A waterproof treatment system and method for a robot for live working on overhead bare wires

Abstract

The embodiment of the present application discloses a waterproof processing system and method for a live working robot for overhead bare conductors. The technical solution provided by the embodiment of the present application obtains the humidity data collected by the humidity sensor corresponding to the working line where the self-rolling insulating sheath installation operation has not been performed, and the electromagnetic data collected by the electromagnetic monitoring module corresponding to the working line where the self-rolling insulating sheath installation operation has been performed; when the humidity data reaches the set humidity threshold, the drying device is driven to perform the water vapor drying operation at the corresponding line position; when the electromagnetic data reaches the set electromagnetic threshold, the drying device is driven to perform the water vapor drying operation at the corresponding line position, and the current line position is located, and the insulation performance abnormality prompt of the current line position is reported to the system background. By adopting the above technical means, abnormal situations can be handled in a timely manner, the waterproof insulation performance of the self-rolling insulating sheath can be guaranteed, and the reliability of automated operations can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of power installation technology, and in particular to a waterproofing system and method for a robot for live working on overhead bare wires. Background Art

[0002] At present, due to insufficient safety distance setting, overhead lines often cause live bare wires to touch tree barriers, resulting in line tripping failures, which can easily endanger public safety. Therefore, it is necessary to install insulating sheaths on overhead lines to avoid risks such as line tripping. In addition, in order to avoid the operational risks caused by manual operations and improve operational efficiency, automated equipment will be used to automatically install insulating sheaths to improve the safety and reliability of insulating sheath installation operations.

[0003] However, in some work sites with high humidity, the installation of the insulating sheath of the overhead bare conductor will cause water vapor to be brought into the self-rolling insulating sheath, which will in turn affect the insulation performance of the insulating sheath and cause the risk of leakage. Summary of the invention

[0004] The embodiments of the present application provide a waterproof treatment system and method for a live-working robot for overhead bare conductors, which can ensure the waterproof insulation performance of the self-rolling insulating sheath, improve the reliability of the automated operation of the live-working robot, and solve the leakage risk problem of the self-rolling insulating sheath of the overhead bare conductors.

[0005] In a first aspect, an embodiment of the present application provides a waterproof treatment system for an overhead bare wire live wire working robot, wherein the live wire working robot comprises a driving mechanism and a guiding installation mechanism, wherein the driving mechanism is used to drive the live wire working robot to move along a working line, and the guiding installation mechanism is used to roll a self-rolling insulating sheath onto a bare wire of the working line during the moving of the live wire working robot along the working line;

[0006] The waterproof treatment system is arranged on the live working robot, and comprises a humidity sensor, an electromagnetic monitoring module, a drying device, and a processor connected to the humidity sensor, the electromagnetic monitoring module and the drying device;

[0007] The humidity sensor is used to collect humidity data corresponding to the operation line where the self-rolling insulation sheath installation operation is not performed;

[0008] The electromagnetic monitoring module is used to collect electromagnetic data corresponding to the operation line where the self-rolling insulation sheath installation operation has been performed;

[0009] The drying device is used to perform water vapor drying operations;

[0010] The processor is used to obtain the humidity data and the electromagnetic data, and when the humidity data reaches a set humidity threshold, drive the drying device to perform a water vapor drying operation at the corresponding line position; when the electromagnetic data reaches a set electromagnetic threshold, drive the drying device to perform a water vapor drying operation at the corresponding line position, locate the current line position, and report an abnormal insulation performance prompt at the current line position to the system background.

[0011] Furthermore, when the electromagnetic data reaches a set electromagnetic threshold, after driving the drying device to perform a water vapor drying operation at a corresponding line position, the processor is further configured to:

[0012] The electromagnetic data of the current line position is repeatedly detected by the electromagnetic monitoring module, and it is determined whether to cyclically perform the water vapor drying operation of the current line position according to the detected electromagnetic data.

[0013] Further, after determining whether to cyclically perform the water vapor drying operation at the current line position according to the detected electromagnetic data, the processor is further used to:

[0014] When the water vapor drying operation at the current line position is cyclically executed for the set number of times, an insulation performance fault alarm at the current line position is reported to the system background.

