CN105552774A - Ice layer thinning method of power transmission line - Google Patents
Ice layer thinning method of power transmission line Download PDFInfo
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- CN105552774A CN105552774A CN201510955667.1A CN201510955667A CN105552774A CN 105552774 A CN105552774 A CN 105552774A CN 201510955667 A CN201510955667 A CN 201510955667A CN 105552774 A CN105552774 A CN 105552774A
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- transmission line
- pedestal
- wheel mechanism
- cutting tip
- drive motors
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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
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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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
Abstract
The invention relates to an ice layer thinning method of a power transmission line. The ice layer thinning method involves a simulation wire, a capacitive sensing ice layer sensor and a robot travelling mechanism, wherein the simulation wire is arranged at a position, where an iron tower is located, of the power transmission line, the capacitive sensing ice layer sensor is arranged on the simulation wire and used for detecting real-time thickness of an ice layer of the simulation wire, and the robot travelling mechanism is carried on the power transmission line and used for receiving the real-time thickness of the ice layer and carrying out ice shaving operation on the real-time thickness of the ice layer. By the ice layer thinning method, the ice shaving force of a robot can be controlled according to the real-time thickness of the ice layer of the power transmission line, and thus, the effect of shaving the ice layer is improved.
Description
Technical field
The present invention relates to power grid maintenance field, particularly relate to a kind of transmission line ice sheet cutting method.
Background technology
Powerline ice-covering can cause following harm: (1) damages shaft tower, and line ice coating is blocked up, and the loading of shaft tower machinery can be made more to carry and fracture; (2) line tripping, for the circuit of wire vertical arrangement, when the icing instantly on layer conductor first comes off (icing on wire not necessarily comes off simultaneously), wire will rise rapidly or upper and lower jump, cause phase fault, line switching is tripped, power failure; (3) insulator string tilts, wire is seriously sagging, when ice covering thickness in each span of circuit is uneven, conducting wire sag will great changes will take place, suspension insulator is caused to tilt, gold utensil bears larger horizontal direction active force, in the span that icing is blocked up, wire can be caused seriously sagging and ground fault occurs; (4) after insulator string icing, greatly can reduce insulation property, when suspension insulator icing dissolves, may icicle be formed, make insulator string short circuit, cause ground fault.
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, although this mode can reach the effect of deicing, but the pattern of artificial deicing is, the shortcoming that take time and effort low with deicing efficiency innately, simultaneously, careless slightly, deicing personnel may hit from high falling or by transmission line high pressure, bring serious personal injury to deicing personnel, also can cause certain damage to power supply unit.
In prior art, also there is the Long-distance Control scheme of some robot deicing, but because power transmission electric network equipment is too much, complex structure, transmission line place environment is general more severe, and the structural design of robot own is unreasonable, cause robot of the prior art deicing scheme to be difficult to high volume applications, can only laboratory stage be rested on; More crucially, the disappearance of on-the-spot electronics ice sheet measuring equipment causes deicing poor effect.
Therefore, need a kind of new transmission line ice sheet Reduced measure, robot deice mode can be made to adapt to complicated site environment, and reach accurate deicing control, thus replace loaded down with trivial details artificial deice mode completely, for power supply management department saves a large amount of man power and materials.
Summary of the invention
In order to solve the problem, the invention provides a kind of intelligent transmission line ice sheet and cut down system, existing transmission power line robot is carried out to improvement and the optimization of various aspects, such as introduce high-precision on-the-spot ice sheet electron detection device, optimize robot framework, transmission line under making it can adapt to complex environment, makes a road transmission line only need a robot can complete omnidistance anti-ice operation.
According to an aspect of the present invention, provide a kind of intelligent transmission line ice sheet and cut down system, described system comprises analog conducting wire, capacitor induction type ice sheet transducer and robot running gear, analog conducting wire is positioned on the position of transmission line place steel tower, capacitor induction type ice sheet sensor setting is on analog conducting wire, for detecting the real-time ice layer thickness of analog conducting wire, robot running gear is mounted on transmission line, receive real-time ice layer thickness, and carry out cutting ice operation based on real-time ice layer thickness.
