A power plant remote control method, system, product and medium

Abstract

A method, system, product, and medium for remote control of a power station are disclosed, relating to the field of industrial control systems. The method includes: acquiring operating commands and actual hydraulic data to calculate a real-time pressure-volume characteristic ratio; when the command opening degree remains high and the characteristic ratio exceeds a preset threshold, blocking the operating command to prevent the power unit from performing a pressurization action; outputting a hydraulic test pulse to the hydraulic pipeline and acquiring the actual arrival time of the pulse's reflection; if the actual arrival time is less than a reference reflection time, determining that there is an abnormal pressure fault in the pipeline and locating the fault point; based on the fault determination result, cutting off the power output and sending an abnormality warning information to the remote control terminal. Implementing the technical solution provided in this application reduces the risk of equipment damage.

Description

Technical Field

[0001] This application relates to the field of industrial control systems, and more particularly to a method, system, product, and medium for remote control of a power station. Background Technology

[0002] Currently, the use of hydraulic power stations in conjunction with remote actuators is widely applied in power engineering infrastructure and construction. As modern engineering demands increasingly higher precision and on-site personnel safety, operators typically need to leave the main power unit and move closer to the remote actuators for close-range observation and control. This remote collaborative construction operation mode, characterized by separation of personnel and machine, and a significant distance between the main unit and the actuators, has become the standard operating procedure in this field.

[0003] In related technologies, a pressure sensor is typically installed at the hydraulic output end of the power station, and a fixed safe pressure threshold is preset in the control module. During equipment operation, when the sensor detects that the hydraulic oil pressure in the pipeline reaches the preset threshold, the control module will output a command to cut off the hydraulic power, or open the bypass pressure relief valve through the relief valve to prevent the pipeline from rupturing due to continuous pressure increase.

[0004] However, in actual long-distance construction operations, both the normal heavy-load operation of the remote equipment and the abnormal throttling state caused by external pressure in the middle section of long-distance pipelines will manifest as an increase in pressure parameters at the power unit. When the pipeline is locally compressed or deformed, it is easy to misinterpret it as a normal load fluctuation at the remote end and continue to maintain power output, causing the pipeline to be in a difficult-to-detect forced working condition for a long time, thereby increasing the risk of hidden ruptures and equipment damage. Summary of the Invention

[0005] This application provides a method, system, product, and medium for remote control of power stations to reduce the risk of equipment damage.

[0006] The first aspect of this application provides a remote control method for a power station, the method comprising: The system acquires operation commands sent by the remote control terminal and synchronously collected actual hydraulic data. Based on the duration parameter of the operation command and the current output flow characteristics of the power unit, it calculates the pumped fluid volume for the current cycle and, combined with the pressure change of the actual hydraulic data, calculates the real-time pressure-volume characteristic ratio. It extracts operation commands from adjacent cycles for comparison. When it is determined that the opening of the current operation command continues to increase or remains in a preset high range, and the real-time pressure-volume characteristic ratio is greater than a preset benchmark pressure-volume characteristic ratio threshold, the operation command from the remote control terminal is blocked to prevent the power unit from performing a booster output action. After blocking the operation command, the system controls the main oil circuit directional valve group of the power unit to perform high-frequency opening and closing actions, or controls the internal pump body swashplate to perform micro-vibration actions, to output hydraulic test pulses to the hydraulic pipeline and acquire the actual arrival time of the hydraulic test pulses reflected back to the power unit. If the actual arrival time is less than a preset benchmark reflection time based on the total length of the hydraulic pipeline, it is determined that there is an abnormal pressure fault in the hydraulic pipeline, and the abnormal pressure fault point is identified. Based on the determination result of the abnormal pressure fault, the power output of the power unit is cut off, and an abnormal warning information is sent to the remote control terminal.

[0007] In the above embodiments, abnormal pipeline conditions are identified by calculating the real-time pressure-volume characteristic ratio. When an abnormality is detected, the pressurization command is actively blocked. The fault point is located by combining pulse reflection time with the system, and a correlation is established between fluid input volume and pressure feedback. This allows for the detection of abnormal fluid impedance in the early stages of pipeline deformation under pressure. Therefore, when the operator is in a blind spot and a pressurization command is issued, the power output is actively cut off, preventing the continuous injection of high-pressure fluid into the damaged pipeline. This avoids hydraulic pipeline rupture due to localized pressure overload and reduces the risk of physical damage to the equipment.

[0008] In conjunction with some embodiments of the first aspect, in some embodiments, after sending the abnormal warning information to the remote control terminal, the method further includes: Based on the actual arrival time of the hydraulic test pulse reflected back to the power unit and the physical cross-sectional area of ​​the hydraulic pipeline, the static pipeline volume between the power unit and the abnormal pressure fault point is calculated. Combined with the current residual back pressure in the pipeline and the preset pipe wall volume expansion coefficient, dynamic compensation is performed to calculate the trapped residual pressure hydraulic volume under high pressure. The main hydraulic output circuit of the power unit is locked, and the obstacle removal safety authorization mode is activated on the remote control terminal. The obstacle removal readiness confirmation command triggered by the remote control terminal in the obstacle removal safety authorization mode is obtained. In response to the obstacle removal readiness confirmation command, the return oil pressure relief circuit of the power unit is opened, and based on the calculated trapped residual pressure hydraulic volume, a three-dimensional quantitative reverse suction action is performed on the pipeline section under high pressure. The residual pressure value at the output end of the power unit is monitored simultaneously. When the residual pressure value drops to the preset safety release pressure threshold, an obstacle removal safety permission feedback signal is sent to the remote control terminal.

[0009] In the above embodiment, based on the calculated trapped residual hydraulic volume, a quantitative reverse suction unloading operation is performed on the damaged pipeline. By actively removing a specific volume of fluid, the potential energy of the fluid confined in the pressurized pipeline is released in a controlled manner. Because the unloading amount matches the trapped volume, blind release that could cause circuit abnormalities or insufficient suction leading to high-pressure residue is avoided. Therefore, before dismantling the pipeline or removing obstacles, the internal pressure of the pipeline has been steadily reduced to within a safe threshold, preventing uncontrolled high-pressure fluid jetting or backflow impacting the main unit, thus improving the safety of the equipment during the troubleshooting phase.

[0010] In conjunction with some embodiments of the first aspect, in some embodiments, after the residual pressure value drops to a preset safe release pressure threshold, the method further includes: Based on the total length of the hydraulic pipeline and the distance to the abnormal pressure fault point corresponding to the actual arrival time, the length of the blind zone pipeline between the abnormal pressure fault point and the remote execution device is calculated, and the residual pressure potential energy of the remote trapped device accumulated in the blind zone pipeline is calculated. When the residual pressure potential energy of the remote trapped device is greater than the preset water hammer damage threshold, a collaborative obstacle removal early warning signal is sent to the remote control terminal, and an early warning feedback is triggered on the remote control terminal. The continuous obstacle removal pressing signal sent by the remote control terminal after triggering the early warning feedback is received, and the power host is controlled to pre-open the internal energy absorption and pressure relief circuit. When the fluid impact pressure data of the abnormal pressure fault point at the input end of the power host is obtained, the damping opening of the energy absorption and pressure relief circuit is dynamically adjusted based on the fluid impact pressure data until the pressure of the entire pipeline drops to the preset safe back pressure value.

[0011] In the above embodiment, the trapped potential energy of the remote pipeline is assessed, and the energy-absorbing and pressure-relief circuit is pre-activated before the obstacle is removed. Simultaneously, the circuit damping is dynamically adjusted based on the backflow impact pressure. Utilizing the pre-established relief channel and dynamic throttling mechanism, the kinetic energy of the fluid flowing in the reverse direction after the obstacle is cleared is dissipated. This avoids the water hammer physical impact caused by the unobstructed backflow of high-pressure fluid in the low-pressure system, reduces the risk of damage to the internal return oil pipeline and precision hydraulic components of the power unit, and improves the physical stability of the equipment when dealing with sudden obstacle removal situations.

[0012] In conjunction with some embodiments of the first aspect, in some embodiments, after sending the abnormal warning information to the remote control terminal, the method further includes: The system acquires the reset and restart command issued by the remote control terminal after the abnormal warning information is triggered; intercepts the reset and restart command to maintain the power cut-off state of the power host, and controls the power host to output hydraulic verification pulses to the hydraulic pipeline again; collects the reflected pressure waveform corresponding to the hydraulic verification pulse, and extracts the waveform phase characteristics of the reflected pressure waveform at the time node corresponding to the actual arrival time; if the waveform phase characteristics show a negative expansion trough, it is determined that there is a local expansion defect at the abnormal pressure fault point, and the boost output circuit of the power host is blocked based on the local expansion defect, and a disable signal containing pipeline damage warning is sent to the remote control terminal.

