Real-time detection method, device, equipment and medium for stress-induced hammer wear

Abstract

This invention relates to the field of power operation robot technology, providing a method, device, equipment, and medium for real-time detection of hammer wear using stress sensing. On one hand, the hammer's inner layer is a solid metal material, and its outer layer is a solid material friendly to power transmission lines; this specially designed structure avoids direct impact damage to the power transmission lines. On another hand, a rotational dynamic stress model of the hammer in a power line de-icing system is constructed, and a correlation analysis of the hammer wear degree is performed based on this model. This model converts physically collected data into quantitative wear characterization indicators. On the third hand, stress sensors are used to collect the real-time tensile stress of multiple connecting rods within a target angle range, simplifying the detection dimensions. Simultaneously, the wear degree of the hammer is determined by combining the results of a full life-cycle durability impact test, enabling real-time and accurate detection of hammer wear under actual operating conditions.

Description

Technical Field

[0001] This invention relates to the field of power operation robot technology, and in particular to a method, device, equipment and medium for real-time detection of stress-sensing hammer wear. Background Technology

[0002] During the winter operation and maintenance of power transmission lines, cable icing can lead to increased line load and decreased insulation performance. In severe cases, it can even cause accidents such as line breakage and tower collapse. Therefore, it is necessary to remove cable icing using de-icing equipment.

[0003] Among commonly used mechanical de-icing equipment, the percussion de-icing device is widely used due to its simple structure and stable and reliable de-icing effect. Its core component is a percussion hammer driven by a motor, which breaks the ice by striking the ice on the cable.

[0004] However, existing percussion de-icing systems lack a mechanism for real-time and accurate detection and assessment of hammer wear. Continuously using hammers with high wear levels for de-icing operations poses significant safety hazards, ranging from minor damage to power lines to serious consequences such as broken strands in transmission lines and sparks causing fires. Using cumulative usage time as the standard for assessing hammer wear levels leads to significant resource waste when overall de-icing conditions are good (as the hammers may actually be used for longer and thus replaced prematurely), while in harsh conditions, it poses safety hazards due to hammers being used prematurely in areas where they are normally in operation. Furthermore, the adjustment of dynamic parameters (such as percussion frequency) in intelligent percussion de-icing operations also requires real-time labor data as a basis.

[0005] In light of the above situation, how to detect the wear and tear of the hammer of the power transmission line de-icing robot in real time, and provide real-time safety warnings for the hammering de-icing operation to ensure the safety of the operation, has become an urgent problem to be solved. Summary of the Invention

[0006] In view of the above, it is necessary to provide a stress-sensing method, device, equipment and medium for real-time detection of hammer wear, in order to solve the problem of the inability to detect the hammer wear of power transmission line de-icing robots in real time.

[0007] In a first aspect, embodiments of the present invention provide a stress-sensitive real-time detection method for hammer wear, applied to a power transmission line de-icing system. The power transmission line de-icing system includes a de-icing robot body and hammer kits respectively deployed on both sides of the de-icing robot body. Each hammer kit includes a hammer, a drive unit, and a connecting rod for connecting the hammer and the drive unit. The inner layer of the hammer is a solid metal material, and the outer layer is a solid material friendly to power transmission lines. The stress-sensitive real-time detection method for hammer wear includes:

[0008] A rotational dynamic stress model of the hammer in the de-icing system of the transmission line is constructed, and a correlation analysis of the wear degree of the hammer is performed based on the rotational dynamic stress model of the hammer to obtain the analysis results.

[0009] Based on the analysis results, determine the current tensile force reduction and wear limit threshold of the striking hammer;

[0010] The degree of wear of the striking hammer is determined based on the current tensile force reduction and the wear limit threshold.

[0011] The analysis of the correlation between the wear degree of the striking hammer and the stress model of the striking hammer rotational dynamics yields the following results:

[0012] Based on the stress model of the hammer's rotational dynamics, a curve relating the tensile force of the connecting rod to the rotation angle of the hammer is established.

[0013] The analysis results are obtained by analyzing the relationship curve.

[0014] The analysis results include: at the same rotational angular velocity, when the rotation angle is 270°, as the hammer wears out, the fitted weight of the hammer assembly and the rotation radius of the hammer decrease, and the connecting rod tension decreases as the fitted weight and the rotation radius decrease. The decrease in the connecting rod tension is used to measure the degree of wear of the hammer.

[0015] The analysis results also include: using 270° as the target rotation angle.

[0016] Secondly, embodiments of the present invention also provide a stress-sensitive real-time detection device for hammer wear, operating in a power transmission line de-icing system. The power transmission line de-icing system includes a de-icing robot body and hammer kits respectively deployed on both sides of the de-icing robot body. Each hammer kit includes a hammer, a drive unit, and a connecting rod for connecting the hammer and the drive unit. The inner layer of the hammer is a solid metal material, and the outer layer is a solid material friendly to power transmission lines. The stress-sensitive real-time detection device for hammer wear includes:

[0017] The analysis unit is used to construct the rotational dynamic stress model of the hammer in the de-icing operation system of the transmission line, and to perform a correlation analysis of the wear degree of the hammer based on the rotational dynamic stress model of the hammer to obtain the analysis results.

