Power equipment hoisting method, device, equipment, storage medium and program product

Abstract

The application relates to a power equipment hoisting method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring the weight of power equipment to be hoisted, and acquiring position relationship information between a first pulley and a second pulley; wherein the first pulley is installed on a power transmission line, and the second pulley is installed vertically above a horizontal plane corresponding to the power transmission line; based on the position relationship information, an included angle between the line connecting the first pulley and the second pulley and the horizontal plane is acquired; according to the included angle and the weight, a horizontal tension of the power transmission line in a hoisting process of the power equipment to be hoisted is obtained; and in the case that the tension is less than a preset tension threshold, a motor is controlled to hoist the power equipment to be hoisted. The method can efficiently hoist the power equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-altitude hoisting of power equipment, and in particular to a power equipment hoisting method and device, computer equipment, a storage medium and a computer program product. BACKGROUND

[0002] With the development of high-altitude hoisting technology of power equipment, a high-altitude hoisting technology of power equipment based on a power transmission line has appeared. In this technology, a worker is fixed on a high-altitude power transmission line, and then a power equipment is hoisted to the high-altitude power transmission line by a rope.

[0003] The above technical solution requires a worker to manually hoist the power equipment to the high-altitude power transmission line. Usually, the worker needs to move to a predetermined position of the power transmission line and then hoist the power equipment to the position. This results in a large amount of time consumed in the hoisting process and low hoisting efficiency.

[0004] For example, the hoisting and replacement method of the inverted V insulator string of the power transmission line is different from the replacement work of the conventional suspension string, and the replacement work has high difficulty and precision requirement. When the inverted V insulator string of the power transmission line is replaced by using the conventional hoisting method, the efficiency is low, the labor intensity of the high-altitude worker is high, and the operation steps are complicated. In order to simplify the operation process of hoisting and replacing the inverted V suspension insulator string, reduce the operation intensity and difficulty, the present application selects a suitable pulley by calculating the mechanics of the transferred object, calculates whether the tension of a single power transmission line meets the horizontal tension borne by the first pulley. A lightweight operation method for replacing the inverted V string suspension insulator of the power transmission line is to use a specially-made lightweight motor as a power traction, use a Dyneema rope as a total traction rope and hoisting, and use a transmission limiting device first pulley to realize fixed-point hoisting work. SUMMARY

[0005] Therefore, it is necessary to provide a power equipment hoisting method, device, computer equipment, computer readable storage medium and computer program product capable of efficiently hoisting power equipment in view of the above technical problems.

[0006] In a first aspect, the present application provides a power equipment hoisting method. The method comprises:

[0007] obtaining the weight of the power equipment to be hoisted, and obtaining the positional relationship information between a first pulley and a second pulley; wherein the first pulley is installed on a power transmission line, and the second pulley is installed vertically above the horizontal plane corresponding to the power transmission line;

[0008] based on the positional relationship information, obtaining the included angle between the line connecting the first pulley and the second pulley and the horizontal plane;

[0009] obtaining the angle between the line connecting the first pulley and the second pulley and the horizontal plane based on the position relationship information between the first pulley and the second pulley;

[0010] controlling the motor to hoist the power equipment to be hoisted in the case that the tension is less than the preset tension threshold.

[0011] In one of the embodiments, the obtaining the position relationship information between the first pulley and the second pulley comprises: obtaining a first position coordinate of the first pulley and a second position coordinate of the second pulley in a preset coordinate system; and obtaining the position relationship information between the first pulley and the second pulley based on the first position coordinate and the second position coordinate.

[0012] In one of the embodiments, the obtaining the angle between the line connecting the first pulley and the second pulley and the horizontal plane based on the position relationship information between the first pulley and the second pulley comprises: obtaining position information of the line connecting the first pulley and the second pulley in the preset coordinate system based on the position relationship information between the first pulley and the second pulley; and obtaining the angle between the line connecting the first pulley and the second pulley and the horizontal plane based on the position information.

[0013] In one of the embodiments, the obtaining the tension of the power transmission line in the horizontal direction during the hoisting of the power equipment to be hoisted based on the angle and the weight comprises: obtaining a gravity generated by the power equipment to be hoisted based on the weight of the power equipment to be hoisted; and obtaining the tension of the power transmission line in the horizontal direction during the hoisting of the power equipment to be hoisted based on the angle and the gravity.

