Intelligent control method and system for mechanical frame for line erection

Abstract

The invention provides an intelligent control method and system for a mechanical frame for line erection, and relates to the field of line erection, and the method comprises the steps: installing a tension sensor in an electric power line, and enabling the tension sensor to be used for collecting the real-time tension value of the electric power line in the line erection process; a height sensor is installed at the top of the mechanical frame, and the height sensor is used for collecting the real-time erection height in the line erection process; a tilt angle sensor is installed on the mechanical frame, and the tilt angle sensor is used for collecting the real-time tilt angle of the mechanical frame in the line erecting process; in the line erecting process, according to the collected real-time tension value of the line, the real-time erecting height and the real-time inclination angle of the mechanical frame, the posture of the mechanical frame and / or the pulling force applied to the electric power line by the mechanical frame are adjusted, and the method has the advantages that the line erecting efficiency and safety are improved, and the line quality and the operation precision are effectively improved.

Description

Technical Field

[0001] The invention relates to the field of line installation, and in particular to an intelligent control method and system for a mechanical frame used for line installation. Background Art

[0002] In the installation of power lines, communication lines, etc., traditional mechanical racks have problems such as complex operation, low safety, and low efficiency. With the advancement of technology, intelligent control systems have been widely used in various fields, but in the field of line installation, the application of intelligence is still in its infancy. Existing mechanical rack equipment often lacks real-time monitoring and automatic adjustment functions, which leads to problems such as unstable line quality and uneven tension during the installation process, seriously affecting the installation efficiency and safety. In addition, the operation of traditional mechanical racks requires personnel to be at high altitudes, which poses a major safety hazard.

[0003] Therefore, it is necessary to provide an intelligent control method and system for a mechanical frame for line installation, so as to improve the efficiency and safety of line installation and effectively improve the line quality and operation accuracy. Summary of the invention

[0004] The present invention provides an intelligent control method for a mechanical frame for line erection, comprising: installing a tension sensor on a power line, wherein the tension sensor is used to collect a real-time tension value of the power line during the line erection process; installing a height sensor on the top of the mechanical frame, wherein the height sensor is used to collect a real-time erection height during the line erection process; installing an inclination sensor on the mechanical frame, wherein the inclination sensor is used to collect a real-time inclination angle of the mechanical frame during the line erection process; during the line erection process, adjusting the posture of the mechanical frame and / or the pulling force applied by the mechanical frame to the power line according to the collected real-time tension value of the line, the real-time erection height and the real-time inclination angle of the mechanical frame.

[0005] Furthermore, installing the inclination sensor on the mechanical frame includes: determining a plurality of key positions of the mechanical frame; and installing the inclination sensor at the plurality of key positions.

[0006] Furthermore, according to the collected real-time tension value of the line, the real-time installation height and the real-time inclination angle of the mechanical frame, the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line is adjusted, including: calculating the tension difference according to the preprocessed real-time tension value of the line and the reference tension value; calculating the height difference according to the preprocessed real-time installation height and the reference installation height; calculating the inclination angle difference according to the preprocessed real-time inclination angle of the mechanical frame and the reference inclination angle; adjusting the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line according to the tension difference, the height difference and the inclination angle difference.

[0007] Furthermore, the collected real-time tension values ​​of the line, the real-time installation height and the real-time inclination angle of the mechanical frame are preprocessed to generate the preprocessed real-time tension values ​​of the line, the real-time installation height and the real-time inclination angle of the mechanical frame, including: filtering and denoising the collected real-time tension values ​​of the line, the real-time installation height and the real-time inclination angle of the mechanical frame to generate the preprocessed real-time tension values ​​of the line, the real-time installation height and the real-time inclination angle of the mechanical frame.

[0008] Furthermore, according to the tension difference, height difference and tilt angle difference, the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line is adjusted, including: generating a posture adjustment instruction and / or a tension adjustment instruction according to the tension difference, height difference and tilt angle difference through a decision algorithm; according to the posture adjustment instruction, controlling the actuator to adjust the tilt angle and / or the installation height of the mechanical frame; according to the tension adjustment instruction, controlling the tension adjustment device to adjust the tension applied by the mechanical frame to the power line.

