Intelligent voltage detection methods, equipment and media for power plant lines

Abstract

This application proposes an intelligent voltage testing method, equipment, and medium for power plant lines. The method includes: controlling a remote-controlled trolley to move to a target work area below the voltage line to be tested, and deploying support components to provide stable support for the trolley; driving a lifting platform to perform vertical lifting actions, adjusting a translational and lateral base mounted on the lifting platform to an initial height range matching the height of the voltage line to be tested; controlling the translational and lateral base to perform multi-degree-of-freedom translational motion in a horizontal plane, moving the top of an insulating telescopic rod fixed on the base to a contact position directly below or to the side of the voltage line to be tested; extending the insulating telescopic rod to a specified length, making physical contact between the voltage detector contact mounted on the top and the voltage line to be tested for live-line detection. This method effectively eliminates the risk of electric shock during voltage testing, reduces labor intensity, simplifies the operation process, transforms multi-person collaboration into single-person remote control, significantly saves labor costs, and improves voltage testing efficiency.

Description

Technical Field

[0001] This application relates to the field of power plant line detection technology, and in particular to an intelligent voltage detection method, equipment and medium for power plant lines. Background Technology

[0002] Currently, power line voltage testing is a core component of the power operation and maintenance system, directly impacting the safety and reliability of power grid maintenance work. With the rapid development of ultra-high voltage (UHV) transmission technology, related technologies typically employ a collaborative approach involving manual handheld insulated operating rods, telescopic voltage detectors, and auxiliary aerial work platforms to construct a voltage testing system for power lines from the ground to the high altitudes. Specifically, this operational mode encompasses key aspects such as equipment positioning, height adjustment, and contact detection, serving as a crucial means of maintaining the stable operation of the power system.

[0003] However, current high-voltage line testing methods in related technologies rely directly on manual operation using insulated ladders or platforms to lift long poles, lacking an automated, precise positioning and stable support mechanism. Due to the limited length and unstable center of gravity of the operating pole, it is prone to tipping or shifting under complex conditions such as strong winds, resulting in low testing efficiency and difficulty in ensuring effective contact. Furthermore, this intensive manual operation not only increases the workload of maintenance personnel but also significantly increases the risk of electric shock due to fluctuations in equipment insulation performance or operational errors, hindering the transformation of power operation and maintenance towards intelligent systems. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in the related art.

[0005] Therefore, the first objective of this application is to propose an intelligent voltage detection method for power plant lines.

[0006] The second objective of this application is to propose an electronic device.

[0007] The third objective of this application is to provide a computer-readable storage medium.

[0008] To achieve the above objectives, the first aspect of this application is to propose an intelligent voltage detection method for power plant lines, comprising the following steps:

[0009] Control the remote-controlled moving vehicle to move to the target work area under the power line to be tested, and deploy the support components to provide stable support for the vehicle body; Drive the lifting platform to perform a vertical lifting action, and adjust the translation and transverse base installed on the lifting platform to an initial height range that matches the height of the electrical line to be tested; Control the translation and transverse base to perform multi-degree-of-freedom translational motion in the horizontal plane, thereby moving the top of the insulating telescopic rod fixed on the translation and transverse base to the position directly below or to the side of the electrical line to be tested. Extend the insulating telescopic rod to a specified length, and make physical contact between the voltage detector contact installed at the top of the insulating telescopic rod and the circuit to be tested for liveness detection.

[0010] To achieve the above objectives, a second aspect of this application also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform an intelligent voltage detection method for a power station line as described in any one of the first aspects above.

[0011] To achieve the above objectives, a third aspect of this application also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the intelligent voltage detection method for power station lines as described in any of the first aspects above.

[0012] The technical solution provided by the embodiments of this application brings at least the following beneficial effects: This application realizes the precise lifting, lowering, and translational positioning of the voltage detector through an automated control platform, replacing manual high-altitude handheld operations, eliminating the risk of electric shock at the source and solving the problem of difficult voltage detection on high-voltage lines. At the same time, this solution simplifies traditional multi-person collaboration to single-person remote control operation, significantly reducing labor intensity and improving the efficiency and safety of power operation and maintenance.

[0013] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0014] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of an intelligent voltage detection method for a power station line proposed in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of an intelligent voltage testing platform for a power station line according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a hydraulic system proposed in an embodiment of this application; Figure 4 This is a schematic diagram of a simplified hydraulic control system proposed in an embodiment of this application; Figure 5This is a schematic diagram illustrating the principle of PLC-based pulse control of a stepper motor, as proposed in an embodiment of this application. Detailed Implementation

[0015] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0016] The following description, with reference to the accompanying drawings, describes an intelligent voltage testing method, device, and medium for power plant lines proposed in an embodiment of this application.

[0017] Example 1 Figure 1 This is a flowchart of an intelligent voltage detection method for power station lines proposed in an embodiment of this application, as shown below. Figure 1 As shown, the method includes the following steps: Step S101: Control the remote-controlled moving vehicle to move to the target work area under the power line to be tested, and deploy the support components to provide stable support for the vehicle body.

