Hot-line work robot arc discharge transient current test system and method, and medium

Abstract

The invention provides a hot-line work robot arc discharge transient current test system and method and a medium. The system comprises a high-voltage wire, wherein a high-voltage test module is connected with the high-voltage wire; the liftable insulating platform is arranged right below the high-voltage wire; the current measurement module is arranged on the liftable insulating platform and is isolated from the ground to form a floating ground measurement structure. According to the invention, the whole current measurement module is electrically isolated from the ground to form a floating ground measurement structure, so that the potential reference of the measurement system and the potential of a discharge point float synchronously, and the conduction interference path of a ground loop is fundamentally cut off; the current measurement module is configured to adopt a differential measurement mode to actively identify and counteract common-mode radiation interference components, so that the signal-to-noise ratio and the measurement precision of a signal in a strong electromagnetic disturbance environment are greatly improved; the floating ground technology and the differential technology are organically combined to form a complete anti-interference system aiming at conducted interference and radiated interference.

Description

Technical Field

[0001] This invention relates to the field of high-voltage electrical measurement technology, and more specifically, to a system, method, and medium for testing transient current of arc discharge in live-line working robots. Background Technology

[0002] When a live-line working robot approaches or comes into contact with a high-voltage conductor, insufficient safety distance can easily lead to arcing. Accurately measuring key waveform parameters such as the nanosecond-level wavefront time of this transient discharge current is crucial for assessing the robot's electromagnetic compatibility (EMC) and insulation safety.

[0003] However, existing arc discharge testing systems have obvious defects: First, they generally adopt a grounding measurement scheme, where the discharge current flows into the ground through the grounding loop, causing conducted interference introduced by the ground loop to be mixed into the measured waveform, resulting in serious distortion and error; Second, the traditional coaxial cable transmission method is prone to coupling with the extremely strong electromagnetic interference generated by the arc discharge, affecting the accuracy of pulse waveform capture.

[0004] Therefore, there is an urgent need for a transient current testing scheme that can effectively suppress grounding and spatial electromagnetic interference to improve the accuracy and reliability of the assessment of arc discharge characteristics of live-line working robots. Summary of the Invention

[0005] In view of this, the present invention proposes a transient current testing system, method and medium for arc discharge of live-line working robots, aiming to solve the problems of waveform distortion caused by ground loop interference and strong electromagnetic interference coupled by traditional transmission cables in existing arc discharge testing systems.

[0006] On one hand, this invention proposes a transient current testing system for arc discharge of a live-line working robot. The system includes: a high-voltage conductor; a high-voltage test module connected to the high-voltage conductor to generate an adjustable high voltage and apply it to the high-voltage conductor to induce arc discharge between the robot under test and the high-voltage conductor; a liftable insulating platform positioned directly below the high-voltage conductor to provide insulating support for the robot under test and the current measurement module, achieving electrical isolation between the measurement system and the ground, and synchronizing the measurement system with the discharge potential; and a current measurement module positioned on the liftable insulating platform, isolated from the ground to form a floating measurement structure. The current measurement module is configured to measure the transient current of arc discharge generated by the robot under test using a differential measurement method.

[0007] Furthermore, in the aforementioned live-line working robot arc discharge transient current testing system, the current measurement module includes: a pulse current sensor for acquiring the transient current signal; an oscilloscope and a dual-channel coaxial shielded cable, the dual-channel coaxial shielded cable including a main measurement cable and a compensation cable arranged in parallel; the main measurement cable connects the pulse current sensor and the main signal acquisition channel of the oscilloscope, and is used to acquire a mixed signal of the transient current of the robot under test; one end of the compensation cable is connected to a terminating matching resistor, and the other end is connected to the reference signal acquisition channel of the oscilloscope, and is used to acquire a reference signal reflecting spatial electromagnetic coupling interference; the oscilloscope is used to perform differential processing on the signals of the main signal acquisition channel and the reference signal acquisition channel.

[0008] Furthermore, in the above-mentioned live-line working robot arc discharge transient current testing system, the current measurement module further includes an electromagnetic shielding box placed on the liftable insulating platform. The pulse current sensor, the terminal matching resistor, the oscilloscope, and the dual-channel coaxial shielded cable are all housed inside the electromagnetic shielding box. The electromagnetic shielding box is also used for fixed connection with the robot under test.

[0009] Furthermore, in the aforementioned live-line working robot arc discharge transient current testing system, the electromagnetic shielding box is also equipped with a connected lithium battery and an inverter. The lithium battery supplies power to the oscilloscope through the inverter to maintain the oscilloscope in a floating state.

[0010] Furthermore, in the aforementioned live-line working robot arc discharge transient current testing system, the oscilloscope is connected to a remote computer via a photoelectric conversion module and optical fiber, and the oscilloscope is also connected to a remote trigger.