More specifically, in described intelligent transmission line ice sheet reduction system, comprising: analog conducting wire, be 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 connected by serial ports with capacitive digital converter, based on the capacitance signal determination analog conducting wire after detection filter ice layer thickness and export as real-time ice layer thickness, GPRS communication interface, is arranged on the position of transmission line place steel tower, is connected with microcontroller, for the real-time ice layer thickness of wireless transmission, robot running gear, be mounted on transmission line, comprise front wheel mechanism, middle wheel mechanism, rear wheel mechanism, front brake clamp mechanism, rear brake clamp mechanism, front Pneumatic extension clamp mechanism, the pneumatic dilaton mechanism in rear, middle part Pneumatic extension clamp mechanism, pedestal, center of gravity adjustment clamp mechanism and control box, front wheel mechanism is in above pedestal, comprise front cutting tip, the anti-cutting plate in front, front drive motors and front road wheel, front cutting tip is for excising the ice sheet at transmission line place, front, the anti-cutting plate in front is connected with front cutting tip, for being stuck in transmission line when front cutting tip carries out cutting operation, realize the isolation of front cutting tip and transmission line, 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, while cutting power is provided for front cutting tip, for front road wheel provides walking power, middle wheel mechanism is arranged in the middle of front wheel mechanism and wheel mechanism, be in above pedestal, 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 mechanism is in above pedestal, comprise rear cutting tip, the anti-cutting plate in rear, rear drive motors and rear road wheel, rear cutting tip is for excising the ice sheet at transmission line place, rear, the anti-cutting plate in rear is connected with rear cutting tip, transmission line is stuck in when cutting tip carries out cutting operation in the wings, realize the isolation of rear cutting tip and transmission line, 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, while cutting power is provided for rear cutting tip, for rear road wheel provides walking power, front Pneumatic extension clamp mechanism is between front wheel mechanism and pedestal, for front wheel mechanism is connected to pedestal, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel mechanism 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 pedestal, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with Ling Yang SPCE061A chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with Ling Yang SPCE061A chip, middle part Pneumatic extension clamp mechanism is between middle wheel mechanism and pedestal, for middle wheel mechanism is connected to pedestal, 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 mechanism 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 pedestal, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with Ling Yang SPCE061A chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with Ling Yang SPCE061A chip, rear pneumatic dilaton mechanism is between rear wheel mechanism and pedestal, for rear wheel mechanism is connected to pedestal, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel mechanism 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 pedestal, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with Ling Yang SPCE061A chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with Ling Yang SPCE061A chip, front brake clamp mechanism comprises front brake shoes, front brake guide frame and front brake cylinder, front brake shoes is positioned at front grid locational, front brake guide frame is connected respectively with front brake shoes and front brake cylinder, provides power for the skidding operation for front brake shoes, rear brake clamp mechanism comprises rear brake shoes, rear brake guide frame and rear brake cylinder, rear brake shoes is positioned at rear grid locational, rear brake guide frame is connected respectively with rear brake shoes and rear brake cylinder, provides power for the skidding operation for rear brake shoes, center of gravity regulates clamp mechanism to be positioned at below pedestal, control box 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 regulates the position of centre of gravity of robot running gear by the relative distance between regulable control case and pedestal, control box is positioned at below pedestal, comprise shell and control board, described control board is integrated with Ling Yang SPCE061A chip and wireless communication interface, wireless communication 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, Ling Yang SPCE061A chip and wireless communication 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, Ling Yang SPCE061A chip also receives the real-time ice layer thickness of GPRS communication interface transmission by wireless communication interface, ice control command is cut with forwards drive motors transmission front, control the cutting dynamics of front cutting tip, rearward drive motors sends rear and cuts ice control command, controls the cutting dynamics of rear cutting tip, wherein, wireless communication interface is integrated with GPRS communication device and mobile communication devices.