[0015] Further, the electromagnetic data includes electric field monitoring data and magnetic field monitoring data;

[0016] The processor is specifically used to compare the electric field monitoring data with a set electric field monitoring threshold, and compare the magnetic field monitoring data with a set magnetic field monitoring threshold, and determine whether to drive the drying device to perform a water vapor drying operation at a corresponding line position based on the comparison results.

[0017] In a second aspect, an embodiment of the present application provides a waterproof treatment method for an overhead bare wire live wire working robot, the live wire working robot comprising a driving mechanism and a guide installation mechanism, the driving mechanism is used to drive the live wire working robot to move along a working line, the guide installation mechanism is used to roll a self-rolling insulating sheath onto a bare wire of the working line during the moving of the live wire working robot along the working line;

[0018] The waterproof treatment method is applied to a processor of a waterproof treatment system of an overhead bare wire live working robot as described in the first aspect, and the waterproof treatment method comprises:

[0019] Obtaining humidity data collected by the humidity sensor corresponding to the operation line where the self-rolling insulation sheath installation operation has not been performed, and electromagnetic data collected by the electromagnetic monitoring module corresponding to the operation line where the self-rolling insulation sheath installation operation has been performed;

[0020] When the humidity data reaches the set humidity threshold, the drying device is driven to perform water vapor drying operations at the corresponding line position. When the electromagnetic data reaches the set electromagnetic threshold, the drying device is driven to perform water vapor drying operations at the corresponding line position, locate the current line position, and report abnormal insulation performance at the current line position to the system background.

[0021] Furthermore, when the electromagnetic data reaches a set electromagnetic threshold, after driving the drying device to perform a water vapor drying operation at a corresponding line position, the method further includes:

[0022] The electromagnetic data of the current line position is repeatedly detected by the electromagnetic monitoring module, and it is determined whether to cyclically perform the water vapor drying operation of the current line position according to the detected electromagnetic data.

[0023] Further, after determining whether to cyclically perform the water vapor drying operation at the current line position according to the detected electromagnetic data, the method further includes:

[0024] When the water vapor drying operation at the current line position is cyclically executed for the set number of times, an insulation performance fault alarm at the current line position is reported to the system background.

[0025] Further, the electromagnetic data includes electric field monitoring data and magnetic field monitoring data, and when the electromagnetic data reaches a set electromagnetic threshold, driving the drying device to perform a water vapor drying operation at a corresponding line position includes:

[0026] The electric field monitoring data is compared with a set electric field monitoring threshold, and the magnetic field monitoring data is compared with a set magnetic field monitoring threshold, and it is determined whether to drive the drying device to perform the water vapor drying operation at the corresponding line position according to the comparison result.

[0027] In a third aspect, an embodiment of the present application provides a waterproof treatment device for an overhead bare wire live wire working robot, the live wire working robot comprising a driving mechanism and a guide installation mechanism, the driving mechanism is used to drive the live wire working robot to move along the working line, the guide installation mechanism is used to roll a self-rolling insulating sheath onto the bare wire of the working line during the moving of the live wire working robot along the working line;

[0028] The waterproof processing device is applied to the processor of the waterproof processing system of the overhead bare wire live working robot as described in the first aspect, and the waterproof processing device includes:

[0029] An acquisition module is used to acquire humidity data collected by the humidity sensor corresponding to the operation line where the self-rolling insulation sheath installation operation has not been performed, and electromagnetic data collected by the electromagnetic monitoring module corresponding to the operation line where the self-rolling insulation sheath installation operation has been performed;

[0030] The operation module is used to drive the drying device to perform the water vapor drying operation at the corresponding line position when the humidity data reaches the set humidity threshold, and drive the drying device to perform the water vapor drying operation at the corresponding line position when the electromagnetic data reaches the set electromagnetic threshold, and locate the current line position, and report the abnormal insulation performance prompt of the current line position to the system background.

[0031] In a fourth aspect, an embodiment of the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute the waterproofing method for an overhead bare wire live working robot as described in the second aspect.

