CN105403198A - Electric transmission line iron tower inclination degree real-time monitoring method - Google Patents
Electric transmission line iron tower inclination degree real-time monitoring method Download PDFInfo
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- CN105403198A CN105403198A CN201510955776.3A CN201510955776A CN105403198A CN 105403198 A CN105403198 A CN 105403198A CN 201510955776 A CN201510955776 A CN 201510955776A CN 105403198 A CN105403198 A CN 105403198A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 74
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title claims abstract description 66
- 229910052742 iron Inorganic materials 0.000 title claims abstract description 33
- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims description 13
- 230000005611 electricity Effects 0.000 claims abstract description 50
- 239000007788 liquid Substances 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims description 42
- 229910000831 Steel Inorganic materials 0.000 claims description 41
- 239000010959 steel Substances 0.000 claims description 41
- 238000004891 communication Methods 0.000 claims description 23
- 238000005868 electrolysis reaction Methods 0.000 claims description 12
- 239000004020 conductor Substances 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 6
- 230000009184 walking Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 4
- 241000282693 Cercopithecidae Species 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000007689 inspection Methods 0.000 abstract 2
- 238000013461 design Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241000272165 Charadriidae Species 0.000 description 1
- 206010057071 Rectal tenesmus Diseases 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- 239000004575 stone Substances 0.000 description 1
- 208000012271 tenesmus Diseases 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/18—Measuring inclination, e.g. by clinometers, by levels by using liquids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/18—Measuring inclination, e.g. by clinometers, by levels by using liquids
- G01C2009/182—Measuring inclination, e.g. by clinometers, by levels by using liquids conductive
Abstract
The invention relates to an electric transmission line iron tower inclination degree real-time monitoring platform. The electric transmission line iron tower inclination degree real-time monitoring platform comprises a liquid pendulum inclination sensor, a touch switch sensor, and a inspection robot; the liquid pendulum inclination sensor is used for detecting iron tower real-time inclination angle; the touch switch sensor is arranged on an inclination-proof structure, and is used for detecting obstacles in the front of electric transmission lines; the inspection robot is arranged on the electric transmission line, and is used for determining whether it is necessary to send corresponding alarming signals to a remote electricity supply management server based on the output results of the liquid pendulum inclination sensor and the touch switch sensor. The electric transmission line iron tower inclination degree real-time monitoring platform can be used for accurate safety detection on electric transmission line surrounding environments, and avoiding electrical network accidents.
Description
Technical field
The present invention relates to power grid maintenance field, particularly relate to a kind of iron tower of power transmission line degree of tilt method of real-time.
Background technology
Cause the reason of Iron tower incline near transmission line of electricity to have a lot, loosening of such as associated anchor, subsiding of lower necromancer stone, the excessive and load of ambient wind overweight, all may cause the abnormal dip of steel tower.If steel tower pitch angle is excessive, will cause self dropping, related transmission line of electricity tenesmus, consequence is hardly imaginable.Therefore, need, to steel tower monitoring state, to report to the police to power supply management department immediately when an abnormality is discovered, remind power supply management department to repair steel tower before there is accident of power supply, thus avoid the generation of accident of power supply.
But, Iron tower incline degree monitoring scheme of the prior art is all monitored based on manpower, low and the poor real of efficiency, there is no the mechanization scheme of transmission line of electricity complete monitoring at present, therefore, need a kind of new iron tower of power transmission line degree of tilt detection scheme, original manpower monitoring scheme can be replaced, adopt mechanization monitoring scheme to monitor steel tower whole process near transmission line of electricity.
Summary of the invention
In order to solve the problem, the invention provides a kind of iron tower of power transmission line degree of tilt Real-Time Monitoring platform, have employed the high-precision liquid pendulum-type inclination sensor for steel tower, inspecting robot that introduce current powerful, that comprise anti-tilt structure, control box, brshless DC motor, hoisting ring, travel mechanism, latch mechanism and hold-down mechanism is as current platform, also introduce frequency duplex communications technical guarantee on-scene communication smooth, thus realize mechanization complete monitoring.
