Hanging control method for grounding hook

Abstract

The invention relates to the technical field of electrics, in particular to a grounding hook suspension control method, which comprises the following steps that: after a grounding hook suspension task is started, an intelligent manipulator acquires spatial position data of a cable through a visual sensor, positions a target cable and determines the current position and direction of the cable; the intelligent manipulator adjusts the angle and the pose of the multi-degree-of-freedom mechanical arm according to the position of the cable and the size of the grounding hook, parameters of grounding current, grounding resistance and grounding temperature are monitored in real time, if it is monitored that the grounding current is unstable or the grounding resistance is too high, the system automatically sends out an alarm signal according to a preset threshold value, and fault detection is performed according to a fault detection result. The intelligent manipulator adjusts the position of the grounding hook through an adaptive algorithm, optimizes the grounding quality, and re-verifies the grounding effect in a new grounding state, and the grounding contact effect is ensured to be stable and reliable by optimizing the angle, position and pressure distribution of the grounding hook.

Description

Technical Field

[0001] The present invention relates to the technical field of electricity, and more particularly to a grounding hook suspension control method. Background Art

[0002] The grounding hook suspension technology is widely used in the fields of electricity, communications, rail transit, etc. It is mainly used to ensure the safe connection between electrical equipment and the ground, ensure the normal operation of the equipment and prevent electrical accidents. The grounding hook is generally fixed on the cable or power line by hanging or connecting, and forms an electrical connection with the ground through the grounding wire, thereby realizing the grounding function of the equipment. The stability and grounding effect of the grounding hook are directly related to the safety of the electrical system and the reliability of the equipment.

[0003] At present, the existing grounding hook hanging method mostly uses manual operation for hanging and fixing, which has certain risks and limitations in some cases. Traditional manual operation is not only inefficient, but also operators are prone to dangerous accidents such as electric shock when performing grounding operations in high-risk environments. In addition, due to manual operation errors, environmental factors and equipment aging, the grounding effect is often difficult to guarantee, resulting in excessively high grounding resistance or unstable grounding, further increasing the risk of equipment operation.

[0004] With the rapid development of intelligent and automated technologies, grounding hook hanging technology based on robots or automated equipment has gradually attracted attention. Through robotic arms, automated control systems and sensor technology, accurate hanging of grounding hooks and real-time monitoring of grounding effects can be achieved without relying on human intervention. However, the existing automated grounding hook hanging system still faces some challenges, such as: Existing automation systems mostly rely on simple mechanical control and single sensor feedback, and are unable to adjust the suspension angle and grounding pressure in real time in complex environments, resulting in unstable grounding effects and failure to achieve efficient and safe grounding standards.

[0005] When an abnormality occurs during the hanging process of the grounding hook, the existing system is often unable to diagnose the root cause of the problem in a timely manner, resulting in grounding failure or delayed fault repair, affecting the safe operation of electrical equipment. Summary of the invention

[0006] To this end, the present invention provides a grounding hook suspension control method, the purpose of which is to ensure that the contact between the grounding hook and the cable is stable and firm through the coordinated work of a mechanical arm and an intelligent sensor, thereby improving the grounding effect and avoiding electrical accidents caused by poor grounding.

[0007] To achieve the above object, the present invention provides the following technical solutions: A ground hook suspension control method comprises the following steps: S1: After the grounding hook hanging task begins, the intelligent manipulator obtains the spatial position data of the cable through the visual sensor, and accurately locates the target cable to determine the current position and direction of the cable; S2. The intelligent manipulator adjusts the angle and posture of the multi-degree-of-freedom manipulator according to the cable position and the size of the grounding hook to ensure that the grounding hook is in firm contact with the cable; S3, real-time monitoring of grounding current, grounding resistance and grounding temperature parameters through built-in sensors to ensure that the grounding effect meets electrical safety standards; S4. If the ground current is detected to be unstable or the ground resistance is too high, the system will automatically send out an alarm signal according to the preset threshold value to prompt the operation and maintenance personnel to handle the fault.

[0008] S5. According to the fault detection results, the intelligent manipulator adjusts the position of the grounding hook through an adaptive algorithm, optimizes the grounding quality, and re-verifies the grounding effect under the new grounding state.

