A monitoring and analysis system for high-precision power line status indicators
Through the monitoring and analysis system of high-precision power line status indicator, the safety time of the fault equipment is analyzed using the historical fault database, and a periodic maintenance list is generated, which solves the problem of high-voltage power line equipment fault maintenance resource consumption, and achieves efficient resource utilization and cost reduction.
Patent Information
- Application Number
- CN202411366171.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2025-08-29
- Estimated Expiration
- 2044-09-27
AI Technical Summary
The existing technology requires manpower maintenance when equipment of high-voltage power line failure, resulting in large resource consumption and inability to efficiently utilize the periodic maintenance characteristics of power line.
Through the monitoring and analysis system of high-precision power line status indicator, equipment failure data is obtained, the preset historical fault database is used to analyze the safety time and maintenance records of the faulty equipment, and the list of periodic maintenance equipment is generated, and the low-failure level maintenance work is combined to periodic maintenance to reduce the number of individual maintenance times.
It reduces the resource consumption of power line fault maintenance, improves maintenance efficiency, reduces the number of individual maintenance, and reduces the cost of maintenance.
Smart Images

Figure CN119310362B_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of status indicator data analysis, and in particular to a monitoring and analysis system for a high-precision power line status indicator. Background Art
[0002] A status indicator is a device used to monitor and display the status of high-voltage electrical equipment. Through the status display, the switch status, energy storage status, energized status, locked status, communication status, operating parameters, faults, etc. of the electrical equipment bound to the status display can be viewed. For high-precision power line equipment, when the status display to which it is bound outputs fault information, it indicates that the equipment has an abnormality and manpower needs to be dispatched for inspection and maintenance. However, there are many devices on the power line, and using this method will consume more resources. Summary of the Invention
[0003] The present application provides a monitoring and analysis system for a high-precision power line status indicator, which can reduce resource consumption in power line fault repair.
[0004] The present application provides a high-precision power line status indicator monitoring and analysis system. The system includes a data acquisition module, a fault analysis module, and a data output module;
[0005] The data acquisition module is used to acquire power line periodic maintenance time data and equipment fault data;
[0006] The fault analysis module is configured to:
[0007] Based on the equipment failure data, historical fault equipment maintenance record data is obtained by matching from a preset historical fault database;
[0008] Determine the safety time data of the faulty equipment based on the historical faulty equipment maintenance record data;
[0009] Determine periodic maintenance equipment list data based on the faulty equipment safety time data and the power line periodic maintenance time data;
[0010] The data output module is used to output the periodic maintenance equipment list data.
[0011] By adopting the above technical solution, basic information of equipment failure can be obtained based on the status indicator; through analysis of the equipment failure, the corresponding historical fault equipment maintenance records are matched from the historical fault database, and the safe waiting time of the faulty equipment is determined based on the analysis of the historical fault equipment maintenance records, and then the safe waiting time is analyzed together with the periodic maintenance time to determine the periodic maintenance equipment; finally, the determined periodic maintenance equipment is output as the periodic maintenance equipment list data; in this way, some equipment that requires separate fault maintenance can be divided into periodic maintenance work, which reduces the number of separate maintenance times and reduces maintenance costs.
[0012] Furthermore, the fault analysis module is further configured to determine the fault equipment safety time data based on the historical fault equipment maintenance record data analysis, including:
[0013] Determining the faulty equipment waiting time and the faulty equipment repair data according to the historical faulty equipment repair record data;
[0014] Determining the fault delay processing danger level and safe maintenance time based on the faulty equipment maintenance data;
[0015] Determine basic safety time data based on the waiting time of the faulty equipment and the safety inspection time;
[0016] Determining delayed processing time data according to the fault delayed processing risk level;
[0017] The faulty equipment safety time data is determined according to the basic safety time data and the delayed processing time data.