[0014] In one of the embodiments, the method further comprises: controlling the motor to remain in a stationary state and generating a safety warning information in the case that the tension is greater than or equal to the tension threshold.

[0015] In one of the embodiments, the method further comprises: obtaining a horizontal stress corresponding to the power transmission line; and obtaining a cross-sectional area corresponding to the power transmission line; and obtaining the tension threshold based on the horizontal stress and the cross-sectional area.

[0016] In a second aspect, the application further provides a power equipment hoisting device.

[0017] The information obtaining module is configured to obtain a weight of the power equipment to be hoisted and obtain position relationship information between a first pulley and a second pulley; the first pulley is installed on a power transmission line, and the second pulley is installed vertically above a horizontal plane corresponding to the power transmission line.

[0018] An included angle obtaining module is configured to obtain an included angle between a line connecting the first pulley and the second pulley and the horizontal plane based on the positional relationship information.

[0019] A tension obtaining module is configured to obtain a horizontal tension of the power transmission line during hoisting of the to-be-hoisted power equipment based on the included angle and the weight.

[0020] A device hoisting module is configured to control the motor to hoist the to-be-hoisted power equipment when the tension is less than a preset tension threshold.

[0021] In a third aspect, the present application further provides a computer device. The computer device comprises a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0022] obtaining a weight of to-be-hoisted power equipment and obtaining positional relationship information between a first pulley and a second pulley, wherein the first pulley is installed on a power transmission line, and the second pulley is installed vertically above a horizontal plane corresponding to the power transmission line;

[0023] obtaining an included angle between a line connecting the first pulley and the second pulley and the horizontal plane based on the positional relationship information;

[0024] obtaining a horizontal tension of the power transmission line during hoisting of the to-be-hoisted power equipment based on the included angle and the weight.

[0025] controlling the motor to hoist the to-be-hoisted power equipment when the tension is less than a preset tension threshold.

[0026] In a fourth aspect, the present application further provides a computer readable storage medium. The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0027] obtaining a weight of to-be-hoisted power equipment and obtaining positional relationship information between a first pulley and a second pulley, wherein the first pulley is installed on a power transmission line, and the second pulley is installed vertically above a horizontal plane corresponding to the power transmission line;

[0028] obtaining an included angle between a line connecting the first pulley and the second pulley and the horizontal plane based on the positional relationship information;

[0029] obtaining a horizontal tension of the power transmission line during hoisting of the to-be-hoisted power equipment based on the included angle and the weight.

[0030] In a case that the tension is less than a preset tension threshold, the motor is controlled to hoist the power equipment to be hoisted.

[0031] In a fifth aspect, the present application further provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the following steps:

[0032] Obtaining a weight of the power equipment to be hoisted, and obtaining position relationship information between the first pulley and the second pulley; wherein the first pulley is installed on the power transmission line, and the second pulley is installed vertically above the horizontal plane corresponding to the power transmission line;

[0033] Based on the position relationship information, an included angle between a line connecting the first pulley and the second pulley and the horizontal plane is obtained;

[0034] According to the included angle and the weight, a horizontal tension of the power transmission line in the hoisting process of the power equipment to be hoisted is obtained;

[0035] In a case that the tension is less than a preset tension threshold, the motor is controlled to hoist the power equipment to be hoisted.

[0036] The power equipment hoisting method, device, computer equipment, storage medium and computer program product, by obtaining a weight of the power equipment to be hoisted, and obtaining position relationship information between the first pulley and the second pulley; wherein the first pulley is installed on the power transmission line, and the second pulley is installed vertically above the horizontal plane corresponding to the power transmission line; based on the position relationship information, an included angle between a line connecting the first pulley and the second pulley and the horizontal plane is obtained; according to the included angle and the weight, a horizontal tension of the power transmission line in the hoisting process of the power equipment to be hoisted is obtained; in a case that the tension is less than a preset tension threshold, the motor is controlled to hoist the power equipment to be hoisted. The present application can efficiently hoist the power equipment by installing the first pulley which can move on the power transmission line, installing the second pulley which cannot move vertically above the horizontal plane corresponding to the power transmission line, obtaining the horizontal tension of the power transmission line based on the position relationship information of the two pulleys and the weight of the power equipment to be hoisted, and hoisting the power equipment by the motor in a case that the tension is less than a preset tension threshold. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 An application environment diagram of power equipment hoisting in an embodiment;

