CN104858167A - Safety protection system and method for electrified water washing robot for substation - Google Patents
Safety protection system and method for electrified water washing robot for substation Download PDFInfo
- Publication number
- CN104858167A CN104858167A CN201510209413.5A CN201510209413A CN104858167A CN 104858167 A CN104858167 A CN 104858167A CN 201510209413 A CN201510209413 A CN 201510209413A CN 104858167 A CN104858167 A CN 104858167A
- Authority
- CN
- China
- Prior art keywords
- water
- distance
- control
- water column
- transformer station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a safety protection system and method for an electrified water washing robot for a substation. The system comprises a walking control system and a safety control system, wherein the walking control system comprises a remote control module, a vehicle-mounted controller and an information acquisition module; wireless devices are adopted between the remote control module and the vehicle-mounted controller as well as between the vehicle-mounted controller and the information acquisition module so as to construct a WIFI network to realize data interaction among three modules; an ultrasonic sensor, a magnetic field distance measuring sensor, a water resistance sensor and a water pressure sensor mounted on a cradle head are used by the safety control system to realize real-time monitoring of the running process of the robot. According to the invention, real-time on-line monitoring of water resistance, water pressure and water column length is realized, the insulating performance of the robot body and the electrified equipment of the substation in the water washing process is ensured and the safety of water washing operation is improved effectively.
Description
Technical field
The present invention relates to a kind of transformer station living water washing robot security protection system and method.
Background technology
Along with air environmental pollution is on the rise, grid equipment pollution flashover accident increases, and has a strong impact on grid equipment safe operation.Substation Insulator is exposed in external environment for a long time, and surface is dirt deposits easily, and these dirts easily pollution flashover accident occur by bad weather infringement.According to statistics, the insulation flashover accident caused by filth has accounted for the 2nd at present in power grid accident sum, and only 1971-1994 whole nation 35-500kV power plants and station is with regard to pollution flashover 1768 order of seats.Insulator charged water rinses the reliability that operation can improve power supply, reduces loss of outage, ensures the safety of transformer station and transmission line of electricity.Rinse operation in the Substation Insulator of present stage and mainly there is following shortcoming:
1, backwashing manner is enter scene by the hand-held flushing device of cleaning technique personnel to carry out operation mostly, artificial flushing not only depends on weather condition, cleaning personnel are also needed to possess compared with high-tech level and skilled operating process, the security protection of high standard is needed when living water washing is carried out to insulator, the security incident caused to avoid short circuit current, causing casualties, there is potential safety hazard in this kind of operating type;
2, manual work is faced with labour intensity greatly, the problems such as efficiency is low, and automatization level is low;
3, cannot to the real time on-line monitoring of water resistance rate, hydraulic pressure, water column length, cannot real time modifying robot running status, the insulating properties of robot body and substation live-line equipment in water flushing process can not be ensured;
4, without the control system of automation, keep the continuity of power supply and water flushing device people to keep a safe distance with insulator always;
Therefore research and develop the security protection system that can realize for water flushing device people to be necessary, meet research.
Summary of the invention
The present invention is in order to solve the problem, propose a kind of transformer station living water washing robot security protection system and method, this system can replace operating personnel, when not having a power failure, robot living water washing operation is carried out to substation equipment, it effectively can alleviate the heavy physical labor of manual cleaning work, ensure the personal safety of operating personnel, ensure the safe operation of electrical network.
To achieve these goals, the present invention adopts following technical scheme:
Living water washing robot of a kind of transformer station security protection system, comprise traveling control system and safety control system, traveling control system comprises remote control module, Vehicle Controller and information acquisition module, described remote control module is wirelessly connected with between Vehicle Controller, for controlling vertical lifting mechanism and the walking mechanism of rinsing robot, described information acquisition module collection is installed in the signal that each sensor on water flushing device people records, safety control system is based on the factor impacted insulation safety, distance between control and insulator chain remains within safe distance, safety control system comprises sonac, laser range finder, water resistance rate sensor, hydraulic pressure sensor and magnetic field distance measuring sensor, sonac and magnetic field distance measuring sensor are arranged on four faces of mechanical arm tail end, for detecting the distance between mechanical arm tail end and charging equipment, laser range finder installation parallel with hydraulic giant, the length of water column in real-time detection water flushing process, water resistance rate sensor and hydraulic pressure sensor are arranged on High Pressure Pure Water Preparation equipment, for detecting the pressure of water and the electric conductivity of water in flushing process in real time.
