CN108196542A - A kind of transmission line of electricity leakage current crusing robot control device - Google Patents
A kind of transmission line of electricity leakage current crusing robot control device Download PDFInfo
- Publication number
- CN108196542A CN108196542A CN201711496713.1A CN201711496713A CN108196542A CN 108196542 A CN108196542 A CN 108196542A CN 201711496713 A CN201711496713 A CN 201711496713A CN 108196542 A CN108196542 A CN 108196542A
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- CN
- China
- Prior art keywords
- crusing robot
- controller
- transmission line
- guide rail
- leakage current
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/088—Aspects of digital computing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of transmission line of electricity leakage current crusing robot control devices, it applies in transmission line of electricity side, including crusing robot, guide rail mobile mechanism, controller, the crusing robot is fixedly installed on the lower section of the guide rail mobile mechanism, the controller is arranged on the crusing robot, current transformer is fixedly installed on the crusing robot, ultrasonic displacement sensor, signal transmission end, movable motor, the output terminal of the current transformer, input terminal of the output terminal of the ultrasonic displacement sensor respectively with the controller is connected, the output terminal of the controller input terminal with the movable motor respectively, the input terminal at the signal transmission end is connected, the output terminal of the movable motor is connected with the input terminal of the guide rail mobile mechanism.The present invention is realized carries out accurate monitoring and controlling for the leakage current on transmission line of electricity, improves the operational safety of transmission line of electricity, accomplishes to replace in time.
Description
Technical field
The present invention relates to a kind of transmission line of electricity leakage current crusing robot control devices, belong to intelligent patrol detection control technology
Field.
Background technology
With the continuous development of transmission line of electricity, transmission line of electricity is after decades are used because the reasons such as aging circuit, electric leakage need
It replaces, but detection of electrical leakage and maintenance is carried out for the transmission line of electricity of long range, only having occurred failure at present could be into
The passive interruption maintenance of row, it is time-consuming and laborious, therefore how a kind of inspection device of active maintenance is provided, for the electric leakage of transmission line of electricity
Actively carry out accurate monitoring and controlling.
Invention content
It is an object of the present invention to overcome defect of the existing technology, above-mentioned technical problem is solved, proposes a kind of transmission of electricity
Line leak electric current crusing robot control device.
The present invention adopts the following technical scheme that：A kind of transmission line of electricity leakage current crusing robot control device, is applied
Transmission line of electricity side, which is characterized in that including crusing robot, guide rail mobile mechanism, controller, the crusing robot is fixed
The lower section of the guide rail mobile mechanism is set to, the controller is arranged on the crusing robot, the crusing robot
On be fixedly installed current transformer, ultrasonic displacement sensor, signal transmission end, movable motor, the current transformer
Output terminal, the ultrasonic displacement sensor input terminal of the output terminal respectively with the controller be connected, the controller
Input terminal of the output terminal respectively with the input terminal of the movable motor, the signal transmission end be connected, the movable motor
Output terminal be connected with the input terminal of the guide rail mobile mechanism, the current transformer and the ultrasonic displacement sensor
It is respectively intended to obtain the leakage current of the crusing robot and walking displacement.
As a kind of preferred embodiment, the controller includes current controller, traveling controller, the current control
Device is connected with the traveling controller, and the current controller is used for the leakage current signal to receiving the current transformer
The signal transmission end, the walking control are transferred to when whether reaching preset threshold value to be judged, and exporting judgement fructufy
Device processed is used for controlling the movable motor that the guide rail mobile mechanism is driven to carry out walking operations.
As a kind of preferred embodiment, the guide rail mobile mechanism includes inspection guide rail, socket sliding equipment, the set
It connects sliding equipment to be socketed on the outer surface of the inspection guide rail and be slidably connected with the inspection guide rail, the inspection is led
Rail is set to the side of the transmission line of electricity, and the socket sliding equipment is arranged on the top of the crusing robot.
As a kind of preferred embodiment, it is described socket sliding equipment include positioned at middle part face directly fitting plate, up and down
Be symmetrically distributed in the interior curved engaging plate for facing fitting plate both sides directly, the upper and lower side for facing fitting plate directly with it is described interior
Curved engaging plate is fixedly connected.
As a kind of preferred embodiment, the interior curved engaging plate includes interior turn of bilge, straight parts, the interior turn of bilge and institute
The one end for stating straight parts is fixedly connected, and the other end of the straight parts is bonded the upper and lower side of plate and is fixedly connected with described face directly.
