CN103760839A - 500kV aerial cable intelligent coordination control device of stretching machine - Google Patents
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Abstract
The invention relates to a 500kV aerial cable intelligent coordination control device of a stretching machine. The device comprises a data acquisition and transmission subsystem, a video monitoring information acquisition subsystem, a control subsystem, a display interface and output quantity control subsystems of the stretching machine, wherein the control subsystem is respectively connected with the data acquisition and transmission subsystem, the video monitoring information acquisition subsystem, the display interface and the output quantity control subsystems of the stretching machine. Compared with the prior art, the device has the advantages of being safe, reliable, excellent in performance and the like.
Description
Technical field
The present invention relates to a kind of stretching machine control technology, especially relate to the intelligent cooperative control device of a kind of 500kV aerial cable stretching machine.
Background technology
In order to adapt to better and advance the pace of construction of China's electricity power engineering extra-high voltage grid, intelligent grid, supporting construction of power transmission and transformation technology and equipment also should be towards future developments such as information-based, intelligent and mutualization with it.Develop intelligent operating technique and mainly should carry out correlative study from two aspects: be informationization, the intellectuality of construction management on the one hand; Robotization, the intellectuality of construction equipment on the other hand.
Along with the widespread use of intellectual technology in engineering machinery, in engineering machinery, be equipped with various sensors, controller and communication apparatus, realize mechanical intelligent, by the intelligent construction system of developing energy real-time judge job status and adjusting.Modern project machinery is just becoming the high-end product of mechanical-electrical-hydraulic integration, and intellectuality becomes the Main Trends of The Development of domestic and international project machinery.External advanced engineering machinery company has installed long-distance radio communication system, GPS positioning system and vehicle computing machine on novel shovel loader, motorized grader, excavator, paver and street roller at present, a series of information exchanges such as the running parameter of engineering machinery, the progress of work are crossed to wireless telecommunication system and monitor and manage, native cargo fleet dynamic management system CAES (Computer Aided Earthmoving System) is shoveled in the mining of representative is CATERPILALR company.More domestic main engineering machinery productions and R&D institution have all participated in the research and development of " intelligent engineering machinery ", own through having completed the intellectualized reconstruction of the separate unit engineering machinery such as the shovel loader in road construction machinery, material blending station, dumper and paver at present, and grasp the design and fabrication technology of Construction Machines in Intelligentized Fleet system.
Summary of the invention
Object of the present invention is exactly to provide a kind of 500kV aerial cable stretching machine safe and reliable, function admirable intelligent cooperative control device in order to overcome the defect of above-mentioned prior art existence.
Object of the present invention can be achieved through the following technical solutions:
The intelligent cooperative control device of a kind of 500kV aerial cable stretching machine, it is characterized in that, comprise each output quantity control subsystem of data acquisition transmission subsystem, video monitoring information acquisition subsystem, control subsystem, display interface and stretching machine, described control subsystem is connected with data acquisition transmission subsystem, video monitoring information acquisition subsystem, each output quantity control subsystem of display interface and stretching machine respectively.
Described data acquisition transmission subsystem comprises haulage speed and tractive force acquisition module and a WIFI transport module of the payingoff speed of unwrapping wire end stretching machine and paying out reel rotating speed acquisition module, traction end stretching machine, the haulage speed of the payingoff speed of described unwrapping wire end stretching machine and paying out reel rotating speed acquisition module, traction end stretching machine and tractive force acquisition module are connected with a WIFI transport module respectively, and a described WIFI transport module is connected with control subsystem.
The payingoff speed of described unwrapping wire end stretching machine and paying out reel rotating speed, all by collection in worksite or by single-chip simulation, provide with haulage speed and the tractive force data of traction end stretching machine.
Described video monitoring information acquisition subsystem comprises interconnective monitoring camera and the 2nd WIFI transport module, and the 2nd described WIFI transport module is connected with control subsystem.
Described control subsystem is ARM card, described ARM cartoon crosses the payingoff speed of unwrapping wire end stretching machine of collection and paying out reel rotating speed, calculate traction engine with the haulage speed of traction end stretching machine and tractive force data provides controlled quentity controlled variable, comprise the hydrostatic control amount of drawing output power, haulage speed and traction end, by ARM cartoon, cross recognition image information, judge whether to exist abnormal conditions, if exist, send warning message and draw simultaneously and stop action.