Described Vehicle Controller is arranged on water flushing device people mobile chassis, and electric-controlled switch is the end effector mechanism of Vehicle Controller, and when electric-controlled switch is positioned at meta, now electric-controlled switch controls motor stop motion; When input voltage is greater than meta voltage, control motor rotates forward, when input voltage is less than meta voltage, control motor reversely rotates, be connected with the electric-controlled switch input port of vertical lifting mechanism by TRIO controller (for the emerald green Europe motion controller that Britain produces) IO delivery outlet, by the output voltage of control TRIO controller delivery outlet, realize the direction of motion of electric executing agency of robot and the control of movement velocity.
Described remote control module comprises by industrial computer, touch-screen, remote-control handle and button, in the controls, on the one hand, remote-control handle, touch-screen are all connected with industrial computer with button, issued the control command of vertical lifting mechanism by wireless WIFI to TRIO controller, realize machine opened loop control; On the other hand, the angular transducer of industrial computer, TRIO controller, electric-controlled switch and The Cloud Terrace forms closed-loop control system again, realizes the Close loop servo control of the secondary mechanical arm to vertical lifting mechanism.
The angular transducer of described information acquisition module and Vehicle Controller gathers the adjustable height of vertical lifting mechanism and the angle information of The Cloud Terrace, by serial server, RS485 protocol data is converted to Transmission Control Protocol data, and send data to wireless aps module by HUB, and then the real-time communication of realization and remote control end industrial computer.
Described information acquisition module is arranged on water flushing device people hydraulic giant The Cloud Terrace, information acquisition module is set up WIFI communication by wireless CLIENT with the wireless aps module in main control module and is connected, information acquisition module gathers The Cloud Terrace pitching, the The Cloud Terrace inclination data of Absolute neutron flux acquisition by serial server, and be uploaded in the industrial computer of remote control module by WIFI network, realize thus the Real-time Collection of hydraulic giant The Cloud Terrace upper sensor information.
Described information acquisition module gathers The Cloud Terrace pitching and the The Cloud Terrace inclination data of Absolute neutron flux acquisition by serial server, and is uploaded in the industrial computer of remote control module by WIFI network;
Described remote control module comprises industrial computer, and industrial computer collects the sensor information that information acquisition module gathers, and is realized the control of vertical lifting mechanism and car body by TRIO controller.
Described wireless mode is for adopting wireless aps module and wireless CLIENT equipment.
Described sonac, magnetic field distance measuring sensor and laser range finder all by HUB and wireless aps module by data upload to industrial computer.
Distance between described vertical lifting mechanism and charging equipment is greater than the trouble free service distance that transformer station specifies.
Described laser range finder adopts red laser, and its light source hot spot is 1mm*1mm, measuring distance 1.5m to 8m, and Measuring Time is 1 to 5 millisecond.
Based on a method of work for above-mentioned security protection system, be specially:
Remote control system controls industrial computer, power assembly is made to drive the motion of car body walking mechanism, safety control system is based on the factor impacted insulation safety, distance between control and insulator chain remains within safe distance, laser range finder on hydraulic giant frame, after hydraulic giant being detected and needing the horizontal range of the insulator rinsed to meet safe distance, Vehicle Controller control vertical lifting mechanism carries out the stretching motion on vertical direction, rinse distance to make the distance between hydraulic giant and insulator meet, rinse; The state of tracking camera Real Time Observation hydraulic giant, remote control system controls the rotation of The Cloud Terrace, makes hydraulic giant carry out level and elevating movement, and constantly the spray angle of adjustment hydraulic giant, reaches best to make developing result; Water resistance rate and hydraulic pressure sensor are arranged on High Pressure Pure Water Preparation equipment, for detecting the pressure of water and the electric conductivity of water in flushing process in real time; The insulating properties of insulation water column are changed by the length changing water column.
The described factor impacted insulation safety comprises resistivity of water, the length of water column and the distance between mechanical arm and charging equipment, and wherein water resistance rate should be greater than 500 kilo-ohms every centimetre; Water column length should be not less than 2 meters, and the distance between mechanical arm and charging equipment should be greater than the trouble free service distance that transformer station specifies.