[0009] The present invention is further configured as follows: after obtaining the cable position data in S1, an intelligent algorithm is used to calculate the optimal hook angle and position of the grounding hook, and the relative posture between the grounding hook and the cable is adjusted by a multi-degree-of-freedom robotic arm to ensure the stability and safety of the hook position.

[0010] The present invention is further configured as follows: the specific steps of S4 include: S41. When ground current fluctuations or ground resistance abnormalities are detected, the system will perform real-time analysis on parameters such as ground current and resistance according to preset thresholds. If the ground current is unstable or the ground resistance exceeds the preset standard, the system will trigger an automatic alarm mechanism and send out an alarm signal to prompt the operation and maintenance personnel to handle the grounding system faults. At the same time, the system will also analyze data such as current fluctuations, ground resistance changes, and temperature to determine whether there are abnormalities in the grounding effect, and automatically classify and identify the fault type. S42. If the grounding effect is judged to be abnormal, the intelligent robot arm will automatically reposition the grounding hook and adjust the hook contact point until the grounding effect returns to normal.

[0011] The present invention is further configured as follows: the specific steps of S5 include: S51. The intelligent manipulator uses an adaptive optimization algorithm to dynamically adjust the hanging position of the grounding hook based on grounding monitoring data and historical fault records to reduce the probability of grounding failure. S52. When the position of the grounding hook changes, the intelligent robot arm verifies the new position of the grounding hook through the feedback system and ensures that the electrical grounding effect meets the standards.

[0012] The present invention is further configured as follows: S1 specifically comprises the following steps: S11, obtaining the three-dimensional spatial position data of the cable, and determining the optimal angle and position of the hook by calculating the minimum contact pressure and the maximum contact area; S12: Use genetic algorithm to optimize the angle and position between the grounding hook and the cable to ensure stable contact effect; S13: Calculate the pressure and area of ​​contact between the hook and the cable through a mechanical model, and output the optimal hook angle and position.

[0013] The present invention is further configured as follows: the steps of establishing the mechanical model: first, a kinematic model of the robotic arm is established by the DH parameter method to describe the displacement and rotation of each joint; the position and posture of the end effector of the robotic arm are calculated using the model, and based on the kinematic equations, control commands for each joint are output to ensure that the robotic arm accurately performs adjustment actions.

[0014] The present invention is further configured as follows: the adaptive algorithm automatically classifies and identifies the type of grounding fault through a machine learning model, thereby adopting different optimization adjustment strategies according to different fault types, and the adaptive algorithm also includes an environmental impact compensation algorithm, which can automatically adjust the position of the grounding hook according to environmental changes in temperature and humidity.

[0015] The present invention is further configured as follows: the intelligent manipulator is connected to a cloud platform to upload grounding status data to a cloud analysis system in real time to perform fault prediction and early warning.

[0016] Compared with the shortcomings of the prior art, the beneficial effects of the present invention are: When the grounding current is unstable or the grounding resistance is too high, an alarm signal is automatically issued through the preset threshold, triggering the intelligent robot to perform fault self-diagnosis, automatically adjust the position of the grounding hook, and optimize the grounding quality.

[0017] Intelligent algorithms and multi-degree-of-freedom robotic arms are used, combined with visual sensors and pressure sensors to achieve precise contact between the grounding hook and the cable. By optimizing the angle, position and pressure distribution of the grounding hook, the grounding contact effect is ensured to be stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0019] Reference Figure 1 The embodiments of the present invention are further described.

[0020] A ground hook suspension control method comprises the following steps: Step 1: Obtain the cable position and calculate the best position for the grounding hook After the grounding hook hanging task begins, first, the intelligent manipulator obtains the position data of the cable in three-dimensional space through visual sensors (such as 3D cameras or lidar). The visual sensor can capture the three-dimensional coordinates of the cable in space in real time, and convert the captured image data into precise spatial position through image processing algorithms such as stereo vision or structured light technology. These position data include not only the planar position of the cable, but also the orientation information of the cable, which provides a basis for subsequent adjustment of the hook.

[0021] Based on the three-dimensional position data of the cable, the intelligent algorithm calculates the minimum contact pressure and maximum contact area when the grounding hook contacts the cable through an optimization model. The minimum contact pressure refers to the minimum force required when the hook contacts the cable to ensure that the hook can firmly fix the cable to avoid slipping or loosening. The maximum contact area is the key to optimizing the grounding effect. Increasing the contact area helps reduce resistance and improve grounding performance.

