CN105774583A - Intelligent route inspection method for transformer substation - Google Patents

Intelligent route inspection method for transformer substation Download PDF

Info

Publication number
CN105774583A
CN105774583A CN201610125434.3A CN201610125434A CN105774583A CN 105774583 A CN105774583 A CN 105774583A CN 201610125434 A CN201610125434 A CN 201610125434A CN 105774583 A CN105774583 A CN 105774583A
Authority
CN
China
Prior art keywords
electric automobile
equipment
charging
charging pile
distance
Prior art date
Application number
CN201610125434.3A
Other languages
Chinese (zh)
Inventor
任荣源
Original Assignee
任荣源
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 任荣源 filed Critical 任荣源
Priority to CN201610125434.3A priority Critical patent/CN105774583A/en
Publication of CN105774583A publication Critical patent/CN105774583A/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60Monitoring or controlling charging stations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/70Interactions with external data bases, e.g. traffic centres
    • B60L2240/72Charging station selection relying on external data
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/12Electric charging stations

Abstract

The invention relates to an intelligent route inspection terminal for a transformer substation. The intelligent route inspection terminal for the transformer substation comprises an electronic mutual inductor, an electromagnetic switch, a transformer, an electric energy meter , a monitoring center, a temperature sensor, a main controller, ultrasonic detection equipment, turning control equipment and the like. Compared with the prior art, the intelligent route inspection terminal for the transformer substation has the advantage that the design is reasonable, the structure is simple, manufacturing is easy, and important information including incoming line and outgoing line gate electric energy data of the transformer substation and operation state of the electric energy meter can be transmitted to a mobile phone of an operator on duty in real time.

Description

A kind of intelligent method for inspecting of transformer station

Technical field

The present invention relates to power domain, particularly relate to the intelligent method for inspecting of a kind of transformer station.

Background technology

Transforming plant information inspection terminal, the important information such as real-time Transmission transformer station line critical point energy data, electric energy meter running status, once abnormal conditions occur, electric energy metrical and electricity charge calculation work will be had a strong impact on.At present, this series products is not yet had to come out.

Summary of the invention

According to an aspect of the present invention, provide the intelligent inspection terminal of a kind of transformer station, it is arranged at the electric automobile based on turning automatic running, described electric automobile includes temperature sensor, master controller, ultrasonic detecting equipment and Servo Control equipment, temperature sensor is used for detecting ambient temperature, ultrasonic detecting equipment is connected with temperature sensor, for realizing range measurement around vehicle body based on ambient temperature, master controller is connected respectively with ultrasonic detecting equipment and Servo Control equipment, for determining the control signal being sent to Servo Control equipment based on the measurement result of ultrasonic detecting equipment.