The resistance of described water column and the cross-sectional area of water column are inversely proportional to, and are directly proportional to water column length, and the computing formula of the resistance of insulation water column is as follows:
R＝r×L/A
Wherein r is resistivity of water, and its implication is area of section is one square centimeter, and length is the resistance value of the water column of a centimetre, and L is the length of water column, and A is the area of section of water column, and R is the resistance value of water column;
When spray tip bore is certain, the area of section of water column is a constant, when resistivity of water r changes, and can by changing the distance of water flushing device people's nozzle and equipment room, change the length L of insulation water column, thus realize the adjustment of water column insulating properties.
The automatic control algorithm of the length of described water column is a pair of closed loop control algorithm, inner ring is operation Distance geometry pressure rings, outer shroud is water resistance rate ring, when high purity water water resistance rate changes, online water resistance rate sensor detects this change, by the water resistance rate that establishes by experiment in advance and operation distance, the expert system of irrigation pressure obtains desirable operation Distance geometry irrigation pressure information corresponding with it, enter inner ring system thus, on the one hand by the real-time feedback information of laser range finder, realize the closed-loop control to operation distance, the pressure information returned by pressure sensor on the other hand, realize the control to the output pressure of pressure apparatus, and then the automatic control of the water column insulating properties that realize insulating to water flushing device people.
Beneficial effect of the present invention is:
(1) the present invention replaces operating personnel, when not having a power failure, living water washing operation is carried out to substation equipment, it effectively can alleviate the heavy physical labor of manual cleaning work, ensure the personal safety of operating personnel, simultaneously by the cleaning to equipment filth, prevent equipment pollution flashover accident, ensure the safe operation of electrical network;
(2) the present invention adopts multi-sensor fusion technology, realizes the automatic realization of water flushing process, improves automation and intelligent level that water rinses operation;
(3) the present invention can realize the real time on-line monitoring of water resistance rate, hydraulic pressure, water column length, ensures the insulating properties of robot body and substation live-line equipment in water flushing process, effectively improves the security that water rinses operation.
Accompanying drawing explanation
Fig. 1 is overall block diagram of the present invention;
Fig. 2 is robot control system Vehicle Controller of the present invention and remote control module block diagram;
Fig. 3 is control system block diagram of the present invention;
Fig. 4 is safety control system schematic diagram of the present invention;
Fig. 5 is automatic control algorithm flow chart of the present invention.
Detailed description of the invention:
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As Figure 1-3, living water washing robot of a kind of transformer station comprises robot body and robot control system.
Living water washing robot of a kind of transformer station comprises: the compositions such as car body walking mechanism, power assembly, vertical lifting mechanism, hydraulic giant flushing machine, electric control system; Wherein, car body walking mechanism is crawler-type mobile chassis structure, power assembly adopts diesel engine powers, be installed on mobile chassis, vertical lifting mechanism is connected to car body travel mechanism front end, vertical lifting mechanism is provided with two-stage telescopic arm, and the upper arm of two-stage telescopic arm is connected by the working cradle head of insulation column with hydraulic giant flushing machine; Electric control system comprises onboard subsystem and remoting subsystem, and remoting subsystem matches with onboard subsystem, wirelessly the long-range control completed robot vertical elevating mechanism and hydraulic giant flushing machine.
Car body walking mechanism is primarily of crawler body, left running motor, right running motor, driving wheel, driven pulley, BOGEY WHEEL, crawler belt, tension buffer device composition, left running motor and right running motor are bolted on crawler body support, driving wheel is connected with running motor by driving shaft, driven pulley, BOGEY WHEEL connect with crawler body support respectively by rotating shaft with tension buffer device, crawler belt is enclosed within the outside of driving wheel, driven pulley, BOGEY WHEEL and tension buffer device, the left side, chassis is hydraulic oil container, and the right is diesel fuel tanks.
Living water washing robot of a kind of transformer station security protection system, comprise traveling control system and safety control system, traveling control system comprises remote control module, Vehicle Controller and information acquisition module, described remote control module is wirelessly connected with between Vehicle Controller, for controlling vertical lifting mechanism and the walking mechanism of rinsing robot, described information acquisition module collection is installed in the signal that each sensor on water flushing device people records, safety control system is based on the factor impacted insulation safety, distance between control and insulator chain remains within safe distance, safety control system comprises sonac, laser range finder, water resistance rate sensor, hydraulic pressure sensor and magnetic field distance measuring sensor, sonac and magnetic field distance measuring sensor are arranged on four faces of mechanical arm tail end, for detecting the distance between mechanical arm tail end and charging equipment, laser range finder installation parallel with hydraulic giant, the length of water column in real-time detection water flushing process, water resistance rate sensor and hydraulic pressure sensor are arranged on High Pressure Pure Water Preparation equipment, for detecting the pressure of water and the electric conductivity of water in flushing process in real time.