[0032] The embodiment of the present application obtains the humidity data collected by the humidity sensor corresponding to the operating line where the self-rolling insulating sheath installation operation has not been performed, and the electromagnetic data collected by the electromagnetic monitoring module corresponding to the operating line where the self-rolling insulating sheath installation operation has been performed; when the humidity data reaches the set humidity threshold, the drying device is driven to perform the water vapor drying operation at the corresponding line position, and when the electromagnetic data reaches the set electromagnetic threshold, the drying device is driven to perform the water vapor drying operation at the corresponding line position, and the current line position is located, and the insulation performance abnormality prompt of the current line position is reported to the system background. The above-mentioned technical means are adopted to monitor the waterproof performance of the operating line through the combination of humidity data and electromagnetic data, and the water vapor drying operation is performed according to the monitoring results, and the abnormal situation is handled in time to ensure the waterproof and insulating performance of the self-rolling insulating sheath, improve the reliability of the automated operation, and avoid the risk of leakage of the self-rolling insulating sheath. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a flow chart of a waterproofing method for an overhead bare wire live working robot provided in Example 1 of the present application;

[0034] Figure 2 It is a structural schematic diagram of a waterproof treatment system for an overhead bare wire live working robot provided in Example 1 of the present application;

[0035] Figure 3 It is a structural schematic diagram of a waterproof treatment device for an overhead bare wire live working robot provided in Example 2 of the present application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0037] At present, due to insufficient safety distance settings, overhead lines often cause live bare conductors to touch tree barriers, resulting in line tripping failures, which can easily endanger public safety. For this reason, it is necessary to install insulating sheaths on overhead lines to avoid risks such as line tripping. In addition, in order to avoid operational risks caused by manual operations and improve operational efficiency, automated equipment will be used to automatically install insulating sheaths to improve the safety and reliability of insulating sheath installation operations. However, at some work sites with high humidity, the installation of insulating sheaths for overhead bare conductors will cause water vapor to be brought into the self-rolling insulating sheath, thereby affecting the insulation performance of the insulating sheath and causing the risk of leakage.

[0038] Based on this, the embodiment of the present application provides a waterproof treatment system and method for a live working robot for overhead bare conductors, which can ensure the waterproof insulation performance of the self-rolling insulating sheath, improve the reliability of the automated operation of the live working robot, and solve the leakage risk problem of the self-rolling insulating sheath of the overhead bare conductors.

[0039] The insulation sheath of the overhead line can be a self-rolling insulation sheath. The self-rolling insulation sheath is made of elastic material and is designed as a double-sided inner roll structure. It can automatically wrap around the bare wire by using the elasticity of the elastic material to insulate the bare wire. By selecting elastic materials with strong insulation performance to insulate the bare wire, the public safety level of the line is improved to prevent accidents caused by electric shock from foreign objects.

[0040] In addition, the automated equipment for automated installation can use a live working robot, which includes a driving mechanism and a guide installation mechanism. The driving mechanism is used to drive the live working robot to move along the working line, and the guide installation mechanism is used to roll the self-rolling insulating sheath onto the bare wire of the working line during the moving of the live working robot along the working line. Specifically, the driving mechanism can be slidably connected to the working line through a mechanical structure, and the mechanical structure can be a slider or a pulley, etc., so that the working line is equivalent to a guide rail, and the slider or the pulley can only move along the working line, which can ensure that the movement direction of the driving mechanism is always parallel to the straight line where the working line is located, thereby ensuring that the live working robot always moves along the working line. In addition, the driving mechanism can provide driving force for the live working robot through a motor, such as an AC motor, a servo motor, and a stepper motor. The guide installation mechanism may include a storage tray and a guide mechanism, and the storage tray is used to temporarily store the self-winding insulating sheath by winding; the guide mechanism may include at least one guide wheel, a guide rail, and a guide head, wherein the guide wheel assumes the intermediate support and guiding function of the self-winding insulating sheath, and the guide device is provided with a guide rail and a guide head near the end of the bare wire. After the self-winding insulating sheath is guided by at least one guide wheel, it enters the guide rail, and finally contacts the bare wire through the guide head on the fixed path of the guide rail and performs the next wrapping action, wherein the bare wire is on the inner side of the guide head, and ensures that the self-winding insulating sheath is in full and effective contact with the bare wire as much as possible to facilitate the wrapping action of the self-winding insulating sheath on the bare wire. In addition, under the driving action of the driving mechanism, the self-winding insulating sheath will accompany the movement of the live working robot, and wrap the bare wire at the position where the live working robot reaches under the guiding action of the guide installation mechanism.

