A high-voltage GIS combined auxiliary maintenance work platform

Abstract

The application provides a high-voltage GIS combined auxiliary maintenance work platform and method, which comprises a maintenance platform, a safety belt tying unit and an intelligent control unit; the intelligent control unit comprises a data acquisition and processing module, a winding control module and a winding motor driving module; the data acquisition and processing module is used for receiving platform positioning sensor and tension sensor data; the winding control module calculates the error between the theoretical value and the actual value of the rope tension of the worker according to the lever balance theory and the position change of the worker, adjusts the rope tension through the gradient descent algorithm, makes the system approach the lever balance state when the position of the worker changes, and simultaneously considers the live detection time factor to optimize the detection path and progress of the worker; the winding motor driving module is used for controlling the operation of the motor of the electric winding device according to the instruction output by the winding control module. The application can keep the rope tension appropriate at all times and provide dynamic safety protection for the worker.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electrical equipment maintenance, in particular to a high-voltage GIS combined auxiliary maintenance work platform. BACKGROUND

[0002] The GIS device is a main electrical device for carrying power transmission, which is composed of various primary components and filled with SF6 gas, and the shell is a closed and grounded cast aluminum alloy. Once a failure occurs, the user will be suddenly powered off. When a failure occurs in the GIS device, electromagnetic waves, heat energy and other signals will be emitted outward, and detection personnel can determine whether there is a failure in the GIS device by collecting these signals through instruments.

[0003] The GIS device has compact structure, small land occupation and high operation reliability, and has been widely used in power systems. At present, the main factor affecting the stable operation of the GIS device is the internal partial discharge defect. This defect can cause SF6 gas leakage, insulation deterioration, and even cause device fault tripping, resulting in large-scale power outage accidents. More seriously, it can cause chain reactions, leading to power grid oscillation and system splitting. In practice, live detection is often used to evaluate the insulation safety state.

[0004] With the popularization of 1000kV ultra-high voltage substations, the maintenance work of GIS devices faces higher safety risks and technical challenges. The traditional maintenance platform has safety protection defects: the fixed safety belt hanging point cannot adapt to the long-distance mobile maintenance demand, resulting in frequent low hanging and high use of illegal operation by workers, and the static hanging point cannot dynamically adjust the rope tension according to the position of the personnel. When the workers cross different height areas, it is easy to cause imbalance due to loose or tight rope. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a high-voltage GIS combined auxiliary maintenance work platform to solve the problems of the prior art.

[0006] To solve the above technical problems, the technical scheme of the present application is:

[0007] The utility model provides a high pressure GIS combined auxiliary maintenance operation platform, including maintenance platform, safety belt ties and hangs unit, intelligent control unit and platform positioning sensor, safety belt ties and hangs unit includes the track of setting in the transformer substation indoor top and along equipment maintenance channel installation, the track is equipped with a plurality of movable hooking sliding blocks, every hooking sliding block is equipped with a plurality of safety belt hanging point, every safety belt hanging point is installed with an electric winding device and a tension sensor, and the rope end of electric winding device passes through the measuring mechanism of tension sensor and then is connected with a safety belt hanging point interface, the tension sensor is used for measuring the tension of the rope, the safety belt hanging point interface is used for connecting with the safety belt connection buckle of the worker on the maintenance platform, platform positioning sensor is used for obtaining the position coordinates of the worker on the maintenance platform, intelligent control unit includes data acquisition and processing module, winding control module and winding motor drive module, data acquisition and processing module are used to receive the sensor data sent by platform positioning sensor on the maintenance platform and the tension sensor used by the worker and carry out the pretreatment of sensor data, winding control module calculates the error of the theoretical value and actual value of the rope tension of the worker according to the lever balance theory and the position change of the worker on the maintenance platform, adjusts the rope tension through gradient descent algorithm, makes the system approach the lever balance state when the position of the worker changes, considers the time factor of live detection simultaneously, optimizes the detection path and progress of the worker, winding motor drive module is used to control the operation of electric winding device motor according to the instruction output by winding control module to change the tension of the rope.

