Operation and maintenance method, device and equipment of inductive power taking device and storage medium

Abstract

Embodiments of the present application provide an operation and maintenance method, device and equipment of an inductive power taking device and a storage medium. The method is applied to an inductive power taking device of a power transmission line. A cavity of the inductive power taking device is connected to an opening and closing motor through a transmission mechanism, so as to control the opening and closing state of the cavity of the inductive power taking device through the opening and closing motor. The method comprises: when a fault of the inductive power taking device does not belong to a removable fault, generating a first control signal of the opening and closing motor; when the opening and closing motor is controlled to move to a pre-disassembly position through the first control signal, generating and sending a disassembly request to request the inductive power taking device to be disassembled by a drone; wherein the movement of the opening and closing motor to the pre-disassembly position weakens the compression degree of the cavity of the inductive power taking device and the power transmission line. Through the inductive power taking mode, the power supply stability is improved; when the device fails, the device is disassembled by using the opening and closing motor combined with the drone, thereby reducing the disassembly cost and improving the disassembly efficiency.

Description

Technical Field

[0001] This application relates to the field of inductive power generation technology, and in particular to an operation and maintenance method, apparatus, equipment and storage medium for inductive power generation devices. Background Technology

[0002] Under conditions such as low temperatures and snowfall, ice can form on the surface of power transmission lines, increasing their weight and posing a risk of overload. Furthermore, icing can alter the electrical characteristics of the transmission lines, thus affecting the operation of the power system. Therefore, monitoring icing on power transmission lines is necessary.

[0003] Commonly used icing monitoring equipment for transmission lines consists of image monitoring devices installed on poles, typically powered by solar energy. However, solar power is difficult to obtain in cold weather conditions such as winter, leading to a high rate of equipment downtime. To overcome this problem, icing monitoring equipment installed on conductors has emerged, employing inductive power supply, effectively overcoming the instability of solar power. However, for icing monitoring equipment installed on conductors, after it goes offline or malfunctions, it often needs to be manually removed during power outages for maintenance. Manual removal is costly, risky, and requires waiting for a suitable power outage window, resulting in low maintenance efficiency. Summary of the Invention

[0004] This application provides an operation and maintenance method, device, equipment, and storage medium for inductive power generation equipment. By using inductive power generation, it overcomes the problems of solar power generation being easily affected by weather and having poor power supply stability. At the same time, in the event of a fault, the equipment can be dismantled by using a motor in conjunction with a drone, resulting in low dismantling cost and high efficiency.

[0005] In a first aspect, embodiments of this application provide an operation and maintenance method for an inductive power collection device. This method is applied to an inductive power collection device on a power transmission line. The cavity of the inductive power collection device is connected to an opening and closing motor via a transmission mechanism, so as to control the opening and closing state of the cavity of the inductive power collection device through the opening and closing motor. The method includes: when the fault occurring in the inductive power collection device is not a removable fault, generating a first control signal for the opening and closing motor; when the opening and closing motor is controlled to move to a pre-dismantling position by the first control signal, generating and sending a dismantling request to request the dismantling of the inductive power collection device by a drone; wherein, the movement of the opening and closing motor to the pre-dismantling position reduces the degree of compression between the cavity of the inductive power collection device and the power transmission line.

[0006] In one possible implementation, when the fault occurring in the inductive power supply device is not a removable fault, a first control signal for the switching motor is generated, including: when a faulty component of the inductive power supply device is detected, if the faulty component is an unremovable component, then the first control signal is generated.

[0007] In one possible implementation, the method further includes: if the faulty component is a removable component, then removing the faulty component or switching to a spare component that uses the faulty component.

[0008] In one possible implementation, the power module of the inductive power harvesting device includes an energy harvesting circuit, a charging circuit, and an energy storage element; the energy harvesting circuit is used to convert energy obtained from the magnetic field generated by the transmission line based on the principle of electromagnetic induction into electrical energy; the charging circuit is used to charge the energy storage element based on the electrical energy output by the energy harvesting circuit; the energy storage element includes an energy storage capacitor and / or an energy storage battery; the method further includes: when the voltage or capacitance of the energy storage element decreases in multiple consecutive detections, determining the faulty element based on the electrical signals of each node of the power module collected.

[0009] In one possible implementation, when the voltage or capacitance of the energy storage element decreases after multiple consecutive detections, the faulty element is determined based on the electrical signals of each node of the power module collected. This includes: determining the power of each node based on the current and voltage of each node of the power module collected after multiple consecutive detections of the voltage or capacitance of the energy storage element; and determining the faulty element based on the energy flow relationship between each node and the power of each node.

[0010] In one possible implementation, the power module of the inductive power harvesting device is connected to the control module; the power harvesting circuit includes an induction coil, a measuring circuit, and a rectifier and filter circuit; the charging circuit includes a main charging branch and a backup charging branch, the main charging branch including a first switch and a main charging management circuit connected in series; the backup charging branch including a second switch and a backup charging management circuit connected in series; the output terminals of both the main charging branch and the backup charging branch are connected to a third switch and a fourth switch, the third switch being connected to a load in series with an energy storage battery and a fifth switch, and the fourth switch being connected to a load in series with an energy storage capacitor and a sixth switch; the output terminal of the rectifier and filter circuit is connected to the input terminals of the main charging branch and the backup charging branch, respectively; the control terminals of the first to sixth switches are all connected to the control module to control the on / off state of the switches; the measuring circuit is used to measure the AC induced current of the induction coil; the AC induced current is converted to DC after passing through the rectifier and filter circuit; wherein, the rectifier and filter circuit is a non-disconnectable component, and the main charging management circuit, the backup charging management circuit, the energy storage battery, and the energy storage capacitor are disconnectable components.

[0011] In one possible implementation, when the voltage or capacitance of the energy storage element decreases during multiple consecutive detections, the faulty element is identified based on the electrical signals collected from each node of the power module, including: based on the AC induced current I measured by the measurement circuit acquired by the control module. AC The charging voltage U output by the rectifier and filter circuit DC and charging current I DCThe charging and discharging voltage U of the energy storage battery BAT and charging / discharging current I BAT The charging and discharging voltage U of the energy storage capacitor C and charging / discharging current I C and the load's input voltage U L and input current I L Based on I AC And the maximum energy harvesting curve of the induction coil, calculate the maximum AC input power P. AC ; Determine P AC Greater than or equal to the load power; where the load power is P BAT P C and P L The sum of P BAT For U BAT and I BAT The product of P C For U C and I C The product of P L For U L and I L The product of; if so, then determine the U collected in multiple consecutive samples. C or U BAT If the signal decreases, the faulty component is determined based on the electrical signal acquired by the control module.

[0012] In one possible implementation, determining the faulty component based on the electrical signal acquired by the control module includes: if the DC output power P DC Less than P L Then the faulty component is determined to be the rectifier filter circuit; where P DC For U DC and I DC The product of; in P DC Greater than or equal to P L When the branch used is the main charging branch, if the energy storage battery's power decreases, the energy storage element used will be switched to the energy storage capacitor; if the energy storage capacitor's power increases, the faulty element will be the energy storage battery; if the energy storage capacitor's power decreases, the faulty element will be the main charging management circuit.

[0013] In one possible implementation, the method further includes: at P DC Greater than or equal to P L When the branch used is the backup charging branch, if the energy storage capacitor's charge decreases, the energy storage element used will be switched to the energy storage battery; if the energy storage battery's charge increases, the faulty element will be the energy storage capacitor; if the energy storage battery's charge decreases, the faulty element will be the backup charging management circuit.

[0014] In one possible implementation, the method further includes: if PAC U is greater than or equal to the load power and is collected multiple times consecutively. C and U BAT If the value does not decrease, it indicates that the inductive power supply device is operating normally.

[0015] In one possible implementation, the method further includes: if P AC U is less than the load power and is collected multiple times consecutively. C or U BAT If the value decreases, the operating mode of the inductive power-collecting device will be switched to low-power mode, and a warning will be issued; if U is detected... C or U BAT When the value is lower than the set value, a first control signal for the opening and closing motor is generated to control the opening and closing motor to move to the pre-disassembly position.

[0016] In one possible implementation, when the fault occurring in the inductive power-collecting device is not a reversible fault, a first control signal for the opening and closing motor is generated, including: when the fault occurring in the inductive power-collecting device is not a reversible fault, if the power of the energy storage element of the inductive power-collecting device is less than or equal to a preset power, then the first control signal for the opening and closing motor is generated, and the opening and closing motor is controlled to move to the pre-disassembly position based on the first control signal.

[0017] In one possible implementation, when the fault occurring in the inductive power-collecting device is not a reversible fault, a first control signal for the opening and closing motor is generated, including: when the fault occurring in the inductive power-collecting device is not a reversible fault, if the power of the energy storage element of the inductive power-collecting device is greater than a preset power, then when the drone is within a preset range of the inductive power-collecting device or when the power of the energy storage element decreases to the preset power, the first control signal for the opening and closing motor is generated, and the opening and closing motor is controlled to move to the pre-disassembly position based on the first control signal.