[0011] Furthermore, in the above-mentioned live-line working robot arc discharge transient current testing system, the high-voltage test module includes: a voltage regulator connected to the low-voltage input terminal of the transformer for adjusting the input voltage of the transformer; a transformer whose high-voltage output terminal is connected to the high-voltage conductor for providing high-voltage power; and a voltage divider connected in parallel to the high-voltage conductor for measuring the test voltage on the high-voltage conductor and supporting the high-voltage conductor; wherein the voltage divider is isolated from the ground by an insulating support.

[0012] Furthermore, in the above-mentioned live-line working robot arc discharge transient current testing system, the high-voltage test module further includes: a control console, which is connected to the voltage divider and the voltage regulator respectively, for controlling the output voltage of the voltage regulator according to the voltage data measured by the voltage divider; the control console is also connected to the liftable insulating platform, for controlling the lifting and lowering of the liftable insulating platform to adjust the discharge gap.

[0013] On the other hand, this invention also proposes a method for testing the transient current of arc discharge in a live-line working robot. This method includes the following steps: In an anechoic chamber, a high-voltage test module, a liftable insulating platform, and a current measurement module are constructed, with the current measurement module positioned on the liftable insulating platform to achieve a floating measurement structure isolated from the ground; the high-voltage test unit generates an adjustable high voltage and applies it to the high-voltage conductor; the current measurement module is calibrated; the output voltage of the high-voltage test module is controlled to the target test voltage, and the height of the liftable insulating platform is controlled to change the discharge gap distance between the high-voltage conductor and the robot under test positioned on the liftable insulating platform, until the distance between the robot under test and the high-voltage conductor is adjusted. An electric arc discharge is initiated. Upon discharge triggering, the current measurement unit synchronously acquires a mixed signal of the transient current flowing through the robot under test and a reference coupling signal reflecting spatial electromagnetic coupling interference. The mixed signal and the reference coupling signal are differentially processed to obtain transient current waveform data after eliminating common-mode interference. At least one test condition is changed, the output voltage of the high-voltage test module is re-controlled to the target test voltage, and the height of the liftable insulating platform is controlled. The current measurement module is used again to acquire the transient current signal and the reference coupling signal, and the two signals are differentially processed to obtain multiple sets of transient current waveform data. Time-domain, frequency-domain, and statistical regularity analysis is performed on the multiple sets of transient current waveform data.

[0014] Furthermore, in the above-mentioned method for testing transient current of arc discharge in a live-line working robot, the calibration of the current measurement module specifically includes: injecting a standard surge current into the current measurement unit to calibrate the system's measurement error of the transient current amplitude; injecting a standard nanosecond pulse current into the current measurement unit to calibrate the system's measurement error of the transient current wavefront time; and calculating the overall measurement uncertainty of the current measurement unit based on the known uncertainty parameters of each measurement component in the current measurement unit, and the uncertainty of the standard signal source used for injecting the standard surge current and the standard nanosecond pulse current, through an error propagation model.

[0015] Furthermore, in the above-mentioned method for testing transient current of arc discharge in a live-line working robot, the time-domain analysis includes extracting the wavefront time, peak-to-peak value, and oscillation duration of the transient current waveform; the frequency-domain analysis includes performing a fast Fourier transform on the waveform to obtain the spectrum; the statistical regularity analysis includes establishing a correlation model between the characteristic parameters of the discharge current and the test parameters; and the at least one test condition includes any one or more of the following combinations: the structure of the high-voltage conductor, the discharge gap distance between the high-voltage conductor and the robot under test, the test voltage level output by the high-voltage test unit (i.e., the target value), and the system capacitance to ground changed by adjusting the height of the liftable insulating platform or the posture of the robot under test.

[0016] In another aspect, a computer-readable storage medium is provided, the storage medium storing a computer program for performing the methods described in any of the above aspects of the present invention.

[0017] In another aspect, an electronic device is provided, the electronic device comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to read the executable instructions from the memory and execute the instructions to implement the method described in any of the preceding aspects of the present invention.

[0018] The present invention provides a transient current testing system, method, and medium for arc discharge of live-line working robots. The current measurement module is mounted on a liftable insulated platform, electrically isolated from the ground, forming a floating ground measurement structure. This allows the potential reference of the measurement system to float synchronously with the discharge point potential, avoiding interference from ground potential fluctuations on transient current measurement, fundamentally eliminating the path of ground loop conduction interference, ensuring a pure source of the current signal, and achieving accurate capture of fast pulse signals (0.1ns rise time). The current measurement module is configured to use a differential measurement method, which, by processing two signals synchronously coupled by the spatial electromagnetic field, can actively identify and cancel common-mode radiated interference components, thereby greatly improving the signal-to-noise ratio and measurement accuracy in environments with strong electromagnetic interference. In particular, the organic combination of the aforementioned "floating ground" and "differential" technologies constitutes a complete anti-interference system against conducted interference (through isolation) and radiated interference (through cancellation). This enables the system to reliably capture and reconstruct real transient current waveforms with rising edges down to the nanosecond level in complex arc discharge electromagnetic environments. It provides a crucial and highly reliable data foundation for solving the insulation and electromagnetic compatibility assessment of live-line working robots. It also solves the problems of waveform distortion caused by ground loop interference and strong electromagnetic interference from traditional transmission cables in existing arc discharge testing systems, thereby improving the accuracy of transient current test results. Attached Figure Description