Vehicle Controller is arranged on water flushing device people mobile chassis, and electric-controlled switch is the end effector mechanism of Vehicle Controller, and when electric-controlled switch is positioned at meta, now electric-controlled switch controls motor stop motion; When input voltage is greater than meta voltage, control motor rotates forward, when input voltage is less than meta voltage, control motor reversely rotates, be connected with the electric-controlled switch input port of vertical lifting mechanism by TRIO controller IO delivery outlet, by the output voltage of control TRIO controller delivery outlet, realize the direction of motion of electric executing agency of robot and the control of movement velocity.
Remote control module comprises by industrial computer, touch-screen, remote-control handle and button, in the controls, on the one hand, remote-control handle, touch-screen are all connected with industrial computer with button, issued the control command of vertical lifting mechanism by wireless WIFI to TRIO controller, realize machine opened loop control; On the other hand, the angular transducer of industrial computer, TRIO controller, electric-controlled switch and The Cloud Terrace forms closed-loop control system again, realizes the Close loop servo control of the secondary mechanical arm to vertical lifting mechanism.
The angular transducer of information acquisition module and Vehicle Controller gathers the adjustable height of vertical lifting mechanism and the angle information of The Cloud Terrace, by serial server, RS485 protocol data is converted to Transmission Control Protocol data, and send data to wireless aps module by HUB, and then the real-time communication of realization and remote control end industrial computer.
Information acquisition module is arranged on water flushing device people hydraulic giant The Cloud Terrace, information acquisition module is set up WIFI communication by wireless CLIENT with the wireless aps module in main control module and is connected, information acquisition module gathers The Cloud Terrace pitching, the The Cloud Terrace inclination data of Absolute neutron flux acquisition by serial server, and be uploaded in the industrial computer of remote control module by WIFI network, realize thus the Real-time Collection of hydraulic giant The Cloud Terrace upper sensor information.
Information acquisition module gathers The Cloud Terrace pitching and the The Cloud Terrace inclination data of Absolute neutron flux acquisition by serial server, and is uploaded in the industrial computer of remote control module by WIFI network;
Remote control module comprises industrial computer, and industrial computer collects the sensor information that information acquisition module gathers, and is realized the control of vertical lifting mechanism and car body by TRIO controller.
Wireless mode is for adopting wireless aps module and wireless CLIENT equipment.
Sonac, magnetic field distance measuring sensor and laser range finder all by HUB and wireless aps module by data upload to industrial computer.
Distance between vertical lifting mechanism and charging equipment should be greater than the trouble free service distance that transformer station specifies.
Laser range finder adopts red laser, and its light source hot spot is 1mm*1mm, measuring distance 1.5m to 8m, and Measuring Time is 1 to 5 millisecond, and measurement result is by RS232 Signal transmissions, and its installation parallel with hydraulic giant, can detect the length of water column in water flushing process in real time; Water resistance rate and hydraulic pressure sensor are arranged on High Pressure Pure Water Preparation equipment, for detecting the pressure of water and the electric conductivity of water in flushing process in real time.
The present invention devises living water washing Fu Chong robot of a set of transformer station safety control system, as shown in Figure 4.This safety control system mainly comprises: sonac, magnetic field distance measuring sensor, laser range finder, water resistance rate sensor, hydraulic pressure sensor, serial server, industrial computer and wireless aps and wireless CLIENT form.Wherein wireless aps and wireless CLIENT module are for building WIFI network, realize the mutual of each intermodular data.
Ultrasonic range finder sensor and magnetic field distance measuring sensor are arranged on four faces of mechanical arm tail end, for detecting the distance between mechanical arm tail end and charging equipment, wherein magnetic field distance measuring sensor utilizes the distribution of charging equipment ambient magnetic field strength, realize the real-time detection of mechanical arm and charging equipment spacing, solve the problem that charging equipment insulation distance reduces under wet weather condition; When systems axiol-ogy is less than trouble free service distance to the distance of mechanical arm and equipment room, dangerous information can be fed back to operating personnel in time, and stop the operation of robot where necessary.