[0008] Further, the cross section of the track is I-shaped, and a plurality of electromagnetic induction elements are uniformly and spacedly embedded in the inner wall along the sliding direction, and the bottom of the hooking sliding block is provided with an electromagnetic induction sensor for receiving signals of the electromagnetic induction elements to realize positioning error compensation of the hooking sliding block.

[0009] Further, the platform positioning sensor includes positioning base stations arranged at key positions around the maintenance platform and a positioning tag worn by the worker, and the key positions usually include the vicinity of main components of GIS equipment, edges of the maintenance platform, passages and entrances, the vicinity of climbing equipment and boundaries of dangerous areas.

[0010] Further, the data preprocessing includes Kalman filtering processing of position coordinate data of the worker on the platform to remove noise interference, and moving average smoothing processing of tension data of the rope used by the worker to improve data accuracy.

[0011] Further, the rope of the electric winding device is made of synthetic fiber material and coated with an anti-arc silicone coating on the outer layer.

[0012] Further, the intelligent control unit further comprises a communication module and a power management module; the communication module adopts a Bluetooth and Wi-Fi dual mode to realize data interaction of the intelligent control unit and a remote terminal; and the power management module is used for providing power supply for each hardware module.

[0013] Further, the overhaul platform is further provided with an automatic cooperation device for a large bolt fastening device; the automatic cooperation device comprises a cooperation sliding block, a mechanical arm and a cooperation control module; the cooperation sliding block is slidingly arranged on a track, the mechanical arm is connected with the cooperation sliding block through a traction rope, a torque-adjustable bolt fastening tool is arranged at the tail end of the mechanical arm, the cooperation control module receives data of force sensors, position sensors and angle sensors arranged on the mechanical arm, and communicates with the intelligent control unit, and when it is detected that the acting force of the mechanical arm exceeds a preset safety threshold, the safety belt hanging unit is triggered to increase the rope tension of the corresponding hanging point.

[0014] Further, the periphery of the overhaul platform is provided with a safety light curtain linked with the automatic cooperation device; when the automatic cooperation device starts operation, the safety light curtain is automatically opened, if a person enters a dangerous operation area, the light curtain signal is fed back to the intelligent control unit, the automatic cooperation device is immediately paused, and the working personnel are reminded through sound and light alarm.

[0015] A high-voltage GIS combined auxiliary overhaul operation method, comprising the following steps:

[0016] Step S1: the positions of a plurality of safety belt hanging points are adjusted in real time through a hanging block on a track arranged along an indoor top equipment overhaul channel of a transformer substation; the tension of a rope connected to a safety belt of a working personnel is dynamically adjusted based on cooperative control of an electric winding device and a tension sensor;

[0017] Step S2: real-time position coordinates of the working personnel are obtained by using a platform positioning sensor, actual tension data of the rope used by the working personnel are obtained by using a tension sensor, and the data are preprocessed;

[0018] Step S3: based on a lever balance theory and position changes of the working personnel on the overhaul platform, errors between a theoretical value and an actual value of the rope tension of the working personnel are calculated, the rope tension is adjusted through a gradient descent algorithm, so that the system approaches a lever balance state when the position of the working personnel changes, and the detection path and progress of the working personnel are optimized by considering a live detection time factor;

[0019] Step S4: a winding motor driving module controls the operation of a motor of the electric winding device according to a rope tension adjustment instruction output by a winding control module, so as to change the tension of the rope.

[0020] The present application has the following beneficial effects:

[0021] The implementation of the present application can promote the upgrading of ultra-high voltage substation maintenance operation to intelligentization and safety, and the present application can provide dynamic safety protection for the operating personnel: the track type multi-hanging point design allows the safety belt hanging point to automatically track the movement of the personnel, and completely eliminates the hidden danger of "low hanging high use". The closed-loop force control system based on the lever balance theory adjusts the rope tension in real time, and ensures the dynamic balance of the personnel when moving and climbing on the platform. Through intelligent path planning, the maintenance efficiency is significantly improved: combined with the time weight of live detection, the moving path is optimized through gradient descent algorithm, so that the detection time is greatly shortened. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a structural schematic diagram of the high-voltage GIS combined auxiliary maintenance operation platform of the present application;

[0023] Figure 2 is a structural schematic diagram of the intelligent control unit of the present application. DETAILED DESCRIPTION

[0024] In order to facilitate the understanding of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. Those skilled in the art should understand that the described embodiments are only to help understand the present application, and should not be regarded as specific limitations on the present application.

