CN105667335A - Remote monitoring method for electric energy measurement of transformer substation - Google Patents
Remote monitoring method for electric energy measurement of transformer substation Download PDFInfo
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- CN105667335A CN105667335A CN201610124441.1A CN201610124441A CN105667335A CN 105667335 A CN105667335 A CN 105667335A CN 201610124441 A CN201610124441 A CN 201610124441A CN 105667335 A CN105667335 A CN 105667335A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
Abstract
The invention relates to a remote monitoring system for the electric energy measurement of a transformer substation. The remote monitoring system comprises a main transformer, an acquisition terminal, a voltage transformer, a current transformer, an intelligent electric energy meter, a signal transmitter/receiver, an automatic turning subsystem, a charging pile automatic positioning subsystem, and automatic charging subsystem and the like. The remote monitoring system for the electric energy measurement of the transformer substation is economical and practical, convenient to use, ideal in operating characteristics, and suitable for small power transformer substations.
Description
Technical field
The present invention relates to power domain, particularly relate to a kind of substation electric energy metrical remote monitoring method.
Background technology
The power regulation station of power system builds the field in city suburbs or spaciousness mostly, and the metering of substation's electric energy needs to rely on manual site to gather, real monitoring when cannot realize, cause electric energy metrical out of true, dead line is not unified, and metering has error, and theory wire loss cannot calculate. How to realize the time real monitoring of substation's electric energy metrical, it is a new problem.
Summary of the invention
According to an aspect of the present invention, provide a kind of substation electric energy metrical remote monitoring system, it is arranged at full-automatic unmanned driving's power truck, described power truck comprises automatic turning subsystem, the automatic positioning subsystem of charging pile and automatic charging subsystem, automatic turning subsystem, the automatic positioning subsystem of charging pile and automatic charging subsystem all pass through Ling Yang SPCE061A chip and realize control automatically, automatic turning subsystem is for realizing the automatic turning of power truck, the automatic positioning subsystem of charging pile is for realizing the automatic location of neighbouring charging pile, automatic charging subsystem positioning subsystem automatic with charging pile is connected, for realizing the automatic charging of power truck based on the automatic positioning result of the automatic positioning subsystem of charging pile.
More specifically, in described full-automatic unmanned driving's power truck, comprising: left side ultrasonic ranging equipment, it is positioned at the lower end on the left of the vehicle body of power truck, for detecting on the left of power truck the real-time distance of obstacle or road left side edge on the left of distance vehicle body respectively, and as left side in real time distance export; Right-side ultrasonic-wave distance measuring equipment, is positioned at the lower end on the right side of the vehicle body of power truck, for detecting on the right side of power truck the real-time distance on obstacle or road right edge edge on the right side of distance vehicle body respectively, and as right side in real time distance export; CMOS high-definition camera equipment, is made up of multiple CMOS high-definition camera, and for taking multiple power truck surrounding environment image, wherein, multiple CMOS high-definition camera is separately positioned on the vehicle body different positions of power truck; Direction electric machine control device, is arranged in the front end panel board of power truck, is connected with Ling Yang SPCE061A chip, turns to gear corner for what calculate power truck based on the turning angle of the driving wheel of power truck or driving direction; Steer motor driving mechanism, is arranged on above the driving wheel of power truck, is connected with direction electric machine control device, determines drive and control of electric machine signal for the gear corner that turns to based on power truck; Turn to drive-motor, it is arranged on above the driving wheel of power truck, be connected respectively with the driving wheel of steer motor driving mechanism and power truck, for realizing the turning angle of the driving wheel of power truck based on drive and control of electric machine signal; Temperature sensor, is positioned at outside the vehicle body of power truck, for detecting the real time temperature of power truck place environment;Ling Yang SPCE061A chip, it is arranged in the front end panel board of power truck, it is connected respectively with left side ultrasonic ranging equipment, right-side ultrasonic-wave distance measuring equipment, CMOS high-definition camera equipment and direction electric machine control device, based on the global image of multiple power truck surrounding environment image structure power truck that CMOS high-definition camera equipment sends, determine the turning angle of the driving wheel of power truck based on distance real-time on the right side of global image, the real-time Distance geometry in left side, radio receiver, is arranged on the outside of power truck, takies per-cent for what receive each charging station near current the Big Dipper navigation position of power truck based on current the Big Dipper navigation position of power truck charging station management server place distally, the Big Dipper navigation position instrument, for receiving current the Big Dipper navigation position that the Big Dipper transit satellite sends in real time, power truck, also for receiving in the Big Dipper map