Compared with prior art, the present invention has the following advantages:
1) solved in the Poling Construction process of high-altitude, the cooperation of the payingoff speed of paying out machine and tension force, tractive force, has reduced the artificial control to unwrapping wire, has improved traction engine operator's work efficiency.The output power of traction engine has been made to a stable location simultaneously.
2) because this invention has possessed video recording function, thereby solved the confirmation of responsibility problem of security incident possible in the work progress operation in work high above the ground construction;
3) this system has the video recording function of warning trigger-type, to the abnormal conditions in video monitoring, the video process of change is stored, and ignore those long-term rest images, thereby the memory device of video has been reduced to requirement, can be practical in the critical data of the storage device records video process of low capacity;
4) construction of electric power overhead cable has been carried out often on the electric power power transmission and transformation corridor of those existing high voltage iron towers, and must exist electromagnetic interference (EMI) on along the line, the present invention has adopted the digital audio video transmission agreement of WIFI, has certain antijamming capability.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is single-chip simulation structural representation of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
For power grid construction preparation of construction Study of intelligent, at aspects such as tower erection equipment, tension stringing equipment, carried out at present relevant intelligentized research both at home and abroad and had some application, as studied, separate unit draws, the intelligent functions of tension stringing equipment, and has realized by centralized control equipment or several equipment networkings and realized team control function; Carrying out at present the research of the intelligent construction direction of many tension stringing traction engines, tensioner coordination.By project implementation, the construction under tension stringing technology of domestic and international advanced person's erection of elevated power lines process and standard criterion are carried out to research; In research construction under tension stringing, tensioner and the control of traction engine tension force and speed control and multivariable coupling and decoupling problem; Computer simulation, obtains best tension force is controlled and speed is controlled control algolithm and control strategy; To study and propose take embedded system or PLC be core, the tensioner that the wireless sensor network of take is means, the scheme of traction engine combined control system; Set up the design documentation of tension force, traction engine combine construction embedded electronic device; The embedded electronic device of developing and debugged tension force, the construction of traction engine combine, is applied to certain work progress.Finally to improve the traction of aerial cable work progress, tensioner harmony; Utilize Machinery Group Intelligent method to improve the technical merit of erection of elevated power lines.
As shown in Figure 1, the intelligent cooperative control device of a kind of 500kV aerial cable stretching machine, comprise each output quantity control subsystem of data acquisition transmission subsystem, video monitoring information acquisition subsystem, control subsystem, display interface and stretching machine, described control subsystem is connected with data acquisition transmission subsystem, video monitoring information acquisition subsystem, each output quantity control subsystem of display interface and stretching machine respectively.
Described data acquisition transmission subsystem comprises haulage speed and tractive force acquisition module and a WIFI transport module of the payingoff speed of unwrapping wire end stretching machine and paying out reel rotating speed acquisition module, traction end stretching machine, the haulage speed of the payingoff speed of described unwrapping wire end stretching machine and paying out reel rotating speed acquisition module, traction end stretching machine and tractive force acquisition module are connected with a WIFI transport module respectively, and a described WIFI transport module is connected with control subsystem.
The payingoff speed of described unwrapping wire end stretching machine and paying out reel rotating speed, all by collection in worksite or by single-chip simulation, provide with haulage speed and the tractive force data of traction end stretching machine.
Described video monitoring information acquisition subsystem comprises interconnective monitoring camera and the 2nd WIFI transport module, and the 2nd described WIFI transport module is connected with control subsystem.
Described control subsystem is ARM card, described ARM cartoon crosses the payingoff speed of unwrapping wire end stretching machine of collection and paying out reel rotating speed, calculate traction engine with the haulage speed of traction end stretching machine and tractive force data provides controlled quentity controlled variable, comprise the hydrostatic control amount of drawing output power, haulage speed and traction end, by ARM cartoon, cross recognition image information, judge whether to exist abnormal conditions, if exist, send warning message and draw simultaneously and stop action.
Fig. 2 is the process that whole data produce and transmit, and is the process of a height analogue simulation.Distance and the signal intensity of for us, testing wireless transmission provide good instance analysis, can carry out real-time dynamic adjustment simultaneously and approach real scene when the simulation of data produces, and also can produce some predetermined interference and carry out test macro.