More specifically, in the described electric automobile based on turning automatic running, including: FLASH storage chip, it is arranged in the front end instrumental panel of electric automobile, is used for prestoring first and presets power threshold, the second default power threshold and predeterminable range threshold value;Galileo navigation instrument, for receiving current Galileo navigation position that Galileo navigation position location satellite sends in real time, electric automobile;Left side ultrasonic ranging equipment, is positioned at the lower end on the left of the vehicle body of electric automobile, for detecting on the left of electric automobile the real-time distance of barrier or road left side edge on the left of distance vehicle body respectively, and as left side distance output in real time;Right-side ultrasonic-wave distance-measuring equipment, is positioned at the lower end on the right side of the vehicle body of electric automobile, for detecting on the right side of electric automobile the real-time distance on barrier or road right edge edge on the right side of distance vehicle body respectively, and as right side distance output in real time;CMOS high-definition camera equipment, is made up of multiple CMOS high-definition cameras, is used for shooting multiple electric automobile surrounding image, and wherein, multiple CMOS high-definition cameras are separately positioned on the vehicle body diverse location of electric automobile;Direction electric machine controller, is arranged in the front end instrumental panel of electric automobile, is connected with MSP430 single-chip microcomputer, for calculating the tooth sector corner of electric automobile based on the angle of turn driving wheel of electric automobile or driving direction;Steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with direction electric machine controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile;Turn to drive motor, be arranged on above the driving wheel of electric automobile, be connected respectively with the driving wheel of steer motor driver and electric automobile, for realizing the angle of turn driving wheel of electric automobile based on drive and control of electric machine signal;Temperature sensor, is positioned at outside the vehicle body of electric automobile, for detecting the real time temperature of electric automobile place environment;Rack and pinion steering gear, is arranged on above the driving wheel of electric automobile, for drive motor being turned to be connected with the driving wheel of electric automobile;MSP430 single-chip microcomputer, it is arranged in the front end instrumental panel of electric automobile, 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 controller, the multiple electric automobile surrounding images sent based on CMOS high-definition camera equipment build the global image of electric automobile, determine the angle of turn driving wheel of electric automobile based on global image, the real-time distance of the real-time distance in left side and right side;Electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator;Travel controller, it is arranged on electric automobile, it is connected with the direction electric machine controller of electric automobile and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and actuating speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed motor controller;Image recognition apparatus, for electric automobile front scene shoots to obtain forward image, and carries out image recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or be absent from charging pile signal forward image;Ultrasonic detecting equipment, is arranged on electric automobile front portion, differs distance in real time for what detect electric automobile front distance charging pile;ZIGBEE communication equipment, is arranged on electric automobile, carries out handshake operation for the ZIGBEE communication interface with charging pile, shakes hands and successfully then send charging pile qualifying signal, and failure of shaking hands then sends the defective signal of charging pile;Automatic charging equipment, it is arranged on electric automobile, including localizer, displacement driver, mechanical hand and charging head, localizer, displacement driver and charging head are all disposed within mechanical hand, localizer is for the relative distance between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with localizer, is used for going to based on relative distance driving mechanical hand in the charging socket that the charging socket of charging pile, mechanical hand are used for being inserted by charging head charging pile after arriving at the charging socket of charging pile;Wherein, MSP430 single-chip microcomputer is also connected respectively with FLASH storage chip, electric power detection equipment, traveling controller, Galileo navigation instrument, image recognition apparatus, ultrasonic detecting equipment, ZIGBEE communication equipment and automatic charging equipment, when real-time dump energy presets power threshold less than or equal to first, enter self-navigation pattern;Wherein, MSP430 single-chip microcomputer is in self-navigation pattern, start Galileo navigation instrument and image recognition apparatus, receive current Galileo navigation position, position control signal is determined in Galileo navigation position based on charging station nearest in current Galileo navigation position and the electronic chart that prestores, position control signal is sent to traveling controller and goes to nearest charging station in the electronic chart that prestores to control electric automobile, when receive from image recognition apparatus there is charging pile signal time, start ultrasonic detecting equipment and ZIGBEE communication equipment, when receiving charging pile qualifying signal and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment to be inserted by charging head in the charging socket of charging pile, MSP430 single-chip microcomputer exits self-navigation pattern;Wherein, MSP430 single-chip microcomputer presets power threshold at real-time dump energy be more than or equal to second, controls the mechanical hand of automatic charging equipment so that charging head to pull away the charging socket of charging pile, and second presets power threshold presets power threshold more than first;Wherein, ultrasonic detecting equipment, left side ultrasonic ranging equipment and right-side ultrasonic-wave distance-measuring equipment are all connected with temperature sensor, realizing range measurement based on the aerial spread speed of ultrasound wave, the aerial spread speed of ultrasound wave is relevant to the real time temperature of electric automobile place environment;Wherein, image recognition apparatus also includes 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 dead ahead of the vehicle body of electric automobile, for shooting to obtain forward image to electric automobile front scene, charging pile recognition means is connected with front CMOS high-definition camera, for forward image being carried out image recognition to determine whether front exists charging pile, correspondingly, send and there is charging pile signal or be absent from charging pile signal.

More specifically, in the described electric automobile based on turning automatic running: the first default power threshold, the second default power threshold and predeterminable range threshold value are all fixed numbers.

More specifically, in the described electric automobile based on turning automatic running: the first default power threshold, the second default power threshold and predeterminable range threshold value are all can variable value.