of navigation electronic, the Big Dipper navigation position of each charging station near current the Big Dipper navigation position of power truck, electric power detection equipment, is arranged on the store battery of power truck, for detecting the real-time residue electricity of store battery, travel controller, it is arranged in power truck, it is connected with the direction electric machine control device of power truck and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and driving speed, and driving direction and driving speed are sent to direction electric machine control device and speed motor controller respectively, image recognition apparatus, for taking to obtain forward image to power truck front scene, and carries out pattern recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or there is not charging pile signal forward image, front end ultrasonic ranging equipment, is arranged on power truck front portion, for detecting the real-time difference distance of power truck front distance charging pile, WIFI signal equipment, is arranged in power truck, carries out handshake operation for the WIFI communication interface with charging pile, shakes hands and successfully then sends the qualified signal of charging pile, and failure of shaking hands then sends the defective signal of charging pile, automatic charging equipment, it is arranged in power truck, comprise steady arm, displacement driver, mechanical manipulator and charging head, steady arm, displacement driver and charging head are all arranged on a robotic arm, the relative distance that steady arm is used between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with steady arm, and for driving mechanical manipulator to go to the charging socket of charging pile based on relative distance, mechanical manipulator is in the charging socket that charging head inserts charging pile after arriving at the charging socket of charging pile, wherein, Ling Yang SPCE061A chip is also connected respectively with radio receiver, electric power detection equipment, traveling controller, the Big Dipper navigation position instrument, image recognition apparatus, front end ultrasonic ranging equipment, WIFI signal equipment and automatic charging equipment, when residue electricity is less than or equal to the first default power threshold in real time, enter automatic navigation pattern, Ling Yang SPCE061A chip is in automatic navigation pattern, start radio receiver, the Big Dipper navigation position instrument and image recognition apparatus, the Big Dipper navigation position of current the Big Dipper navigation position and each charging station neighbouring is received from the Big Dipper navigation position instrument, current the Big Dipper navigation position is sent to radio receiver and takies per-cent with each charging station near obtaining, current the Big Dipper navigation position each charging station the Big Dipper navigation distance to the Big Dipper navigation position of each charging station neighbouring is determined based on the Big Dipper navigation position of current the Big Dipper navigation position and each charging station neighbouring, per-cent is taken based on each charging station neighbouring, take per-cent weight, the Big Dipper navigation distance of each charging station neighbouring and distance weighting calculate the convenience degree of each charging station neighbouring, take per-cent more low, convenience degree is more high, the Big Dipper navigation distance is more short, convenience degree is more high, select the highest neighbouring charging station of convenience degree as target charging station,Wherein, Ling Yang SPCE061A chip also determines position control signal based on the Big Dipper navigation position of current the Big Dipper navigation position and target charging station, position control signal is sent to traveling controller, and to control, power truck goes to nearest charging station in the electronics map that prestores, when receive from image recognition apparatus there is charging pile signal time, start front end ultrasonic ranging equipment and WIFI signal equipment, when receiving the qualified signal of charging pile and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment with in the charging socket that charging head is inserted charging pile, Ling Yang SPCE061A chip exits automatic navigation pattern, wherein, image recognition apparatus also comprises image acquisition device and charging pile recognition means, image acquisition device uses the front CMOS high-definition camera in CMOS high-definition camera equipment, front CMOS high-definition camera is arranged on the right on of the vehicle body of power truck, for taking to obtain forward image to power truck front scene, charging pile recognition means is connected with front CMOS high-definition camera, for forward image being carried out pattern recognition to determine whether front exists charging pile, correspondingly, send and there is charging pile signal or there is not charging pile signal, wherein, Ling Yang SPCE061A chip is more than or equal to the 2nd at residue electricity in real time and presets power threshold, and the mechanical manipulator of control automatic charging equipment to pull away the charging socket of charging pile by charging head, and the 2nd default power threshold is greater than first and presets power threshold, wherein, predeterminable range threshold value, first preset power threshold, the 2nd preset power threshold, take per-cent weight and distance weighting for preset fixed numbers, wherein, front end ultrasonic ranging equipment, left side ultrasonic ranging equipment and right-side ultrasonic-wave distance measuring equipment are all connected with temperature sensor, realizing range observation based on the aerial velocity of propagation of ultrasonic wave, the aerial velocity of propagation of ultrasonic wave is relevant to the real time temperature of power truck place environment.