Data acquisition system (DAS) is mainly comprised of the sensor of ARM board and two ends stretching machine, records the data of each several part by sensor, comprising the wire speed of payingoff speed, tension force, tractive force and traction end and the hydraulic pressure output quantity at two ends.The data of acquisition are directly connected to capture card ARM above with crossing data line, and by ARM card, as terminal, by data, the mode by wired transmission is sent on wireless transport module WIFI card.Utilize WIFI wireless data transmission function, carry out the long-distance transmissions of data.
We utilize the demonstration of some instrument and meters of current existing stretching machine on control panel can collect a lot of real-time output and control data as data such as tension force, tractive force, hydraulic pressure output quantity, payingoff speed, traction element haulage speeds, and these data parts are obtained by sensor.We adopt single-chip simulation that these data volumes are outputed on WIF board by these known data.WIFI board can provide most functions according to input and output, also can increase its output power, undistorted to guarantee the signal of long-distance transmissions.When being connected with single-chip microcomputer, by Ethernet, carry out wired connection, guaranteed the quality of signal.
By upper table, can find out the various parameters that WIFI supports, the mode of transmission and frequency range, and variety of protocol and pattern.Station/AP wireless network prescription formula by WIFI can form a valid wireless network platform, and data are exchanged and gathered.Can to native system, provide the assurance of good wireless transmission, simultaneously because operating voltage and the current ratio of this board are lower, can adopt existing mobile phone charge power supply on market, parameter: capacity 3.7V14500mAH, output voltage 5V, maximum current 3A.Can utilize simple Voltage stabilizing module by the voltage stabilization of output to about 3.3V.Just can realize this voltage request.
Need during the course to monitor traction rope when the pulley, whether at middle wire casing, wire by time whether respectively in corresponding wire casing.If traction rope or wire not in corresponding groove, should produce an alerting signal prompting staff, stop traction and unwrapping wire operation, suspend stretching machine action.This mode can reduce the injury of wire and distortion in above-mentioned abnormal conditions, and the obstacle of traction.In the place that has wire corner, monitored picture clearly can be provided, help workmen to adjust the haulage speed of traction engine and the payingoff speed of tensioner, be unlikely to make wire dropping.
By showing the dynamic datas such as tension force, tractive force, in camera picture monitor portion, there is the switching of multi-cam picture.At present, on market, there are a lot of receiving traps, as mobile phone, computing machine etc. is all equipped with unlimited receiver, can identify WIFI, bluetooth, wireless network and 3G mobile network, and receive the data in these wireless networks, so receiving trap in life by called optical imaging.For native system, we adopt the radio receiver that can search for WIFI signal, and adopt corresponding reception interface, data all can be read.This process is the pith in data transmission procedure, and it mainly comprises register, the working storage that a part is inner, the data of accepting is transformed and is stored, for computing is below prepared.Receiving trap is carrier by main ARM board equally, and data sink is directly connected with ARM card, carries out exchanges data.We are as far as possible detailed to the definition of data memory module when to system, consider whether calling of data be convenient.
We adopt embedded QT design interface display interface.A cross-platform C++ graphical user interface program of QTShi Trolltech company exploitation, can carry the operating platform at linux, carries out the exploitation of graphical interfaces.The graphical interface program that first we utilize QT to make to meet us to require at (SuSE) Linux OS, then set up cross compilation environment, the good program burn writing of cross compile, to ARM development board, the self-starting of finally starting shooting, so just can show the graphical interfaces that screen display designs at ARM.That we use is Qtdesigner under Redhat operating system, with this, carries out the design of graphical interfaces, and design can be divided into two parts, a succinct interface attractive in appearance of part design, and embedded a plurality of interfaces, can switch fast.Another part carries out the programming of bottom, for comprising the demonstration that demonstration, data input processing show again and image is inputted to data input.Programming on bottom layer needs some relevant algorithms to process tension force, tractive force, linear velocity, to calculate exerting oneself of traction engine or tensioner needs, offers suggestions to workmen.The interface of designing by QT like this, workmen can recognize messenger wire real-time information on tensioner, shaft tower in real time, thereby grasps better field data, carries out correct operation.We download QT interface software, carry out the exploitation of graphical interfaces under Linux.Mainly comprise two parts, tension force, tractive force, speed and output power part, camera head monitor picture part.
