Intelligent flow control method of high-altitude line automatic brushing equipment and related device

Abstract

The invention discloses an intelligent flow control method for automatic high-altitude line painting equipment and a related device, and the method comprises the steps: calculating basic flow data of the automatic high-altitude line painting equipment during line painting based on an introduced loss compensation coefficient when the automatic high-altitude line painting equipment performs line painting on line; obtaining a wire diameter corresponding to a wire brushed by the high-altitude line automatic brushing equipment, and performing adaptive adjustment processing on the basic flow data according to the wire diameter to obtain first flow data; adjusting the first flow data based on a viscosity rotating speed real-time estimation algorithm constructed by a power law fluid model to obtain second flow data; and when the automatic brushing equipment for the high-altitude line performs brushing operation, detecting thickness data corresponding to a coating by utilizing an infrared thickness gauge, and performing dynamic adjustment processing on the second flow data by utilizing PID based on the thickness data. In the embodiment of the invention, the flow data during painting can be accurately controlled, and the painting precision of the wire is ensured.

Description

Technical Field

[0001] This invention relates to the field of precision control technology, and in particular to an intelligent flow control method and related device for an automatic coating equipment for high-altitude lines. Background Technology

[0002] When providing nighttime warnings on high-voltage overhead lines, a coating with continuous luminescence and multi-angle high-efficiency reflective warning can be sprayed onto the cable surface, thus providing effective support for the safe operation and maintenance efficiency of the power grid. However, when applying this coating to the cable surface of high-voltage overhead lines, the spraying flow rate is not always accurate due to dynamic changes in the external environment, spraying speed, and conductor diameter, as the spraying flow rate is always set consistently. This makes precise control of the spraying process on the cable surface of high-voltage overhead lines difficult. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides an intelligent flow control method and related device for automatic coating equipment for high-altitude lines, which can accurately control the flow data during coating and ensure the coating accuracy of the conductors.

[0004] To address the aforementioned technical problems, this invention provides an intelligent flow control method for an automatic coating device for high-altitude power lines, applicable to such a device. The method includes: When the automatic high-altitude line painting equipment is put into operation to perform line painting, the basic flow data of the automatic high-altitude line painting equipment during line painting is calculated based on the introduced loss compensation coefficient. Obtain the diameter of the conductor corresponding to the conductor to be coated by the automatic high-altitude line coating equipment, and perform adaptive adjustment processing on the basic flow data according to the conductor diameter to obtain the first flow data; A real-time viscosity-rotation speed estimation algorithm based on a power-law fluid model is used to adjust the first flow rate data to obtain the second flow rate data. During the coating operation, the automatic coating equipment for high-altitude lines uses an infrared thickness gauge to detect the thickness data of the coating, and uses PID to dynamically adjust the second flow rate data based on the thickness data.

[0005] Optionally, the calculation process for the basic flow data of the automatic high-altitude line coating equipment during line coating based on the introduced loss compensation coefficient is as follows: ; in, This represents basic traffic data; Indicates the loss compensation coefficient; Indicates the target thickness of the coating; This indicates the travel speed of the automatic high-altitude line painting equipment during the painting process. Indicates the diameter of the wire; Pi is the mathematical constant of a circle.

[0006] Optionally, the roller rotation motion in the automatic high-altitude line painting equipment has a nonlinear transmission relationship with the traveling speed. The linear transmission conversion model between the roller rotation motion and the traveling speed is established as follows: ; in, Indicates the speed conversion factor; This indicates the rotational speed of the drum.

[0007] Optionally, the step of adaptively adjusting the basic flow data based on the conductor diameter to obtain the first flow data includes: A diameter-flow rate compensation function is established, and the basic flow rate data is adaptively adjusted using the diameter-flow rate compensation function to obtain the first flow rate data; The diameter-flow rate compensation function is as follows: ; in, Indicates the reference guide diameter; Indicates the diameter of the guide wire corresponding to the paint application; This represents basic traffic data; Indicates the compensation strength coefficient; This represents the first flow data.

[0008] Optionally, the real-time viscosity-rotation speed estimation algorithm is as follows: ; ; in, Indicates the rotational speed of the drum; Indicates zero shear viscosity; Represents the rheological index; Indicates the reference viscosity; Indicates updated viscosity; This indicates the second flow data.