[0041] Embodiment 1:

[0042] Figure 1 A flow chart of a waterproofing method for an overhead bare wire live wire working robot provided in Example 1 of the present application is given. The waterproofing method for an overhead bare wire live wire working robot provided in this embodiment can be executed by a waterproofing system for the overhead bare wire live wire working robot. The waterproofing system for the overhead bare wire live wire working robot can be implemented by software and / or hardware. The waterproofing system for the overhead bare wire live wire working robot can be composed of two or more physical entities, or it can be composed of one physical entity.

[0043] The following description will be made by taking the waterproof treatment system as the main body of the waterproof treatment method for an overhead bare wire live working robot as an example. Figure 1 The waterproof treatment method of the overhead bare wire live working robot specifically includes:

[0044] S110, obtaining humidity data collected by the humidity sensor corresponding to the operation line where the self-rolling insulation sheath installation operation has not been performed, and electromagnetic data collected by the electromagnetic monitoring module corresponding to the operation line where the self-rolling insulation sheath installation operation has been performed;

[0045] S120. When the humidity data reaches the set humidity threshold, the drying device is driven to perform water vapor drying operations at the corresponding line position. When the electromagnetic data reaches the set electromagnetic threshold, the drying device is driven to perform water vapor drying operations at the corresponding line position, and the current line position is located, and an abnormal insulation performance prompt of the current line position is reported to the system background.

[0046] The waterproofing treatment method of the overhead bare wire live working robot in the embodiment of the present application aims to obtain humidity data collected by the humidity sensor corresponding to the working line where the self-rolling insulating sheath installation operation has not been performed, and electromagnetic data collected by the electromagnetic monitoring module corresponding to the working line where the self-rolling insulating sheath installation operation has been performed, so as to monitor the waterproofing performance of the working line through the humidity data combined with the electromagnetic data; when the humidity data reaches the set humidity threshold, the drying device is driven to perform the water vapor drying operation at the corresponding line position; when the electromagnetic data reaches the set electromagnetic threshold, the drying device is driven to perform the water vapor drying operation at the corresponding line position, so that the water vapor drying operation is performed based on the monitoring results, and the abnormal situation is handled in time, which can ensure the waterproof insulation performance of the self-rolling insulating sheath; at the same time, the current line position is located, and the insulation performance abnormality prompt of the current line position is reported to the system background, so as to improve the reliability of the automated operation and avoid the risk of leakage of the self-rolling insulating sheath.

[0047] Specifically, refer to Figure 2, a structural schematic diagram of a waterproof treatment system 200 of an overhead bare wire live working robot 300 is provided. The waterproof treatment system 200 is arranged on the live working robot, and includes a humidity sensor 210, an electromagnetic monitoring module 220, a drying device 230, and a processor 240 connected to the humidity sensor 210, the electromagnetic monitoring module 220 and the drying device 230; the humidity sensor 210 is used to collect humidity data corresponding to the working line where the self-rolling insulating sheath installation operation has not been performed; the electromagnetic monitoring module 220 is used to collect electromagnetic data corresponding to the working line where the self-rolling insulating sheath installation operation has been performed; the drying device 230 is used to perform water vapor drying operation; the processor 240 is used to obtain the humidity data and the electromagnetic data, and when the humidity data reaches the set humidity threshold, drive the drying device 230 to perform the water vapor drying operation at the corresponding line position, and when the electromagnetic data reaches the set electromagnetic threshold, drive the drying device 230 to perform the water vapor drying operation at the corresponding line position, and locate the current line position, and report the insulation performance abnormality prompt of the current line position to the system background.