[0013] In the above embodiments, the phase characteristics of the reflected waveform of the hydraulic verification pulse are used to assess whether there are local expansion defects in the pipeline, and the pressurization circuit is locked when a defect is confirmed. The negative change in acoustic impedance is analyzed to identify the decrease in the structural support of the pipe wall after pressure is applied, thereby actively blocking the power unit from pressurizing the secondary fluid at the damaged weak point. This prevents forced restart of the equipment due to misjudgment caused by blind spots, avoids physical rupture of hydraulic hoses with internal hidden structural damage when subjected to high pressure again, and improves the equipment's self-protection capability under abnormal operating conditions.

[0014] In conjunction with some embodiments of the first aspect, in some embodiments, after locking the booster output circuit of the power unit, the following is also included: The system acquires emergency escape and recovery commands issued by the remote control terminal after a disable signal is triggered; calculates the limit volume expansion margin at the abnormal pressure fault point based on the amplitude parameters of the expansion trough in the waveform phase characteristics; controls the power unit to output a single hydraulic micropulse with a pump volume less than the limit volume expansion margin to the hydraulic pipeline, and monitors the local pressure decay curve at the output end of the power unit in real time; when the slope of the local pressure decay curve approaches zero, the system controls the power unit to output the next single hydraulic micropulse again, and cyclically executes the step output of the single hydraulic micropulse until the pipeline base back pressure drops to the preset no-load threshold, at which point the step output ends.

[0015] In the above embodiments, by converting continuous hydraulic output into discrete micro-injections, the localized pipe wall deformation caused by a single fluid injection is always limited within the physical tolerance limits. This avoids physical rupture of defective pipelines caused by conventional continuous pressurization, and provides safe power to maintain basic recovery operations for remote equipment without exacerbating existing damage, thereby improving the equipment's emergency escape capability in damaged conditions.

[0016] In conjunction with some embodiments of the first aspect, in some embodiments, after sending the abnormal warning information to the remote control terminal, the method further includes: While maintaining power cut-off, the main control unit continuously outputs multiple hydraulic tracking pulses to the hydraulic pipeline at a preset cycle; it acquires the dynamic arrival time sequence of the multiple hydraulic tracking pulses being reflected back to the main control unit in sequence; it calculates the rate of change of the time difference between adjacent time nodes in the dynamic arrival time sequence to determine the pressure propagation speed of the abnormal pressure fault point on the hydraulic pipeline; when it is determined that the pressure propagation speed is continuously greater than zero and less than the preset deformation diffusion threshold, it is determined that the hydraulic pipeline is in a continuous forced state of progressive crushing by external heavy objects; based on the determination result of the continuous forced state, it controls the main control valve group of the main control unit to switch to floating unloading mode and upgrades the abnormal warning information sent to the remote control terminal to a pipeline continuous pressure alarm signal.

[0017] In the above embodiment, the dynamic state of the pipeline under gradual crushing by external heavy objects is identified by analyzing the pulse arrival time change rate, and the main control valve group is actively switched to floating unloading mode. This process uses the floating mode to establish a communication channel between the pressurized pipeline and the low-pressure oil tank, allowing the fluid in the pipe to smoothly discharge and retreat to the low-pressure side when subjected to continuous external pressure. This avoids a sharp rise in internal pressure during the forced reduction of the volume of the sealed pipe section, prevents the flexible hose from physically bursting or the interface from falling off due to local pressure overload, and enhances the physical structural safety of the equipment under dynamic and continuous pressure environment.

[0018] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes, after sending a troubleshooting safety permission feedback signal to the remote control terminal: Extract the actual hydraulic data obtained before the shielding operation command and calculate its instantaneous pressure change rate at the moment of abnormal pressure failure; when the instantaneous pressure change rate is determined to be greater than the preset pressure surge threshold, it is determined that there is a risk of oil temperature rise due to local abnormal throttling inside the hydraulic pipeline; obtain the operation recovery command issued by the remote control terminal, intercept the operation recovery command, and control the power host to open the internal low-pressure bypass cooling circuit; based on the actual arrival time and the volume of the faulty section of the pipeline calculated by the physical cross-sectional area of ​​the hydraulic pipeline, output low-pressure circulating fluid matching the volume of the faulty section of the pipeline to the hydraulic pipeline for targeted cooling circulation; after the output fluid volume reaches the preset cooling volume, restore the power response output of the power host and send a system ready signal for cooling completion to the remote control terminal.

[0019] In the above embodiments, the potential temperature rise caused by local throttling is identified by assessing transient pressure changes, and a quantitative low-pressure targeted cooling cycle is executed after the restart command is intercepted. The low-pressure circulating fluid is used to specifically replace and cool the high-temperature oil generated by intense friction in the pressurized areas of the pipeline. This prevents the high-temperature fluid from being forcibly rushed into the main unit's core valve assembly by high pressure at the moment the equipment resumes operation, avoiding accelerated aging or deformation and leakage of internal sealing components due to transient thermal shock, and improving the thermal stability of the equipment and the safety of hydraulic components after experiencing abnormal operating conditions.

[0020] In a second aspect, embodiments of this application provide a remote control system for a power station, the remote control system for a power station including: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code including computer instructions, and the one or more processors call the computer instructions to cause the remote control system for the power station to perform the method described in the first aspect and any possible implementation thereof.

[0021] Thirdly, embodiments of this application provide a computer program product containing instructions that, when the computer program product is run on a remote control system for a power station, cause the remote control system for the power station to execute the method described in the first aspect and any possible implementation thereof.

[0022] Fourthly, embodiments of this application provide a computer-readable storage medium including instructions that, when executed on a remote control system for a power station, cause the remote control system to perform the method described in the first aspect and any possible implementation thereof.

[0023] Understandably, the power station remote control system provided in the second aspect, the computer program product provided in the third aspect, and the computer storage medium provided in the fourth aspect are all used to execute the power station remote control method provided in the embodiments of this application. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods, and will not be repeated here.

[0024] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. This application identifies abnormal pipeline conditions by calculating the real-time pressure-volume characteristic ratio and actively blocks pressurization commands when an abnormality is detected. It also locates the fault point by combining pulse reflection time and establishing a correlation between fluid input volume and pressure feedback. This allows for the detection of abnormal fluid resistance in the early stages of pipeline deformation under pressure. Therefore, when the operator is in a blind spot and a pressurization command is issued, the power output is actively cut off, preventing the continuous injection of high-pressure fluid into the damaged pipeline and avoiding rupture of the hydraulic pipeline due to localized pressure overload, thus reducing the risk of physical damage to the equipment.

[0025] 2. This application, based on the calculated residual hydraulic pressure volume, performs a quantitative reverse suction and unloading operation on the damaged pipeline. By actively removing a specific volume of fluid, the potential energy of the fluid confined in the pressurized pipeline is released in a controlled manner. Because the unloading amount matches the trapped volume, it avoids circuit abnormalities caused by blind release or high-pressure residue due to insufficient suction. Therefore, before dismantling the pipeline or removing obstacles, the internal pressure of the pipeline has been steadily reduced to within a safe threshold, preventing uncontrolled high-pressure fluid jetting or backflow impacting the main unit, thus improving the safety of the equipment during the troubleshooting phase.

[0026] 3. This application assesses the trapped potential energy of the remote pipeline and pre-opens the energy-absorbing and pressure-relief circuit before removing the obstacle, while dynamically adjusting the circuit damping based on the backflow impact pressure. Utilizing the pre-established relief channel and dynamic throttling mechanism, the kinetic energy of the fluid flowing in the reverse direction after clearing the obstacle is dissipated. This avoids the water hammer physical impact caused by the unobstructed backflow of high-pressure fluid in the low-pressure system, reduces the risk of damage to the internal return oil pipeline and precision hydraulic components of the power unit, and improves the physical stability of the equipment when dealing with sudden obstacle removal situations. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a hardware architecture of a remote control system for a power station in an embodiment of this application; Figure 2 This is a flowchart illustrating a remote control method for a power station in an embodiment of this application. Figure 3 This is another flowchart illustrating the remote control method for power stations in this application embodiment; Figure 4 This is a schematic diagram of an exemplary hardware structure of a remote control system for a power station in an embodiment of this application. Detailed Implementation

[0028] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items.

[0029] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0030] In related technologies, pressure sensors are typically installed at the hydraulic output end of the power station, and a fixed safe pressure threshold is set in the control module. When the detected pressure reaches this threshold, the power is passively cut off or a bypass pressure relief is activated. However, in actual long-distance construction operations, the normal heavy-load operating resistance of the remote equipment and the abnormal throttling resistance caused by external pressure in the middle section of long-distance pipelines both manifest as an increase in pipeline pressure at the main unit. Because existing control strategies cannot analyze the physical causes of the pressure increase, they are prone to misinterpreting localized pressure deformation in the middle section of the pipeline as normal load fluctuations at the remote end. Under this misinterpretation, the system continues to maintain pressurized output in response to operator commands, causing the damaged pipeline to be under undetectable forced operating conditions for an extended period, thereby increasing the risk of hidden pipeline ruptures and system damage.