[0018] The determining unit is used to determine the current tensile force reduction and wear limit threshold of the striking hammer based on the analysis results.

[0019] The determining unit is further configured to determine the degree of wear of the striking hammer based on the current tensile force reduction and the wear limit threshold.

[0020] The analysis unit performs a correlation analysis of the wear degree of the hammer based on the rotational dynamic stress model of the hammer, and the analysis results include:

[0021] Based on the stress model of the hammer's rotational dynamics, a curve relating the tensile force of the connecting rod to the rotation angle of the hammer is established.

[0022] The analysis results are obtained by analyzing the relationship curve.

[0023] The analysis results include: at the same rotational angular velocity, when the rotation angle is 270°, as the hammer wears out, the fitted weight of the hammer assembly and the rotation radius of the hammer decrease, and the connecting rod tension decreases as the fitted weight and the rotation radius decrease. The decrease in the connecting rod tension is used to measure the degree of wear of the hammer.

[0024] The analysis results also include: using 270° as the target rotation angle.

[0025] Thirdly, embodiments of the present invention also provide a computer device, the computer device comprising:

[0026] A memory that stores at least one instruction; and a processor that executes the instruction stored in the memory to implement the stress-sensing real-time detection method for hammer wear.

[0027] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing at least one instruction, which is executed by a processor in a computer device to implement the stress-sensing real-time detection method for hammer wear.

[0028] This invention provides a method, apparatus, device, and medium for real-time detection of stress-sensing hammer wear. It offers the following advantages: Firstly, the inner layer of the hammer is made of solid metal, while the outer layer is made of a solid material that is friendly to power transmission lines; this specially designed structure avoids direct impact damage to the power transmission lines. Secondly, a rotational dynamic stress model of the hammer in a power transmission line de-icing system is constructed, and a correlation analysis of the hammer wear degree is performed based on this model. This model converts physically collected data into quantitative wear characterization indicators. Thirdly, stress sensors are used to collect the tensile stress of multiple connecting rods in real time within the target angle range, simplifying the detection dimensions. Furthermore, the wear degree of the hammer is determined by combining the results of a full life-cycle durability impact test, enabling real-time and accurate detection of the hammer wear degree while closely reflecting actual operating conditions. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart of a preferred embodiment of the stress-sensing method for real-time detection of hammer wear according to the present invention.

[0031] Figure 2 This is a cross-sectional schematic diagram of the power transmission line de-icing system with a hammer installed according to the present invention.

[0032] Figure 3 This is a schematic diagram of the bottom of the hammer head of the present invention.

[0033] Figure 4 This is a side view of the striking hammer of the present invention.

[0034] Figure 5 This is a flowchart of another preferred embodiment of the stress-sensing method for real-time detection of hammer wear according to the present invention.

[0035] Figure 6 This is a schematic diagram of the wear and tear on the hammer head of the present invention.

[0036] Figure 7 This is a schematic diagram of the hammer operation of the present invention.

[0037] Figure 8 This is a schematic diagram of the relationship curve between the connecting rod tension and the rotation angle of the present invention.

[0038] Figure 9 This is a schematic diagram of the operation of rotating the hammer of the present invention to its highest point.

[0039] Figure 10 This is a schematic diagram of the operation of rotating the hammer of the present invention to its lowest point.

[0040] Figure 11 This is a schematic diagram of the present invention showing the reduction in the radius of rotation due to the shift of the center of mass.

[0041] Figure 12 This is a schematic block diagram of a stress-sensing hammer wear real-time detection device provided in an embodiment of the present invention.

[0042] Figure 13 This is a schematic block diagram of a computer device provided in an embodiment of the present invention.

[0043] In the diagram: 1100 - Real-time detection device for stress-sensing hammer wear, 1101 - Analysis unit, 1102 - Determination unit, 1300 - Computer equipment, 1301 - System bus, 1302 - Processor, 1303 - Non-volatile storage medium, 1304 - Internal memory, 1305 - Network interface, 13031 - Operating system, 13032 - Computer program. Detailed Implementation

[0044] 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, not all, of the embodiments of the present invention. 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.

[0045] It should be understood that, when used in this specification, the terms “comprising” and “including” indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0046] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to include the plural forms.

[0047] It should also be further understood that the term "and / or" as used in this specification refers to any combination of one or more of the associated listed items, as well as all possible combinations, and includes such combinations.

[0048] This invention provides a method, apparatus, device, and medium for real-time detection of stress-sensing hammer wear, wherein the method can be applied to servers.

[0049] The execution subject of this stress-sensing hammer wear real-time detection method can be the stress-sensing hammer wear real-time detection device provided in the embodiments of the present invention, or a computer device that integrates the stress-sensing hammer wear real-time detection device. The stress-sensing hammer wear real-time detection device can be implemented in hardware or software. The computer device can be a server, specifically a control device in the server, or a terminal that has a communication connection with the control device.