[0048] Among them, the user can specifically set the measurement distance between the humidity sensor 210 and the operating line that has not been installed according to the measurement accuracy and measurement range corresponding to the humidity sensor 210, so that the humidity data of the operating line that is about to be installed can be collected, and the water vapor drying operation can be performed according to the humidity data, so that the operating line that has not been installed can be kept dry. It can be understood that in the case of high ambient humidity, relying only on a single drying effect on the operating line that has not been installed cannot ensure the drying effect, and due to the requirements for installation efficiency, the single drying time should not be too long. Based on this, for the operating line that has completed the installation operation and still has the risk of leakage, since it may have abnormal electric fields and magnetic fields, the waterproof treatment system 200 is also provided with an electromagnetic detection module, which is used to detect the abnormal electric fields and magnetic fields on the surface of the operating line that has completed the installation operation. Specifically, the electromagnetic detection module includes an electric field sensor and a magnetic field sensor. For the initial electric field signal collected by the electric field sensor, the electric field signal is processed into an electric signal that can be recognized by the system through the electric field signal processor 240, that is, electric field data. Among them, the electric field signal processor 240 amplifies the electric signal through a signal amplification circuit to obtain an amplified electric signal; through a low-pass filtering circuit, the amplified electric signal is low-pass filtered to obtain a filtered electric signal; finally, through an AC-DC conversion circuit, the filtered electric signal is converted from AC to DC to obtain the final electric field data.

[0049] Similarly, the initial magnetic field signal collected by the magnetic field sensor is processed into a magnetic signal that can be recognized by the system, that is, magnetic field data, through the magnetic field signal processor 240. Among them, the magnetic field signal processor 240 amplifies the initial magnetic field signal through the signal amplification circuit; and then the amplified magnetic field signal is band-pass filtered through the band-pass filter circuit to output the final magnetic field data. Specifically, after obtaining the electromagnetic data through the above-mentioned analog-to-digital conversion, the processor 240 can compare the electromagnetic data with the set electromagnetic threshold, and determine whether there is a leakage risk in the operating line that has completed the installation operation based on the comparison result, and drive the drying device 230 to perform the water vapor drying operation at the corresponding line position.

[0050] In addition, the drying device 230 can dry the working line by providing continuous hot air. Specifically, the drying device 230 can include an electric heating element, a motor and a fan blade, wherein the fan blade rotates under the drive of the motor, and the air sucked in by the air inlet passes through the electric heating element, thereby becoming hot air sent out from the air outlet, and the hot air causes the water vapor near the working line to evaporate, thereby achieving a drying effect. It is worth noting that the hot air temperature needs to be set with reference to the temperature resistance range of the self-rolling insulation sheath to avoid adverse effects on the self-rolling insulation sheath.

[0051] Specifically, after the processor 240 completes the water vapor drying operation, it will locate the current line position and report the abnormal insulation performance of the current line position to the system background, so that the system background can record the line position where there is a risk of leakage. The user can perform regular inspections on the leakage of the line position after power-on based on the recorded location information to ensure the waterproof insulation performance of the self-rolling insulating sheath.

[0052] Furthermore, when the electromagnetic data reaches the set electromagnetic threshold, the drying device 230 will be driven to perform the water vapor drying operation at the corresponding line position, wherein the drying device 230 may perform the water vapor drying action once or multiple times; if the water vapor drying times for each line position is set to once, since there is no result feedback after each water vapor drying action, the final drying effect cannot be confirmed; and if the water vapor drying times for each line position is set to multiple times, although the more times the water vapor drying action is set, the greater the probability that the water vapor drying meets the standard, but it also means that the corresponding energy consumption is also greater.

[0053] Optionally, the processor 240 is also used to repeatedly detect the electromagnetic data of the current line position through the electromagnetic monitoring module 220, and determine whether to cyclically perform the water vapor drying operation at the current line position based on the detected electromagnetic data, which is equivalent to obtaining feedback on the water vapor drying result after performing water vapor drying at the current line position, and determining whether to repeat the water vapor drying operation based on the water vapor drying result. In this way, the number of times the drying device performs the water vapor drying operation can be initialized to once. After execution, the water vapor drying result obtained after repeatedly detecting the electromagnetic data of the current line position is used to determine whether to perform the next water vapor drying operation. This can ensure the drying effect of the operating line and avoid unnecessary energy consumption caused by setting too many drying operations.