[0022] These parameters are calculated by modeling the physical properties of the cable and hook in combination with contact mechanics algorithms such as Hertz contact theory.

[0023] To ensure the contact stability between the grounding hook and the cable, the system uses a genetic algorithm for optimization. The genetic algorithm simulates the natural selection process and continuously optimizes the angle and position of the grounding hook through operations such as crossover, mutation, and selection to maximize contact stability.

[0024] During the optimization process, the genetic algorithm generates multiple solutions based on parameters such as contact pressure, contact area, and ground resistance, and evaluates each solution through the fitness function to finally select the optimal hook position and angle.

[0025] The contact pressure and area between the hook and the cable are calculated by the mechanical model. The mechanical model is established to further optimize the contact performance between the hook and the cable. The kinematic model of the robot arm is established by the DH parameter method to describe the displacement and rotation of each joint of the robot arm.

[0026] According to the kinematic model of the robot arm, the position and posture of the robot arm end effector (grounding hook) are calculated, and combined with the mechanical model, the pressure distribution and contact area when the hook contacts the cable are calculated. The model will output the optimal hook angle and position to ensure the best contact effect between the grounding hook and the cable.

[0027] Step 2: The intelligent robot adjusts the grounding hook position After receiving the optimized angle and position data, the intelligent manipulator accurately controls the angle and position of the manipulator arm according to the cable position and the size of the grounding hook. The multi-degree-of-freedom manipulator arm has multiple joints and drive axes, which can flexibly adjust the position of the hook in three-dimensional space.

[0028] The system uses real-time feedback adjustment strategies to ensure that the grounding hook is in firm contact with the cable, optimize the grounding effect, and prevent unstable grounding current caused by poor contact.

[0029] During the adjustment process, the system will also detect the contact status between the grounding hook and the cable through a mechanical sensor to ensure contact stability. When the contact pressure and area reach the predetermined threshold, the robot arm will stop adjusting and complete the precise installation of the grounding hook.

[0030] Step 3: Real-time monitoring of ground current, resistance and temperature The system monitors key electrical parameters such as ground current, ground resistance and ground temperature in real time through built-in sensors. The current sensor is used to monitor whether the ground current flows into the ground stably. The ground resistance sensor is used to detect the ground resistance in real time to ensure a good grounding effect. The temperature sensor is used to monitor the surface temperature of the ground hook and cable to prevent the equipment from being damaged due to overheating.

[0031] The data is fed back to the control system in real time to ensure that the grounding status complies with electrical safety standards.

[0032] Step 4: Fault detection and alarm mechanism In the process of real-time monitoring of ground current and resistance, the system sets multiple thresholds to conduct real-time analysis of current fluctuations or resistance anomalies. If the ground current becomes unstable or the ground resistance exceeds the preset standard, the system will immediately trigger an automatic alarm mechanism.

[0033] At the same time, the system will analyze data such as ground current fluctuations, ground resistance changes, and temperature, automatically determine whether the grounding effect is abnormal, and automatically classify and identify different types of faults through data models. For example, the system may distinguish between poor contact, excessive ground resistance, or excessive temperature.

[0034] If the system determines that the grounding effect is abnormal, the intelligent robot will automatically reposition the grounding hook and adjust the hook contact point until the grounding effect returns to normal. This process can be done by adjusting the angle, position or pressure distribution of the hook to ensure that the grounding effect meets safety standards.

[0035] Step 5: Fault repair and adaptive optimization Based on historical fault records and real-time grounding monitoring data, the intelligent manipulator dynamically adjusts the position of the grounding hook through an adaptive optimization algorithm. This algorithm can autonomously identify and classify the type of grounding fault based on different grounding current, resistance and temperature data.

[0036] For different types of faults, the optimization algorithm can automatically adopt different repair strategies, such as adjusting the hook position, increasing the contact area, optimizing the contact pressure, etc., so as to minimize the probability of grounding failure.

[0037] The adaptive optimization algorithm also includes an environmental impact compensation module. This module can automatically adjust the position of the grounding hook according to changes in the external environment, such as temperature, humidity and other factors. By monitoring real-time environmental data, the system can flexibly respond to environmental changes and ensure that the grounding effect is always optimal under various environmental conditions.