ARM card adopts Mini2440ARM9 development board, and Mini2440 is the ARM9 development board of a real low price practicality, is the highest a learning board of current domestic cost performance; It adopts Samsung S3C2440 is microprocessor, and the stability while adopting CPU core power supply chip that specialty is stable and reset chip to carry out the operation of assurance system.The PCB of mini2440 adopts four laminate designs of turmeric technique, professional isometric wiring, and the signal integrity of assurance key signal line, produces and adopts machine paster, batch production; While dispatching from the factory, all pass through strict quality control, thus we select this piece development board can be guaranteed our system performance good.The power-supply system of this development board is fairly simple, directly uses external 5V power supply, by step-down chip, produces whole system needed three kinds of voltage: 3.3V, 1.8V, 1.25V.
Mini2440ARM development board has very high opening, supports the operating system of WindowsCE.NET6.0 (R3) and Linux2.6.32.2+Qtopia-2.2.0+QtE-4.6.1 (original creation digraph shape coexistence of systems, seamless switching).At this, be to concentrate us to select linux system to carry out system as development environment, with Fedora series platform, develop, all configurations and compilation script are also based on this platform, adopting C language to carry out source code writes, we are unified for arm-linux-gcc-4.4.3 cross-compiler, are convenient to like this variation of programming language.Simultaneity factor also provides many source codes simultaneously owing to can better support embedded graph system platform Qt/Embedded2.2 and QtE-4.6.3 under Linux, is convenient to us and designs display interface.
We are manufacturing system on ARM card, and first we analyze the process of traction wire.In distraction procedure, wire can slowly increase along with the time under the traction of traction rope, and the conductor length being pulled out progressively increases, the gross mass of the length computation wire of the quality of our unit's of employing wire and wire.Because the payingoff speed of wire may change, so the quality of wire and time are not simple funtcional relationships.Between payingoff speed and tension force, exist certain internal connection simultaneously, and in tensioner system, have a Dynamic Regulating Process.Along with wire quality increases, traction engine should be exerted oneself along with this process increases, to guarantee that wire is had to enough tractive force.
In distraction procedure, wire is every through a pulley, and friction force will increase.Conductor length and sag between two pulleys is different simultaneously, and the friction force producing on coaster is also different, the friction force size that we should produce according to the calculation of friction coefficient of concrete conductor length and pulley.Traction rope exits pulley simultaneously, is reducing stage by stage with this part friction force of pulley.Now traction engine also will, along with the increase of friction force, be adjusted output power, to meet traction requirement.In stretching machine inside, we are by the understanding to its parameter, its tension force and payingoff speed system have certain automatic regulation function, can guarantee constant tension stringing by adjusting the speed of unwrapping wire, the process of adjusting payingoff speed is to be controlled by the hydraulic pressure output of tensioner.The Tensity size of traction end traction rope can provide the tractive force output quantity of a coupling to traction engine, and this is the original automatic regulation function of its internal system.And its haulage speed is consistent with the speed of take-up end line pedestal, reach stable function of receiving line.In the system generating on ARM card, some algorithms that utilize the mode of modelling by mechanism to form, by several input quantities such as haulage speed of tractive force, tension force, payingoff speed and line, by computing, provide the horsepower output of stretching machine and the adjustment amount of tractive force, and the output quantity of controlling the hydraulic pressure of paying out reel and Wire winding shaft.Main ARM card system is connected with stretching machine, these data importings in stretching machine, thereby make stretching machine export concrete controlled quentity controlled variable.Complete the realization of whole system, reach desirable control function.
Claims (5)
1. the intelligent cooperative control device of a 500kV aerial cable stretching machine, it is characterized in that, comprise each output quantity control subsystem of data acquisition transmission subsystem, video monitoring information acquisition subsystem, control subsystem, display interface and stretching machine, described control subsystem is connected with data acquisition transmission subsystem, video monitoring information acquisition subsystem, each output quantity control subsystem of display interface and stretching machine respectively.
2. the intelligent cooperative control device of 500kV aerial cable stretching machine according to claim 1, it is characterized in that, described data acquisition transmission subsystem comprises payingoff speed and the paying out reel rotating speed acquisition module of unwrapping wire end stretching machine, the haulage speed of traction end stretching machine and tractive force acquisition module and a WIFI transport module, the payingoff speed of described unwrapping wire end stretching machine and paying out reel rotating speed acquisition module, the haulage speed of traction end stretching machine and tractive force acquisition module are connected with a WIFI transport module respectively, a described WIFI transport module is connected with control subsystem.