[0018] It should be noted that, in order to realize the intelligent voltage testing method of this application, an intelligent voltage testing platform has been designed in advance. Figure 2 This is a schematic diagram of the structure of an intelligent voltage testing platform for a power station line proposed in an embodiment of this application, as shown below. Figure 2 As shown, the voltage testing platform consists of five main parts from bottom to top: a remote-controlled moving vehicle 100, a lifting platform 200, a horizontal and vertical sliding base 300, an insulated telescopic rod 400, and a voltage detector 500. The working principle of the voltage testing platform is as follows: the remote-controlled moving vehicle 100 is equipped with the lifting platform 200, the horizontal and vertical sliding base 300 is fixed on the lifting platform 200, and a set of insulated telescopic rods 400 is vertically fixed on the horizontal and vertical sliding base 300. The insulated telescopic rods 400 adopt a fishing rod-style telescopic structure, and the top of the rod can support the voltage detector 500 and the contact rod to a specified height for operation.

[0019] For example, during operation, the voltage detector can be positioned near the power grid using a mobile trolley. The lifting platform (0-6m) allows for a wide range of height adjustments; the movable base enables precise left-right and forward-backward adjustments. If the lifting height is unsuitable, a telescopic rod can be used for adjustment to ensure effective contact between the voltage detector's measuring end and the object being tested. The entire lifting structure and base are detachably connected, facilitating storage, transportation, and installation. The remote-controlled lifting trolley itself is mobile, reaching designated locations and providing stable support under various terrain conditions, effectively ensuring the safe operation of the entire platform.

[0020] The intelligent voltage testing method for power plant lines in this application is based on this voltage testing platform. Specifically, this method achieves intelligent voltage testing by controlling the relevant equipment within the aforementioned voltage testing platform. The implementation steps of this method are described in detail below.

[0021] Specifically, this step aims to address the technical problems of poor equipment stability and positioning difficulties in complex terrain using traditional manual voltage testing. Its core technology lies in utilizing a vehicle chassis with autonomous or remote-controlled mobility. Based on the spatial distribution characteristics of the lines to be tested, it plans and executes a movement path to reach the preset target work area. Subsequently, by activating support components integrated into the vehicle body, the contact state between the vehicle body and the ground is changed or support points are added, thereby constructing a rigid and stable working foundation to counteract the overturning moment generated by subsequent lifting and extension movements. This process does not rely on a specific drive source or support structure; any technical solution that can achieve precise chassis displacement and provide anti-overturning support at the work point falls into this category.

[0022] As a specific implementation method, a closed-loop drive system consisting of a variable pump and a variable motor can be used. By controlling the valve core displacement of the proportional valve with a control handle, the swing angle direction and displacement of the pump can be changed, thereby realizing the bidirectional movement and turning of the remote-controlled vehicle. After reaching the target position, the foot support legs set at the four corners of the vehicle body are flipped to make them horizontal, and the fixed support legs are unscrewed to work together with the bottom casters to form a multi-point stable support structure to adapt to various ground conditions and ensure the safety of the platform.

[0023] Therefore, this step, through the coordinated operation of automated movement and mechanical stabilization support, eliminates the risk of tipping over due to unstable equipment center of gravity at the source, significantly reduces the difficulty and safety concerns of operators in windy or rugged terrain, and reduces the reliance on manpower for multiple people to assist in stabilization, thus achieving high efficiency and inherent safety in the preparation stage of electrical testing operations.

[0024] Step S102: Drive the lifting platform to perform a vertical lifting action, and adjust the translation and transverse base installed on the lifting platform to an initial height range that matches the height of the electrical line to be tested.

[0025] Specifically, this step, which drives the lifting platform to perform vertical lifting, aims to overcome the safety hazards and operational difficulties caused by height limitations and instability when manually lifting electrical testing equipment through an automated mechanical adjustment mechanism. The core of this step lies in using a power source to drive the lifting mechanism to generate vertical displacement, thereby causing the translational and transverse base and subsequent load mounted on it to undergo a wide range of height adjustments in the vertical dimension. This brings them into an initial height range suitable for the height of the electrical line to be tested, laying the foundation for subsequent precise positioning.

[0026] This process relies on stable control of the lifting speed and a self-locking protection mechanism to prevent the load from falling unexpectedly in the event of a sudden failure, ensuring the stability and safety of the platform throughout the lifting, holding and lowering process.

[0027] As a specific implementation method, a scissor lift platform structure can be adopted, which is composed of components such as a gear pump, multi-way valve, hydraulic lock, and lifting cylinder. Figure 3 The hydraulic drive system shown. (As shown) Figure 3 As shown, the hydraulic system includes a variable pump 1, a handle 2, a motor 3, a brake 4, a pneumatic directional valve 5, a manual directional valve 6, a hand pump 7, an oil tank 8, a gear pump 9, a relief valve 10, a hydraulic lock 11, and a lifting cylinder 12.

[0028] In this system, the multi-way valve controls the hydraulic fluid flow by switching between the lifting, holding, and lowering positions, while the hydraulic lock locks the oil circuit to prevent the platform from falling due to its own weight in case of system malfunction. In this embodiment, fuzzy PID control technology can also be introduced to adjust the lifting speed in real time to address motion instability, and the maximum load can be calculated based on the torque balance principle to select a suitable hydraulic cylinder diameter. D With piston rod diameter For example, the diameter ratio This allows for reliable ascent and descent from the initial position to the target height range.

