, with a value range of 0.1-0.2 and a default value of 0.15, used to suppress overshoot during the adjustment process; dΔZ / dt is the time derivative of the height position deviation; ΔZ is the height deviation of the multi-section telescopic insulated lifting mechanism relative to the conductor, which is fed back in real time by the displacement sensor of the multi-section telescopic insulated lifting mechanism, used to predict the changing trend of the height deviation.

6. The mobile electric grounding wire installation vehicle according to claim 2, characterized in that: The sensing module includes a wireless pressure sensor (7), a displacement sensor, an obstacle avoidance sensor, a data transmission subunit, and an abnormal alarm subunit. The wireless pressure sensor (7) is embedded in the inner clamping surface of the grounding clamp (6) and is used to collect the meshing contact pressure between the grounding clamp (6) and the conductor. The displacement sensor is respectively set in the multi-section telescopic insulated lifting mechanism and the multi-dimensional adjustment mechanism and is used to collect height and angle deviation data. The obstacle avoidance sensor is set around the mobile carrier unit and is used to detect the distance of surrounding obstacles. The data transmission subunit and the abnormal alarm subunit are used for data transmission and trigger an audible and visual alarm when the contact pressure exceeds the range of 50-200N.

7. The mobile electric grounding wire installation vehicle according to claim 6, characterized in that: The adaptive algorithm for acceleration and deceleration speed is as follows: v = v0 × [1 - k × (H / Hmax)] Wherein, v is the real-time telescopic insulated lifting mechanism, used to control the smoothness of the lifting process; v0 is the initial telescopic speed, ranging from 0.4 to 0.6 m / s, with a default value of 0.5 m / s, which is the initial speed when the lifting height H = 0; k is the speed attenuation coefficient, ranging from 0.3 to 0.5, with a default value of 0.4, used to control the attenuation of speed as height increases; H is the current lifting height of the multi-section telescopic insulated lifting mechanism, which is fed back in real time by the displacement sensors of the three levels of the lifting insulated column, ranging from 0 to 8 m; Hmax is the maximum lifting height of the multi-section telescopic insulated lifting mechanism, a fixed value of 8 m, which is the limit lifting height designed for the mechanism.

8. The mobile electric grounding wire installation vehicle according to claim 7, characterized in that: The meshing degree determination algorithm is as follows: C = (P / P0) × 100% Wherein, C is the engagement degree between the grounding clamp (6) and the conductor, used to determine whether the engagement is qualified. The judgment standard is that C≥90% is qualified and C<90% is judged as a loose connection; P is the real-time engagement contact pressure collected by the wireless pressure sensor (7), with a value range of 50-200N. The pressure value changes positively with the degree of engagement tightness; P0 is the standard engagement pressure corresponding to the conductor, dynamically matched according to the conductor diameter: when the conductor diameter is 10-20mm, P0=100N; when the conductor diameter is 20-30mm, P0=150N; when the conductor diameter is 30-40mm, P0=200N.

9. The mobile electric grounding wire installation vehicle according to claim 1, characterized in that: The mobile carrier unit includes a grounding vehicle body (8), grounding vehicle steering wheels (9), a lithium battery power supply (10), and a servo drive mechanism. The grounding vehicle body (8) adopts a steel structure frame. The grounding vehicle steering wheels (9) have a braking function. The lithium battery power supply (10) has a specification of 48V / 100Ah, supports fast charging mode, and triggers a low battery warning when the remaining power is ≤20%. The servo drive mechanism is connected to the grounding vehicle steering wheels, and the driving speed range is 0.2-0.5m / s.

10. The mobile electric grounding wire installation vehicle according to claim 1, characterized in that: The human-machine interaction unit is a touch screen (12), including a parameter display area, a command input area and a status warning area. The parameter display area displays the current height, pitch angle, horizontal deviation, contact pressure and engagement degree in real time. The command input area is used to manually input the target height, horizontal distance and wire diameter. The status warning area displays the working status through a three-color indicator light.

Images