[0018] In one possible implementation, the method further includes: when the energy storage element of the inductive power extraction device has a power level less than or equal to a preset power level, generating a first control signal for the opening and closing motor, and controlling the opening and closing motor to move to the pre-disassembly position based on the first control signal.

[0019] In one possible implementation, the method further includes: if the opening and closing motor is detected to be in the pre-disassembly position when the inductive power supply device is not malfunctioning, generating a second control signal for the opening and closing motor to control the opening and closing motor to move to the pressing position.

[0020] Secondly, embodiments of this application provide another method for the operation and maintenance of inductive power collection devices, applied to operation and maintenance equipment that is communicatively connected to the inductive power collection devices. The method includes: in response to a removal request sent by the inductive power collection devices, determining a target drone; wherein the removal request is generated based on the method provided in the first aspect of this application; generating a work request for the target drone to request the target drone to remove the inductive power collection devices.

[0021] Thirdly, embodiments of this application provide another method for the operation and maintenance of inductive power-collecting devices, applied to drones. The method includes: determining a target inductive power-collecting device to be dismantled based on a dismantling request sent by the inductive power-collecting device or a work request sent by the operation and maintenance device; wherein the dismantling request is generated based on the method provided in the first aspect of this application, and the work request is generated based on the method provided in the second aspect of this application; and dismantling the target inductive power-collecting device.

[0022] Fourthly, this application provides an operation and maintenance device for an inductive power collection device, applied to an inductive power collection device on a power transmission line. The cavity of the inductive power collection device is connected to an opening and closing motor via a transmission mechanism, so as to control the opening and closing state of the cavity of the inductive power collection device through the opening and closing motor. The device includes: an opening and closing motor control module, used to generate a first control signal for the opening and closing motor when the fault of the inductive power collection device is not a removable fault; and a removal control module, used to generate and send a removal request when the opening and closing motor is controlled to move to a pre-removal position through the first control signal, so as to request the removal of the inductive power collection device by a drone.

[0023] In one possible implementation, the motor control module is specifically used to generate a first control signal when a faulty component of the inductive power supply device is detected to be a non-removable component.

[0024] In one possible implementation, the device further includes a faulty component removal module for: removing the faulty component or switching to a spare component if the faulty component is a removable component.

[0025] In one possible implementation, the power module of the inductive power harvesting device includes an energy harvesting circuit, a charging circuit, and an energy storage element; the energy harvesting circuit is used to convert energy obtained from the magnetic field generated by the transmission line based on the principle of electromagnetic induction into electrical energy; the charging circuit is used to charge the energy storage element based on the electrical energy output by the energy harvesting circuit; the energy storage element includes an energy storage capacitor and / or an energy storage battery; the device also includes a fault location module, used to: determine the faulty element based on the collected electrical signals of each node of the power module when the voltage or capacitance of the energy storage element decreases after multiple consecutive detections.

[0026] In one possible implementation, the power module of the inductive power harvesting device is connected to the control module; the power harvesting circuit includes an induction coil, a measuring circuit, and a rectifier and filter circuit; the charging circuit includes a main charging branch and a backup charging branch, the main charging branch including a first switch and a main charging management circuit connected in series; the backup charging branch including a second switch and a backup charging management circuit connected in series; the output terminals of the main charging branch and the backup charging branch are both connected to a third switch and a fourth switch, the third switch being connected in series with an energy storage battery and a fifth switch and then connected to a load, and the fourth switch being connected in series with an energy storage capacitor and a sixth switch and then connected to a load; the output terminal of the rectifier and filter circuit is connected to the input terminals of the main charging branch and the backup charging branch respectively; the control terminals of the first to sixth switches are all connected to the control module to control the on / off state of the switches; the measuring circuit is used to measure the AC induced current of the induction coil; the AC induced current is converted to DC after passing through the rectifier and filter circuit; wherein, the rectifier and filter circuit is a non-disconnectable component, and the main charging management circuit, the backup charging management circuit, the energy storage battery, and the energy storage capacitor are disconnectable components.

[0027] In one possible implementation, the fault location module is specifically used for: acquiring the AC induced current I measured by the measurement circuit based on the control module. AC The charging voltage U output by the rectifier and filter circuit DC and charging current I DC The charging and discharging voltage U of the energy storage battery BAT and charging / discharging current I BAT The charging and discharging voltage U of the energy storage capacitor C and charging / discharging current I C and the load's input voltage U L and input current I L Based on I AC And the maximum energy harvesting curve of the induction coil, calculate the maximum AC input power P. AC ; Determine P AC Greater than or equal to the load power; where the load power is P BAT P C and P L The sum of P BAT For U BAT and I BAT The product of P C For U C and I C The product of P L For U L and I L The product of; if so, then determine the U collected in multiple consecutive samples. C or U BAT If the signal decreases, the faulty component is determined based on the electrical signal acquired by the control module.

[0028] In one possible implementation, when the fault location module determines the faulty component based on the electrical signals acquired by the control module, it is specifically used to: if the DC output power P DC Less than P L Then the faulty component is determined to be the rectifier filter circuit; where P DC For U DC and I DC The product of; in P DC Greater than or equal to P L When the branch used is the main charging branch, if the energy storage battery's power decreases, the energy storage element used will be switched to the energy storage capacitor; if the energy storage capacitor's power increases, the faulty element will be the energy storage battery; if the energy storage capacitor's power decreases, the faulty element will be the main charging management circuit.

[0029] In one possible implementation, the fault location module is further used to: in P DC Greater than or equal to P L When the branch used is the backup charging branch, if the energy storage capacitor's charge decreases, the energy storage element used will be switched to the energy storage battery; if the energy storage battery's charge increases, the faulty element will be the energy storage capacitor; if the energy storage battery's charge decreases, the faulty element will be the backup charging management circuit.

[0030] In one possible implementation, the fault location module is further configured to: if P AC U is greater than or equal to the load power and is collected multiple times consecutively. C and U BAT If the value does not decrease, it indicates that the inductive power supply device is operating normally.

[0031] In one possible implementation, the device further includes a low-power module for: if P AC U is less than the load power and is collected multiple times consecutively. C or U BAT If the value decreases, the operating mode of the inductive power-collecting device will be switched to low-power mode, and a warning will be issued; if U is detected... C or U BAT When the value is lower than the set value, a first control signal for the opening and closing motor is generated to control the opening and closing motor to move to the pre-disassembly position.

[0032] In one possible implementation, the opening and closing motor control module is specifically used to: when the fault occurring in the inductive power-collecting device is not a reversible fault, if the power of the energy storage element of the inductive power-collecting device is less than or equal to a preset power, generate a first control signal for the opening and closing motor, and control the opening and closing motor to move to the pre-disassembly position based on the first control signal.

[0033] In one possible implementation, the opening and closing motor control module is specifically used to: when the fault of the inductive power-collecting device is not a reversible fault, if the power of the energy storage element of the inductive power-collecting device is greater than the preset power, generate a first control signal for the opening and closing motor when the drone is within the preset range of the inductive power-collecting device or when the power of the energy storage element drops to the preset power, and control the opening and closing motor to move to the pre-disassembly position based on the first control signal.

[0034] In one possible implementation, the device further includes a clamping control module for generating a second control signal for the opening and closing motor if the opening and closing motor is detected to be in a pre-disassembly position when the inductive power supply device is not malfunctioning, so as to control the opening and closing motor to move to the clamping position.

[0035] Fifthly, embodiments of this application provide an electronic device, including: a memory and a processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, causing the processor to perform various possible implementations as provided in the first, second, or third aspects above.

[0036] In a sixth aspect, embodiments of this application provide an inductive power-generating device, comprising: a cavity, and an induction coil, an opening and closing motor, a transmission mechanism, and a control module located within the cavity; the cavity is connected to the opening and closing motor via the transmission mechanism to control the opening and closing state of the cavity via the opening and closing motor; the control module is used to execute the first aspect and / or various possible implementations of the first aspect as described above.

[0037] In a seventh aspect, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement various possible implementations provided in the first, second, or third aspects above.

[0038] Eighthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements various possible implementations provided in the first, second, or third aspects above.

