CN104133193A - Ultrasonic-wave-based positioning system of operating equipment in high voltage electric field - Google Patents

Abstract

The present invention provides a positioning system for operating equipment in a high-voltage electric field based on ultrasonic waves, comprising at least three signal generating devices arranged on the working boundary and a signal receiving device arranged on the operating equipment; the signal generating device includes a wireless signal generator and an ultrasonic generator, the signal generating device is arranged on three reference points of the working boundary, and the three reference points are arranged on the working boundary in a non-collinear manner; the signal receiving device includes an ultrasonic receiver, a wireless signal receiver and a processor, the output ends of the ultrasonic receiver and the wireless signal receiver are electrically connected to the input end of the processor, and the processor calculates the time difference between the wireless signal and the ultrasonic wave when the same reference point is received, and the operation equipment arrives at the reference point It can accurately locate the operating equipment in the high-voltage electric field, and ensure that the operating equipment and live equipment maintain a safe distance.

Description

Positioning System of Working Equipment in High Voltage Electric Field Based on Ultrasonic

technical field

The invention relates to the field of electric power, in particular to an ultrasonic-based positioning system for operating equipment in a high-voltage electric field.

Background technique

The construction of the high-voltage switchyard of the substation is a very dangerous work; the switchyard is a grid-like site composed of a large number of high-voltage copper bars and switches. Because many switches are in a long-term working state, failures are inevitable, or other auxiliary equipment Therefore, it is necessary to carry out maintenance and other construction in the switchyard. Due to the particularity and importance of the substation, it is impossible to completely cut off the power during construction in the substation. Only part of the power-off construction can be carried out, and the other part is still in a live working state. Currently, isolation methods such as safety fences are used to isolate the live area. , these measures can ensure the effective safety protection of personnel in manual construction; however, when engineering vehicles, cranes and other operating equipment are used in the construction process, the safe distance between these equipment and live equipment can only be determined by the operator's experience and Judgment by skill often leads to maintenance accidents, such as damage to live equipment such as insulators, and more importantly, a huge threat to the personal safety of operators.

In order to avoid the occurrence of maintenance accidents, electronic equipment is currently used for positioning, such as GPS positioning, RFID positioning, etc. The above positioning methods are all based on wireless signals, but there are the following problems: because the substation belongs to a high-voltage field and has a strong Therefore, it causes great interference to wireless signals, resulting in inaccurate positioning and even failure of positioning.

Therefore, it is necessary to propose a new device for positioning the operating equipment in the high-voltage electric field, which can accurately locate the operating equipment in the high-voltage electric field, ensure that the operating equipment and live equipment maintain a safe distance, and will not be affected by the high-voltage electric field and other factors.

Contents of the invention

In view of this, the purpose of the present invention is to provide a positioning system for operating equipment in a high-voltage electric field based on ultrasonic waves, which can accurately locate the operating equipment in the high-voltage electric field, and ensure that the operating equipment and live equipment maintain a safe distance without being subjected to high voltage. The influence of electric field and other factors.

The present invention provides a positioning system for operating equipment in an ultrasonic-based high-voltage electric field, including at least three signal generating devices arranged on the working boundary and a signal receiving device arranged on the operating equipment;

The signal generating device includes a wireless signal generator and an ultrasonic generator, and the signal generating device is arranged on three reference points of the working boundary, and the three reference points are arranged on the working boundary in a non-collinear manner;

The signal receiving device includes an ultrasonic receiver, a wireless signal receiver and a processor, the output ends of the ultrasonic receiver and the wireless signal receiver are electrically connected to the input end of the processor, and the processor receives the same reference point The time difference between the wireless signal and the ultrasonic wave calculates the distance from the operation equipment to the reference point.

Further, the wireless signal generator and the ultrasonic generator set at the same reference point act simultaneously to send out wireless signals and ultrasonic signals.

Further, the signal generating devices installed at different reference points operate in sequence according to the set order to transmit wireless signals and ultrasonic signals to the signal receiving device, and each reference point signal generating device periodically transmits to the signal receiver according to the set order positioning signal.

Further, the signal generating device also includes a command receiving unit, a control unit, a wireless signal driving unit and an ultrasonic driving unit, the command receiving unit receives the action command and transmits it to the control unit, and the control unit controls the wireless signal according to the action command Generator and sonotrode action.

Further, the positioning system also includes a command sending unit and a command modulator, the input end of the command sending unit is connected to the output end of the command modulator, the input end of the command modulator is connected to the command output end of the processor, The command modulator codes and modulates the command signal according to the command output by the processor, and sends it to the corresponding command receiving unit through the command sending unit.

Further, the positioning system further includes an alarm connected to the processor, and when the distance between the working equipment and the reference point is less than the safety distance, the processor issues an alarm command and sends an alarm through the alarm.

Further, the command receiving unit and the command sending unit are both wireless circuits, and the wireless signals of the command receiving unit and the command sending unit work in different frequency ranges from the wireless signal receiver and the wireless signal generator.