More specifically, in described full-automatic unmanned driving's power truck: adopt the storage unit of Ling Yang SPCE061A built-in chip type to prestore predeterminable range threshold value, first and preset power threshold, the 2nd default power threshold, take per-cent weight and distance weighting.
More specifically, in described full-automatic unmanned driving's power truck, also comprise: MMC storage card, preset power threshold, the 2nd default power threshold for prestoring predeterminable range threshold value, first, take per-cent weight and distance weighting.
More specifically, in described full-automatic unmanned driving's power truck: MMC storage card and Ling Yang SPCE061A integrated chip are on one piece of surface-mounted integrated circuit.
More specifically, in described full-automatic unmanned driving's power truck, also comprise: rack and pinion steering gear, it is arranged on above the driving wheel of power truck, for drive-motor being turned to be connected with the driving wheel of power truck.
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 full-automatic unmanned driving's power truck illustrated according to an embodiment of the present invention.
Reference numeral: 1 automatic turning subsystem; The 2 automatic positioning subsystems of charging pile; 3 automatic charging subsystems
Embodiment
Below with reference to accompanying drawings the embodiment of full-automatic unmanned driving's power truck of the present invention is described in detail.
Although power truck tempo of the prior art is very fast, but after all the development time short, and people are also more and more lower to the requirement of automobile, and such as, three aspect people wish to be resolved in the performance history of power truck below, but in fact not yet solve.
Needing officer to judge the angle turned according to the observation of naked eyes during the turning of power truck, if officer lacks experience, error in judgement, is easy to cause power truck to hit the edge of road both sides, causes collision accident to occur.
Owing to power truck exists serious dependency for supply of electric power, it is badly in need of when electric power is not enough that queuing power truck near determining is few and the charging station of distance relative close, so that power truck goes to charging in time, prior art can only carry out artificial judgment according to the experience of officer or officer according to the navigation position in navigational aid, if it is determined that error, the difficult situation easily causing power truck not arrive at charging station and power drain occurs, or arrive target charging station but needed long-time queuing just can fill electricity with, occupy the plenty of time of power truck user.
In addition, power truck of the prior art cannot automatically complete charging operations after arriving target charging station, still need the charging pile manually removing finding nearby, and near charging pile, and the charging socket of the charging head insertion charging pile of power truck is charged, whole process is completely manual, causes electric motor intelligent degree not high, and charging efficiency is low.
In order to overcome above-mentioned deficiency, the present invention has built a kind of full-automatic unmanned driving's power truck, manual operation pattern can be replaced, when power truck needs to turn round, turn direction is judged voluntarily according to road conditions, and automatically perform cornering operation, simultaneously, when detecting that electric power is not enough, can according to the charging station of the service condition of each charging station neighbouring and the relative distance the most applicable charging of comprehensive descision of distance power truck, more crucially, automatically nearest charging pile can also be found after power truck arrives target charging station, and complete the automatic charging of mechanize, thus improve the automatization level of power truck.