[0018] Furthermore, the fault analysis module is further configured to determine the waiting time of the faulty device based on the historical faulty device maintenance record data, including:
[0019] Determining maintenance resource data based on the historical fault equipment maintenance record data;
[0020] Determine the departure time of the maintenance resource and the arrival time of the maintenance resource at the location of the historical fault device according to the maintenance resource data;
[0021] The waiting time of the faulty device is determined according to the departure time and the arrival time.
[0022] Furthermore, the fault analysis module is further configured to determine the fault delay processing danger level and the safe maintenance time according to the faulty equipment maintenance data, including:
[0023] Determining a faulty equipment repair method based on the faulty equipment repair data;
[0024] Obtaining a maintenance urgency level according to a comparison table of the maintenance means for the faulty equipment and preset maintenance means; the preset maintenance means comparison table includes a correspondence between the maintenance means for the faulty equipment and the maintenance urgency level;
[0025] Determining the risk level of delayed fault handling based on the maintenance urgency level;
[0026] The safe maintenance time is determined according to the maintenance emergency level and the preset maintenance means comparison table.
[0027] Furthermore, the fault analysis module is further configured to determine the fault delay processing danger level according to the maintenance urgency level, including a one-to-one correspondence between the maintenance urgency level and the fault delay processing danger level.
[0028] Furthermore, the fault analysis module is further configured such that the determining of the delayed processing time data according to the fault delayed processing risk level includes:
[0029] Calculating the delayed processing time data, Where T is the delayed processing time data, is the time weight value, t j -t Δ is the extra time, i takes values of 1-n, indicating the 1st to nth special cases, and j takes values of 1-m, indicating the 1st to mth special cases.
[0030] Furthermore, the fault analysis module is further configured such that the historical fault equipment maintenance record data obtained by matching the equipment fault data from a preset historical fault database includes:
[0031] The equipment failure data includes equipment type data, failure type data and operating parameters of the failed equipment;
[0032] determining first tag data according to the device type data;
[0033] determining second label data according to the fault type data;
[0034] Determining third tag data according to the operating parameters of the faulty device;
[0035] Historical fault equipment maintenance record data is retrieved from a preset historical fault database based on the first tag data, the second tag data, and the third tag data.
[0036] Furthermore, the fault analysis module is further configured to determine the periodic maintenance equipment list data based on the faulty equipment safety time data and the power line periodic maintenance time data, including:
[0037] determining the time when the equipment failure occurred according to the equipment failure data;
[0038] Determine the waiting interval time of the faulty device according to the device fault occurrence event and the faulty device safety time data;
[0039] Determine the periodic maintenance waiting interval time according to the equipment failure event and the power line periodic maintenance time data;
[0040] Determine that the waiting interval of the faulty equipment is not greater than the waiting interval of the periodic maintenance, and list the corresponding faulty equipment in a preset blank equipment list to obtain periodic maintenance equipment list data.
[0041] Furthermore, the fault analysis module is further configured to also include determining equipment maintenance priority data based on the faulty equipment safety time data; and listing the corresponding faulty equipment into a preset blank equipment list based on the equipment maintenance priority data to obtain periodic maintenance equipment list data.
[0042] Furthermore, the data acquisition module is further configured so that the device fault level corresponding to the device fault data is not greater than a preset fault level.
[0043] It should be understood that the contents described in the Summary of the Invention are not intended to limit the key or important features of the embodiments of the present application, nor are they intended to limit the scope of the present application. Other features of the present application will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0044] The above and other features, advantages and aspects of the embodiments of the present application will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:
[0045] Figure 1 A block diagram of a monitoring and analysis system for a high-precision power line status indicator in an embodiment of the present application is shown. DETAILED DESCRIPTION
[0046] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0047] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.
[0048] This application provides a high-precision power line status indicator monitoring and analysis system. Figure 1 As shown, the system includes a data acquisition module 110, a fault analysis module 120 and a data output module 130; wherein, the data acquisition module 110 is used to obtain power line periodic maintenance time data and equipment failure data; the fault analysis module 120 is configured to: obtain historical fault equipment maintenance record data from a preset historical fault database based on equipment failure data; determine fault equipment safety time data based on the analysis of the historical fault equipment maintenance record data; determine periodic maintenance equipment list data based on the fault equipment safety time data and the power line periodic maintenance time data; the data output module 130 is used to output the periodic maintenance equipment list data.