[0038] Figure 2 A flowchart of power equipment hoisting in an embodiment;

[0039] Figure 3Fig. 1 is a schematic diagram of a power equipment hoisting operation in an embodiment;

[0040] Figure 4 Fig. 2 is a schematic diagram of an angle acquisition process in an embodiment;

[0041] Figure 5 Fig. 3 is a schematic diagram of a position relationship information acquisition process in an embodiment;

[0042] Figure 6 Fig. 4 is a structural block diagram of a power equipment hoisting device in an embodiment;

[0043] Figure 7 Fig. 5 is an internal structural diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0044] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0045] It should be noted that the terms "first" and "second" involved in the embodiments of the present application are only to distinguish similar objects, and do not represent a specific order of the objects. Understandably, "first" and "second" can be interchanged in a specific order or sequence as allowed. It should be understood that the objects distinguished by "first" and "second" can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0046] The power equipment hoisting method provided by the embodiments of the present application can be applied to, for example, Figure 1The application environment shown. Among them, the motor controller 101 communicates with the motor 102 through signal connection line or network, Bluetooth, etc. The motor controller 101 obtains the weight of the power equipment to be hoisted, and obtains the positional relationship information between the first pulley and the second pulley; wherein the first pulley is installed on the power transmission line, and the second pulley is installed vertically above the horizontal plane corresponding to the power transmission line; the motor controller 101 obtains the angle between the line connecting the first pulley and the second pulley and the horizontal plane based on the positional relationship information; then the motor controller 101 obtains the horizontal tension of the power transmission line in the hoisting process of the power equipment to be hoisted according to the angle and the weight; in the case that the tension is less than the preset tension threshold, the motor controller 101 controls the motor 102 to hoist the power equipment to be hoisted. Among them, the motor controller 101 can be but not limited to various personal computers, notebook computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices, Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car devices, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The motor 102 can be but not limited to various devices that can provide traction, such as specially designed lightweight motorized motors, which have 8-10 times less weight than conventional motors, with a load of 1.5 tons, fully meeting the operation requirements.

[0047] In one embodiment, as Figure 2 shown, a power equipment hoisting method is provided, and the method is applied to Figure 1 the motor controller 101 in the application environment as an example for illustration, including the following steps:

[0048] Step S201, obtaining the weight of the power equipment to be hoisted, and obtaining the positional relationship information between the first pulley and the second pulley; wherein the first pulley is installed on the power transmission line, and the second pulley is installed vertically above the horizontal plane corresponding to the power transmission line.

[0049] Among them, the power equipment to be hoisted is the power equipment that needs to be hoisted, such as the power equipment that needs to be repaired, replaced or installed at the high-altitude position of the power tower or the power transmission line, for example, the power equipment can be a V-shaped string of suspension insulators, and the weight of the power equipment to be hoisted and the quality of the power equipment to be hoisted. As for the first pulley, it refers to a pulley that can be moved and installed on the power transmission line, which can be moved to a specified position where the power equipment needs to be hoisted, and after being moved to the specified position, it is fixed at the position and can no longer be moved, while the second pulley refers to a permanent pulley fixed on the tower vertically above the horizontal plane corresponding to the power transmission line. Finally, the positional relationship information refers to the relative positional relationship between the first pulley and the second pulley, such as the distance between the first pulley and the second pulley, and the direction pointing angle of the line connecting the first pulley and the second pulley.

[0050] Specifically, asFigure 3 As shown, the first pulley is installed on the power transmission line, the second pulley is installed on the tower vertically above the horizontal plane corresponding to the power transmission line, the rope suspending the power equipment passes through the first pulley, the second pulley, and finally connects to the motor 102 at the bottom of the power transmission tower, wherein the first pulley can be freely moved by the limiting device, at this time the weight of the power equipment to be hoisted is input by the motor controller 101, and the positional relationship information between the first pulley and the second pulley is obtained.

[0051] In step S202, the included angle between the line connecting the first pulley and the second pulley and the horizontal plane is obtained based on the positional relationship information.