More specifically, in described intelligent transmission line ice sheet reduction system, also comprising: touch switch transducer, be positioned on front wheel mechanism, be electrically connected with Ling Yang SPCE061A chip, for when touching transmission line obstacle, sending contact obstacle signal.
More specifically, in described intelligent transmission line ice sheet reduction system, also comprise: infrared sensor, be positioned on front wheel mechanism, be electrically connected with Ling Yang SPCE061A chip, for when apart from 200 millimeters, front transmission line obstacle, send obstruction forewarning signal.
More specifically, in described intelligent transmission line ice sheet reduction system, also comprise: front high-definition camera, be positioned on front wheel mechanism, be electrically connected with Ling Yang SPCE061A chip, for gathering front high-definition image and by Ling Yang SPCE061A chip compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless communication interface.
More specifically, in described intelligent transmission line ice sheet reduction system, also comprise: rear high-definition camera, be positioned on rear wheel mechanism, be electrically connected with Ling Yang SPCE061A chip, for gathering rear high-definition image and by Ling Yang SPCE061A chip compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless communication interface.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram that the intelligent transmission line ice sheet illustrated according to an embodiment of the present invention cuts down system.
Fig. 2 is the block diagram that the intelligent transmission line ice sheet illustrated according to an embodiment of the present invention cuts down the front wheel mechanism of system.
Reference numeral: 1 analog conducting wire; 2 capacitor induction type ice sheet transducers; 3 robot running gears; 4 front cutting tips; The 5 anti-cutting plates in front; 6 front drive motors; 7 front road wheels
Embodiment
Below with reference to accompanying drawings the embodiment that intelligent transmission line ice sheet of the present invention cuts down system is described in detail.
Freeze i.e. wire icing and the meteorological condition of transmission line have substantial connection, and between the temperature usually around circuit is spent-2 ~-10, relative air humidity about 90%, dense fog or drizzle, wind speed, when 5 ~ 15m/s, the easiliest to be formed in lead wire and earth wire.Certain relation is had by regional water source situation, topography and geomorphology etc. in addition with the structure of wire, wire hitch point height, the trend of circuit, circuit.
Want the icing of finding out circuit in advance, with regard to interrelated data more than GPRS, particularly changeable meteorological data.Solve line ice coating harm problem, mainly still put prevention first, set about from design.Pass through the serious area of icing at circuit, suitably improve the design standard of circuit; Reducing span exhales title high to reduce shaft tower, increases strain section quantity to reduce strain section length; Path selection avoids high mountain air port etc. as far as possible, with the speed of the ability and accident maintenance that improve circuit anti-ice cover.
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 is still immature, structure is reasonable not, still can not adapt to work on the spot environment complicated and changeable, cannot promote the use of.
In order to overcome above-mentioned deficiency, the present invention has built a kind of intelligent transmission line ice sheet and has cut down system, the main framework improving robot can be applicable to transmission line site environment, be designed with capacitor induction type ice sheet transducer targetedly accurately to detect field wires ice sheet, and the communication introduced between Radio Transmission Technology guarantee field apparatus and between scene and far-end is unimpeded.
Fig. 1 is the block diagram that the intelligent transmission line ice sheet illustrated according to an embodiment of the present invention cuts down system, described system comprises analog conducting wire, capacitor induction type ice sheet transducer and robot running gear, analog conducting wire is positioned on the position of transmission line place steel tower, capacitor induction type ice sheet sensor setting is on analog conducting wire, for detecting the real-time ice layer thickness of analog conducting wire, robot running gear is mounted on transmission line, receive real-time ice layer thickness, and carry out cutting ice operation based on real-time ice layer thickness.
Then, the concrete structure continued intelligent transmission line ice sheet of the present invention cuts down system is further detailed.
Described system comprises: analog conducting wire, is arranged on the position of transmission line place steel tower.