[0009] Optionally, the step of dynamically adjusting the second flow rate data based on the thickness data using PID includes: The thickness data is compared with the expected thickness data to obtain thickness error data. The thickness error data is input into the PID controller to dynamically adjust the second flow rate data. The formula for PID is as follows: ; in, The thickness error data is at time t. To quickly respond to deviations, ; To eliminate steady-state error, ; To suppress overshoot, ; ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

[0010] Optionally, the method further includes start-stop timing control of the automatic high-altitude line painting equipment; The start-stop timing control is based on the fluid continuity equation, which derives a precise pump stop timing sequence as follows: ; in, To ensure precise pump shutdown timing; This is the distance from the pump to the brush head. ; For the cross-sectional area of ​​the pipeline, ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

[0011] Optionally, the method further includes a safety protection mechanism for the automatic high-altitude line coating equipment. The security protection mechanism is a three-level protection strategy, which is as follows: The traffic hard limit is as follows: ; Small-diameter anti-clogging tubes are as follows: ; Environmental compensation is as follows: ; in, The final flow data for the automatic coating equipment for high-altitude power lines; This refers to the output flow data of the automatic coating equipment for high-altitude power lines. This is the output flow rate data adjusted based on real-time humidity.

[0012] In addition, this invention also provides an intelligent flow control device for an automatic coating equipment for high-altitude power lines, which is applied to the automatic coating equipment for high-altitude power lines. The device includes: Calculation module: used to calculate the basic flow data of the automatic high-altitude line painting equipment when the equipment is online to perform line painting, based on the introduced loss compensation coefficient. Adaptive adjustment module: used to obtain the diameter of the conductor corresponding to the conductor to be coated by the automatic coating equipment for high-altitude lines, and to adaptively adjust the basic flow data according to the conductor diameter to obtain the first flow data; The second adjustment module is used to adjust the first flow rate data using a real-time viscosity-rotation speed estimation algorithm based on a power-law fluid model to obtain the second flow rate data. Dynamic adjustment module: When the automatic coating equipment for high-altitude lines is in operation, it uses an infrared thickness gauge to detect the thickness data of the coating and uses PID to dynamically adjust the second flow data based on the thickness data.

[0013] In addition, this invention also provides an automatic high-altitude line coating device, including a processor and a memory, wherein the processor runs a computer program or code stored in the memory to implement the intelligent flow control method as described in any of the above.

[0014] In this embodiment of the invention, when the automatic high-altitude line coating equipment is put into operation to perform line coating, the basic flow rate data of the automatic high-altitude line coating equipment during line coating is first calculated; then, the basic flow rate data is adaptively adjusted according to the conductor diameter to obtain first flow rate data; then, the first flow rate data is adjusted to obtain second flow rate data; finally, the second flow rate data is dynamically adjusted using PID control based on the thickness data. This allows for precise control of the flow rate data during coating, ensuring the coating accuracy of the conductor. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart illustrating the intelligent flow control method for an automatic high-altitude line coating device in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of the intelligent flow control device of the automatic high-altitude line coating equipment in this embodiment of the invention; Figure 3 This is a schematic diagram of the structural composition of the automatic high-altitude line coating equipment in an embodiment of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Example 1, please refer to Figure 1 , Figure 1 This is a flowchart illustrating the intelligent flow control method for an automatic high-altitude line coating device in an embodiment of the present invention.

[0019] like Figure 1 As shown, an intelligent flow control method for an automatic coating device for high-altitude power lines is applied to the automatic coating device for high-altitude power lines. The method includes: S101: When the automatic high-altitude line painting equipment is put into operation to perform line painting, the basic flow data of the automatic high-altitude line painting equipment during line painting is calculated based on the introduced loss compensation coefficient. In this embodiment of the invention, the calculation process for calculating the basic flow data of the automatic high-altitude line coating equipment during line coating based on the introduced loss compensation coefficient is as follows: ; in, This represents basic traffic data; Indicates the loss compensation coefficient; Indicates the target thickness of the coating; This indicates the travel speed of the automatic high-altitude line painting equipment during the painting process. Indicates the diameter of the wire; Pi is the mathematical constant of a circle.

[0020] Furthermore, the roller rotation motion in the automatic high-altitude line painting equipment has a nonlinear transmission relationship with the traveling speed. A linear transmission conversion model between the roller rotation motion and the traveling speed is established as follows: ; in, Indicates the speed conversion factor; This indicates the rotational speed of the drum.