[0039] The operation and maintenance method, apparatus, equipment, and storage medium for inductive power harvesting devices provided in this application are for inductive power harvesting devices on transmission lines. The cavity of the inductive power harvesting device is connected to an opening and closing motor via a transmission mechanism, thereby supporting control of the opening and closing state of the cavity through the opening and closing motor. Based on this, when an unremovable fault is detected in the inductive power harvesting device, after controlling the opening and closing motor to move to the pre-dismantling position, a request is made to dismantle the inductive power harvesting device using a drone. By controlling the movement state of the opening and closing motor, the resistance of the drone in dismantling the inductive power harvesting device is reduced, the dismantling difficulty is lowered, and the efficiency and success rate of dismantling are improved. Furthermore, the use of inductive power harvesting improves the stability of the load power supply and reduces the device's offline rate. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0041] Figure 1 This is a schematic diagram of the structure of an inductive power collection device provided in an embodiment of this application;

[0042] Figure 2 A flowchart illustrating the operation and maintenance method of the inductive power collection device provided in the embodiments of this application. Figure 1 ;

[0043] Figure 3 This is a schematic diagram of the structure of an inductive power collection device provided in an embodiment of this application;

[0044] Figure 4 A flowchart illustrating the operation and maintenance method for the inductive power collection equipment provided in this application. Figure 2 ;

[0045] Figure 5 A circuit block diagram of an inductive power collection device provided in an embodiment of this application;

[0046] Figure 6 A circuit block diagram of another inductive power collection device provided in an embodiment of this application;

[0047] Figure 7 A flowchart illustrating the operation and maintenance method of the inductive power collection device provided in the embodiments of this application. Figure 3 ;

[0048] Figure 8 This is a schematic diagram of the structure of an operation and maintenance system provided in an embodiment of this application;

[0049] Figure 9 This is a schematic diagram of the operation and maintenance device for the inductive power collection equipment provided in the embodiments of this application;

[0050] Figure 10This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0051] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0052] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0053] First, let me explain the terms used in this application:

[0054] Transmission lines are power transmission systems that connect power plants, substations, and users. They are mainly used for long-distance, high-capacity power transmission, undertaking the task of safe and efficient power transmission. According to voltage levels, they are divided into high-voltage lines, ultra-high-voltage lines, and extra-high-voltage lines.

[0055] Inductive power extraction: a technology that uses the principle of electromagnetic induction to extract electrical energy from power transmission lines.

[0056] Severable faults: In a power system, fault types that can be isolated from the system in order to ensure the normal operation of the rest of the system are denoted as severable faults.

[0057] To monitor icing on power transmission lines, various icing monitoring devices have been developed, with image monitoring equipment mounted on power poles being a commonly used type. These devices utilize image acquisition devices such as cameras to visually observe the icing condition of the transmission lines. While installation and dismantling are convenient due to their pole-mounted location, they lack flexibility and cannot observe distant conductors, limiting their observation range. Furthermore, image monitoring equipment often relies on solar power, which is insufficient in cold winters or during rain and snow, resulting in a high rate of equipment downtime.

[0058] To overcome the drawbacks of image monitoring equipment mounted on towers, the "Conductor Ice Observation Elf" was developed. Installed directly on the conductor, the conductor ice observation elf allows for close-range observation and offers high flexibility. Furthermore, it utilizes inductive power, overcoming the instability of solar power supply.

[0059] However, since the wire-mounted ice-observing device is installed directly on the wire, maintenance or replacement is often done manually, and to ensure safety, it is often necessary to wait for a power outage, resulting in long maintenance time and low efficiency.

[0060] Besides the wire-mounted ice-observation device, other inductive power-collecting devices directly installed on power transmission lines, such as icing monitoring devices, also have similar problems.

[0061] To address the problem of low maintenance efficiency of inductive power harvesting equipment installed on power transmission lines, this application provides an inductive power harvesting equipment and its operation and maintenance method. Figure 1 This is a schematic diagram of the structure of an inductive power-generating device provided in an embodiment of this application, as shown below. Figure 1 As shown, the inductive power collection device is installed on a power transmission line. Specifically, the power transmission line passes through the closed cavity of the inductive power collection device, meaning the device is fitted onto the power transmission line. The cavity of the inductive power collection device is connected to an opening and closing motor via a transmission mechanism, allowing the motor to control the opening and closing of the cavity. For example, during installation, the cavity is opened to install the device on the power transmission line, and then the cavity is closed, thus reliably fixing the device to the power transmission line. Figure 1 The cavity shown is in a closed state.

[0062] When an inductive power supply device experiences an unremovable fault, it needs to be dismantled. To achieve automated dismantling, the cavity can be controlled to be in a pre-dismantling state by moving an opening and closing motor to the pre-dismantling position. This ensures a reliable connection between the inductive power supply device and the power transmission line while reducing the force between the cavity and the transmission line compared to when the cavity is closed, thus reducing dismantling resistance. Subsequently, a drone is used to automatically dismantle the inductive power supply device in the pre-dismantling state. By combining an opening and closing motor with a drone, automated dismantling of the inductive power supply device is achieved, improving dismantling efficiency and reducing costs.

[0063] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0064] Figure 2 A flowchart illustrating the operation and maintenance method of the inductive power collection device provided in the embodiments of this application. Figure 1 This method is applied to inductive power harvesting equipment in transmission lines. The cavity of this inductive power harvesting equipment is connected to an opening and closing motor via a transmission mechanism, so that the opening and closing state of the cavity of the inductive power harvesting equipment is controlled by the opening and closing motor. Figure 2 As shown, the operation and maintenance method of this inductive power collection device includes:

[0065] Step S201: When the fault occurring in the inductive power supply device is not a reversible fault, generate the first control signal for opening and closing the motor.

[0066] Step S202: When the opening and closing motor is controlled to move to the pre-dismantling position by the first control signal, a dismantling request is generated and sent to request the removal of the inductive power supply device by drone.

[0067] Among them, reversible faults are those where the faulty part can be disconnected or switched to a backup to ensure normal system operation. The movement of the opening / closing motor to the pre-disconnect position reduces the pressure between the cavity of the inductive power-collecting device and the transmission line; specifically, the pressure is less than when the opening / closing motor is in the closed position. The opening / closing motor's closed state includes the pre-disconnect state and the closed state, in which the opening / closing motor moves to the pre-disconnect position and the closed position, respectively. In the pre-disconnect state, the pressure between the cavity of the inductive power-collecting device and the transmission line is less than in the closed state.

[0068] The electrical signals of the power system of the inductive power-collecting equipment can be collected at a certain frequency. When a fault is detected in the inductive power-collecting equipment based on the collected electrical signals, it is determined whether the fault is a reversible fault. If not, the first control signal for opening and closing the motor is generated.

[0069] When the fault in the inductive power supply device is not a reversible fault, the device needs to be removed, triggering the removal process. First, a first control signal is generated for the opening / closing motor. This signal controls the motor to move to the pre-removal position, which in turn moves the cavity of the inductive power supply device via a transmission mechanism, switching its state from closed to pre-removal. Afterward, a removal request is generated and sent to maintenance equipment or a drone to remove the inductive power supply device via drone.

[0070] In the off state, the cavity of the inductive power-collecting device tightly presses against the power transmission line. This stable connection ensures that the inductive power-collecting device will not easily move relative to the power transmission line. In the pre-removal state, the pressure of the cavity of the inductive power-collecting device on the power transmission line is reduced compared to the off state. However, in the pre-removal state, the inductive power-collecting device can still remain stable and will not easily move relative to the power transmission line. This ensures a reliable connection between the inductive power-collecting device and the power transmission line while effectively reducing the force between the cavity and the power transmission line, thereby significantly reducing the disassembly resistance encountered by the drone when removing the device.

[0071] For example, the inductive power collection device can be an icing monitoring device, which may include a camera and an image processing module to acquire images of the transmission line and process the acquired images to determine the icing thickness of the transmission line.

[0072] After the opening and closing motor is controlled to move to the pre-dismantling position by the first control signal, a dismantling request is generated. The dismantling request can be sent to the maintenance equipment, which then communicates with the drone to dismantle the inductive power supply device. Alternatively, the dismantling request can be sent directly to the drone, such as a designated drone. This drone could be responsible for maintaining the inductive power supply device, or it could be sent to an idle drone or the drone closest to the inductive power supply device. The drone can then move to the location of the inductive power supply device and dismantle it.

[0073] Maintenance equipment can be servers, maintenance platforms composed of multiple computers, etc. Maintenance equipment can communicate with the device responsible for controlling the drone, such as the drone's control terminal, to inform the drone's control terminal of the inductive power-collecting device that needs to be removed. The control terminal then controls the drone to remove the inductive power-collecting device.

[0074] In some embodiments, the inductive power collection device may be equipped with a component for the drone to pull, such as a rope or wire. When the drone removes the inductive power collection device, it can directly pull the component upwards to remove the inductive power collection device installed on the power transmission line, thereby further improving the removal efficiency.

[0075] In other embodiments, the drone may be equipped with a special clamp or gripper device, which can directly clamp the inductive power-collecting device and pull it upward to remove the inductive power-collecting device.