Laser range finder adopts red laser, and its light source hot spot is 1mm*1mm, measuring distance 1.5m to 8m, and Measuring Time is 1 to 5 millisecond, and measurement result is by RS232 Signal transmissions, and its installation parallel with hydraulic giant, can detect the length of water column in water flushing process in real time; Water resistance rate and hydraulic pressure sensor are arranged on High Pressure Pure Water Preparation equipment, for detecting the pressure of water and the electric conductivity of water in flushing process in real time.
The high resistant rate water column that transformer station water flushing device people sprays is the one of its insulation mode, and the insulating properties of water column are by the length of resistivity of water, water column, the impact of the factors such as the bore of nozzle, when wherein any one factor changes, all may cause the decreasing insulating of system, now must make up this insulating properties loss of energy by corresponding measure.Experiment proves, the insulating properties changing insulation water column by changing the length of water column are the most feasible, is also most effective method.
In theory, the resistance of water column and the cross-sectional area of water column are inversely proportional to, and are directly proportional to water column length.The calculating of the resistance of insulation water column is also like this, and its formula is as follows:
R＝r×L/A
Wherein r is resistivity of water, and its implication is area of section is one square centimeter, and length is the resistance value of the water column of a centimetre, and L is the length of water column, and A is the area of section of water column, and R is the resistance value of water column.
When spray tip bore is certain, the area of section of water column is a constant, as can be seen from the formula of the resistance value of insulation water column, when resistivity of water r changes, can by changing the distance of water flushing device people's nozzle and equipment room, change the length L of insulation water column, thus realize the adjustment of water column insulating properties.The present invention adopts a kind of transformer station water flushing device people to insulate water column automatic control algorithm, realize the Intelligent adjustment of mechanical arm and pressure apparatus, change the distance of water flushing device people's nozzle and equipment room, thus change the length of insulation water column, ensure enough insulating properties.
As shown in Figure 5, for transformer station water flushing device people is insulated the schematic diagram of water column automatic control algorithm, from schematic diagram, this algorithm is a pair of closed loop control algorithm, and inner ring is operation Distance geometry pressure rings, and outer shroud is water resistance rate ring.When water resistance rate changes high purity water for a certain reason, online water resistance rate sensor detects this change, by searching in expert system the water resistance rate and operation distance set up by great many of experiments in advance, the data relationship table of irrigation pressure, obtain desirable operation Distance geometry irrigation pressure information corresponding with it, enter inner ring system thus, on the one hand by the real-time feedback information of laser range finder, realize the closed-loop control to operation distance, the pressure information returned by pressure sensor on the other hand, realize the control to the output pressure of pressure apparatus, and then the automatic control of the water column insulating properties that realize insulating to water flushing device people.
Water flushing device people model machine of the present invention is succeeded in developing.It has passed 220KV grade high pressure and measurement of electromagnetic environment in laboratory smoothly, and smooth experiment in transformer station at 220KV obtains tentative application, tentative application shows, this control system can meet the demand for control of living water washing Fu Chong robot of transformer station, and ensures water flushing device people and rushed the security of operation of equipment.
The invention provides a kind of transformer station water flushing device intelligent control system, this system is based on technology of Internet of things and multi-sensor fusion technology, build transformer station's water flushing device intelligent control system, adopt this control system can make Intelligent Mobile Robot replace people complete the high insulator water washing task of 220kV transformer station livewire work frequency, the labour intensity of operating personnel can be alleviated on the one hand, on the other hand also for the safety of operating personnel provides the transformer station water flushing device people wireless remote-control system of guarantee.Follow-up machine vision technique is introduced this system, utilize the function such as image procossing, pattern-recognition, realize the automatic identification of flushing device, and utilize visual servo technology to improve the intelligent of system and independence further, along with the improving constantly of performance of system, phase communication system will have sizable application space.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (15)
1. living water washing robot of a transformer station security protection system, it is characterized in that: comprise traveling control system and safety control system, traveling control system comprises remote control module, Vehicle Controller and information acquisition module, described remote control module is wirelessly connected with between Vehicle Controller, for controlling vertical lifting mechanism and the walking mechanism of rinsing robot, described information acquisition module collection is installed in the signal that each sensor on water flushing device people records, safety control system is based on the factor impacted insulation safety, distance between control and insulator chain remains within safe distance, safety control system comprises sonac, laser range finder, water resistance rate sensor, hydraulic pressure sensor and magnetic field distance measuring sensor, sonac and magnetic field distance measuring sensor are arranged on four faces of mechanical arm tail end, for detecting the distance between mechanical arm tail end and charging equipment, laser range finder installation parallel with hydraulic giant, the length of water column in real-time detection water flushing process, water resistance rate sensor and hydraulic pressure sensor are arranged on High Pressure Pure Water Preparation equipment, for detecting the pressure of water and the electric conductivity of water in flushing process in real time.