[0009] Furthermore, a method for intelligently controlling a mechanical frame for line installation also includes: obtaining a remote control instruction sent by a remote controller; and adjusting the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line based on the remote control instruction.

[0010] Furthermore, a method for intelligently controlling a mechanical frame for line erection also includes: arranging a plurality of status monitoring sensors on the mechanical frame, wherein the plurality of status monitoring sensors are used to collect real-time working status data of a plurality of components of the mechanical frame during the line erection process; extracting a plurality of fault characteristics from the real-time working status data of a plurality of components of the mechanical frame collected by the plurality of status monitoring sensors, wherein the fault characteristics at least include time-frequency characteristics of vibration signals; and generating a fault warning signal according to the plurality of fault characteristics through a fault diagnosis model.

[0011] Furthermore, the time-frequency characteristics of the vibration signal are extracted from the real-time working status data of the multiple components of the mechanical frame collected by the multiple status monitoring sensors according to the following formula: Among them, W f (a,b) is the wavelet transform coefficient, a is the scale factor, b is the translation factor, f(t) is the vibration signal, is the wavelet function, for The complex conjugate of .

[0012] The present invention provides an intelligent control system for a mechanical frame for line erection, which is used to execute the above-mentioned intelligent control method for a mechanical frame for line erection, and comprises: a data acquisition module, comprising a tension sensor, a height sensor and an inclination sensor; the tension sensor is installed on the power line, and is used to collect the real-time tension value of the power line during the line erection process; the height sensor is installed on the top of the mechanical frame, and is used to collect the real-time erection height during the line erection process; the inclination sensor is installed on the mechanical frame, and is used to collect the real-time inclination angle of the mechanical frame during the line erection process; the data acquisition module is also used to install the inclination sensor on the mechanical frame, wherein the inclination sensor is used to collect the real-time inclination angle of the mechanical frame during the line erection process; a parameter adjustment module is used to adjust the posture of the mechanical frame and / or the pulling force applied to the power line by the mechanical frame according to the collected real-time tension value of the line, the real-time erection height and the real-time inclination angle of the mechanical frame during the line erection process.

[0013] Compared with the prior art, the intelligent control method and system of a mechanical rack for line installation provided by the present invention has at least the following beneficial effects:

[0014] The purpose of the present invention is to provide an intelligent control system for a mechanical frame for line erection, aiming to solve the problems of low efficiency, poor safety and unstable quality of line erection in the prior art. By integrating sensors and real-time data analysis technology, key parameters in the erection process are monitored in real time to ensure that the line quality and tension are moderate; through the automatic adjustment mechanism, the posture and tension of the mechanical frame are actively adjusted to better meet different operation requirements; through the remote control function, the operator is allowed to perform remote control operations on the ground, significantly improving the safety of the operation. The present invention can not only improve the efficiency and safety of line erection, but also effectively improve the line quality and operation accuracy, and has significant technical progress and practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0016] Figure 1 It is a flow chart of an intelligent control method of a mechanical rack for line erection according to some embodiments of this specification;

[0017] Figure 2 It is a module schematic diagram of an intelligent control system for a mechanical rack for line installation according to some embodiments of this specification.

[0018] Description of reference numerals:

[0019] 210. Data acquisition module; 220. Parameter adjustment module. DETAILED DESCRIPTION

[0020] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0021] Figure 1 is a flow chart of a method for intelligently controlling a mechanical rack for line erection according to some embodiments of this specification, such as Figure 1 As shown, a method for intelligently controlling a mechanical rack for line installation may include the following steps.

[0022] Step 110, installing a tension sensor on the power line.

[0023] Among them, the tension sensor is used to collect the real-time tension value of the power line during the line installation process.

[0024] Step 120, installing a height sensor on the top of the mechanical frame.

[0025] The height sensor is used to collect the real-time installation height during the line installation process. The height sensor can be a laser distance measuring device or an ultrasonic distance measuring device.

[0026] Step 130, installing the tilt sensor on the mechanical frame.

[0027] Among them, the inclination sensor is used to collect the real-time inclination angle of the mechanical frame during the line installation process.

[0028] In some embodiments, step 130 specifically includes:

[0029] Identify multiple key locations of the mechanical rack;

[0030] Install inclinometers at several key locations.