[0029] Therefore, this step replaces the traditional manual lifting operation with an automated vertical lifting mechanism, which significantly reduces the labor intensity of operators and the risk of working at height. At the same time, by using stable speed control and fault self-locking function, it effectively avoids tipping and electric shock accidents caused by unstable equipment center of gravity or mechanical failure, and greatly improves the safety and efficiency of electrical testing operations.

[0030] Step S103: Control the translation and transverse base to perform multi-degree-of-freedom translational motion in the horizontal plane, driving the top of the insulating telescopic rod fixed on the translation and transverse base to move to the contact position directly below or to the side of the line to be tested.

[0031] Specifically, this step controls the translation and transverse base to perform multi-degree-of-freedom translational motion in the horizontal plane, aiming to solve the problem of voltage detector alignment caused by line spatial position deviation. Its core lies in generating mutually orthogonal or composite displacement vectors through the horizontal drive mechanism, which drives the top of the insulating telescopic rod fixed on it to perform trajectory planning and precise positioning on the two-dimensional working surface, thereby adjusting the voltage detection end to the contact position directly below or to the side of the line to be tested.

[0032] This step utilizes the principle of multi-axis linkage to convert control signals into mechanical displacement, eliminating positional errors in the horizontal direction and ensuring that the detector contacts can accurately reach the preset working coordinate points to adapt to the line detection needs of different directions and suspension positions.

[0033] As one specific implementation, the translational and transverse base can be configured to include a cross slide module, with two linear motion units driven by stepper motors to generate independent or combined motion in the X and Y axes within the planar working range. In this scenario, a programmable logic controller can output pulse signals to the drive power supply, and control the slide to complete complex planar motions such as linear interpolation or circular interpolation according to preset movement direction, distance, and speed parameters, thereby achieving precise displacement of the top of the insulated telescopic rod.

[0034] Therefore, by performing multi-degree-of-freedom translational motion in the horizontal plane, this step can effectively compensate for the positional deviation caused by the coarse positioning of the remote-controlled moving vehicle, significantly improving the alignment accuracy and contact reliability of the voltage detector contacts and the line to be tested. This technology allows the voltage testing platform to flexibly adjust the working point without moving the vehicle body, which not only reduces the stringent requirements on the site terrain and vehicle parking position, but also avoids the risk of tipping over caused by the unstable center of gravity of the long insulating rod due to manual forced adjustment. Thus, while ensuring operational safety, it greatly improves the automation level and operational efficiency of intelligent voltage testing.

[0035] Step S104: Extend the insulating telescopic rod to the specified length, and make physical contact between the voltage detector contact installed at the top of the insulating telescopic rod and the line to be tested for live-line detection.

[0036] Specifically, the process of extending the insulated telescopic rod to the specified length in this step is essentially to use a telescopic insulated support component to make fine adjustments to the spatial position of the voltage detector mounted at the top in the vertical or inclined direction. This is to compensate for the remaining distance error caused by fluctuations in line height or the initial coarse positioning, and to ensure that the voltage detector contacts can establish a stable and reliable physical contact path with the conductor being tested.

[0037] This step involves adjusting the effective length of the supporting structure to precisely deliver the voltage testing end to the target potential point. Utilizing the contact conduction principle, it acquires the line's energized status signal, thus completing the final voltage testing determination. During this process, the insulated telescopic rod not only provides mechanical support but also acts as a high-voltage isolation medium, ensuring the safety of the control equipment and operators at the bottom.

[0038] As a specific implementation method, a fishing rod-type multi-stage sleeve telescopic structure can be adopted, in which each section of the rod is extended sequentially by manual operation or an auxiliary driving mechanism until the contact of the voltage detector makes physical contact with the line to be tested; this structure uses the nested sliding of multiple rod sections to achieve continuous or graded adjustment of the length, and meets the safety operation requirements under high voltage environment by virtue of the high insulation properties of composite materials.

[0039] Therefore, this step, through a refined length adjustment mechanism at the end, effectively solves the problem of precise alignment that is difficult to achieve with fixed lengths or large-range lifting, significantly improving the reliability and stability of the contact between the voltage detector contacts and the high-voltage line. Simultaneously, by utilizing the physical extension characteristics of the insulated telescopic rod, close-range contact measurement is achieved while ensuring electrical safety distances. This technically eliminates the risk of misjudgment due to poor contact and further reduces the exposure risk to operators under high-voltage field strength.

[0040] Example 2 Based on the above embodiments, this embodiment provides a detailed description of the specific implementation of the step S101 above, which involves "controlling the remote-controlled vehicle to move to the target work area below the power line to be tested and deploying the support components to provide stable support for the vehicle body".

[0041] In this embodiment, controlling the remote-controlled vehicle to move to the target work area below the electrical line to be tested and deploying the support assembly to provide stable support for the vehicle body includes: controlling the valve core displacement of the corresponding proportional valve by operating the handle to change the swing angle direction and displacement of the variable pump, driving the hydraulic motor in the closed circuit composed of the variable pump and the variable motor, so as to realize the bidirectional movement and turning of the remote-controlled vehicle to the target work area; after reaching the target work area, rotating the flip-type ground support legs located at the four corners of the vehicle body to a horizontal state, so that the fixed support legs and casters work together to reinforce the support, thereby completing the stable support of the vehicle body.

