CN104375190B - Power line position information measuring device and method - Google Patents
Power line position information measuring device and method Download PDFInfo
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- CN104375190B CN104375190B CN201410696213.2A CN201410696213A CN104375190B CN 104375190 B CN104375190 B CN 104375190B CN 201410696213 A CN201410696213 A CN 201410696213A CN 104375190 B CN104375190 B CN 104375190B
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Abstract
The invention discloses a power line position information measuring device and method. The power line position information measuring device comprises a sensor array, a receiver unit, a master control computing unit, a communication interface unit and an excitation modulation signal generation unit. The excitation modulation signal generation unit generates sine excitation signals with the frequency of fex for the sensor array, the sensor array obtains signals after the sine excitation signals and an external excitation magnetic field are overlapped, the receiver unit modulates and samples the signals output by the sensor array and then transmits sampling data to the master control computing unit to finish the work of back calculation of the electromagnetic field, the sampling data are finally transmitted to the communication interface unit, and the power line position information is sent out. The power line position information measuring device and method can obtain the accurate power line three-dimensional position information through electromagnetic field model inversion, have the advantages of being high in accuracy and convenient to install and maintain, can better prevent large mechanical equipment from causing external damage to a power line, and reduce the accidents of tripping, casualties and damage to the equipment, thereby guaranteeing the power supply reliability of the power line.
Description
Technical field
The invention belongs to field of measuring technique, it is related to a kind of position-measurement device and method, more particularly, to by engineering construction
Machinery obtains measurement apparatus and the method for surrounding power line particular location, is more specifically used for obtaining power line and crane etc. greatly
Between type construction machinery the device of range information and avoid between construction machinery and power line be less than safe distance warning dress
Put.
Background technology
In electric power, communication, oil field, mine engineering commonly used to heavy construction construction machinery, such as high-altitude operation vehicle,
Vehicle-mounted bury bar comprehensive operation vehicle, hoisting machinery (wheeled, crawler belt, truck-mounted crane etc.), tower crane, crane, pump truck etc..These Large Constructions
Equipment during construction operation, is very easy to because equipment arm opens up longer (high) touch around the transmission lines of electricity such as high-voltage power line by mistake
Power line, thus jeopardizing the life security of workmen and the property safety of construction machinery, simultaneously because this accident is often
The transmission line of electricity trip protection of triggering, can have a strong impact on the safe and stable operation of transmission line of electricity.Therefore, using construction machinery
When, obtain the positional information of power circuit in real time, and remind operating personnel to make between construction machinery and power circuit, to keep minimum
Safe distance, is to ensure that engineering construction safety and the important method of the safe and reliable operation of power circuit.
Power cord position alarm employed in engineering construction is all to obtain electricity by measuring electric-field intensity at present
The line of force and the approximate distance information popped one's head in, but there is much deficiencies in this traditional measuring method.Firstly, for same electricity
The line of force, due to many impacts, voltage effective value therein and current strength the non-constant value such as being loaded, but irregular
Change, this leads to current warning device to be difficult to obtain the accurate location information of power line.Secondly, just because of the first not
Foot, when construction machinery is in the face of different power lines, for example, is transformed into the environment of 1000v power line, construction from 220v power line
The necessary handover measurement gear of personnel, but workmen may not accurately know that the rated voltage of power line transmission and electric current are big
Little, thus leading to complex operation and easily malfunctioning.Again, due to being limited by traditional measurement method, conventional electric power line position
Alarm is only capable of obtaining probe to the vertical range of power line, can not provide the three-dimensional coordinate information of power line.Finally, exactly
Due to above deficiency, lead to the sensitivity of traditional position warning device relatively low, can only segmentation provide power line substantially
Positional information, such as 10 meters, 15 meters etc..In sum, traditional power cord position warning device has that precision is relatively low, sensitivity
The relatively low, deficiency such as complex operation, poor accuracy.
Therefore, the present invention is overcoming the shortcomings of traditional measurement method and conventional electric power line position warning device first, realizes
There is high precision, self-adaptive electric power line characteristic, the easy to operate, advantage of installing easy maintenance.
Content of the invention
It is an object of the invention to provide a kind of have self adaptation accurately obtain power cord position information measurement apparatus and
Method, this measuring method and device, by setting up 3 D electromagnetic field model around power line, obtain multiple spot using sensor array
Electromagnetic field intensity information, obtain the three dimensional local information of power line according to inversion algorithm, it is to avoid the shadow that voltage change is brought
Ring, and achieve the change of self-adaptive electric power line current intensity, thus obtain accurate positional information so that this measuring method and
Device has that versatility is good, sensitivity is high, can self-adaptive electric power line characteristic, advantage that is easy to operate, installing easy maintenance, carry
Reliability in high work progress.