More specifically, in the described electric automobile based on turning automatic running: the memory element adopting MSP430 single-chip microcomputer built-in prestores first and presets power threshold, the second default power threshold and predeterminable range threshold value.

More specifically, in the described electric automobile based on turning automatic running: MSP430 single-chip microcomputer and FLASH storage chip are integrated on one piece of surface-mounted integrated circuit.

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 electric automobile based on turning automatic running illustrated according to an embodiment of the present invention.

Accompanying drawing labelling: 1 temperature sensor;2 master controllers;3 ultrasonic detecting equipments;4 Servo Control equipment

Detailed description of the invention

Below with reference to accompanying drawings the embodiment based on the electric automobile of turning automatic running of the present invention is described in detail.

It is no matter the automobile process that carries out of developing country, or the automobileization development that developed country faces at present, improve vehicle safety performance, reduce vehicle accident and occur, avoid polluting simultaneously, saving the energy is all the important topic needing simultaneously to solve.

For avoiding polluting, saving this problem of the energy, many automakers develop respective new-energy automobile, for instance electric automobile, replace traditional energy automobile.Electric automobile has the advantage that (1) zero-emission, and electric automobile uses electric energy, discharges without waste gas under steam, free from environmental pollution;(2) electric automobile is higher than the energy utilization rate of gasoline engine driving automobile;(3) because using single electric energy, electromotor, variator, fuel tank, cooling and gas extraction system are eliminated, so electric vehicle structure is simpler;(4) noise is little, brings sound pollution will not to neighbouring resident;(5) vehicle charging can be carried out when electricity consumption ebb, it is possible to stabilize the peak-valley difference of electrical network, make generating equipment be fully used.

For improving vehicle safety performance, reducing vehicle accident and this problem occurs, countries in the world have been designed sufficient up and down the time at vehicle safety one after another.Each big automaker focuses on improving the security performance of automobile more and more, various proactive security measures and passive security measure, such as air bag, is all successfully applied on automobile, also adds some electronic assistants on automobile simultaneously, such as automated parking system, automobile adds some electronic navigation systems, for instance, Galileo navigation instrument, for facilitating the operation of user vehicle, improve the traveling enjoyment of user vehicle.

But, even so, the electric automobile taken safety measures in prior art still has following deficiency: lacks automatic turning and controls system, it is impossible to replaces pilot steering and has operated Servo Control accurately;Lack Road Detection equipment, it is impossible to extract road parameters for use as turning reference data;Only there is simple navigator, it is impossible to the navigation position of nearest charging station of automatically driving in a vehicle to is to realize automatic charging function.

In order to overcome above-mentioned deficiency, the present invention has built a kind of electric automobile based on turning automatic running, introduce automatic turning and control equipment and road surface parameter detection equipment, with compounding practice, realize full automatic electronic type to turn, meanwhile, introduce navigator, image recognition apparatus and automatic charging equipment, it is thus possible to automatically drive in a vehicle to, nearest charging pile in nearest charging station, realizes the automatic charging of electric automobile in the way of mechanization.

Fig. 1 is the block diagram of the electric automobile based on turning automatic running illustrated according to an embodiment of the present invention, described electric automobile includes temperature sensor, master controller, ultrasonic detecting equipment and Servo Control equipment, temperature sensor is used for detecting ambient temperature, ultrasonic detecting equipment is connected with temperature sensor, for realizing range measurement around vehicle body based on ambient temperature, master controller is connected respectively with ultrasonic detecting equipment and Servo Control equipment, for determining the control signal being sent to Servo Control equipment based on the measurement result of ultrasonic detecting equipment.

Then, continue the concrete structure based on the electric automobile of turning automatic running of the present invention is further detailed.

Described electric automobile includes: FLASH storage chip, is arranged in the front end instrumental panel of electric automobile, is used for prestoring first and presets power threshold, the second default power threshold and predeterminable range threshold value;Galileo navigation instrument, for receiving current Galileo navigation position that Galileo navigation position location satellite sends in real time, electric automobile.