[0050] Please see Figure 1 , Figure 1 This is a flowchart of a preferred embodiment of the stress-sensing real-time detection method for hammer wear according to the present invention. Specifically, the stress-sensing real-time detection method for hammer wear is applied to a power transmission line de-icing system. The power transmission line de-icing system includes a de-icing robot body and hammer kits respectively deployed on both sides of the de-icing robot body. The hammer kit includes a hammer, a drive unit, and a connecting rod for connecting the hammer and the drive unit. The inner layer of the hammer is a solid metal material, and the outer layer is a solid material that is friendly to power transmission lines.

[0051] Please see Figure 2 This is a cross-sectional schematic diagram of the power transmission line de-icing system with a hammer installed according to the present invention. Figure 2 The left and right hammers are the striking hammers deployed on both sides of the de-icing robot body. After the power line de-icing system is mounted on the target power line that needs de-icing, the motor is started to drive each striking hammer to rotate (clockwise or counterclockwise rotation can be started depending on the actual working conditions) to carry out the de-icing operation.

[0052] Please see Figures 3-4 , Figure 3 This is a schematic diagram of the bottom of the hammer head of the present invention. Figure 4 This is a side view of the striking hammer of the present invention. The striking hammer is similar to a rubber mallet. Figure 3 and Figure 4 The gray portion represents the solid metal material inside the hammer. Figure 3 and Figure 4 The black portion in the image represents the solid material, such as nylon or rubber, that is friendly to power transmission lines for the outer layer of the hammer.

[0053] Specifically, the stress-sensing real-time detection method for hammer wear includes the following steps S1-S3.

[0054] S1. Construct a rotary dynamic stress model of the hammer in the de-icing system of the transmission line, and perform a correlation analysis of the wear degree of the hammer based on the rotary dynamic stress model of the hammer to obtain the analysis results.

[0055] S2, Based on the analysis results, determine the current tensile force reduction and wear limit threshold of the striking hammer;

[0056] S3, determine the degree of wear of the hammer based on the current tensile force reduction and the wear limit threshold.

[0057] The analysis of the correlation between the wear degree of the striking hammer and the stress model of the striking hammer rotational dynamics yields the following results:

[0058] Based on the stress model of the hammer's rotational dynamics, a curve relating the tensile force of the connecting rod to the rotation angle of the hammer is established.

[0059] The analysis results are obtained by analyzing the relationship curve.

[0060] The analysis results include: at the same rotational angular velocity, when the rotation angle is 270°, as the hammer wears out, the fitted weight of the hammer assembly and the rotation radius of the hammer decrease, and the connecting rod tension decreases as the fitted weight and the rotation radius decrease. The decrease in the connecting rod tension is used to measure the degree of wear of the hammer.

[0061] The analysis results also include: using 270° as the target rotation angle.

[0062] In this embodiment, the hammer assembly may further include a drive unit for a motor and encoder, as well as a stress sensor deployed on the connecting rod. Please refer to [further details omitted]. Figure 5 , Figure 5 This is a flowchart of another preferred embodiment of the stress-sensing real-time detection method for hammer wear according to the present invention. The stress-sensing real-time detection method for hammer wear includes the following steps S110-S180.

[0063] S110, construct the rotational dynamic stress model of the hammer in the de-icing operation system of the transmission line, and perform a correlation analysis on the degree of hammer wear based on the rotational dynamic stress model of the hammer to obtain the analysis results.

[0064] Please refer to the following: Figure 6 This is a schematic diagram showing the wear and tear on the hammerhead of the hammer of this invention. Figure 6It is known that as the striking time accumulates, the nylon or rubber layer of the hammerhead will gradually wear down and be consumed. The closer the striking operation is to the power line, the more severe the wear of the outer material of the hammerhead (because the inner layer of ice is denser and more stubborn than the outer layer of ice). This wear will lead to changes in two physical quantities: one is the decrease in the mass of the hammerhead itself, and the other is the shift of the hammerhead's center of mass. By detecting the changes in these two physical quantities in real time, the degree of wear of the hammerhead can be obtained.

[0065] Based on the above principles, a rotational dynamic stress model for the striking hammer can be constructed. Please refer to [link / reference]. Figure 7 This is a schematic diagram of the hammer operation of the present invention. Figure 7 Viewed from the direction of the power transmission line cross-section, with the hammer axis at an angle to the horizontal line. At the instant of the angle's rotation, assume the hammer head... The rotational angular velocity is clockwise, and the fitted weight of the hammer assembly is... Gravity is The component of gravity along the axis of the hammer is The acceleration due to gravity is The striking hammer connecting rod should be under tension f, and the striking hammer's radius of rotation is... (That is, the distance from the center of mass of the hammer assembly to the axis of rotation). Therefore, based on the centripetal force formula, we can obtain: .