2. living water washing robot of a kind of transformer station as claimed in claim 1 security protection system, it is characterized in that: described Vehicle Controller is arranged on water flushing device people mobile chassis, electric-controlled switch is the end effector mechanism of Vehicle Controller, when electric-controlled switch is positioned at meta, now electric-controlled switch controls motor stop motion; When input voltage is greater than meta voltage, control motor rotates forward, when input voltage is less than meta voltage, control motor reversely rotates, be connected with the electric-controlled switch input port of vertical lifting mechanism by TRIO controller IO delivery outlet, by the output voltage of control TRIO controller delivery outlet, realize the direction of motion of electric executing agency of robot and the control of movement velocity.
3. living water washing robot of a kind of transformer station as claimed in claim 1 security protection system, it is characterized in that: described remote control module comprises by industrial computer, touch-screen, remote-control handle and button, in the controls, on the one hand, remote-control handle, touch-screen are all connected with industrial computer with button, issued the control command of vertical lifting mechanism by wireless WIFI to TRIO controller, realize machine opened loop control; On the other hand, the angular transducer of industrial computer, TRIO controller, electric-controlled switch and The Cloud Terrace forms closed-loop control system again, realizes the Close loop servo control of the secondary mechanical arm to vertical lifting mechanism.
4. living water washing robot of a kind of transformer station as claimed in claim 1 security protection system, it is characterized in that: the angular transducer of described information acquisition module and Vehicle Controller gathers the adjustable height of vertical lifting mechanism and the angle information of The Cloud Terrace, by serial server, RS485 protocol data is converted to Transmission Control Protocol data, and send data to wireless aps module by HUB, and then the real-time communication of realization and remote control end industrial computer.
5. living water washing robot of a kind of transformer station as claimed in claim 1 security protection system, it is characterized in that: described information acquisition module is arranged on water flushing device people hydraulic giant The Cloud Terrace, information acquisition module is set up WIFI communication by wireless CLIENT with the wireless aps module in main control module and is connected, information acquisition module gathers The Cloud Terrace pitching, the The Cloud Terrace inclination data of Absolute neutron flux acquisition by serial server, and be uploaded in the industrial computer of remote control module by WIFI network, realize thus the Real-time Collection of hydraulic giant The Cloud Terrace upper sensor information.
6. living water washing robot of a kind of transformer station as claimed in claim 5 security protection system, it is characterized in that: described information acquisition module gathers The Cloud Terrace pitching and the The Cloud Terrace inclination data of Absolute neutron flux acquisition by serial server, and is uploaded in the industrial computer of remote control module by WIFI network.
7. living water washing robot of a kind of transformer station as claimed in claim 1 security protection system, it is characterized in that: described remote control module comprises industrial computer, industrial computer collects the sensor information that information acquisition module gathers, and is realized the control of vertical lifting mechanism and car body by TRIO controller.
8. living water washing robot of a kind of transformer station as claimed in claim 1 security protection system, is characterized in that: described wireless mode is for adopting wireless aps module and wireless CLIENT equipment.
9. living water washing robot of a kind of transformer station as claimed in claim 1 security protection system, is characterized in that: described sonac, magnetic field distance measuring sensor and laser range finder all by HUB and wireless aps module by data upload to industrial computer.
10. living water washing robot of a kind of transformer station as claimed in claim 1 security protection system, is characterized in that: the distance between described vertical lifting mechanism and charging equipment is greater than the trouble free service distance that transformer station specifies.
11. living water washing robot of a kind of transformer station as claimed in claim 1 security protection systems, is characterized in that: described laser range finder adopts red laser, and its light source hot spot is 1mm*1mm, measuring distance 1.5m to 8m, and Measuring Time is 1 to 5 millisecond.