Described electric automobile includes: left side ultrasonic ranging equipment, is positioned at the lower end on the left of the vehicle body of electric automobile, for detecting on the left of electric automobile the real-time distance of barrier or road left side edge on the left of distance vehicle body respectively, and as left side distance output in real time;Right-side ultrasonic-wave distance-measuring equipment, is positioned at the lower end on the right side of the vehicle body of electric automobile, for detecting on the right side of electric automobile the real-time distance on barrier or road right edge edge on the right side of distance vehicle body respectively, and as right side distance output in real time.

Described electric automobile includes: CMOS high-definition camera equipment, is made up of multiple CMOS high-definition cameras, is used for shooting multiple electric automobile surrounding image, and wherein, multiple CMOS high-definition cameras are separately positioned on the vehicle body diverse location of electric automobile.

Described electric automobile includes: direction electric machine controller, is arranged in the front end instrumental panel of electric automobile, is connected with MSP430 single-chip microcomputer, for calculating the tooth sector corner of electric automobile based on the angle of turn driving wheel of electric automobile or driving direction.

Described electric automobile includes: steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with direction electric machine controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile;Turn to drive motor, be arranged on above the driving wheel of electric automobile, be connected respectively with the driving wheel of steer motor driver and electric automobile, for realizing the angle of turn driving wheel of electric automobile based on drive and control of electric machine signal.

Described electric automobile includes: temperature sensor, is positioned at outside the vehicle body of electric automobile, for detecting the real time temperature of electric automobile place environment;Rack and pinion steering gear, is arranged on above the driving wheel of electric automobile, for drive motor being turned to be connected with the driving wheel of electric automobile.

Described electric automobile includes: MSP430 single-chip microcomputer, it is arranged in the front end instrumental panel of electric automobile, 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 controller, the multiple electric automobile surrounding images sent based on CMOS high-definition camera equipment build the global image of electric automobile, determine the angle of turn driving wheel of electric automobile based on global image, the real-time distance of the real-time distance in left side and right side.

Described electric automobile includes: electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator;Travel controller, it is arranged on electric automobile, it is connected with the direction electric machine controller of electric automobile and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and actuating speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed motor controller.

Described electric automobile includes: image recognition apparatus, for shooting to obtain forward image to electric automobile front scene, and forward image is carried out image recognition to determine whether front exists charging pile, correspondingly, send and there is charging pile signal or be absent from charging pile signal;Ultrasonic detecting equipment, is arranged on electric automobile front portion, differs distance in real time for what detect electric automobile front distance charging pile.

Described electric automobile includes: ZIGBEE communication equipment, is arranged on electric automobile, carries out handshake operation for the ZIGBEE communication interface with charging pile, shakes hands and successfully then send charging pile qualifying signal, and failure of shaking hands then sends the defective signal of charging pile.

Described electric automobile includes: automatic charging equipment, it is arranged on electric automobile, including localizer, displacement driver, mechanical hand and charging head, localizer, displacement driver and charging head are all disposed within mechanical hand, localizer is for the relative distance between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with localizer, for driving mechanical hand to go to the charging socket of charging pile based on relative distance, mechanical hand for inserting charging head in the charging socket of charging pile after arriving at the charging socket of charging pile.

Wherein, MSP430 single-chip microcomputer is also connected respectively with FLASH storage chip, electric power detection equipment, traveling controller, Galileo navigation instrument, image recognition apparatus, ultrasonic detecting equipment, ZIGBEE communication equipment and automatic charging equipment, when real-time dump energy presets power threshold less than or equal to first, enter self-navigation pattern;MSP430 single-chip microcomputer is in self-navigation pattern, start Galileo navigation instrument and image recognition apparatus, receive current Galileo navigation position, position control signal is determined in Galileo navigation position based on charging station nearest in current Galileo navigation position and the electronic chart that prestores, position control signal is sent to traveling controller and goes to nearest charging station in the electronic chart that prestores to control electric automobile, when receive from image recognition apparatus there is charging pile signal time, start ultrasonic detecting equipment and ZIGBEE communication equipment, when receiving charging pile qualifying signal and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment to be inserted by charging head in the charging socket of charging pile, MSP430 single-chip microcomputer exits self-navigation pattern.

