CN105529668A - Power transmission line dynamic deicing robot - Google Patents
Power transmission line dynamic deicing robot Download PDFInfo
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- CN105529668A CN105529668A CN201610121902.XA CN201610121902A CN105529668A CN 105529668 A CN105529668 A CN 105529668A CN 201610121902 A CN201610121902 A CN 201610121902A CN 105529668 A CN105529668 A CN 105529668A
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- Prior art keywords
- deicing
- telescopic arm
- base plate
- transmission line
- vertical telescopic
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
- G01B7/08—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness using capacitive means
Abstract
The invention relates to a power transmission line dynamic deicing robot, which comprises an ice thickness detection system, a robot traveling driving system and a deicing system, wherein the ice thickness detection system is used for detecting real-time ice layer thickness of a power transmission line, and the robot traveling driving system is used for carrying the deicing system and controlling deicing times of the deicing system according to the real-time ice layer thickness. By adopting the power transmission line dynamic deicing robot, the ice layer thickness of the power transmission line can be detected in real time, and the deicing times of the deicing system is determined in a self-adaptive manner according to the ice layer thickness of the power transmission line, thereby increasing deicing efficiency of the power transmission line.
Description
The divisional application of the patent of " the dynamic deicing robot of transmission line " that the present invention is application number is 201510955625.8, the applying date, to be December 17, denomination of invention in 2015 be.
Technical field
The present invention relates to power grid maintenance field, particularly relate to the dynamic deicing robot of a kind of transmission line.
Background technology
Powerline ice-covering can cause transmission facility, transmission line to damage, and simultaneously easily because power-off is caused larger economic loss with electric unit or individual, under extreme case, even also can form certain hidden danger to the vehicle below transmission line and pedestrian.
In prior art, the technical scheme of removing ice of power transmission line still mainly relies on on-the-spot manual operation and carries out, namely arrange the employee of local power supply management department to carry deicing tool and on-the-spot deicing is carried out to the transmission line in administrative area, this mode inefficiency, to take time and effort, also there is the Long-distance Control scheme of some robot deicing, but the demand that complicated power transmission electric network establishes place environment cannot have been met due to the structural design of robot own.
Meanwhile, in prior art, still need to rely on Field Force's naked-eye observation to the measurement of on-the-spot ice sheet, cannot electronic measurements accurately be carried out, and, manual mode deicing cutter or mechanical type deicing cutter are mainly relied on to the deicing of transmission line, deicing poor effect, the automaticity of deicing is lower.
Therefore, need a kind of new transmission line ice sheet Reduced measure, artificial participation can be reduced as much as possible in ice detachment, artificial deicing mode is replaced in mechanical deicing's mode, more crucially, on-the-spot ice sheet can be detected and on-the-spot ice sheet elimination electronization, improve the intelligent level of whole deicing scheme.
Summary of the invention
In order to solve the problem, the invention provides a kind of dynamically deicing robot, by comprising solenoid, rotary ammunition storage barrel, wireless communication interface, the steam-cylinder piston mechanism of combustion chamber and piston rod and trigger co-operation, realize the deicing of on-the-spot impact type electronics, introduce capacitor induction type ice sheet transducer, realize the electronic measurements of on-the-spot ice layer thickness, especially transformed robot platform, make it meet the demand of various complex environment.
According to an aspect of the present invention, provide a kind of dynamically deicing robot, described robot comprises ice layer thickness detection system, robot ambulation drive system and deicing system, ice layer thickness detection system is for detecting the real-time ice layer thickness on transmission line, robot ambulation drive system for carrying deicing system, and controls the deicing number of times of deicing system according to real-time ice layer thickness.