12. 1 kinds based on such as according to any one of claim 1-11 the method for work of security protection system, it is characterized in that: be specially:
Remote control system controls industrial computer, power assembly is made to drive the motion of car body walking mechanism, safety control system is based on the factor impacted insulation safety, distance between control and insulator chain remains within safe distance, laser range finder on hydraulic giant frame, after hydraulic giant being detected and needing the horizontal range of the insulator rinsed to meet safe distance, Vehicle Controller control vertical lifting mechanism carries out the stretching motion on vertical direction, rinse distance to make the distance between hydraulic giant and insulator meet, rinse; The state of tracking camera Real Time Observation hydraulic giant, remote control system controls the rotation of The Cloud Terrace, makes hydraulic giant carry out level and elevating movement, and constantly the spray angle of adjustment hydraulic giant, reaches best to make developing result; Water resistance rate and hydraulic pressure sensor are arranged on High Pressure Pure Water Preparation equipment, for detecting the pressure of water and the electric conductivity of water in flushing process in real time; The insulating properties of insulation water column are changed by the length changing water column.
13. method of works as claimed in claim 12, is characterized in that: the described factor impacted insulation safety comprises resistivity of water, the length of water column and the distance between mechanical arm and charging equipment, and wherein water resistance rate should be greater than 500 kilo-ohms every centimetre; Water column length should be not less than 2 meters, and the distance between mechanical arm and charging equipment should be greater than the trouble free service distance that transformer station specifies.
14. method of works as claimed in claim 12, is characterized in that: the resistance of described water column and the cross-sectional area of water column are inversely proportional to, and are directly proportional to water column length, and the computing formula of the resistance of insulation water column is as follows:
R＝r×L/A
Wherein r is resistivity of water, and its implication is area of section is one square centimeter, and length is the resistance value of the water column of a centimetre, and L is the length of water column, and A is the area of section of water column, and R is the resistance value of water column;
When spray tip bore is certain, the area of section of water column is a constant, when resistivity of water r changes, and can by changing the distance of water flushing device people's nozzle and equipment room, change the length L of insulation water column, thus realize the adjustment of water column insulating properties.
15. method of works as claimed in claim 12, it is characterized in that: the automatic control algorithm of the length of described water column is a pair of closed loop control algorithm, inner ring is operation Distance geometry pressure rings, outer shroud is water resistance rate ring, when high purity water water resistance rate changes, online water resistance rate sensor detects this change, by the water resistance rate that establishes by experiment in advance and operation distance, the expert system of irrigation pressure obtains desirable operation Distance geometry irrigation pressure information corresponding with it, enter inner ring system thus, on the one hand by the real-time feedback information of laser range finder, realize the closed-loop control to operation distance, the pressure information returned by pressure sensor on the other hand, realize the control to the output pressure of pressure apparatus, and then the automatic control of the water column insulating properties that realize insulating to water flushing device people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510209413.5A CN104858167A (en) | 2015-04-28 | 2015-04-28 | Safety protection system and method for electrified water washing robot for substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510209413.5A CN104858167A (en) | 2015-04-28 | 2015-04-28 | Safety protection system and method for electrified water washing robot for substation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104858167A true CN104858167A (en) | 2015-08-26 |
Family
ID=53904585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510209413.5A Pending CN104858167A (en) | 2015-04-28 | 2015-04-28 | Safety protection system and method for electrified water washing robot for substation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104858167A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107544313A (en) * | 2017-10-24 | 2018-01-05 | 广东电网有限责任公司东莞供电局 | Remote control live working device for high-voltage live equipment place |
| CN107552455A (en) * | 2017-09-30 | 2018-01-09 | 山西晋缘电力化学清洗中心有限公司 | Living water washing pump centralized control system |
| CN109774666A (en) * | 2019-03-27 | 2019-05-21 | 北京铁道工程机电技术研究所股份有限公司 | A kind of insulator cleaning system and insulator cleaning method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN103658113A (en) * | 2012-08-29 | 2014-03-26 | 张刚平 | 5000kV multifunctional full-automatic high-pressure electrified cleaning robot |