[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the structure of the arc discharge transient current testing system for a live-line working robot provided in an embodiment of the present invention; Figure 2 This is a structural block diagram of the current measurement module provided in an embodiment of the present invention; Figure 3A flowchart illustrating the method for testing transient current of arc discharge in a live-line working robot according to an embodiment of the present invention; Figure 4 A detailed flowchart of the arc discharge transient current testing method for live-line working robots provided in this embodiment of the invention; Figure 5 This is a flowchart illustrating the calibration steps for the current measurement module provided in an embodiment of the present invention. Figure 6 A detailed flowchart of the calibration steps for the current measurement module provided in this embodiment of the invention; Figure 7 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0020] Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein.

[0021] It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention.

[0022] Those skilled in the art will understand that the terms "first," "second," etc., in the embodiments of the present invention are only used to distinguish different steps, devices, or modules, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0023] It should also be understood that in the embodiments of the present invention, "multiple" can refer to two or more, and "at least one" can refer to one, two or more.

[0024] It should also be understood that any component, data or structure mentioned in the embodiments of the present invention can generally be understood as one or more unless explicitly defined or given contrary instructions in the context.

[0025] Furthermore, the term "and / or" in this invention is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this invention generally indicates that the preceding and following related objects have an "or" relationship.

[0026] It should also be understood that the description of the various embodiments in this invention emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0027] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0028] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0029] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0030] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0031] The embodiments of this invention can be applied to electronic devices such as terminal devices, computer systems, and servers, and can operate together with a wide range of other general-purpose or special-purpose computing system environments or configurations. Well-known examples of terminal devices, computing systems, environments, and / or configurations suitable for use with terminal devices, computer systems, servers, and other electronic devices include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputer systems, mainframe computer systems, and distributed cloud computing environments including any of the above systems, etc.

[0032] Electronic devices such as terminal devices, computer systems, and servers can be described in the general context of computer system executable instructions (such as program modules) executed by a computer system. Typically, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in distributed cloud computing environments, where tasks are executed by remote processing devices linked through communication networks. In distributed cloud computing environments, program modules can reside on local or remote computing system storage media, including storage devices.

[0033] System Implementation Example: See Figure 1 This is a schematic diagram of the arc discharge transient current testing system for a live-line working robot provided in an embodiment of the present invention. As shown in the figure, the system includes: a high-voltage conductor 100, a high-voltage test module 200, a liftable insulating platform 300, and a current measurement module 400.

[0034] The high-voltage test module 200 is connected to the high-voltage conductor 100 to generate an adjustable high voltage and apply it to the high-voltage conductor 100 to induce an arc discharge between the robot under test 500 and the high-voltage conductor 100.

[0035] Specifically, the system can be deployed entirely within the anechoic chamber 600 to avoid environmental interference, thereby mitigating the impact of environmental factors on transient current test results and ensuring the consistency of measurement standards. In this embodiment, the anechoic chamber 600 may be equipped with temperature and humidity sensors to synchronously record ambient temperature and humidity data during the test, ensuring the consistency of the test environment. Both the high-voltage conductor 100 and the high-voltage test module 200 can be installed within the anechoic chamber 600. The high-voltage conductor 100 is suspended and connected to the output terminal of the high-voltage test module 200. The high-voltage test module 200 can generate an adjustable high voltage and apply it to the high-voltage conductor 100, thereby inducing an arc discharge between the robot under test 500 and the high-voltage conductor 100.

[0036] The liftable insulating platform 300 is positioned directly below the high-voltage conductor 100 to provide insulating support for the robot under test 500 and the current measurement module 400, thereby achieving electrical isolation between the measurement system and the ground and synchronizing the measurement system with the discharge potential.