Wherein, MSP430 single-chip microcomputer presets power threshold at real-time dump energy be more than or equal to second, controls the mechanical hand of automatic charging equipment so that charging head to pull away the charging socket of charging pile, and second presets power threshold presets power threshold more than first;Ultrasonic detecting equipment, left side ultrasonic ranging equipment and right-side ultrasonic-wave distance-measuring equipment are all connected with temperature sensor, realizing range measurement based on the aerial spread speed of ultrasound wave, the aerial spread speed of ultrasound wave is relevant to the real time temperature of electric automobile place environment.

Wherein, image recognition apparatus also includes 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 dead ahead of the vehicle body of electric automobile, for shooting to obtain forward image to electric automobile front scene, charging pile recognition means is connected with front CMOS high-definition camera, for forward image being carried out image recognition to determine whether front exists charging pile, correspondingly, send and there is charging pile signal or be absent from charging pile signal.

Alternatively, in described electric automobile: the first default power threshold, the second default power threshold and predeterminable range threshold value are all fixed numbers;First default power threshold, the second default power threshold and predeterminable range threshold value are all can variable value;The memory element adopting MSP430 single-chip microcomputer built-in prestores first and presets power threshold, the second default power threshold and predeterminable range threshold value;And MSP430 single-chip microcomputer and FLASH storage chip can be integrated on one piece of surface-mounted integrated circuit.

It addition, CMOS (ComplementaryMetal-Oxide-Semiconductor), Chinese formal name used at school is complementary metal oxide semiconductors (CMOS), and he is originally a kind of important chip in computer system, saves the data that System guides is most basic.Manufacturing technology and the general computer chip of CMOS do not have difference, mainly by the quasiconductor that silicon and germanium both elements are made, making it co-exist the quasiconductor with N (band-electricity) and P (band+electricity) level on CMOS, the chip that can be processed of electric current produced by the two complementary effect is noted down and is interpreted to image.Found that CMOS can also as the imageing sensor in digital photography through processing later.

For for the portable use of electrical network, the CMOS technology famous with low power consumption characteristic has an obvious advantage: cmos image sensor designs for 5V and 3.3V supply voltage.CCD chip then needs the supply voltage of about 12V, therefore has to adopt an electric pressure converter, thus causing that power consumption increases.In total power consumption, controlling to be integrated in cmos sensor will bring another benefit with systemic-function: he eliminates all external connection lines with other semiconductor elements.Nowadays the driver of its high power consumption is abandoned, this is because it is more much lower than by the outside implementation of PCB or substrate to communicate, at chip internal, the energy consumed.

Cmos sensor also can be subdivided into passive type element sensor (PassivePixelSensorCMOS) and active pixel sensor (ActivePixelSensorCMOS).

Passive type element sensor (PassivePixelSensor is called for short PPS), is again passive type element sensor, and he is made up of a back-biased light sensitive diode and a switching tube.Light sensitive diode is substantially a PN junction being made up of P-type semiconductor and N-type semiconductor, and he can be equivalent to a back-biased diode and a mos capacitance parallel connection.When switching tube is opened, light sensitive diode connects with vertical alignment (Columnbus).The charge integration amplifier reading circuit (Chargeintegratingamplifier) being positioned at alignment end keeps column line voltage to be a constant, when the signal charge of light sensitive diode storage is read out, its voltage is reset to column line voltage level, meanwhile, the electric charge being directly proportional to optical signal is converted to electric charge output by charge integration amplifier.

Active pixel sensor (ActivePixelSensor is called for short APS), is again active element sensor.Almost while CMOSPPS dot structure is invented, it is rapidly be recognized that introducing buffer or amplifier can improve the performance of pixel in pixel, CMOSAPS has in each pixel the amplifier of oneself.The transistor that amplifies being integrated in surface decreases the effective surface area of pixel element, reduces " packaging density ", makes the incident illumination of 40%~50% be reflected.Another problem of this sensor is, how to make to have between the multichannel amplifier of sensor good coupling, and this fixed pattern noise that can pass through to reduce residual level realizes preferably.It is excited during only reading at this due to each amplifier in CMOSAPS pixel, so the power dissipation ratio ccd image sensor of CMOSAPS is also little.