[0052] The included angle refers to the included angle formed between the line connecting the first pulley and the second pulley and the horizontal plane, which is also the included angle between the line connecting the first pulley and the second pulley and the power transmission line.

[0053] Specifically, the distance between the first pulley and the second pulley can be obtained, and the vertical distance from the second pulley to the power transmission line can be obtained, and based on the inverse trigonometric function, the included angle between the line connecting the first pulley and the second pulley and the power transmission line can be calculated.

[0054] In step S203, the horizontal tension of the power transmission line during hoisting of the power equipment to be hoisted is obtained according to the included angle and the weight.

[0055] The horizontal tension refers to the horizontal component of the force on the power transmission line through the pulley, and of course, the force also has a vertical component.

[0056] Specifically, according to the weight of the power equipment, the total tension of the power transmission line through the pulley can be obtained, which is the weight of the power equipment, and through force analysis, based on the total tension, the included angle between the line connecting the first pulley and the second pulley and the horizontal plane, and the cosine law of trigonometric function, the horizontal tension of the power transmission line can be calculated.

[0057] In step S204, the motor 102 is controlled to hoist the power equipment to be hoisted when the tension is less than the preset tension threshold.

[0058] The tension threshold is a safety value of the tension of the power transmission line, and when the tension of the power transmission line is greater than or equal to the tension threshold, the power transmission line may be stretched and deformed.

[0059] Specifically, when the tension is less than the preset tension threshold, the motor controller 101 sends a hoisting signal to the motor 102 to hoist the power equipment to be hoisted.

[0060] The power equipment hoisting method comprises the following steps: obtaining the weight of the power equipment to be hoisted and the positional relationship information between the first pulley and the second pulley; the first pulley is installed on the power transmission line, and the second pulley is installed vertically above the horizontal plane corresponding to the power transmission line; based on the positional relationship information, the included angle between the line connecting the first pulley and the second pulley and the horizontal plane is obtained; according to the included angle and the weight, the horizontal tension of the power transmission line in the hoisting process of the power equipment to be hoisted is obtained; and the motor 102 is controlled to hoist the power equipment to be hoisted when the tension is less than the preset tension threshold. The first pulley can be moved and is installed on the power transmission line, the second pulley cannot be moved and is installed vertically above the horizontal plane corresponding to the power transmission line, then the horizontal tension of the power transmission line is obtained based on the positional relationship information of the two pulleys and the weight of the power equipment to be hoisted, and the power equipment is hoisted by the motor when the tension is less than the preset tension threshold, so that the power equipment can be hoisted efficiently.

[0061] In one embodiment, as shown in Figure 4 the positional relationship information between the first pulley and the second pulley comprises the following steps:

[0062] Step S401: obtaining the first position coordinate of the first pulley and the second position coordinate of the second pulley in a preset coordinate system.

[0063] The preset coordinate system is a preset rectangular coordinate system with the motor 102 as the origin.

[0064] Specifically, the first position coordinate of the first pulley in the preset coordinate system and the second position coordinate of the second pulley in the preset coordinate system are input into the motor controller 101.

[0065] Step S402: obtaining the positional relationship information between the first pulley and the second pulley based on the first position coordinate and the second position coordinate.

[0066] Specifically, the positional relationship information between the first pulley and the second pulley, for example, the distance between the first pulley and the second pulley, can be calculated through the first position coordinate and the second position coordinate.

[0067] In this embodiment, the positional relationship information between the first pulley and the second pulley can be accurately obtained by establishing the preset coordinate system.

[0068] In one embodiment, as shown in Figure 5 the included angle between the line connecting the first pulley and the second pulley and the horizontal plane based on the positional relationship information comprises the following steps:

[0069] In step S501, based on the positional relationship information between the first pulley and the second pulley, position information of the line connecting the first pulley and the second pulley in a preset coordinate system is obtained.

[0070] The position information refers to the position of the line connecting the first pulley and the second pulley in the preset coordinate system, and specifically can be represented by a geometric expression of the line in the preset coordinate system.

[0071] Specifically, the positional relationship information between the first pulley and the second pulley, that is, the position and orientation information of the line connecting the first pulley and the second pulley in the preset coordinate system, can be represented by a geometric expression of the line in the preset coordinate system. The above position and orientation information is taken as the position information of the line connecting the first pulley and the second pulley.