As a kind of preferred embodiment, the bottom end of the socket sliding equipment is provided with the transmission hinge of symmetrical distribution
Chain, the output terminal of the upper and lower ends of the living hinge respectively with the bottom end of the socket sliding equipment, the movable motor are matched
Close connection.
As a kind of preferred embodiment, check lock lever is connected between the interior turn of bilge of the interior curved engaging plate
Part, for preventing the socket sliding equipment from coming off from the inspection guide rail.
As a kind of preferred embodiment, the signal transmission end uses GPS signal generator, for that will come from the control
The leakage current signal of device processed is transferred to long-range GPS signal receiver.
The advantageous effect that the present invention is reached：The present invention is applied in the electric leakage service technique field of long distance transmission line,
The present invention sets electric current by setting crusing robot and guide rail mobile mechanism in the side of transmission line of electricity on crusing robot
Mutual inductor, controller, ultrasonic displacement sensor, GPS signal generator pass through cunning of the crusing robot on inspection guide rail
Dynamic, whether the sensing electric current of the electric field formation of current transformer sensing transmission line of electricity uniformly and beyond current transformer
Predetermined threshold value, sends a signal to controller if beyond predetermined threshold value, and controller sends out electric leakage signal and passed together with ultrasonic displacement
The location information of sensor is sent to long-range GPS signal receiver by GPS signal generator, realizes on transmission line of electricity
Leakage current carries out accurate monitoring and controlling, improves the operational safety of transmission line of electricity, accomplishes to replace in time.
Description of the drawings
Fig. 1 is the structure diagram of the control device of the present invention.
Fig. 2 is the structure diagram of the crusing robot of the present invention.
Fig. 3 is the structure diagram of the socket sliding equipment of the present invention.
Fig. 4 is the control method flow chart of the present invention.
The meaning marked in figure：1- crusing robots, 2- inspection guide rails, 3- socket sliding equipments, 4- current transformers, 5-
Controller, 6- face fitting plate directly, curved engaging plate in 7-, 8- locking rod pieces, 9- living hinges, 10- signal transmissions end, 11-
Interior turn of bilge, 12- straight parts, 13- ultrasonic displacement sensors, 14- movable motors.Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for the skill for clearly illustrating the present invention
Art scheme, and be not intended to limit the protection scope of the present invention and limit the scope of the invention.
Fig. 1 is the structure diagram of the control device of the present invention.Fig. 2 is the structure diagram of the crusing robot of the present invention.
The present invention proposes a kind of transmission line of electricity leakage current crusing robot control device, applies in transmission line of electricity side, feature exists
In including crusing robot 1, guide rail mobile mechanism, controller 5, the crusing robot 1 is fixedly installed on the guide rail movement
The lower section of mechanism, the controller 5 are arranged on the crusing robot 1, and electric current is fixedly installed on the crusing robot 1
Mutual inductor 4, ultrasonic displacement sensor 13, signal transmission end 10, movable motor 14, the output terminal of the current transformer 4, institute
It states input terminal of the output terminal of ultrasonic displacement sensor 13 respectively with the controller 5 to be connected, the output of the controller 5
The input terminal respectively with the input terminal of the movable motor 14, the signal transmission end 10 is held to be connected, the movable motor 14
Output terminal be connected with the input terminal of the guide rail mobile mechanism, the current transformer 4 and the ultrasonic displacement sense
Device 13 is respectively intended to obtain the leakage current of the crusing robot 1 and walking displacement.
As a kind of preferred embodiment, the controller 5 includes current controller, traveling controller, the electric current control
Device processed is connected with the traveling controller, and the current controller is used for the leakage current to receiving the current transformer 4
Whether signal, which reaches preset threshold value, is judged, and is exported and judged to be transferred to the signal transmission end 10 during fructufy, described
Traveling controller is used for controlling the movable motor 14 that the guide rail mobile mechanism is driven to carry out walking operations.
As a kind of preferred embodiment, the guide rail mobile mechanism includes inspection guide rail 2, socket sliding equipment 3, described
Socket sliding equipment 3 is socketed on the outer surface of the inspection guide rail 2 and is slidably connected with the inspection guide rail 2, described
Inspection guide rail 2 is set to the side of the transmission line of electricity, and the socket sliding equipment 3 is arranged on the top of the crusing robot 1
End.
Fig. 3 is the structure diagram of the socket sliding equipment of the present invention.As a kind of preferred embodiment, the socket is slided
Motivation structure 3 include positioned at middle part face fitting plate 6 directly, symmetrical above and below be distributed in described faces the interior curved of 6 both sides of fitting plate directly
Engage plate 7, the upper and lower side for facing fitting plate 6 directly interior curved engage plate 7 and be fixedly connected with described.