According to an aspect of the present invention, provide a kind of iron tower of power transmission line degree of tilt Real-Time Monitoring platform, described platform comprises liquid pendulum-type inclination sensor, touch switch sensor and crusing robot, liquid pendulum-type inclination sensor is for detecting the real-time degree of tilt of steel tower, touch switch sensor is positioned on anti-tilt structure, for detecting transmission line of electricity preceding object thing, crusing robot is mounted on transmission line of electricity, for determining whether that power supply management server distally sends corresponding alerting signal according to the output of liquid pendulum-type inclination sensor and touch switch sensor.
More specifically, in described iron tower of power transmission line degree of tilt Real-Time Monitoring platform, comprise: liquid pendulum-type inclination sensor, be arranged on the steel tower near transmission line of electricity, inside comprise sensor housing, degree of tilt identification equipment, electrolysis bubble, as the liquid of electric conductor and three electrodes, liquid pendulum-type inclination sensor utilizes liquid pendulum principle to detect, for measuring the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction, sensor housing is U-shaped structure, for holding electrolysis bubble, as the liquid of electric conductor and three electrodes, electrolysis bubble is positioned at liquid internal, in three electrodes, two electrodes are evenly distributed on the two ends of U-shaped structure lateral profile, and remaining electrode is arranged on the central spot of profile inside U-shaped structure, degree of tilt identification equipment and three Electrode connection, when electrolysis bubble be positioned at liquid internal move time, degree of tilt identification equipment calculates the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction based on the capacitance variations between three electrodes, and calculates the integral inclined degree of steel tower at the angle of inclination in fair line direction and the angle of inclination of crossline direction based on steel tower, wherein, degree of tilt identification equipment adopts fpga chip to realize, crusing robot, comprise anti-tilt structure, control box, brshless DC motor, hoisting ring, travel mechanism, latch mechanism and hold-down mechanism, anti-tilt structure is positioned on the transmission line of electricity of front, control box and brshless DC motor are all positioned at the below of transmission line of electricity, hoisting ring is for being lifted into transmission line of electricity by crusing robot, travel mechanism and latch mechanism are all positioned on transmission line of electricity, and hold-down mechanism is positioned at the below of transmission line of electricity, anti-tilt structure comprises Anti-inclining wheel, set bolt and web joint, and web joint is taken turns with Anti-inclining respectively and set bolt is connected, and prevents crusing robot from tilting backwards, be provided with master control borad and battery in control box, master control borad be integrated with AVR32 chip, frequency duplex communications interface and static memory, frequency duplex communications interface is used for setting up two-way wireless communication link with the power supply Operation Server of far-end, brshless DC motor is connected with the driving wheel of travel mechanism and the contact roller of hold-down mechanism respectively by speed reduction unit, travel mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on transmission line of electricity, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels, latch mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from transmission line of electricity for preventing crusing robot, hold-down mechanism is connected with brshless DC motor, comprise contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the aerial earth wire of transmission line of electricity under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is used for being resetted by contact roller when contact roller decontrols, touch switch sensor, is positioned on anti-tilt structure, is electrically connected with AVR32 chip, for when touching transmission line of electricity obstacle, sends contact obstacle signal, wherein, AVR32 chip is also connected by ZIGBEE communication link with degree of tilt identification equipment, to receive the integral inclined degree of steel tower, and when the integral inclined degree of steel tower is more than or equal to predetermined inclination degree threshold value, Iron tower incline alerting signal is sent by frequency duplex communications interface power supply management server distally, send stopping to travel mechanism to advance signal, when the integral inclined degree of steel tower is less than predetermined inclination degree threshold value, Iron tower incline normal signal is sent by frequency duplex communications interface power supply management server distally, the signal that moves on is sent to travel mechanism, predetermined inclination degree threshold value is pre-stored in static memory.
More specifically, in described iron tower of power transmission line degree of tilt Real-Time Monitoring platform, also comprise: high-definition camera equipment, be electrically connected with AVR32 chip.
More specifically, in described iron tower of power transmission line degree of tilt Real-Time Monitoring platform: high-definition camera equipment gathers the image of deicing cutter front transmission line of electricity and passes through AVR32 chip compressed encoding.
More specifically, in described iron tower of power transmission line degree of tilt Real-Time Monitoring platform: the image after compression is sent to the power supply management server of far-end by high-definition camera equipment by frequency duplex communications interface.
More specifically, in described iron tower of power transmission line degree of tilt Real-Time Monitoring platform: high-definition camera equipment is positioned on anti-tilt structure.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the iron tower of power transmission line degree of tilt Real-Time Monitoring platform illustrated according to an embodiment of the present invention.