[0066] Therefore, the stress model of the rotating dynamics of the hammer includes: ;

[0067] in, This indicates the tension required in the connecting rod; This indicates the fitted weight of the corresponding hammer assembly; This indicates the rotational angular velocity of the striking hammer; The radius of rotation of the hammer is the distance from the center of mass of the hammer assembly to the axis of rotation. Represents gravitational acceleration; The rotation angle of the striking hammer can be acquired by an encoder.

[0068] In this embodiment, the correlation analysis of the wear degree of the striking hammer based on the rotating dynamic stress model of the striking hammer yields the following results:

[0069] Based on the rotational dynamics stress model of the hammer, establish the relationship curve between the tensile force of the connecting rod and the rotation angle;

[0070] The analysis results are obtained by analyzing the relationship curve.

[0071] The analysis results include: at the same rotational angular velocity, when the rotation angle is 270°, as the hammer wears out, the fitted weight and the rotation radius decrease, and the connecting rod tension decreases as the fitted weight and the rotation radius decrease. The decrease in the connecting rod tension is used to measure the degree of wear of the hammer.

[0072] The analysis results also include: using 270° as the target rotation angle.

[0073] Please refer to Figure 8 , Figure 9 and Figure 10 .in, Figure 8 This is a schematic diagram of the relationship curve between the connecting rod tension and the rotation angle of the present invention. Figure 9 This is a schematic diagram illustrating the operation of the striking hammer rotating to its highest point according to the present invention. Figure 10 This is a schematic diagram illustrating the operation of the striking hammer of the present invention rotating to its lowest point. Figure 8 , Figure 9 and Figure 10 It can be known that:

[0074] When the rotation angle is 90°, the striking hammer reaches its highest point, that is... Figure 9 The position shown corresponds to Figure 8 At the trough of the curve, the tensile force f is at its minimum. Due to the actual situation, the hammerhead struck the ice at that moment, and the rotational angular velocity... It will be faster than in an instant Figure 8 The tension f in the idling state is even smaller.

[0075] When the rotation angle reaches 270°, the striking hammer reaches its lowest point, that is... Figure 10 The position shown corresponds to Figure 8 At the peak of the curve, the tensile force f is at its maximum. .

[0076] The above analysis shows that wear and tear on the hammer will cause a decrease in the hammerhead's mass and a shift in its center of gravity. Please refer to [link to relevant documentation]. Figure 11 This is a schematic diagram illustrating the reduction in the radius of rotation due to the centroid shift in this invention. Figure 11 It can be seen that the shift of the center of mass will cause a reduction in the equivalent radius of rotation; that is, the mass m1 and the radius of rotation r1 before the loss will become m2 and r2 after the loss. Furthermore, , .

[0077] If we define the tensile force before wear as f1 and the tensile force of the connecting rod after wear as f2, we can see that the tensile force of the connecting rod at the rotation angle of 270° has the following relationship:

[0078] ;

[0079] ;

[0080] Based on the relationship between the mass and the radius of rotation mentioned above, under the same angular velocity, we have:

[0081] .

[0082] In other words, as the hammer wears out, the fitted weight and the radius of rotation decrease, and the connecting rod tension decreases accordingly. Furthermore, the greater the wear, the greater the drop in connecting rod tension at the peak value at the same rotational speed. Therefore, the drop in connecting rod tension can be used to measure the degree of hammer wear.

[0083] Based on the above analysis, we can conclude that 270° can be used as the target rotation angle. Under the same rotational angular velocity, the degree of wear of the hammer can be measured by measuring the decrease in the tension of the connecting rod.

[0084] In the above embodiments, physical acquisition data is converted into quantitative loss characterization indicators through modeling, realizing the transformation from loss phenomena to quantitative data, and providing a scientific numerical basis for loss assessment; locking 270° as the target rotation angle simplifies the detection dimension and improves the efficiency and pertinence of loss detection; the quantitative calculation of the tensile force reduction realizes the gradient distinction of the degree of loss and can also avoid the ambiguity of qualitative judgment.

[0085] S120, determine the target rotation angle based on the analysis results, and extend the target angle range by a preset step size with the target rotation angle as the center.

[0086] For example, if the preset step size is 2°, then the target angle range is (268°, 272°).

[0087] S130, based on the analysis results, during the operation of the hammer at a constant rotational angular velocity, the stress sensor is used to collect the real-time tension of multiple connecting rods of the hammer within the target angle range during a continuous preset rotation cycle.

[0088] For example, under a constant rotational angular velocity, the stress sensor can be used to collect multiple real-time linkage stresses of the striking hammer within an angular range of 268°-272° over N consecutive cycles. N is a positive integer.

[0089] S140, calculate the maximum tension value in each rotation cycle based on the real-time connecting rod tension.

[0090] In this embodiment, calculating the maximum tensile force in each rotation cycle based on the real-time connecting rod tensile force includes:

[0091] For each rotation cycle, the real-time connecting rod tension collected within the rotation cycle is filtered to obtain multiple optimized tensions;

[0092] The average of the multiple optimized tensile forces is calculated to obtain the maximum tensile force within the rotation cycle.