[0021] Specifically, the automatic high-altitude power line coating equipment integrates functional units such as a material box for storing luminescent composite coating, a peristaltic pump for feeding, a coating roller conveyor, autonomous movement, structural fixation, control, and energy management. Through modular design and automatic control strategies, it achieves automated coating of high-voltage overhead transmission lines and continuous nighttime luminous warning, suitable for high-voltage line operations of different diameters and under different environmental conditions. The equipment's housing module is constructed from a lightweight, high-strength engineering plastic or aluminum alloy unibody shell, with internal guide rails and clips to securely install components such as the peristaltic pump, roller, and casters. Drainage holes and cleaning interfaces are provided for removing residual coating. The peristaltic pump module, installed inside the housing, uses an adjustable-speed peristaltic pump to achieve precise and stable delivery of the luminescent composite coating by alternately squeezing an elastic hose. The drive motor adjusts the flow rate in real time according to the roller speed and conductor diameter, and the pump body has insulation protection to adapt to live-line working environments. The coating roller module consists of a roller bearing, a main body, and a replaceable brush sleeve. The brush sleeve material is wear-resistant and non-stick, ensuring even coating. The system adsorbs and coats composite coatings; for wires of different diameters, the appropriate roller brush sleeve can be quickly replaced to ensure consistent coating thickness; the pull ring module, located at the top of the box, is made of high-strength insulating material and is used to hang insulating ropes or rods, ensuring the safety and insulation of the device while facilitating on-ground installation and retrieval by operators; the movable wheel module includes front and rear wheel sets that mesh tightly with the wire surface, the tires are made of high-friction, aging-resistant rubber, driven by a geared motor and equipped with a tension sensor, enabling steady movement along the line and automatic adjustment of wheel pressure to prevent slippage; the material box module consists of a detachable material cylinder and a sealed quick-connect cap, containing a self-luminous fluorescent liquid and a reflective powder composite coating. The transparent outer shell of the material box allows real-time observation of the remaining amount and allows quick connection to the peristaltic pump pipeline via a standard interface, supporting on-site replacement and retrieval; the luminescent composite coating is formulated with long-lasting self-luminous fluorescent material and high-efficiency reflective microspheres, absorbing energy and charging during the day, continuously emitting light at night, and highly reflecting light under external light sources; the material has excellent insulation, weather resistance, and UV aging resistance.

[0022] Traditional coating devices often fail to accurately calculate paint consumption, resulting in excessively thin coatings or waste. This stems from the lack of a quantitative relationship between flow rate and coating parameters. Therefore, in this embodiment, based on the law of conservation of coating volume, a loss compensation coefficient k is introduced to construct a four-dimensional control model of flow rate-velocity-diameter-thickness as follows: ; in, This represents basic traffic data; Indicates the loss compensation coefficient; Indicates the target thickness of the coating; This indicates the travel speed of the automatic high-altitude line painting equipment during the painting process. Indicates the diameter of the wire; Pi is the mathematical constant of a circle.

[0023] Because there is a nonlinear transmission relationship between the drum's rotational motion and the device's linear motion, directly using the drum's rotational speed will lead to inaccurate flow control. A linear conversion model is established through transmission ratio experiments, incorporating mechanical parameters into the flow control system as follows: ; in, Indicates the speed conversion factor; This indicates the rotational speed of the drum.

[0024] S102: Obtain the diameter of the conductor corresponding to the conductor to be coated by the automatic high-altitude line coating equipment, and perform adaptive adjustment processing on the basic flow data according to the conductor diameter to obtain the first flow data; In a specific implementation of this invention, the step of adaptively adjusting the basic flow data based on the conductor diameter to obtain the first flow data includes: establishing a diameter-flow compensation function, and using the diameter-flow compensation function to adaptively adjust the basic flow data to obtain the first flow data; the diameter-flow compensation function is as follows: ; in, Indicates the reference guide diameter; Indicates the diameter of the guide wire corresponding to the paint application; This represents basic traffic data; Indicates the compensation strength coefficient; This represents the first flow data.

[0025] Specifically, when the conductor diameter is less than 30mm, the small radius of curvature leads to an 18% reduction in coating spreading efficiency. Conventional linear compensation cannot solve the nonlinear surface effect; therefore, a diameter-flow rate compensation function needs to be established, using a reference diameter. To achieve adaptive adjustment, as follows: ; in, Indicates the reference guide diameter; Indicates the diameter of the guide wire corresponding to the paint application; This represents basic traffic data; Indicates the compensation strength coefficient; This represents the first flow data.

[0026] S103: The viscosity-rotation speed real-time estimation algorithm based on the power-law fluid model is used to adjust the first flow rate data to obtain the second flow rate data; In a specific implementation of this invention, the real-time viscosity rotation speed estimation algorithm is as follows: ; ; in, Indicates the rotational speed of the drum; Indicates zero shear viscosity; Represents the rheological index; Indicates the reference viscosity; Indicates updated viscosity; This indicates the second flow data.