Fig. 1 is the block diagram of the full-automatic unmanned driving's power truck illustrated according to an embodiment of the present invention, described power truck comprises automatic turning subsystem, the automatic positioning subsystem of charging pile and automatic charging subsystem, automatic turning subsystem, the automatic positioning subsystem of charging pile and automatic charging subsystem all pass through Ling Yang SPCE061A chip and realize control automatically, automatic turning subsystem is for realizing the automatic turning of power truck, the automatic positioning subsystem of charging pile is for realizing the automatic location of neighbouring charging pile, automatic charging subsystem positioning subsystem automatic with charging pile is connected, for realizing the automatic charging of power truck based on the automatic positioning result of the automatic positioning subsystem of charging pile.
Then, continue the concrete structure to full-automatic unmanned driving's power truck of the present invention to be further detailed.
Described power truck comprises: left side ultrasonic ranging equipment, is positioned at the lower end on the left of the vehicle body of power truck, for detecting on the left of power truck the real-time distance of obstacle or road left side edge on the left of distance vehicle body respectively, and as left side in real time distance export; Right-side ultrasonic-wave distance measuring equipment, is positioned at the lower end on the right side of the vehicle body of power truck, for detecting on the right side of power truck the real-time distance on obstacle or road right edge edge on the right side of distance vehicle body respectively, and as right side in real time distance export.
Described power truck comprises: CMOS high-definition camera equipment, is made up of multiple CMOS high-definition camera, and for taking multiple power truck surrounding environment image, wherein, multiple CMOS high-definition camera is separately positioned on the vehicle body different positions of power truck; Direction electric machine control device, is arranged in the front end panel board of power truck, is connected with Ling Yang SPCE061A chip, turns to gear corner for what calculate power truck based on the turning angle of the driving wheel of power truck or driving direction.
Described power truck comprises: steer motor driving mechanism, is arranged on above the driving wheel of power truck, is connected with direction electric machine control device, determines drive and control of electric machine signal for the gear corner that turns to based on power truck;Turn to drive-motor, it is arranged on above the driving wheel of power truck, be connected respectively with the driving wheel of steer motor driving mechanism and power truck, for realizing the turning angle of the driving wheel of power truck based on drive and control of electric machine signal.
Described power truck comprises: temperature sensor, is positioned at outside the vehicle body of power truck, for detecting the real time temperature of power truck place environment.
Described power truck comprises: Ling Yang SPCE061A chip, it is arranged in the front end panel board of power truck, it is connected respectively with left side ultrasonic ranging equipment, right-side ultrasonic-wave distance measuring equipment, CMOS high-definition camera equipment and direction electric machine control device, based on the global image of multiple power truck surrounding environment image structure power truck that CMOS high-definition camera equipment sends, determine the turning angle of the driving wheel of power truck based on distance real-time on the right side of global image, the real-time Distance geometry in left side.
Described power truck comprises: radio receiver, the outside being arranged on power truck, takies per-cent for what receive each charging station near current the Big Dipper navigation position of power truck based on current the Big Dipper navigation position of power truck charging station management server place distally.
Described power truck comprises: the Big Dipper navigation position instrument, for receiving current the Big Dipper navigation position that the Big Dipper transit satellite sends in real time, power truck, also for receiving in the Big Dipper map of navigation electronic, the Big Dipper navigation position of each charging station near current the Big Dipper navigation position of power truck.
Described power truck comprises: electric power detection equipment, is arranged on the store battery of power truck, for detecting the real-time residue electricity of store battery.
Described power truck comprises: travel controller, it is arranged in power truck, it is connected with the direction electric machine control device of power truck and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and driving speed, and driving direction and driving speed are sent to direction electric machine control device and speed motor controller respectively.
Described power truck comprises: image recognition apparatus, for taking to obtain forward image to power truck front scene, and forward image is carried out pattern recognition to determine whether front exists charging pile, correspondingly, send and there is charging pile signal or there is not charging pile signal; Front end ultrasonic ranging equipment, is arranged on power truck front portion, for detecting the real-time difference distance of power truck front distance charging pile.