More specifically, in described dynamic deicing robot, comprising: steam-cylinder piston mechanism, be mounted in robot body's structure, comprise solenoid, rotary ammunition storage barrel, wireless communication interface, combustion chamber and piston rod, piston rod top is furnished with beginning clamp, for clamping the ground wire of transmission line, is connected bottom piston rod with combustion chamber, bottom of combustion chamber connects rotary ammunition storage barrel, solenoid and trigger is connected bottom rotary ammunition storage barrel, trigger, for be pushed to by ammunition in rotary ammunition storage barrel in combustion chamber and to trigger ammunition in combustion chamber implode, to produce the shock loading of moment to the ground wire of transmission line, realizes deicing effect, solenoid, for promoting trigger, can repeatedly trigger ammunition in combustion chamber implode to the promotion of trigger with realization by multiple exercise, analog conducting wire, is arranged on the position of transmission line place steel tower, capacitor induction type ice sheet transducer, is arranged on analog conducting wire, comprises 13 electrodes parallel with analog conducting wire, and 13 electrodes are wide is 2 millimeters and 13 electrodes are evenly disposed on the same plane, and is numbered electrode i.e. 6 electrodes ground connection simultaneously of even number, AC power supplies, is arranged on the position of transmission line place steel tower, one end ground connection, resistance, one end is connected with the other end of AC power supplies, multi-channel gating switch, one end and 13 Electrode connection, the other end is connected with the other end of resistance, for being communicated with the other end of resistance, to receive the excitation of AC power supplies by electrode i.e. 7 electrodes being numbered odd number simultaneously simultaneously, detection filter, one end is connected with the other end of resistance, carries out detection filter operation to the capacitance signal that capacitor induction type ice sheet transducer is transmitted by multi-channel gating switch, capacitive digital converter, is connected respectively with detection filter and microcontroller, sends to microcontroller after the capacitance signal after detection filter is carried out digital translation, microcontroller, is arranged on the position of transmission line place steel tower, is connected with capacitive digital converter by serial ports, based on the capacitance signal determination analog conducting wire after detection filter ice layer thickness and export as real-time ice layer thickness, first frequency duplex communications interface, be arranged on the position of transmission line place steel tower, be electrically connected with microcontroller, for the real-time ice layer thickness of wireless transmission, also for receiving deicing instruction by the second frequency duplex communications interface wireless, deicing instruction comprises trigger and promotes number of times, 3rd frequency duplex communications interface, is positioned on combustion chamber, is electrically connected with solenoid, is connected with the first frequency duplex communications interface wireless, for wireless receiving deicing instruction, and deicing instruction is electrically sent to solenoid, flexible limit switch combination, comprises six flexible limit switches, for limiting the distance of stretch out and draw back of front vertical telescopic arm, front horizontal telescopic arm, middle part vertical telescopic arm, middle part horizontal extension arm, rear vertical telescopic arm and rear horizontal extension arm respectively, brake limit switch, for limiting the braking distance of brake shoes, control cabinet moves limit switch, for limiting the displacement of control cabinet, robot body's structure, comprises front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control cabinet, front wheel structure is in above base plate, comprise front drive motors and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with transmission line, front drive motors is connected respectively with front cutting tip and front road wheel, for provide cutting power for front cutting tip while, for front road wheel provides walking power, middle wheel structure is arranged in the middle of front wheel structure and wheel structure, be in above base plate, comprise middle part drive motors and middle part road wheel composition, middle part road wheel adopts plastic material, there is the circular groove adapted with transmission line, middle part drive motors is connected with middle part road wheel, for providing walking power for middle part road wheel, rear wheel structure is in above base plate, comprise rear drive motors and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with transmission line, rear drive motors is connected respectively with rear cutting tip and rear road wheel, for provide cutting power for rear cutting tip while, for rear road wheel provides walking power, front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure is connected with front vertical telescopic arm by front wrist joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected with front shoulder joint by front horizontal telescopic arm, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with AVR32 chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with AVR32 chip, middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, comprise middle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure is connected with middle part vertical telescopic arm by middle part wrist joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected with middle part shoulder joint by middle part horizontal extension arm, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with AVR32 chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with AVR32 chip, rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure is connected with rear vertical telescopic arm by rear wrist joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected with rear shoulder joint by rear horizontal extension arm, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with AVR32 chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with AVR32 chip, brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rear grid locational, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for the skidding operation for brake shoes, gravity's center control minor structure is positioned at below base plate, control cabinet is adopted to be the weighing device that center of gravity regulates, comprise center of gravity adjusting cylinders and three-position electromagnetic valve, center of gravity adjusting cylinders provides power for center of gravity regulates, and three-position electromagnetic valve carrys out the position of centre of gravity of control agent structure by the relative distance between regulable control case and base plate, control cabinet is positioned at below base plate, comprise shell and control board, described control board is integrated with AVR32 chip and the second frequency duplex communications interface, second frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission, AVR32 chip also with the second frequency duplex communications interface, front drive motors, middle part drive motors is connected respectively with rear drive motors, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, also for resolving wireless control directives to determine front drive motors, the drive control signal of middle part drive motors or rear drive motors, wherein, AVR32 chip is also connected with the first frequency duplex communications interface by the second frequency duplex communications interface, to receive real-time ice layer thickness, promote number of times according to real-time ice layer thickness determination trigger, trigger is promoted number of times and to be packaged in deicing instruction and to send to the first frequency duplex communications interface by the second frequency duplex communications interface, wherein, deicing instruction is sent to solenoid by the 3rd frequency duplex communications interface by the first frequency duplex communications interface, resolve deicing instruction to control solenoid, obtain trigger and promote number of times, and promote number of times multiple exercise to the promotion of trigger according to the trigger be resolved to.