Assembly of the invention be the technical scheme is that a kind of power cord position information measurement apparatus it is characterised in that:
Including sensor array, receiver unit, hosting computing unit, communication interface unit, excitation modulated signal generation unit；Described
Excitation modulated signal generation unit be that to produce frequency be f to described sensor arrayexSinusoidal excitation modulated signal, described
Sensor array by obtaining signal after described sinusoidal excitation modulated signal and dynamic excitation magnetic field superposition, described receiver list
After unit is nursed one's health and samples to the signal of described sensor array output, sampled data is sent into described master control calculating single
Unit completes the work of electromagnetic field Inversion Calculation, and is ultimately delivered to described communication interface unit and sends power cord position information.
Preferably, described sensor array by the one or three axis fluxgate sensor, the two or three axis fluxgate sensor,
Three or three axis fluxgate sensor and the four or three axis fluxgate sensor composition；Described the one or three axis fluxgate sensor,
Two or three axis fluxgate sensors, the three or three axis fluxgate sensor and the four or three axis fluxgate sensor are arranged on construction equipment
On mechanical arm, the one or three wherein said axis fluxgate sensor is installed in the top of described mechanical arm.
Preferably, the one or three described axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axle magnetic flux
Door sensor and the four or three axis fluxgate sensor are installed successively in a linear fashion, described the one or three axis fluxgate sensor with
Air line distance δ l between two or three axis fluxgate sensor1, the two or three axis fluxgate sensor and the three or three axis fluxgate pass
Air line distance δ l between sensor2, straight line between the three or three axis fluxgate sensor and the four or three axis fluxgate sensor away from
From δ l3, and δ l1>δl2>δl3.
Preferably, described receiver unit includes the first multiway analog switch, pre-amplification circuit, bandpass filtering electricity
Road, adc circuit, the first isolated drive circuit；Described hosting computing unit will be controlled by the first described isolated drive circuit
Signal output processed, to the first described multiway analog switch, realizes the work that different sensors signal is switched over, Ran Houli
With described pre-amplification circuit, the output signal of described sensor array is carried out nursing one's health work, and using centre frequency be
2 times of fexBandwidth-limited circuit take out 2 order harmonic components of sensor array output signal, more real through described adc circuit
Existing digital signal samples work, the sampled signal being obtained exports described master control by the first described isolated drive circuit
Computing unit.
Preferably, described fexIt is set to 10khz, the passband width of bandwidth-limited circuit is 2khz, and its signal to noise ratio is
60db, the first described multiway analog switch adopts the adg1604 multiway analog switch of adi company.
Preferably, described hosting computing unit is the control core of measurement apparatus, and complete digital phase sensitivity detection,
Fft algorithm, the Inversion Calculation work based on least square, described hosting computing unit includes the fpga electricity as control core
Road and the dsp circuit realizing electromagnetic field Inversion Calculation；Order data is sent to fpga circuit, by fpga by described dsp circuit
Circuit is decoded, the control to described receiver unit and excitation modulated signal generation unit according to control instruction of fpga circuit
Sequential processed adjusts；Line number is entered by the way of data/address bus and address bus between described dsp circuit and fpga circuit
According to interaction.
Preferably, the fpga chip built-in digital phase-sensitive detector in described fpga circuit and frequency are 2fex, width
It is worth the standard sine signal table for 1v, realize digital phase sensitivity detection by carrying out related operation with sampled data.
Preferably, described communication interface unit is used for sending result of calculation, and the control from operator is ordered
Order sends described hosting computing unit to, thus realizing the control to power cord position information measurement apparatus for the operator；Described
Communication interface unit include can bus circuit, wifi circuit and flash memory；Arrange in described hosting computing unit
The mode that sets according to operator of dsp circuit, data is sent by can bus circuit or wifi circuit；Described flash
Memory preserves the arrange parameter of Current communications, and operator can be total by can according to the car-mounted device parameter of practice of construction machinery
Line circuit is modified to the data of flash memory, changes communications parameter；Wherein, described flash memory preserves current
The arrange parameter of communication, its parameter includes the baud rate of can bus, device identification id, transmitting side marking id, equipment the machine ip ground
Location, recipient ip address.
Preferably, described excitation modulated signal generation unit is used under the control of described hosting computing unit,
For the one or three described axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axis fluxgate sensor and the 4th
Three axis fluxgate sensors produce suitable excitation modulated signal, so that described sensor array being capable of the induced electricity line of force
Electromagnetic field；Described excitation modulated signal generation unit includes the second isolated drive circuit, dds circuit, low pass filter, work(
Rate amplifying circuit, impedance matching circuit and the second multiway analog switch；Described hosting computing unit pass through described second every
From drive circuit, control signal is exported the second described multiway analog switch, remove the shadow to analog circuit for the digital circuit
Ring；It is f that described excitation modulated signal generation unit utilizes described dds circuit to produce frequencyexSine wave signal, and pass through
Described low-pass filter circuit and power amplification circuit power output are pex, frequency be fexExcitation modulated signal, followed by
Described impedance matching circuit realizes the impedance coupling of three axis fluxgate sensors in described sensor array and exciting circuit
Close, and by the second described multiway analog switch, sinusoidal excitation modulated signal is respectively outputted under control of the control signal
One or three axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axis fluxgate sensor, the four or three axis fluxgate
Sensor.