Described power truck comprises: WIFI signal equipment, is arranged in power truck, carries out handshake operation for the WIFI communication interface with charging pile, shakes hands and successfully then sends the qualified signal of charging pile, and failure of shaking hands then sends the defective signal of charging pile.
Described power truck comprises: automatic charging equipment, it is arranged in power truck, comprise steady arm, displacement driver, mechanical manipulator and charging head, steady arm, displacement driver and charging head are all arranged on a robotic arm, the relative distance that steady arm is used between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with steady arm, for driving mechanical manipulator to go to the charging socket of charging pile based on relative distance, mechanical manipulator is in the charging socket that charging head inserts charging pile after arriving at the charging socket of charging pile.
Wherein, Ling Yang SPCE061A chip is also connected respectively with radio receiver, electric power detection equipment, traveling controller, the Big Dipper navigation position instrument, image recognition apparatus, front end ultrasonic ranging equipment, WIFI signal equipment and automatic charging equipment, when residue electricity is less than or equal to the first default power threshold in real time, enter automatic navigation pattern;Ling Yang SPCE061A chip is in automatic navigation pattern, start radio receiver, the Big Dipper navigation position instrument and image recognition apparatus, the Big Dipper navigation position of current the Big Dipper navigation position and each charging station neighbouring is received from the Big Dipper navigation position instrument, current the Big Dipper navigation position is sent to radio receiver and takies per-cent with each charging station near obtaining, current the Big Dipper navigation position each charging station the Big Dipper navigation distance to the Big Dipper navigation position of each charging station neighbouring is determined based on the Big Dipper navigation position of current the Big Dipper navigation position and each charging station neighbouring, per-cent is taken based on each charging station neighbouring, take per-cent weight, the Big Dipper navigation distance of each charging station neighbouring and distance weighting calculate the convenience degree of each charging station neighbouring, take per-cent more low, convenience degree is more high, the Big Dipper navigation distance is more short, convenience degree is more high, select the highest neighbouring charging station of convenience degree as target charging station.
Wherein, Ling Yang SPCE061A chip also determines position control signal based on the Big Dipper navigation position of current the Big Dipper navigation position and target charging station, position control signal is sent to traveling controller, and to control, power truck goes to nearest charging station in the electronics map that prestores, when receive from image recognition apparatus there is charging pile signal time, start front end ultrasonic ranging equipment and WIFI signal equipment, when receiving the qualified signal of charging pile and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment with in the charging socket that charging head is inserted charging pile, Ling Yang SPCE061A chip exits automatic navigation pattern, wherein, image recognition apparatus also comprises image acquisition device and charging pile recognition means, image acquisition device uses the front CMOS high-definition camera in CMOS high-definition camera equipment, front CMOS high-definition camera is arranged on the right on of the vehicle body of power truck, for taking to obtain forward image to power truck front scene, charging pile recognition means is connected with front CMOS high-definition camera, for forward image being carried out pattern recognition to determine whether front exists charging pile, correspondingly, send and there is charging pile signal or there is not charging pile signal.
Wherein, Ling Yang SPCE061A chip is more than or equal to the 2nd at residue electricity in real time and presets power threshold, and the mechanical manipulator of control automatic charging equipment to pull away the charging socket of charging pile by charging head, and the 2nd default power threshold is greater than first and presets power threshold; Wherein, predeterminable range threshold value, first preset power threshold, the 2nd preset power threshold, take per-cent weight and distance weighting for preset fixed numbers.
Wherein, front end ultrasonic ranging equipment, left side ultrasonic ranging equipment and right-side ultrasonic-wave distance measuring equipment are all connected with temperature sensor, realizing range observation based on the aerial velocity of propagation of ultrasonic wave, the aerial velocity of propagation of ultrasonic wave is relevant to the real time temperature of power truck place environment.