[0031] In this embodiment, the pumped liquid volume for the current cycle is calculated by acquiring the duration of the operation command and the output flow rate, and the real-time pressure-volume characteristic ratio is calculated by combining the pressure change. A dynamic correlation is established between the fluid input volume and pressure feedback, effectively detecting abnormal fluid impedance in the early stages of pipeline deformation under pressure. When the characteristic ratio is determined to be abnormal and the operation command requires continuous pressurization, the system actively blocks the pressurization command and then outputs a hydraulic test pulse. The pulse reflection time is used to calculate and locate the abnormal pressure fault point. When the operator is in a blind spot and continuously issues pressurization commands, the system can actively cut off the power output based on impedance characteristics and fault location, blocking the continuous injection of high-pressure fluid into the damaged pipeline, preventing the hydraulic pipeline from rupturing due to local pressure overload, and reducing the risk of physical damage to the equipment.

[0032] like Figure 1This application provides a schematic diagram of the hardware architecture of a remote control system for a power station, which mainly includes a remote controller, a power station, and a remotely operated hammer. The remote controller has a built-in battery and is carried by the construction personnel near the work site. It establishes a data connection with the control components inside the power station at a distance via a wireless communication signal of a specified wavelength. The power station integrates control components, a power unit, pressure sensors, flow monitoring elements, and hydraulic control valve groups. The control components are electrically connected to the aforementioned internal hardware to achieve command parsing and data synchronization. The hydraulic output end of the power station is physically fluidly connected to the remotely operated hammer through a hydraulic pipeline of 20 to 30 meters in length. During construction, the construction personnel operate the remote controller to issue control commands based on close-range observations on site. The control components receive these commands and, combined with the operating data fed back from the internal sensors, adjust the output action of the power unit. Subsequently, high-pressure fluid is transmitted through the hydraulic pipeline to drive the hammer to perform the corresponding mechanical actions.

[0033] Figure 2 This is a flowchart illustrating the remote control method for a power station using the embodiments of this application, including the following steps: S101. Obtain the operation command sent by the remote control terminal and the actual hydraulic data collected synchronously. Calculate the pumped liquid volume for the current cycle based on the duration parameter of the operation command and the output flow characteristics of the current power host. Combine the pressure change of the actual hydraulic data to calculate the real-time pressure-volume characteristic ratio.

[0034] Among them, the operation command refers to the electrical signal input by the operator on the remote control device to control the hydraulic action, such as the PWM signal for the depth of the joystick push-in; the actual hydraulic data refers to the fluid physical parameters monitored in real time by the sensor at the output end of the power unit, such as pipeline back pressure data; the duration parameter refers to the length of time that the operation command remains active within the current sampling period; the output flow characteristic refers to the volume rate of liquid discharged by the power unit per unit time under a specific command opening degree; the pumped liquid volume represents the total volume of fluid forcibly pushed into the main pipeline of the hydraulic system within the calculation period; the pressure change represents the difference in pressure extreme values ​​generated by the system due to receiving the above fluid within the same period; the real-time pressure-volume characteristic ratio is used to represent the current hydraulic stiffness of the system, that is, the pressure jump caused by each additional unit volume of fluid in the system, for example, expressed as the mathematical ratio ΔP / ΔV.

[0035] Specifically, the fluid absorption capacity of the remote control system of the power station (hereinafter referred to as the system) is evaluated through the mathematical mapping relationship between flow rate and pressure. First, the system's internal timer integrates the effective pulse width of the operation command to extract the precise duration parameter t. Then, the system acquires the swashplate angle of the current power unit (such as a variable displacement piston pump) and the drive motor speed, and calculates the fluid absorption capacity based on the displacement formula Q=n·q·n. v (where n is the rotational speed, q is the displacement, n v The instantaneous flow rate Q is calculated to obtain the volumetric efficiency. The instantaneous flow rate Q is then integrated with the time parameter t, i.e., This allows the calculation of the pumped liquid volume V for the current cycle. Simultaneously, high-frequency sampling data from the pressure sensor within time 0 to t is used to extract the difference between the maximum pressure and the initial pressure as the pressure change ΔP. Finally, the system divides the pressure change by the pumped liquid volume to calculate the real-time pressure-volume characteristic ratio K, which characterizes the current dynamic impedance of the pipeline. sys =ΔP / V. This ratio theoretically relates the bulk modulus of the fluid to the physical expansion coefficient of the pipeline.

[0036] In some embodiments, the real-time pressure-volume characteristic ratio can be obtained in several ways: Optionally, it can be achieved through a high-precision hardware sensing matrix. First, the pumped liquid volume is obtained by direct integration using a high-frequency turbine flow meter connected in series in the main oil circuit. Then, the pipeline pressure change is differentially measured using a piezoresistive pressure sensor array. Finally, the characteristic ratio is output by direct division using an FPGA hardware multiplier. Optionally, it can be achieved based on a sensorless motor control parameter observation model. First, the real-time stator current and torque parameters of the drive motor are collected. Then, the pressure change is estimated by inversion using a torque-pressure conversion model, and the pumped volume is estimated using the rotor position differential. Finally, the estimated value is input into a Kalman filter for smoothing and filtering, and the characteristic ratio is calculated. It is understood that other methods can also be used to extract and calculate this hydraulic dynamic characteristic, which are not limited here.

[0037] S102. Extract and compare the operation commands from adjacent cycles. When it is determined that the opening of the current operation command continues to increase or remains in the preset high range, and the real-time pressure-volume characteristic ratio is greater than the preset reference pressure-volume characteristic ratio threshold, block the operation commands from the remote control terminal to prevent the power unit from performing boost output action.

[0038] Among them, adjacent cycles refer to two consecutive time segments on the system control time axis; operation command opening degree refers to the duty cycle or digital quantity issued by the remote control terminal to characterize the expected work intensity; preset high-level interval refers to the threshold range of the command to determine the operator's intention to perform high-power output, which is preset by those skilled in the art based on the 70%~100% working range of the full-load rated power requirement of the hydraulic actuator through experimental calibration; preset reference pressure volume characteristic ratio threshold refers to the maximum dynamic stiffness limit that a normal flexible pipeline can withstand under healthy working conditions, which is preset by pre-calibrating the limit of elastic expansion rate of a specific specification of hydraulic rubber hose in the laboratory, combined with the basic volume elastic modulus of hydraulic oil to derive a safety empirical constant; shielding is used to indicate the cutting off of the data flow of software-level command transmission; boosting output action refers to the physical behavior of the hydraulic pump injecting high-pressure fluid into the closed pipeline by increasing the displacement or increasing the speed.

[0039] Specifically, when the operating system extracts T from the timeline... i-1 With T i When receiving an operating command, if the command opening slope is found to be rising positively (requiring acceleration and pressurization) or remaining in a high range, such as above 80%, a large amount of hydraulic oil should be delivered to the remote actuator to complete the mechanical work. However, if the calculated real-time pressure-volume characteristic ratio ΔP / V is abnormally high and exceeds the reference threshold of a normal flexible pipeline, this indicates that a small amount of fluid pumping in has caused a significant pressure rise. This phenomenon suggests that the remote actuator has not undergone the expected displacement (no volume absorbed), or that severe physical deformation and flattening have occurred in the pipeline, resulting in a sharp decrease in system volume and a sharp increase in fluid equivalent stiffness. Based on this characteristic, the system's underlying logic circuit will immediately pull down the level of the command enable pin, forcibly shielding subsequent control messages and cutting off the pilot control current of the proportional valve group, thereby preventing the power unit from continuing to inject energy into the pipeline and avoiding pipeline rupture due to overpressure.

[0040] In some embodiments, the interception of operation commands can be achieved in several ways: Optionally, it can be achieved through hardware bypass at the underlying driver layer. First, a high-priority hardware interrupt is triggered inside the microcontroller. Then, the PWM output pin of the proportional valve is configured to a pull-down high-impedance state. Finally, the parsing of messages with specific IDs in the CAN bus receive mailbox is blocked. Optionally, it can be achieved by constructing a software-level virtual safety sandbox. First, the remote control message is redirected to the virtual dead-time handling function at the command parsing layer. Then, an all-zero overwrite array is generated to overwrite the current output register. Finally, the system unloading valve is forcibly started to allow the pump to run dry and unload. It is understood that other methods can also be used to achieve physical or logical isolation of dangerous actions, which are not limited here.

[0041] In some embodiments, when the hydraulic oil undergoes significant phase viscosity changes due to the extremely cold environment at the work site, a dynamic fluid stiffness compensation mechanism based on temperature gradient can be introduced.

[0042] When S102 is executed in extremely cold environments, the kinematic viscosity of the hydraulic oil increases significantly, and the internal friction of the fluid and the friction resistance along the pipe wall increase sharply. At this time, even if the pipeline is not crushed by heavy objects, the local pressure will rise rapidly due to viscous damping when a small amount of fluid is pumped in by the power unit, resulting in a "falsely high" real-time pressure-volume characteristic ratio. This can easily trigger the false alarm of S102, causing the equipment to shut down abnormally under low-temperature conditions. Repeated restarts can easily cause physical damage to the pump body or drive motor.