Described system comprises: capacitor induction type ice sheet transducer, be arranged on analog conducting wire, comprise 13 electrodes parallel with analog conducting wire, 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.
Described system comprises: 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.
Described system 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 connected by serial ports with capacitive digital converter, based on the capacitance signal determination analog conducting wire after detection filter ice layer thickness and export as real-time ice layer thickness; GPRS communication interface, is arranged on the position of transmission line place steel tower, is connected with microcontroller, for the real-time ice layer thickness of wireless transmission.
Described system comprises: robot running gear, be mounted on transmission line, comprise front wheel mechanism, middle wheel mechanism, rear wheel mechanism, front brake clamp mechanism, rear brake clamp mechanism, front Pneumatic extension clamp mechanism, the pneumatic dilaton mechanism in rear, middle part Pneumatic extension clamp mechanism, pedestal, center of gravity adjustment clamp mechanism and control box.
As shown in Figure 2, front wheel mechanism is in above pedestal, comprise front cutting tip, the anti-cutting plate in front, front drive motors and front road wheel, front cutting tip is for excising the ice sheet at transmission line place, front, the anti-cutting plate in front is connected with front cutting tip, for being stuck in transmission line when front cutting tip carries out cutting operation, realize the isolation of front cutting tip and transmission line, 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, while cutting power is provided for front cutting tip, for front road wheel provides walking power.
Middle wheel mechanism is arranged in the middle of front wheel mechanism and wheel mechanism, be in above pedestal, 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 mechanism is in above pedestal, comprise rear cutting tip, the anti-cutting plate in rear, rear drive motors and rear road wheel, rear cutting tip is for excising the ice sheet at transmission line place, rear, the anti-cutting plate in rear is connected with rear cutting tip, transmission line is stuck in when cutting tip carries out cutting operation in the wings, realize the isolation of rear cutting tip and transmission line, 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, while cutting power is provided for rear cutting tip, for rear road wheel provides walking power.
Front Pneumatic extension clamp mechanism is between front wheel mechanism and pedestal, for front wheel mechanism is connected to pedestal, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel mechanism 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 pedestal, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with Ling Yang SPCE061A chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with Ling Yang SPCE061A chip.
Middle part Pneumatic extension clamp mechanism is between middle wheel mechanism and pedestal, for middle wheel mechanism is connected to pedestal, 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 mechanism 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 pedestal, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with Ling Yang SPCE061A chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with Ling Yang SPCE061A chip.
Rear pneumatic dilaton mechanism is between rear wheel mechanism and pedestal, for rear wheel mechanism is connected to pedestal, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel mechanism 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 pedestal, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with Ling Yang SPCE061A chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with Ling Yang SPCE061A chip.
Front brake clamp mechanism comprises front brake shoes, front brake guide frame and front brake cylinder, front brake shoes is positioned at front grid locational, front brake guide frame is connected respectively with front brake shoes and front brake cylinder, provides power for the skidding operation for front brake shoes.
Rear brake clamp mechanism comprises rear brake shoes, rear brake guide frame and rear brake cylinder, rear brake shoes is positioned at rear grid locational, rear brake guide frame is connected respectively with rear brake shoes and rear brake cylinder, provides power for the skidding operation for rear brake shoes.
Center of gravity regulates clamp mechanism to be positioned at below pedestal, control box 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 regulates the position of centre of gravity of robot running gear by the relative distance between regulable control case and pedestal.
Control box is positioned at below pedestal, comprise shell and control board, described control board is integrated with Ling Yang SPCE061A chip and wireless communication interface, and wireless communication 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.
Ling Yang SPCE061A chip is connected respectively with wireless communication 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.
Ling Yang SPCE061A chip also receives the real-time ice layer thickness of GPRS communication interface transmission by wireless communication interface, ice control command is cut with forwards drive motors transmission front, control the cutting dynamics of front cutting tip, rearward drive motors sends rear and cuts ice control command, controls the cutting dynamics of rear cutting tip; Wherein, wireless communication interface is integrated with GPRS communication device and mobile communication devices.