[0027] Specifically, temperature variations (-20℃ to +50℃) cause coating viscosity fluctuations of up to 300%, making conventional flow control unable to maintain coating consistency. In this embodiment, a real-time viscosity-speed estimation system based on a power-law fluid model is employed. ; ; in, Indicates the rotational speed of the drum; Indicates zero shear viscosity; Represents the rheological index; Indicates the reference viscosity; Indicates updated viscosity; This indicates the second flow data.

[0028] S104: During the coating operation, the automatic coating equipment for high-altitude lines uses an infrared thickness gauge to detect the thickness data corresponding to the coating, and uses PID to dynamically adjust the second flow data based on the thickness data.

[0029] In a specific implementation of this invention, the step of dynamically adjusting the second flow rate data using a PID controller based on the thickness data includes: comparing the thickness data with the desired thickness data to obtain thickness error data; and inputting the thickness error data into the PID controller to dynamically adjust the second flow rate data; wherein the formula for the PID controller is as follows: ; in, The thickness error data is at time t. To quickly respond to deviations, ; To eliminate steady-state error, ; To suppress overshoot, ; ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

[0030] Specifically, wind speed disturbances, i.e., wind speeds greater than 5 m / s, can cause coating thickness fluctuations of ±0.15 mm, which open-loop control cannot correct in real time. This embodiment adopts a third-order control architecture of infrared thickness gauge feedback + PID dynamic adjustment, that is, comparing the thickness data with the desired thickness data to obtain thickness error data; the thickness error data is then input into the PID controller to dynamically adjust the second flow rate data; the PID formula is as follows: ; in, The thickness error data is at time t. To quickly respond to deviations, ; To eliminate steady-state error, ; To suppress overshoot, ; ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

[0031] In this embodiment of the invention, the method further includes start-up and stop timing control of the automatic high-altitude line coating equipment; the start-up and stop timing control is based on the fluid continuity equation to derive a precise pump stop timing as follows: ; in, To ensure precise pump shutdown timing; This is the distance from the pump to the brush head. ; For the cross-sectional area of ​​the pipeline, ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

[0032] Furthermore, the method also includes a safety protection mechanism for the automatic high-altitude line coating equipment. This safety protection mechanism is a three-level protection strategy, as follows: The flow rate hard limit is as follows: ; Small-diameter anti-clogging tubes are as follows: ; Environmental compensation is as follows: ; in, The final flow data for the automatic coating equipment for high-altitude power lines; This refers to the output flow data of the automatic coating equipment for high-altitude power lines. This is the output flow rate data adjusted based on real-time humidity.

[0033] Specifically, during shutdown, residual coating drips from the pipeline, contaminating the insulators. Traditional solenoid valve control has a 30ms delay, resulting in a leakage rate >8%. A precise pump shutdown sequence is derived based on the fluid continuity equation. ; in, To ensure precise pump shutdown timing; This is the distance from the pump to the brush head. ; For the cross-sectional area of ​​the pipeline, ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

[0034] Extreme operating conditions (ice / snow / strong winds) can easily cause flow control failure, leading to pipe blockage or paint spraying; this embodiment adopts a three-level protection strategy: The traffic hard limit is as follows: ; Small-diameter anti-clogging tubes are as follows: ; Environmental compensation is as follows: ; in, The final flow data for the automatic coating equipment for high-altitude power lines; This refers to the output flow data of the automatic coating equipment for high-altitude power lines. This is the output flow rate data adjusted based on real-time humidity.

[0035] In this embodiment of the invention, when the automatic high-altitude line coating equipment is put into operation to perform line coating, the basic flow rate data of the automatic high-altitude line coating equipment during line coating is first calculated; then, the basic flow rate data is adaptively adjusted according to the conductor diameter to obtain first flow rate data; then, the first flow rate data is adjusted to obtain second flow rate data; finally, the second flow rate data is dynamically adjusted using PID control based on the thickness data. This allows for precise control of the flow rate data during coating, ensuring the coating accuracy of the conductor.

[0036] Example 2, please refer to Figure 2 , Figure 2 This is a schematic diagram of the structure of the intelligent flow control device of the automatic high-altitude line coating equipment in this embodiment of the invention.

