CN106595762A - Hot-line work robot tension insulator detection method - Google Patents
Hot-line work robot tension insulator detection method Download PDFInfo
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- CN106595762A CN106595762A CN201611129574.4A CN201611129574A CN106595762A CN 106595762 A CN106595762 A CN 106595762A CN 201611129574 A CN201611129574 A CN 201611129574A CN 106595762 A CN106595762 A CN 106595762A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention provides a hot-line work robot tension insulator detection method. Arms of a robot respond to control data, and the arms are respectively equipped with a partial discharge detector, an insulator zero value tester and a current transformer and are re-equipped with a high definition camera, an infrared camera and an electronic ultraviolet flaw detectors, and movement around and data detection on an tension insulator are carried out; detection data of each detection equipment is processed through a data processing and control system, the acquired relevant index data is compared with normal values in a database to determine a work state of the tension insulator, and a detection report is formed. The method is advantaged in that hot-line detection on the tension insulator can be carried out by the arms of the hot-line work robot in a shaking operation or autonomous work mode, danger of working nearby hot-line high voltage wires can be avoided for workers, work steps are simplified, and detection precision is improved.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot strain insulator detection method.
Background technology
Strain insulator is the most universal in current power system electric line, and requisite device is for pacifying
Being mounted between the conductor or conductor of different potentials and ground potential component increases the device of creep age distance.
With the development of power distribution network, strain insulator usage amount is huge.Generally, strain insulator needs regularly artificial dimension
Shield, it is common practice to interruption maintenance, if power failure area is larger, can cause an immeasurable loss, have a strong impact on power supply enterprise
Economic benefit and social benefit.Now vast research worker is also in the method for the actively on-line monitoring of research strain insulator,
But the method needs to transform circuit, it is impossible to suitable for original circuit.Strain insulator can also carry out artificial maintenance, operation people
Member will be in operation near electrification in high voltage circuit, with certain potential safety hazard.
The content of the invention
Present invention solves the technical problem that being to propose a kind of insulator charged detection method of hot line robot, the party
Method can carry out live detection to strain insulator in the case of not power-off, it is to avoid operating personnel is in live high voltage circuit
The danger that operation nearby brings, simplifies job step, and testing result is accurate relative to manual detection more science.
In order to solve above-mentioned technical problem, the present invention provides a kind of hot line robot strain insulator detection method,
Hot line robot has and is arranged on mechanical arm on robot platform, including first mechanical arm, second mechanical arm and auxiliary
Mechanical arm, first mechanical arm, second mechanical arm and auxiliary mechanical arm is helped to complete following work in response to control data：
First mechanical arm, second mechanical arm and auxiliary mechanical arm end are respectively mounted Partial discharge detector, insulator
Null detection instrument and current transformer；Each mechanical arm carries Partial discharge detector, insulator null detection instrument and electric current
Transformer is moved near strain insulator string to be detected, and comprehensive detection is carried out to strain insulator string, is obtained per piece
The size of the Partial Discharge Data of strain insulator, exhausted insulator null value whether data and the exhausted insulator Leakage Current of strain insulator
Data；
First mechanical arm, second mechanical arm and auxiliary mechanical arm change the outfit respectively high-definition camera, infrared camera and
Electronics ultraviolet crack inspection instrument；Each mechanical arm carries high-definition camera, infrared camera and electronics ultraviolet crack inspection instrument to be checked
Survey and move near strain insulator string, carry out comprehensive detection to strain insulator string, obtain ultraviolet crack inspection figure, infrared
Thermal map and high-definition image；
Data processing and control system according to the Partial Discharge Data, null value whether data and Leakage Current data, with
And ultraviolet crack inspection figure, infrared chart and high-definition image, judge the working condition of strain insulator.
Further, before operation, clamping device is installed in first mechanical arm and second mechanical arm end, is clamped with clamping device
Insulation masking material carries out insulation masking to the electrical body of labelling；After operation is finished, first mechanical arm and second mechanical arm end
Clamping device is installed in portion, and the insulation masking material being covered on electrical body is removed with clamping device.
Further, the data processing and control system obtain Partial discharge detector, insulator null detection instrument and
After current transformer, and the detection data of high-definition camera, infrared camera and electronics ultraviolet crack inspection instrument, referred to according to correlation
Mark numerical value and the result of regime values contrast in data base, first carry out preliminary analyses；For the inspection corresponding to abnormal index numerical value
Measuring point, first mechanical arm, second mechanical arm and auxiliary mechanical arm carry corresponding testing equipment and are detected again；Data processing
With control system according to the index of correlation numerical value for obtaining again, the working condition of strain insulator is judged.
Further, the control data is the angle expected value of each joint of mechanical arm motion, and the angle expected value is by powered
Work robot data processing and control system change number according to each joint angles of the in-car main manipulator of insulation bucket arm are arranged at
Obtain according to resolving；Main manipulator includes the first main manipulator, the second main manipulator and auxiliary main manipulator；First main manipulator,
Second main manipulator and auxiliary main manipulator are corresponding with first mechanical arm, second mechanical arm and auxiliary mechanical arm respectively, constitute master
From operative relationship.