Alternatively, in the system, also comprising: touch switch transducer, be positioned on front wheel mechanism, be electrically connected with Ling Yang SPCE061A chip, for when touching transmission line obstacle, sending contact obstacle signal; Infrared sensor, is positioned on front wheel mechanism, is electrically connected with Ling Yang SPCE061A chip, for when apart from 200 millimeters, front transmission line obstacle, sends obstruction forewarning signal; Front high-definition camera, be positioned on front wheel mechanism, be electrically connected with Ling Yang SPCE061A chip, for gathering front high-definition image and by Ling Yang SPCE061A chip compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless communication interface; Rear high-definition camera, be positioned on rear wheel mechanism, be electrically connected with Ling Yang SPCE061A chip, for gathering rear high-definition image and by Ling Yang SPCE061A chip compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless communication 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.
Intelligent transmission line ice sheet of the present invention is adopted to cut down system, the technical problem of site machinery automatic de-icing cannot be carried out for prior art, first increase analog conducting wire and capacitor induction type ice sheet transducer are by detecting to the ice sheet of analog conducting wire the ice layer thickness determining on-the-spot transmission line, optimize robot body's structure subsequently, it is made to be adapted at transmission line is walked, finally increase Wireless Telecom Equipment and ensure that on-scene communication is unimpeded, make the automatical and efficient deicing of site machinery become possibility.
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. a transmission line ice sheet cutting method, the method comprises: provide a kind of intelligent transmission line ice sheet to cut down system, described system comprises analog conducting wire, capacitor induction type ice sheet transducer and robot running gear, analog conducting wire is positioned on the position of transmission line place steel tower, capacitor induction type ice sheet sensor setting is on analog conducting wire, for detecting the real-time ice layer thickness of analog conducting wire, robot running gear is mounted on transmission line, receive real-time ice layer thickness, and carry out cutting ice operation based on real-time ice layer thickness; Use this system.
2. the method for claim 1, is characterized in that, described system 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;
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 connected by serial ports with capacitive digital converter, based on the capacitance signal determination analog conducting wire after detection filter ice layer thickness and export as real-time ice layer thickness;
GPRS communication interface, is arranged on the position of transmission line place steel tower, is connected with microcontroller, for the real-time ice layer thickness of wireless transmission;
Robot running gear, be mounted on transmission line, comprise front wheel mechanism, middle wheel mechanism, rear wheel mechanism, front brake clamp mechanism, rear brake clamp mechanism, front Pneumatic extension clamp mechanism, the pneumatic dilaton mechanism in rear, middle part Pneumatic extension clamp mechanism, pedestal, center of gravity adjustment clamp mechanism and control box;
Front wheel mechanism is in above pedestal, comprise front cutting tip, the anti-cutting plate in front, front drive motors and front road wheel, front cutting tip is for excising the ice sheet at transmission line place, front, the anti-cutting plate in front is connected with front cutting tip, for being stuck in transmission line when front cutting tip carries out cutting operation, realize the isolation of front cutting tip and transmission line, 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, while cutting power is provided for front cutting tip, for front road wheel provides walking power,
Middle wheel mechanism is arranged in the middle of front wheel mechanism and wheel mechanism, be in above pedestal, 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 mechanism is in above pedestal, comprise rear cutting tip, the anti-cutting plate in rear, rear drive motors and rear road wheel, rear cutting tip is for excising the ice sheet at transmission line place, rear, the anti-cutting plate in rear is connected with rear cutting tip, transmission line is stuck in when cutting tip carries out cutting operation in the wings, realize the isolation of rear cutting tip and transmission line, 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, while cutting power is provided for rear cutting tip, for rear road wheel provides walking power,