The method of the present invention be the technical scheme is that a kind of power cord position information measuring method it is characterised in that:
Sensor array includes at least four 3 axis fluxgate sensors, and the wherein the 1st axis fluxgate sensor is arranged on construction equipment
The top of mechanical arm, the air line distance between the one or three axis fluxgate sensor and the two or three axis fluxgate sensor is δ l1,
Air line distance between two or three axis fluxgate sensor and the three or three axis fluxgate sensor is δ l2, the three or three axis fluxgate
Air line distance between sensor and the four or three axis fluxgate sensor is δ l3, δ l1、δl2With δ l3It is it is known that and δ l1
>δl2>δl3, the one or three axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axis fluxgate sensor and
Spacing between four or three axis fluxgate sensors is put according to the principle that electromagnetism field gradient decays；
One or three axis fluxgate sensor, the two or three axis fluxgate sensor, the three or three axis fluxgate sensor and the 4th
The voltage strength of three axis fluxgate sensor outputs all can be expressed as:
Wherein, w2It is fluxgate coil turn and cross-sectional area unshakable in one's determination with s,For external drive field intensity, i is harmonic wave
Number, μ2iRepresent the magnetic conductivity of even-order harmonic, t is the time, n can be infinity for harmonic progression.
In hosting computing unit, the dsp circuit of setting passes through the one or three axis fluxgate sensor, the two or the three axle magnetic obtaining
The voltage strength of open gate sensor, the three or three axis fluxgate sensor and the output of the four or three axis fluxgate sensor calculates outside sharp
Encourage field intensityThen according still further to electromagnetic field forward model adopt Least squares inversion method calculate construction equipment mechanical arm with
Power line apart from l.
The present invention achieves following technique effect:
(1) achieve the self-adapting detecting to power line electrical condition, that is, in the face of power line current intensity unstable
Under situation, available electromagnetic nature ignores voltage magnitude change, thus obtaining more accurate distance parameter；
(2) to obtain identical parameters using multiple isomorphism sensors to compare, the reliability of measurement can be effectively improved；
(3) sensor is utilized to obtain the axial vector data of xyz tri-, being capable of more efficiently determination power line and construction
Position relation between plant equipment；
(4) because the present invention can overcome the uncertain factor of power line electrical condition, the therefore actual measurement letter obtaining
The precision of breath will be far above prior art；
(5) present invention utilizes another advantage of the inversion method of least square is: can effectively reduce due to passing
The measure error that the inconsistency of sensor is led to, thus improve redundancy and the reliability of measurement apparatus manufacture and installation.
(6) due to employing Study on Digital Phase Sensitive Detection, improve the anti-interference of electronic circuit in device, and reduce
Cost using simulation phase-sensitive detection circuit.
Brief description
Fig. 1: for the circuit theory diagrams of the embodiment of the present invention；
Fig. 2: for the sensor scheme of installation of the embodiment of the present invention.
In figure: 101- sensor array, 102- receiver unit, 103- hosting computing unit, 104- communication interface
Unit, 105- excitation modulated signal generation unit, 106- power line, 107- mechanical arm, 1- the three or three axis fluxgate sensing
Before device, 2- the two or three axis fluxgate sensor, 3- the one or three axis fluxgate sensor, 4- first multiway analog switch, 5-
Put amplifying circuit, 6- bandwidth-limited circuit, 7-adc circuit, 8- first isolated drive circuit, 9-fpga circuit, 10-dsp
Circuit, 11-can bus circuit, 12-wifi circuit, 13- second isolated drive circuit, 14-dds circuit, 15- low pass filtered
Ripple device, 16- power amplification circuit, 17- impedance matching circuit, 18- second multiway analog switch, 19- the four or three axle magnetic flux
Door sensor.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with the accompanying drawings and embodiment is to this
Bright be described in further detail it will be appreciated that described herein enforcement example be merely to illustrate and explain the present invention, not
For limiting the present invention.
Ask for an interview Fig. 1, Fig. 2, the technical solution adopted in the present invention is: a kind of power cord position information measurement apparatus, including
Sensor array 101, receiver unit 102, hosting computing unit 103, communication interface unit 104, excitation modulated signal produce
Unit 105；Excitation modulated signal generation unit 105 is that sensor array 101 produces frequency for fexSinusoidal excitation modulated signal,
Sensor array 101 obtains signal by after sinusoidal excitation modulated signal and dynamic excitation magnetic field superposition, and receiver unit 102 is to biography
After the signal of sensor array 101 output is nursed one's health and sampled, sampled data is sent into hosting computing unit 103 and completes electromagnetic field
The work of Inversion Calculation, and be ultimately delivered to communication interface unit 104 power cord position information is sent.