[0093] Among these methods, filtering can eliminate abnormal data caused by environmental interference and sensor jitter.

[0094] By using the average value of filtering within a single period, data noise can be effectively eliminated, the accuracy of the actual tensile force value can be improved, and the misjudgment rate of subsequent loss assessment can be reduced.

[0095] S150, calculate the average of all maximum tensile forces to obtain the actual tensile force value.

[0096] In this embodiment, further calculation of multi-period averages can further improve the accuracy of the actual tensile force value.

[0097] S160, based on the constant rotational angular velocity, a full life cycle durability impact test is performed on the new hammer corresponding to the striking hammer to obtain the wear limit threshold and the tensile stress benchmark value.

[0098] In this embodiment, the step of performing a full life-cycle durability impact test on a new hammer corresponding to the striking hammer based on the constant rotational angular velocity to obtain the wear limit threshold and tensile stress benchmark value includes:

[0099] Under standard working conditions, the tensile stress reduction of the new hammer under different degrees of wear was tested, and the test results were obtained.

[0100] Based on the test results, the reduction in tensile force when the new hammer reaches its safe operating limit is determined as the wear limit threshold, and the connecting rod tensile force of the new hammer at the target rotation angle is determined as the tensile force reference value.

[0101] In the above embodiments, the threshold determined by laboratory durability testing ensures the scientific nature and industry applicability of the loss assessment, and enables the threshold to better reflect actual operating conditions.

[0102] S170, calculate the difference between the reference value of the tensile force and the actual value of the tensile force to obtain the current tensile force reduction.

[0103] S180, determine the degree of wear of the hammer based on the current tensile force reduction and the wear limit threshold.

[0104] In this embodiment, determining the wear level of the striking hammer based on the current tensile force reduction and the wear limit threshold includes:

[0105] When the current tensile force reduction is less than the wear limit threshold, the wear level of the hammer is determined to be normal, and the quotient of the current tensile force reduction and the wear limit threshold is calculated as the relative wear threshold percentage; or

[0106] When the current tensile force reduction is greater than or equal to the wear limit threshold, it is determined that the wear degree of the hammer has reached the wear limit.

[0107] In the above embodiments, the evaluation results, which combine quantitative percentages with qualitative judgments, provide both gradient information on losses and clear decision-making criteria for subsequent early warnings and operational adjustments.

[0108] In this embodiment, after determining the wear level of the striking hammer based on the current tensile force reduction and the wear limit threshold, the method further includes:

[0109] When the wear level of the striking hammer is within normal limits, the relative wear threshold percentage is pushed to the designated terminal device; or

[0110] When the wear and tear of the hammer reaches the wear limit, the hammer is controlled to stop working, and an alarm message is sent to the designated terminal device to prompt timely replacement of the hammer.

[0111] For example, when the wear level of the hammer is within the normal range, the robot's display module and remote backend can provide real-time feedback on the current percentage of the hammer relative to the wear threshold, providing a reference for planned replacement by relevant personnel. When the wear level of the hammer reaches the wear limit, a wear limit alarm can be automatically triggered, and a command to stop the hammering operation can be sent. The robot's audio-visual module and remote communication module can also send a prompt message to the on-site personnel and the backend monitoring center, informing them that "hammer X has reached the wear limit and needs to be replaced in time."

[0112] In the above embodiments, the automatic alarm and operation stop of the wear limit avoid the safety hazards caused by the continued operation of the severely worn hammer from a technical point of view (such as damage to the conductor, broken strands of the transmission line, sparks that cause fire); the real-time wear percentage feedback enables the predictive maintenance of the hammer, avoiding the waste of resources caused by using the cumulative usage time as the evaluation standard (such as replacing it in advance before reaching the actual wear limit).

[0113] Furthermore, based on the percentage loss and actual icing conditions, the motor's rotational speed can be automatically adjusted before the hammer needs replacement. This reduces the risk of impact on power lines from severely worn hammers, while ensuring effective de-icing. The adjustment principle is to appropriately reduce the angular velocity within a safe range as the percentage loss increases. The adjusted angular velocity is then synchronously updated to the drive unit as a new operating parameter, achieving parameter synchronization between data acquisition and calculation. This dynamic adjustment of motor speed realizes a closed-loop control system of "loss detection - parameter adjustment for safe operation," improving the intelligence level of de-icing operations while ensuring their continuity and safety.

[0114] Furthermore, throughout the entire de-icing operation, the process can be continuously and cyclically executed according to the workflow of "rotation operation - data acquisition - model analysis - loss assessment - parameter adjustment," continuously collecting and analyzing data, and updating the loss level results in real time to dynamically adjust the operation parameters until the de-icing operation of the target transmission line is completed, or the hammer reaches its loss limit and is replaced, at which point the cycle restarts. This method achieves full-cycle, uninterrupted real-time loss detection of the hammer, completely solving the problem that traditional methods cannot obtain loss information in real time, and promoting the intelligent development of power grid robotic de-icing operations.