[0049] Specifically, in an embodiment of the present application, the data acquisition module 110 is further configured so that the equipment fault level corresponding to the equipment fault data is not greater than a preset fault level; it is understandable that in an actual power line, the status indicator can display the fault level of the faulty equipment; and the fault level includes the level corresponding to the situation where the equipment is faulty but does not affect the normal use of the equipment; for such equipment failure, although it is still necessary to dispatch human and material maintenance resources to the faulty equipment for maintenance, the maintenance measures adopted may not be very intense, and the maintenance urgency is not very high; and, for high-precision power lines, they themselves require periodic maintenance and repair. In combination with the above, this separate maintenance work for faults that do not affect the use of the equipment itself and have a low fault level can be merged into the periodic maintenance work, which can reduce the number of separate maintenance work and reduce maintenance costs.
[0050] In an embodiment of the present application, if you want to delay the maintenance work of faulty equipment with a low fault level, you need to analyze the fault and determine the safety time of the corresponding equipment; that is, within the safety time, the fault of the equipment will remain the same, there will be no fault escalation, and there will be no impact on the equipment or even the possibility of affecting the power line.
[0051] Specifically, in an embodiment of the present application, the fault analysis module 120 is further configured as follows: the historical fault equipment maintenance record data obtained by matching the equipment fault data from a preset historical fault database includes: the equipment fault data contains equipment type data, fault type data and fault equipment operating parameters; determining first label data according to the equipment type data; determining second label data according to the fault type data; determining third label data according to the fault equipment operating parameters; and retrieving historical fault equipment maintenance record data from a preset historical fault database based on the first label data, the second label data and the third label data.
[0052] It is understandable that when performing fault analysis on faulty equipment in the current state, it is necessary to perform analysis based on historical fault maintenance records; therefore, it is necessary to first match historical faults that are similar to the current fault, and then retrieve the maintenance records corresponding to the historical faults for analysis; in the embodiment of the present application, label matching is performed through equipment type, fault type and faulty equipment operating parameters. In the preset historical fault database, relevant historical fault maintenance record data is also stored in a labeled manner. By matching the three labels, historical fault equipment maintenance record data with a similarity value exceeding the preset similarity threshold can be obtained.
[0053] Specifically, the device type corresponding to the first label here needs to be consistent; the fault type corresponding to the second label needs to be consistent in level. For different status indicators, different levels of faults will be displayed in different ways, such as color, code, number, etc.; regardless of the display method, the fault level represented needs to be consistent; the similarity of the operating parameters corresponding to the third label must not be less than the preset parameter similarity threshold.
[0054] After retrieving the historical fault equipment maintenance record data, further analysis is required; specifically, the fault analysis module 120 is further configured to determine the fault equipment safety time data based on the analysis of the historical fault equipment maintenance record data, including determining the fault equipment waiting time and fault equipment maintenance data based on the historical fault equipment maintenance record data; determining the fault delay processing hazard level and safety maintenance time based on the fault equipment maintenance data; determining basic safety time data based on the fault equipment waiting time and the safety maintenance time; determining delayed processing time data based on the fault delay processing hazard level; and determining the fault equipment safety time data based on the basic safety time data and the delayed processing time data.
[0055] In which, the fault analysis module 120 is further configured such that determining the waiting time of the faulty equipment based on the historical faulty equipment maintenance record data includes: determining the maintenance resource data based on the historical faulty equipment maintenance record data; determining the departure time of the maintenance resource and the arrival time of the maintenance resource at the location of the historical faulty equipment based on the maintenance resource data; and determining the waiting time of the faulty equipment based on the departure time and the arrival time.