[0076] For example, Figure 3 This is a schematic diagram of the structure of an inductive power-generating device provided in an embodiment of this application, as shown below. Figure 3 As shown, the inductive power extraction device includes a first housing, a second housing, a drive assembly (only the visible part is shown in the figure), and a mounting bracket. The first and second housings are rotatably connected by the drive assembly, which includes an opening and closing motor, serving as the power core of the entire device. The opening and closing motor controls the connection state between the first and second housings, specifically controlling the degree to which the cavity formed by the first and second housings embraces the power transmission line. The first and second housings can move along the drive assembly... Figure 3 Rotate in the direction of the middle arrow.

[0077] The drive assembly can control the degree of compression between the cavity formed by the first housing and the second housing and the power transmission line through gear transmission.

[0078] The mounting bracket connects to the first and second housings and can be a semi-ring structure. During equipment disassembly, components that come into contact with the equipment, such as ropes, are preferably insulated.

[0079] Drones are being used for dismantling Figure 3 When operating the inductive power collection device, after flying above it, the drone can lower its hook, which precisely passes through the device's mounting bracket. The drone then lifts the hook to generate an upward pull. Because the cavity formed by the first and second housings of the pre-disassembled inductive power collection device exerts less pressure on the power line, the power line, initially tightly encased by the cavity, gradually loosens under the continuous pulling force applied by the drone and eventually breaks free. At this point, the inductive power collection device is completely separated from the power line, allowing the drone to carry it to the maintenance station for equipment maintenance. The operation and maintenance method for inductive power-collecting devices provided in this application embodiment targets such devices on transmission lines. The cavity of the inductive power-collecting device is connected to an opening and closing motor via a transmission mechanism, thereby supporting control of the opening and closing state of the cavity through the opening and closing motor. Furthermore, when an unremovable fault is detected in the inductive power-collecting device, the method requests a drone to remove the device after controlling the opening and closing motor to a pre-removal position. By controlling the movement of the opening and closing motor, the resistance encountered by the drone in removing the inductive power-collecting device is reduced, lowering the difficulty of removal and improving the efficiency and success rate of removal. In addition, the use of inductive power collection improves the stability of the load power supply and reduces the device's offline rate.

[0080] Optionally, when the fault occurring in the inductive power supply device is not a removable fault, a first control signal for the switching motor is generated, including: when a faulty component of the inductive power supply device is detected, if the faulty component is a non-removable component, then the first control signal is generated.

[0081] Optionally, the method further includes: if the faulty component is a removable component, then removing the faulty component or switching to a spare component that uses the faulty component.

[0082] Optionally, the method further includes: if the opening and closing motor is detected to be in the pre-disassembly position when the inductive power supply device is not malfunctioning, a second control signal for the opening and closing motor is generated to control the opening and closing motor to move to the pressing position.

[0083] Optionally, when the fault occurring in the inductive power-collecting device is not a reversible fault, a first control signal for the opening and closing motor is generated, including: when the fault occurring in the inductive power-collecting device is not a reversible fault, if the power of the energy storage element of the inductive power-collecting device is less than or equal to a preset power, a first control signal for the opening and closing motor is generated, and the opening and closing motor is controlled to move to the pre-disassembly position based on the first control signal.

[0084] Optionally, when the fault occurring in the inductive power-collecting device is not a reversible fault, a first control signal for the opening and closing motor is generated, including: when the fault occurring in the inductive power-collecting device is not a reversible fault, if the power of the energy storage element of the inductive power-collecting device is greater than a preset power, then when the drone is within a preset range of the inductive power-collecting device or the power of the energy storage element drops to the preset power, the first control signal for the opening and closing motor is generated, and the opening and closing motor is controlled to move to the pre-disassembly position based on the first control signal.

[0085] Figure 4 A flowchart illustrating the operation and maintenance method for the inductive power collection equipment provided in this application. Figure 2 In this embodiment Figure 2 Based on the embodiments, the operation and maintenance methods of inductive power collection equipment are described in detail, such as... Figure 4 As shown, this operation and maintenance method may specifically include the following steps:

[0086] Step S401: Detect the faulty components of the inductive power supply device.

[0087] By analyzing the electrical signals from different nodes in the power system of inductive power harvesting equipment collected periodically, it is possible to determine whether the inductive power harvesting equipment has malfunctioned and, if so, which component is faulty. For example, the fault location can be achieved by using the principle of energy conservation based on the power relationship calculated from the electrical signals between different nodes.

[0088] Inductive power harvesting equipment includes an induction coil, which uses the principle of electromagnetic induction to convert energy induced in transmission lines into electrical energy to power energy storage components, loads, etc. Fault location can be achieved by analyzing the changes in the charge of the energy storage component and the relationship between the DC power obtained after rectifying the AC signal output from the induction coil, the charging and discharging power of the energy storage component, and the power of the load, i.e., identifying the faulty component.

[0089] Optionally, the power module of the inductive power harvesting device includes an energy harvesting circuit, a charging circuit, and an energy storage element; the energy harvesting circuit is used to convert the energy obtained from the magnetic field generated by the transmission line based on the principle of electromagnetic induction into electrical energy; the charging circuit is used to charge the energy storage element based on the electrical energy output by the energy harvesting circuit; the energy storage element includes an energy storage capacitor and / or an energy storage battery.

[0090] Correspondingly, the faulty components of the inductive power-gathering equipment are detected, including: when the voltage or capacitance of the energy storage element decreases after multiple consecutive tests, the faulty components are identified based on the electrical signals collected from each node of the power module.

[0091] For example, multiple consecutive times can be 3 times, 5 times, or other numbers.

[0092] When the voltage or capacitance of the energy storage element collected by the control circuit continues to drop, it is determined that the power module has failed. The specific faulty component can be determined based on the electrical signals collected from each node of the power module.

[0093] Optionally, when the voltage or capacitance of the energy storage element decreases after multiple consecutive detections, the faulty element is determined based on the electrical signals of each node of the power module collected. This includes: determining the power of each node based on the current and voltage of each node of the power module collected after multiple consecutive detections of the voltage or capacitance of the energy storage element; and determining the faulty element based on the energy flow relationship between each node and the power of each node.

[0094] Specifically, the power conditions that a node should meet can be determined based on the energy flow relationship between nodes, and faulty components can be identified based on the power of nodes that do not meet these conditions.

[0095] Target nodes can be identified based on energy flow relationships. These target nodes may correspond to various fault scenarios. To specifically analyze the faulty components, further analysis can be conducted based on the node's own power changes, the power changes of the standby node replacing the target node after a switch, and other factors such as a continuous decrease in power. From the multiple potentially faulty components corresponding to the target node, the faulty component can ultimately be determined. For example, Figure 5 A circuit block diagram of an inductive power-generating device provided in an embodiment of this application is shown below. Figure 5 As shown, the inductive power harvesting device includes a power module, a control circuit, and a load. The power module includes an energy harvesting circuit, a charging circuit, and an energy storage element. The control circuit is used for fault detection of the power module to identify the faulty component. The energy harvesting circuit converts energy obtained from the magnetic field generated by the transmission line based on the principle of electromagnetic induction into electrical energy, and includes an induction coil and a rectifier filter circuit. The charging circuit charges the energy storage element based on the electrical energy output from the energy harvesting circuit. The energy storage element includes an energy storage capacitor and an energy storage battery. By providing dual power supplies, if one power supply fails, the faulty power supply can be disconnected and the other power supply used, ensuring normal operation of the device and improving the reliability of the device operation.

[0096] When the inductive power-generating device is an icing monitoring device, the load may include an image acquisition device, an image processing unit, etc.

[0097] by Figure 5 Taking the power module in the illustrated embodiment as an example, each node of the power module includes the output terminal of the rectifier and filter circuit, the input terminal of each charging circuit, the input terminal of the energy storage capacitor and the energy storage battery, and the input terminal of the load.

[0098] Step S402: If the faulty component is an unremovable component, then obtain the power of the energy storage component of the inductive power harvesting device.

[0099] When the faulty component is not a removable component, i.e., it is not a removable component, such as a rectifier filter circuit, the power of the energy storage element of the inductive power-taking device is obtained so that the timing of generating the first control signal can be determined based on the obtained power of the energy storage element.

[0100] Step S403: If the energy storage element of the inductive power extraction device is less than or equal to the preset energy, the opening and closing motor is controlled to move to the pre-disassembly position based on the first control signal.

[0101] Step S404: If the power of the energy storage element of the inductive power-collecting device is greater than the preset power, then when the drone is within the preset range of the inductive power-collecting device or when the power of the energy storage element drops to the preset power, the opening and closing motor is controlled to move to the pre-disassembly position based on the first control signal.

[0102] The preset battery level is a configurable parameter, which can be 50%, 60%, 80% of the total battery level or other values.