[0115] As can be seen from the above technical solutions, on the one hand, the inner layer of the hammer is made of solid metal, and the outer layer is made of solid material that is friendly to power transmission lines. The special structure can avoid direct impact damage to the power transmission lines. On the other hand, a rotational dynamic stress model of the hammer in the power transmission line de-icing operation system is constructed, and the correlation analysis of the hammer wear degree is performed based on the hammer rotational dynamic stress model. This model can convert the physically collected data into a quantitative wear characterization index. Furthermore, stress sensors are used to collect the tensile stress of multiple links in real time within the target angle range, simplifying the detection dimensions. At the same time, the wear degree of the hammer is determined by combining the results of the full life cycle durability impact test. This enables real-time and accurate detection of the hammer wear degree while closely matching the actual working conditions.

[0116] Figure 12 This is a schematic block diagram of a stress-sensing real-time detection device for the wear of a striking hammer, provided in an embodiment of the present invention. Figure 12As shown, corresponding to the above-described stress-sensing real-time hammer wear detection method, this invention also provides a stress-sensing real-time hammer wear detection device, which operates in a power transmission line de-icing system. The power transmission line de-icing system includes a de-icing robot body and hammer kits deployed on both sides of the de-icing robot body. Each hammer kit includes a hammer, a drive unit, and a connecting rod for connecting the hammer and the drive unit. The inner layer of the hammer is a solid metal material, and the outer layer is a solid material friendly to power transmission lines. This stress-sensing real-time hammer wear detection device includes a unit for executing the above-described stress-sensing real-time hammer wear detection method, and the device can be configured on a server. Specifically, please refer to... Figure 12 The stress-sensing hammer wear real-time detection device 1100 includes an analysis unit 1101 and a determination unit 1102, wherein:

[0117] The analysis unit 1101 is used to construct the rotational dynamic stress model of the hammer of the power transmission line de-icing operation system, and to perform a correlation analysis of the degree of hammer wear based on the rotational dynamic stress model of the hammer to obtain the analysis results.

[0118] The determining unit 1102 is used to determine the current tensile force reduction and wear limit threshold of the striking hammer based on the analysis results.

[0119] The determining unit 1102 is further configured to determine the degree of wear of the striking hammer based on the current tensile force reduction and the wear limit threshold.

[0120] The analysis unit 1101 performs a correlation analysis of the wear degree of the hammer based on the rotational dynamic stress model of the hammer, and the analysis results include:

[0121] Based on the stress model of the hammer's rotational dynamics, a curve relating the tensile force of the connecting rod to the rotation angle of the hammer is established.

[0122] The analysis results are obtained by analyzing the relationship curve.

[0123] The analysis results include: at the same rotational angular velocity, when the rotation angle is 270°, as the hammer wears out, the fitted weight of the hammer assembly and the rotation radius of the hammer decrease, and the connecting rod tension decreases as the fitted weight and the rotation radius decrease. The decrease in the connecting rod tension is used to measure the degree of wear of the hammer.

[0124] The analysis results also include: using 270° as the target rotation angle.

[0125] As can be seen from the above technical solutions, on the one hand, the inner layer of the hammer is made of solid metal, and the outer layer is made of solid material that is friendly to power transmission lines. The special structure can avoid direct impact damage to the power transmission lines. On the other hand, a rotational dynamic stress model of the hammer in the power transmission line de-icing operation system is constructed, and the correlation analysis of the hammer wear degree is performed based on the hammer rotational dynamic stress model. This model can convert the physically collected data into a quantitative wear characterization index. Furthermore, stress sensors are used to collect the tensile stress of multiple links in real time within the target angle range, simplifying the detection dimensions. At the same time, the wear degree of the hammer is determined by combining the results of the full life cycle durability impact test. This enables real-time and accurate detection of the hammer wear degree while closely matching the actual working conditions.

[0126] The aforementioned stress-sensing real-time detection device for hammer wear can be implemented as a computer program, which can, for example... Figure 13 It runs on the computer device shown.

[0127] Please see Figure 13 , Figure 13 This is a schematic block diagram of a computer device provided in an embodiment of the present invention. The computer device 1300 may be a server, specifically a control device within the server, or a terminal having a communication connection with the control device.

[0128] See Figure 13 The computer device 1300 includes a processor 1302, a memory, and a network interface 1305 connected via a system bus 1301. The memory may include a non-volatile storage medium 1303 and internal memory 1304.

[0129] The non-volatile storage medium 1303 may store an operating system 13031 and a computer program 13032. The computer program 13032 includes program instructions that, when executed, cause the processor 1302 to perform a stress-sensing real-time detection method for hammer wear.

[0130] The processor 1302 provides computing and control capabilities to support the operation of the entire computer device 1300.

[0131] The internal memory 1304 provides an environment for the operation of the computer program 13032 in the non-volatile storage medium 1303. When the computer program 13032 is executed by the processor 1302, the processor 1302 can execute a stress-sensing real-time detection method for hammer wear.