[0037] Specifically, the liftable insulating platform 300 is positioned directly below the high-voltage conductor 100 to house the robot under test 500 and the current measurement module 400. The liftable insulating platform 300 isolates both the robot under test 500 and the current measurement module 400 from the ground, achieving a floating ground design. This also ensures electrical isolation between the current measurement module 400 and the ground, synchronizing the current measurement module 400 with the discharge potential and preventing interference from ground potential fluctuations on transient current measurements. This enables precise capture of fast pulse signals (rising edge 0.1ns). By controlling the lifting of the insulating platform 300, the gap distance between the robot under test 500 and the high-voltage conductor 100 can be precisely changed, thereby triggering arc discharge under different gap conditions. The minimum step size for height adjustment is 1mm. Meanwhile, the height adjustment of the liftable insulating platform 300 can also change the height of the robot under test 500 above the ground to adjust its capacitance to the ground, so that the air gap between the discharge electrode, i.e. the high voltage wire 100 and the robot under test 500 gradually decreases until the robot under test 500 generates an electric arc.

[0038] The current measurement module 400 is mounted on the liftable insulated platform 300 and isolated from the ground to form a floating measurement structure. The current measurement module 400 is configured to measure the transient current of arc discharge generated by the robot under test 500 using a differential measurement method to suppress spatial electromagnetic coupling interference and thus obtain a clean transient current signal.

[0039] Specifically, the current measurement module 400 is placed on the liftable insulated platform 300, which is isolated from the ground to achieve a floating design. At the same time, in order to avoid the problem of indistinguishable signal and interference during measurement, which leads to inaccurate measurement, the current measurement module 400 adopts differential compensation technology to measure the transient current of arc discharge generated by the robot under test 500. This eliminates the coupling interference of arc discharge disturbance on the cable, suppresses spatial electromagnetic coupling interference, and obtains a pure transient current signal.

[0040] See also Figure 1 The high-voltage test module 200 includes: a voltage regulator 210, a transformer 220, a voltage divider 230, and a control console 250; wherein, the voltage regulator 210 is connected to the low-voltage input terminal of the transformer 220 and is used to adjust the input voltage of the transformer 220; the high-voltage output terminal of the transformer 220 is connected to the high-voltage conductor 100 and is used to provide high-voltage power; the voltage divider 230 is connected in parallel to the high-voltage conductor 100 and is used to measure the test voltage on the high-voltage conductor 100 and to support the high-voltage conductor 100; wherein, the voltage divider 230 is isolated from the ground through an insulating support 240.

[0041] Specifically, the low-voltage input terminal of transformer 220 is electrically connected to voltage regulator 210 via a wire. Voltage regulator 210 is located away from the high-voltage area, i.e., transformer 220, and can be connected to transformer 220 via a wire for finely adjusting the output voltage of transformer 220. This simulates the arc discharge scenario of a live-line working robot under different voltage levels, providing high-voltage test conditions that meet actual requirements. The high-voltage output terminal of transformer 220 can be connected to high-voltage conductor 100, which can be a tubular busbar for high-voltage transmission. Voltage divider 230 is connected in parallel to high-voltage conductor 100. Transformer 220 is used to boost the adjustable low voltage output from voltage regulator 210 to the high voltage required for the test. This provides power for inducing arc discharge between high-voltage conductor 100 and the robot under test 500, and also transmits the high-voltage signal to voltage divider 230 for measurement. In this embodiment, transformer 220 outputs high voltage, which is applied to the high-voltage terminal of voltage divider 230 via a tubular busbar. The voltage divider 230 is supported by an insulating support 240 and isolated from the ground, with its low-voltage measurement signal sent to the control console 250. The insulating support 240 supports the voltage divider 230, and the insulation structure reliably isolates the voltage divider 230 from the ground, preventing safety risks caused by leakage from the voltage divider 230, and avoiding interference from the ground circuit to the high-voltage test circuit. In this embodiment, there can be two voltage dividers 230, which provide bottom support for two different positions of the high-voltage conductor 100. The liftable insulating platform 300 is located directly below the connection between the two voltage dividers 230 and the high-voltage conductor 100.

[0042] In this embodiment, the control console 250 can be connected to the voltage divider 230 and the voltage regulator 210 respectively. The control console 250 monitors the test status based on this voltage signal and controls the voltage regulator 210. The voltage divider 230 is electrically connected to the control console 250 via wires and is used to step down the high-voltage signal in the test circuit, converting the high-amplitude voltage into a low-amplitude signal that the control console 250 can collect, so that the control console 250 can accurately monitor the test voltage parameters. The control console 250 can provide real-time feedback based on the collected voltage data, and simultaneously indirectly regulate the output voltage of the voltage regulator 210 and control the lifting of the adjustable insulating platform 300. In this embodiment, the control console 250 is also connected to the adjustable insulating platform 300, and can control the lifting of the adjustable insulating platform 300 to change the gap distance between the robot under test 500 and the upper tubular busbar (as the high-voltage conductor 100). The voltage regulator 210 and the control console 250 are both kept away from high-voltage equipment such as the transformer 220 to avoid interference or damage to the control equipment caused by electromagnetic radiation and potential safety hazards generated by the high-voltage equipment, thus ensuring the safety and stability of the control operation.