More specifically, in described dynamic deicing robot, described robot also comprises: ultrasonic listening transducer, for detecting and exporting the obstacle distance at transmission line place, front.
More specifically, in described dynamic deicing robot, described robot also comprises: ultrasonic listening transducer is positioned on front wheel structure, is electrically connected with AVR32 chip.
More specifically, in described dynamic deicing robot, described robot also comprises: high-definition camera, is positioned on front wheel structure, is electrically connected with AVR32 chip, for gathering high-definition image and by AVR32 chip compressed encoding.
More specifically, in described dynamic deicing robot: the image after compression is sent to the power supply management server of far-end by high-definition camera by the second frequency duplex communications interface.
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 dynamic deicing robot illustrated according to an embodiment of the present invention.
Reference numeral: 1 ice layer thickness detection system; 2 deicing systems; 3 robot ambulation drive systems
Embodiment
Below with reference to accompanying drawings the embodiment of dynamic deicing robot of the present invention is described in detail.
At present, to the circuit forming serious icing, sweep-out method not good at present.Once there is the deicing of article introduction heating, namely in the wire of icing circuit, passed to big current, and made conductor overheating melt icing.But this method uses equipment complicated, has infringement to wire.Manually open ice the very micro-and murther of effect.
Also there are some robot deicing schemes at present, but design still immature, structure is reasonable not, still can not adapt to work on the spot environment complicated and changeable, cannot promote the use of, and owing to lacking the support of effective on-the-spot ice sheet checkout equipment and on-the-spot deicing equipment, the automatization level of robot deicing scheme is difficult to be improved.
In order to overcome above-mentioned deficiency, the present invention has built a kind of dynamic deicing robot, transform existing robot architecture, it is made to use complicated transmission line environment, crucially, robot architecture be equipped with specific aim, the on-the-spot deicing equipment of high-precision impact type and survey based on the scene of capacitor induction type ice sheet transducer the precision that icing equipment ensure that on-the-spot deicing.
Fig. 1 is the block diagram of the dynamic deicing robot illustrated according to an embodiment of the present invention, described robot comprises ice layer thickness detection system, robot ambulation drive system and deicing system, ice layer thickness detection system is for detecting the real-time ice layer thickness on transmission line, robot ambulation drive system for carrying deicing system, and controls the deicing number of times of deicing system according to real-time ice layer thickness.
Then, continue to be further detailed the concrete structure of dynamic deicing robot of the present invention.
Described robot comprises: steam-cylinder piston mechanism, is mounted in robot body's structure, comprises solenoid, rotary ammunition storage barrel, wireless communication interface, combustion chamber and piston rod; Piston rod top is furnished with beginning clamp, for clamping the ground wire of transmission line, is connected bottom piston rod with combustion chamber; Bottom of combustion chamber connects rotary ammunition storage barrel; Solenoid and trigger is connected bottom rotary ammunition storage barrel.
Described robot comprises: trigger, for be pushed to by ammunition in rotary ammunition storage barrel in combustion chamber and to trigger ammunition in combustion chamber implode, to produce the shock loading of moment to the ground wire of transmission line, realizes deicing effect; Solenoid, for promoting trigger, can repeatedly trigger ammunition in combustion chamber implode to the promotion of trigger with realization by multiple exercise.
Described robot comprises: analog conducting wire, is arranged on the position of transmission line place steel tower; Capacitor induction type ice sheet transducer, is arranged on analog conducting wire, comprises 13 electrodes parallel with analog conducting wire, and 13 electrodes are wide is 2 millimeters and 13 electrodes are evenly disposed on the same plane, and is numbered electrode i.e. 6 electrodes ground connection simultaneously of even number; AC power supplies, is arranged on the position of transmission line place steel tower, one end ground connection.
Described robot comprises: resistance, and one end is connected with the other end of AC power supplies; Multi-channel gating switch, one end and 13 Electrode connection, the other end is connected with the other end of resistance, for being communicated with the other end of resistance, to receive the excitation of AC power supplies by electrode i.e. 7 electrodes being numbered odd number simultaneously simultaneously; Detection filter, one end is connected with the other end of resistance, carries out detection filter operation to the capacitance signal that capacitor induction type ice sheet transducer is transmitted by multi-channel gating switch.