[0043] Before performing threshold comparison, the system first retrieves real-time oil temperature data from the hydraulic oil tank and pipeline outlet. Second, based on a pre-stored temperature-bulk modulus-viscosity three-dimensional surface mapping matrix, it extracts the dynamic viscosity compensation coefficient of the hydraulic oil at the current temperature. Finally, it uses this compensation coefficient to adaptively adjust and correct the preset benchmark pressure-volume characteristic ratio threshold (i.e., relax the threshold). Through this thermodynamic parameter compensation mechanism, the system eliminates the fluid stiffness calculation deviation caused by extremely cold environments, ensuring accurate identification of actual compaction faults while avoiding the risk of misjudgment shutdowns and forced restarts due to low temperature and high viscosity.

[0044] S103. After the shielding operation command, control the main oil circuit reversing valve group of the power host to perform high-frequency opening and closing action, or control the internal pump body swashplate to perform micro-vibration action, so as to output hydraulic test pulses to the hydraulic pipeline and obtain the actual arrival time of the hydraulic test pulses being reflected back to the power host.

[0045] Among them, the hydraulic test pulse refers to a transient fluid pressure wave with a small and steep wavefront feature that is artificially injected into the hydraulic system through the high-frequency action of the control valve group; reflection refers to the physical fluid phenomenon that the fluid pressure wave generates a reverse propagation wave when it encounters a sudden change in acoustic impedance interface (such as the section where the pipeline is flattened and contracted) while propagating inside the pipeline; the actual arrival time refers to the time interval between the starting point of the pulse ripple and the pressure sensor capturing the first significant reverse wave peak signal.

[0046] Specifically, after the main oil circuit stops outputting large flow rates, the system controls the pilot solenoid valve to open and close at an extremely high frequency, releasing a hydraulic test pulse with steep wavefront characteristics into the long-distance flexible pipeline. This transient pressure wave will propagate in the hydraulic oil medium as follows: (Where K is the overall bulk modulus of the fluid,) The wave propagates forward (to the fluid density). During propagation, as long as the pipe's inner diameter is uniform, the wave will advance smoothly; however, once the wavefront encounters a point of abrupt change in fluid cross-sectional area caused by physical collapse of the pipe wall due to the crushing of a heavy object or fracture of the internal framework, the local acoustic impedance Z at that point will increase. A severe mismatch occurs between c / A (where A is the cross-sectional area), causing some energy to reflect and form a bounce waveform. At this time, a high-frequency dynamic pressure sensor located at the power unit outlet continuously scans the baseline pressure. By calculating the difference between the timestamp of the emitted pulse and the timestamp of the captured echo peak, the actual round-trip arrival time t of the pulse is precisely calculated. echo .

[0047] In some embodiments, the output and time acquisition of hydraulic test pulses can be achieved in several ways: Optionally, an accumulator discharge mechanism can be used. First, the main pump oil supply is cut off. Second, the high-frequency pilot valve of the accumulator release circuit is opened for 2 milliseconds. Finally, a high-speed data acquisition card is used to capture the peak at a sampling rate of 20kHz and record the timer difference. Optionally, a high-frequency micro-vibration mechanism of the main pump swashplate can be used. First, a high-frequency step square wave is injected into the swashplate control current of the proportional variable pump. Second, the swashplate is forced to generate a small vibration to generate a mechanical thrust wave to the oil. Finally, the arrival time of the reflected wave is separated from the background noise using a digital envelope extraction algorithm. It is understood that other methods can also be used to achieve the excitation of fluid pulses and the measurement of time of flight (ToF), which are not limited here.

[0048] S104. If the actual arrival time is less than the preset reference reflection time based on the total length of the hydraulic pipeline, it is determined that there is an abnormal pressure fault in the hydraulic pipeline, and the abnormal pressure fault point is determined.

[0049] Among them, the reference reflection time refers to the standard time it takes for a pressure wave to travel completely from the power host end to the remote actuator end and be fully reflected back in the current working medium. Its preset method is to calculate the reference constant based on the standard total length of the pipeline and the standard sound velocity of hydraulic oil using the theoretical formula T=2L / c and burn it into the memory before the system leaves the factory; abnormal pressure failure refers to the physical cross-section blockage caused by unexpected external heavy objects pressing or bending in the pipeline; abnormal pressure failure point refers to the specific spatial distance coordinates of the physically damaged section of the pipeline.

[0050] Specifically, the system's internal algorithm module will use the measured actual arrival time t echo Compared with the reference reflection time T base A comparison is performed. If the pipeline is intact, the corrugations will be transmitted all the way to the piston surface of the distal hydraulic cylinder before being reflected, at which point t echo ≈T base However, if t echo Less than T baseThis indicates that the pressure wave encountered a sudden change in acoustic impedance caused by pressure deformation of the pipe wall before reaching the remote equipment. At this point, the system determines that an abnormal pressure fault has occurred. Subsequently, the system uses the distance formula D=c·t echo The calculation is performed on / 2 (where c is the current fluid velocity after temperature and pressure correction). Through this calculation, the system can output a distance scalar, such as "23.5 meters from the power station outlet", thereby completing the spatial physical location of the abnormal pressure fault point in the invisible blind zone.

[0051] In some embodiments, fault point determination and identification can be achieved in multiple ways: Optionally, based on the time-domain threshold method, firstly, the reference reflection time is multiplied by 0.9 as a tolerance threshold; secondly, the actual arrival time is compared with this threshold to trigger a fault flag; finally, the time is directly substituted into the static sound velocity constant formula to calculate the fault distance output. Optionally, based on a dynamic wave velocity self-calibration cross-correlation algorithm, firstly, the fluid bulk elastic modulus is corrected according to the current pipeline's basic static back pressure to calculate the dynamic sound velocity; secondly, the transmitted waveform and received waveform are subjected to a sliding cross-correlation operation to find the time delay corresponding to the maximum correlation peak; finally, this high-precision time delay is multiplied by the dynamic sound velocity and halved to obtain the accurate physical coordinates of the fault. It is understood that other methods can also be used to achieve pipeline fault identification and location based on acoustic features, which are not limited here.

[0052] In some embodiments, a pulse pre-compression exhaust calibration operation can also be performed when a small amount of air (cavitation) is introduced into the pipeline due to oil change or minor leakage of seals in the hydraulic system.

[0053] When performing radar ranging in S104 with suspended microbubbles in the pipeline, a small amount of air drastically reduces the overall bulk modulus of the fluid. This causes a sharp drop in the propagation speed c of the pressure wave in the hydraulic oil. If the distance is still calculated based on the original reference wave speed, the calculated distance to a very close rolling fault point will be stretched, leading to misreporting of the fault location or even masking the actual short-distance rolling fault. If pressure is subsequently restored, this could cause pipeline rupture.

[0054] Before executing the S103 pulse, the main pump is controlled to output a slowly rising, low-slope static pressure preload wave to the pipeline, with its peak value within the safety limit. This preload wave uses hydrostatic pressure to forcefully compress and dissolve any free micro-bubbles within the pipeline into the hydraulic oil, instantly restoring the homogeneity and standard stiffness of the fluid medium. After the preload wave has stabilized, the hydraulic test pulse is then fired and its timing is captured. This preload wave compression operation reduces the interference of cavitation effects on fluid acoustic ranging, ensuring accurate fault location and preventing erroneous operations and equipment damage caused by false alarms.

[0055] S105. Based on the judgment result of abnormal pressure fault, cut off the power output of the main unit and send abnormal warning information to the remote control terminal.

[0056] Among them, cutting off power output refers to cutting off the electrical enable signal of the power source or disconnecting the hydraulic clutch mechanism so that the main unit no longer outputs any mechanical work or fluid pressure to the outside world; abnormal warning information refers to a coded digital message containing the fault type, fault distance and shutdown reason.

[0057] Specifically, once the upper-layer algorithm outputs a Boolean truth value for the anomaly determination result, the underlying secure real-time operating system (RTOS) immediately triggers the highest-level non-maskable interrupt (NMI). Electrically, the system instantly lowers the enable pin of the main drive motor (such as the throttle of an internal combustion engine or a three-phase asynchronous motor inverter) and disconnects the main contactor. Hydraulically, the system simultaneously releases the pilot pressure of the two-way cartridge unloading valve on the main oil circuit, allowing the hydraulic oil to flow directly back to the tank, thereby quickly reducing the output pressure of the power unit to zero. Simultaneously with the disconnection of physical power, the system communication module packages the fault location coordinates, timestamp, and hazard level into a specific encrypted remote control radio frequency protocol frame, which is then broadcast to the remote operator's terminal via an antenna. This triggers a bright flashing of the remote control screen and a violent eccentric vibration of the handle's motor feedback, clearly indicating to the operator that the equipment has stopped through interface flashing and physical vibration.