[0025] In the following description of the embodiments, specific details are presented to provide a thorough understanding of the embodiments of the present application, but the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary details.

[0026] It should be understood that when used in the specification and the appended claims of the present application, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or sets thereof. It should also be understood that the term "and / or" used in the specification and the appended claims of the present application refers to any combination of one or more of the associated listed items and all possible combinations thereof, and includes these combinations.

[0027] As used in the description of the application and the appended claims, the term "if' can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted to mean "once it is determined" or "in response to determining" or "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]," depending on the context.

[0028] In addition, the description in the specification of the application and the appended claims, the terms "first", "second", "third", etc. are used merely as labels for convenience and are not intended to imply or suggest relative importance. The phrase "one embodiment" or "some embodiments" or the like appearing in the specification are to be interpreted to mean that a particular feature, structure, or characteristic described is included in at least one embodiment of the application. As such, appearances of the phrases "in one embodiment" or "in some embodiments" or "in other embodiments" or "in yet some embodiments" or the like in various places throughout the specification are not necessarily all referring to the same embodiment, although they can. The terms "comprise", "comprising", "include", "including", "have", "has", "contain", "containing", or variants thereof, mean "including but not limited to", unless expressly specified otherwise.

[0029] Example 1 : As Figure 1 , 2As shown, the present application provides a high-voltage GIS combined auxiliary maintenance work platform, which comprises a maintenance platform, a safety belt hanging unit, an intelligent control unit and a platform positioning sensor; the safety belt hanging unit comprises a track arranged on the indoor top of the substation and installed along the equipment maintenance channel; a plurality of movable hanging sliders are arranged on the track, a plurality of safety belt hanging points are arranged on each hanging slider, an electric winding device and a tension sensor are arranged at each safety belt hanging point, the rope end of the electric winding device passes through the measuring mechanism of the tension sensor and is then connected with a safety belt hanging point interface, the tension sensor is used for measuring the tension of the rope, and the safety belt hanging point interface is used for connecting with the safety belt connection buckle of the worker on the maintenance platform; the platform positioning sensor is used for obtaining the position coordinates of the worker on the maintenance platform; the intelligent control unit takes a high-performance single-chip microcomputer based on ARM architecture as the core and comprises a data acquisition and processing module, a winding control module and a winding motor driving module; the data acquisition and processing module is used for receiving the sensor data sent by the platform positioning sensor on the maintenance platform and the tension sensor used by the worker and pre-processing the sensor data; the winding control module calculates the error between the theoretical value and the actual value of the rope tension of the worker according to the lever balance theory and the position change of the worker on the maintenance platform, adjusts the rope tension through the gradient descent algorithm, so that the system approaches the lever balance state when the position of the worker changes, and the detection path and progress of the worker are optimized by considering the live detection time factor; and the winding motor driving module is used for controlling the operation of the motor of the electric winding device according to the instructions output by the winding control module, so as to change the tension of the rope.

[0030] The platform body adopts a high-strength aluminum alloy material to construct a frame, which ensures sufficient bearing capacity and lightness, so as to facilitate flexible movement and operation in the substation. The frame is provided with two layers of platforms, the upper layer being a maintenance platform for workers to perform maintenance operations, and the lower layer being a tool platform for placing tools and spare materials. The maintenance platform of the upper layer is provided with a hydraulic lifting device, which can accurately adjust the height of the maintenance platform to adapt to the maintenance requirements of GIS equipment of different heights. A safety guardrail is arranged around the maintenance platform to prevent accidental falling of the worker. The maintenance platform is also provided with an anti-skid working surface.

[0031] A heavy-duty universal wheel is installed at the bottom of the frame, which has good damping performance and a brake device. The universal wheel can realize 360-degree flexible steering to facilitate easy movement of the platform in the complex terrain and narrow channel of the substation; the brake device adopts a pedal type or manual type mechanical locking mechanism to ensure that the platform can be stably placed at the working position. The platform body is provided with a laser or infrared sensing positioning auxiliary device, which cooperates with the positioning mark points previously arranged in the substation to quickly and accurately position the platform to the position of the GIS equipment to be maintained.