[0054] Further, based on the aforementioned embodiment, the processor 240 can determine whether to cyclically perform the water vapor drying operation at the current line position according to the detected electromagnetic data, and correspondingly, the drying device 230 may also repeatedly perform the water vapor drying operation. However, there may be an abnormality in the electromagnetic monitoring module 220 or the processor 240, causing the processor 240 to drive the drying device 230 to repeatedly perform the water vapor drying action on the same position, or because the drying device 230 is abnormal, the water vapor drying effect cannot be achieved, causing the processor 240 to repeatedly drive the drying device 230 to repeatedly perform the water vapor drying action on the same position based on the abnormal comparison results. If there is no relevant response strategy, the waterproofing system 200 will fall into an endless loop, which may further cause damage to the relevant driving components, and the operation cannot be completed, and it will also cause greater energy consumption.

[0055] Optionally, the processor 240 can limit the number of times the waterproof treatment system 200 performs water vapor drying operations on the same operating line, and use the preset number of times as a reference to count the number of times the waterproof treatment system 200 performs water vapor drying operations on the same operating line. When the statistical result reaches the set number of times, the waterproof treatment system 200 is considered to be in an abnormal state, and the insulation performance fault characterizing this state is reported to the system background. In this way, the staff can use the monitoring function of the system background to immediately stop the operation of the overhead bare wire operating robot after receiving the insulation performance fault, and conduct relevant abnormality inspections, such as inspecting the electromagnetic monitoring module 220, the processor 240, and the drying device 230, to ensure the waterproof insulation performance of the self-rolling insulating sheath and improve the reliability of the automated operation of the live operating robot.

[0056] Embodiment 2:

[0057] Based on the above embodiments, Figure 3 This is a schematic diagram of the structure of a waterproof treatment device 400 for an overhead bare wire live working robot provided in the second embodiment of the present application. Figure 3The waterproof treatment device 400 for the overhead bare wire live working robot provided in this embodiment specifically includes:

[0058] The acquisition module 410 is used to acquire humidity data collected by the humidity sensor corresponding to the operation line where the self-rolling insulation sheath installation operation has not been performed, and electromagnetic data collected by the electromagnetic monitoring module corresponding to the operation line where the self-rolling insulation sheath installation operation has been performed;

[0059] The operation module 420 is used to drive the drying device to perform the water vapor drying operation at the corresponding line position when the humidity data reaches the set humidity threshold, and drive the drying device to perform the water vapor drying operation at the corresponding line position when the electromagnetic data reaches the set electromagnetic threshold, and locate the current line position, and report the abnormal insulation performance prompt of the current line position to the system background.

[0060] Specifically, when the electromagnetic data reaches the set electromagnetic threshold, after driving the drying device to perform the water vapor drying operation at the corresponding line position, the method further includes:

[0061] The electromagnetic data of the current line position is repeatedly detected by the electromagnetic monitoring module, and it is determined whether to cyclically perform the water vapor drying operation of the current line position according to the detected electromagnetic data.

[0062] Specifically, after determining whether to cyclically perform the water vapor drying operation at the current line position according to the detected electromagnetic data, the method further includes:

[0063] When the water vapor drying operation at the current line position is cyclically executed for the set number of times, an insulation performance fault alarm at the current line position is reported to the system background.

[0064] Specifically, the electromagnetic data includes electric field monitoring data and magnetic field monitoring data, and when the electromagnetic data reaches a set electromagnetic threshold, driving the drying device to perform a water vapor drying operation at a corresponding line position includes:

[0065] The electric field monitoring data is compared with a set electric field monitoring threshold, and the magnetic field monitoring data is compared with a set magnetic field monitoring threshold, and it is determined whether to drive the drying device to perform the water vapor drying operation at the corresponding line position according to the comparison result.

[0066] In the above, the humidity data collected by the humidity sensor for the operating line where the self-rolling insulating sheath installation operation has not been performed, and the electromagnetic data collected by the electromagnetic monitoring module for the operating line where the self-rolling insulating sheath installation operation has been performed; when the humidity data reaches the set humidity threshold, the drying device is driven to perform the water vapor drying operation at the corresponding line position, and when the electromagnetic data reaches the set electromagnetic threshold, the drying device is driven to perform the water vapor drying operation at the corresponding line position, and the current line position is located, and the insulation performance abnormality prompt of the current line position is reported to the system background. The above technical means are adopted to monitor the waterproof performance of the operating line through the combination of humidity data and electromagnetic data, and the water vapor drying operation is performed according to the monitoring results, and the abnormal situation is handled in time to ensure the waterproof and insulating performance of the self-rolling insulating sheath, improve the reliability of the automated operation, and avoid the risk of leakage of the self-rolling insulating sheath.