[0043] See Figure 2 This is a structural block diagram of the current measurement module 400 provided in an embodiment of the present invention. As shown in the figure, the current measurement module 400 may include: an electromagnetic shielding box 410, a pulse current sensor 420, an oscilloscope 430, a dual-channel coaxial shielded cable, a terminating matching resistor 460, a lithium battery 470, and an inverter 480; wherein, the pulse current sensor 420 is used to collect transient current signals; the dual-channel coaxial shielded cable includes a main measurement cable 440 and a compensation cable 450 arranged in parallel, the main measurement cable 440 is connected to the main signal acquisition channel of the pulse current sensor 420 and the oscilloscope 430, and is used to collect the mixed signal of transient current from the robot under test 500; one end of the compensation cable 450 is connected to the terminating matching resistor 460, and the other end is connected to the reference signal acquisition channel of the oscilloscope 430, and is used to collect a reference signal reflecting spatial electromagnetic coupling interference; the oscilloscope 430 is used to perform differential processing on the signals of the main signal acquisition channel and the reference signal acquisition channel.

[0044] Specifically, the pulse current sensor 420, oscilloscope 430, dual-channel coaxial shielded cable, terminating resistor 460, lithium battery 470, and inverter 480 are all housed within an electromagnetic shielding box 410. The electromagnetic shielding box 410 can be fixedly connected to the robot under test 500 and can be mounted on a liftable insulated platform 300, isolated from the ground, achieving a floating design. The pulse current sensor 420 has a bandwidth of 1.8 GHz and is capable of capturing ultra-fast pulse waveforms with a rise time of only 0.1 ns, accurately acquiring transient current signals from arc discharge. The main measurement cable 440 and compensation cable 450 together form the dual-channel coaxial shielded cable. The oscilloscope 430 has a bandwidth of 2 GHz and a storage depth of 256 Mpoint, meeting the requirements for acquiring and storing broadband transient current pulse signals. The lithium battery 470, after being inverted by the inverter 480, powers the oscilloscope 430, ensuring the oscilloscope 430 operates on a floating ground. The oscilloscope 430 communicates and transmits data with a remote computer 412 via a photoelectric conversion module 490 and an optical fiber 411. The oscilloscope 430 is also connected to a remote trigger 413 to control the trigger signal. The remote trigger 413 can be a fiber optic trigger 411, i.e., a fiber optic trigger module 411.

[0045] In this embodiment, to compensate for the coupling error caused by arc discharge interference from the robot under test 500 on the measurement cable, the oscilloscope 430 employs a dual-line parallel measurement method, using two identical high-shield, low-insertion-loss coaxial shielded cables. The first cable is the main measurement cable 440, and the second is the compensation cable 450. One end of the main measurement cable 440 is connected to the robot under test 500 via a pulse current sensor 420, and the other end is connected to channel 1 of the oscilloscope 430 (the main signal acquisition channel) via a shielded connector to acquire transient current signals. The compensation cable 450 is arranged parallel to the main measurement cable 440, with one end suspended and connected to a terminating matching resistor 460, the resistance of which matches the impedance of the pulse current sensor 420. The other end is connected to channel 2 of the oscilloscope 430 (the reference signal acquisition channel) via a shielded connector to acquire interference signals from cable coupling. During dual-line parallel measurement, differential processing is performed on the signals from channel 1 and channel 2 of the oscilloscope 430 to cancel out cable coupling interference and obtain a clean transient current signal.

[0046] In summary, the live-line working robot arc discharge transient current testing system provided in this embodiment, with the current measurement module 400 mounted on a liftable insulating platform 300 and electrically isolated from the ground, forms a floating ground measurement structure. This allows the potential reference of the measurement system to float synchronously with the discharge point potential, avoiding interference from ground potential fluctuations on transient current measurement, thus fundamentally cutting off the path of ground loop conducted interference, ensuring the pure source of the current signal, and achieving accurate capture of fast pulse signals (rising edge 0.1ns). The current measurement module 400 is configured to use differential measurement, that is, by processing two signals synchronously coupled by the spatial electromagnetic field, it can actively identify and cancel common-mode radiated interference components, thereby greatly improving the signal-to-noise ratio and measurement accuracy in strong electromagnetic interference environments. In particular, the organic combination of the above-mentioned "floating ground" and "differential" technologies constitutes a complete anti-interference system against conducted interference (through isolation) and radiated interference (through cancellation). This enables the system to reliably capture and reconstruct real transient current waveforms with rising edges down to the nanosecond level in complex arc discharge electromagnetic environments. It provides a crucial and highly reliable data foundation for solving the insulation and electromagnetic compatibility assessment of live-line working robots. It also solves the problems of waveform distortion caused by ground loop interference and strong electromagnetic interference from traditional transmission cables in existing arc discharge testing systems, thereby improving the accuracy of transient current test results.