[0032] The track adopts a segmented splicing structure, facilitating installation and maintenance. The load-bearing capacity of the track needs to meet the tension requirements of multiple people simultaneously wearing safety belts. The connecting slider and the track adopt a low-friction roller or slider structure, ensuring smooth movement of the workers. The connecting slider is provided with multiple safety belt hanging interfaces, which adopt anti-unclipping design and meet the safety standard requirements, and can simultaneously provide multiple workers with safety belts.

[0033] The rope of the electric winding device adopts a synthetic fiber material with high strength, wear resistance and certain flexibility, such as DuPont Kevlar fiber, which can withstand the impact force when a professional falls accidentally. The outer layer of the rope is coated with an anti-arc silicone coating, and the rope and the worker's safety belt adopt a quick connection buckle, facilitating hanging and releasing.

[0034] The intelligent control unit further includes a communication module and a power management module; the communication module adopts Bluetooth and Wi-Fi dual mode to realize data interaction of the intelligent control unit and the remote terminal; the power management module is used to provide power for each hardware module.

[0035] In embodiment 2, the cross section of the track is in the shape of an I-beam, and multiple electromagnetic induction elements are uniformly and spacedly embedded in the inner wall along the sliding direction. The electromagnetic induction elements adopt RFID tags or LC resonant circuits, and the working frequency is 50-100 kHz. The bottom of the connecting slider is provided with an electromagnetic induction sensor, which adopts a coil type sensor and is used to receive signals of the electromagnetic induction elements to realize positioning error compensation of the connecting slider.

[0036] Since the realization of the lever balance theory relies on accurate force arm length data, the positioning error of the connecting slider will directly cause torque calculation error, affecting the convergence of the gradient descent algorithm. Due to the inherent error of the mechanical system or the influence of the electromagnetic interference environment, if the positioning error of the connecting slider is too large, it may cause the safety belt to be hung low and used high: the actual position of the hanging point is lower than the working plane, violating the high-altitude work specification; the dynamic tension is out of control: the intelligent control unit calculates the rope tension based on the wrong position, which may cause imbalance of personnel or overload of equipment.

[0037] The electromagnetic induction elements are embedded in the track, and when the connecting slider moves, the sensor at the bottom will pass these elements. Each electromagnetic induction element has a unique frequency or code, and after the sensor detects these signals, it can determine the specific position passed by the slider. By knowing the spacing between the elements, the system can calibrate the actual position of the slider and correct errors that may be caused by uneven sliding rails or sensor drift. For example, when the system detects that the slider should reach the position of a certain electromagnetic induction element, but there is a deviation according to the position feedback of the encoder or motor, it will automatically adjust the position data to ensure accurate positioning.

[0038] Positioning calibration process: 1) Absolute position calibration: each electromagnetic induction element writes a unique position code (such as a binary address code). When the slider moves, the electromagnetic induction sensor reads the code of each electromagnetic induction element as it passes, obtaining the absolute coordinates of the current position. 2) Relative position correction: combined with the motor encoder data of the slider (recorded movement distance), the system fuses the two signals through Kalman filtering algorithm, finally outputting accurate position data after error compensation. 3) Error compensation algorithm: when the absolute position of the electromagnetic induction element and the position calculated by the encoder deviate beyond the threshold value (such as ±2cm), trigger the compensation mechanism: reset the position reference value of the encoder, adjust the motor control parameters (such as the subdivision pulse number of the stepper motor), meet the safety dynamic system requirements.

[0039] In embodiment 3, the platform positioning sensor includes positioning base stations arranged at key positions on the maintenance platform and the periphery, and a positioning tag worn by the worker; the key positions usually include the vicinity of main components of the GIS device, the edge of the maintenance platform, the passageway and entrance, the vicinity of the climbing equipment, and the boundary of the dangerous area.