[0042] Specifically, in this embodiment, control signals are first input by manipulating two handles. These signals act as input sources to the corresponding proportional valves, driving the valve cores to displace. The processing action manifests as the change in valve core displacement directly altering the swing angle and displacement of the two variable pumps connected in series and linked to the engine flywheel via a coupling. This, in turn, adjusts the oil flow direction and flow rate in the hydraulic system. The output is to drive the hydraulic motor in a closed loop composed of variable pumps and variable motors. Since the two variable pumps drive one side of the hydraulic motor, forming two independent loops, the speed and direction of rotation of the two hydraulic motors are adjusted differentially to achieve straight-line movement, turning in place, and curved driving path planning of the remote-controlled vehicle, until it is precisely moved to the target work area.

[0043] Furthermore, after the remote-controlled mobile vehicle reaches the target work area, it enters the support and stabilization phase. The input at this stage comes from the mechanical operation commands of the four corner-flipping support legs. The processing action involves rotating the folded support legs to a horizontal position, allowing the fixed legs to extend downwards and contact the casters on the ground. The output is a support structure reinforced by the fixed legs and casters, providing stable support for the vehicle and preventing tilting or displacement during subsequent lifting operations. Throughout the process, the continuously adjustable displacement of the variable pump ensures smooth movement of the mobile vehicle under different ground conditions, while the horizontal deployment of the flipping support legs effectively increases the support area and improves the overall structural stability.

[0044] Therefore, the above-described specific implementation method, through the dual independent hydraulic circuit drive mechanism, realizes high-precision path tracking and flexible maneuverability of the remote-controlled mobile vehicle in complex terrain. At the same time, by utilizing the synergistic effect of the flip-type ground support legs and casters, the anti-tipping ability and static stability of the work platform are significantly enhanced, eliminating the risk of electrical testing operations caused by vehicle body swaying from the source, and ensuring the safety and reliability of high-altitude electrical testing operations.

[0045] Example 3 Based on the above embodiments, this embodiment provides a detailed description of the specific implementation of step S102, which involves "driving the lifting platform to perform a vertical lifting action and adjusting the translational and transverse base installed on the lifting platform to an initial height range that matches the height of the electrical line to be tested".

[0046] In this embodiment, driving the lifting platform to perform a vertical lifting action and adjusting the translational and transverse base installed on the lifting platform to an initial height range that matches the height of the electrical line to be tested includes: starting a gear pump to deliver hydraulic oil to the lifting cylinder through a multi-way valve; adjusting the controller parameters in real time using fuzzy PID control technology to control the piston rod movement speed of the lifting cylinder, thereby driving the scissor lift platform to perform a vertical lifting action; during the lifting process, using a hydraulic lock to lock the oil circuit to prevent the lifting platform from falling due to its own weight and load, and adjusting the translational and transverse base installed on the lifting platform to an initial height range that matches the height of the electrical line to be tested within a preset range.

[0047] Specifically, this embodiment focuses on a scissor lift platform. First, the velocity function of the working platform is established using the instantaneous center of velocity method. Second, a mathematical model of the lifting speed control system of the working platform is performed. Finally, a control system model of the lifting speed is built using Simulink, and fuzzy PID control technology is applied to implement it.

[0048] The hydraulic principle of the scissor lift platform is shown in Figure 3. In this embodiment, the hydraulic control system of the scissor lift platform is taken as the research object. Fuzzy PID control technology is used to adjust the controller parameters in real time, simplify the algorithm, solve the motion instability phenomenon during the lifting stage of the work platform, and improve the control performance of the system.

[0049] As an example, the system first receives the target height information of the power line to be inspected as input, and then starts the gear pump to draw hydraulic oil from the tank. This gear pump is selected with a nominal displacement of 16.2 cm³ and a rated pressure of 25 MPa. Its displacement parameters are based on the formula... The calculation shows that, among which The gear pump speed is given, while the hydraulic pump requires a flow rate of [missing information]. Then according to the formula Determined, in the formula The inner diameter of the hydraulic cylinder barrel is taken as 125mm. This refers to the stroke of the hydraulic cylinder. For the rising and falling time, The volumetric efficiency is set to 0.9. Hydraulic oil is delivered to the lifting cylinder via a multi-way valve. The piston rod diameter of this cylinder is... It is 70mm in diameter and has a diameter-to-diameter ratio. The value is 0.55, representing the system's design working pressure. It has a strength of 6MPa and can withstand a maximum load of 65000N.

[0050] In this example, considering the various dynamic processes of the hydraulic cylinder, to simplify the system without losing generality and typicality, reasonable assumptions are made about the single hydraulic cylinder circuit system, and necessary simplifications are performed to construct a mathematical model of the hydraulic cylinder's operation. The simplified closed-loop hydraulic control system is as follows: Figure 4 As shown in the figure. Where Ps represents the system oil supply pressure (the working pressure output by the hydraulic pump); P1 represents the pressure in the rodless chamber of the hydraulic cylinder; P2 represents the pressure in the rod chamber of the hydraulic cylinder; Q1 represents the flow rate into the rodless chamber of the hydraulic cylinder; and Q2 represents the flow rate out of the rod chamber of the hydraulic cylinder.