Wherein, sensor array 101 is by the one or three axis fluxgate sensor 3, the two or three axis fluxgate sensor the 2, the 3rd
Three axis fluxgate sensors 1, the four or three axis fluxgate sensor 19 form.Four fluxgates in sensor array element 101
Sensor is according on the mechanical arm 107 being installed in construction equipment shown in Fig. 2, and four fluxgate sensors are successively with straight line
Mode is installed, and the wherein the 1st axis fluxgate sensor 3 is installed in the top of the mechanical arm 107 of construction equipment.One or three axle
Air line distance δ l between fluxgate sensor 3 and the two or three axis fluxgate sensor 21, the two or three axis fluxgate sensor 2
Air line distance δ l and the three or three axis fluxgate sensor 1 between2, and the three or three axis fluxgate sensor 1 and the four or three axle
Air line distance δ l between fluxgate sensor 193It is known.Spacing between four sensors is set to difference, and δ l1
>δl2>δl3.After power line 106 proximity sensor arrays unit 101, four fluxgate sensors will be because distance be different
Sense different electromagnetic field intensities.
Thus, adoptable following measuring principle obtains between straight line and the power line residing for four fluxgate sensors
Spatial relationship: the electromagnetic field being sensed using four three axis fluxgate sensors and digital signal processing algorithm (digitlization phase
Quick detection, fft etc.) obtain the 3 D electromagnetic field field intensity vector that power line produces, then according to power line electromagnetic field model and
The spatial relation of four three axis fluxgate sensors, will adopt from the trivector matrix of sensor array and mutual alignment
With the method based on least square, reverse simulation is carried out to Electromagnetic inverse, thus obtaining power cord position information.
Specifically, according to Theory of Electromagnetic Field, when sensor array (101) is placed under electromagnetic field environment, each sensing
Device all can sense external electromagnetic field intensity.Arbitrary three axis fluxgate sensors in sensor array (101) are located at electric power
In line electromagnetic field during certain point, electromagnetic field intensity h being sensed is affected by voltage v (t) and current strength i (t) in power line, t
For the time, and when test point and when changing apart from l of power line, electromagnetic field intensity h also changes therewith.In addition,
Electromagnetic field intensity same electric field intensity is different, is only affected by current strength, and unrelated with voltage.In view of above theoretical, can be by electricity
The equation of magnetic field intensity is summarised as:
Another advantage is that of this mode, can ignore in the face of the voltage range of power line, and be solely focused on electric current
Size.Due to electromagnetic field intensityIt is a trivector, therefore can be obtained using three axis fluxgate sensors residing respectively
The x-axis component h of position electromagnetic fieldx, y-axis component hy, z-axis component hz.But on the other hand, fluxgate sensor also can sense
Extraneous static magnetic field strengthSuch as geomagnetic field.Therefore electromagnetic field intensity equation can be expressed as:
WhereinThe electromagnetic field intensity causing for power line.Therefore any one three axis fluxgate sensor is sensed
Component on three axles of x, y, z for the electromagnetic field intensity can be expressed as formula:
Wherein hlx、hly、hlzIt is respectivelyComponent on three axles of x, y, z, hsx、hsy、hszIt is respectivelyIn x, y, z
Component on three axles.According to formula (3) even if it is clear that voltage v (t) and constant apart from l, but because current strength i (t) can
Irregular change can be assumed in time, not electromagnetic field intensity in the same time still can be led to change.
For the sake of briefly describing, in the present invention will be in alignment for four three axis fluxgate sensors on be placed in machine
On tool arm 107, and suppose that the distance between the one or three axis fluxgate sensor 3 and the two or three axis fluxgate sensor 2 are δ l1,
The distance between two or three axis fluxgate sensor 2 and the three or three axis fluxgate sensor 1 are δ l2, the three or three axis fluxgate biography
The distance between sensor 1 and the four or three axis fluxgate sensor 19 are δ l3.Four fluxgate sensors are all by from electric power
The electromagnetic field excitation of line 106.Assume that straight line residing for four fluxgate sensors is coplanar with power line and vertical, then four magnetic fluxs
The electromagnetic field intensity of door sensor position has following relation
Due to δ l1、δl2、δl3For known quantity,It is respectively four three axis fluxgate sensings
The measured value of device, then according to Theory of Electromagnetic Field, at a time three fluxgate sensors faced by electric current i (t) equal,
And due toEqual, so three axis fluxgate measurement value sensors can be set up with power line apart from the pass of l by formula (4)
System.For numerical computations angle, it is possible to use least square method calculates three axles according to electromagnetic field intensity gradient distribution relation
Fluxgate sensor measured value and power line are apart from the corresponding relation of l.