[0103] When the energy storage element of the inductive power harvester has sufficient power (greater than the preset power level), the inductive power harvester can operate for a longer period. To improve the reliability of the connection between the inductive power harvester and the power transmission line, the first control signal for the opening / closing motor can be withheld until the drone moves to the vicinity of the inductive power harvester (within the preset range). This means the cavity of the inductive power harvester remains closed, pressing against the power transmission line. When the drone moves to the vicinity of the inductive power harvester (within the preset range), or when the power of the energy storage element is low (reduced to the preset power level), the first control signal for the opening / closing motor is generated, thereby controlling the opening / closing motor to move to the pre-removal position.

[0104] When the energy storage element of the inductive power-collecting device does not exceed the preset energy level, the first control signal of the opening and closing motor is directly generated, and the opening and closing motor is controlled to move to the pre-removal position based on the first control signal, so as to prevent the inductive power-collecting device from being unable to control the opening and closing motor after it goes offline, thus making it difficult for the drone to remove the inductive power-collecting device.

[0105] When the energy storage element is a battery, the remaining capacity of the battery can usually be determined based on its charging and discharging current or voltage. When the energy storage element is a capacitor, such as a supercapacitor, the remaining capacity can be determined based on the capacitance across the capacitor and the capacitance of the capacitor itself.

[0106] Step S405: When the opening and closing motor is controlled to move to the pre-dismantling position by the first control signal, a dismantling request is generated and sent to request the removal of the inductive power supply device by drone.

[0107] Specifically, the generated drone control signals can be used to control the drone to slowly and evenly pull the pull-up components, such as ropes or hooks, from the designated inductive power-collecting device, thereby removing the inductive power-collecting device.

[0108] Step S406: If the faulty component is a removable component, then remove the faulty component or switch to a spare component that uses the faulty component.

[0109] In the case of multiple (at least two) power sources, if a component in one of the power sources fails, such as an energy storage component, this type of failure is a removable failure, and the component that fails is a removable component. The backup component for the failed component is a component in another branch of the power source that has not failed, which performs the same function as the failed component, such as an energy storage component in another branch.

[0110] When a faulty component is a removable component, it can be removed by controlling the on / off state of the switch corresponding to the faulty component. In addition to removing the faulty component, the switch corresponding to the backup component can also be closed to put the backup component into use.

[0111] Step S407: If the opening and closing motor is detected to be in the pre-disassembly position when the inductive power supply device is not faulty, a second control signal for the opening and closing motor is generated to control the opening and closing motor to move to the pressing position.

[0112] With the opening and closing motor in the pressed position, the connection between the cavity of the inductive power-generating device and the power transmission line is more reliable compared to when it is in the pre-disassembled position.

[0113] When the inductive power supply device is operating normally and no malfunction has occurred, if the opening and closing motor is detected to be in the pre-disassembly position (meaning the cavity of the inductive power supply device is not closed but in the pre-disassembly state), the cavity of the inductive power supply device can be automatically closed by controlling the opening and closing motor. This is achieved by generating a second control signal to move the opening and closing motor to the pressing position, thereby closing the cavity of the inductive power supply device and pressing the inductive power supply device against the power transmission line. This ensures reliable fixation of both devices, reduces the probability of displacement of the inductive power supply device, and ensures the stability and safety of power supply.

[0114] In this embodiment, faulty components are detected, and the fault type is determined by the type of the faulty component. This triggers the automatic dismantling of the inductive power-collecting device in the event of an unremovable fault, and promptly disconnects the faulty component and activates a backup component in the event of a removable fault, ensuring the normal operation of the system. To improve the accuracy of the timing of the opening and closing motor control, when the fault is not a removable fault (i.e., the faulty component is unremovable), a step of monitoring the energy storage component's power level is added. When the power level is sufficient, the opening and closing motor is not controlled until the drone approaches the inductive power-collecting device or the power level drops to a preset level. This ensures a reliable connection between the inductive power-collecting device and the power line while waiting for the drone to arrive or when the power level is sufficient. When the power level is insufficient, there is no need to continue monitoring the power level; the opening and closing motor is directly controlled to move to the pre-dismantling position. This effectively avoids the situation where the inductive power-collecting device goes offline due to power depletion, resulting in the inability to control the opening and closing motor. This greatly improves the smoothness of the drone dismantling process of the inductive power-collecting device, ensuring that the dismantling operation is efficient and stable. In addition, this embodiment also adds control logic to automatically shut down the cavity of the inductive power-collecting device when no fault occurs. By detecting the status of the opening and closing motor, it is realized that when no fault occurs and the opening and closing motor is in the pre-disassembly position, the opening and closing motor is controlled to move to the pressing position, thereby enabling the inductive power-collecting device to be reliably connected to the power transmission line.

[0115] For example, Figure 6 A circuit block diagram of another inductive power collection device provided in the embodiments of this application, such as... Figure 6 As shown, the inductive power harvesting device includes a power module, a control module, and a load. The power module is connected to the control module and includes an energy harvesting circuit, a charging circuit, and an energy storage element. The energy harvesting circuit includes an induction coil, a measurement circuit, and a rectifier and filter circuit. Figure 6 Taking a two-way power supply branch as an example, the charging circuit includes a main charging branch and a backup charging branch. In other embodiments, the power supply branch can be three or more.

[0116] See also Figure 6 The main charging branch includes a first switch and a main charging management circuit connected in series; the backup charging branch includes a second switch and a backup charging management circuit connected in series; the outputs of both the main and backup charging branches are connected to a third and a fourth switch, respectively. The third switch is connected to the load in series with the energy storage battery and a fifth switch, and the fourth switch is connected to the load in series with the energy storage capacitor and a sixth switch; the output of the rectifier and filter circuit is connected to the inputs of the main and backup charging branches, respectively; the control terminals of the first to sixth switches, i.e., K1 to K6, are all connected to the control module to control the on / off state of the switches; the measurement circuit is used to measure the AC induced current I of the induction coil. AC AC induced current IAC After passing through a rectifier and filter circuit, it is converted to DC.

[0117] The main charging branch can be used by default, meaning the first, third, and fifth switches are off by default. When a component in the main charging branch fails, the faulty component is switched to the corresponding component in the backup charging branch. For example, if the energy storage battery fails, the energy storage component is switched to the energy storage capacitor, i.e., the sixth switch is opened and the fifth switch is closed.

[0118] Figure 6 In the inductive power supply device shown, the rectifier and filter circuit is a non-disconnectable component, while the main charging management circuit, the backup charging management circuit, the energy storage battery, and the energy storage capacitor are disconnectable components. Specifically, the main charging management circuit and the backup charging management circuit are each other's backup components, and the energy storage battery and the energy storage capacitor are each other's backup components.

[0119] In some embodiments, the energy storage battery and energy storage capacitor are disconnectable components when the power is sufficient, such as when the power is higher than a preset power level, and are non-disconnectable components when the power is insufficient.

[0120] The control module is also used to identify faulty components, specifically by acquiring the AC induced current I measured by the measuring circuit. AC The charging voltage U output by the rectifier and filter circuit DC and charging current I DC The charging and discharging voltage U of the energy storage battery BAT and charging / discharging current I BAT The charging and discharging voltage U of the energy storage capacitor C and charging / discharging current I C and the input voltage U of the load L and input current I L Based on I AC And the maximum energy harvesting curve of the induction coil, calculate the maximum AC input power P. AC ; Determine P AC Greater than or equal to the load power; where the load power is P BAT P C and P L The sum of P BAT For U BAT and I BAT The product of P C For U C and I C The product of P L For U L and I L The product of; if so, then determine the U collected in multiple consecutive samples. C or U BAT If the signal decreases, the faulty component is determined based on the electrical signal acquired by the control module.

[0121] For example, the control module can be a functional module of the SoC (System on Chip) of the sensing power-generating device, or it can be a separate module.

[0122] The maximum energy harvesting curve of the induction coil can be obtained through pre-testing. During testing, the induction coil is connected to a resistor with a known resistance, such as 150Ω, and its core is wrapped around or encircled with a simulated conductor. By adjusting the current input to the simulated conductor, the output power of the induction coil under different currents is measured. Through fitting, the relationship curve between the input current and the output power of the induction coil is obtained, which is the maximum energy harvesting curve. The collected AC induced current I... AC Substituting the maximum energy harvesting curve, we can obtain the maximum AC input power P. AC .

[0123] In P AC Greater than or equal to the load power, i.e., P AC ≥P BAT +P C +P L If the inductive power extraction equipment operates normally, i.e., no fault occurs, then the voltage of the energy storage battery put into use, i.e., U... BAT Or the voltage of the energy storage capacitor, i.e., U C When not fully charged, the voltage should gradually increase; when fully charged, it should remain constant, meaning the voltage should not decrease. This can be used to detect whether the inductive power supply device is malfunctioning.