[0058] In some embodiments, power cut-off and information warning can be achieved in several ways: Optionally, through a pure hardware relay emergency stop network, firstly, a high-power solid-state relay is directly driven by a logic gate circuit to cut off the pump motor power supply; secondly, the 24V power supply bus of the proportional valve group is cut off to reset the valve core; finally, a pulse alarm level is sent to the receiver through an independent wireless alarm module. Optionally, through soft braking and intelligent data transmission bus, firstly, the swashplate angle of the variable pump is controlled to smoothly return to zero along a parabolic trajectory to prevent water hammer impact during shutdown; secondly, the electromagnetic unloading valve is controlled to open for overflow; finally, the telemetry data stream containing fault coordinates in JSON format is pushed to the operator's handheld smart terminal interface via LoRa or 5G module. It is understood that other methods can also be used to achieve final paralysis protection and remote human-machine interaction alarm for the equipment, which are not limited here.

[0059] In some embodiments, when the remote hydraulic pipeline is not only compressed but also subjected to slow, continuous, and gradual crushing by moving heavy machinery, the dynamic displacement of the heavy object can be sensed by calculating the time series of reflected pulses using high-frequency differential calculation, and the pipeline can be actively unloaded to prevent the residual pressure inside the pipeline from soaring and causing it to burst.

[0060] Specifically, after the system cuts off the main power output due to the pressure of heavy objects on the pipeline, the heavy tracked vehicle on site often does not stop immediately, but continues to crush along the pipeline. While maintaining a power-off lockout state, the system continuously outputs multiple hydraulic tracking pulses into the pipeline at a preset cycle (where the preset cycle refers to the time interval between two consecutive transmissions of the detection shock wave, and the preset method is a millisecond-level time constant theoretically derived by those skilled in the art based on the normal driving speed of the tracked vehicle and the sampling frequency of the microcontroller). When these tiny pulses encounter a flattened point in the pipeline that is in a state of physical slippage, they continuously undergo acoustic impedance reflection. The system captures the echoes sequentially and forms a dynamic arrival time sequence. Subsequently, the system performs first-order differential differentiation on adjacent time nodes in this time sequence to calculate the rate of change of time difference. From the physics perspective of fluid radar, the continuous shortening or lengthening of the reflection time directly proves that the spatial coordinates of the reflection interface are shifting, and this rate of change maps the rate of pressure propagation of the abnormal fault point along the pipeline axis. When the system determines that the speed is consistently greater than zero and less than a preset deformation diffusion threshold (wherein the preset deformation diffusion threshold is the critical speed limit used to distinguish between the mechanical movement of external heavy objects and the propagation of fluid shock waves within the pipeline, and its preset method is obtained by experimentally calibrating the maximum travel speed limit of heavy construction machinery), the system can kinematically diagnose that the pipeline is under continuous forced pressure from a progressively dynamic external heavy object. If no intervention is taken after diagnosing this state, the residual hydraulic oil in the closed pipeline will form an extremely high-pressure local confined space under the continuous compression of the tracks, leading to pipeline rupture or mechanical detachment of pipe joints. Therefore, the system controls the main control valve group to switch to a full-bore floating unloading mode, simultaneously opening the previously locked high and low pressure oil circuits to the zero-pressure oil tank. This unloading mode opens an unobstructed release channel for the compressed fluid and simultaneously escalates the alarm, warning the operator that the danger is dynamically spreading.

[0061] The above steps calculate the pulse time difference rate of change to sense the dynamic crushing behavior of heavy objects. Based on this, actively switching to floating unloading mode can release the closed high pressure generated by continuous compression and eliminate the hydraulic rigidity of the pipeline, reducing the risk of catastrophic pipe bursts or tears when flexible pipelines are subjected to mechanical progressive crushing.

[0062] In some embodiments, when operators blindly issue restart commands due to misjudgment of remote visual blind spots and when it is necessary to urgently retrieve stuck equipment, the internal damage of the pipeline can be diagnosed by identifying the phase reversal of the reflected waveform, and a micro-pulse stepping escape mechanism based on the viscoelastic limit of rubber can be introduced to avoid secondary explosion of the hidden pipeline and safely retrieve the remote equipment.

[0063] Specifically, when a heavy object runs over and leaves the pipeline, it rebounds due to its elasticity. The operator might misjudge the situation due to a blind spot and press the reset / restart button. The system's underlying logic will directly intercept this reset command, maintaining a power-off lockout, and actively send hydraulic verification pulses for concealed physical flaw detection. The system extracts the waveform phase characteristics at the time window corresponding to the actual arrival time calculated in S104. From a fluid acoustics perspective, normal pipeline blockage will cause a sudden increase in acoustic impedance, reflecting a positive pressure wave peak; if the internal structure of the pipe wall is damaged or fractured, the structural support of the pipe wall at that point will decrease. Based on this, the system determines that there is hidden internal damage and closes the main oil circuit.

[0064] However, after the booster circuit is locked, the remote hydraulic actuator often gets stuck on the heavy load, and the equipment cannot be detached without hydraulic power. Therefore, after receiving an emergency escape command, the system reads the amplitude parameter of the aforementioned negative trough (this amplitude parameter maps the tensile deformation capacity of the remaining outer rubber at the structural fracture point), thereby calculating the maximum volumetric expansion margin that the damaged area can accommodate before critical bursting. Subsequently, the system pumps a single hydraulic micro-pulse into the pipeline, strictly less than this expansion limit. The advantage of this is that the single pumped micro-pulse of hydraulic oil just causes a slight expansion deformation at the damaged point without causing rupture, while the system monitors the local pressure decay curve at the power output end in real time. When the slope of the decay curve approaches zero, hydrodynamically, this means that the single pumped micro-pulse of hydraulic oil has passed the damaged blockage point and flowed to the remote cylinder, and the locally bulging rubber has completed its elastic recovery and rebalanced. At this point, the system pumps in another micro-pulse until the system detects that the base back pressure has dropped to the preset no-load threshold (wherein, the preset no-load threshold refers to the system's base residual back pressure when the hydraulic actuator is completely free from physical mechanical resistance, and its preset method is obtained by those skilled in the art through experimental calibration based on the frictional resistance and pressure loss along the hydraulic actuator during the no-load return stroke), and the escape ends.

[0065] By performing the above steps, hidden pipeline damage is diagnosed by identifying negative echo distortion, and the expansion limit is calculated based on the trough amplitude to execute micro-pulse step-by-step power supply. Utilizing the viscoelastic recoil characteristics of the pipe wall, the fluid is safely delivered to the distant end without bursting the damaged point, thereby relieving equipment jamming and avoiding the risk of secondary explosion.

[0066] In the above embodiments, abnormal pipeline conditions are identified by calculating the real-time pressure-volume characteristic ratio. When an abnormality is detected, the pressurization command is actively blocked. The fault point is located by combining pulse reflection time with the system, and a correlation is established between fluid input volume and pressure feedback. This allows for the detection of abnormal fluid impedance in the early stages of pipeline deformation under pressure. Therefore, when the operator is in a blind spot and a pressurization command is issued, the power output is actively cut off, preventing the continuous injection of high-pressure fluid into the damaged pipeline. This avoids hydraulic pipeline rupture due to localized pressure overload and reduces the risk of physical damage to the equipment.

[0067] In some other embodiments of this application, during the removal of heavy objects to clear obstacles, the trapped high-pressure fluid may instantly cause a jet backflow, damaging the main unit. Using the remote control method for the power station provided in this application, a quantitative reverse suction can be performed based on the calculated trapped volume to preemptively release residual pressure potential energy and ensure safe obstacle removal.

[0068] like Figure 3 The diagram shown is another flowchart illustrating a remote control method for a power station provided in this application, including the following steps: S201. Obtain the operation command sent by the remote control terminal and the actual hydraulic data collected synchronously. Calculate the pumped liquid volume for the current cycle based on the duration parameter of the operation command and the output flow characteristics of the current power host. Combine the pressure change of the actual hydraulic data to calculate the real-time pressure-volume characteristic ratio.

[0069] S202. Extract and compare the operation commands from adjacent cycles. When it is determined that the opening degree of the current operation command continues to increase or remains in the preset high range, and the real-time pressure-volume characteristic ratio is greater than the preset reference pressure-volume characteristic ratio threshold, block the operation commands from the remote control terminal to prevent the power unit from performing boost output action.

[0070] S203. After the shielding operation command, control the main oil circuit reversing valve group of the power host to perform high-frequency opening and closing action, or control the internal pump body swashplate to perform micro-vibration action, so as to output hydraulic test pulses to the hydraulic pipeline and obtain the actual arrival time of the hydraulic test pulses being reflected back to the power host.

[0071] S204. If the actual arrival time is less than the preset reference reflection time based on the total length of the hydraulic pipeline, it is determined that there is an abnormal pressure fault in the hydraulic pipeline, and the abnormal pressure fault point is determined.

[0072] S205. Based on the judgment result of abnormal pressure fault, cut off the power output of the main unit and send abnormal warning information to the remote control terminal.

[0073] Steps S201-S205 and Figure 2 Steps S101-S105 in the illustrated embodiment are similar and can be found in the descriptions of steps S101-S105, which will not be repeated here.