Although formula (4) gives fundamental measurement principle ideally, in construction, mechanical arm 107 and ground
Face certainly exists angle theta, so that the two or three axis fluxgate sensor 2 arrives the beeline not l+ δ l of power line1, and
It is l+ δ l1×sinθ.On the other hand, the mechanical arm 107 and power line angle α between the projection on ground is not probably
90 degree.That is, the beeline that the two or three axis fluxgate sensor 2 arrives power line also should be in l+ δ l1× sin θ basis
On processed, i.e. (l+ δ l1×sinθ)×sinα.In the same manner, the three or three axis fluxgate sensor 1 is as the same.Therefore formula 4
Should be converted to
In formula (5), variable θ is available with existing gradient sensor to obtain numerical value, therefore formula (5)
Only contain only 3 variables, i (t), l, α.So we can be solved to this overdetermined equation using least square method.
Certainly, we can also replace gradient sensor using the 5th fluxgate sensor, then utilizes least square method
Inverting solution is carried out to overdetermined equation.Formula (6) describes to carry out the complete of range information acquisition using four fluxgate sensors
Perfect square journey describes:
After determining measuring method, then need to design and make corresponding measuring instrument.In order to measure, excitation modulation
Signal generation unit 105, under the control of hosting computing unit 103, is that fluxgate sensor produces suitable excitation modulation letter
Number, so that sensor array 101 is capable of the electromagnetic field of the induced electricity line of force.Excitation modulated signal generation unit 105 includes the
Two isolated drive circuits 13, dds circuit 14, low pass filter 15, power amplification circuit 16, impedance matching circuit more than 17, second
Path analoging switch 18；Control signal is exported the second multichannel mould by the second isolated drive circuit 13 by hosting computing unit 103
Intend switch 18, remove the impact to analog circuit for the digital circuit；Excitation modulated signal generation unit 105 is produced using dds circuit 14
Raw frequency is fexSine wave signal, and through low-pass filter circuit 15 and power amplification circuit 16 power output be pex, frequency
For fexExcitation modulated signal.This excitation modulated signal realizes three axles in sensor array 101 using impedance matching circuit 17
Fluxgate sensor and the impedance coupler of exciting circuit, and under control of the control signal will by the second multiway analog switch 18
Sinusoidal excitation modulated signal is respectively outputted to the one or three axis fluxgate sensor 3, the two or three axis fluxgate sensor the 2, the 3rd 3
Axis fluxgate sensor 1, the four or three axis fluxgate sensor 19.Low pass filter 15 adopts 7 rank Low-pass Elliptic Filters.
According to the measuring principle of fluxgate, the pumping signal of three axis fluxgate sensors, extraneous field intensity, signal of output etc.
Between relation can be expressed from the next
The voltage strength that wherein e (t) exports for fluxgate；w2It is fluxgate coil turn and cross-sectional area unshakable in one's determination with s, all
Particular factor for fluxgate；μ2iRepresent the magnetic conductivity of even-order harmonic, also for the particular factor of fluxgate sensor.Obviously export
Voltage e (t) is by multiple with fexFor fundamental frequency even-order harmonic composition, and all with external magnetic field intensityProportional.Separately
Outward, in view of the intensity of 2 subharmonic is much larger than other even-order harmonics, so in order to reduce calculating under the requirement meeting certainty of measurement
Amount, the measuring method of the present invention is only analyzed to this 2 subharmonic.
Receiver unit 102 in the present invention is used for completing the conditioning to sensor output signal and sampling work, is responsible for
The output information of sensor array 101 is sampled and is sent to hosting computing unit 103.Receiver unit 102 includes
One multiway analog switch 4, pre-amplification circuit 5, bandwidth-limited circuit 6, adc circuit 7, the first isolated drive circuit 8.As Fig. 1
Shown, control signal is exported the first of receiver unit 102 by the first isolated drive circuit 8 by hosting computing unit 103
Multiway analog switch 4, realizes the work that different sensors signal is switched over.Then receiver unit 102 utilizes front storing
Big circuit 5 carries out to sensor output signal nursing one's health work, and is 2 times of f using centre frequencyexBandpass filter 6 take out pass
2 order harmonic components of sensor array output signal, then realize digital signal samples work, the sampling being obtained through adc circuit 7
Signal exports hosting computing unit 103 by isolated drive circuit 8.
For ensureing the filter effect of signal conditioning circuit, therefore frequency f of excitation modulated signalexIt is set to 10khz, wave filter leads to
Bandwidth is 2khz, and its signal to noise ratio is 60db.Preferably, the multiway analog switch in the present invention adopts the adg1604 of adi company
To realize.