[0124] Specifically, in P AC ≥P BAT +P C +P L At that time, determine the U collected in multiple consecutive samples C or U BAT If the power is decreasing, the inductive power-gathering device is not faulty and is operating in the normal energy storage phase; in this case, fault detection continues. If the power is decreasing, the inductive power-gathering device is faulty, and the fault type needs to be analyzed. Specifically, the fault type can be determined based on the previously collected electrical signals. If the fault type is a reversible fault, the faulty component is removed or a backup component is used. The fault code corresponding to the fault type and the backup component in use can also be recorded, and the recorded data can be uploaded, such as to a cloud server or the user terminal of relevant personnel. If the fault type is an unreversible fault, an early warning is issued, and the opening / closing motor is controlled to move to the pre-removal position. Then, the drone is controlled to remove the inductive power-gathering device. The opening / closing motor can be controlled to move to the pre-removal position only when the energy storage element's charge is lower than the preset charge, such as when the voltage is lower than the set value.

[0125] It can record the operation logs of the inductive power-generating equipment and upload the recorded logs to the cloud server or the user terminal of relevant personnel in the event of a malfunction, so as to keep track of the status of the inductive power-generating equipment in a timely manner.

[0126] If P AC Less than the load power, i.e., P AC <P BAT +P C +P L If the inductive power-collecting device enters the energy consumption stage, in order to extend the battery life, the working mode of the inductive power-collecting device can be switched to the low power mode. At the same time, when the power of the energy storage element is lower than the preset power, such as when the voltage is lower than the set value, the opening and closing motor is controlled to move to the pre-removal position.

[0127] Optionally, the method further includes: if P AC U is greater than or equal to the load power and is collected multiple times consecutively. C and U BAT If the value does not decrease, then the inductive power supply device is operating normally; if P AC U is less than the load power and is collected multiple times consecutively. C or U BAT If the power consumption decreases, the operating mode of the inductive power-collecting device will be switched to low-power mode, and a warning will be issued; if U is detected... C or U BAT When the value is lower than the set value, a first control signal for the opening and closing motor is generated to control the opening and closing motor to move to the pre-disassembly position.

[0128] Furthermore, the method also includes: when the power of the energy storage element of the inductive power extraction device is less than or equal to a preset power, generating a first control signal for the opening and closing motor, and controlling the opening and closing motor to move to the pre-disassembly position based on the first control signal.

[0129] If the energy storage element's power is detected to be too low, i.e. less than or equal to the preset power, regardless of whether the inductive power-collecting device is malfunctioning, the first control signal generated must be used to control the opening and closing motor to move to the pre-disassembly position to remove the inductive power-collecting device.

[0130] For example, if the current in the transmission line is too low, inductive power supply may not be sufficient to meet the load demand of the inductive power supply device. This would cause the energy storage element to fail to store energy and instead remain in a state of energy consumption, resulting in a continuous decrease in power. In such cases, although the circuit is not faulty, it is not suitable to install the inductive power supply device, and it should be removed and replaced with another device in a timely manner.

[0131] Figure 7 A flowchart illustrating the operation and maintenance method of the inductive power collection device provided in the embodiments of this application. Figure 3 In this embodiment Figure 2Based on the embodiments, the operation and maintenance methods of inductive power collection equipment are described in detail, such as... Figure 7 As shown, this operation and maintenance method may specifically include the following steps:

[0132] Step S701: The control module acquires electrical signals, including the AC induced current I measured by the acquisition and measurement circuit. AC The charging voltage U output by the rectifier and filter circuit DC and charging current I DC The charging and discharging voltage U of the energy storage battery BAT and charging / discharging current I BAT The charging and discharging voltage U of the energy storage capacitor C and charging / discharging current I C and the input voltage U of the load L and input current I L .

[0133] Step S702, Calculate power: including calculating P AC P BAT P C and P L .

[0134] Step S703, Determine P AC Is it not less than P? BAT +P C +P L If yes, proceed to step S704; otherwise, proceed to step S712.

[0135] Step S704, Determine U C or U BAT If the value is not reduced, proceed to step S705; otherwise, proceed to step S707.

[0136] This step specifically determines whether the voltage across the energy storage element being used does not decrease. If an energy storage battery is being used, this step specifically determines U... BAT Whether it does not decrease; if energy storage capacitors are used, then this step specifically involves determining U. C Whether it will not decrease.

[0137] Step S705: Confirm that the equipment is operating normally and is in the energy storage phase.

[0138] Step S706: When the equipment is running normally, if the opening and closing motor is detected to be in the pre-disassembly position, control the opening and closing motor to move to the pressing position.

[0139] If P AC U is greater than or equal to the load power and is collected multiple times consecutively. C and U BATIf the value does not decrease, it indicates that the inductive power supply device is operating normally.

[0140] Step S707: Analyze the equipment fault type. If the fault type is an unresolvable fault, proceed to step S708; if the fault type is a resolvable fault, proceed to step S710.

[0141] Step S708: Issue an early warning and upload logs.

[0142] Step S709, in U C or U BAT When the value is lower than the set value, control the opening and closing motor to move to the pre-disassembly position.

[0143] Step S710: Remove the faulty component or put the spare component into use.

[0144] Step S711: Upload the equipment fault code and record the spare components used.

[0145] Step S712, U C or U BAT As the power consumption continues to decrease, the device enters a power-consuming phase and switches to a low-power mode.

[0146] Step S713: Upload device operating data and issue a low battery warning. Return to step S701.

[0147] Even when the device is offline in low-power mode, the control module can still record some key data from the device status data. This data can then be uploaded after the device returns to the online state and exits low-power mode.

[0148] When the device is in the energy storage phase or the non-energy consumption phase, it can exit the low power mode and enter the normal mode or the default mode.

[0149] The "device" mentioned in the above steps is an abbreviation for inductive power supply equipment.

[0150] Optional, in P AC U is greater than or equal to the load power and is collected multiple times consecutively. C or U BAT When the power output is decreasing, the faulty component is determined based on the electrical signal collected by the control module, which is the step of analyzing the equipment fault type. Specifically, this includes: if the DC output power P DC Less than P L Then the faulty component is determined to be the rectifier filter circuit; where P DC For U DC and I DC The product of; in P DC Greater than or equal to P LWhen the branch used is the main charging branch, if the energy storage battery's charge decreases, the energy storage element used is switched to an energy storage capacitor; if the energy storage capacitor's charge increases, the faulty element is determined to be the energy storage battery; if the energy storage capacitor's charge decreases, the faulty element is determined to be the main charging management circuit. In P DC Greater than or equal to P L When the branch used is the backup charging branch, if the energy storage capacitor's charge decreases, the energy storage element used will be switched to the energy storage battery; if the energy storage battery's charge increases, the faulty element will be the energy storage capacitor; if the energy storage battery's charge decreases, the faulty element will be the backup charging management circuit.

[0151] This application embodiment also provides another operation and maintenance method for inductive power collection equipment. The method is applied to operation and maintenance equipment that is communicatively connected to the inductive power collection equipment, including: in response to a removal request sent by the inductive power collection equipment, determining a target drone; wherein the removal request is generated based on the method applied to the inductive power collection equipment provided in any of the foregoing embodiments; generating a work request for the target drone to request the target drone to remove the inductive power collection equipment.

[0152] The target drone can be a drone that is attached to the inductive power supply device, any idle drone, or the drone that is closest to the inductive power supply device.

[0153] This application embodiment also provides another operation and maintenance method for inductive power-collecting devices, which is applied to drones, including: determining a target inductive power-collecting device to be dismantled based on a dismantling request sent by the inductive power-collecting device or a work request sent by the operation and maintenance device; wherein, the dismantling request is generated based on the method for inductive power-collecting devices provided in any of the foregoing embodiments, and the work request is generated based on the method for operation and maintenance devices provided in the foregoing embodiments; and dismantling the target inductive power-collecting device.

[0154] The removal request or work request may include the identifier of the inductive power supply device, such as a code. The identifier can be obtained by parsing the request to identify the target inductive power supply device to be removed.

[0155] For example, Figure 8 This is a schematic diagram of the structure of an operation and maintenance system provided in an embodiment of this application, such as... Figure 8 The operation and maintenance system shown includes multiple inductive power collection devices mounted on the power transmission lines, an operation and maintenance platform, a drone control center, and multiple drones.

[0156] When removal is required, the inductive power supply device generates a removal request and uploads it to the operation and maintenance platform. The operation and maintenance platform can directly forward the removal request to the drone control center, or generate a request that the drone control center can parse based on the removal request and send the request to the drone control center. In response to the received request, the drone control center performs drone scheduling, determines the target drone responsible for removing the inductive power supply device, and controls the target drone to fly over the inductive power supply device and remove the inductive power supply device.

[0157] The drone control center can also generate drone control tasks and send these tasks to staff terminals, allowing staff to operate drones to remove inductive power-generating equipment.

[0158] The drone control center or staff can also control drones to inspect power transmission lines and the inductive power collection equipment mounted on the power transmission lines.