[0040] The platform positioning sensor adopts high-precision UWB (Ultra-Wideband) positioning technology. The key positions usually include the vicinity of main components of the GIS device, the edge of the maintenance platform, the passageway and entrance, the vicinity of the climbing equipment, and the boundary of the dangerous area. The vicinity of main components of the GIS device includes the vicinity of large components such as circuit breakers, disconnectors, and transformers, which are the key areas of maintenance work, and workers will frequently approach or operate. The maintenance platform is the main area of activity for workers, and the edge of the maintenance platform has a risk of falling. The passageway is the only way for workers to enter and exit the maintenance area, and the entrance and exit are the key positions for personnel and equipment to enter and exit. The climbing equipment includes elevators and scaffolds, and the position of the climbing equipment needs to be accurately monitored when workers use it to ensure that the climbing equipment maintains a safe distance from the GIS device and other objects. For some dangerous areas in the EHV GIS maintenance site, such as high-voltage live areas, areas with toxic gases or other dangerous factors, positioning base stations are arranged at the boundaries to monitor whether workers enter the dangerous area in real time.

[0041] In embodiment 4, an automatic collaboration device for large bolt fastening is also provided on the maintenance platform; the automatic collaboration device includes a collaboration slider, a mechanical arm, and a collaboration control module; the collaboration slider is slidingly arranged on the track, the mechanical arm is connected to the collaboration slider through a traction rope, the end of the mechanical arm is provided with a torque-adjustable bolt fastening tool, the collaboration control module receives data from force sensors, position sensors, and angle sensors installed on the mechanical arm, and communicates with the intelligent control unit, and when it is detected that the force of the mechanical arm exceeds the preset safety threshold, the safety belt lashing unit is triggered to increase the rope tension of the corresponding lashing point.

[0042] The four sides of the maintenance platform are provided with safety light curtains linked with the automatic collaborative device; when the automatic collaborative device starts operation, the safety light curtains are automatically opened, if a person enters the dangerous operation area, the light curtain signal is fed back to the intelligent control unit, the automatic collaborative device is immediately suspended, and the operation personnel are reminded through sound and light alarm.

[0043] Embodiment 5, a combined auxiliary maintenance operation method for high-voltage GIS, comprising the following steps:

[0044] Step S1: the position of the plurality of safety belt hanging points is adjusted in real time through the hanging block on the track arranged along the indoor top equipment maintenance channel of the substation; the tension of the rope connected to the safety belt of the operation personnel is dynamically adjusted based on the cooperative control of the electric winding device and the tension sensor;

[0045] Step S2: the real-time position coordinates of the operation personnel are obtained by using the platform positioning sensor, the actual tension data of the rope used by the operation personnel are obtained by using the tension sensor, and the data are pretreated;

[0046] The data pretreatment includes: the position coordinate data of the operation personnel on the platform are subjected to Kalman filtering processing to remove noise interference; the tension data of the rope used by the operation personnel are subjected to moving average smoothing processing to improve the data accuracy.

[0047] Step S3: based on the lever balance theory and the position change of the operation personnel on the maintenance platform, the error between the theoretical value and the actual value of the rope tension of the operation personnel is calculated, the rope tension is adjusted through the gradient descent algorithm, so that the system tends to be in the lever balance state when the position of the operation personnel changes, and the detection path and progress of the operation personnel are optimized by considering the live detection time factor;

[0048] Step S4: the winding motor driving module controls the operation of the electric winding device motor according to the rope tension adjustment instruction output by the winding control module, so as to change the tension of the rope.

[0049] The electric winding device and the tension sensor are combined to automatically release or wind the rope when the operation personnel moves on the maintenance platform, so that the rope always maintains appropriate tension, neither too loose to lose protection nor too tight to affect the movement of the operation personnel.

[0050] The data processing model adopted by the application is as follows:

[0051] I. Model variable definition

[0052] The ultra-high voltage GIS maintenance platform is a planar rectangular coordinate system, the coordinate origin is represented as O(0,0), the position coordinates of the operation personnel P i The position coordinates of the operation personnel on the platform are (x i,y i ), where i = 1, 2, …, n, represents the i-th worker, then the vector of the worker P i relative to the origin O is its length

[0053] the force acting on the worker P i is recorded as its size the angle between the rope and the positive direction of the x-axis is recorded as θ i , then F ix = F i cos θ i , F iy = F i sin θ i .