3. the intelligent cooperative control device of 500kV aerial cable stretching machine according to claim 2, it is characterized in that, the payingoff speed of described unwrapping wire end stretching machine and paying out reel rotating speed, all by collection in worksite or by single-chip simulation, provide with haulage speed and the tractive force data of traction end stretching machine.
4. the intelligent cooperative control device of 500kV aerial cable stretching machine according to claim 1, it is characterized in that, described video monitoring information acquisition subsystem comprises interconnective monitoring camera and the 2nd WIFI transport module, and the 2nd described WIFI transport module is connected with control subsystem.
5. according to the intelligent cooperative control device of the 500kV aerial cable stretching machine described in claim 2 or 4, it is characterized in that, described control subsystem is ARM card, described ARM cartoon is crossed payingoff speed and the paying out reel rotating speed of the unwrapping wire end stretching machine of collection, calculate traction engine with the haulage speed of traction end stretching machine and tractive force data and provide controlled quentity controlled variable, comprise traction output power, the hydrostatic control amount of haulage speed and traction end, by ARM cartoon, cross recognition image information, judge whether to exist abnormal conditions, if exist, send warning message draw simultaneously stop action.
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| CN110970834A (en) * | 2019-10-22 | 2020-04-07 | 国网四川省电力公司 | Transmission line tension machine for evaluating bearing capacity of construction enterprise |
| CN111463708A (en) * | 2020-05-07 | 2020-07-28 | 广东技术师范大学 | Development method of automatic traction ground wire live replacement device |
| CN112078521A (en) * | 2020-09-15 | 2020-12-15 | 国网湖北省电力有限公司咸宁供电公司 | Tractor intelligent auxiliary control system and control method based on Internet of things |
| CN112310890A (en) * | 2020-10-21 | 2021-02-02 | 中色十二冶金建设有限公司 | Comprehensive pipe rack cable traction and displacement laying system and application method |
| CN112803296A (en) * | 2021-01-11 | 2021-05-14 | 国网江苏省电力有限公司常州供电分公司 | Traction device and overhead line construction equipment that takes out stitches |
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| CN115036838A (en) * | 2022-06-02 | 2022-09-09 | 常州晋陵电力实业有限公司 | Overhead line disconnecting and replacing method based on line disconnecting and replacing robot |
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Cited By (9)
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|---|---|---|---|---|
| CN110970834A (en) * | 2019-10-22 | 2020-04-07 | 国网四川省电力公司 | Transmission line tension machine for evaluating bearing capacity of construction enterprise |
| CN110970834B (en) * | 2019-10-22 | 2021-04-02 | 国网四川省电力公司 | Transmission line tension machine for evaluating bearing capacity of construction enterprise |
| CN111463708A (en) * | 2020-05-07 | 2020-07-28 | 广东技术师范大学 | Development method of automatic traction ground wire live replacement device |
| CN112078521A (en) * | 2020-09-15 | 2020-12-15 | 国网湖北省电力有限公司咸宁供电公司 | Tractor intelligent auxiliary control system and control method based on Internet of things |
| CN112310890A (en) * | 2020-10-21 | 2021-02-02 | 中色十二冶金建设有限公司 | Comprehensive pipe rack cable traction and displacement laying system and application method |
| CN112803296A (en) * | 2021-01-11 | 2021-05-14 | 国网江苏省电力有限公司常州供电分公司 | Traction device and overhead line construction equipment that takes out stitches |
| CN112803296B (en) * | 2021-01-11 | 2022-08-30 | 国网江苏省电力有限公司常州供电分公司 | Traction device and overhead line construction equipment that takes out stitches |
| CN113467294A (en) * | 2021-06-17 | 2021-10-01 | 嘉兴市恒光电力建设有限责任公司 | Intelligent tension system and method for Internet of things |
| CN115036838A (en) * | 2022-06-02 | 2022-09-09 | 常州晋陵电力实业有限公司 | Overhead line disconnecting and replacing method based on line disconnecting and replacing robot |
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Application publication date: 20140430 |