Adopt the electric automobile based on turning automatic running of the present invention, automatic turning function cannot be provided for electric automobile user for prior art and the technical problem of automatic charging cannot be realized, by introducing navigator, image recognition apparatus and automatization's charger to help electric automobile automatic running to carry out automatic charging by the charging pile of neighbouring charging station, thus promoting the charge efficiency of electric automobile;The more important thing is, turn with the full automatic electronics that each automatic Pilot auxiliary equipment realizes electric automobile also by introducing each pavement detection equipment, it is provided that the accuracy of turning, it is to avoid collision accident occurs, improve the security performance of electric automobile.

Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above and technical solution of the present invention is made many possible variations and modification, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within the scope of technical solution of the present invention protection.

Claims (6)

1. an intelligent method for inspecting for transformer station, the method includes:
1) the intelligent inspection terminal of a kind of transformer station is provided, it is arranged at the electric automobile based on turning automatic running, described electric automobile includes temperature sensor, master controller, ultrasonic detecting equipment and Servo Control equipment, temperature sensor is used for detecting ambient temperature, ultrasonic detecting equipment is connected with temperature sensor, for realizing range measurement around vehicle body based on ambient temperature, master controller is connected respectively with ultrasonic detecting equipment and Servo Control equipment, for determining the control signal being sent to Servo Control equipment based on the measurement result of ultrasonic detecting equipment;
2) described inspection terminal is run.
2. the method for claim 1, it is characterised in that described electric automobile includes:
FLASH storage chip, is arranged in the front end instrumental panel of electric automobile, is used for prestoring first and presets power threshold, the second default power threshold and predeterminable range threshold value;
Galileo navigation instrument, for receiving current Galileo navigation position that Galileo navigation position location satellite sends in real time, electric automobile;
Left side ultrasonic ranging equipment, is positioned at the lower end on the left of the vehicle body of electric automobile, for detecting on the left of electric automobile the real-time distance of barrier or road left side edge on the left of distance vehicle body respectively, and as left side distance output in real time;
Right-side ultrasonic-wave distance-measuring equipment, is positioned at the lower end on the right side of the vehicle body of electric automobile, for detecting on the right side of electric automobile the real-time distance on barrier or road right edge edge on the right side of distance vehicle body respectively, and as right side distance output in real time;
CMOS high-definition camera equipment, is made up of multiple CMOS high-definition cameras, is used for shooting multiple electric automobile surrounding image, and wherein, multiple CMOS high-definition cameras are separately positioned on the vehicle body diverse location of electric automobile;
Direction electric machine controller, is arranged in the front end instrumental panel of electric automobile, is connected with MSP430 single-chip microcomputer, for calculating the tooth sector corner of electric automobile based on the angle of turn driving wheel of electric automobile or driving direction;
Steer motor driver, is arranged on above the driving wheel of electric automobile, is connected with direction electric machine controller, determines drive and control of electric machine signal for the tooth sector corner based on electric automobile;
Turn to drive motor, be arranged on above the driving wheel of electric automobile, be connected respectively with the driving wheel of steer motor driver and electric automobile, for realizing the angle of turn driving wheel of electric automobile based on drive and control of electric machine signal;
Temperature sensor, is positioned at outside the vehicle body of electric automobile, for detecting the real time temperature of electric automobile place environment;
Rack and pinion steering gear, is arranged on above the driving wheel of electric automobile, for drive motor being turned to be connected with the driving wheel of electric automobile;
MSP430 single-chip microcomputer, it is arranged in the front end instrumental panel of electric automobile, 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 controller, the multiple electric automobile surrounding images sent based on CMOS high-definition camera equipment build the global image of electric automobile, determine the angle of turn driving wheel of electric automobile based on global image, the real-time distance of the real-time distance in left side and right side;
Electric power detection equipment, is arranged in the accumulator of electric automobile, for detecting the real-time dump energy of accumulator;
Travel controller, it is arranged on electric automobile, it is connected with the direction electric machine controller of electric automobile and speed motor controller, for receiving position control signal, position-based control signal determines driving direction and actuating speed, and driving direction and actuating speed are sent respectively to direction electric machine controller and speed motor controller;