[0051] That is, during the action processing phase, the system establishes the speed function of the working platform and the mathematical model of the lifting speed control system, and sets the system output signal to the movement speed of the piston rod. The control signal is set to the voltage of the electromagnetic proportional directional valve. The interference signal is set as the workload. Based on the proportional directional valve displacement equation, the spool valve flow equation, the continuous flow equation of the hydraulic cylinder working chamber, and the force balance equation of the moving parts of the hydraulic cylinder, a fuzzy PID algorithm is used to adjust the controller parameters in real time, switching the lifting, holding, and lowering positions of the multi-way valve to solve the motion instability phenomenon during the lifting phase of the work platform. Simultaneously, a hydraulic lock is used to lock the oil circuit during lifting to prevent the lifting platform from falling due to its own weight and load. Ultimately, the output result is to drive the scissor lift platform to perform a smooth vertical lifting action, precisely adjusting the translation and lateral base installed on it to an initial height range of 0 to 6 meters that matches the height of the electrical line under test, preparing for subsequent translation and positioning.

[0052] Therefore, this embodiment effectively solves the problem of motion instability of the lifting platform during the lifting phase by adjusting the controller parameters in real time through fuzzy PID control technology, thereby improving the system's control performance and response speed. At the same time, combined with the locking function of the hydraulic lock and the precisely calculated hydraulic component parameters, the safety and reliability of the lifting process under maximum load are ensured, eliminating the safety risks caused by the platform falling unexpectedly from the source.

[0053] Example 4 Based on the above embodiments, this embodiment provides a detailed description of the specific implementation of step S103, which involves "controlling the translational and transverse base to perform multi-degree-of-freedom translational motion in the horizontal plane, thereby moving the top of the insulating telescopic rod fixed on the translational and transverse base to a position directly below or to the side of the electrical line to be tested."

[0054] In this embodiment, controlling the translation and transverse base to perform multi-degree-of-freedom translational motion in the horizontal plane includes: receiving the movement direction, distance, and movement speed commands set by the buttons through the PLC, calculating and outputting pulse signals and direction signals to the drive power supply in real time; driving the stepper motor to drive the cross slide module with preset stroke parameters, generating two degrees of freedom in the X and Y axes through the combined movement of two linear motion units, and performing linear interpolation or circular interpolation motion.

[0055] Specifically, in this embodiment, the data input source is the movement direction, movement distance, and movement speed command set by the buttons on the control box. After receiving the above command, the PLC generates a pulse sequence for two-axis coordination based on the target position coordinates using its internal preset motion trajectory algorithm. This processing action includes real-time calculation of the required number and frequency of pulses, and distinguishing the control requirements of the linear motion unit in the X-axis direction and the linear motion unit in the Y-axis direction. If linear interpolation or circular interpolation motion is required, the PLC further plans the motion trajectory in the complex plane by adjusting the pulse frequency difference and phase difference of the two-axis motors. Its output result is a pulse signal and direction signal containing precise timing information, which is sent to the drive power supply.

[0056] Subsequently, the drive power supply converts the received control signal into drive voltage, specifically using 24V and 350W of electrical energy output to the stepper motor, driving two linear motion units with a stroke of 600mm to operate synchronously. In this process, the X-axis and Y-axis stepper motors rotate in coordination based on the adjustment results of the pulse frequency difference and phase difference, converting the rotational motion into linear displacement, thereby driving the cross slide module to complete linear interpolation trajectory tracking or circular interpolation trajectory tracking within the planar working range. The output result is the combined displacement generated by the cross slide module in the X-axis and Y-axis directions, which causes the top of the insulating telescopic rod fixed on it to produce a corresponding horizontal position change.

[0057] Finally, the top of the insulated telescopic rod is precisely moved to the contact position directly below or to the side of the line to be tested, along with the composite movement of the cross slide module, achieving micron-level precise positioning. This ensures that the voltage detector contacts can be accurately aligned with the target line, completing the logical closed loop from command input to precise positioning of the end effector.

[0058] Therefore, the above-described specific implementation method uses PLC to perform precise pulse control of the dual-axis stepper motor, and utilizes frequency difference and phase difference adjustment to realize complex linear and circular interpolation movements. This not only significantly improves the movement flexibility and positioning accuracy of the translation and transverse base, reaching the micron-level control level, but also effectively overcomes the defects of traditional manual operation, such as unstable center of gravity and difficulty in alignment when working in strong winds or at heights, ensuring the safety and reliability of the voltage testing process.

[0059] Example 5 Based on the above embodiments, this embodiment provides a detailed description of the specific implementation of step S104, which involves "extending the insulating telescopic rod to a specified length and making physical contact between the voltage detector contact installed at the top of the insulating telescopic rod and the line to be tested, so as to perform live state detection".

[0060] In this embodiment, extending the insulating telescopic rod to a specified length and making the contact of the voltage detector installed at the top of the insulating telescopic rod physically contact the circuit to be tested includes: controlling the insulating telescopic rod, which adopts a fishing rod-type telescopic structure, to stretch the rod section by section to a specified length, isolating the high-voltage electric field based on the insulation performance of the rod; adjusting the angle of the rod so that the voltage detector and contact rod installed at the top of the insulating telescopic rod extend to a specified height, so that the contact of the voltage detector makes physical contact with the circuit to be tested, and detecting the energized state of the circuit to be tested by the voltage detector to complete the voltage testing operation.