[0037] like Figure 2 As shown, an intelligent flow control device for an automatic high-altitude line coating equipment is applied to the automatic high-altitude line coating equipment. The device includes: Calculation module 201: used to calculate the basic flow data of the automatic high-altitude line painting equipment during line painting based on the introduced loss compensation coefficient when the automatic high-altitude line painting equipment is put into operation and performs line painting. In this embodiment of the invention, the calculation process for calculating the basic flow data of the automatic high-altitude line coating equipment during line coating based on the introduced loss compensation coefficient is as follows: ; in, This represents basic traffic data; Indicates the loss compensation coefficient; Indicates the target thickness of the coating; This indicates the travel speed of the automatic high-altitude line painting equipment during the painting process. Indicates the diameter of the wire; Pi is the mathematical constant of a circle.

[0038] Furthermore, the roller rotation motion in the automatic high-altitude line painting equipment has a nonlinear transmission relationship with the traveling speed. A linear transmission conversion model between the roller rotation motion and the traveling speed is established as follows: ; in, Indicates the speed conversion factor; This indicates the rotational speed of the drum.

[0039] Specifically, the automatic high-altitude power line coating equipment integrates functional units such as a material box for storing luminescent composite coating, a peristaltic pump for feeding, a coating roller conveyor, autonomous movement, structural fixation, control, and energy management. Through modular design and automatic control strategies, it achieves automated coating of high-voltage overhead transmission lines and continuous nighttime luminous warning, suitable for high-voltage line operations of different diameters and under different environmental conditions. The equipment's housing module is constructed from a lightweight, high-strength engineering plastic or aluminum alloy unibody shell, with internal guide rails and clips to securely install components such as the peristaltic pump, roller, and casters. Drainage holes and cleaning interfaces are provided for removing residual coating. The peristaltic pump module, installed inside the housing, uses an adjustable-speed peristaltic pump to achieve precise and stable delivery of the luminescent composite coating by alternately squeezing an elastic hose. The drive motor adjusts the flow rate in real time according to the roller speed and conductor diameter, and the pump body has insulation protection to adapt to live-line working environments. The coating roller module consists of a roller bearing, a main body, and a replaceable brush sleeve. The brush sleeve material is wear-resistant and non-stick, ensuring even coating. The system adsorbs and coats composite coatings; for wires of different diameters, the appropriate roller brush sleeve can be quickly replaced to ensure consistent coating thickness; the pull ring module, located at the top of the box, is made of high-strength insulating material and is used to hang insulating ropes or rods, ensuring the safety and insulation of the device while facilitating on-ground installation and retrieval by operators; the movable wheel module includes front and rear wheel sets that mesh tightly with the wire surface, the tires are made of high-friction, aging-resistant rubber, driven by a geared motor and equipped with a tension sensor, enabling steady movement along the line and automatic adjustment of wheel pressure to prevent slippage; the material box module consists of a detachable material cylinder and a sealed quick-connect cap, containing a self-luminous fluorescent liquid and a reflective powder composite coating. The transparent outer shell of the material box allows real-time observation of the remaining amount and allows quick connection to the peristaltic pump pipeline via a standard interface, supporting on-site replacement and retrieval; the luminescent composite coating is formulated with long-lasting self-luminous fluorescent material and high-efficiency reflective microspheres, absorbing energy and charging during the day, continuously emitting light at night, and highly reflecting light under external light sources; the material has excellent insulation, weather resistance, and UV aging resistance.

[0040] Traditional coating devices often fail to accurately calculate paint consumption, resulting in excessively thin coatings or waste. This stems from the lack of a quantitative relationship between flow rate and coating parameters. Therefore, in this embodiment, based on the law of conservation of coating volume, a loss compensation coefficient k is introduced to construct a four-dimensional control model of flow rate-velocity-diameter-thickness as follows: ; in, This represents basic traffic data; Indicates the loss compensation coefficient; Indicates the target thickness of the coating; This indicates the travel speed of the automatic high-altitude line painting equipment during the painting process. Indicates the diameter of the wire; Pi is the mathematical constant of a circle.

[0041] Because there is a nonlinear transmission relationship between the drum's rotational motion and the device's linear motion, directly using the drum's rotational speed will lead to inaccurate flow control. A linear conversion model is established through transmission ratio experiments, incorporating mechanical parameters into the flow control system as follows: ; in, Indicates the speed conversion factor; This indicates the rotational speed of the drum.

[0042] Adaptive adjustment module 202: used to obtain the diameter of the conductor corresponding to the conductor to be coated by the automatic coating equipment for high-altitude lines, and to adaptively adjust the basic flow data according to the conductor diameter to obtain the first flow data; In a specific implementation of this invention, the step of adaptively adjusting the basic flow data based on the conductor diameter to obtain the first flow data includes: establishing a diameter-flow compensation function, and using the diameter-flow compensation function to adaptively adjust the basic flow data to obtain the first flow data; the diameter-flow compensation function is as follows: ; in, Indicates the reference guide diameter; Indicates the diameter of the guide wire corresponding to the paint application; This represents basic traffic data; Indicates the compensation strength coefficient; This represents the first flow data.