Can selection of land, in described power truck: adopt Ling Yang SPCE061A built-in chip type storage unit prestore predeterminable range threshold value, first preset power threshold, the 2nd preset power threshold, take per-cent weight and distance weighting; Described power truck also comprises MMC storage card, presets power threshold, the 2nd default power threshold for prestoring predeterminable range threshold value, first, takies per-cent weight and distance weighting; MMC storage card and Ling Yang SPCE061A integrated chip are on one piece of surface-mounted integrated circuit;And described power truck can also comprise rack and pinion steering gear, it is arranged on above the driving wheel of power truck, for drive-motor being turned to be connected with the driving wheel of power truck.
In addition, Beidou satellite navigation system is the global positioning satellite developed voluntarily of China and communication system (BDS), is the 3rd ripe satellite navigation system after U.S.'s global positioning system (GPS) (GPS) and Russia GLONASS. System is made up of space end, ground surface end and user's end, round-the-clock, round-the-clock can provide high precision, highly reliable location, navigation, time service service for all types of user in the world, and the short message communication ability of tool, tentatively possess area navigation, location and time service ability, positioning precision is better than 20m, and time service precision is better than 100ns. On December 27th, 2012, the dipper system space formal version of signal interface control document is formally announced, and the Asian-Pacific area is formally provided without source electricity, navigation, time service service by Beidou navigation business.
Adopt full-automatic unmanned driving's power truck of the present invention, for the technical problem that prior art power truck automatization level is not high, the automatic turning of power truck is completed by introducing pavement detection equipment and auto-steering equipment, by introducing navigational aid, radio communication equipment and automatic Pilot equipment complete the location of the target charging station of power truck and automatically go to, complete the location of nearest charging pile in target charging station by introducing image recognition apparatus and mechanize charging plant and automatically go to and complete the automatic charging of power truck, thus replace manual operation pattern, improve the automatization level of power truck entirety.
Although it should be appreciated that the present invention with better 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 from technical solution of the present invention scope situation, all can utilize the technology contents of above-mentioned announcement that technical solution of the present invention is made many possible variations and modification, or be revised as the equivalent embodiment of equivalent variations. Therefore, every content not departing from technical solution of the present invention, the technical spirit of foundation 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. substation's electric energy metrical remote monitoring method, the method comprises:
1) a kind of substation electric energy metrical remote monitoring system is provided, it is arranged at full-automatic unmanned driving's power truck, described power truck comprises automatic turning subsystem, the automatic positioning subsystem of charging pile and automatic charging subsystem, automatic turning subsystem, the automatic positioning subsystem of charging pile and automatic charging subsystem all pass through Ling Yang SPCE061A chip and realize control automatically, automatic turning subsystem is for realizing the automatic turning of power truck, the automatic positioning subsystem of charging pile is for realizing the automatic location of neighbouring charging pile, automatic charging subsystem positioning subsystem automatic with charging pile is connected, for realizing the automatic charging of power truck based on the automatic positioning result of the automatic positioning subsystem of charging pile,
2) described Monitoring systems is run.