[0159] Corresponding to the operation and maintenance method provided in the foregoing embodiments, this application also provides a corresponding device. Figure 9 This is a schematic diagram of the operation and maintenance device for the inductive power collection equipment provided in the embodiments of this application, as shown below. Figure 9 As shown, the operation and maintenance device 90 for the inductive power-collecting device provided in this embodiment includes: an opening and closing motor control module 910, used to generate a first control signal for the opening and closing motor when the fault of the inductive power-collecting device is not a removable fault; and a dismantling control module 920, used to generate and send a dismantling request when the opening and closing motor is controlled to move to the pre-dismantling position by the first control signal, so as to request the dismantling of the inductive power-collecting device by drone; wherein, the movement of the opening and closing motor to the pre-dismantling position reduces the degree of compression between the cavity of the inductive power-collecting device and the power transmission line.

[0160] In one possible implementation, the opening and closing motor control module 910 is specifically used to generate a first control signal when a faulty component of the inductive power supply device is detected to be faulty, if the faulty component is an unremovable component.

[0161] In one possible implementation, the device further includes a faulty component removal module for: removing the faulty component or switching to a spare component if the faulty component is a removable component.

[0162] In one possible implementation, the power module of the inductive power harvesting device includes an energy harvesting circuit, a charging circuit, and an energy storage element; the energy harvesting circuit is used to convert energy obtained from the magnetic field generated by the transmission line based on the principle of electromagnetic induction into electrical energy; the charging circuit is used to charge the energy storage element based on the electrical energy output by the energy harvesting circuit; the energy storage element includes an energy storage capacitor and / or an energy storage battery; the device also includes a fault location module, used to: determine the faulty element based on the collected electrical signals of each node of the power module when the voltage or capacitance of the energy storage element decreases after multiple consecutive detections.

[0163] In one possible implementation, the fault location module is specifically used to: determine the power of each node based on the current and voltage of each node of the power module when the voltage or capacitance of the energy storage element decreases after multiple consecutive detections; and determine the faulty element based on the energy flow relationship between the nodes and the power of each node.

[0164] In one possible implementation, the power module of the inductive power harvesting device is connected to the control module; the power harvesting circuit includes an induction coil, a measuring circuit, and a rectifier and filter circuit; the charging circuit includes a main charging branch and a backup charging branch, the main charging branch including a first switch and a main charging management circuit connected in series; the backup charging branch including a second switch and a backup charging management circuit connected in series; the output terminals of both the main charging branch and the backup charging branch are connected to a third switch and a fourth switch, the third switch being connected to a load in series with an energy storage battery and a fifth switch, and the fourth switch being connected to a load in series with an energy storage capacitor and a sixth switch; the output terminal of the rectifier and filter circuit is connected to the input terminals of the main charging branch and the backup charging branch, respectively; the control terminals of the first to sixth switches are all connected to the control module to control the on / off state of the switches; the measuring circuit is used to measure the AC induced current of the induction coil; the AC induced current is converted to DC after passing through the rectifier and filter circuit; wherein, the rectifier and filter circuit is a non-disconnectable component, and the main charging management circuit, the backup charging management circuit, the energy storage battery, and the energy storage capacitor are disconnectable components.

[0165] In one possible implementation, the fault location module is specifically used for: acquiring the AC induced current I measured by the measurement circuit based on the control module. AC The charging voltage U output by the rectifier and filter circuit DC and charging current I DC The charging and discharging voltage U of the energy storage battery BAT and charging / discharging current I BAT The charging and discharging voltage U of the energy storage capacitor C and charging / discharging current I C and the input voltage U of the load L and input current I L Based on I AC And the maximum energy harvesting curve of the induction coil, calculate the maximum AC input power P.AC ; Determine P AC Greater than or equal to the load power; where the load power is P BAT P C and P L The sum of P BAT For U BAT and I BAT The product of P C For U C and I C The product of P L For U L and I L The product of; if so, then determine the U collected in multiple consecutive samples. C or U BAT If the signal decreases, the faulty component is determined based on the electrical signal acquired by the control module.

[0166] In one possible implementation, when the fault location module determines the faulty component based on the electrical signals acquired by the control module, it is specifically used to: if the DC output power P DC Less than P L Then the faulty component is determined to be the rectifier filter circuit; where P DC For U DC and I DC The product of; in P DC Greater than or equal to P L When the branch used is the main charging branch, if the energy storage battery's power decreases, the energy storage element used will be switched to the energy storage capacitor; if the energy storage capacitor's power increases, the faulty element will be the energy storage battery; if the energy storage capacitor's power decreases, the faulty element will be the main charging management circuit.

[0167] In one possible implementation, the fault location module is further used to: in P DC Greater than or equal to P L When the branch used is the backup charging branch, if the energy storage capacitor's charge decreases, the energy storage element used will be switched to the energy storage battery; if the energy storage battery's charge increases, the faulty element will be the energy storage capacitor; if the energy storage battery's charge decreases, the faulty element will be the backup charging management circuit.

[0168] In one possible implementation, the fault location module is further configured to: if P AC U is greater than or equal to the load power and is collected multiple times consecutively. C and U BAT If the value does not decrease, it indicates that the inductive power supply device is operating normally.

[0169] In one possible implementation, the device further includes a low-power module for: if P AC U is less than the load power and is collected multiple times consecutively.C or U BAT If the power consumption decreases, the operating mode of the inductive power-collecting device will be switched to low-power mode, and a warning will be issued; if U is detected... C or U BAT When the value is lower than the set value, a first control signal for the opening and closing motor is generated to control the opening and closing motor to move to the pre-disassembly position.

[0170] In one possible implementation, the opening and closing motor control module 910 is specifically used to: when the fault occurring in the inductive power-collecting device is not a reversible fault, if the power of the energy storage element of the inductive power-collecting device is less than or equal to a preset power, generate a first control signal for the opening and closing motor, and control the opening and closing motor to move to the pre-disassembly position based on the first control signal.

[0171] In one possible implementation, the opening and closing motor control module 910 is specifically used to: when the fault of the inductive power-collecting device is not a reversible fault, if the power of the energy storage element of the inductive power-collecting device is greater than the preset power, generate a first control signal for the opening and closing motor when the UAV is within the preset range of the inductive power-collecting device or when the power of the energy storage element drops to the preset power, and control the opening and closing motor to move to the pre-disassembly position based on the first control signal.

[0172] In one possible implementation, the opening and closing motor control module 910 is further configured to: generate a first control signal for the opening and closing motor when the power of the energy storage element of the inductive power-taking device is less than or equal to a preset power, and control the opening and closing motor to move to the pre-disassembly position based on the first control signal.

[0173] In one possible implementation, the device further includes a clamping control module for generating a second control signal for the opening and closing motor if the opening and closing motor is detected to be in a pre-disassembly position when the inductive power supply device is not malfunctioning, so as to control the opening and closing motor to move to the clamping position.

[0174] The operation and maintenance device for inductive power generation equipment provided in this embodiment can execute the operation and maintenance method for inductive power generation equipment provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0175] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 10 As shown, the electronic device 100 provided in this embodiment includes a processor 1001 and a memory 1002, wherein the memory 1002 stores computer execution instructions. Optionally, the electronic device 100 also includes a communication component 1003. The processor 1001, memory 1002, and communication component 1003 are connected via a bus.

[0176] In the specific implementation process, the processor 1001 executes the computer execution instructions stored in the memory 1002, causing the processor 1001 to perform the above-mentioned method.

[0177] The specific implementation process of processor 1001 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0178] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0179] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0180] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0181] This application also provides an inductive power harvesting device, including a cavity, and an induction coil, an opening and closing motor, a transmission mechanism, and a control module located within the cavity; the cavity is connected to the opening and closing motor through the transmission mechanism so as to control the opening and closing state of the cavity through the opening and closing motor; the control module is used to execute the method provided in any embodiment of this application.

[0182] The cavity of the inductive power harvesting device may include a rubber sleeve. When installing the inductive power harvesting device, the rubber sleeve presses against the power transmission line. Inside the rubber sleeve are an induction coil, an opening and closing motor, a transmission mechanism, and a control module. The control module can control the opening and closing state of the rubber sleeve by controlling the opening and closing motor.

[0183] The rubber sleeve has three opening and closing states: open, closed, and pre-removal. In the closed state, the two cavities of the rubber sleeve are completely closed, causing the sleeve to press firmly against the power transmission line. In the open state, the two cavities are opened to their maximum electrical limits. Typically, during installation, the rubber sleeve is controlled to be in the open state so that the power transmission line passes through it. Afterward, the rubber sleeve is controlled to be in the closed state, causing it to press firmly against the conductor. When it is necessary to remove the inductive power supply equipment, the rubber sleeve is in the pre-removal state, and the corresponding opening / closing motor is in the pre-removal position. In the pre-removal state, the rubber sleeve still presses firmly against the power transmission line, but the pressure is less than in the closed state, allowing the drone to more easily pull the inductive power supply equipment to be removed for maintenance.