[0132] This network interface 1305 is used for network communication with other devices. Those skilled in the art will understand that... Figure 13The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the computer device 1300 to which the present invention is applied. The specific computer device 1300 may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0133] The processor 1302 is used to run a computer program 13032 stored in the memory to perform the following steps:

[0134] A rotational dynamic stress model of the hammer in the de-icing system of the transmission line is constructed, and a correlation analysis of the wear degree of the hammer is performed based on the rotational dynamic stress model of the hammer to obtain the analysis results.

[0135] Based on the analysis results, determine the current tensile force reduction and wear limit threshold of the striking hammer;

[0136] The degree of wear of the striking hammer is determined based on the current tensile force reduction and the wear limit threshold.

[0137] The analysis of the correlation between the wear degree of the striking hammer and the stress model of the striking hammer rotational dynamics yields the following results:

[0138] Based on the stress model of the hammer's rotational dynamics, a curve relating the tensile force of the connecting rod to the rotation angle of the hammer is established.

[0139] The analysis results are obtained by analyzing the relationship curve.

[0140] The analysis results include: at the same rotational angular velocity, when the rotation angle is 270°, as the hammer wears out, the fitted weight of the hammer assembly and the rotation radius of the hammer decrease, and the connecting rod tension decreases as the fitted weight and the rotation radius decrease. The decrease in the connecting rod tension is used to measure the degree of wear of the hammer.

[0141] The analysis results also include: using 270° as the target rotation angle.

[0142] It should be understood that, in this embodiment of the invention, the processor 1302 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0143] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program includes program instructions and can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0144] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When executed by a processor, the program instructions cause the processor to perform the following steps:

[0145] A rotational dynamic stress model of the hammer in the de-icing system of the transmission line is constructed, and a correlation analysis of the wear degree of the hammer is performed based on the rotational dynamic stress model of the hammer to obtain the analysis results.

[0146] Based on the analysis results, determine the current tensile force reduction and wear limit threshold of the striking hammer;

[0147] The degree of wear of the striking hammer is determined based on the current tensile force reduction and the wear limit threshold.

[0148] The analysis of the correlation between the wear degree of the striking hammer and the stress model of the striking hammer rotational dynamics yields the following results:

[0149] Based on the stress model of the hammer's rotational dynamics, a curve relating the tensile force of the connecting rod to the rotation angle of the hammer is established.

[0150] The analysis results are obtained by analyzing the relationship curve.

[0151] The analysis results include: at the same rotational angular velocity, when the rotation angle is 270°, as the hammer wears out, the fitted weight of the hammer assembly and the rotation radius of the hammer decrease, and the connecting rod tension decreases as the fitted weight and the rotation radius decrease. The decrease in the connecting rod tension is used to measure the degree of wear of the hammer.

[0152] The analysis results also include: using 270° as the target rotation angle.

[0153] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0154] It should be noted that all data involved in this invention were legally obtained.

[0155] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0156] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0157] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0158] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0159] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for real-time detection of stress-sensing hammer wear, characterized in that, An application is made in a power transmission line de-icing system, which includes a de-icing robot body and hammer kits deployed on both sides of the robot body. The hammer kits include hammers, a drive unit, and a connecting rod for connecting the hammers and the drive unit. The inner layer of the hammers is made of solid metal, and the outer layer is made of a solid material that is friendly to power transmission lines. The stress-sensing real-time detection method for hammer wear includes: A rotational dynamic stress model of the hammer in the de-icing system of the transmission line is constructed, and a correlation analysis of the wear degree of the hammer is performed based on the rotational dynamic stress model of the hammer to obtain the analysis results. Based on the analysis results, determine the current tensile force reduction and wear limit threshold of the striking hammer; The degree of wear of the striking hammer is determined based on the current tensile force reduction and the wear limit threshold. The analysis of the correlation between the wear degree of the striking hammer and the stress model of the striking hammer rotational dynamics yields the following results: Based on the stress model of the hammer's rotational dynamics, a curve relating the tensile force of the connecting rod to the rotation angle of the hammer is established. The analysis results are obtained by analyzing the relationship curve. The analysis results include: at the same rotational angular velocity, when the rotation angle is 270°, as the hammer wears out, the fitted weight of the hammer assembly and the rotation radius of the hammer decrease, and the connecting rod tension decreases as the fitted weight and the rotation radius decrease. The decrease in the connecting rod tension is used to measure the degree of wear of the hammer. The analysis results also include: using 270° as the target rotation angle.

2. The method for real-time detection of stress-induced hammer wear as described in claim 1, characterized in that, The rotational dynamic stress model of the striking hammer includes: ； in, This indicates the tension required in the connecting rod; This indicates the fitted weight of the corresponding hammer assembly; This indicates the rotational angular velocity of the striking hammer; The radius of rotation of the hammer is the distance from the center of mass of the hammer assembly to the axis of rotation. Represents gravitational acceleration; This indicates the rotation angle of the striking hammer.