[0056] In which, the fault analysis module 120 is further configured such that the determination of the fault delay processing danger level and the safe maintenance time based on the faulty equipment maintenance data includes: determining the faulty equipment maintenance means based on the faulty equipment maintenance data; obtaining the maintenance urgency level based on a comparison table of the faulty equipment maintenance means and preset maintenance means; the preset maintenance means comparison table contains the correspondence between the faulty equipment maintenance means and the maintenance urgency level; determining the fault delay processing danger level based on the maintenance urgency level; and determining the safe maintenance time based on the maintenance urgency level and the comparison table of the preset maintenance means.
[0057] The fault analysis module 120 is further configured to determine the fault delay processing risk level according to the maintenance urgency level, including a one-to-one correspondence between the maintenance urgency level and the fault delay processing risk level.
[0058] It can be understood that, based on the historical maintenance records of faulty equipment, it is possible to determine the time when maintenance resources go to the faulty equipment and the time when they arrive at the faulty equipment when the equipment fails; then, the fault urgency, that is, the fault emergency level, is determined based on the maintenance means recorded in the historical maintenance records of the faulty equipment; if the fault urgency level is high, it means that the fault delayed processing risk level is high; if the fault urgency level is low, it means that the fault delayed processing risk level is low; in an embodiment of the present application, the fault urgency level and the fault delayed processing risk level correspond one to one; for example, the fault urgency level includes 1-5 levels from low to high, and the fault delayed processing risk level also includes 1-5 levels from low to high; if the fault urgency level of device A is level 3, then the fault delayed processing risk level of device A is also level 3.
[0059] In an embodiment of the present application, the preset maintenance means comparison table includes the correspondence between the maintenance urgency level and the safe maintenance time; for example, the maintenance urgency level is level 2, the safe maintenance time is 30 minutes, the maintenance urgency level is level 5, and the safe maintenance time is 5 minutes.
[0060] It is understandable that when analyzing the fault delayed processing hazard level, since the fault delayed processing hazard level and the fault emergency level are in a one-to-one correspondence, the fault delayed processing hazard level can be determined based on the maintenance means in the historical maintenance records; for example, the maintenance urgency level corresponding to the maintenance means is level 3, the fault delayed processing hazard level is also level 3, and the safe maintenance time is 15 minutes; and the safe maintenance time here also represents the time during which the equipment maintains the fault without escalating under the level 3 fault delayed processing hazard level. The basic safety time of the equipment failure can be obtained by adding the safe maintenance time to the waiting time of the faulty equipment; in the actual maintenance process, there will also be maintenance cases that exceed the basic safety time. This situation shows that for some faults of some equipment, there is a delayed processing time based on the basic safety time. As long as the equipment fault is handled within the time range of the sum of the basic safety time and the delayed processing time, the maintenance of the faulty equipment can be guaranteed, and it can be guaranteed that the faulty equipment will not cause additional impact.
[0061] In an embodiment of the present application, the historical fault equipment maintenance record data is first screened, and the maintenance time corresponding to the maintenance means of the case with the shortest time and a similarity exceeding a second similarity threshold is selected as the safe maintenance time; then, except for this case, the cases that use the same maintenance means as this case and have a maintenance time greater than this case are marked out, and the matching values of these cases, that is, the similarity values, are determined. Then, based on the similarity values, their respective weights are determined, and their respective weights are multiplied by the additional time, and then divided by the total to obtain the delayed processing time.
[0062] Specifically, the fault analysis module 120 is further configured to determine the delayed processing time data according to the fault delayed processing risk level, including calculating the delayed processing time data, Where T is the delayed processing time data, is the time weight value, t j -t Δ is the extra time, i takes values of 1-n, indicating the 1st to nth special cases, and j takes values of 1-m, indicating the 1st to mth special cases.
[0063] It can be understood that the time weight value here is the respective weight determined by the similarity value of each case mentioned above; is the sum of the similarity values of each case; tΔ here is the maintenance time corresponding to the maintenance method of the case with the shortest time and a similarity exceeding the second similarity threshold.