[0054] With the origin O as the fulcrum, the vector from the fulcrum to the position of the worker P i is the length of the force arm vector as a lever is the length of the force arm L i . According to the principle of lever balance, for each worker P i , there is that is, F ix y i - F iy x i = 0, which is further transformed into which indicates that the proportional relationship between the x and y direction components of the rope tension corresponds to the proportional relationship of the worker position coordinates, in order to maintain the lever balance state.

[0055] The theoretical shortest time required for the worker P i to complete the current detection task point is recorded as its actual time spent is recorded as t i , and the detection efficiency coefficient is recorded as η i , then the detection progress variable is When p i = 1, it indicates that the worker P i has completed the task at the current detection point.

[0056] II. Data processing flow

[0057] 1. Sensor data acquisition

[0058] Use the positioning sensor on the platform to obtain the position coordinates of each worker P i (x i , y i ) in real time, with a sampling frequency of f sThe tension of the rope F is obtained by a tension sensor installed between the fixed end of the rope and the winding device i and the included angle θ with the positive direction of the x-axis i The sampling frequency is the same as that of the positioning sensor.

[0059] The starting time of each worker at each detection point is recorded, and the actual time t spent is calculated by the system clock i The theoretical minimum time required to complete the detection task It can be determined according to the complexity of the detection point, equipment characteristics, etc. in the task planning stage.

[0060] 2. Data preprocessing

[0061] (1) Kalman filtering algorithm is used to filter the collected position coordinate data

[0062] The state vector of the worker's position is denoted as where and are the velocities in the x and y directions, respectively, according to the system motion equation and measurement equation:

[0063] X i，k = AX i，k-1 + W i，k-1

[0064] Z i，k = HX i，k + V i，k

[0065] where A is the state transition matrix, H is the measurement matrix, W i，k-1 is the process noise vector, and V i，k is the measurement noise vector. Through recursive calculation, the filtered worker position coordinates are obtained

[0066] (2) Moving average method is used to smooth the rope tension data.

[0067] The rope tension data sequence is denoted as {F i，k}, and its moving average is calculated as where m is the moving average window size, and the smoothed rope tension is obtained and its angle

[0068] 3. Lever balance calculation and rope adjustment

[0069] According to the filtered worker position coordinates and the smoothed rope tension data , the corresponding lever balance parameters for each worker are calculated.

[0070] For a single worker P i According to the lever balance formula Calculate the theoretical components of the rope tension in the x and y directions. and The error between the actual rope tension component and the theoretical value is: and

[0071] Considering the inspection time factor, calculate the inspection progress variable for each operator.

[0072] The comprehensive error function is Wherein ω1 and ω2 are weighting coefficients, representing the importance of lever balance error and detection progress error in the overall error, respectively. These two coefficients are determined based on actual needs and experience, indicating that while maintaining balance control, attention should also be paid to optimizing detection time.

[0073] The goal is to minimize the overall error function E by adjusting the release and retraction of the rope.

[0074] 4. Use the gradient descent algorithm to adjust the rope tension.

[0075] The rope tension adjustment amount is First, calculate the comprehensive error function E with respect to... and Partial derivatives:

[0076] (because (1-p) i ) 2 and (Irrelevant)

[0077] (Similarly)

[0078] Then the gradient of the comprehensive error function E Rope tension adjustment Where α is the learning rate.

[0079] 5. Rope adjustment and task allocation optimization

[0080] Based on the calculated rope tension adjustment, the intelligent control unit controls the operation of the electric winding device motor to perform rope winding and unwinding operations, thereby adjusting the rope tension, bringing the entire system closer to a lever balance state, and optimizing the detection time.

[0081] When a worker is at the current inspection point, the inspection progress variable p iWhen the value of =1, the system reassigns the next detection task point of the worker according to the positions and detection progress of other workers, selects an area close to the current position and not covered by other workers or with slower detection progress as the new detection point, so as to further improve the overall detection efficiency and reduce the live detection time.