Front Pneumatic extension clamp mechanism is between front wheel mechanism and pedestal, for front wheel mechanism is connected to pedestal, comprise front wrist joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel mechanism 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 pedestal, front vertical telescopic arm is also electrically connected to receive front vertical extension and contraction control signal with Ling Yang SPCE061A chip, front horizontal telescopic arm is also electrically connected to receive front horizontal extension and contraction control signal with Ling Yang SPCE061A chip,
Middle part Pneumatic extension clamp mechanism is between middle wheel mechanism and pedestal, for middle wheel mechanism is connected to pedestal, 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 mechanism 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 pedestal, middle part vertical telescopic arm is also electrically connected to receive middle part vertical telescopic control signal with Ling Yang SPCE061A chip, middle part horizontal extension arm is also electrically connected to receive middle part horizontal extension control signal with Ling Yang SPCE061A chip,
Rear pneumatic dilaton mechanism is between rear wheel mechanism and pedestal, for rear wheel mechanism is connected to pedestal, comprise rear wrist joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel mechanism 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 pedestal, rear vertical telescopic arm is also electrically connected to receive rear vertical extension and contraction control signal with Ling Yang SPCE061A chip, rear horizontal extension arm is also electrically connected to receive rear horizontal extension control signal with Ling Yang SPCE061A chip,
Front brake clamp mechanism comprises front brake shoes, front brake guide frame and front brake cylinder, front brake shoes is positioned at front grid locational, front brake guide frame is connected respectively with front brake shoes and front brake cylinder, provides power for the skidding operation for front brake shoes;
Rear brake clamp mechanism comprises rear brake shoes, rear brake guide frame and rear brake cylinder, rear brake shoes is positioned at rear grid locational, rear brake guide frame is connected respectively with rear brake shoes and rear brake cylinder, provides power for the skidding operation for rear brake shoes;
Center of gravity regulates clamp mechanism to be positioned at below pedestal, control box 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 regulates the position of centre of gravity of robot running gear by the relative distance between regulable control case and pedestal;
Control box is positioned at below pedestal, comprise shell and control board, described control board is integrated with Ling Yang SPCE061A chip and wireless communication interface, wireless communication 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, Ling Yang SPCE061A chip and wireless communication 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,
Ling Yang SPCE061A chip also receives the real-time ice layer thickness of GPRS communication interface transmission by wireless communication interface, ice control command is cut with forwards drive motors transmission front, control the cutting dynamics of front cutting tip, rearward drive motors sends rear and cuts ice control command, controls the cutting dynamics of rear cutting tip;
Wherein, wireless communication interface is integrated with GPRS communication device and mobile communication devices.
3. method as claimed in claim 2, is characterized in that, also comprise:
Touch switch transducer, is positioned on front wheel mechanism, is electrically connected with Ling Yang SPCE061A chip, for when touching transmission line obstacle, sends contact obstacle signal.
4. method as claimed in claim 2, is characterized in that, also comprise:
Infrared sensor, is positioned on front wheel mechanism, is electrically connected with Ling Yang SPCE061A chip, for when apart from 200 millimeters, front transmission line obstacle, sends obstruction forewarning signal.
5. method as claimed in claim 2, is characterized in that, also comprise:
Front high-definition camera, be positioned on front wheel mechanism, be electrically connected with Ling Yang SPCE061A chip, for gathering front high-definition image and by Ling Yang SPCE061A chip compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless communication interface.
6. method as claimed in claim 2, is characterized in that, also comprise:
Rear high-definition camera, be positioned on rear wheel mechanism, be electrically connected with Ling Yang SPCE061A chip, for gathering rear high-definition image and by Ling Yang SPCE061A chip compressed encoding, the image after compression to be sent to the power supply management server of far-end by wireless communication interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510955667.1A CN105552774A (en) | 2015-12-17 | 2015-12-17 | Ice layer thinning method of power transmission line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510955667.1A CN105552774A (en) | 2015-12-17 | 2015-12-17 | Ice layer thinning method of power transmission line |
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