[0184] For example, the inductive power-generating device could be an icing monitoring device.

[0185] The cavity of the inductive power-collecting device may include two parts, namely a first housing and a second housing, which are connected by a transmission mechanism. The first housing and the second housing are rotated under the drive of an opening and closing motor, thereby adjusting the degree to which the inductive power-collecting device or the cavity presses against the power transmission line passing through the cavity between the first housing and the second housing.

[0186] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0187] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0188] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0189] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0190] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0191] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0192] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0193] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0194] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0195] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for operating and maintaining an inductive power collection device, characterized in that, An inductive power harvesting device applied to power transmission lines, wherein the cavity of the inductive power harvesting device is connected to an opening and closing motor via a transmission mechanism, so as to control the opening and closing state of the cavity of the inductive power harvesting device through the opening and closing motor; the method includes: When the fault occurring in the inductive power-generating device is not a reversible fault, a first control signal for opening and closing the motor is generated. When the opening and closing motor is controlled to move to the pre-dismantling position by the first control signal, a dismantling request is generated and sent to request the removal of the inductive power collection device by a drone; wherein, the movement of the opening and closing motor to the pre-dismantling position reduces the pressure between the cavity of the inductive power collection device and the power transmission line.

2. The method according to claim 1, characterized in that, When the fault occurring in the inductive power-generating device is not a reversible fault, the generation of a first control signal for the switching motor includes: When a faulty component of the inductive power supply device is detected, if the faulty component is an unremovable component, the first control signal is generated.

3. The method according to claim 2, characterized in that, The method further includes: If the faulty component is a removable component, then the faulty component is removed or the system is switched to a spare component that uses the faulty component.

4. The method according to claim 2, characterized in that, The power module of the inductive power extraction device includes an energy extraction circuit, a charging circuit, and an energy storage element; the energy extraction circuit is used to convert energy obtained from the magnetic field generated by the transmission line based on the principle of electromagnetic induction into electrical energy; the charging circuit is used to charge the energy storage element based on the electrical energy output by the energy extraction circuit. The energy storage element includes an energy storage capacitor and / or an energy storage battery; The method further includes: When the voltage or capacitance of the energy storage element decreases after multiple consecutive detections, the faulty element is identified based on the electrical signals collected from each node of the power module.

5. The method according to claim 4, characterized in that, When the voltage or capacitance of the energy storage element decreases in multiple consecutive detections, the faulty element is determined based on the collected electrical signals of each node of the power module, including: When the voltage or capacitance of the energy storage element decreases after multiple consecutive detections, the power of each node is determined based on the current and voltage of each node of the power module collected; the faulty element is determined based on the energy flow relationship between each node and the power of each node.

6. The method according to claim 4, characterized in that, The power module of the inductive power harvesting device is connected to the control module; the energy harvesting circuit includes an induction coil, a measurement circuit, and a rectifier and filter circuit; the charging circuit includes a main charging branch and a backup charging branch, the main charging branch includes a first switch and a main charging management circuit connected in series; the backup charging branch includes a second switch and a backup charging management circuit connected in series; the output terminals of the main charging branch and the backup charging branch are both connected to a third switch and a fourth switch, the third switch is connected to the load in series with the energy storage battery and a fifth switch, and the fourth switch is connected to the load in series with the energy storage capacitor and a sixth switch; the output terminal of the rectifier and filter circuit is connected to the input terminals of the main charging branch and the backup charging branch, respectively. The control terminals of the first to sixth switches are all connected to the control module to control the on / off state of the switches; the measuring circuit is used to measure the AC induced current of the induction coil; the AC induced current is converted into DC after passing through the rectifier and filter circuit; The rectifier and filter circuit is a non-removable component, while the main charging management circuit, the backup charging management circuit, the energy storage battery, and the energy storage capacitor are removable components.

7. The method according to claim 6, characterized in that, When the voltage or capacitance of the energy storage element decreases in multiple consecutive detections, the faulty element is determined based on the collected electrical signals of each node of the power module, including: The control module acquires the AC induced current I measured by the measurement circuit. AC The charging voltage U output by the rectifier and filter circuit DC and charging current I DC The charging and discharging voltage U of the energy storage battery BAT and charging / discharging current I BAT The charging and discharging voltage U of the energy storage capacitor C and charging / discharging current I C and the load's input voltage U L and input current I L ; Based on I AC And the maximum energy harvesting curve of the induction coil, calculate the maximum AC input power P. AC ; Determine P AC Greater than or equal to the load power; wherein, the load power is P BAT P C and P L The sum of P BAT For U BAT and I BAT The product of P C For U C and I C The product of P L For U L and I L The product; If so, then determine the U collected multiple times consecutively. C or U BAT Is it decreasing? If so, the faulty component is determined based on the electrical signals collected by the control module.

8. The method according to claim 7, characterized in that, The method of determining the faulty component based on the electrical signals acquired by the control module includes: If the DC output power P DC Less than P L If so, the faulty component is determined to be the rectifier filter circuit; where P DC For U DC and I DC The product; In P DC Greater than or equal to P L When the branch used is the main charging branch, if the power of the energy storage battery decreases, the energy storage element used is switched to the energy storage capacitor; if the power of the energy storage capacitor increases, the faulty element is determined to be the energy storage battery; if the power of the energy storage capacitor decreases, the faulty element is determined to be the main charging management circuit. In P DC Greater than or equal to P L When the branch used is the backup charging branch, if the charge of the energy storage capacitor decreases, the energy storage element used is switched to the energy storage battery; if the charge of the energy storage battery increases, the faulty element is determined to be the energy storage capacitor; if the charge of the energy storage battery decreases, the faulty element is determined to be the backup charging management circuit.

9. The method according to claim 1, characterized in that, When the fault occurring in the inductive power-generating device is not a reversible fault, the generation of a first control signal for the switching motor includes: When the fault occurring in the inductive power-collecting device is not a reversible fault, if the power of the energy storage element of the inductive power-collecting device is greater than a preset power, a first control signal for the opening and closing motor is generated when the drone is within the preset range of the inductive power-collecting device or when the power of the energy storage element drops to the preset power. Based on the first control signal, the opening and closing motor is controlled to move to the pre-disassembly position.

10. The method according to claim 1, characterized in that, The method further includes: When the energy storage element of the inductive power extraction device has a power level less than or equal to a preset power level, a first control signal is generated for the opening and closing motor, and the opening and closing motor is controlled to move to the pre-disassembly position based on the first control signal.

11. The method according to any one of claims 1-10, characterized in that, The method further includes: If the opening and closing motor is detected to be in the pre-disassembly position when the inductive power supply device is not malfunctioning, a second control signal for the opening and closing motor is generated to control the opening and closing motor to move to the pressing position.

12. A method for operating and maintaining an inductive power collection device, characterized in that, The method, applied to maintenance equipment that is communicatively connected to inductive power collection devices, includes: In response to a removal request sent by an inductive power-collecting device, a target drone is identified; wherein the removal request is generated based on the method provided in any one of claims 1-11; A job request is generated for the target drone to request the target drone to remove the inductive power supply device.

13. A method for operating and maintaining an inductive power collection device, characterized in that, Applied to drones, the method includes: The target inductive power-collecting device to be dismantled is determined based on a dismantling request sent by the inductive power-collecting device or a work request sent by the maintenance equipment; wherein the dismantling request is generated based on the method provided by any one of claims 1-11, and the work request is generated based on the method provided by claim 12; Remove the target inductive power-generating device.

14. A maintenance device for inductive power generation equipment, characterized in that, An inductive power harvesting device applied to power transmission lines, wherein the cavity of the inductive power harvesting device is connected to an opening and closing motor via a transmission mechanism, so as to control the opening and closing state of the cavity of the inductive power harvesting device through the opening and closing motor; the device includes: The opening and closing motor control module is used to generate a first control signal for the opening and closing motor when the fault occurring in the inductive power collection device is not a reversible fault. The dismantling control module is used to generate and send a dismantling request when the opening and closing motor is controlled to move to the pre-dismantling position by the first control signal, so as to request the dismantling of the inductive power collection device by drone; wherein, the movement of the opening and closing motor to the pre-dismantling position reduces the pressure between the cavity of the inductive power collection device and the power transmission line.

15. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-13.

16. An inductive power-generating device, characterized in that, include: The cavity includes an induction coil, an opening and closing motor, a transmission mechanism, and a control module located within the cavity. The cavity is connected to the opening and closing motor via the transmission mechanism, so that the opening and closing state of the cavity can be controlled by the opening and closing motor. The control module is used to perform the method as described in any one of claims 1-11.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-13.

18. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-13.

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