[0061] Specifically, the data input source in this embodiment is the translational and transverse base that has completed the coarse adjustment of its horizontal position and the electrical line to be tested located above it. The processing action is to use an insulated telescopic rod with a fishing rod-like telescopic structure. Based on the difference between the visually observed height of the line and the current length of the rod, the telescopic segments inside the rod are stretched section by section until the total length of the rod reaches the specified length that allows the top-end voltage detector to reach the line. During this process, the high resistivity of the rod material itself is used to form an insulating layer, effectively blocking the transmission path of the high-voltage electric field to the operator. The output result is an insulated telescopic rod in a fully extended state with high-voltage insulation protection capability.

[0062] Next, taking the insulated telescopic pole extended into place in the previous stage as input, the processing action is for the operator to adjust the elevation angle and azimuth angle of the pole body. By changing the tilt posture of the pole body relative to the translation and transverse base, the voltage detector and contact rod installed at the top of the pole body are driven to make fine adjustments in the vertical and horizontal combined directions, so that the voltage detector contact precisely approaches and finally makes physical contact with the surface of the circuit to be tested. This contact action ensures the conduction condition of the detection circuit, and the output result is the measurement state of stable contact between the voltage detector contact and the circuit to be tested.

[0063] Finally, taking the physical contact state as input, the processing action involves the internal detection circuit of the voltage detector responding to the line voltage signal and outputting the detection result through the audible and visual indication module. If the line is energized, an alarm signal is triggered; if it is not energized, it remains silent or outputs a safety indication, thus completing the voltage detection operation. The output result is a clear determination of the line's energized state. In this entire sub-step, the rod state output by the previous action directly serves as the operation object for the subsequent angle adjustment action, while the contact state output by the angle adjustment is a necessary prerequisite for the final energized detection, forming a complete logical closed loop.

[0064] Therefore, the above-described specific implementation method achieves flexible fine-tuning of the voltage testing height by manually operating the fishing rod-type telescopic structure and utilizing its mechanical characteristics of segment-by-segment extension. This compensates for the lack of precision of automated lifting within a very small stroke range. At the same time, thanks to the excellent insulation performance of the pole, a reliable physical isolation barrier is constructed between the operator and the high-voltage line, significantly reducing the risk of electric shock to personnel due to equipment leakage or operational errors, and ensuring the inherent safety of voltage testing operations in high-voltage environments.

[0065] Example 6 This embodiment will describe in detail the complete implementation of the intelligent voltage detection method for power station lines of this application. This method relies on... Figure 2 The intelligent voltage testing platform shown achieves automated voltage testing of high-voltage lines through multi-level linkage control.

[0066] In this embodiment, the initial step of the intelligent voltage testing method is to control a remote-controlled moving vehicle to move to the target work area below the power line to be tested, and to deploy the support components to provide stable support for the vehicle body. Specifically, the base of the remote-controlled moving vehicle is a rectangular frame welded from channel steel and angle steel, with casters installed at the bottom for movement, and flip-type support legs at the four corners of the vehicle body. When the moving vehicle reaches the designated position, the operator rotates the four corner flip-type support legs to a horizontal position, so that the fixed support legs and casters work together to form a stable four-point support structure, preventing the vehicle body from tilting or shifting during subsequent lifting operations. The moving vehicle's walking system adopts a closed-loop hydraulic circuit drive, and its core power source consists of two variable pumps connected in series and connected to the engine flywheel through a coupling. These two variable pumps drive hydraulic motors located on both sides of the vehicle body, forming two independent drive circuits. During the movement control process, the operator manipulates two handles to control the valve core displacement of the corresponding proportional valve, thereby changing the swing angle direction and displacement of the variable pumps. By adjusting the flow direction and volume of hydraulic oil, the speed and direction of rotation of the hydraulic motors on both sides are precisely controlled, thereby enabling the remote-controlled vehicle to travel in two directions in a straight line, turn on the spot, and plan curved driving paths, ensuring that the vehicle can flexibly traverse various terrain conditions and accurately stop at the work point.

[0067] Furthermore, after completing the vehicle positioning and support, the drive lifting platform performs a vertical lifting action, adjusting the translational and lateral base mounted on it to an initial height range that matches the height of the electrical lines to be tested. In this embodiment, the lifting platform adopts a scissor-lift structure, and its hydraulic system mainly consists of a gear pump, a multi-way valve, a hydraulic lock, and a lifting cylinder. The multi-way valve has three working positions: lifting, holding, and lowering. When the platform is in the initial position, the hydraulic oil output by the gear pump flows back to the oil tank through the middle position of the multi-way valve; when lifting is required, the gear pump is activated to deliver hydraulic oil to the lifting cylinder. To address the potential instability during the lifting phase of the scissor-lift platform, this embodiment introduces fuzzy PID control technology to adjust the controller parameters in real time.

[0068] In practical implementation, the velocity function of the working platform is first established based on the instantaneous center of velocity method, and a mathematical model of the hoisting speed control system is constructed. In this model, the system's output signal is set to the velocity of the piston rod. The control signal is set to the voltage of the electromagnetic proportional directional valve. The interference signal is set as the workload. The system performs calculations based on the proportional directional valve displacement equation, the spool valve flow equation, the flow continuity equation of the hydraulic cylinder working chamber, and the force balance equation of the moving parts of the hydraulic cylinder. The fuzzy PID algorithm dynamically adjusts the proportional, integral, and derivative parameters of the PID controller based on the real-time feedback speed error and its rate of change, thereby outputting a precise control voltage. The multi-way valve switches between lifting, holding, and lowering positions, enabling smooth and precise vertical lifting of the platform. Throughout this process, the hydraulic lock remains in standby mode. If a malfunction or abnormal pressure is detected in the lifting system, the hydraulic circuit is immediately locked to prevent the platform from falling unexpectedly due to its own weight and load, ensuring operational safety. The adjustment range of the lifting platform covers… to It can lift the translation and transverse base to approximately the height of the electrical line to be tested.