2. the method for claim 1, it is characterised in that, described power truck comprises:
Left side ultrasonic ranging equipment, is positioned at the lower end on the left of the vehicle body of power truck, for detecting on the left of power truck the real-time distance of obstacle or road left side edge on the left of distance vehicle body respectively, and as left side in real time distance export;
Right-side ultrasonic-wave distance measuring equipment, is positioned at the lower end on the right side of the vehicle body of power truck, for detecting on the right side of power truck the real-time distance on obstacle or road right edge edge on the right side of distance vehicle body respectively, and as right side in real time distance export;
CMOS high-definition camera equipment, is made up of multiple CMOS high-definition camera, and for taking multiple power truck surrounding environment image, wherein, multiple CMOS high-definition camera is separately positioned on the vehicle body different positions of power truck;
Direction electric machine control device, is arranged in the front end panel board of power truck, is connected with Ling Yang SPCE061A chip, turns to gear corner for what calculate power truck based on the turning angle of the driving wheel of power truck or driving direction;
Steer motor driving mechanism, is arranged on above the driving wheel of power truck, is connected with direction electric machine control device, determines drive and control of electric machine signal for the gear corner that turns to based on power truck;
Turn to drive-motor, it is arranged on above the driving wheel of power truck, be connected respectively with the driving wheel of steer motor driving mechanism and power truck, for realizing the turning angle of the driving wheel of power truck based on drive and control of electric machine signal;
Temperature sensor, is positioned at outside the vehicle body of power truck, for detecting the real time temperature of power truck place environment;
Ling Yang SPCE061A chip, it is arranged in the front end panel board of power truck, it is connected respectively with left side ultrasonic ranging equipment, right-side ultrasonic-wave distance measuring equipment, CMOS high-definition camera equipment and direction electric machine control device, based on the global image of multiple power truck surrounding environment image structure power truck that CMOS high-definition camera equipment sends, determine the turning angle of the driving wheel of power truck based on distance real-time on the right side of global image, the real-time Distance geometry in left side;
Radio receiver, is arranged on the outside of power truck, takies per-cent for what receive each charging station near current the Big Dipper navigation position of power truck based on current the Big Dipper navigation position of power truck charging station management server place distally;
The Big Dipper navigation position instrument, for receiving current the Big Dipper navigation position that the Big Dipper transit satellite sends in real time, power truck, also for receiving in the Big Dipper map of navigation electronic, the Big Dipper navigation position of each charging station near current the Big Dipper navigation position of power truck;
Electric power detection equipment, is arranged on the store battery of power truck, for detecting the real-time residue electricity of store battery;
Travel controller, it is arranged in power truck, it is connected with the direction electric machine control device of power truck and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and driving speed, and driving direction and driving speed are sent to direction electric machine control device and speed motor controller respectively;
Image recognition apparatus, for taking to obtain forward image to power truck front scene, and carries out pattern recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or there is not charging pile signal forward image;
Front end ultrasonic ranging equipment, is arranged on power truck front portion, for detecting the real-time difference distance of power truck front distance charging pile;
WIFI signal equipment, is arranged in power truck, carries out handshake operation for the WIFI communication interface with charging pile, shakes hands and successfully then sends the qualified signal of charging pile, and failure of shaking hands then sends the defective signal of charging pile;
Automatic charging equipment, it is arranged in power truck, comprise steady arm, displacement driver, mechanical manipulator and charging head, steady arm, displacement driver and charging head are all arranged on a robotic arm, the relative distance that steady arm is used between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with steady arm, and for driving mechanical manipulator to go to the charging socket of charging pile based on relative distance, mechanical manipulator is in the charging socket that charging head inserts charging pile after arriving at the charging socket of charging pile;