[0082] During the adjustment process, the above data collection, preprocessing, calculation and adjustment steps are repeatedly performed until the comprehensive error function E is less than the set threshold ∈, indicating that the system has reached an approximate lever balance stable state and the detection time has been effectively optimized. It is ensured that each worker can be under safe and reasonable rope protection when performing special maintenance operations on the platform.

[0083] III. Model verification and optimization

[0084] 1. Simulation experiment verification

[0085] A virtual model of the UHV GIS maintenance platform and workers is constructed using computer simulation software, and a simulation experiment is performed according to the above data processing model. Different initial positions, movement trajectories and operation actions of workers are set to simulate the operation of the rope system under the condition of multi-person collaborative work.

[0086] The root mean square error (RMSE) of the theoretical calculation value and the actual simulation value of the rope tension in the simulation experiment is calculated where N is the number of sampling points, is the simulated rope tension at the kth sampling point, and is the corresponding calculated rope tension.

[0087] If the RMSE is less than the set acceptable error range, the model is considered to have certain effectiveness; otherwise, the model parameters such as learning rate α, moving average window size m, etc. need to be adjusted and optimized.

[0088] 2. Actual scene verification and feedback adjustment

[0089] A small-scale test application is carried out in the UHV GIS maintenance site, and the automatic following safety belt rope system is installed and debugged according to the designed model. During the actual operation, a large amount of worker position and rope tension data are collected and compared with the model calculation results.

[0090] According to the actual verification results, the model is optimized. If it is found that the response speed of the model is slower under certain special operation conditions, the learning rate α can be appropriately increased; if the rope tension adjustment process appears to be shaking, the moving average window size m can be adjusted or the parameters of the Kalman filter algorithm can be optimized to improve the stability and adaptability of the model, so as to ultimately realize an automatic following safety belt rope system that is efficient, safe and can adapt to the special work requirements of UHV GIS maintenance.

[0091] In the above embodiments, the description of each embodiment is focused on, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0092] In each embodiment, the hardware implementation of the technology can directly use existing intelligent devices, including but not limited to industrial computers, PC computers, smart phones, handheld computers, floor-standing computers, etc. The input device is preferably a screen keyboard, the data storage and calculation module uses existing memory, calculator, controller, the internal communication module uses existing communication ports and protocols, and the remote communication uses existing GPRS network, World Wide Web, etc.

[0093] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or software function unit. In addition, the specific name of each functional unit and module is only for easy distinction, and does not limit the protection scope of the present application. The specific working process of the unit and module in the above system can be referred to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0094] In the embodiments provided by the present application, it should be understood that the disclosed device / terminal equipment and method can be implemented by other ways. For example, the device / terminal equipment embodiments described above are only schematic, and the division of the modules or units is only a logical function division, and there can be another division way in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or other forms. The units shown as separate components can or can not be physically separate, and the units shown as components can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0095] The various function units in the various embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit. When the integrated module / unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by computer programs instructing related hardware, and the computer programs can be stored in a computer readable storage medium. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0096] Although the embodiments of the present application have been shown and described, it is understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A high-voltage GIS combined auxiliary maintenance work platform, characterized in that, The utility model relates to a kind of safety belt system for indoor equipment maintenance, including maintenance platform, safety belt system hanging unit, intelligent control unit and platform positioning sensor;The safety belt system hanging unit includes the track being installed along equipment maintenance channel and being arranged in the indoor top of substation room;Multiple movable hanging blocks are configured on the track, multiple safety belt hanging points are arranged on each hanging block, an electric winding device and a tension sensor are mounted at each safety belt hanging point, and the rope end of the electric winding device passes through the measuring mechanism of the tension sensor and is then connected with a safety belt hanging point interface, the tension sensor is used to measure the tension of the rope, and the safety belt hanging point interface is used to connect with the safety belt connection buckle of the worker on the maintenance platform;The platform positioning sensor is used to obtain the position coordinates of the worker on the maintenance platform;The intelligent control unit includes data acquisition and processing module, winding control module and winding motor drive module;The data acquisition and processing module is used to receive sensor data sent by platform positioning sensor on maintenance platform and tension sensor used by worker and pre-process the sensor data;According to lever balance theory and the position change of worker on maintenance platform, the winding control module calculates the error between the theoretical value and the actual value of the rope tension of worker, adjusts the rope tension by gradient descent algorithm, so that the system approaches the lever balance state when the position of worker changes, and the detection path and progress of worker are optimized by considering live detection time factor;The winding motor drive module is used to control the operation of electric winding device motor according to the instruction output by winding control module to change the tension of the rope.