[0031] Specifically, multiple sets of historical line installation construction data can be obtained, and multiple candidate positions of the mechanical frame can be determined based on the multiple sets of historical line installation construction data, and tilt test data of the mechanical frame under multiple test conditions can be obtained, wherein the multiple test conditions can be that the mechanical frame is in different tilt angles and tilt postures, and the tilt test data may include the tilt angles of multiple candidate positions at multiple test time points.

[0032] For any two candidate positions, the correlation coefficients of the two candidate positions under various test conditions can be calculated based on the tilt test data under various test conditions, and the comprehensive correlation coefficients of the two candidate positions can be calculated based on the correlation coefficients of the two candidate positions under various test conditions.

[0033] A clustering algorithm (for example, a K-means clustering algorithm, a hierarchical clustering algorithm, etc.) is used to determine multiple position clusters for multiple candidate positions according to the comprehensive correlation coefficient of any two candidate positions, and the position cluster that contains the largest number of candidate positions is used as the target position cluster, and the multiple candidate positions included in the target position cluster are used as multiple key positions of the mechanical frame.

[0034] As an example, the comprehensive correlation coefficient of two candidate positions can be calculated according to the following formula:

[0035]

[0036]

[0037] Among them, r (i,j) is the comprehensive correlation coefficient between the i-th candidate position and the j-th candidate position, K is the total number of test conditions, a k is the weight corresponding to the kth test condition, r ((i,j),k) is the correlation coefficient between the i-th candidate position and the j-th candidate position under the k-th test condition, θ (i,t) is the tilt angle of the i-th candidate position at the t-th time point under the k-th test condition, θ (j,t) is the tilt angle of the j-th candidate position at the t-th time point under the k-th test condition, and T is the total number of sampled time points under the k-th test condition.

[0038] It is understandable that the mechanical frame may tilt during the construction process due to various factors (such as wind, terrain, improper operation, etc.), and tilt is one of the important causes of many construction accidents. By installing inclination sensors at key locations, the tilt state of the mechanical frame can be monitored in real time, and potential overturning risks can be warned in time, so that corresponding measures can be taken to ensure the safety of construction personnel and equipment. After determining multiple key positions of the mechanical frame and installing sensors, the posture of the mechanical frame can be controlled more accurately to avoid unnecessary adjustments and repetitive work. At the same time, through real-time monitoring data, the construction plan can be optimized, construction interruptions and delays caused by tilt can be reduced, and overall construction efficiency can be improved. Existing mechanical frame tilt detection often relies on manual inspection and experience judgment. This method is not only time-consuming and labor-intensive, but may also fail to detect potential problems in time. By installing inclination sensors at key locations, the status of the mechanical frame can be grasped in real time, and abnormal situations can be discovered and handled in time. The data collected by the inclination sensor provides strong data support for construction management and decision-making. By analyzing these data, the performance and stability of the mechanical frame can be evaluated more accurately, providing a reference for subsequent engineering design and construction. The key locations are determined by using multiple sets of historical line construction data and tilt test data under various test conditions, making these locations more representative and adaptable. Regardless of the terrain and climate conditions, the inclination sensors at these key locations can provide accurate and reliable monitoring data, providing a strong guarantee for construction safety and efficiency.

[0039] Step 140, during the line installation process, according to the collected real-time tension value of the line, the real-time installation height and the real-time inclination angle of the mechanical frame, adjust the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line.

[0040] Specifically include:

[0041] Preprocessing the collected real-time tension value of the line, real-time erection height and real-time inclination angle of the mechanical frame to generate the preprocessed real-time tension value of the line, real-time erection height and real-time inclination angle of the mechanical frame;

[0042] Calculate the tension difference according to the real-time tension value of the pre-processed line;

[0043] Calculate the height difference according to the real-time erection height after preprocessing;

[0044] Calculate the tilt angle difference according to the real-time tilt angle of the preprocessed mechanical frame;

[0045] According to the tension difference, height difference and tilt angle difference, the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line are adjusted.