[0043] Specifically, when the conductor diameter is less than 30mm, the small radius of curvature leads to an 18% reduction in coating spreading efficiency. Conventional linear compensation cannot solve the nonlinear surface effect; therefore, a diameter-flow rate compensation function needs to be established, using a reference diameter. To achieve adaptive adjustment, as follows: ; in, Indicates the reference guide diameter; Indicates the diameter of the guide wire corresponding to the paint application; This represents basic traffic data; Indicates the compensation strength coefficient; This represents the first flow data.

[0044] The second adjustment module 203 is used to adjust the first flow rate data using a viscosity-rotation speed real-time estimation algorithm based on a power-law fluid model to obtain the second flow rate data. In a specific implementation of this invention, the real-time viscosity rotation speed estimation algorithm is as follows: ; ; in, Indicates the rotational speed of the drum; Indicates zero shear viscosity; Represents the rheological index; Indicates the reference viscosity; Indicates updated viscosity; This indicates the second flow data.

[0045] Specifically, temperature variations (-20℃ to +50℃) cause coating viscosity fluctuations of up to 300%, making conventional flow control unable to maintain coating consistency. In this embodiment, a real-time viscosity-speed estimation system based on a power-law fluid model is employed. ; ; in, Indicates the rotational speed of the drum; Indicates zero shear viscosity; Represents the rheological index; Indicates the reference viscosity; Indicates updated viscosity; This indicates the second flow data.

[0046] Dynamic adjustment module 204: When the high-altitude line automatic coating equipment is in the coating operation, it uses an infrared thickness gauge to detect the thickness data corresponding to the coating, and uses PID to dynamically adjust the second flow data based on the thickness data.

[0047] In a specific implementation of this invention, the step of dynamically adjusting the second flow rate data using a PID controller based on the thickness data includes: comparing the thickness data with the desired thickness data to obtain thickness error data; and inputting the thickness error data into the PID controller to dynamically adjust the second flow rate data; wherein the formula for the PID controller is as follows: ; in, The thickness error data is at time t. To quickly respond to deviations, ; To eliminate steady-state error, ; To suppress overshoot, ; ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

[0048] Specifically, wind speed disturbances, i.e., wind speeds greater than 5 m / s, can cause coating thickness fluctuations of ±0.15 mm, which open-loop control cannot correct in real time. This embodiment adopts a third-order control architecture of infrared thickness gauge feedback + PID dynamic adjustment, that is, comparing the thickness data with the desired thickness data to obtain thickness error data; the thickness error data is then input into the PID controller to dynamically adjust the second flow rate data; the PID formula is as follows: ; in, The thickness error data is at time t. To quickly respond to deviations, ; To eliminate steady-state error, ; To suppress overshoot, ; ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

[0049] In this embodiment of the invention, the device further includes start-stop timing control for the automatic high-altitude line coating equipment; the start-stop timing control is based on the fluid continuity equation to derive a precise pump stop sequence as follows: ; in, To ensure precise pump shutdown timing; This is the distance from the pump to the brush head. ; For the cross-sectional area of ​​the pipeline, ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

[0050] Furthermore, the device also includes a safety protection mechanism for the automatic high-altitude line coating equipment. This safety protection mechanism employs a three-level protection strategy, as follows: The flow rate hard limiting is as follows: ; Small-diameter anti-clogging tubes are as follows: ; Environmental compensation is as follows: ; in, The final flow data for the automatic coating equipment for high-altitude power lines; This refers to the output flow data of the automatic coating equipment for high-altitude power lines. This is the output flow rate data adjusted based on real-time humidity.

[0051] Specifically, during shutdown, residual coating drips from the pipeline, contaminating the insulators. Traditional solenoid valve control has a 30ms delay, resulting in a leakage rate >8%. A precise pump shutdown sequence is derived based on the fluid continuity equation. ; in, To ensure precise pump shutdown timing; This is the distance from the pump to the brush head. ; For the cross-sectional area of ​​the pipeline, ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

[0052] Extreme operating conditions (ice / snow / strong winds) can easily cause flow control failure, leading to pipe blockage or paint spraying; this embodiment adopts a three-level protection strategy: The traffic hard limit is as follows: ; Small-diameter anti-clogging tubes are as follows: ; Environmental compensation is as follows: ; in, The final flow data for the automatic coating equipment for high-altitude power lines; This refers to the output flow data of the automatic coating equipment for high-altitude power lines. This is the output flow rate data adjusted based on real-time humidity.