Image recognition apparatus, for electric automobile front scene shoots to obtain forward image, and carries out image recognition to determine whether front exists charging pile, correspondingly, sends and there is charging pile signal or be absent from charging pile signal forward image;
Ultrasonic detecting equipment, is arranged on electric automobile front portion, differs distance in real time for what detect electric automobile front distance charging pile;
ZIGBEE communication equipment, is arranged on electric automobile, carries out handshake operation for the ZIGBEE communication interface with charging pile, shakes hands and successfully then send charging pile qualifying signal, and failure of shaking hands then sends the defective signal of charging pile;
Automatic charging equipment, it is arranged on electric automobile, including localizer, displacement driver, mechanical hand and charging head, localizer, displacement driver and charging head are all disposed within mechanical hand, localizer is for the relative distance between inspecting manipuator and the charging socket of charging pile, displacement driver is connected with localizer, is used for going to based on relative distance driving mechanical hand in the charging socket that the charging socket of charging pile, mechanical hand are used for being inserted by charging head charging pile after arriving at the charging socket of charging pile;
Wherein, MSP430 single-chip microcomputer is also connected respectively with FLASH storage chip, electric power detection equipment, traveling controller, Galileo navigation instrument, image recognition apparatus, ultrasonic detecting equipment, ZIGBEE communication equipment and automatic charging equipment, when real-time dump energy presets power threshold less than or equal to first, enter self-navigation pattern;
Wherein, MSP430 single-chip microcomputer is in self-navigation pattern, start Galileo navigation instrument and image recognition apparatus, receive current Galileo navigation position, position control signal is determined in Galileo navigation position based on charging station nearest in current Galileo navigation position and the electronic chart that prestores, position control signal is sent to traveling controller and goes to nearest charging station in the electronic chart that prestores to control electric automobile, when receive from image recognition apparatus there is charging pile signal time, start ultrasonic detecting equipment and ZIGBEE communication equipment, when receiving charging pile qualifying signal and difference distance is less than or equal to predeterminable range threshold value in real time, start automatic charging equipment to be inserted by charging head in the charging socket of charging pile, MSP430 single-chip microcomputer exits self-navigation pattern;
Wherein, MSP430 single-chip microcomputer presets power threshold at real-time dump energy be more than or equal to second, controls the mechanical hand of automatic charging equipment so that charging head to pull away the charging socket of charging pile, and second presets power threshold presets power threshold more than first;
Wherein, ultrasonic detecting equipment, left side ultrasonic ranging equipment and right-side ultrasonic-wave distance-measuring equipment are all connected with temperature sensor, realizing range measurement based on the aerial spread speed of ultrasound wave, the aerial spread speed of ultrasound wave is relevant to the real time temperature of electric automobile place environment;
Wherein, image recognition apparatus also includes 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 dead ahead of the vehicle body of electric automobile, for shooting to obtain forward image to electric automobile front scene, charging pile recognition means is connected with front CMOS high-definition camera, for forward image being carried out image recognition to determine whether front exists charging pile, correspondingly, send and there is charging pile signal or be absent from charging pile signal.
3. method as claimed in claim 2, it is characterised in that:
First default power threshold, the second default power threshold and predeterminable range threshold value are all fixed numbers.
4. method as claimed in claim 2, it is characterised in that:
First default power threshold, the second default power threshold and predeterminable range threshold value are all can variable value.
5. method as claimed in claim 2, it is characterised in that:
The memory element adopting MSP430 single-chip microcomputer built-in prestores first and presets power threshold, the second default power threshold and predeterminable range threshold value.
6. method as claimed in claim 2, it is characterised in that:
MSP430 single-chip microcomputer and FLASH storage chip are integrated on one piece of surface-mounted integrated circuit.
CN201610125434.3A 2016-03-06 2016-03-06 Intelligent route inspection method for transformer substation CN105774583A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610125434.3A CN105774583A (en) 2016-03-06 2016-03-06 Intelligent route inspection method for transformer substation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610125434.3A CN105774583A (en) 2016-03-06 2016-03-06 Intelligent route inspection method for transformer substation

Publications (1)