[0046] In some embodiments, the collected real-time tension value of the line, the real-time installation height, and the real-time inclination angle of the mechanical frame are preprocessed to generate the preprocessed real-time tension value of the line, the real-time installation height, and the real-time inclination angle of the mechanical frame, including:

[0047] The collected real-time line tension values, real-time installation heights, and real-time tilt angles of mechanical racks are filtered and denoised to generate pre-processed real-time line tension values, real-time installation heights, and real-time tilt angles of mechanical racks to ensure data accuracy and reliability.

[0048] For example, the filtering algorithm can be expressed as:

[0049] y(t)=α·x(t)+(1-α)·y(t-1)

[0050] Among them, y(t) represents the filter output at the current moment, x(t) represents the sensor data at the current moment, α is the filter coefficient, and y(t-1) represents the sensor data at the previous moment.

[0051] As an example only, the tension sensor and height sensor collect data of 520N and 11 meters respectively. The filtering algorithm is used to process the data. Assuming that the filter coefficient α is 0.8, the tension value and height value after filtering are:

[0052] T t =0.8·520+0.2·T t-1

[0053] H t =0.8·11+0.2·H t-1

[0054] Among them, T t is the real-time tension value at the tth time point, T t-1 is the real-time tension value at the t-1th time point, H t is the real-time erection height at the tth time point, H t-1 It is the real-time erection height at the t-1th time point.

[0055] In some embodiments, calculating the tension difference value according to the real-time tension value of the preprocessed line includes:

[0056] The tension difference is calculated based on the real-time tension value and the reference tension value of the preprocessed line.

[0057] For example, the tension difference can be calculated according to the following formula:

[0058] ΔT=T t -T basis

[0059] Where ΔT is the tension difference, T t is the real-time tension value, T basis is the base tension value.

[0060] In some embodiments, calculating the height difference according to the preprocessed real-time erection height includes:

[0061] The height difference is calculated based on the preprocessed real-time erection height and the reference erection height.

[0062] For example, the height difference can be calculated according to the following formula:

[0063] ΔH=H t -H basis

[0064] Where ΔH is the height difference, H t is the real-time erection height, H basis The base height.

[0065] In some embodiments, calculating the tilt angle difference according to the real-time tilt angle of the preprocessed mechanical frame includes:

[0066] The tilt angle difference is calculated according to the real-time tilt angle of the preprocessed mechanical frame and the reference tilt angle.

[0067] For example, the tilt angle difference can be calculated according to the following formula:

[0068] Δθ=θ t -θ basis

[0069] Where Δθ is the tilt angle difference, θ t is the real-time tilt angle, θ basis is the base tilt angle.

[0070] In some embodiments, adjusting the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line according to the tension difference, the height difference and the tilt angle difference includes:

[0071] Generate a posture adjustment instruction and / or a tension adjustment instruction according to the tension difference, the height difference and the tilt angle difference through a decision algorithm (e.g., a fuzzy control algorithm, etc.);

[0072] According to the posture adjustment instruction, the actuator (for example, a servo motor or a hydraulic cylinder, etc.) is controlled to adjust the tilt angle and / or the erection height of the mechanical frame;

[0073] According to the tension adjustment instruction, the tension adjustment device (for example, an electric winch, etc.) is controlled to adjust the tension applied by the mechanical frame to the power line.

[0074] For example, suppose that in a certain line erection operation, the preset tension value is 500N and the inclination angle is 0 degrees. The real-time tension value monitored by the sensor is 520N and the inclination angle is 2 degrees. The data is filtered to remove noise interference.

[0075] Calculate the tension deviation: ΔT = 520-500 = 20N.

[0076] Calculate the inclination deviation: Δθ = 2-0 = 2 degrees.

[0077] Through the fuzzy control algorithm, the attitude adjustment instructions and the tension adjustment instructions are generated. The servo motor is controlled according to the attitude adjustment instructions to adjust the inclination angle of the mechanical frame to 0 degrees. The electric winch is controlled according to the tension adjustment instructions to reduce the tension to 500N.

[0078] Through the above steps, automatic adjustment of the posture and tension of the mechanical frame is achieved, which significantly improves the adaptability and operating efficiency of line installation.

[0079] In some embodiments, a method for intelligently controlling a mechanical rack for line installation may further include:

[0080] Get the remote control command sent by the remote control;

[0081] Based on the remote control command, the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line are adjusted.