[0053] In this embodiment of the invention, when the automatic high-altitude line coating equipment is put into operation to perform line coating, the basic flow rate data of the automatic high-altitude line coating equipment during line coating is first calculated; then, the basic flow rate data is adaptively adjusted according to the conductor diameter to obtain first flow rate data; then, the first flow rate data is adjusted to obtain second flow rate data; finally, the second flow rate data is dynamically adjusted using PID control based on the thickness data. This allows for precise control of the flow rate data during coating, ensuring the coating accuracy of the conductor.

[0054] This invention provides a computer-readable storage medium storing a computer program. When executed by a processor, this program implements the intelligent flow control method of any of the above embodiments. The computer-readable storage medium includes, but is not limited to, any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic cards, or optical cards. In other words, the storage device includes any medium that stores or transmits information in a readable form by a device (e.g., a computer, a mobile phone), and can be a read-only memory, a disk, or an optical disk, etc.

[0055] This invention also provides a computer application running on a computer, which is used to execute the intelligent flow control method of any of the above embodiments.

[0056] also, Figure 3 This is a schematic diagram of the structural composition of the automatic high-altitude line coating equipment in an embodiment of the present invention.

[0057] This invention also provides an automatic coating device for high-altitude power lines, such as... Figure 3 As shown. The electronic device includes a processor 302, a memory 303, an input unit 304, and a display unit 305, among other devices. Those skilled in the art will understand that... Figure 3 The structural components of the high-altitude automatic line painting device shown are not intended to limit all devices and may include more or fewer components than shown, or combine certain components. Memory 303 can be used to store application program 301 and various functional modules. Processor 302 runs application program 301 stored in memory 303, thereby performing various functional applications and data processing of the device. Memory can be internal memory or external memory, or both. Internal memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, or random access memory. External memory may include hard disks, floppy disks, ZIP disks, USB flash drives, magnetic tapes, etc. The memory disclosed in this invention includes, but is not limited to, these types of memory. The memory disclosed in this invention is only an example and not a limitation.

[0058] Input unit 304 is used to receive signal input and user-input keywords. Input unit 304 may include a touch panel and other input devices. The touch panel can collect user touch operations on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel) and drive the corresponding connection device according to a pre-set program; other input devices may include, but are not limited to, one or more of physical keyboards, function keys (such as play control buttons, power buttons, etc.), trackballs, mice, joysticks, etc. Display unit 305 can be used to display user-input information or information provided to the user, as well as various menus of the terminal device. Display unit 305 may be in the form of a liquid crystal display, organic light-emitting diode, etc. Processor 302 is the control center of the terminal device, connecting various parts of the entire device through various interfaces and lines, and performing various functions and processing data by running or executing software programs and / or modules stored in memory 303, and calling data stored in memory.

[0059] As one embodiment, the automatic high-altitude line painting device includes: one or more processors 302, a memory 303, and one or more application programs 301, wherein the one or more application programs 301 are stored in the memory 303 and configured to be executed by the one or more processors 302, and the one or more application programs 301 are configured to execute the intelligent flow control method corresponding to any of the embodiments described above.

[0060] In this embodiment of the invention, when the automatic high-altitude line coating equipment is put into operation to perform line coating, the basic flow rate data of the automatic high-altitude line coating equipment during line coating is first calculated; then, the basic flow rate data is adaptively adjusted according to the conductor diameter to obtain first flow rate data; then, the first flow rate data is adjusted to obtain second flow rate data; finally, the second flow rate data is dynamically adjusted using PID control based on the thickness data. This allows for precise control of the flow rate data during coating, ensuring the coating accuracy of the conductor.

[0061] Furthermore, the above provides a detailed description of the intelligent flow control method and related devices for an automatic high-altitude line painting device provided by the embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An intelligent flow control method for an automatic high-altitude line painting device, characterized in that, The method, applicable to automatic coating equipment for high-altitude power lines, includes: When the automatic high-altitude line painting equipment is put into operation to perform line painting, the basic flow data of the automatic high-altitude line painting equipment during line painting is calculated based on the introduced loss compensation coefficient. Obtain the diameter of the conductor corresponding to the conductor to be coated by the automatic high-altitude line coating equipment, and perform adaptive adjustment processing on the basic flow data according to the conductor diameter to obtain the first flow data; A real-time viscosity-rotation speed estimation algorithm based on a power-law fluid model is used to adjust the first flow rate data to obtain the second flow rate data. During the coating operation, the automatic coating equipment for high-altitude lines uses an infrared thickness gauge to detect the thickness data of the coating, and uses PID to dynamically adjust the second flow rate data based on the thickness data.