As a kind of preferred embodiment, the interior curved engaging plate 7 includes interior turn of bilge 11, straight parts 12, described interior curved
Portion 11 is fixedly connected with one end of the straight parts 12, and the other end of the straight parts 12 is bonded the upper of plate 6 with described face directly
Lower end is fixedly connected.
As a kind of preferred embodiment, the bottom end of the socket sliding equipment 3 is provided with the transmission of symmetrical distribution
Hinge 9, the upper and lower ends of the living hinge 9 respectively with the bottom end of the socket sliding equipment 3, the movable motor 14 it is defeated
Outlet cooperation connection.
As a kind of preferred embodiment, lock is connected between the interior turn of bilge 11 of the interior curved engaging plate 7
Tight rod piece 8, for preventing the socket sliding equipment 3 from coming off from the inspection guide rail 2.
As a kind of preferred embodiment, the signal transmission end 10 uses GPS signal generator, described for that will come from
The leakage current signal of controller 5 is transferred to long-range GPS signal receiver.
Fig. 4 is the control method flow chart of the present invention.The present invention also proposes a kind of transmission line of electricity leakage current inspection machine
People's control method is applied in transmission line of electricity side, which is characterized in that include the following steps：
Step SS1：The position signal of leakage current signal and transmission line of electricity for obtaining transmission line of electricity is transferred to controller 5；
Step SS2：Controller 5 is judged whether the leakage current signal of reception reaches preset threshold value, and exports judgement
The signal transmission end 10 is transferred to during fructufy to export；
Step SS3：The position signal for the transmission line of electricity that controller 5 receives is transferred to signal transmission end 10 and exports and send out control letter
It number is walked or is stopped operation to guide rail mobile mechanism.
As a kind of preferred embodiment, the step SS1 is further included：Current transformer 4 on crusing robot 1 is used for
The leakage current signal of the transmission line of electricity is acquired in real time, and the current controller being transferred on controller 5.
As a kind of preferred embodiment, the step SS1 is further included：Ultrasonic displacement sensing on crusing robot 1
Device 13 acquires the position signal of crusing robot 1, and the traveling controller being transferred on controller 5 in real time.
As a kind of preferred embodiment, the step SS2 is further included：Current controller in controller 5 is to coming from electricity
Whether the leakage current signal of current transformer 4, which reaches preset threshold value, is judged, if it is determined that being yes, then exports judgement fructufy
When be transferred to signal transmission end 10 export and send out control signal to traveling controller control movable motor 14 stop, output ultrasound
The position signal that wave displacement sensor 13 acquires is exported to signal transmission end 10, and otherwise an output ultrasonic wave displacement sensor 13 is adopted
The position signal of collection is exported to signal transmission end 10.
As a kind of preferred embodiment, the step SS3 is further included：Traveling controller in controller 5 receives super
The position signal that sound wave displacement sensor 13 acquires is transferred to signal transmission end 10 and exports and send out control signal to movable motor
The socket sliding equipment 3 of 14 driving guide rail mobile mechanisms is walked or is stopped operation along inspection guide rail 2.
As a kind of preferred embodiment, the signal transmission end 10 uses GPS signal generator, described for that will come from
The leakage current signal of controller 5 is transferred to long-range GPS signal receiver.
As a kind of preferred embodiment, the movable motor 14 with it is described socket sliding equipment 3 by living hinge 9 into
Row driving force is transmitted.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of transmission line of electricity leakage current crusing robot control device, is applied in transmission line of electricity side, which is characterized in that packet
Include crusing robot（1）, guide rail mobile mechanism, controller（5）, the crusing robot（1）The guide rail is fixedly installed on to move
The lower section of motivation structure, the controller（5）It is arranged on the crusing robot（1）On, the crusing robot（1）Upper fixation is set
It is equipped with current transformer（4）, ultrasonic displacement sensor（13）, signal transmission end（10）, movable motor（14）, the electric current is mutual
Sensor（4）Output terminal, the ultrasonic displacement sensor（13）Output terminal respectively with the controller（5）Input terminal phase
Connection, the controller（5）Output terminal respectively with the movable motor（14）Input terminal, the signal transmission end（10）'s
Input terminal is connected, the movable motor（14）Output terminal be connected with the input terminal of the guide rail mobile mechanism, the electricity
Current transformer（4）With the ultrasonic displacement sensor（13）It is respectively intended to obtain the crusing robot（1）Leakage current
And walking displacement.