[0064] In an embodiment of the present application, after obtaining the safety time data of the faulty equipment, the list of equipment to be periodically maintained can be determined in combination with the periodic maintenance time of the power line; specifically, the fault analysis module 120 is further configured to determine the periodic maintenance equipment list data based on the safety time data of the faulty equipment and the periodic maintenance time data of the power line, including: determining the time of occurrence of the equipment fault based on the equipment fault data; determining the waiting interval time of the faulty equipment based on the equipment fault occurrence event and the safety time data of the faulty equipment; determining the periodic maintenance waiting interval time based on the equipment fault occurrence event and the periodic maintenance time data of the power line; determining that the waiting interval time of the faulty equipment is not greater than the periodic maintenance waiting interval time, and listing the corresponding faulty equipment in the preset blank equipment list to obtain the periodic maintenance equipment list data.
[0065] The fault analysis module 120 is further configured to also include determining equipment maintenance priority data based on the faulty equipment safety time data; and listing the corresponding faulty equipment in a preset blank equipment list based on the equipment maintenance priority data to obtain periodic maintenance equipment list data.
[0066] It can be understood that the above method can determine the list of faulty equipment that can be assigned its own fault repair work to the next cycle of repair work; and the priority of equipment repair is determined by the faulty equipment safety time; that is, the shorter the faulty equipment safety time, the higher the priority.
[0067] It should be noted that after determining the list of periodic maintenance equipment, it is also necessary to conduct pre-processing analysis on the maintenance work of the faulty equipment on the list, that is, to analyze the actual maintenance time of the faulty equipment based on the maintenance resources, and to determine that the faulty equipment on the list will not exceed its own safety time after fault maintenance according to the preset priority by analyzing the travel time of the maintenance resources and the actual maintenance time of the faulty equipment.
[0068] Specifically, the faulty equipment list includes equipment A and equipment B, where the safety time of equipment A is 20 minutes, and the safety time of equipment B is 30 minutes. The priority of equipment A is higher than that of equipment B, the travel time of the maintenance resource is 10 minutes, the maintenance time of equipment A is 10 minutes, and the maintenance time of equipment B is 20 minutes. At this time, there are 10 minutes left before the next maintenance cycle, so the maintenance resource starts to perform the transportation task at this time. The timing starts from this time, and the maintenance begins at the 10th minute when it arrives at equipment A, which does not exceed the safety time of equipment A of 20 minutes. After the maintenance of equipment A is completed, the time is the 20th minute, and the maintenance of equipment B is started at this time, which does not exceed the safety time of equipment B of 30 minutes. This shows that the execution of the faulty equipment list will not cause the problem of faulty equipment maintenance timeout due to priority.
[0069] It should be noted that in the embodiment of the present application, the power lines are divided based on preset division standards to form different power line areas; based on actual considerations, when problems occur in the power lines in different areas, maintenance resources must be dispatched from the nearest resource supply point. Therefore, the distance between the equipment is not considered here, and this distance is ignored by default.
[0070] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to the embodiments of this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for this application.
[0071] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described device can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.
[0072] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the aforementioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.