Reference numeral: 1 liquid pendulum-type inclination sensor; 2 touch switch sensors; 3 crusing robots
Embodiment
Below with reference to accompanying drawings the embodiment of iron tower of power transmission line degree of tilt Real-Time Monitoring platform of the present invention is described in detail.
For built on stilts transmission line of electricity, the steel tower at its two ends is its fixing support components, if the abnormal state of steel tower, such as Iron tower incline is spent large or steel tower and is rocked indefinite, cause adverse effect all can to the state of transmission line of electricity, even break transmission line of electricity time serious, cause circuit power-off, brought inconvenience with electric unit and resident, the end of a thread simultaneously disconnected also easily causes pedestrian or vehicle to get an electric shock, and consequence is very serious.Therefore, need to detect the steel tower state of transmission line of electricity, especially the degree of tilt of steel tower is detected, but the degree of tilt of prior art to steel tower still biases toward artificial mode, and this mode efficiencies is low, and coverage rate is narrow, cannot accomplish that at full line detects fast.
In order to overcome above-mentioned deficiency, the present invention has built a kind of iron tower of power transmission line degree of tilt Real-Time Monitoring platform, whole-process automatic can carry out state-detection fast, accurately to the steel tower near whole piece transmission line of electricity, thus provide data more accurately for power supply management department, decrease the artificial expense of power supply management department, cost performance is higher simultaneously.
Fig. 1 is the block diagram of the iron tower of power transmission line degree of tilt Real-Time Monitoring platform illustrated according to an embodiment of the present invention, described platform comprises liquid pendulum-type inclination sensor, touch switch sensor and crusing robot, liquid pendulum-type inclination sensor is for detecting the real-time degree of tilt of steel tower, touch switch sensor is positioned on anti-tilt structure, for detecting transmission line of electricity preceding object thing, crusing robot is mounted on transmission line of electricity, for determining whether that power supply management server distally sends corresponding alerting signal according to the output of liquid pendulum-type inclination sensor and touch switch sensor.
Then, continue to be further detailed the concrete structure of iron tower of power transmission line degree of tilt Real-Time Monitoring platform of the present invention.
Described platform comprises: liquid pendulum-type inclination sensor, be arranged on the steel tower near transmission line of electricity, inside comprise sensor housing, degree of tilt identification equipment, electrolysis bubble, as the liquid of electric conductor and three electrodes, liquid pendulum-type inclination sensor utilizes liquid pendulum principle to detect, for measuring the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction.
Sensor housing is U-shaped structure, for holding electrolysis bubble, as the liquid of electric conductor and three electrodes; Electrolysis bubble is positioned at liquid internal; In three electrodes, two electrodes are evenly distributed on the two ends of U-shaped structure lateral profile, and remaining electrode is arranged on the central spot of profile inside U-shaped structure; Degree of tilt identification equipment and three Electrode connection, when electrolysis bubble be positioned at liquid internal move time, degree of tilt identification equipment calculates the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction based on the capacitance variations between three electrodes, and calculates the integral inclined degree of steel tower at the angle of inclination in fair line direction and the angle of inclination of crossline direction based on steel tower.Wherein, degree of tilt identification equipment adopts fpga chip to realize.
Described platform comprises: crusing robot, comprises anti-tilt structure, control box, brshless DC motor, hoisting ring, travel mechanism, latch mechanism and hold-down mechanism.
Anti-tilt structure is positioned on the transmission line of electricity of front, control box and brshless DC motor are all positioned at the below of transmission line of electricity, hoisting ring is for being lifted into transmission line of electricity by crusing robot, and travel mechanism and latch mechanism are all positioned on transmission line of electricity, and hold-down mechanism is positioned at the below of transmission line of electricity; Anti-tilt structure comprises Anti-inclining wheel, set bolt and web joint, and web joint is taken turns with Anti-inclining respectively and set bolt is connected, and prevents crusing robot from tilting backwards.
Be provided with master control borad and battery in control box, master control borad be integrated with AVR32 chip, frequency duplex communications interface and static memory, frequency duplex communications interface is used for setting up two-way wireless communication link with the power supply Operation Server of far-end; Brshless DC motor is connected with the driving wheel of travel mechanism and the contact roller of hold-down mechanism respectively by speed reduction unit; Travel mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on transmission line of electricity, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels.