[0082] Specifically, the remote control includes a wireless communication module, a control processor, an interface circuit, etc. The wireless communication module supports a variety of communication protocols, such as Wi-Fi, Bluetooth, 4G / 5G, etc., to ensure stable signal transmission. The control processor runs a dedicated remote control software, which is responsible for receiving remote control commands, parsing commands and generating control signals. An industrial-grade remote control is selected, which has the characteristics of high reliability and strong anti-interference ability. The remote control is equipped with multiple function buttons and joysticks, which are convenient for operators to issue various control commands. The remote control is equipped with an LCD display screen, which displays the working status of the mechanical frame, sensor data and other information in real time, which is convenient for operators to monitor. The operator issues a control command through the remote control, and the command is transmitted to the remote control module of the intelligent control system through the wireless communication module. After receiving the command, the control processor parses it and generates a corresponding control signal. For example, the operator issues a "lift height" command, and the control processor generates a control signal for lifting the height. The generated control signal is distributed to each actuator, such as a servo motor, a hydraulic cylinder, etc., through the interface circuit. The actuator performs corresponding actions according to the received control signal, such as adjusting the height and posture of the mechanical frame. The working status of the actuator is collected in real time by the sensor and fed back to the remote control module. Feedback information is transmitted to the remote controller via the wireless communication module and displayed on the LCD screen for real-time monitoring by the operator.

[0083] Just as an example, in a certain line laying operation, the operator needs to adjust the height of the mechanical frame through the remote control device. The operator presses the "lift height" button on the remote control and operates the joystick to set the lifting range. The remote control transmits the "lift height" command to the remote control module of the intelligent control system via Wi-Fi. After receiving the command, the control processor interprets it as a control signal for the lifting height. The control signal is transmitted to the servo motor through the interface circuit. The servo motor drives the mechanical frame to the set height according to the control signal. The height sensor monitors the height of the mechanical frame in real time and feeds back the data to the remote control module. The feedback information is transmitted to the remote control through the wireless communication module and displayed on the LCD screen. The operator can monitor the height changes of the mechanical frame in real time.

[0084] Through the above steps, the operator can achieve precise control of the mechanical frame through the remote control device on the ground, ensuring the safety and efficiency of the operation process.

[0085] In some embodiments, a method for intelligently controlling a mechanical rack for line installation may further include:

[0086] A variety of status monitoring sensors are arranged on the mechanical rack, wherein the various status monitoring sensors are used to collect real-time working status data of multiple components of the mechanical rack during the line installation process. For example, status monitoring sensors are deployed on key components of the mechanical rack (such as motors, hydraulic systems, sensors themselves, etc.) to collect real-time working status data of multiple components of the mechanical rack. The data collected by the status monitoring sensors include parameters such as temperature, vibration, current, and pressure, which reflect the health status of the components.

[0087] Extracting multiple fault features from the real-time working status data of multiple components of the mechanical frame collected by multiple status monitoring sensors, wherein the fault features at least include the time-frequency features of the vibration signal. Specifically, using a machine learning algorithm (such as a support vector machine, a neural network, etc.) or a signal processing method (such as Fourier transform, wavelet transform, etc.) to process and analyze the collected real-time working status data of multiple components of the mechanical frame, and extracting fault features, such as abnormal vibration mode, temperature change trend, etc.;

[0088] The fault diagnosis model generates fault warning signals based on various fault characteristics.

[0089] In some embodiments, the time-frequency characteristics of the vibration signal are extracted from the real-time working status data of multiple components of the mechanical frame collected by multiple status monitoring sensors according to the following formula:

[0090]

[0091] Among them, W f(a,b) are wavelet transform coefficients, which represent the similarity or correlation between the original signal f(t) and the wavelet function ψ at scale a and position b. They are used to describe the local characteristics of the signal f(t) at different time and frequency scales. a is the scale factor, which is a positive real number that controls the expansion and contraction of the wavelet function, thereby changing the frequency and duration of the wavelet function. Larger a values ​​correspond to lower frequencies and longer durations, and vice versa. b is the translation factor, which is a real number that controls the translation of the wavelet function on the time axis, thereby allowing the wavelet function to slide on the original signal to detect the characteristics of the signal at different time points. f(t) is a vibration signal. The wavelet function, also called mother wavelet or basic wavelet, is a function with specific properties, including compact support, oscillation and rapid decay. It is used as a "window" for analyzing signals, matching different frequency components of the signal by stretching and translating. for The complex conjugate of is multiplied by the wavelet function in the integral to ensure that the real part or modulus of the inner product reflects the similarity between the signal and the wavelet.