Claims
1. A high-precision power line status indicator monitoring and analysis system, characterized in that: It includes a data acquisition module (110), a fault analysis module (120) and a data output module (130); The data acquisition module (110) is used to acquire power line periodic maintenance time data and equipment fault data; The fault analysis module (120) is configured to: Based on the equipment failure data, historical fault equipment maintenance record data is obtained by matching from a preset historical fault database; Determine the safety time data of the faulty equipment based on the historical faulty equipment maintenance record data; Determine periodic maintenance equipment list data based on the faulty equipment safety time data and the power line periodic maintenance time data; The data output module (130) is used to output the periodic maintenance equipment list data; The fault analysis module (120) is further configured to determine the fault equipment safety time data according to the analysis of the historical fault equipment maintenance record data, including determining the fault equipment waiting time and the fault equipment maintenance data according to the historical fault equipment maintenance record data; Determining the fault delay processing danger level and safe maintenance time based on the faulty equipment maintenance data; Determine basic safety time data based on the waiting time of the faulty equipment and the safety inspection time; Determining delayed processing time data according to the fault delayed processing risk level; Determine the fault equipment safety time data according to the basic safety time data and the delayed processing time data; Determining the waiting time of the faulty equipment according to the historical faulty equipment maintenance record data includes determining maintenance resource data according to the historical faulty equipment maintenance record data; Determine the departure time of the maintenance resource and the arrival time of the maintenance resource at the location of the historical fault device according to the maintenance resource data; determining a waiting time for the faulty device according to the departure time and the arrival time; Determining the fault delay processing danger level and the safe maintenance time according to the faulty equipment maintenance data includes determining the faulty equipment maintenance means according to the faulty equipment maintenance data; Obtaining a maintenance urgency level based on the maintenance means of the faulty equipment and a comparison table of preset maintenance means; The preset maintenance means comparison table includes the correspondence between the maintenance means of the faulty equipment and the maintenance urgency level; Determine the risk level of delayed fault handling based on the maintenance urgency level; determine the safe maintenance time based on the maintenance urgency level and the preset maintenance means comparison table; Screening the historical faulty equipment maintenance record data, selecting the maintenance time corresponding to the maintenance method of the case with the shortest time and a similarity exceeding a second similarity threshold as the safe maintenance time; marking the cases other than the case that use the same maintenance method as the case and have a maintenance time greater than the case, and determining the similarity value of the marked cases; The determining of the delayed processing time data according to the fault delayed processing risk level includes calculating the delayed processing time data, Where, To delay processing time data, is the time weight value, is the extra time, i takes the value 1-n, indicating the i-th special case, and j takes the value 1-m, indicating the j-th special case; is the similarity value of the i-th case; is the similarity value of the jth case; is the sum of the similarity values of each case; The maintenance time corresponding to the maintenance method of the case with the shortest time and a similarity exceeding the second similarity threshold.
2. The system according to claim 1, wherein: The fault analysis module (120) is further configured such that the determining of the fault delay processing danger level according to the maintenance urgency level includes a one-to-one correspondence between the maintenance urgency level and the fault delay processing danger level.
3. The system according to claim 1, wherein: The fault analysis module (120) is further configured to: The equipment failure data includes equipment type data, failure type data and operating parameters of the failed equipment; determining first tag data according to the device type data; determining second label data according to the fault type data; Determining third tag data according to the operating parameters of the faulty device; Historical fault equipment maintenance record data is retrieved from a preset historical fault database based on the first tag data, the second tag data, and the third tag data.
4. The system according to claim 1, wherein: The fault analysis module (120) is further configured to determine the periodic maintenance equipment list data based on the fault equipment safety time data and the power line periodic maintenance time data, including: determining the time when the equipment failure occurred according to the equipment failure data; Determine the waiting interval time of the faulty device according to the device fault occurrence time and the faulty device safety time data; Determine the periodic maintenance waiting interval time according to the equipment failure occurrence time and the power line periodic maintenance time data; Determine that the waiting interval of the faulty equipment is not greater than the waiting interval of the periodic maintenance, and list the corresponding faulty equipment in a preset blank equipment list to obtain periodic maintenance equipment list data.
5. The system according to claim 4, characterized in that The fault analysis module (120) is further configured to further include: determining equipment maintenance priority data based on the faulty equipment safety time data; and listing the corresponding faulty equipment into a preset blank equipment list based on the equipment maintenance priority data to obtain periodic maintenance equipment list data.
6. The system according to claim 1, wherein: The data acquisition module (110) is further configured such that the device fault level corresponding to the device fault data is not greater than a preset fault level.
Citation Information
Patent Citations
Maintenance work support system
CN106325238A
Intelligent decision-making method and system based on optimal control and medium
CN117993887A