[0069] Regarding the parameter configuration and selection of key components of the lifting system, this embodiment calculates the maximum load of the hydraulic cylinder of the lifting platform based on the torque balance principle. Initial selection of lifting system working pressure for And set the hydraulic cylinder diameter ratio Based on load and pressure calculations, the theoretical value of the cylinder inner diameter is... Round up according to the standard series of hydraulic cylinders. Based on this, the piston rod diameter is determined. Required flow rate of the hydraulic pump According to the formula The calculation shows that, This refers to the stroke of the hydraulic cylinder. For the rising and falling time, Let the volumetric efficiency be and take a value of Furthermore, the hydraulic pump displacement According to the formula The calculation shows that, This refers to the gear pump speed. Calculations show the hydraulic pump displacement is approximately... Taking into account both ease of installation and cost-effectiveness, this embodiment selects a nominal displacement of [missing information]. Rated pressure is The gear pump serves as the power source for the lifting system.

[0070] Furthermore, after the lifting platform adjusts the lateral sliding base to the target height range, it controls the lateral sliding base to perform multi-degree-of-freedom translational motion in the horizontal plane, driving the top of the insulated telescopic rod fixed on it to precisely move to the position directly below or to the side of the line to be tested. The lateral sliding slide base mainly consists of a set of cross slide modules and a fixed platform. The stroke of the cross slide module is... The driving element is selected with a voltage of Power is The module utilizes a stepper motor. Through a combination of two linear motion units, it provides [function] within a planar working range. shaft and The ability to move in two degrees of freedom of the axis.

[0071] The principle of pulse control of a stepper motor based on PLC is as follows: Figure 5 As shown, the control core uses a PLC (Programmable Logic Controller). Operators set the movement direction, distance, and speed commands via buttons on the control box. After receiving the commands, the PLC calculates and outputs corresponding pulse and direction signals to the stepper motor drive power supply in real time. In one possible implementation, the PLC generates a pulse sequence for the two axes based on a preset motion trajectory algorithm, controlling each axis separately. shaft and The stepper motors in the two axes operate synchronously. By adjusting the pulse frequency difference and phase difference between the two axis motors, the cross slide module can not only achieve independent movement of a single axis, but also complete complex in-plane movements such as linear interpolation and circular interpolation, thereby driving the top of the insulating telescopic rod to achieve micron-level precise positioning, ensuring that the voltage detector can be accurately aligned with the line position.

[0072] Finally, the insulated telescopic rod is extended to the specified length, allowing the contact of the voltage detector installed at its top to make physical contact with the line to be tested, thus completing the live-state detection. In this embodiment, the insulated telescopic rod adopts a convenient fishing rod-style telescopic structure, which is manually stretched on-site. The rod has excellent insulation properties, effectively isolating the high-voltage electric field and ensuring the safety of operators. After the horizontal base transports the bottom of the rod to the vicinity of the line, the operator stretches the insulated telescopic rod section by section, adjusting the angle of the rod to extend the voltage detector and contact at the top to the specified height. The voltage detector is installed at the top of the insulated telescopic rod, and with the support of the rod, its contact makes physical contact with the line to be tested. At this time, the voltage detector starts the detection program to determine the live state of the line. If the line is de-energized, the voltage detector displays no signal, and subsequent maintenance work can only be carried out after safety is confirmed; if the line is energized, an alarm is sounded. The entire lifting structure is detachably connected to the base, facilitating storage, transportation, and installation by personnel when not in operation.

[0073] In summary, the intelligent voltage testing method for power station lines provided in this embodiment constructs a complete intelligent voltage testing process through the flexible mobility and stable support of a remote-controlled moving vehicle, the smooth lifting of a scissor lift platform based on fuzzy PID control, the precise positioning of a PLC-driven cross slide base, and the safe extension of an insulated telescopic rod. This method not only overcomes the limitations of traditional manual voltage testing... The high operational difficulty, high labor intensity, and high safety risks in high voltage level line operations have been addressed by automation control mechanisms. This has significantly reduced the reliance on the number and skill level of operators, enabling a transformation from manual handheld operation to intelligent and refined operation and maintenance. This has effectively improved the quality, efficiency, and inherent safety of power operation and maintenance work.

[0074] To implement the above embodiments, this application also proposes an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the intelligent voltage detection method for power station lines as described in any of the first aspect embodiments above.

[0075] To implement the above embodiments, this application also proposes a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the intelligent voltage detection method for power station lines as described in any one of the first aspects of the embodiments above.