[0067] The waterproofing treatment device 400 for an overhead bare wire live working robot provided in the second embodiment of the present application can be used to execute the waterproofing treatment method for an overhead bare wire live working robot provided in the first embodiment above, and has corresponding functions and beneficial effects.

[0068] Embodiment three:

[0069] The embodiment of the present application further provides a storage medium including computer executable instructions, wherein the computer executable instructions are used to execute a waterproof treatment method for an overhead bare wire live wire working robot when executed by a computer processor, and the waterproof treatment method for an overhead bare wire live wire working robot includes:

[0070] Obtain humidity data collected by the humidity sensor corresponding to the operating line where the self-rolling insulating sheath installation operation has not been performed, and electromagnetic data collected by the electromagnetic monitoring module corresponding to the operating line where the self-rolling insulating sheath installation operation has been performed; when the humidity data reaches a set humidity threshold, drive the drying device to perform a water vapor drying operation at the corresponding line position; when the electromagnetic data reaches a set electromagnetic threshold, drive the drying device to perform a water vapor drying operation at the corresponding line position, locate the current line position, and report an abnormal insulation performance prompt at the current line position to the system background.

[0071] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0072] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present application, whose computer executable instructions are not limited to the waterproofing treatment method for the overhead bare wire live working robot as described above, can also execute related operations in the waterproofing treatment method for the overhead bare wire live working robot provided in any embodiment of the present application.

[0073] The waterproofing treatment device, storage medium and electronic device for the overhead bare wire live working robot provided in the above embodiments can execute the waterproofing treatment method for the overhead bare wire live working robot provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the waterproofing treatment method for the overhead bare wire live working robot provided in any embodiment of the present application.

[0074] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A waterproof treatment system for a robot for overhead bare wire live working, characterized in that: The live-line working robot comprises a driving mechanism and a guiding and installing mechanism, wherein the driving mechanism is used to drive the live-line working robot to move along the working line, and the guiding and installing mechanism is used to roll the self-rolling insulating sheath onto the bare wire of the working line during the moving of the live-line working robot along the working line; The waterproof treatment system is arranged on the live working robot, and comprises a humidity sensor, an electromagnetic monitoring module, a drying device, and a processor connected to the humidity sensor, the electromagnetic monitoring module and the drying device; The humidity sensor is used to collect humidity data of the operation line where the self-rolling insulation sheath installation operation is not performed; The electromagnetic monitoring module is used to collect electromagnetic data of the operation line where the self-rolling insulation sheath installation operation has been carried out; The drying device is used to perform water vapor drying operations; The processor is used to obtain the humidity data and the electromagnetic data, and when the humidity data reaches a set humidity threshold, drive the drying device to perform a water vapor drying operation at the corresponding line position; when the electromagnetic data reaches a set electromagnetic threshold, drive the drying device to perform a water vapor drying operation at the corresponding line position, locate the current line position, and report an abnormal insulation performance prompt at the current line position to the system background.

2. The waterproof treatment system for the overhead bare wire live working robot according to claim 1, characterized in that: When the electromagnetic data reaches the set electromagnetic threshold, after driving the drying device to perform the water vapor drying operation at the corresponding line position, the processor is further used to: The electromagnetic data of the current line position is repeatedly detected by the electromagnetic monitoring module, and it is determined whether to cyclically perform the water vapor drying operation of the current line position according to the detected electromagnetic data.

3. The waterproof treatment system for the overhead bare wire live working robot according to claim 2, characterized in that: After determining whether to cyclically perform the water vapor drying operation at the current line position according to the detected electromagnetic data, the processor is further used to: When the water vapor drying operation at the current line position is cyclically executed for the set number of times, an insulation performance fault alarm at the current line position is reported to the system background.