[0074] S206. Based on the actual arrival time of the hydraulic test pulse reflected back to the power host end, and the physical cross-sectional area of ​​the hydraulic pipeline, the trapped residual hydraulic volume in a high-pressure state between the abnormal pressure fault point of the power host is calculated.

[0075] Among them, the hydraulic test pulse refers to the transient fluid pressure wave injected into the pipeline by the power unit; the actual arrival time refers to the time interval between the pressure wave being emitted and the reverse echo being captured by the sensor; the physical cross-sectional area refers to the geometric cross-sectional area of ​​the fluid flow hole inside the hydraulic hose; the high pressure state refers to the physical state in which the fluid pressure exceeds the normal no-load back pressure; the abnormal pressure fault point refers to the spatial physical location of the pipeline caused by external crushing, resulting in cross-sectional blockage; the trapped residual pressure hydraulic volume refers to the total volume of fluid in a compressed state that is sealed between the power unit and the damaged point due to pipeline blockage.

[0076] Specifically, firstly, based on the fundamental sound velocity constant c of the fluid medium and the actual arrival time t, the length L of the trapped pipeline between the main power unit and the abnormal pressure fault point is calculated using the distance measurement formula L=(c·t) / 2. Then, the system retrieves the pre-configured pipeline inner diameter parameter r to obtain the physical cross-sectional area A=π·r. 2 Based on this, the system calculates the static foundation volume using the formula V0=L×A. Considering the elastic expansion phenomenon of the flexible hose under high pressure, the system further uses the volume correction formula V=V0(1+β·P) to perform compensation calculations based on the extracted residual back pressure value P and the pipe wall volume expansion coefficient β, thus obtaining the actual trapped residual hydraulic volume.

[0077] In some embodiments, the calculation of the trapped residual hydraulic volume can be achieved in several ways: Optionally, based on a microprocessor internal timer and static lookup table, firstly, a hardware timer extracts pulse time slices to calculate the distance constant; secondly, predefined pipe diameter parameters are retrieved from non-volatile memory to calculate the cross-sectional area; finally, the volume variable is output by substituting it into the cylinder volume formula and executing a multiplication instruction. Optionally, based on an edge computing gateway and a dynamic pressure compensation model, firstly, the real-time back pressure of the pressure sensor is obtained to evaluate the fluid volume compressibility; secondly, the dynamic inner diameter of the pipeline is corrected by combining pressure elasticity data; finally, the compensated residual volume is calculated using a spatial integration algorithm. It is understood that other methods can also be used to evaluate the pressure volume of the pipeline, and these are not limited here.

[0078] S207. Lock the main hydraulic output circuit of the power unit and activate the obstacle removal safety authorization mode on the remote control terminal.

[0079] Among them, locking refers to the action of cutting off the power fluid transmission path by mechanical or electrical means; the main hydraulic output circuit refers to the core power transmission channel connecting the hydraulic pump and the external working machinery; the obstacle removal safety authorization mode refers to a logical state in which the system enters a state where the normal command response is suspended and the operator needs to perform specific identity verification or action confirmation before subsequent obstacle removal operations can be performed.

[0080] Specifically, at the hardware level, the microcontroller sends a power-off signal to the electromagnetic proportional directional valve controlling the main hydraulic output circuit, causing the valve core to return to the neutral closed state under the action of the return spring, physically isolating the power source from the damaged pipeline. At the software level, the system communication module packages the current state into an encrypted authorization activation message and sends it to the remote control terminal via the radio frequency link. After receiving the message, the remote control terminal triggers the interrupt mechanism of the underlying operating system, freezing the normal signal acquisition functions of all operating joysticks and execution buttons, and calling the human-machine interaction subroutine containing specific unlock prompts on the display interface, waiting for the operator's security confirmation.

[0081] In some embodiments, loop locking and mode activation can be implemented in several ways: Optionally, based on a hardware relay and software mutex mechanism, firstly, the control relay in the hydraulic valve coil power supply circuit is disconnected; secondly, a safety mutex variable is set in the operating system's task scheduler; and finally, a UI interface switching message with a checksum is sent to the remote control terminal. Optionally, based on a hydraulic cartridge valve and heartbeat handshake protocol, firstly, the pilot control pressure of the main oil circuit two-way cartridge valve is released to close it; secondly, the broadcast of regular control data is paused, a dedicated point-to-point safety handshake communication channel is established, and finally, a specific troubleshooting indicator light is illuminated on the remote control terminal. It is understood that other methods can also be used to achieve system state locking and interactive reset after power cutoff, which are not limited here.

[0082] S208. Obtain the troubleshooting readiness confirmation command triggered by the remote control terminal in the troubleshooting safety authorization mode.

[0083] Among them, the clearance readiness confirmation instruction refers to the electrical signal instruction issued by the operator through the remote terminal after confirming that the on-site environment meets the conditions for safe release, allowing the system to perform subsequent fluid release operations.

[0084] Specifically, the input capture module inside the remote control terminal polls the operator's input behavior in real time. When the operator inputs data through a specific verification method, the input signal is parsed by the remote control main control chip. The chip encapsulates the valid input into a digital data frame according to a preset encryption algorithm. Subsequently, the data frame is transmitted to the receiving antenna at the power unit via a wireless radio frequency channel. The communication parsing module of the power unit extracts the received data, performs CRC redundancy check and timing matching, and after verification, introduces the instruction into the main flow control stack of the system.

[0085] In some embodiments, the triggering and acquisition of confirmation commands can be achieved in several ways: Optionally, based on physical combination buttons and radio frequency communication, firstly, the synchronous closing level of two diagonally positioned buttons on the remote control panel is acquired; secondly, this state is encoded into a data packet of a specific format and encrypted; finally, it is transmitted via a microwave channel and decoded and authenticated on the host side. Optionally, based on biometric recognition and network communication, firstly, the fingerprint scan data of the operator is acquired by the feature recognition sensor integrated in the terminal; secondly, the feature data is hashed and compared with a locally stored whitelist database; finally, after the comparison is successful, a confirmation message is sent via the industrial wireless local area network. It is understood that other methods can also be used to achieve manual confirmation and data acquisition of troubleshooting signals, which are not limited here.

[0086] S209. In response to the obstacle clearance readiness confirmation command, control the opening of the return oil pressure relief circuit of the power unit, and perform a three-dimensional quantitative reverse suction action on the pipeline section under high pressure based on the calculated trapped residual hydraulic volume.

[0087] Among them, the return oil pressure relief circuit refers to the bypass fluid channel that connects the high-pressure side pipeline to the low-pressure hydraulic oil tank and is used to release fluid pressure; the three-dimensional capacity volume refers to the specific three-dimensional volume value set according to the calculation data; the quantitative reverse suction action refers to the operation process in which the power host controls the removal of a specific volume of hydraulic oil from the pipeline and delivers it to the oil tank.

[0088] Specifically, the blockage in the hydraulic line turns it into a sealed container that accumulates the elastic potential energy of the fluid. The programmable logic controller (PLC) of the power unit sends commands to the servo motor or proportional valve controlling the return oil pressure relief circuit. By driving the hydraulic pump to rotate in reverse or controlling the valve to open, the system begins to divert the fluid in the high-pressure line back to the oil tank. During this process, the system integrates the flow rate of the extracted fluid to monitor the discharged volume. When the accumulated discharged volume reaches the trapped residual hydraulic pressure volume calculated in S206, the system immediately controls the servo motor to stop reversing or closes the pressure relief valve, terminating the continued extraction of liquid.

[0089] In some embodiments, quantitative reverse suction can be achieved in several ways: Optionally, based on a servo driver and a bidirectional piston pump, firstly, a pulse command for reverse rotation speed and a target number of rotations is sent to the driver; secondly, the servo motor drives the bidirectional hydraulic pump to rotate in the reverse direction to establish a suction pressure differential; finally, the volume is monitored by encoder pulse counting, and electric braking is performed when the set number of rotations is reached. Optionally, based on a micro-opening proportional valve and flow meter integration, firstly, a specific current is output to the discharge proportional valve to maintain a constant micro-throttling opening; secondly, a digital flow meter connected in series in the circuit monitors the instantaneous return flow rate; finally, time integration is performed on the flow rate, and the proportional valve drive signal is cut off when the value meets the conditions. It is understood that other methods can also be used to achieve quantitative and stable release of energy within the hydraulic system, which are not limited here.

[0090] In some embodiments, when there is a significant difference in terrain elevation at the work site, causing the main power unit to be in a physically low position, while the abnormal pressure fault point is in a high slope position, a nonlinear progressive release mechanism based on terrain elevation compensation can also be introduced.