Described robot comprises: capacitive digital converter, is connected respectively with detection filter and microcontroller, sends to microcontroller after the capacitance signal after detection filter is carried out digital translation; Microcontroller, is arranged on the position of transmission line place steel tower, is connected with capacitive digital converter by serial ports, based on the capacitance signal determination analog conducting wire after detection filter ice layer thickness and export as real-time ice layer thickness.
Described robot comprises: the first frequency duplex communications interface, be arranged on the position of transmission line place steel tower, be electrically connected with microcontroller, for the real-time ice layer thickness of wireless transmission, also for receiving deicing instruction by the second frequency duplex communications interface wireless, deicing instruction comprises trigger and promotes number of times; 3rd frequency duplex communications interface, is positioned on combustion chamber, is electrically connected with solenoid, is connected with the first frequency duplex communications interface wireless, for wireless receiving deicing instruction, and deicing instruction is electrically sent to solenoid.
Described robot comprises: flexible limit switch combination, comprise six flexible limit switches, for limiting the distance of stretch out and draw back of front vertical telescopic arm, front horizontal telescopic arm, middle part vertical telescopic arm, middle part horizontal extension arm, rear vertical telescopic arm and rear horizontal extension arm respectively; Brake limit switch, for limiting the braking distance of brake shoes; Control cabinet moves limit switch, for limiting the displacement of control cabinet.
Described robot comprises: robot body's structure, comprises front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control cabinet.
Front wheel structure is in above base plate, comprise front drive motors and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with transmission line, front drive motors is connected respectively with front cutting tip and front road wheel, for provide cutting power for front cutting tip while, for front road wheel provides walking power.
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, be in above base plate, comprise middle part drive motors and middle part road wheel composition, middle part road wheel adopts plastic material, there is the circular groove adapted with transmission line, middle part drive motors is connected with middle part road wheel, for providing walking power for middle part road wheel.
Rear wheel structure is in above base plate, comprise rear drive motors and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with transmission line, rear drive motors is connected respectively with rear cutting tip and rear road wheel, for provide cutting power for rear cutting tip while, for rear road wheel provides walking power.
Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure is connected with front vertical telescopic arm by front wrist joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected with front shoulder joint by front horizontal telescopic arm, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with AVR32 chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with AVR32 chip.
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, comprise middle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure is connected with middle part vertical telescopic arm by middle part wrist joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected with middle part shoulder joint by middle part horizontal extension arm, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with AVR32 chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with AVR32 chip.
Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure is connected with rear vertical telescopic arm by rear wrist joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected with rear shoulder joint by rear horizontal extension arm, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with AVR32 chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with AVR32 chip.
Brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rear grid locational, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for the skidding operation for brake shoes; Gravity's center control minor structure is positioned at below base plate, control cabinet is adopted to be the weighing device that center of gravity regulates, comprise center of gravity adjusting cylinders and three-position electromagnetic valve, center of gravity adjusting cylinders provides power for center of gravity regulates, and three-position electromagnetic valve carrys out the position of centre of gravity of control agent structure by the relative distance between regulable control case and base plate.
Control cabinet is positioned at below base plate, comprise shell and control board, described control board is integrated with AVR32 chip and the second frequency duplex communications interface, and the second frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission.
AVR32 chip is also connected respectively with the second frequency duplex communications interface, front drive motors, middle part drive motors and rear drive motors, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, also for resolving wireless control directives to determine the drive control signal of front drive motors, middle part drive motors or rear drive motors.
Wherein, AVR32 chip is also connected with the first frequency duplex communications interface by the second frequency duplex communications interface, to receive real-time ice layer thickness, promote number of times according to real-time ice layer thickness determination trigger, trigger is promoted number of times and to be packaged in deicing instruction and to send to the first frequency duplex communications interface by the second frequency duplex communications interface; Wherein, deicing instruction is sent to solenoid by the 3rd frequency duplex communications interface by the first frequency duplex communications interface, resolve deicing instruction to control solenoid, obtain trigger and promote number of times, and promote number of times multiple exercise to the promotion of trigger according to the trigger be resolved to.