Hosting computing unit 103 is the control core of system, and completes digital phase sensitivity detection, fft algorithm, is based on a young waiter in a wineshop or an inn
The work such as the Inversion Calculation taken advantage of, hosting computing unit 103 includes as the fpga circuit 9 of control core and realizes electromagnetic field inverting
The dsp circuit 10 calculating；Wherein, order data is sent to fpga circuit 9 by dsp circuit 10, is decoded by fpga circuit 9,
Fpga circuit 9 makes tune according to control instruction to the control sequential of receiver unit 103 and excitation modulated signal generation unit 105
Whole.Carry out data interaction by the way of data/address bus and address bus between dsp circuit 10 and fpga circuit 9.As Fig. 1 institute
Show, fpga circuit 9 controls dds circuit 14 to make the frequency of sinusoidal excitation modulated signal, phase and amplitude adjustable, fpga circuit 9
According to control sequential, and control signal is exported to the second multiway analog switch 18 through the second isolated drive circuit 13, complete
The excitation selecting certain sensor is modulated；Master control fpga circuit 9 is achieved a butt joint receipts machine unit by the first isolated drive circuit 8
102 control and reading sample information, including: provide channel selecting signal to the first multiway analog switch 4, to adc electricity
Road 7 provides chip selection signal, changeover control signal, sampling clock, three bus signals of spi interface etc..Built-in in fpga chip
One digital phase-sensitive detector.The twice being excitation modulating frequency due to known signal frequency, i.e. 2fex, therefore digital phase-sensitive
Carrying a frequency in detection is 2fex, amplitude be 1v standard sine signal table, the data in this table is carried out with sampled data
Related operation then can realize digital phase sensitivity detection method.Sampled voltage letter then can be obtained by built-in low-pass filter circuit
Number.It is stored in after fpga circuit 9 gets sample information from adc circuit 7 in the built-in fifo of fpga, and using internal
The phase-sensitive detection circuit set up obtains 2fexSignal, read for dsp circuit 10.When fpga completes sampling and phase sensitive detection process
Afterwards, then trigger an external interrupt to dsp circuit 10.Then dsp circuit 10 reads fpga by address bus data bus
In interrupt status register information, and fifo information.Dsp circuit 10 by read information of voltage according to formula (7) side
Formula calculates external drive field intensity, then adopt Least squares inversion according still further to the electromagnetic field forward model that formula (4) describes
Method solves test point with power line apart from l.
Communication interface unit 104 is used for sending result of calculation, and the control command from operator is sent to master control
Computing unit 103, thus realizing the control to this warning device for the operator, communication interface unit 104 includes can bus circuit
11st, wifi circuit 12 and flash memory；Specifically, the dsp circuit 10 in hosting computing unit 103 sets according to user
Mode, data is sent by can bus circuit 11 or wifi circuit 12.Flash memory in communication interface unit 104
Save the arrange parameter of Current communications, the such as baud rate of can bus, device identification id, transmitting side marking id, equipment the machine
The contents such as ip address, recipient ip address.Operator can be total by can according to the car-mounted device parameter of practice of construction machinery
Line is modified to the data of flash memory, thus communications parameter can be changed.
Due to being required for the mechanical arm ensureing construction machinery in Practical Project work progress far as possible from power line, and
Keep minimum safe distance and electric power between, therefore pass through to pass at least one of sensor array 101 three axis fluxgate
Sensor is arranged on mechanical arm far-end, obtains mechanical arm end and the distance between power line l by its measured value, thus judging
The distance of mechanical arm far-end and power line whether outside minimum safe distance it is ensured that construction safety.Can pass as needed
The three axis fluxgate sensors of more than three are adopted, except arranging at least one three axle in mechanical arm far-end in sensor array 101
Beyond fluxgate sensor, at least one three axis fluxgate sensor is also set simultaneously in each joint of mechanical arm, thus
Can ensure that the construction safety of the mechanical arm with one or more joints.Can also multiple three axles of interval setting on the robotic arm
Fluxgate sensor is meeting the demand closely constructed near power line.
Although this specification more employ sensor array 101, receiver unit 102, hosting computing unit 103,
Communication interface unit 104, excitation modulated signal generation unit 105, power line 106, mechanical arm 107, the three or three axis fluxgate pass
Sensor 1, the two or three axis fluxgate sensor 2, the one or three axis fluxgate sensor 3, the first multiway analog switch 4, preposition amplification
Circuit 5, bandwidth-limited circuit 6, adc circuit 7, the first isolated drive circuit 8, fpga circuit 9, dsp circuit 10, can bus electricity
Road 11, wifi circuit 12, the second isolated drive circuit 13, dds circuit 14, low pass filter 15, power amplification circuit 16, impedance
The terms such as match circuit 17, the second multiway analog switch 18, the four or three axis fluxgate sensor 19, but be not precluded from using other
The possibility of term.It is used for the purpose of more easily describing the essence of the present invention using these terms, be construed as any
A kind of additional restriction is all contrary with spirit of the present invention.
It should be appreciated that the part that this specification does not elaborate belongs to prior art.
It should be appreciated that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The restriction of invention patent protection scope, those of ordinary skill in the art, under the enlightenment of the present invention, is weighing without departing from the present invention
Profit requires under protected ambit, can also make replacement or deform, each fall within protection scope of the present invention, this
Bright scope is claimed should be defined by claims.