[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0077] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0078] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0079] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0080] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0081] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0082] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0083] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. An intelligent voltage detection method for power station lines, characterized in that, Includes the following steps: Control the remote-controlled moving vehicle to move to the target work area under the power line to be tested, and deploy the support components to provide stable support for the vehicle body; Drive the lifting platform to perform a vertical lifting action, and adjust the translation and transverse base installed on the lifting platform to an initial height range that matches the height of the electrical line to be tested; Control the translation and transverse base to perform multi-degree-of-freedom translational motion in the horizontal plane, thereby moving the top of the insulating telescopic rod fixed on the translation and transverse base to the position directly below or to the side of the electrical line to be tested. Extend the insulating telescopic rod to a specified length, and make physical contact between the voltage detector contact installed at the top of the insulating telescopic rod and the circuit to be tested for liveness detection.

2. The method according to claim 1, characterized in that, The remote-controlled vehicle is moved to the target work area below the power line to be tested, and the support components are deployed to provide stable support for the vehicle body, including: By controlling the valve core displacement of the corresponding proportional valve through the operating handle, the swing angle direction and displacement of the variable pump are changed, driving the hydraulic motor in the closed circuit composed of the variable pump and the variable motor, so as to realize the bidirectional movement and turning of the remote-controlled motion vehicle to the target work area. After reaching the target work area, the flip-up support legs located at the four corners of the vehicle body are rotated out to a horizontal position, so that the fixed support legs and casters work together to reinforce the support and complete the stable support of the vehicle body.

3. The method according to claim 2, characterized in that, The two variable pumps are connected in series and via a coupling to the engine flywheel of the remote-controlled sports vehicle to drive hydraulic motors on one side respectively, forming two independent circuits. The method of controlling the valve core displacement of the corresponding proportional valve by operating the handle to change the swing angle direction and displacement of the variable pump, thereby driving the hydraulic motor in the closed circuit composed of the variable pump and the variable motor, includes: By adjusting the control signal of the handle to change the valve core displacement of the proportional valve, the displacement of the variable pump and the oil flow direction are adjusted to control the speed and rotation direction of the hydraulic motor, thereby realizing the planning of straight-line movement, turning on the spot and curved driving path of the remote-controlled sports car.

4. The method according to claim 1, characterized in that, The drive lifting platform performs a vertical lifting action, adjusting the translation and lateral movement base installed on the lifting platform to an initial height range that matches the height of the electrical line to be tested, including: The gear pump is started to deliver hydraulic oil to the lifting cylinder through a multi-way valve. The controller parameters are adjusted in real time using fuzzy PID control technology to control the piston rod speed of the lifting cylinder, thereby driving the scissor lift platform to perform vertical lifting actions. During the lifting process, a hydraulic lock is used to lock the oil circuit to prevent the lifting platform from falling due to its own weight and load, and the translation and transverse base installed on the lifting platform is adjusted to an initial height range that matches the height of the electrical line to be tested within a preset range.

5. The method according to claim 4, characterized in that, The method of adjusting controller parameters in real time using fuzzy PID control technology to control the piston rod movement speed of the lifting cylinder includes: Establish a mathematical model for the speed function and lifting speed control system of the working platform. Set the system output signal as the movement speed V of the piston rod, set the control signal as the voltage U of the electromagnetic proportional directional valve, and set the interference signal as the working load f. Based on the proportional directional valve displacement equation, the spool valve flow equation, the flow continuity equation of the hydraulic cylinder working chamber, and the force balance equation of the moving parts of the hydraulic cylinder, the fuzzy PID algorithm is used to switch the lifting, holding, and lowering positions of the multi-way valve to eliminate the motion instability of the working platform during the lifting phase.

6. The method according to claim 1, characterized in that, The control of the translation and transverse base to perform multi-degree-of-freedom translational motion in the horizontal plane includes: The PLC receives the movement direction, distance, and speed commands set by the buttons, and calculates and outputs pulse signals and direction signals to the drive power supply in real time. The stepper motor drives the cross slide module with preset stroke parameters, and through the combined motion of two linear motion units, it generates two degrees of freedom in the X and Y axes to perform linear interpolation or circular interpolation motion.

7. The method according to claim 6, characterized in that, The drive stepper motor drives the cross slide module with preset stroke parameters, generating two degrees of freedom in the X and Y axes through the combined motion of two linear motion units, including: Based on the preset motion trajectory algorithm, a pulse sequence for two-axis coordination is generated to control the stepper motors of the linear motion unit in the X-axis direction and the linear motion unit in the Y-axis direction to operate synchronously. By adjusting the pulse frequency difference and phase difference of the two-axis motors, the cross slide module can complete linear interpolation trajectory tracking or circular interpolation trajectory tracking within the plane working range, thereby achieving micron-level positioning of the top of the insulated telescopic rod.

8. The method according to claim 1, characterized in that, Extending the insulating telescopic rod to a specified length, and making the contact of the voltage detector mounted at the top of the insulating telescopic rod physically contact the circuit to be tested, includes: The control system uses an insulated telescopic pole with a fishing rod-like telescopic structure to stretch the pole section by section to a specified length, and isolates the high-voltage electric field based on the insulation performance of the pole. Adjust the angle of the pole to extend the voltage detector and contact rod installed at the top of the insulating telescopic pole to a specified height, so that the contact of the voltage detector makes physical contact with the circuit to be tested, and detects the energized state of the circuit to be tested by the voltage detector to complete the voltage testing operation.

9. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed, enable the at least one processor to perform the intelligent voltage detection method for power station lines as described in any one of claims 1-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the intelligent voltage detection method for power station lines as described in any one of claims 1-8.

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