Alternatively, in described dynamic deicing robot, also comprise: ultrasonic listening transducer, for detecting and exporting the obstacle distance at transmission line place, front; Ultrasonic listening transducer is positioned on front wheel structure, is electrically connected with AVR32 chip; High-definition camera, is positioned on front wheel structure, is electrically connected with AVR32 chip, for gathering high-definition image and by AVR32 chip compressed encoding; Image after compression is sent to the power supply management server of far-end by high-definition camera by the second frequency duplex communications interface.
In addition, filter, as the term suggests, be the device that ripple is filtered." ripple " is a physical concept widely, and at electronic technology field, " ripple " is narrowly confined to refer in particular to the process of the value fluctuations in time describing various physical quantity.This process, by the effect of various kinds of sensors, is converted into the function of time of voltage or electric current, is referred to as the time waveform of various physical quantity, or is referred to as signal.Because the independent variable time is continuous value, be referred to as continuous time signal, be referred to as analog signal habitually again.
Along with generation and the develop rapidly of digital electronic computer technology, for the ease of computer, signal is processed, create complete Theories and methods continuous time signal being transformed into discrete-time signal under sampling theorem instructs.That is, can only express primary signal by the sample value of original analog signal on series of discrete time coordinate point and not lose any information, since what these concepts of ripple, waveform, signal were expressed is the change of various physical quantity in objective world, is exactly the carrier of the various information that modern society depends on for existence naturally.Informational needs is propagated, and what lean on is exactly the transmission of waveform signal.Signal it generation, conversion, transmission each link may distort due to the existence of environment and interference, or even in quite a number of cases, this distortion is also very serious, causes signal and entrained information thereof to be embedded in the middle of noise dearly.In order to these noises of filtering, recover signal originally, need to use various filter to carry out filtering process.
Adopt dynamic deicing robot of the present invention, the problem that transmission line polling robot deicing is supported is lacked for prior art, introduce impact type deicing equipment respectively and capacitor induction type ice sheet checkout equipment carries out repeatedly deicing to ice sheet and carries out Thickness sensitivity to ice sheet, thus replace artificial deice mode and artificial survey ice pattern, meanwhile, the robot architecture after optimization can adapt to the transmission line under various complex environment.
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 (2)
1. a dynamic deicing robot, described robot comprises ice layer thickness detection system, robot ambulation drive system and deicing system, ice layer thickness detection system is for detecting the real-time ice layer thickness on transmission line, robot ambulation drive system for carrying deicing system, and controls the deicing number of times of deicing system according to real-time ice layer thickness.
2. dynamically deicing robot as claimed in claim 1, it is characterized in that, described robot comprises:
Steam-cylinder piston mechanism, is mounted in robot body's structure, comprises solenoid, rotary ammunition storage barrel, wireless communication interface, combustion chamber and piston rod;
Piston rod top is furnished with beginning clamp, for clamping the ground wire of transmission line, is connected bottom piston rod with combustion chamber;
Bottom of combustion chamber connects rotary ammunition storage barrel;
Solenoid and trigger is connected bottom rotary ammunition storage barrel;
Trigger, for be pushed to by ammunition in rotary ammunition storage barrel in combustion chamber and to trigger ammunition in combustion chamber implode, to produce the shock loading of moment to the ground wire of transmission line, realizes deicing effect;
Solenoid, for promoting trigger, can repeatedly trigger ammunition in combustion chamber implode to the promotion of trigger with realization by multiple exercise;
Analog conducting wire, is arranged on the position of transmission line place steel tower;
Capacitor induction type ice sheet transducer, is arranged on analog conducting wire, comprises 13 electrodes parallel with analog conducting wire, and 13 electrodes are wide is 2 millimeters and 13 electrodes are evenly disposed on the same plane, and is numbered electrode i.e. 6 electrodes ground connection simultaneously of even number;
AC power supplies, is arranged on the position of transmission line place steel tower, one end ground connection;
Resistance, one end is connected with the other end of AC power supplies;
Multi-channel gating switch, one end and 13 Electrode connection, the other end is connected with the other end of resistance, for being communicated with the other end of resistance, to receive the excitation of AC power supplies by electrode i.e. 7 electrodes being numbered odd number simultaneously simultaneously;
Detection filter, one end is connected with the other end of resistance, carries out detection filter operation to the capacitance signal that capacitor induction type ice sheet transducer is transmitted by multi-channel gating switch;
Capacitive digital converter, is connected respectively with detection filter and microcontroller, sends to microcontroller after the capacitance signal after detection filter is carried out digital translation;
Microcontroller, is arranged on the position of transmission line place steel tower, is connected with capacitive digital converter by serial ports, based on the capacitance signal determination analog conducting wire after detection filter ice layer thickness and export as real-time ice layer thickness;
First frequency duplex communications interface, be arranged on the position of transmission line place steel tower, be electrically connected with microcontroller, for the real-time ice layer thickness of wireless transmission, also for receiving deicing instruction by the second frequency duplex communications interface wireless, deicing instruction comprises trigger and promotes number of times;