[0072] In step S502, based on the position information, an included angle between the line connecting the first pulley and the second pulley and a horizontal plane is obtained.

[0073] Specifically, based on the geometric expression of the line connecting the first pulley and the second pulley in the preset coordinate system, the included angle between the line connecting the first pulley and the second pulley and the horizontal plane can be calculated.

[0074] In this embodiment, the included angle between the line connecting the first pulley and the second pulley and the horizontal plane can be accurately obtained through the geometric expression of the line connecting the first pulley and the second pulley in the preset coordinate system.

[0075] In one embodiment, according to the included angle and the weight, a horizontal tension of the power transmission line in the hoisting process of the hoisted power equipment is obtained, including the following steps: based on the weight of the hoisted power equipment, a gravity generated by the hoisted power equipment is obtained; based on the included angle and the gravity, the horizontal tension of the power transmission line in the hoisting process of the hoisted power equipment is obtained.

[0076] The gravity is the earth's gravity received by the hoisted power equipment.

[0077] Specifically, the gravity generated by the hoisted power equipment, that is, the total force of the power transmission line, is obtained by a gravity calculation formula, and based on the total force and the above-mentioned included angle, the horizontal tension of the power transmission line is obtained by the cosine law.

[0078] In this embodiment, the horizontal tension of the power transmission line can be accurately calculated by the cosine law.

[0079] In one embodiment, the above method further includes the following steps: in the case that the tension is greater than or equal to a tension threshold, the motor 102 is controlled to remain in a stationary state, and a safety warning information is generated.

[0080] The static state refers to a state in which the motor 102 does not rotate, and the safety warning information refers to safety warning information issued by the motor controller 101 when the tension is greater than or equal to the tension threshold.

[0081] Specifically, when the tension is greater than or equal to the tension threshold, the motor controller 101 controls the motor 102 to remain in a static state and generates safety warning information to inform the staff.

[0082] In this embodiment, by controlling the motor 102 to remain in a static state when the tension is greater than or equal to the tension threshold, the power equipment can be safely hoisted.

[0083] In one embodiment, the above method further comprises the steps of: obtaining the horizontal stress corresponding to the power transmission line, and obtaining the cross-sectional area corresponding to the power transmission line; and obtaining the tension threshold based on the horizontal stress and the cross-sectional area.

[0084] When the power transmission line deforms in the horizontal direction due to stress, internal forces are generated between each part of the power transmission line to resist the action of such external factors and attempt to restore the power transmission line from the deformed position to the pre-deformed position. The internal force per unit area of the cross section of the power transmission line is called stress.

[0085] Specifically, the horizontal stress corresponding to the power transmission line is obtained, and the cross-sectional area corresponding to the power transmission line is obtained. The product of the horizontal stress and the cross-sectional area is the tension threshold.

[0086] In this embodiment, the tension threshold can be accurately obtained by the horizontal stress and the cross-sectional area.

[0087] In one application embodiment, a method for hoisting power equipment based on a power transmission line is provided, comprising the following steps:

[0088] 1. Collect the tensile stress of the power transmission line and the cross-sectional area of the conductor to calculate the tension of a single power transmission line. This method mainly uses the tension of the power transmission line itself as the force borne by the first pulley anchor. After the first pulley is installed on the power transmission line and moved, impact inspection should be performed to confirm that it is firm before normal hoisting of the power equipment.

[0089] 2. Calculate the weight of the hoisted power equipment, select the traction rope, pulley and special motor to meet the safety factor requirements of hoisting the power equipment.

[0090] 3. Calculate the horizontal tension borne by the transmission limit device during the traction of the suspended object, and the horizontal force exerted on the transmitted weight at the included angle in its direction. Consult the drawings and specifications of the tower, and based on the installation design drawings, determine the distance of the transmission line from the second pulley vertically outwards, and the height of the suspension string structure. The angle between the hanging point and the conductor between the hanging point and the connecting plate installation point can then be calculated. Therefore, the horizontal tension borne by the transmission line can be calculated.