3. The method for real-time detection of stress-induced hammer wear as described in claim 1, characterized in that, The hammer assembly also includes a stress sensor deployed on the connecting rod; The determination of the current tensile stress reduction and wear limit threshold of the striking hammer based on the analysis results includes: The target rotation angle is determined based on the analysis results, and the target rotation angle is extended with a preset step size as the center to obtain the target angle range; Based on the analysis results, during the operation of the hammer at a constant rotational angular velocity, the stress sensor is used to collect the real-time tension of multiple connecting rods of the hammer within the target angle range during a continuous preset rotation cycle. The maximum tensile force in each rotation cycle is calculated based on the real-time connecting rod tensile force. Calculate the average of all maximum tensile forces to obtain the actual tensile force value; Based on the constant rotational angular velocity, a full life cycle durability impact test is performed on the new hammer corresponding to the hammer to obtain the wear limit threshold and the tensile stress benchmark value. The difference between the reference tensile force value and the actual tensile force value is calculated to obtain the current tensile force reduction.

4. The method for real-time detection of stress-induced hammer wear as described in claim 3, characterized in that, The calculation of the maximum tensile force in each rotation cycle based on the real-time connecting rod tensile force includes: For each rotation cycle, the real-time connecting rod tension collected within the rotation cycle is filtered to obtain multiple optimized tensions; The average of the multiple optimized tensile forces is calculated to obtain the maximum tensile force within the rotation cycle.

5. The method for real-time detection of stress-induced hammer wear as described in claim 3, characterized in that, The step of conducting a full life-cycle durability impact test on a new hammer corresponding to the striking hammer based on the constant rotational angular velocity to obtain the wear limit threshold and tensile stress benchmark value includes: Under standard working conditions, the tensile stress reduction of the new hammer under different degrees of wear was tested, and the test results were obtained. Based on the test results, the reduction in tensile force when the new hammer reaches its safe operating limit is determined as the wear limit threshold, and the connecting rod tensile force of the new hammer at the target rotation angle is determined as the tensile force reference value.

6. The method for real-time detection of stress-induced hammer wear as described in claim 1, characterized in that, The determination of the wear level of the striking hammer based on the current tensile force reduction and the wear limit threshold includes: When the current tensile force reduction is less than the wear limit threshold, the wear level of the hammer is determined to be normal, and the quotient of the current tensile force reduction and the wear limit threshold is calculated as the relative wear threshold percentage; or When the current tensile force reduction is greater than or equal to the wear limit threshold, it is determined that the wear degree of the hammer has reached the wear limit.

7. The method for real-time detection of stress-induced hammer wear as described in claim 6, characterized in that, After determining the wear level of the striking hammer based on the current tensile force reduction and the wear limit threshold, the method further includes: When the wear level of the striking hammer is within normal limits, the relative wear threshold percentage is pushed to the designated terminal device; or When the wear and tear of the hammer reaches the wear limit, the hammer is controlled to stop working, and an alarm message is sent to the designated terminal device to prompt timely replacement of the hammer.

8. A stress-sensing real-time detection device for the wear of a striking hammer, characterized in that, The de-icing system for power transmission lines includes a de-icing robot body and hammer kits deployed on both sides of the robot body. The hammer kits include hammers, a drive unit, and a connecting rod for connecting the hammers and the drive unit. The inner layer of the hammers is made of solid metal, and the outer layer is made of solid material that is friendly to power transmission lines. The stress-sensing hammer wear real-time detection device includes: The analysis unit is used to construct the rotational dynamic stress model of the hammer in the de-icing operation system of the transmission line, and to perform a correlation analysis of the wear degree of the hammer based on the rotational dynamic stress model of the hammer to obtain the analysis results. The determining unit is used to determine the current tensile force reduction and wear limit threshold of the striking hammer based on the analysis results. The determining unit is further configured to determine the degree of wear of the striking hammer based on the current tensile force reduction and the wear limit threshold. The analysis unit performs a correlation analysis of the wear degree of the hammer based on the rotational dynamic stress model of the hammer, and the analysis results include: Based on the stress model of the hammer's rotational dynamics, a curve relating the tensile force of the connecting rod to the rotation angle of the hammer is established. The analysis results are obtained by analyzing the relationship curve. The analysis results include: at the same rotational angular velocity, when the rotation angle is 270°, as the hammer wears out, the fitted weight of the hammer assembly and the rotation radius of the hammer decrease, and the connecting rod tension decreases as the fitted weight and the rotation radius decrease. The decrease in the connecting rod tension is used to measure the degree of wear of the hammer. The analysis results also include: using 270° as the target rotation angle.

9. A computer device, characterized in that, The computer device includes: A memory that stores at least one instruction; and a processor that executes the instruction stored in the memory to implement the stress-sensing real-time detection method for hammer wear as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction, which is executed by a processor in a computer device to implement the stress-sensing real-time detection method for hammer wear as described in any one of claims 1 to 7.

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