Latch mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from transmission line of electricity for preventing crusing robot; Hold-down mechanism is connected with brshless DC motor, comprise contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the aerial earth wire of transmission line of electricity under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is used for being resetted by contact roller when contact roller decontrols; Touch switch sensor, is positioned on anti-tilt structure, is electrically connected with AVR32 chip, for when touching transmission line of electricity obstacle, sends contact obstacle signal.
Wherein, AVR32 chip is also connected by ZIGBEE communication link with degree of tilt identification equipment, to receive the integral inclined degree of steel tower, and when the integral inclined degree of steel tower is more than or equal to predetermined inclination degree threshold value, Iron tower incline alerting signal is sent by frequency duplex communications interface power supply management server distally, send stopping to travel mechanism to advance signal, when the integral inclined degree of steel tower is less than predetermined inclination degree threshold value, Iron tower incline normal signal is sent by frequency duplex communications interface power supply management server distally, the signal that moves on is sent to travel mechanism, predetermined inclination degree threshold value is pre-stored in static memory.
Alternatively, in described platform, also comprise: high-definition camera equipment, be electrically connected with AVR32 chip; High-definition camera equipment gathers the image of deicing cutter front transmission line of electricity and passes through AVR32 chip compressed encoding; Image after compression is sent to the power supply management server of far-end by high-definition camera equipment by frequency duplex communications interface; And alternatively, high-definition camera equipment can be positioned on anti-tilt structure.
In addition, FPGA (Field-ProgrammableGateArray), i.e. field programmable gate array, he is the product further developed on the basis of the programming devices such as PAL, GAL, CPLD.He occurs as a kind of semi-custom circuit in special IC (ASIC) field, has both solved the deficiency of custom circuit, overcomes again the shortcoming that original programming device gate circuit number is limited.
With the circuit design that hardware description language (Verilog or VHDL) completes, can through simple comprehensive and layout, being burned onto fast on FPGA and testing, is the technology main flow of modern IC designs checking.These can be edited element and can be used to realize some basic logic gates (such as AND, OR, XOR, NOT) or more more complex combination function such as demoder or mathematical equation.Inside most FPGA, in these editable elements, also comprise memory cell such as trigger (Flip-flop) or other more complete block of memory.System designer can be coupled together the logical block of FPGA inside by editable connection as required, just looks like that a breadboard has been placed in a chip.One dispatch from the factory after the logical block of finished product FPGA can change according to deviser with being connected, so FPGA can complete required logic function.
FPGA is in general slow than the speed of ASIC (special IC), realizes same function ratio ASIC circuit area and wants large.But they also have a lot of advantages such as can finished product fast, can be modified the mistake in correction program and more cheap cost.Manufacturer also may provide the FPGA of cheap still edit capability difference.Because these chips have poor can edit capability, so exploitations of these designs complete on common FPGA, then design is transferred to one and is similar on the chip of ASIC.Another method is with CPLD (ComplexProgrammableLogicDevice, CPLD).The exploitation of FPGA has a great difference relative to the exploitation of conventional P C, single-chip microcomputer.FPGA, based on concurrent operation, realizes with hardware description language; Very large difference is had compared to the sequential operation of PC or single-chip microcomputer (no matter being von Neumann structure or Harvard structure).
As far back as 1980 mid-nineties 90s, FPGA takes root in PLD equipment.CPLD and FPGA includes the Programmadle logic unit of some relatively large amount.The density of CPLD logic gate is between several thousand to several ten thousand logical blocks, and FPGA normally arrives millions of several ten thousand.The key distinction of CPLD and FPGA is their system architecture.CPLD is a somewhat restrictive structure.This structure is arranged by the logical groups of one or more editable result sum and forms with the register of the locking of some relatively small amounts.Such result lacks editor's dirigibility, but but have the time delay and logical block that can estimate to the advantage of linkage unit height ratio.And FPGA has a lot of linkage units, although allow him edit more flexibly like this, structure is complicated many.