2. The intelligent flow control method according to claim 1, characterized in that, The calculation process for the basic flow data of the automatic high-altitude line coating equipment during line coating, based on the introduced loss compensation coefficient, is as follows: ； in, This represents basic traffic data; Indicates the loss compensation coefficient; Indicates the target thickness of the coating; This indicates the travel speed of the automatic high-altitude line painting equipment during the painting process. Indicates the diameter of the wire; Pi is the mathematical constant of a circle.

3. The intelligent flow control method according to claim 2, characterized in that, The roller rotation motion and the traveling speed in the automatic high-altitude line painting equipment have a nonlinear transmission relationship. The linear transmission conversion model between the roller rotation motion and the traveling speed is established as follows: ； in, Indicates the speed conversion factor; This indicates the rotational speed of the drum.

4. The intelligent flow control method according to claim 1, characterized in that, The step of adaptively adjusting the basic flow data based on the conductor diameter to obtain the first flow data includes: A diameter-flow rate compensation function is established, and the basic flow rate data is adaptively adjusted using the diameter-flow rate compensation function to obtain the first flow rate data; The diameter-flow rate compensation function is as follows: ； in, Indicates the reference guide diameter; Indicates the diameter of the guide wire corresponding to the paint application; This represents basic traffic data; Indicates the compensation strength coefficient; This represents the first flow data.

5. The intelligent flow control method according to claim 1, characterized in that, The real-time viscosity-rotation speed estimation algorithm is as follows: ； ； in, Indicates the rotational speed of the drum; Indicates zero shear viscosity; Represents the rheological index; Indicates the reference viscosity; Indicates updated viscosity; This indicates the second flow data.

6. The intelligent flow control method according to claim 1, characterized in that, The dynamic adjustment of the second flow rate data based on the thickness data using PID includes: The thickness data is compared with the expected thickness data to obtain thickness error data. The thickness error data is input into the PID controller to dynamically adjust the second flow rate data. The formula for PID is as follows: ； in, The thickness error data is at time t. To quickly respond to deviations, ; To eliminate steady-state error, ; To suppress overshoot, ; ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

7. The intelligent flow control method according to claim 1, characterized in that, The method also includes start-stop timing control of the automatic coating equipment for high-altitude lines; The start-stop timing control is based on the fluid continuity equation, which derives a precise pump stop timing sequence as follows: ; in, To ensure precise pump shutdown timing; This is the distance from the pump to the brush head. ; For the cross-sectional area of ​​the pipeline, ; This refers to the final flow data of the automatic coating equipment for high-altitude power lines.

8. The intelligent flow control method according to claim 1, characterized in that, The method also includes a safety protection mechanism for the automatic high-altitude line painting equipment. The security protection mechanism is a three-level protection strategy, which is as follows: The traffic hard limit is as follows: ； Small-diameter anti-clogging tubes are as follows: ； Environmental compensation is as follows: ； in, The final flow data for the automatic coating equipment for high-altitude power lines; This refers to the output flow data of the automatic coating equipment for high-altitude power lines. This is the output flow rate data adjusted based on real-time humidity.

9. An intelligent flow control device for an automatic high-altitude line painting equipment, characterized in that, An automatic coating equipment for high-altitude power lines, the device comprising: Calculation module: used to calculate the basic flow data of the automatic high-altitude line painting equipment when the equipment is online to perform line painting, based on the introduced loss compensation coefficient. Adaptive adjustment module: used to obtain the diameter of the conductor corresponding to the conductor to be coated by the automatic coating equipment for high-altitude lines, and to adaptively adjust the basic flow data according to the conductor diameter to obtain the first flow data; The second adjustment module is used to adjust the first flow rate data using a real-time viscosity-rotation speed estimation algorithm based on a power-law fluid model to obtain the second flow rate data. Dynamic adjustment module: When the automatic coating equipment for high-altitude lines is in operation, it uses an infrared thickness gauge to detect the thickness data of the coating and uses PID to dynamically adjust the second flow data based on the thickness data.

10. An automatic coating device for high-altitude power lines, comprising a processor and a memory, characterized in that, The processor runs a computer program or code stored in the memory to implement the intelligent flow control method as described in any one of claims 1 to 7.

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