[0091] When performing this pressure relief operation at a power station located in a low-lying area, in addition to the accumulated elastic expansion potential energy of the fluid in the pipeline, the internal fluid will generate hydrostatic pressure (gravitational potential energy) due to the height difference. If the pressure relief circuit is directly opened for conventional suction, the high-level liquid column will instantly accelerate downward under gravity, generating a reverse gravity water hammer phenomenon in the hydraulic system. This water hammer shock wave is sufficient to damage the filter element of the low-pressure circuit and the oil distribution plate and other structures inside the pump body. To address this scenario, before suction is performed, the system retrieves pre-integrated barometer data or calls static pressure sensor data to obtain the elevation difference value, and calculates the additional static pressure based on the hydrostatic formula. Subsequently, the system does not perform conventional constant-speed suction, but controls the opening of the proportional pressure relief valve to slowly increase over time with a non-linear exponential function slope. The initial extremely small opening uses throttling damping to consume gravitational potential energy and reduce the flow velocity. After the static back pressure drops to a safe limit, the opening is gradually expanded to complete the extraction of the calculated volume. This mechanism relies on dynamic throttling to dissipate the gravitational impact kinetic energy of the liquid column.

[0092] S210: Simultaneously monitor the residual pressure value at the output end of the power unit. When the residual pressure value drops to the preset safety release pressure threshold, send a fault clearance safety permission feedback signal to the remote control terminal.

[0093] Among them, the residual pressure value refers to the static fluid pressure data remaining in the pipeline after the fluid suction operation is performed; the preset safety release pressure threshold refers to the maximum back pressure data allowed under the premise of ensuring that no fluid jet injury occurs when personnel disassemble the pipeline, and its preset method is set by technical derivation based on the general hydraulic pipe joint disassembly industry standard; the obstacle removal safety permission feedback signal refers to the digital message sent to the remote control terminal, indicating that the internal energy of the system has been completely released and manual contact can be carried out.

[0094] Specifically, the system's underlying data acquisition module continuously samples the pressure transmitter signal located at the hydraulic output interface. Theoretically, after the trapped volume is removed, the additional pressure generated by expansion within the pipeline will dissipate. The processor compares the digitally filtered residual pressure value with the safe release pressure threshold in real time. When the pressure value is below this threshold for multiple consecutive sampling cycles, the system determines that the fluid energy in the current pipeline has been drained, and the physical state meets the safety conditions for manual removal of the pipeline or removal of the heavy object. Subsequently, the system's main control chip generates a specific feedback communication frame, which is sent to the remote control terminal via the data link, updating the equipment status by displaying a green pass marker on the interface or disabling the audible alarm.

[0095] In some embodiments, residual pressure monitoring and signal feedback can be implemented in several ways: Optionally, based on microcontroller analog-to-digital conversion and Bluetooth link, the analog voltage of the pressure transmitter is first read periodically through the ADC channel; then, the voltage value is converted into a pressure value and logically judged against a threshold; finally, a permission command is sent to the operator terminal via the Bluetooth module through the UART interface. Optionally, based on programmable logic controller (PLC) and industrial Ethernet, the sensor loop current signal is first obtained through the PLC analog input module; then, a comparison instruction is called in the program block to determine the pressure status; finally, when the determination is successful, a data packet containing a status code is pushed to the terminal via Ethernet. It is understood that other methods can also be used to achieve closed-loop pressure monitoring and status interaction updates, which are not limited here.

[0096] In some embodiments, if the pipeline upstream of the abnormal pressure fault point has been depressurized but the pipeline in the remote blind zone still has high-pressure fluid and the compressing object is about to be removed, the remote potential energy can be calculated and the energy absorption circuit can be controlled in advance to carry out collaborative obstacle removal, so as to prevent the high-pressure fluid from rushing back and damaging the low-pressure circuit of the host when the compressing object is removed.

[0097] Specifically, after pressure release is completed in the section from the power unit to the fault point, the pipeline between the fault point and the remote actuator remains physically blocked, accumulating fluid pressure. The system calculates the blind zone pipeline length by subtracting the distance to the abnormally pressurized fault point from the total length of the hydraulic pipeline, and then calculates the residual pressure potential energy accumulated in the blind zone pipeline using the fluid volume elastic modulus. The system compares this potential energy value with a preset water hammer damage threshold, which refers to the upper limit of fluid kinetic energy impact that the system's low-pressure circuit components can withstand. This threshold is preset by those skilled in the art based on impact resistance test data of hydraulic valve body seals. If the potential energy exceeds this threshold, the system sends a collaborative obstacle removal warning signal to the remote control terminal to trigger feedback, thereby alerting the operator that the upcoming removal of the object carries a risk of fluid backflow damage. This establishes information synchronization to constrain unilateral physical obstacle removal actions. Upon receiving a continuous obstacle removal pressing signal from the terminal, the system uses it as a synchronous confirmation condition that the object is about to be removed, and pre-activates the energy absorption and pressure relief circuit inside the main unit. The pre-opening step eliminates the mechanical lag time during the opening process of hydraulic components, establishing a fluid unloading channel in advance. When the abnormal pressure fault point is physically opened due to the removal of the heavy object, the fluid flows back towards the main unit. The system receives the surge in fluid impact pressure data at the input end and uses this data as an input variable to dynamically adjust the throttling damping opening of the energy absorption and pressure relief circuit. Utilizing the dynamic throttling mechanism, the fluid's mechanical energy is converted into heat energy until the pressure in the entire pipeline drops to the preset safe back pressure value. The preset safe back pressure value refers to the base pressure at which the fluid returns to static equilibrium, and its preset method is based on the standard opening pressure parameter setting of the system's return oil check valve. Dynamically adjusting the damping opening according to the pressure ensures a smooth and controllable fluid energy release process.

[0098] By performing the above steps, the potential energy of the blind zone is assessed in advance, and an energy-absorbing and pressure-relieving channel is established in advance before the fault point is cleared. Combined with the dynamic damping adjustment mechanism of pressure feedback, the destructive water hammer impact caused by undamped fluid backflow is avoided, and the risk of damage to the internal hydraulic components of the system is reduced.

[0099] In some embodiments, when an abnormal pressure failure causes an abnormal temperature rise in the local fluid and the operator attempts to restart the equipment after the obstruction is removed, the risk of temperature rise can be assessed by the instantaneous pressure change rate and a quantitative targeted cooling cycle can be performed to prevent high-temperature fluid from damaging the precision hydraulic components inside the system.

[0100] Specifically, when a pipeline is subjected to rapid pressure from an external heavy object, not only will physical blockage occur, but the fluid will also throttle at the rapidly contracting cross-section, increasing internal friction and converting some mechanical energy into heat, leading to an abnormal increase in local hydraulic oil temperature. To address this, the system extracts the actual hydraulic data acquired before the blocking operation command and calculates the instantaneous pressure change rate at the moment of the abnormal pressure fault, using this rate to reconstruct the physical force intensity at the moment of pressure. The system compares this rate of change with a preset pressure surge threshold, which is the limit of the transient pressure change rate characterizing the temperature rise due to throttling. This threshold is determined experimentally by those skilled in the art based on the thermodynamic characteristics of hydraulic fluids and the heat resistance limits of pipeline materials. When the instantaneous pressure change rate exceeds this threshold, the system determines that there is a risk of oil temperature rise due to local abnormal throttling within the hydraulic pipeline. Based on this risk assessment, when the system receives a work recovery command from the remote control terminal, it actively intercepts the command and controls the power unit to pre-open the internal low-pressure bypass cooling circuit. The aforementioned interception operation prevented the operator from applying high pressure again without noticing the abnormal fluid temperature, thus avoiding the rapid influx of high-temperature fluid into the core valve group area of ​​the system. Subsequently, the system calculated the volume of the faulty section of the pipeline based on the measured actual arrival time and the physical cross-sectional area of ​​the hydraulic pipeline. Based on this specific volume, the system outputs a matching low-pressure circulating fluid to the hydraulic pipeline for targeted cooling circulation. This quantitative targeted circulation strategy based on distance parameters avoids the time-consuming operation of blindly performing large-scale oil changes throughout the entire system, improving heat dissipation and cooling efficiency. When the cumulative fluid volume output by the system reaches the preset cooling volume, which refers to the fluid volume required to achieve sufficient heat exchange in the local high-temperature fluid of the pipeline, and is preset by multiplying the volume of the faulty section of the pipeline by the system's basic cooling efficiency coefficient, the system determines that the fluid thermodynamic state has returned to normal. It then restores the power response output of the main unit and sends a system ready signal indicating cooling completion to the remote control terminal, guiding the system into normal operation.

[0101] By performing the above steps, the risk of localized temperature rise is identified by monitoring the rate of pressure change, and dangerous restart commands are intercepted. Quantitative, targeted low-pressure circulating cooling is then performed using calculated volume. This operation replaces the locally high-temperature fluid for cooling, preventing high-temperature oil from being forced into the main unit by high pressure and damaging precision sealing components, thus reducing the risk of thermal damage to the equipment.