A kind of 2. transmission line of electricity leakage current crusing robot control device according to claim 1, which is characterized in that institute
State controller（5）Including current controller, traveling controller, the current controller is connected with the traveling controller, institute
Current controller is stated to be used for receiving the current transformer（4）Leakage current signal whether reach preset threshold value and sentenced
It is fixed, and export and judge to be transferred to the signal transmission end during fructufy（10）, the traveling controller be used for control the walking
Motor（14）The guide rail mobile mechanism is driven to carry out walking operations.
A kind of 3. transmission line of electricity leakage current crusing robot control device according to claim 1, which is characterized in that institute
It states guide rail mobile mechanism and includes inspection guide rail（2）, socket sliding equipment（3）, the socket sliding equipment（3）It is socketed in described patrol
Examine guide rail（2）Outer surface on and with the inspection guide rail（2）Sliding connection, the inspection guide rail（2）It is set to described
The side of transmission line of electricity, the socket sliding equipment（3）It is arranged on the crusing robot（1）Top.
A kind of 4. transmission line of electricity leakage current crusing robot control device according to claim 3, which is characterized in that institute
State socket sliding equipment（3）Including facing fitting plate directly in the middle part of being located at（6）, symmetrical above and below be distributed in described face fitting plate directly
（6）The interior curved engaging plate of both sides（7）, it is described to face fitting plate directly（6）Upper and lower side interior curved engage plate with described（7）It is fixed
Connection.
A kind of 5. transmission line of electricity leakage current crusing robot control device according to claim 4, which is characterized in that institute
State interior curved engaging plate（7）Including interior turn of bilge（11）, straight parts（12）, the interior turn of bilge（11）With the straight parts（12）One
End is fixedly connected, the straight parts（12）The other end be bonded plate with described face directly（6）Upper and lower side be fixedly connected.
A kind of 6. transmission line of electricity leakage current crusing robot control device according to claim 4, which is characterized in that institute
State socket sliding equipment（3）Bottom end be provided with the living hinge of symmetrical distribution（9）, the living hinge（9）Up and down
Both ends respectively with the socket sliding equipment（3）Bottom end, the movable motor（14）Output terminal cooperation connection.
A kind of 7. transmission line of electricity leakage current crusing robot control device according to claim 5, which is characterized in that institute
State interior curved engaging plate（7）The interior turn of bilge（11）Between be connected with locking rod piece（8）, for preventing the socket from sliding
Motivation structure（3）From the inspection guide rail（2）On come off.
A kind of 8. transmission line of electricity leakage current crusing robot control device according to claim 1, which is characterized in that institute
State signal transmission end（10）Using GPS signal generator, for the controller will be come from（5）Leakage current signal be transferred to
Long-range GPS signal receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711496713.1A CN108196542A (en) | 2017-12-31 | 2017-12-31 | A kind of transmission line of electricity leakage current crusing robot control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711496713.1A CN108196542A (en) | 2017-12-31 | 2017-12-31 | A kind of transmission line of electricity leakage current crusing robot control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108196542A true CN108196542A (en) | 2018-06-22 |
Family
ID=62587707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711496713.1A Pending CN108196542A (en) | 2017-12-31 | 2017-12-31 | A kind of transmission line of electricity leakage current crusing robot control device |
Country Status (1)
| Country | Link |
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| CN (1) | CN108196542A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109142948A (en) * | 2018-07-20 | 2019-01-04 | 盐城工学院 | A kind of detachable sliding rail detection of electrical leakage robot device |
| CN109346981A (en) * | 2018-10-29 | 2019-02-15 | 国网浙江平湖市供电有限公司 | An intelligent partial discharge inspection robot |
| CN111007356A (en) * | 2019-12-13 | 2020-04-14 | 广东电网有限责任公司 | A leakage monitoring system and monitoring method thereof |
| CN111856327A (en) * | 2020-08-24 | 2020-10-30 | 海南电网有限责任公司琼中供电局 | A leakage alarm monitoring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109142948A (en) * | 2018-07-20 | 2019-01-04 | 盐城工学院 | A kind of detachable sliding rail detection of electrical leakage robot device |
| CN109346981A (en) * | 2018-10-29 | 2019-02-15 | 国网浙江平湖市供电有限公司 | An intelligent partial discharge inspection robot |
| CN111007356A (en) * | 2019-12-13 | 2020-04-14 | 广东电网有限责任公司 | A leakage monitoring system and monitoring method thereof |
| CN111856327A (en) * | 2020-08-24 | 2020-10-30 | 海南电网有限责任公司琼中供电局 | A leakage alarm monitoring device |
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Application publication date: 20180622 |
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