| CN104283140A (en) * | 2014-09-10 | 2015-01-14 | 国家电网公司 | Cleaning platform for cleaning disconnecting link of transformer substation |
| CN104289477A (en) * | 2014-09-25 | 2015-01-21 | 国家电网公司 | Cleaning machine suitable for isodiametric china bottles in transformer substation |
| CN204107887U (en) * | 2014-09-18 | 2015-01-21 | 张桂霞 | Live-line cleaning device for transformer substation |
| CN204194341U (en) * | 2014-09-10 | 2015-03-11 | 国家电网公司 | Based on the transformer station water flushing device people of supersonic sounding |
| CN204248894U (en) * | 2014-09-10 | 2015-04-08 | 国家电网公司 | Transformer station's living water washing is auxiliary rushes robot control system |
| CN204912140U (en) * | 2015-04-28 | 2015-12-30 | 国家电网公司 | Safety protection system for robot is washed in electrified water -washed of transformer substation |
-
2015
- 2015-04-28 CN CN201510209413.5A patent/CN104858167A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103658113A (en) * | 2012-08-29 | 2014-03-26 | 张刚平 | 5000kV multifunctional full-automatic high-pressure electrified cleaning robot |
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN104283140A (en) * | 2014-09-10 | 2015-01-14 | 国家电网公司 | Cleaning platform for cleaning disconnecting link of transformer substation |
| CN204194341U (en) * | 2014-09-10 | 2015-03-11 | 国家电网公司 | Based on the transformer station water flushing device people of supersonic sounding |
| CN204248894U (en) * | 2014-09-10 | 2015-04-08 | 国家电网公司 | Transformer station's living water washing is auxiliary rushes robot control system |
| CN204107887U (en) * | 2014-09-18 | 2015-01-21 | 张桂霞 | Live-line cleaning device for transformer substation |
| CN104289477A (en) * | 2014-09-25 | 2015-01-21 | 国家电网公司 | Cleaning machine suitable for isodiametric china bottles in transformer substation |
| CN204912140U (en) * | 2015-04-28 | 2015-12-30 | 国家电网公司 | Safety protection system for robot is washed in electrified water -washed of transformer substation |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107552455A (en) * | 2017-09-30 | 2018-01-09 | 山西晋缘电力化学清洗中心有限公司 | Living water washing pump centralized control system |
| CN107544313A (en) * | 2017-10-24 | 2018-01-05 | 广东电网有限责任公司东莞供电局 | Remote control live working device for high-voltage live equipment place |
| CN109774666A (en) * | 2019-03-27 | 2019-05-21 | 北京铁道工程机电技术研究所股份有限公司 | A kind of insulator cleaning system and insulator cleaning method |
| CN109774666B (en) * | 2019-03-27 | 2024-06-07 | 北京铁道工程机电技术研究所股份有限公司 | Insulator cleaning system and insulator cleaning method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204248894U (en) | Transformer station's living water washing is auxiliary rushes robot control system | |
| CN204912140U (en) | Safety protection system for robot is washed in electrified water -washed of transformer substation | |
| CN108673467B (en) | Transformer substation live-line maintenance operation robot system and method | |
| CN105835063B (en) | Crusing robot system and its method for inspecting in a kind of substation room | |
| CN107972038B (en) | System and method for washing robot with charged water for autonomous substation equipment | |
| WO2017004943A1 (en) | Smart mobile detection platform for greenhouse | |
| CN105014674B (en) | Current conversion station living water washing robot system and method | |
| CN105013733B (en) | Transformer substation live washing auxiliary washing robot and method | |
| CN103056866A (en) | Live-working robot of transformer substation | |
| CN104777768A (en) | Emergency control system and method for substation charged water flushing robot | |
| CN106584421A (en) | Mobile trolley system based on mobile robot | |
| CN104998848A (en) | Electrification water washing robot of rail type transformer substation | |
| CN204035106U (en) | Living water washing Fu Chong robot of transformer station | |
| CN205685341U (en) | A kind of combined track formula transformer station indoor crusing robot system | |
| CN105014651A (en) | Transformer substation live washing robot and method | |
| CN104858167A (en) | Safety protection system and method for electrified water washing robot for substation | |
| CN104815814A (en) | Insulation protection system and method for charging water washing robot in transformer substation | |
| CN104858166A (en) | Emergency control system and method of live-washing robot for low-altitude insulator | |
| CN104932457A (en) | Remote control system for live-line water flushing robot of transformer station and method of system | |
| CN204036449U (en) | A kind of living water washing Fu Chong robot of transformer station that can accurately rinse | |
| CN104999449A (en) | Electrified water washing robot of wheel type substation | |
| CN204178179U (en) | Transformer station's living water washing robot control system | |
| CN204557202U (en) | Living water washing robot of a kind of transformer station tele-control system | |
| CN204171000U (en) | For the living water washing robot of transformer station of low latitude insulator | |
| CN204557203U (en) | For the transformer station water flushing device people tele-control system of low latitude insulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150826 |