Adopt iron tower of power transmission line degree of tilt Real-Time Monitoring platform of the present invention, be difficult to realize for prior art omnidistance degree of tilt detection is carried out in mechanization technical matters to steel tower near transmission line of electricity, first, by improveing existing robot architecture, line condition and the surrounding environment of various complexity can be adapted to, secondly, introduce high precision, targetedly inclination sensor and efficient Wireless Telecom Equipment, achieve and the entirety of the manual detection pattern at Iron tower incline angle is replaced.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (6)
1. an iron tower of power transmission line degree of tilt method of real-time, the method comprises: provide a kind of iron tower of power transmission line degree of tilt Real-Time Monitoring platform, described platform comprises liquid pendulum-type inclination sensor, touch switch sensor and crusing robot, liquid pendulum-type inclination sensor is for detecting the real-time degree of tilt of steel tower, touch switch sensor is positioned on anti-tilt structure, for detecting transmission line of electricity preceding object thing, crusing robot is mounted on transmission line of electricity, for determining whether that power supply management server distally sends corresponding alerting signal according to the output of liquid pendulum-type inclination sensor and touch switch sensor, use this platform.
2. the method for claim 1, is characterized in that, described platform comprises:
Liquid pendulum-type inclination sensor, be arranged on the steel tower near transmission line of electricity, inside comprise sensor housing, degree of tilt identification equipment, electrolysis bubble, as the liquid of electric conductor and three electrodes, liquid pendulum-type inclination sensor utilizes liquid pendulum principle to detect, for measuring the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction;
Sensor housing is U-shaped structure, for holding electrolysis bubble, as the liquid of electric conductor and three electrodes;
Electrolysis bubble is positioned at liquid internal;
In three electrodes, two electrodes are evenly distributed on the two ends of U-shaped structure lateral profile, and remaining electrode is arranged on the central spot of profile inside U-shaped structure;
Degree of tilt identification equipment and three Electrode connection, when electrolysis bubble be positioned at liquid internal move time, degree of tilt identification equipment calculates the angle of inclination of steel tower in fair line direction and the angle of inclination of crossline direction based on the capacitance variations between three electrodes, and calculates the integral inclined degree of steel tower at the angle of inclination in fair line direction and the angle of inclination of crossline direction based on steel tower; Wherein, degree of tilt identification equipment adopts fpga chip to realize;
Crusing robot, comprise anti-tilt structure, control box, brshless DC motor, hoisting ring, travel mechanism, latch mechanism and hold-down mechanism, anti-tilt structure is positioned on the transmission line of electricity of front, control box and brshless DC motor are all positioned at the below of transmission line of electricity, hoisting ring is for being lifted into transmission line of electricity by crusing robot, travel mechanism and latch mechanism are all positioned on transmission line of electricity, and hold-down mechanism is positioned at the below of transmission line of electricity;
Anti-tilt structure comprises Anti-inclining wheel, set bolt and web joint, and web joint is taken turns with Anti-inclining respectively and set bolt is connected, and prevents crusing robot from tilting backwards;
Be provided with master control borad and battery in control box, master control borad be integrated with AVR32 chip, frequency duplex communications interface and static memory, frequency duplex communications interface is used for setting up two-way wireless communication link with the power supply Operation Server of far-end;
Brshless DC motor is connected with the driving wheel of travel mechanism and the contact roller of hold-down mechanism respectively by speed reduction unit;
Travel mechanism comprises three V shaped wheels of Timing Belt, Timing Belt strainer, driving wheel and horizontal positioned, driving wheel provides power for three walkings of V shaped wheel on transmission line of electricity, Timing Belt successively through driving wheel, Timing Belt strainer and three V shaped wheels to keep the synchronous walking of three V shaped wheels;
Latch mechanism comprises the monkey wrench, intermediate support, bottom pin member and the U-bolt that are linked in sequence, falls from transmission line of electricity for preventing crusing robot;
Hold-down mechanism is connected with brshless DC motor, comprise contact roller, ratchet, ratchet, back-moving spring and holddown spring, contact roller is V-structure, for compressing the aerial earth wire of transmission line of electricity under the effect of holddown spring, ratchet and ratchet are used for pinning or decontroling contact roller, and back-moving spring is used for being resetted by contact roller when contact roller decontrols;
Touch switch sensor, is positioned on anti-tilt structure, is electrically connected with AVR32 chip, for when touching transmission line of electricity obstacle, sends contact obstacle signal;
Wherein, AVR32 chip is also connected by ZIGBEE communication link with degree of tilt identification equipment, to receive the integral inclined degree of steel tower, and when the integral inclined degree of steel tower is more than or equal to predetermined inclination degree threshold value, Iron tower incline alerting signal is sent by frequency duplex communications interface power supply management server distally, send stopping to travel mechanism to advance signal, when the integral inclined degree of steel tower is less than predetermined inclination degree threshold value, Iron tower incline normal signal is sent by frequency duplex communications interface power supply management server distally, the signal that moves on is sent to travel mechanism,
Wherein, predetermined inclination degree threshold value is pre-stored in static memory.