[0047] Method Implementation Examples: See Figure 3 and Figure 4 The figure shows a preferred flowchart of a method for testing the transient current of arc discharge in a live-line working robot. As shown, the method includes the following steps: Step S1: In the test anechoic chamber, a high-voltage test module, a liftable insulating platform, and a current measurement module are built, and the current measurement module is placed on the liftable insulating platform to achieve a floating measurement structure isolated from the ground; the high-voltage test unit is used to generate adjustable high voltage and apply it to the high-voltage conductor.

[0048] Specifically, a high-voltage test module 200, a liftable insulating platform 300, and a current measurement module 400 are constructed in the test anechoic chamber 600. The construction method can refer to the structural connection method of the above system, and the connection operation of the two cables and the floating ground debugging are completed simultaneously. The structure of the high-voltage test module 200, the liftable insulating platform 300, and the current measurement module 400 can refer to the above system, and will not be described in detail here.

[0049] Step S2: Calibrate the current measurement module.

[0050] Specifically, the current measurement module 400 is calibrated according to a preset calibration scheme.

[0051] Step S3: Control the output voltage of the high voltage test module to the target test voltage, and control the height of the liftable insulating platform to change the discharge gap distance between the high voltage conductor and the robot under test set on the liftable insulating platform, until an arc discharge is triggered between the robot under test and the high voltage conductor.

[0052] Specifically, the transformer 220 is pressurized to the preset target test voltage by the voltage regulator 210, while the control console 250 adjusts the height of the liftable insulating platform 300, changes the height of the electromagnetic shielding box 410 to the ground to adjust its capacitance to the ground, so that the gap between the discharge electrode and the wire gradually decreases until the robot under test 500 generates an electric arc.

[0053] Step S4: When the discharge is triggered, the current measurement unit synchronously acquires the mixed signal of the transient current flowing through the robot under test 500 and a reference coupling signal for reflecting spatial electromagnetic coupling interference, and performs differential processing on the mixed signal and the reference coupling signal to obtain transient current waveform data after eliminating common-mode interference.

[0054] Specifically, after the electric arc is generated in the robot under test 500, the fiber optic 411 trigger module triggers the oscilloscope 430 to start the transient current signal acquisition. At the same time, the remote computer 412 sends a command to control the oscilloscope 430 to complete the data saving.

[0055] Step S5: Change at least one test condition, re-control the output voltage of the high voltage test module to the target test voltage, control the height of the liftable insulation platform, and re-use the current measurement module to collect transient current signals and reference coupling signals, and perform differential processing on the two signals to obtain multiple sets of transient current waveform data.

[0056] Specifically, at least one test condition can be changed first. This at least one test condition includes any one or more of the following combinations: the structure of the high-voltage conductor 100, the discharge gap distance between the high-voltage conductor 100 and the robot under test 500, the test voltage level (target value) output by the high-voltage test unit, and the system-to-ground capacitance changed by adjusting the height of the liftable insulating platform 300 or the posture of the robot under test 500. After changing the test condition, the process can jump to step S3, repeating the parameter setting, arc triggering, and data saving procedures of steps S3 and S4, and determining whether all preset parameter combination tests have been completed. If not, steps S3 and S4 are repeated continuously; if all are completed, multiple sets of transient discharge current data are collected. In other embodiments, such as... Figure 4As shown, this step can be broken down into several steps, namely, changing at least one test condition, checking whether all the set combination parameters have been tested, if not, jumping to step S3, and testing the current parameter combination after the test adjustment again, if all have been completed, and summarizing and obtaining multiple sets of transient discharge current data.

[0057] Step S6: Perform time-domain, frequency-domain, and statistical analysis on multiple sets of transient current waveform data.

[0058] Specifically, the collected data undergoes frequency domain analysis, time domain analysis, and statistical regularity analysis. Time domain analysis includes extracting the wavefront time, peak-to-peak value, and oscillation duration of transient current waveforms; it can also extract the wavefront time, peak-to-peak value, RMS value, and oscillation duration of individual pulses. Frequency domain analysis involves performing a Fast Fourier Transform (FFT) on the waveform to obtain its spectrum; this can be done on the current waveform to determine the frequency range of the discharge current and the amplitude components of each frequency band. Statistical regularity analysis includes establishing a correlation model between the characteristic parameters of the discharge current and the experimental parameters; statistical formulas for the discharge current in relation to gap distance, voltage level, and capacitance to ground can be derived based on multiple sets of data.

[0059] Therefore, in this embodiment, the simultaneous analysis of time domain, frequency domain, and statistical regularity can not only obtain the basic parameters of transient current, but also establish a correlation model between them and experimental parameters, providing more comprehensive data support for insulation optimization and safety protection of live-line working robots.