[0038] Through the connection between the cloud platform and the grounding monitoring system, the intelligent manipulator uploads real-time grounding status data to the cloud for analysis. Based on cloud analysis, the system can predict faults, identify potential grounding problems in advance, and issue early warning signals to remind operation and maintenance personnel to perform maintenance or repairs.

[0039] Data analysis on the cloud platform not only helps to monitor the grounding system in real time, but also accumulates historical data to provide a basis for future system optimization and fault prediction.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A ground hook suspension control method, characterized in that: The steps include: S1: After the grounding hook hanging task begins, the intelligent manipulator obtains the spatial position data of the cable through the visual sensor, locates the target cable, and determines the current position and direction of the cable; S2. The intelligent manipulator adjusts the angle and posture of the multi-degree-of-freedom manipulator according to the cable position and the size of the grounding hook to ensure that the grounding hook is in firm contact with the cable; S3, real-time monitoring of grounding current, grounding resistance and grounding temperature parameters through built-in sensors to ensure that the grounding effect meets electrical safety standards; S4. If the ground current is unstable or the ground resistance is too high, the system will automatically send out an alarm signal according to the preset threshold value to prompt the operation and maintenance personnel to handle the fault; S5. According to the fault detection results, the intelligent manipulator adjusts the position of the grounding hook through an adaptive algorithm, optimizes the grounding quality, and re-verifies the grounding effect under the new grounding state.

2. The ground hook suspension control method according to claim 1 is characterized in that: After obtaining the cable position data in S1, an intelligent algorithm is used to calculate the optimal hook angle and position of the grounding hook, and the relative posture between the grounding hook and the cable is adjusted by a multi-degree-of-freedom robotic arm to ensure the stability and safety of the hook position.

3. The ground hook suspension control method according to claim 2, characterized in that: The specific steps of S4 include: S41. When ground current fluctuations or ground resistance abnormalities are detected, the system will perform real-time analysis on parameters such as ground current and resistance according to preset thresholds. If the ground current is unstable or the ground resistance exceeds the preset standard, the system will trigger an automatic alarm mechanism and send out an alarm signal to prompt the operation and maintenance personnel to handle the grounding system faults. At the same time, the system will also analyze data such as current fluctuations, ground resistance changes, and temperature to determine whether there are abnormalities in the grounding effect, and automatically classify and identify the fault type. S42. If the grounding effect is judged to be abnormal, the intelligent robot arm will automatically reposition the grounding hook and adjust the hook contact point until the grounding effect returns to normal.

4. The ground hook suspension control method according to claim 3 is characterized in that: The specific steps of S5 include: S51. The intelligent manipulator uses an adaptive optimization algorithm to dynamically adjust the hanging position of the grounding hook based on grounding monitoring data and historical fault records to reduce the probability of grounding failure. S52. When the position of the grounding hook changes, the intelligent robot arm verifies the new position of the grounding hook through the feedback system and ensures that the electrical grounding effect meets the standards.

5. The ground hook suspension control method according to claim 2, characterized in that: The S1 specifically includes the following steps: S11, obtaining the three-dimensional spatial position data of the cable, and determining the optimal angle and position of the hook by calculating the minimum contact pressure and the maximum contact area; S12: Use genetic algorithm to optimize the angle and position between the grounding hook and the cable to ensure stable contact effect; S13: Calculate the pressure and area of ​​contact between the hook and the cable through a mechanical model, and output the optimal hook angle and position.

6. The ground hook suspension control method according to claim 5, characterized in that: The steps of establishing the mechanical model are as follows: first, a kinematic model of the robot arm is established by the DH parameter method to describe the displacement and rotation of each joint; the position and posture of the end effector of the robot arm are calculated using the model, and control commands for each joint are output based on the kinematic equation to ensure that the robot arm accurately performs adjustment actions.

7. The ground hook suspension control method according to claim 1, characterized in that: The adaptive algorithm automatically classifies and identifies the type of grounding fault through a machine learning model, thereby adopting different optimization adjustment strategies according to different fault types. The adaptive algorithm also includes an environmental impact compensation algorithm, which can automatically adjust the position of the grounding hook according to environmental changes in temperature and humidity.

8. The ground hook suspension control method according to claim 1, characterized in that: The intelligent manipulator is connected to the cloud platform to upload the grounding status data to the cloud analysis system in real time for fault prediction and early warning.

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