[0091] 4. The traction is achieved by a specially made 15kg motor with a load capacity of 1.5 tons. The motor is anchored to the tower foundation. A steering pulley is installed on the tower material of the opposite foundation. A main traction pulley is installed on the crossarm support. Fixed-point limit transmission pulleys are installed on the split conductors. Dyneema ropes are used for traction and transmission. The main operating steps are as follows: First, arrange the traction rope (which can be used as a transfer rope), then upload and install the tools for lifting the conductor. Second, after the force is applied, remove the old insulator string (a type of power equipment) and lower it through the motor. Then, arrange the transfer and traction of the insulator string. First, measure the distance that the projection position of the second pulley moves to both sides and mark it. Then, install the motor on the tower leg and install the steering pulley on the opposite tower leg. At the same time, install the fixed-point limiting pulley on the conductor (the fixed-point limiting pulley mainly consists of a wire clamping device, a double-headed Dyneema rope, and an open directional pulley). Install the traction rope on the special motor and the steering pulley on the opposite tower leg, and put the traction rope into the open pulley of the fixed-point limiting transfer device. Connect the traction connecting plate and the counterweight to the traction rope, start the motor to start traction. When traction, the connecting plate and the counterweight should be 15-20cm beyond the conductor before stopping traction. Then, straighten it and lower it into the wire harness and install the wire clamp. If the insulator string is made of glass or ceramic, a fixed-point limiting transmission device should be used at the conductor end to pull the insulator string to the connecting plate and install it.

[0092] This invention involves installing a movable first pulley on the power transmission line and a fixed second pulley vertically above the horizontal plane corresponding to the power transmission line. Based on the positional relationship between the two pulleys and the weight of the power equipment to be hoisted, the horizontal tension on the power transmission line is obtained. When the tension is less than a preset tension threshold, the power equipment can be hoisted by a motor, thus enabling efficient hoisting of the power equipment.

[0093] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0094] Based on the same inventive concept, embodiments of the present invention also provide a power equipment hoisting device for implementing the power equipment hoisting method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more power equipment hoisting device embodiments provided below can be found in the limitations of the power equipment hoisting method described above, and will not be repeated here.

[0095] In one embodiment, such as Figure 6 As shown, a power equipment hoisting device is provided, including: an information acquisition module 601, an angle acquisition module 602, a tension acquisition module 603, and an equipment hoisting module 604, wherein:

[0096] The information acquisition module 601 is used to acquire the weight of the power equipment to be hoisted, and to acquire the positional relationship information between the first pulley and the second pulley; wherein, the first pulley is installed on the power transmission line, and the second pulley is installed vertically above the horizontal plane corresponding to the power transmission line;

[0097] Angle acquisition module 602 is used to acquire the angle between the line connecting the first pulley and the second pulley and the horizontal plane based on positional relationship information;

[0098] The tension acquisition module 603 is used to obtain the horizontal tension of the power transmission line during the hoisting process of the power equipment to be hoisted, based on the included angle and weight.

[0099] The equipment hoisting module 604 controls the motor 102 to hoist the electrical equipment to be hoisted when the tension is less than the preset tension threshold.

[0100] In one embodiment, the information acquisition module 601 is further configured to acquire the first position coordinates of the first pulley and the second position coordinates of the second pulley in a preset coordinate system; and to obtain positional relationship information between the first pulley and the second pulley based on the first position coordinates and the second position coordinates.

[0101] In one of the embodiments, the included angle obtaining module 602 is further configured to obtain position information of the line connecting the first pulley and the second pulley in a preset coordinate system based on the position relationship information between the first pulley and the second pulley, and obtain the included angle between the line connecting the first pulley and the second pulley and the horizontal plane based on the position information.

[0102] In one of the embodiments, the tension obtaining module 603 is further configured to obtain the gravity generated by the power equipment to be hoisted based on the weight of the power equipment to be hoisted, and obtain the horizontal tension of the power transmission line in the hoisting process of the power equipment to be hoisted based on the included angle and the gravity.

[0103] In one of the embodiments, the equipment hoisting module 604 is further configured to control the motor 102 to remain in a stationary state and generate a safety warning information when the tension is greater than or equal to the tension threshold.

[0104] In one of the embodiments, the equipment hoisting module 604 is further configured to obtain the horizontal stress corresponding to the power transmission line and obtain the cross-sectional area corresponding to the power transmission line, and obtain the tension threshold based on the horizontal stress and the cross-sectional area.