[0060] See Figure 5 and Figure 6 The figure shows a preferred flowchart of the calibration steps for the current measurement module provided by an embodiment of the present invention. As shown in the figure, the calibration of the current measurement module, i.e., step S2, specifically includes: Sub-step S21: Inject a standard surge current into the current measurement unit to calibrate the system's measurement error of the transient current amplitude.

[0061] Specifically, a calibrated surge current fast pulse group combination wave generator can be used to generate short-circuit pulses to calibrate the overall amplitude error of the system.

[0062] Sub-step S22: Inject a standard nanosecond pulse current into the current measurement unit to calibrate the system's measurement error of the transient current wavefront time.

[0063] Specifically, a calibrated nanosecond pulse generator can be used to generate a standard pulse current to calibrate the system's measurement error of the wavefront time.

[0064] Sub-step S23: Based on the known uncertainty parameters of each measurement component in the current measurement unit, and the uncertainty of the standard signal source used for injecting the standard surge current and the standard nanosecond pulse current, the overall measurement uncertainty of the current measurement unit is calculated through the error propagation model.

[0065] Specifically, the uncertainty of the entire measurement system can be calculated using the error propagation formula based on the uncertainty parameters of each component, such as the pulse current sensor 420, oscilloscope 430, and cables, to ensure the reliability of the test results. In this embodiment, the root sum-square method can be used to synthesize the various uncertainty components, so as to calculate the overall measurement uncertainty of the current measurement unit through the error propagation model.

[0066] Therefore, by combining surge combined waves, nanosecond pulse generators, and component uncertainty evaluation, comprehensive calibration of amplitude, wavefront time, and system uncertainty can be achieved, ensuring test accuracy within a 2GHz bandwidth.

[0067] Electronic device example: See Figure 7 This is a structural block diagram of the electronic device provided in an embodiment of the present invention. For example... Figure 7 As shown, the electronic device 700 includes one or more processors 71 and a memory 72.

[0068] The processor 71 may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0069] The memory 72 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 71 may execute the program instructions to implement the methods of the software programs described in the various embodiments of the present invention above, and / or other desired functions. In one example, the electronic device may also include an input device 73 and an output device 74, these components being interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0070] In addition, the input device 73 may also include, for example, a keyboard, a mouse, etc.

[0071] The output device 74 can output various information to the outside. The output device 74 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0072] Of course, for the sake of simplicity, Figure 7 Only some of the components of this electronic device relevant to the present invention are shown, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device may include any other suitable components depending on the specific application.

[0073] Examples of computer program products and computer-readable storage media: In addition to the methods and apparatus described above, embodiments of the present invention may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of the present invention described in the "Exemplary Methods" section above.

[0074] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of the present invention. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0075] Furthermore, embodiments of the present invention may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps of the methods according to various embodiments of the present invention described in the "Exemplary Methods" section above.

[0076] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), fiber optic cable, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0077] The basic principles of the present invention have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in the present invention are merely examples and not limitations, and should not be considered as essential features of each embodiment of the present invention. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the present invention to the necessity of employing the aforementioned specific details.

[0078] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0079] The block diagrams of devices, systems, devices, and systems involved in this invention are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, systems, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0080] The methods and systems of the present invention may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of the present invention are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, the present invention may also be implemented as a program recorded on a recording medium, the program comprising machine-readable instructions for implementing the methods according to the present invention. Thus, the present invention also covers recording media storing programs for performing the methods according to the present invention.

[0081] It should also be noted that in the systems, apparatus, and methods of the present invention, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered equivalents of the present invention. The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the invention. Therefore, the invention is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0082] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the invention to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A transient current testing system for arc discharge of a live-line working robot, characterized in that, include: High-voltage conductors: The high-voltage test module, which is connected to the high-voltage conductor, is used to generate an adjustable high voltage and apply it to the high-voltage conductor to induce an arc discharge between the robot under test and the high-voltage conductor. A liftable insulating platform is positioned directly below the high-voltage conductor to provide insulating support for the robot under test and the current measurement module, thereby achieving electrical isolation between the measurement system and the ground and synchronizing the measurement system with the discharge potential. A current measurement module is mounted on the liftable insulating platform and isolated from the ground to form a floating measurement structure. The current measurement module is configured to measure the transient current of arc discharge generated by the robot under test using a differential measurement method.

2. The arc discharge transient current testing system for live-line working robots according to claim 1, characterized in that, The current measurement module includes: A pulse current sensor is used to acquire the transient current signal; An oscilloscope and a dual-channel coaxial shielded cable are provided. The dual-channel coaxial shielded cable includes a main measurement cable and a compensation cable arranged in parallel. The main measurement cable connects the pulse current sensor and the main signal acquisition channel of the oscilloscope to acquire a mixed signal of transient current from the robot under test. One end of the compensation cable is connected to a terminating matching resistor, and the other end is connected to the reference signal acquisition channel of the oscilloscope to acquire a reference signal reflecting spatial electromagnetic coupling interference. The oscilloscope is used to perform differential processing on the signals from the main signal acquisition channel and the reference signal acquisition channel.