2. The high-voltage GIS combined auxiliary maintenance work platform according to claim 1, characterized in that, The cross section of the track is I-shaped, and multiple electromagnetic induction elements are uniformly and spacedly embedded in the inner wall along the sliding direction, and the bottom of the hanging block is provided with an electromagnetic induction sensor for receiving signals of the electromagnetic induction elements to realize positioning error compensation of the hanging block.

3. The high-voltage GIS sectional auxiliary service platform according to claim 1, characterized in that, The platform positioning sensor includes positioning base stations arranged at key positions around the maintenance platform and a positioning tag worn by the worker, and the key positions include the vicinity of main components of GIS equipment, the edge of the maintenance platform, the passageway and entrance, the vicinity of climbing equipment and the boundary of dangerous areas.

4. The high-voltage GIS sectional auxiliary service platform according to claim 1, characterized in that, The preprocessing includes Kalman filtering processing of the position coordinate data of the worker on the platform to remove noise interference, and moving average smoothing processing of the tension data of the rope used by the worker to improve data accuracy.

5. The high-voltage GIS sectional auxiliary service platform according to claim 1, characterized in that, The rope of the electric winding device is made of synthetic fiber material, and the outer layer is coated with an anti-arc silicone coating.

6. The high voltage GIS sectional auxiliary service platform according to claim 1, characterized in that, The intelligent control unit further includes a communication module and a power management module, the communication module uses Bluetooth and Wi-Fi dual mode to realize data interaction of the intelligent control unit and remote terminal, and the power management module is used to provide power supply for each hardware module.

7. The combined auxiliary maintenance work platform for high voltage GIS according to claim 1, characterized in that, The overhaul platform is further provided with an automatic cooperation device for large bolt fastening device; the automatic cooperation device comprises a cooperation slider, a mechanical arm and a cooperation control module; the cooperation slider is slidingly arranged on a track, the mechanical arm is connected with the cooperation slider through a traction rope, a torque-adjustable bolt fastening tool is arranged at the end of the mechanical arm, the cooperation control module receives data of force sensors, position sensors and angle sensors arranged on the mechanical arm, and communicates with an intelligent control unit, and when it is detected that the acting force of the mechanical arm exceeds a preset safety threshold, a safety belt hanging unit is triggered to increase the rope tension of the corresponding hanging point.

8. The high-voltage GIS sectional auxiliary service platform according to claim 7, characterized in that, The four sides of the overhaul platform are provided with a safety light curtain linked with the automatic cooperation device; when the automatic cooperation device starts operation, the safety light curtain is automatically opened, if a person enters the dangerous operation area, the light curtain signal is fed back to the intelligent control unit, the automatic cooperation device is immediately suspended, and the operator is reminded through sound and light alarm.

9. A method of working on a high-voltage GIS combined auxiliary service platform according to any one of claims 1-8, characterized in that, The method comprises the following steps: Step S1: the positions of the plurality of safety belt hanging points are adjusted in real time through the hanging blocks on the track arranged along the indoor top equipment maintenance channel of the transformer substation; the tension of the rope connected to the safety belt of the operator is dynamically adjusted based on the cooperation control of the electric winding device and the tension sensor; Step S2: the real-time position coordinates of the operator are obtained by using the platform positioning sensor, the actual tension data of the rope used by the operator are obtained by using the tension sensor, and the data are preprocessed; Step S3: based on the lever balance theory and the position change of the operator on the overhaul platform, the error between the theoretical value and the actual value of the rope tension of the operator is calculated, the rope tension is adjusted through the gradient descent algorithm, so that the system approaches the lever balance state when the position of the operator changes, and the detection path and progress of the operator are optimized by considering the live detection time factor; Step S4: the winding motor driving module controls the operation of the motor of the electric winding device according to the rope tension adjustment instruction output by the winding control module, so as to change the tension of the rope.

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