[0102] In the above embodiments, the volume of high-pressure fluid trapped in the damaged pipe section is calculated based on distance measurement, and a quantitative reverse suction and unloading operation is performed accordingly to remove a specific volume of fluid, dissipate the elastic potential energy of the fluid accumulated in the closed pipeline, and enable the damaged pipeline to actively return to a safe low-pressure state. This avoids the safety hazard of instantaneous uncontrolled jetting of high-pressure fluid when manually removing and clearing the pipeline, eliminates the risk of high-pressure reverse backflow destroying the main valve group when the obstacle is removed, and enhances the obstacle clearance safety and self-protection capability of the equipment after encountering external damage.

[0103] The following describes an exemplary remote control system 300 for a power station provided in an embodiment of this application. Figure 4 This is an exemplary hardware structure diagram of the remote control system 300 for power stations provided in this application embodiment.

[0104] In some embodiments, the power station remote control system 300 is a computer device or includes a computer device. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the computer device stores data. The network interface of the computer device is used to communicate with other external terminals or servers via a network connection. In some embodiments, the network interface can be a wired network interface; in some embodiments, the network interface can also be a wireless network interface. When the computer program is executed by the processor, it implements the methods in the embodiments of this application.

[0105] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0106] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0107] As used in the above embodiments, depending on the context, the term "when..." can be interpreted as "if...", "after...", "in response to determining...", or "in response to detecting...". Similarly, depending on the context, the phrase "when determining..." or "if (the stated condition or event) is interpreted as "if determining...", "in response to determining...", "when (the stated condition or event) is detected", or "in response to detecting (the stated condition or event)".

[0108] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0109] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for remote control of an electric power plant, characterized in that include: The system acquires operation commands sent by the remote control terminal and synchronously collected actual hydraulic data. Based on the duration parameter of the operation command and the output flow characteristics of the current power host, it calculates the pumped liquid volume for the current cycle and, combined with the pressure change of the actual hydraulic data, calculates the real-time pressure-volume characteristic ratio. The operation commands from adjacent cycles are extracted and compared. When it is determined that the opening degree of the current operation command continues to increase or remains in a preset high range, and the real-time pressure-volume characteristic ratio is greater than the preset reference pressure-volume characteristic ratio threshold, the operation command from the remote control terminal is blocked to prevent the power host from performing the boost output action. After the operation command is blocked, the main oil circuit reversing valve group of the power host is controlled to perform high-frequency opening and closing action, or the internal pump body swashplate is controlled to perform micro-vibration action, so as to output hydraulic test pulses to the hydraulic pipeline and obtain the actual arrival time of the hydraulic test pulses reflected back to the power host. If the actual arrival time is less than the preset reference reflection time based on the total length of the hydraulic pipeline, it is determined that there is an abnormal pressure fault in the hydraulic pipeline, and the abnormal pressure fault point is determined. Based on the determination of the abnormal pressure fault, the power output of the power unit is cut off, and an abnormal warning message is sent to the remote control terminal.

2. The method of claim 1, wherein, After sending the abnormal warning information to the remote control terminal, the method further includes: Based on the actual arrival time of the hydraulic test pulse reflected back to the power unit and the physical cross-sectional area of ​​the hydraulic pipeline, the static pipeline volume between the power unit and the abnormal pressure fault point is calculated. Combined with the current residual back pressure in the pipeline and the preset pipe wall volume expansion coefficient, dynamic compensation is performed to calculate the trapped residual pressure hydraulic volume under high pressure. Lock the main hydraulic output circuit of the power unit and activate the obstacle removal safety authorization mode on the remote control terminal; Obtain the troubleshooting readiness confirmation command triggered by the remote control terminal in the troubleshooting security authorization mode; In response to the obstacle clearance readiness confirmation command, the return oil pressure relief circuit of the power unit is opened, and based on the calculated residual hydraulic volume of the trapped unit, a three-dimensional quantitative reverse suction action is performed on the pipeline section under high pressure. The residual pressure value at the output end of the power unit is monitored synchronously. When the residual pressure value drops to the preset safety release pressure threshold, a fault clearance safety permission feedback signal is sent to the remote control terminal.

3. The method according to claim 2, characterized in that, After the residual pressure value drops to a preset safe release pressure threshold, the following steps are also included: Based on the total length of the hydraulic pipeline and the distance of the abnormal pressure fault point corresponding to the actual arrival time, the length of the blind zone pipeline between the abnormal pressure fault point and the remote execution device is calculated, and the residual pressure potential energy of the remote trapped device accumulated in the blind zone pipeline is calculated. When the residual pressure energy of the remote trapped end exceeds the preset water hammer damage threshold, a collaborative obstacle removal early warning signal is sent to the remote control terminal, and an early warning feedback is triggered on the remote control terminal. The system receives a continuous troubleshooting press signal from the remote control terminal after triggering the warning feedback, and controls the power unit to pre-open the internal energy absorption and pressure relief circuit. When the fluid impact pressure data of the fault point at the input end of the power host is obtained due to the abnormal pressure, the damping opening of the energy absorption and pressure relief circuit is dynamically adjusted based on the fluid impact pressure data until the pressure of the entire pipeline drops to the preset safe back pressure value.

4. The method of claim 1, wherein, After sending the abnormal warning information to the remote control terminal, the method further includes: Obtain the reset / restart command issued by the remote control terminal after the abnormal warning information is triggered; The reset and restart command is intercepted to maintain the power cut-off state of the power unit, and the power unit is controlled to output hydraulic verification pulses to the hydraulic pipeline again; Acquire the reflected pressure waveform corresponding to the hydraulic verification pulse, and extract the waveform phase characteristics of the reflected pressure waveform at the time node corresponding to the actual arrival time; If the waveform phase characteristic shows a negative expansion trough, it is determined that there is a local expansion defect at the abnormal pressure fault point. Based on the local expansion defect, the boost output circuit of the power unit is blocked, and a disable signal containing a pipeline damage warning is sent to the remote control terminal.

5. The method of claim 4, wherein, After the boost output circuit of the power unit is locked, the following is also included: Obtain the emergency escape and recovery command issued by the remote control terminal after the disable signal is triggered; Based on the amplitude parameters of the expansion trough in the waveform phase characteristics, the limit volume expansion margin at the abnormal pressure fault point is calculated. The power unit is controlled to output a single hydraulic micropulse to the hydraulic pipeline with a single pump volume smaller than the limit volume expansion margin, and the local pressure decay curve at the output end of the power unit is monitored in real time. When the slope of the local pressure decay curve approaches zero, the power host is controlled to output the next single hydraulic micropulse again, and the step output of the single hydraulic micropulse is executed cyclically until the pipeline back pressure drops to the preset no-load threshold, and the step output ends.

6. The method of claim 1, wherein, After sending the abnormal warning information to the remote control terminal, the method further includes: The power unit is controlled to continuously output multiple hydraulic tracking pulses to the hydraulic pipeline at a preset cycle while maintaining the power cut-off state; The dynamic arrival time sequence of the plurality of hydraulic tracking pulses being reflected back to the power host is obtained; Calculate the rate of change of time difference between adjacent time nodes in the dynamic arrival time series to determine the rate of pressure propagation of the abnormal pressure fault point on the hydraulic pipeline; When it is determined that the pressure spread rate is continuously greater than zero and less than the preset deformation spread threshold, it is determined that the hydraulic pipeline is in a state of continuous forced compression by the progressive crushing of external heavy objects. Based on the determination of the continuous pressure state, the main control valve group of the power unit is switched to the floating unloading mode, and the abnormal warning information sent to the remote control terminal is upgraded to the pipeline continuous pressure alarm signal.

7. The method of claim 2, wherein, After sending the obstacle clearance safety permission feedback signal to the remote control terminal, the method further includes: Extract the actual hydraulic data obtained before the shielding operation command, and calculate its instantaneous pressure change rate at the moment the abnormal pressure failure occurs; When the instantaneous pressure change rate is determined to be greater than the preset pressure surge threshold, it is determined that there is a risk of oil temperature rise inside the hydraulic pipeline due to local abnormal throttling. Obtain the operation recovery command issued by the remote control terminal, intercept the operation recovery command, and control the power host to open the internal low-pressure bypass cooling circuit; Based on the actual arrival time and the volume of the faulty section of the hydraulic pipeline calculated from the physical cross-sectional area of ​​the hydraulic pipeline, a low-pressure circulating fluid matching the volume of the faulty section of the hydraulic pipeline is output to the hydraulic pipeline for targeted cooling circulation. After the output fluid volume reaches the preset cooling volume, the power response output of the power unit is restored, and a system ready signal indicating that cooling is complete is sent to the remote control terminal.

8. A remote control system for an electric power plant, characterized in that The remote control system for the power station includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code including computer instructions, and the one or more processors call the computer instructions to cause the remote control system for the power station to perform the method as described in any one of claims 1-7.

9. A computer program product comprising instructions, characterized in that, When the computer program product is run on the remote control system of the power station, it causes the remote control system of the power station to perform the method as described in any one of claims 1-7.

10. A computer-readable storage medium comprising instructions, characterized in that, When the instruction is executed on the remote control system of the power station, it causes the remote control system of the power station to perform the method as described in any one of claims 1-7.

Images