3. The arc discharge transient current testing system for live-line working robots according to claim 2, characterized in that, The current measurement module also includes an electromagnetic shielding box placed on the liftable insulating platform. The pulse current sensor, the terminal matching resistor, the oscilloscope, and the dual-channel coaxial shielded cable are all housed inside the electromagnetic shielding box. The electromagnetic shielding box is also used for fixed connection with the robot under test.

4. The arc discharge transient current testing system for live-line working robots according to claim 3, characterized in that, The electromagnetic shielding box is also equipped with a connected lithium battery and an inverter. The lithium battery supplies power to the oscilloscope through the inverter to maintain the oscilloscope in a floating state.

5. The arc discharge transient current testing system for live-line working robots according to claim 2, characterized in that, The oscilloscope is connected to a remote computer via a photoelectric conversion module and optical fiber, and is also connected to a remote trigger.

6. The arc discharge transient current testing system for live-line working robots according to any one of claims 1 to 5, characterized in that, The high-voltage test module includes: A voltage regulator, connected to the low-voltage input terminal of the transformer, is used to adjust the input voltage of the transformer; A transformer, whose high-voltage output terminal is connected to the high-voltage conductor, is used to provide high-voltage power. A voltage divider is connected in parallel to the high-voltage conductor to measure the test voltage on the high-voltage conductor and to support the high-voltage conductor; wherein the voltage divider is isolated from the ground by an insulating support.

7. The arc discharge transient current testing system for live-line working robots according to claim 6, characterized in that, The high-pressure test module also includes: The control console is connected to the voltage divider and the voltage regulator respectively, and is used to control the output voltage of the voltage regulator according to the voltage data measured by the voltage divider; the control console is also connected to the liftable insulating platform, and is used to control the lifting and lowering of the liftable insulating platform to adjust the discharge gap.

8. A method for testing the transient current of arc discharge in a live-line working robot, characterized in that, Includes the following steps: In the anechoic chamber for testing, a high-voltage test module, a liftable insulating platform, and a current measurement module are constructed. The current measurement module is placed on the liftable insulating platform to achieve a floating measurement structure isolated from the ground. The high-voltage test unit is used to generate adjustable high voltage and apply it to the high-voltage conductor. The current measurement module is calibrated; The output voltage of the high-voltage test module is controlled to the target test voltage, and the height of the liftable insulating platform is controlled to change the discharge gap distance between the high-voltage conductor and the robot under test set on the liftable insulating platform, until an arc discharge is triggered between the robot under test and the high-voltage conductor. When the discharge is triggered, the current measurement unit is used to synchronously acquire a mixed signal of the transient current flowing through the robot under test and a reference coupling signal for reflecting spatial electromagnetic coupling interference. The mixed signal and the reference coupling signal are differentially processed to obtain transient current waveform data after eliminating common-mode interference. Change at least one test condition, re-control the output voltage of the high voltage test module to the target test voltage, control the height of the liftable insulation platform, re-use the current measurement module to collect transient current signals and reference coupling signals, perform differential processing on the two signals, and obtain multiple sets of transient current waveform data. The time-domain, frequency-domain, and statistical regularity analyses were performed on the multiple sets of transient current waveform data.

9. The test method according to claim 8, characterized in that, The calibration of the current measurement module specifically includes: A standard surge current is injected into the current measurement unit to calibrate the system's measurement error of the transient current amplitude; A standard nanosecond pulse current is injected into the current measurement unit to calibrate the system's measurement error for the transient current wavefront time; Based on the known uncertainty parameters of each measurement component in the current measurement unit, and the uncertainty of the standard signal source used to inject the standard surge current and the standard nanosecond pulse current, the overall measurement uncertainty of the current measurement unit is calculated through the error propagation model.

10. The test method according to claim 8 or 9, characterized in that, The time-domain analysis includes extracting the wavefront time, peak-to-peak value, and oscillation duration of the transient current waveform; the frequency-domain analysis includes performing a fast Fourier transform on the waveform to obtain the spectrum; the statistical regularity analysis includes establishing a correlation model between the discharge current characteristic parameters and the experimental parameters. The at least one test condition includes any one or more of the following combinations: the structure of the high-voltage conductor, the discharge gap distance between the high-voltage conductor and the robot under test, the test voltage level output by the high-voltage test unit (i.e., the target value), and the system capacitance to ground changed by adjusting the height of the liftable insulating platform or the posture of the robot under test.

11. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for performing the method as described in any one of claims 8 to 10.

12. An electronic device, characterized in that, The electronic device includes: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the method as described in any one of claims 8 to 10.

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