Claims (9)
1. a kind of power cord position information measurement apparatus it is characterised in that: include sensor array (101), receiver unit
(102), hosting computing unit (103), communication interface unit (104), excitation modulated signal generation unit (105)；Described swashs
Encouraging modulated signal generation unit (105) is that described sensor array (101) produces frequency for fexSinusoidal excitation modulated signal,
Described sensor array (101) obtains signal, institute by after described sinusoidal excitation modulated signal and dynamic excitation magnetic field superposition
After the signal that the receiver unit (102) stated exports to described sensor array (101) is nursed one's health and sampled, by hits
Complete the work of electromagnetic field Inversion Calculation according to the described hosting computing unit (103) of feeding, and be ultimately delivered to described communication to connect
Power cord position information is sent by mouth unit (104)；
Described sensor array (101) by the one or three axis fluxgate sensor (3), the two or three axis fluxgate sensor (2),
Three or three axis fluxgate sensors (1) and the four or three axis fluxgate sensor (19) composition；The one or three described axis fluxgate sensing
Device (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor
(19) it is arranged on the mechanical arm (107) of construction equipment, the one or three wherein said axis fluxgate sensor (3) is installed in institute
The top of the mechanical arm (107) stated.
2. power cord position information measurement apparatus according to claim 1 it is characterised in that: the one or three described axle magnetic flux
Door sensor (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1) and the four or three axis fluxgate pass
Sensor (19) is installed successively in a linear fashion, and the one or three described axis fluxgate sensor (3) is sensed with the two or three axis fluxgate
Air line distance △ l between device (2)1, between the two or three axis fluxgate sensor (2) and the three or three axis fluxgate sensor (1)
Air line distance △ l2, straight line between the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor (19) away from
From △ l3, and △ l1>△l2>△l3.
3. power cord position information measurement apparatus according to claim 1 it is characterised in that: described receiver unit
(102) include the first multiway analog switch (4), pre-amplification circuit (5), bandwidth-limited circuit (6), adc circuit (7), first
Isolated drive circuit (8)；Described hosting computing unit (103) passes through described the first isolated drive circuit (8) and will control letter
Number export described the first multiway analog switch (4), realize the work that different sensors signal is switched over, then utilize
Described pre-amplification circuit (5) carries out to the output signal of described sensor array (101) nursing one's health work, and adopts center
Frequency is 2 times of fexBandwidth-limited circuit (6) take out 2 order harmonic components of sensor array output signal, then through described
Adc circuit (7) realizes digital signal samples work, and the sampled signal being obtained passes through described the first isolated drive circuit (8)
Export described hosting computing unit (103).
4. power cord position information measurement apparatus according to claim 3 it is characterised in that: described fexIt is set to 10khz,
The passband width of bandwidth-limited circuit (6) is 2khz, and its signal to noise ratio is 60db, and described the first multiway analog switch (4) adopts
The adg1604 multiway analog switch of adi company.
5. power cord position information measurement apparatus according to claim 1 it is characterised in that: described hosting computing unit
(103) be measurement apparatus control core, and complete digital phase sensitivity detection, fft algorithm, the Inversion Calculation work based on least square
Make, described hosting computing unit (103) includes as the fpga circuit (9) of control core and realizes electromagnetic field Inversion Calculation
Dsp circuit (10)；Order data is sent to fpga circuit (9) by described dsp circuit (10), is solved by fpga circuit (9)
Code, fpga circuit (9) is according to control instruction to described receiver unit (102) and excitation modulated signal generation unit (105)
Control sequential adjust；Data/address bus and address bus is adopted between described dsp circuit (10) and fpga circuit (9)
Mode carries out data interaction.
6. power cord position information measurement apparatus according to claim 5 it is characterised in that: described fpga circuit (9)
In fpga chip built-in digital phase-sensitive detector and frequency be 2fex, amplitude be 1v standard sine signal table, by with adopt
Sample data carries out related operation to realize digital phase sensitivity detection.
7. power cord position information measurement apparatus according to claim 1 it is characterised in that: described communication interface unit
(104) it is used for sending result of calculation, and the control command from operator is sent to described hosting computing unit
(103), thus realizing the control to power cord position information measurement apparatus for the operator；Described communication interface unit (104) bag
Include can bus circuit (11), wifi circuit (12) and flash memory；Setting in described hosting computing unit (103)
The mode that dsp circuit (10) sets according to operator, sends data by can bus circuit (11) or wifi circuit (12)；
Described flash memory preserves the arrange parameter of Current communications, and operator can be according to the car-mounted device ginseng of practice of construction machinery
Number, is modified to the data of flash memory by can bus circuit (11), changes communications parameter；Wherein said
Flash memory preserves the arrange parameter of Current communications, and its parameter includes the baud rate of can bus, device identification id, sender
Mark id, equipment the machine ip address, recipient ip address.