Wherein, Ling Yang SPCE061A chip is also connected respectively with radio receiver, electric power detection equipment, traveling controller, the Big Dipper navigation position instrument, image recognition apparatus, front end ultrasonic ranging equipment, WIFI signal equipment and automatic charging equipment, when residue electricity is less than or equal to the first default power threshold in real time, enter automatic navigation pattern, Ling Yang SPCE061A chip is in automatic navigation pattern, start radio receiver, the Big Dipper navigation position instrument and image recognition apparatus, the Big Dipper navigation position of current the Big Dipper navigation position and each charging station neighbouring is received from the Big Dipper navigation position instrument, current the Big Dipper navigation position is sent to radio receiver and takies per-cent with each charging station near obtaining, current the Big Dipper navigation position each charging station the Big Dipper navigation distance to the Big Dipper navigation position of each charging station neighbouring is determined based on the Big Dipper navigation position of current the Big Dipper navigation position and each charging station neighbouring, per-cent is taken based on each charging station neighbouring, take per-cent weight, the Big Dipper navigation distance of each charging station neighbouring and distance weighting calculate the convenience degree of each charging station neighbouring, take per-cent more low, convenience degree is more high, the Big Dipper navigation distance is more short, convenience degree is more high, select the highest neighbouring charging station of convenience degree as target charging station,
Wherein, Ling Yang SPCE061A chip also determines position control signal based on the Big Dipper navigation position of current the Big Dipper navigation position and target charging station, position control signal is sent to traveling controller, and to control, power truck goes to nearest charging station in the electronics map that prestores, when receive from image recognition apparatus there is charging pile signal time, start front end ultrasonic ranging equipment and WIFI signal equipment, when receiving the qualified signal of charging pile and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment with in the charging socket that charging head is inserted charging pile, Ling Yang SPCE061A chip exits automatic navigation pattern,
Wherein, image recognition apparatus also comprises image acquisition device and charging pile recognition means, image acquisition device uses the front CMOS high-definition camera in CMOS high-definition camera equipment, front CMOS high-definition camera is arranged on the right on of the vehicle body of power truck, for taking to obtain forward image to power truck front scene, charging pile recognition means is connected with front CMOS high-definition camera, for forward image being carried out pattern recognition to determine whether front exists charging pile, correspondingly, send and there is charging pile signal or there is not charging pile signal;
Wherein, Ling Yang SPCE061A chip is more than or equal to the 2nd at residue electricity in real time and presets power threshold, and the mechanical manipulator of control automatic charging equipment to pull away the charging socket of charging pile by charging head, and the 2nd default power threshold is greater than first and presets power threshold;
Wherein, predeterminable range threshold value, first preset power threshold, the 2nd preset power threshold, take per-cent weight and distance weighting for preset fixed numbers;
Wherein, front end ultrasonic ranging equipment, left side ultrasonic ranging equipment and right-side ultrasonic-wave distance measuring equipment are all connected with temperature sensor, realizing range observation based on the aerial velocity of propagation of ultrasonic wave, the aerial velocity of propagation of ultrasonic wave is relevant to the real time temperature of power truck place environment.
3. method as claimed in claim 2, it is characterised in that:
Adopt the storage unit of Ling Yang SPCE061A built-in chip type to prestore predeterminable range threshold value, first to preset power threshold, the 2nd default power threshold, take per-cent weight and distance weighting.
4. method as claimed in claim 2, it is characterised in that, also comprise:
MMC storage card, presets power threshold, the 2nd default power threshold for prestoring predeterminable range threshold value, first, takies per-cent weight and distance weighting.
5. method as claimed in claim 4, it is characterised in that:
MMC storage card and Ling Yang SPCE061A integrated chip are on one piece of surface-mounted integrated circuit.
6. the method as described in as arbitrary in claim 2-5, it is characterised in that, also comprise:
Rack and pinion steering gear, is arranged on above the driving wheel of power truck, for drive-motor being turned to be connected with the driving wheel of power truck.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610124441.1A CN105667335A (en) | 2016-03-06 | 2016-03-06 | Remote monitoring method for electric energy measurement of transformer substation |
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| CN201610124441.1A CN105667335A (en) | 2016-03-06 | 2016-03-06 | Remote monitoring method for electric energy measurement of transformer substation |
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| JPH09233720A (en) * | 1996-02-20 | 1997-09-05 | Sumitomo Electric Ind Ltd | Charging controller |
| CN1605514A (en) * | 2004-11-11 | 2005-04-13 | 兰州开创科技有限公司 | Electric public transport system |
| US20090234599A1 (en) * | 2008-03-11 | 2009-09-17 | Denso Corporation | System for recording charging-history of battery mounted on automotive vehicle |
| CN102009625A (en) * | 2010-11-02 | 2011-04-13 | 电子科技大学 | Charging reservation and navigation system for electric vehicle |
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2016
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09233720A (en) * | 1996-02-20 | 1997-09-05 | Sumitomo Electric Ind Ltd | Charging controller |
| CN1605514A (en) * | 2004-11-11 | 2005-04-13 | 兰州开创科技有限公司 | Electric public transport system |
| US20090234599A1 (en) * | 2008-03-11 | 2009-09-17 | Denso Corporation | System for recording charging-history of battery mounted on automotive vehicle |
| CN102009625A (en) * | 2010-11-02 | 2011-04-13 | 电子科技大学 | Charging reservation and navigation system for electric vehicle |
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Application publication date: 20160615 |