Publication Number Publication Date
CN105774583A true CN105774583A (en) 2016-07-20

Family

ID=56386585

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610125434.3A CN105774583A (en) 2016-03-06 2016-03-06 Intelligent route inspection method for transformer substation

Country Status (1)

Country Link
CN (1) CN105774583A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201985575U (en) * 2011-02-17 2011-09-21 康迪投资集团有限公司 Automatic charging system for electric automobile
CN104199453A (en) * 2014-09-27 2014-12-10 江苏华宏实业集团有限公司 Intelligent robot used for inspecting electric power meter
CN204155126U (en) * 2014-09-26 2015-02-11 广东电网有限责任公司佛山供电局 A kind of intelligent substation supervising device
CN104613977A (en) * 2015-01-28 2015-05-13 柳州市二和汽车零部件有限公司 Intelligent navigation system of electric automobile
CN104820424A (en) * 2015-05-15 2015-08-05 山东省计算中心(国家超级计算济南中心) Automatic driving system and control method for electric automobile based on Beidou navigation
CN204695101U (en) * 2015-06-19 2015-10-07 国网技术学院 A kind of intelligent carriage of the line data-logging for intelligent substation
CN104991558A (en) * 2015-07-03 2015-10-21 国家电网公司 Cable trench automatic inspection device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201985575U (en) * 2011-02-17 2011-09-21 康迪投资集团有限公司 Automatic charging system for electric automobile
CN204155126U (en) * 2014-09-26 2015-02-11 广东电网有限责任公司佛山供电局 A kind of intelligent substation supervising device
CN104199453A (en) * 2014-09-27 2014-12-10 江苏华宏实业集团有限公司 Intelligent robot used for inspecting electric power meter
CN104613977A (en) * 2015-01-28 2015-05-13 柳州市二和汽车零部件有限公司 Intelligent navigation system of electric automobile
CN104820424A (en) * 2015-05-15 2015-08-05 山东省计算中心(国家超级计算济南中心) Automatic driving system and control method for electric automobile based on Beidou navigation
CN204695101U (en) * 2015-06-19 2015-10-07 国网技术学院 A kind of intelligent carriage of the line data-logging for intelligent substation
CN104991558A (en) * 2015-07-03 2015-10-21 国家电网公司 Cable trench automatic inspection device

Similar Documents

Publication Publication Date Title
US20180056993A1 (en) Automotive auxiliary ladar sensor
EP3524486A1 (en) Automatic parking assist device and vehicle comprising same
JP6427873B2 (en) Parking assistance device and system
CN103712556B (en) Alignment system and the method for vehicle location
US9132739B2 (en) Vehicle and wireless power transmission device
US10051061B2 (en) Smart road system for vehicles
US20180107882A1 (en) Location specifying apparatus and non-transitory computer-readable medium
US20170297625A1 (en) Method and device for operating a vehicle
CN101687457B (en) Air conditioning control device for vehicle
CN102589531B (en) Underwater topography measurement boat as well as manufacturing method and measurement method
US20180164439A1 (en) Power Modulation for a Rotary Light Detection and Ranging (LIDAR) Device
TWI392366B (en) Method and system for generating surrounding seamless bird-view image with distance interface
US9145137B2 (en) Vehicle driving-support apparatus
US20170030722A1 (en) Vehicle localization system
EP2541498B1 (en) Method of determining extrinsic parameters of a vehicle vision system and vehicle vision system
US20140118182A1 (en) Lane recognition method and system
DE102012203037A1 (en) Method for determining the speed and / or position of a vehicle
US8521412B2 (en) Method of determining absolute position for a motor vehicle
CN102910126B (en) Method and system for safe lane change of auxiliary vehicle
CN101393029B (en) Automobile navigation apparatus and navigation system using the same
US20170001563A1 (en) Parking Assistance Device And Parking Assistance Method
US9809223B2 (en) Driving assistant for vehicles
CN103853155B (en) Intelligent vehicle road junction passing method and system
CN203651752U (en) Width identifying and judging device of narrow road
Kolski et al. Autonomous driving in structured and unstructured environments

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20160720

WD01 Invention patent application deemed withdrawn after publication