Beneficial effects of the present invention: The positioning system of the operating equipment in the high-voltage electric field based on ultrasonic waves of the present invention can perform stable operations in the high-voltage electric field without being affected by the electric field, and can accurately position the operating equipment in the high-voltage electric field, ensuring that the operating equipment Keeping a safe distance from live equipment can effectively reduce the occurrence of operating accidents in high-voltage electric fields.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and embodiment:

Fig. 1 is a schematic diagram of the present invention.

Fig. 2 is a schematic block diagram of the circuit of the present invention.

Detailed ways

Fig. 1 is a principle diagram of the present invention, and Fig. 2 is a block diagram of the circuit principle of the present invention. As shown in the figure, a positioning system for operating equipment in a high-voltage electric field based on ultrasonic waves provided by the present invention includes at least three devices arranged on the working boundary a signal generating device and a signal receiving device arranged on the operating equipment;

The signal generating device includes a wireless signal generator and an ultrasonic generator. The signal generating device is arranged on three reference points of the working boundary, and the three reference points are arranged on the working boundary in a non-collinear manner. Of course, the signal generating device It can be three, four or more, and the three reference points can be set on the same plane or not, but it must be satisfied that the three reference points are all set on the working boundary, where the working boundary refers to the power supply equipment In the area enclosed by the location, the connection line between the power supply equipment is the working boundary of the area, not only including the boundary of the vertical projection of the connection line between the power supply equipment to the ground, but also the high-altitude boundary formed by high-voltage lines, etc. , Therefore, if the operating equipment is not working at heights, it will not touch power supply facilities such as high-voltage lines, so it is only necessary to set up signal generating devices at other equipment. If the operating equipment needs to work at heights, therefore, not only the ground boundary A signal generating device is provided, and the air boundary also needs to be provided with a signal generating device to judge the safe distance between the operating equipment and the live equipment. Of course, no matter how many signal generating devices are installed, the working principle is essentially the same. Therefore, this embodiment In, three signal generators are used for illustration.

The signal receiving device includes an ultrasonic receiver, a wireless signal receiver and a processor, the output ends of the ultrasonic receiver and the wireless signal receiver are electrically connected to the input end of the processor, and the processor receives the same reference point The time difference between the wireless signal and the ultrasonic wave calculates the distance from the operating equipment to the reference point; the positioning system of the operating equipment in the high-voltage electric field based on the ultrasonic wave of the present invention can perform stable operations in the high-voltage electric field without being affected by the electric field, and can operate in the high-voltage electric field. Accurate positioning of the operating equipment in the middle to ensure a safe distance between the operating equipment and live equipment, so as to avoid and effectively reduce the occurrence of operating accidents in the high-voltage electric field.

In this embodiment, the wireless signal generator and the ultrasonic generator set at the same reference point act simultaneously to send out wireless signals and ultrasonic signals. Therefore, the influence of the high-voltage electric field on the electromagnetic signal will not cause deviations in the final positioning accuracy, and because the transmission speed of the wireless signal is much higher than the transmission speed of the ultrasonic wave, and the transmission distance of the wireless signal in this positioning system is extremely short. Therefore, there is no time delay from the sending of the wireless signal to the receiving. Therefore, as long as the wireless signal generator and the ultrasonic generator send out signals at the same time, and the signal receiving device determines the time when the wireless signal is received and the time when the ultrasonic wave is received, both The interval between two time points is the transmission time of the ultrasonic wave from the sending point to the receiving point, and then the distance between the working machine and the current reference point can be accurately determined according to the wave speed of the ultrasonic wave.

In this embodiment, the signal generating devices arranged at different reference points act in sequence according to the set order to transmit wireless signals and ultrasonic signals to the signal receiving device, as shown in Figure 1, such as the wireless signal generator A in the signal generating device A After sending out signals with ultrasonic generator A at the same time, control the wireless signal generator B and ultrasonic generator B in signal generator B to send out signals at the same time, which can ensure that the signals generated by each signal generating device will not interfere with each other, so that the positioning The accuracy is effectively guaranteed; and each reference point signal generator periodically sends positioning signals to the signal receiver according to the set sequence. In this way, the operation equipment can be accurately monitored when the operation equipment arrives The reference point distance is used to ensure the safety of construction; of course, the cycle period is manually set according to the actual situation, which includes factors such as the moving speed of the operating equipment, the operating radius of the operating equipment, and the size of the working boundary.

In this embodiment, the signal generating device further includes a command receiving unit, a control unit, a wireless signal driving unit, and an ultrasonic driving unit, the command receiving unit receives an action command and transmits it to the control unit, and the control unit responds to the action command and To control the action of the wireless signal generator and the ultrasonic generator, the positioning system also includes a command sending unit and a command modulator, the input end of the command sending unit is connected to the output end of the command modulator, and the input end of the command modulator Connected to the command output terminal of the processor, the command modulator performs code modulation of the command signal according to the command output by the processor, and sends it to the corresponding command receiving unit through the command sending unit, and the processor according to the set program (This program can be realized by the program in the prior art) output the modulation command to the command modulator, such as: need to first control the signal generating device A to work first, and then carry out the cyclic action according to the order of A-B-C-A, then the command modulator carries out corresponding The code is modulated, and the output can only make the command receiving unit installed in the signal generating device A receive the execution command and transmit it to the control unit. The control unit outputs the control command to the wireless signal drive unit and the ultrasonic drive unit to operate, so that the wireless signal generator It sends positioning signals at the same time as the ultrasonic generator, but in actual work, there may be deviations at the moment when the wireless signal generator and the ultrasonic generator send out signals. For example, the time when the wireless signal generator sends out the wireless signal is later than the ultrasonic generator sends out the ultrasonic Therefore, it is necessary to determine the delay length before use, and then perform delay control through the control unit to ensure that the ultrasonic and wireless signals can be sent at the same time. The delay length can be determined by existing methods or methods before use. , wherein, each of the above-mentioned units can be realized by using an existing circuit or an integrated circuit, and details are not described here.