3rd frequency duplex communications interface, is positioned on combustion chamber, is electrically connected with solenoid, is connected with the first frequency duplex communications interface wireless, for wireless receiving deicing instruction, and deicing instruction is electrically sent to solenoid;
Flexible limit switch combination, comprises six flexible limit switches, for limiting the distance of stretch out and draw back of front vertical telescopic arm, front horizontal telescopic arm, middle part vertical telescopic arm, middle part horizontal extension arm, rear vertical telescopic arm and rear horizontal extension arm respectively;
Brake limit switch, for limiting the braking distance of brake shoes;
Control cabinet moves limit switch, for limiting the displacement of control cabinet;
Robot body's structure, comprises front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control cabinet;
Front wheel structure is in above base plate, comprise front drive motors and front road wheel, front road wheel adopts plastic material, there is the circular groove adapted with transmission line, front drive motors is connected respectively with front cutting tip and front road wheel, for provide cutting power for front cutting tip while, for front road wheel provides walking power;
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, be in above base plate, comprise middle part drive motors and middle part road wheel composition, middle part road wheel adopts plastic material, there is the circular groove adapted with transmission line, middle part drive motors is connected with middle part road wheel, for providing walking power for middle part road wheel;
Rear wheel structure is in above base plate, comprise rear drive motors and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with transmission line, rear drive motors is connected respectively with rear cutting tip and rear road wheel, for provide cutting power for rear cutting tip while, for rear road wheel provides walking power;
Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure is connected with front vertical telescopic arm by front wrist joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected with front shoulder joint by front horizontal telescopic arm, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with AVR32 chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with AVR32 chip,
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, comprise middle part wrist joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure is connected with middle part vertical telescopic arm by middle part wrist joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected with middle part shoulder joint by middle part horizontal extension arm, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with AVR32 chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with AVR32 chip,
Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure is connected with rear vertical telescopic arm by rear wrist joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected with rear shoulder joint by rear horizontal extension arm, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with AVR32 chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with AVR32 chip,
Brake minor structure comprises brake shoes, brake guide frame and brake cylinder, and brake shoes is positioned at rear grid locational, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for the skidding operation for brake shoes;
Gravity's center control minor structure is positioned at below base plate, control cabinet is adopted to be the weighing device that center of gravity regulates, comprise center of gravity adjusting cylinders and three-position electromagnetic valve, center of gravity adjusting cylinders provides power for center of gravity regulates, and three-position electromagnetic valve carrys out the position of centre of gravity of control agent structure by the relative distance between regulable control case and base plate;
Control cabinet is positioned at below base plate, comprise shell and control board, described control board is integrated with AVR32 chip and the second frequency duplex communications interface, second frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission, AVR32 chip also with the second frequency duplex communications interface, front drive motors, middle part drive motors is connected respectively with rear drive motors, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, also for resolving wireless control directives to determine front drive motors, the drive control signal of middle part drive motors or rear drive motors,
Wherein, AVR32 chip is also connected with the first frequency duplex communications interface by the second frequency duplex communications interface, to receive real-time ice layer thickness, promote number of times according to real-time ice layer thickness determination trigger, trigger is promoted number of times and to be packaged in deicing instruction and to send to the first frequency duplex communications interface by the second frequency duplex communications interface;
Wherein, deicing instruction is sent to solenoid by the 3rd frequency duplex communications interface by the first frequency duplex communications interface, resolve deicing instruction to control solenoid, obtain trigger and promote number of times, and promote number of times multiple exercise to the promotion of trigger according to the trigger be resolved to;
High-definition camera, is positioned on front wheel structure, is electrically connected with AVR32 chip, for gathering high-definition image and by AVR32 chip compressed encoding;
Image after compression is sent to the power supply management server of far-end by high-definition camera by the second frequency duplex communications interface.
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| CN201510955625.8A CN105356404A (en) | 2015-12-17 | 2015-12-17 | Dynamic deicing robot for electric transmission line |
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| CN201610121902.XA Pending CN105529668A (en) | 2015-12-17 | 2015-12-17 | Power transmission line dynamic deicing robot |
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| CN105356404A (en) | 2016-02-24 |
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Application publication date: 20160427 |