4. The waterproof treatment system for the overhead bare wire live working robot according to claim 1, characterized in that: The electromagnetic data includes electric field monitoring data and magnetic field monitoring data; The processor is specifically used to compare the electric field monitoring data with a set electric field monitoring threshold, and compare the magnetic field monitoring data with a set magnetic field monitoring threshold, and determine whether to drive the drying device to perform a water vapor drying operation at a corresponding line position based on the comparison results.

5. A waterproof treatment method for an overhead bare wire live working robot, characterized in that: The live-line working robot comprises a driving mechanism and a guiding and installing mechanism, wherein the driving mechanism is used to drive the live-line working robot to move along the working line, and the guiding and installing mechanism is used to roll the self-rolling insulating sheath onto the bare wire of the working line during the moving of the live-line working robot along the working line; The waterproof treatment method is applied to the processor of the waterproof treatment system of the overhead bare wire live working robot according to any one of claims 1 to 4, and the waterproof treatment method comprises: The humidity sensor is used to collect humidity data of the operation line where the self-rolling insulation sheath installation operation has not been performed, and the electromagnetic monitoring module is used to collect electromagnetic data of the operation line where the self-rolling insulation sheath installation operation has been performed; When the humidity data reaches the set humidity threshold, the drying device is driven to perform water vapor drying operations at the corresponding line position. When the electromagnetic data reaches the set electromagnetic threshold, the drying device is driven to perform water vapor drying operations at the corresponding line position, locate the current line position, and report abnormal insulation performance at the current line position to the system background.

6. The waterproof treatment method for an overhead bare wire live working robot according to claim 5, characterized in that: When the electromagnetic data reaches the set electromagnetic threshold, after driving the drying device to perform the water vapor drying operation at the corresponding line position, the method further includes: The electromagnetic data of the current line position is repeatedly detected by the electromagnetic monitoring module, and it is determined whether to cyclically perform the water vapor drying operation of the current line position according to the detected electromagnetic data.

7. The waterproof treatment method for an overhead bare wire live working robot according to claim 6, characterized in that: After determining whether to cyclically perform the water vapor drying operation at the current line position according to the detected electromagnetic data, the method further includes: When the water vapor drying operation at the current line position is cyclically executed for the set number of times, an insulation performance fault alarm at the current line position is reported to the system background.

8. The waterproof treatment method for an overhead bare wire live working robot according to claim 5, characterized in that: The electromagnetic data includes electric field monitoring data and magnetic field monitoring data, and when the electromagnetic data reaches a set electromagnetic threshold, driving the drying device to perform a water vapor drying operation at a corresponding line position includes: The electric field monitoring data is compared with a set electric field monitoring threshold, and the magnetic field monitoring data is compared with a set magnetic field monitoring threshold, and it is determined whether to drive the drying device to perform the water vapor drying operation at the corresponding line position according to the comparison result.

9. A waterproof treatment device for a robot for overhead bare wire live working, characterized in that: The live-line working robot comprises a driving mechanism and a guiding and installing mechanism, wherein the driving mechanism is used to drive the live-line working robot to move along the working line, and the guiding and installing mechanism is used to roll the self-rolling insulating sheath onto the bare wire of the working line during the moving of the live-line working robot along the working line; The waterproof processing device is applied to the processor of the waterproof processing system of the overhead bare wire live working robot according to any one of claims 1 to 4, and the waterproof processing device comprises: An acquisition module is used to acquire humidity data collected by a humidity sensor on an operation line where the self-rolling insulation sheath installation operation has not been performed, and an electromagnetic monitoring module to collect electromagnetic data on an operation line where the self-rolling insulation sheath installation operation has been performed; The operation module is used to drive the drying device to perform the water vapor drying operation at the corresponding line position when the humidity data reaches the set humidity threshold, and drive the drying device to perform the water vapor drying operation at the corresponding line position when the electromagnetic data reaches the set electromagnetic threshold, and locate the current line position, and report the abnormal insulation performance prompt of the current line position to the system background.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions, when executed by a computer processor, are used to execute the waterproofing method for an overhead bare wire live working robot as described in any one of claims 5-8.

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