[0105] The above-mentioned modules in the power equipment hoisting device can be all or partially implemented by software, hardware and combinations thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to call and execute the operations corresponding to the above-mentioned modules by the processor.

[0106] In one embodiment, a computer device is provided, which can be a terminal, and its internal structure diagram can be as shown in Figure 7 The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the computer device is configured to perform wired or wireless communication with an external terminal. The wireless communication can be achieved through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement a power equipment hoisting method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0107] Those skilled in the art can understand that, Figure 7 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0108] In an embodiment, a computer device is also provided, including a memory and a processor. The memory stores a computer program. The processor executes the computer program to implement the steps in the above method embodiments.

[0109] In an embodiment, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the steps in the above method embodiments.

[0110] In an embodiment, a computer program product is provided, which includes a computer program. The computer program is executed by a processor to implement the steps in the above method embodiments.

[0111] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0112] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided by the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided by the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0113] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0114] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the present application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A power equipment hoisting method characterized by, The method is applied to a motor controller, and the method comprises the following steps: Obtaining the weight of a power equipment to be hoisted, and obtaining the positional relationship information between a first pulley and a second pulley; wherein the first pulley is installed on a power transmission line, and the second pulley is installed vertically above the horizontal plane corresponding to the power transmission line; Based on the positional relationship information, the included angle between the line connecting the first pulley and the second pulley and the horizontal plane is obtained; According to the included angle and the weight, the horizontal tension of the power transmission line in the hoisting process of the power equipment to be hoisted is obtained; including: based on the weight of the power equipment to be hoisted, the gravity generated by the power equipment to be hoisted is obtained; based on the included angle and the gravity, the horizontal tension of the power transmission line in the hoisting process of the power equipment to be hoisted is obtained; In the case that the tension is less than a preset tension threshold, the motor is controlled to hoist the power equipment to be hoisted.

2. The method of claim 1, wherein, The method further comprises the following steps: In a preset coordinate system, the first position coordinates of the first pulley are obtained, and the second position coordinates of the second pulley are obtained; Based on the first position coordinates and the second position coordinates, the positional relationship information between the first pulley and the second pulley is obtained.

3. The method of claim 2, wherein, The method further comprises the following steps: Based on the positional relationship information between the first pulley and the second pulley, the positional information of the line connecting the first pulley and the second pulley in the preset coordinate system is obtained; Based on the positional information, the included angle between the line connecting the first pulley and the second pulley and the horizontal plane is obtained.

4. The method of claim 1, wherein, The method further comprises the following steps: In the case that the tension is greater than or equal to the tension threshold, the motor is controlled to remain in a stationary state, and a safety warning information is generated.

5. The method of claim 4, wherein, The method further comprises the following steps: Obtaining the horizontal stress corresponding to the power transmission line, and obtaining the cross-sectional area corresponding to the power transmission line; Based on the horizontal stress and the cross-sectional area, the tension threshold is obtained.

6. An electrical equipment hoisting device characterized by comprising: The device comprises: An information obtaining module is configured to obtain the weight of a power equipment to be hoisted, and obtain the positional relationship information between a first pulley and a second pulley; wherein the first pulley is installed on a power transmission line, and the second pulley is installed vertically above the horizontal plane corresponding to the power transmission line; An included angle obtaining module is configured to obtain the included angle between the line connecting the first pulley and the second pulley and the horizontal plane based on the positional relationship information; A tension obtaining module is configured to obtain the horizontal tension of the power transmission line in the hoisting process of the power equipment to be hoisted according to the included angle and the weight; and further configured to obtain the gravity generated by the power equipment to be hoisted based on the weight of the power equipment to be hoisted; and obtain the horizontal tension of the power transmission line in the hoisting process of the power equipment to be hoisted based on the included angle and the gravity; The device hoisting module controls the motor to hoist the power device to be hoisted when the tension is less than a preset tension threshold.

7. The apparatus of claim 6, wherein, The information acquisition module is further configured to acquire a first position coordinate of the first pulley and a second position coordinate of the second pulley in a preset coordinate system, and obtain position relationship information between the first pulley and the second pulley based on the first position coordinate and the second position coordinate.

8. A motor controller comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 5.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 5.

10. A computer program product comprising a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 5.

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