[0092] According to historical data and fault characteristics, the warning threshold is set. When the monitoring data exceeds the threshold, it is judged as a potential fault. Once a potential fault is detected, the system immediately sends a warning signal to the operator through sound and light alarms, SMS notifications, etc. According to the warning signal, the operator takes corresponding fault handling measures, such as stopping for inspection, replacing parts, etc. The fault information and its handling process are recorded in the database for subsequent fault analysis and optimization.

[0093] As an example, assume that during a line installation operation, the motor temperature sensor of the mechanical rack detects that the motor temperature has abnormally risen to 80°C, while the normal operating temperature should be below 60°C. The temperature sensor monitors the motor temperature in real time, uses a preset algorithm (such as a neural network model) to analyze the temperature data, and extracts fault characteristics. According to the results of the algorithm analysis, the motor temperature is determined to be abnormal. Because the motor temperature exceeds the preset warning threshold (such as 70°C), a warning signal is issued. The operator receives the warning signal and is notified by sound and light alarms and text messages. The operator immediately stops the machine for inspection and finds that the motor has an overheating problem. The operator performs necessary cooling treatment and records the fault information and processing process. Through the above steps, potential faults can be discovered and handled in a timely manner, ensuring the stable operation and operation safety of the mechanical rack.

[0094] It is understandable that by integrating sensors, real-time data analysis, automatic adjustment, remote control, fault diagnosis and early warning and other advanced technologies, the problems of low efficiency, poor safety and unstable quality in the line installation process have been successfully solved. This intelligent control system not only improves the operation efficiency and safety, but also significantly improves the line quality and operation accuracy, and has broad application prospects and important practical value.

[0095] Figure 2 is a schematic diagram of a module of an intelligent control system for mechanical racks used for line erection according to some embodiments of this specification, such as Figure 2 As shown, an intelligent control system for a mechanical rack for line installation may include a data acquisition module 210 and a parameter adjustment module 220 .

[0096] The data acquisition module 210 may include a tension sensor, a height sensor and an inclination sensor; the tension sensor is installed on the power line to collect the real-time tension value of the power line during the line installation process; the height sensor is installed on the top of the mechanical frame to collect the real-time installation height during the line installation process; the inclination sensor is installed on the mechanical frame to collect the real-time inclination angle of the mechanical frame during the line installation process.

[0097] The parameter adjustment module 220 can be used to adjust the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line according to the collected real-time tension value of the line, the real-time installation height and the real-time inclination angle of the mechanical frame during the line installation process.

[0098] Specifically, each sensor of the data acquisition module 210 can be transmitted to the parameter adjustment module through the communication module. The communication module supports multiple transmission protocols, such as Wi-Fi, Bluetooth, ZigBee, etc., to ensure the real-time and reliability of the data.

[0099] The processed data is stored in the database of the control center for subsequent query and analysis. The analysis results are fed back to the actuator on the mechanical frame via Wi-Fi to perform corresponding adjustment actions.

[0100] An intelligent control system for a mechanical rack for line installation can be used to execute an intelligent control method for a mechanical rack for line installation. For more descriptions of an intelligent control system for a mechanical rack for line installation, please refer to the relevant description of an intelligent control method for a mechanical rack for line installation, which will not be repeated here.

[0101] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. An intelligent control method for a mechanical rack for line installation, characterized in that: include: Installing a tension sensor on the power line, wherein the tension sensor is used to collect the real-time tension value of the power line during the line installation process; A height sensor is installed on the top of the mechanical frame, wherein the height sensor is used to collect real-time erection height during the line erection process; Installing an inclination sensor on the mechanical frame, wherein the inclination sensor is used to collect the real-time inclination angle of the mechanical frame during the line erection process; During the line installation process, the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line is adjusted according to the collected real-time tension value of the line, the real-time installation height and the real-time inclination angle of the mechanical frame.