8. power cord position information measurement apparatus according to claim 1 it is characterised in that: described excitation modulated signal
Generation unit (105) is used under the control of described hosting computing unit (103), for the one or three described axis fluxgate sensing
Device (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor
(19) produce suitable excitation modulated signal, so that described sensor array (101) is capable of the electromagnetism of the induced electricity line of force
?；Described excitation modulated signal generation unit (105) includes the second isolated drive circuit (13), dds circuit (14), low pass filtered
Ripple device (15), power amplification circuit (16), impedance matching circuit (17) and the second multiway analog switch (18)；Described master control meter
Control signal is exported the second described multi-channel analog by described the second isolated drive circuit (13) and opens by calculation unit (103)
Close (18), remove the impact to analog circuit for the digital circuit；Described excitation modulated signal generation unit (105) utilizes described
It is f that dds circuit (14) produces frequencyexSine wave signal, and through described low pass filter (15) and power amplification circuit
(16) power output is pex, frequency be fexExcitation modulated signal, realize institute followed by described impedance matching circuit (17)
Three axis fluxgate sensors in the sensor array (101) stated and the impedance coupler of exciting circuit, and the control in control signal
System is lower to be respectively outputted to the one or three axis fluxgate by described the second multiway analog switch (18) by sinusoidal excitation modulated signal
Sensor (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1), the four or three axis fluxgate sensing
Device (19).
9. a kind of power cord position information measuring method it is characterised in that: sensor array includes at least four 3 axis fluxgates
Sensor, the wherein the 1st axis fluxgate sensor (3) is arranged on the top of construction equipment mechanical arm, and the one or three axis fluxgate passes
Air line distance between sensor (3) and the two or three axis fluxgate sensor (2) is △ l1, the two or three axis fluxgate sensor (2)
Air line distance and the three or three axis fluxgate sensor (1) between is △ l2, the three or three axis fluxgate sensor (1) and the four or three
Air line distance between axis fluxgate sensor (19) is △ l3, △ l1、△l2With △ l3It is it is known that and △ l1>△l2>△
l3, described the one or three axis fluxgate sensor (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor
(1) spacing and the four or three axis fluxgate sensor (19) between is put according to the principle that electromagnetism field gradient decays；
Described the one or three axis fluxgate sensor (3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensing
The voltage strength that device (1) and the four or three axis fluxgate sensor (19) export all can be expressed as:
Wherein, w2It is fluxgate coil turn and cross-sectional area unshakable in one's determination with s,For external drive field intensity, i is overtone order, μ2i
Represent the magnetic conductivity of even-order harmonic, t is the time, n is harmonic progression；
In hosting computing unit (103), the dsp circuit (10) of setting passes through the one or the three described axis fluxgate sensor obtaining
(3), the two or three axis fluxgate sensor (2), the three or three axis fluxgate sensor (1) and the four or three axis fluxgate sensor (19)
The voltage strength of output calculates external drive field intensityThen the side of Least squares inversion is adopted according still further to electromagnetic field forward model
Method calculates construction equipment mechanical arm (107) with power line (106) apart from l.
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| CN105203971A (en) * | 2015-10-12 | 2015-12-30 | 无锡清杨机械制造有限公司 | Magnetometer |
| CN106645984B (en) * | 2016-11-08 | 2020-01-21 | 河南理工大学 | Electromagnetic wave transfinite alarm device |
| CN113905327B (en) * | 2021-09-23 | 2024-01-26 | 国网江苏省电力有限公司 | Power transmission line external damage prevention alarm method and system based on multiple positioning parameters |
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| CN101116010A (en) * | 2005-02-09 | 2008-01-30 | 探索科技公司 | A buried object locating and tracing method and system employing principal components analysis for blind signal detection |
| CN201259524Y (en) * | 2008-06-20 | 2009-06-17 | 江苏省电力公司沭阳县供电公司 | High voltage open circuit positioning device |
| CN102917426A (en) * | 2012-11-15 | 2013-02-06 | 中国联合网络通信集团有限公司 | Operator network switching method and device for IOT (Internal of Things) terminal |
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| US7248052B2 (en) * | 2003-05-28 | 2007-07-24 | Weaver W Barry | Electric power grid induced geophysical prospecting method and apparatus |
| US8866469B2 (en) * | 2011-03-12 | 2014-10-21 | Altas Polar Company Limited | Electric field monitoring system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101116010A (en) * | 2005-02-09 | 2008-01-30 | 探索科技公司 | A buried object locating and tracing method and system employing principal components analysis for blind signal detection |
| CN201259524Y (en) * | 2008-06-20 | 2009-06-17 | 江苏省电力公司沭阳县供电公司 | High voltage open circuit positioning device |
| CN102917426A (en) * | 2012-11-15 | 2013-02-06 | 中国联合网络通信集团有限公司 | Operator network switching method and device for IOT (Internal of Things) terminal |
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