In this embodiment, the positioning system further includes an alarm connected to the processor. When the distance between the operating equipment and the reference point is less than the safety distance, the processor sends an alarm command and sends an alarm through the alarm. When the wireless signal receiver receives After the wireless signal, the processor immediately determines the receiving time. When the ultrasonic receiver receives the ultrasonic wave, the processor immediately determines the receiving time of the ultrasonic wave. The processor calculates the difference between the two moments through the preset program, which is the propagation time of the ultrasonic wave, and The distance between the reference point and the operating equipment is calculated by the preset ultrasonic propagation speed, and the safety distance threshold is preset in the processor, the safety distance threshold includes the safety distance, the relative safety distance and the danger distance, and the safety distance >Relative safety distance>danger distance, when the processor compares the detection distance with the safety distance threshold, if the detection distance is greater than or equal to the safety distance, the alarm will not act, and the detection distance is less than the safety distance and greater than the danger distance, then the processor will output an alarm Instructions, the alarm alarm, if the detected distance is less than or equal to the danger distance, the alarm will change the alarm frequency and further prompt the alarm. Generally, when the detection distance is less than the safety distance and greater than the danger distance, the alarm will alarm, and the operators will For feedback, the detection distance mentioned above is the distance between the currently detected operating equipment and the reference point, the processor is a chip or a single-chip microcomputer in the prior art, and the alarm is an audible and visual alarm.

In this embodiment, the command receiving unit and the command sending unit are both wireless circuits, and the wireless signals of the command receiving unit and the command sending unit work in different frequency ranges from the wireless signal receiver and the wireless signal generator, which can avoid The control command signal and the test wireless signal interfere with each other to ensure the accuracy of the final measurement result.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (7)

1. A positioning system for operating equipment in a high-voltage electric field based on ultrasonic waves, characterized in that: comprise at least three signal generating devices arranged at the working boundary and a signal receiving device arranged at the operating equipment; The signal generating device includes a wireless signal generator and an ultrasonic generator, and the signal generating device is arranged on three reference points of the working boundary, and the three reference points are arranged on the working boundary in a non-collinear manner; The signal receiving device includes an ultrasonic receiver, a wireless signal receiver and a processor, the output ends of the ultrasonic receiver and the wireless signal receiver are electrically connected to the input end of the processor, and the processor receives the same reference point The time difference between the wireless signal and the ultrasonic wave calculates the distance from the operation equipment to the reference point. 2. The positioning system for working equipment based on ultrasonic waves in a high-voltage electric field according to claim 1, characterized in that: the wireless signal generator and the ultrasonic generator set at the same reference point act simultaneously to send out wireless signals and ultrasonic signals. 3. According to claim 2, the ultrasonic-based positioning system for operating equipment in a high-voltage electric field is characterized in that: the signal generating devices arranged at different reference points act in sequence according to the set order to transmit wireless signals and ultrasonic signals to the signal receiving device , and each reference point signal generating device periodically sends positioning signals to the signal receiver according to the set sequence. 4. The positioning system for operating equipment in a high-voltage electric field based on ultrasonic waves according to claim 3, wherein the signal generating device also includes a command receiving unit, a control unit, a wireless signal driving unit and an ultrasonic driving unit, and the command The receiving unit receives the action command and transmits it to the control unit, and the control unit controls the action of the wireless signal generator and the ultrasonic generator according to the action command. 5. The positioning system of operating equipment in the high-voltage electric field based on ultrasonic waves according to claim 4, wherein the positioning system also includes a command sending unit and a command modulator, and the input terminal of the command sending unit is connected to the command modulator The output terminal of the command modulator is connected to the command output terminal of the processor, and the command modulator performs code modulation of the command signal according to the command output by the processor, and sends it to the corresponding Command receiving unit. 6. The positioning system for operating equipment in an ultrasonic-based high-voltage electric field according to claim 5, characterized in that: the positioning system also includes an alarm connected to the processor, when the distance between the operating equipment and the reference point is less than the safety distance , the processor issues an alarm command and sends an alarm through the alarm. 7. according to claim 6 the positioning system based on the operation equipment in the high-voltage electric field of ultrasonic wave, it is characterized in that: described order receiving unit and order sending unit are all wireless circuits, and the wireless signal of order receiving unit and order sending unit and The wireless signal receiver and the wireless signal generator work in different frequency bands.