2. According to claim 1, a method for intelligent control of mechanical racks for line installation is characterized in that: Install the inclination sensor on the mechanical frame, including: determining a plurality of key positions of the mechanical frame; The inclination sensors are installed at the plurality of key positions.

3. The intelligent control method of a mechanical frame for line installation according to claim 1 is characterized in that: According to the collected real-time tension value of the line, the real-time erection height and the real-time inclination angle of the mechanical frame, the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line are adjusted, including: Preprocessing the collected real-time tension value of the line, the real-time installation height and the real-time inclination angle of the mechanical frame to generate the preprocessed real-time tension value of the line, the real-time installation height and the real-time inclination angle of the mechanical frame; Calculating the tension difference according to the real-time tension value and the reference tension value of the preprocessed line; Calculating the height difference according to the preprocessed real-time erection height and the reference erection height; Calculating the tilt angle difference according to the real-time tilt angle of the preprocessed mechanical frame and the reference tilt angle; According to the tension difference, height difference and tilt angle difference, the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line are adjusted.

4. The intelligent control method of a mechanical frame for line installation according to claim 3 is characterized in that: Preprocessing the collected real-time tension value of the line, the real-time installation height, and the real-time inclination angle of the mechanical frame to generate the preprocessed real-time tension value of the line, the real-time installation height, and the real-time inclination angle of the mechanical frame, including: The collected real-time tension value of the line, the real-time installation height and the real-time inclination angle of the mechanical frame are filtered and denoised to generate pre-processed real-time tension value of the line, the real-time installation height and the real-time inclination angle of the mechanical frame.

5. The intelligent control method of a mechanical frame for line installation according to claim 3 is characterized in that: According to the tension difference, height difference and tilt angle difference, adjusting the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line includes: Generate a posture adjustment instruction and / or a tension adjustment instruction according to the tension difference, height difference and tilt angle difference through a decision algorithm; According to the posture adjustment instruction, the actuator is controlled to adjust the tilt angle and / or the erection height of the mechanical frame; According to the tension adjustment instruction, the tension adjustment device is controlled to adjust the tension applied by the mechanical frame to the power line.

6. A method for intelligently controlling a mechanical frame for line erection according to any one of claims 1 to 5, characterized in that: Also includes: Get the remote control command sent by the remote control; Based on the remote control command, the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line are adjusted.

7. A method for intelligently controlling a mechanical frame for line erection according to any one of claims 1 to 5, characterized in that: Also includes: A plurality of state monitoring sensors are arranged on the mechanical frame, wherein the plurality of state monitoring sensors are used to collect real-time working state data of a plurality of components of the mechanical frame during the line erection process; Extracting a plurality of fault features from the real-time working status data of the plurality of components of the mechanical frame collected by the plurality of status monitoring sensors, wherein the fault features at least include time-frequency features of the vibration signal; A fault diagnosis model is used to generate a fault warning signal according to the multiple fault characteristics.

8. The intelligent control method for mechanical racks used for line erection according to any one of claims 1 to 5, characterized in that: The time-frequency characteristics of the vibration signal are extracted from the real-time working status data of the multiple components of the mechanical frame collected by the multiple status monitoring sensors according to the following formula: Among them, W f (a,b) is the wavelet transform coefficient, a is the scale factor, b is the translation factor, f(t) is the vibration signal, is the wavelet function, for The complex conjugate of .

9. An intelligent control system for mechanical racks used for line erection, characterized in that: A method for intelligently controlling a mechanical frame for line erection used for executing any one of claims 1 to 8, comprising: The data acquisition module includes a tension sensor, a height sensor and an inclination sensor; the tension sensor is installed on the power line to collect the real-time tension value of the power line during the line installation process; the height sensor is installed on the top of the mechanical frame to collect the real-time installation height during the line installation process; the inclination sensor is installed on the mechanical frame to collect the real-time inclination angle of the mechanical frame during the line installation process; The parameter adjustment module is used to adjust the posture of the mechanical frame and / or the tension applied by the mechanical frame to the power line according to the collected real-time tension value of the line, the real-time installation height and the real-time inclination angle of the mechanical frame during the line installation process.

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