3. method as claimed in claim 2, is characterized in that, also comprise:
High-definition camera equipment, is electrically connected with AVR32 chip.
4. method as claimed in claim 3, is characterized in that:
High-definition camera equipment gathers the image of deicing cutter front transmission line of electricity and passes through AVR32 chip compressed encoding.
5. method as claimed in claim 4, is characterized in that:
Image after compression is sent to the power supply management server of far-end by high-definition camera equipment by frequency duplex communications interface.
6. the method as described in as arbitrary in claim 3-5, is characterized in that:
High-definition camera equipment is positioned on anti-tilt structure.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610362951.2A CN106092052B (en) | 2015-12-17 | 2015-12-17 | Use the real-time monitoring platform of the gradient of crusing robot |
| CN201510955776.3A CN105403198B (en) | 2015-12-17 | 2015-12-17 | A kind of real-time monitoring platform of iron tower of power transmission line gradient |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510955776.3A CN105403198B (en) | 2015-12-17 | 2015-12-17 | A kind of real-time monitoring platform of iron tower of power transmission line gradient |
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| CN201610362951.2A Division CN106092052B (en) | 2015-12-17 | 2015-12-17 | Use the real-time monitoring platform of the gradient of crusing robot |
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| CN105403198A true CN105403198A (en) | 2016-03-16 |
| CN105403198B CN105403198B (en) | 2016-09-21 |
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| CN201510955776.3A Expired - Fee Related CN105403198B (en) | 2015-12-17 | 2015-12-17 | A kind of real-time monitoring platform of iron tower of power transmission line gradient |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106527436A (en) * | 2016-11-11 | 2017-03-22 | 广东电网有限责任公司电力科学研究院 | Robot attitude detection and work control method and device |
| CN111947622A (en) * | 2020-08-11 | 2020-11-17 | 黄敏 | Horizontal liquid level formula slope warning cable frame |
| CN113221733A (en) * | 2021-05-10 | 2021-08-06 | 国网山东省电力公司鄄城县供电公司 | Power equipment monitoring method and device based on night environment and electronic equipment |
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| CN114486141A (en) * | 2021-12-23 | 2022-05-13 | 安徽科力信息产业有限责任公司 | Traffic signal machine impact inclination detection equipment and detection method |
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| CN101650175B (en) * | 2009-08-20 | 2011-07-20 | 国家电网公司 | Device for monitoring inclination of transmission line tower |
| CN102401648B (en) * | 2012-01-10 | 2014-06-04 | 西安雷迪维护系统设备有限公司 | Video monitoring system for monitoring inclination of high-voltage power transmission line tower |
| CN203224237U (en) * | 2013-03-28 | 2013-10-02 | 国家电网公司 | Device for monitoring and displaying inclination of bonded power transmission towers |
| CN103487026A (en) * | 2013-09-27 | 2014-01-01 | 国家电网公司 | Inclination monitoring system for electric transmission line pole tower |
| CN106123859B (en) * | 2015-12-17 | 2017-11-03 | 泰州市友民交通器材有限公司 | Use the real-time monitoring platform of the gradient of crusing robot |
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2015
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106527436A (en) * | 2016-11-11 | 2017-03-22 | 广东电网有限责任公司电力科学研究院 | Robot attitude detection and work control method and device |
| CN106527436B (en) * | 2016-11-11 | 2019-05-07 | 广东电网有限责任公司电力科学研究院 | A kind of detection of robot pose and job control method and device |
| CN111947622A (en) * | 2020-08-11 | 2020-11-17 | 黄敏 | Horizontal liquid level formula slope warning cable frame |
| CN113221733A (en) * | 2021-05-10 | 2021-08-06 | 国网山东省电力公司鄄城县供电公司 | Power equipment monitoring method and device based on night environment and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106092052A (en) | 2016-11-09 |
| CN105403198B (en) | 2016-09-21 |
| CN106092052B (en) | 2018-03-06 |
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