Further, control room is provided with the aerial lift device with insulated arm, the data processing and control system include the first work
Control machine, the second industrial computer, display screen and main manipulator, the second industrial computer Built-in Image processor, display screen and main manipulator position
It is indoor in control；The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is to working scene
The 3D dummy activity scenes that image is obtained after being processed, and send display to show.
Further, the control data is the angle expected value of each joint of mechanical arm motion；Hot line robot data
Relative position and job task action sequence of the PIAPACS according to each mechanical arm and manipulating object, using Descartes
Space path planing method cooks up the space path of each mechanical arm, then calculates each joint of mechanical arm fortune according to space path
Dynamic angle expected value.
Further, the hot line robot, including aerial lift device with insulated arm, the robot being mounted on aerial lift device with insulated arm puts down
Platform, the mechanical arm on robot platform；The mechanical arm includes first mechanical arm, second mechanical arm and Aided Machine
Arm, the video camera include binocular camera, are equipped with double on the first mechanical arm, second mechanical arm and auxiliary mechanical arm
Mesh photographic head, the cooperation of the first mechanical arm, second mechanical arm and auxiliary mechanical arm complete livewire work, wherein, Aided Machine
Arm is used for clamping operation object, and first mechanical arm and second mechanical arm carry out Job Operations using power tool；At the data
Reason and control system include the first industrial computer, the second industrial computer, the second industrial computer Built-in Image processor and livewire work action
Sequence library, is previously stored with the corresponding action sequence data of every livewire work in the livewire work action sequence storehouse；It is described
The working scene image of camera acquisition is sent to the second industrial computer, and image processor is obtained after processing to working scene image
Mechanical arm and manipulating object between relative position relation, the second industrial computer is according to the relative position relation and concrete band
Action sequence corresponding to electric operation plans the space path of mechanical arm, and the space path data is activation of the mechanical arm is given
First industrial computer；First industrial computer calculates the control data according to the space path of the mechanical arm.
Further, the mechanical arm or main manipulator are mechanism in six degree of freedom, including pedestal, rotation direction of principal axis and pedestal
The vertical waist joint of plane, the shoulder joint being connected with waist joint, the large arm being connected with shoulder joint, the elbow joint being connected with large arm,
The forearm being connected with elbow joint, the carpal joint being connected with forearm, carpal joint are made up of three rotary joints, and respectively wrist pitching is closed
Section, wrist swinging joint and wrist rotary joint；In the mechanism in six degree of freedom, each joint is respectively provided with corresponding orthogonal rotary coding
Device and servo drive motor, orthogonal rotary encoder are used for the angle-data for gathering each joint, and servo drive motor is used to control
Make the motion in each joint；Expected value of first industrial computer according to each joint angles of mechanical arm, by controlling servo drive motor control
System presses each joint motions of mechanical arm.
Compared with prior art, its remarkable advantage is the present invention：(1) present invention can not power-off without load feelings
Live detection is carried out to strain insulator by the mechanical arm of hot line robot under condition, it is to avoid have a power failure the negative shadow for bringing
Ring, power off time is greatly reduced, improve power supply reliability, alleviate electricity consumption and complain contradiction；(2) present invention uses livewire work machine
Device people replaces people to carry out live detection operation, has more abundant function compared to distant place observational method；(3) present invention uses band
Electric Work robot can avoid considering that electric arc is produced compared to the detection method for needing closely insulating glove operation strain insulator
Burning and Danger Electric shock risk, falling from high altitude problem to human body when raw；(4) present invention uses hot line robot by operator
Rocking bar is controlled, little for the requirement of operating personnel's labor intensity, is reduced the big situation for human error occur of operation intensity, is carried significantly
Safety in high operation process, can reduce the generation of accident to a certain extent.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of hot line robot of the present invention；
Fig. 2 is the block diagram of system of aerial lift device with insulated arm in the present invention；
Fig. 3 is the structural representation of robot platform in the present invention；
Fig. 4 is the structural representation of mechanical arm in the present invention.
Fig. 5 is the inventive method flow chart.
Fig. 6 is the working environment schematic diagram of hot line robot live detection strain insulator of the present invention.
Wherein, 100 is shaft tower, and 111 is wire, and 103 is cross-arm, and 110 is strain insulator string；1 be aerial lift device with insulated arm, 2
For control room, 3 be telescopic arm, 4 be robot platform；46 be insulator, 43 be first mechanical arm, 44 be second mechanical arm, 42
For auxiliary mechanical arm, 48 be the first industrial computer, 45 be binocular camera, 41 be full-view camera, 410 be depth camera, 49
It is mechanical arm tool box special for accumulator, 47；431 be pedestal, 432 be waist joint, 433 be shoulder joint, 434 be large arm, 435
For elbow joint, 436 be forearm, 437 be carpal joint.
Specific embodiment
It is easy to understand, according to technical scheme, in the case where the connotation of the present invention is not changed, this area
Those skilled in the art can imagine the numerous embodiments of the insulator charged detection method of hot line robot of the present invention.
Therefore, detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, and are not to be construed as this
The whole of invention is considered as the restriction to technical solution of the present invention or restriction.
With reference to accompanying drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its
In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1,3 end of telescopic arm connection robot platform 4, robot platform 4 with
Communicated or wireless communication using fiber optic Ethernet between control room 2.
Aerial lift device with insulated arm 1 is available for operator to drive, so as to robot platform 4 is transported operation field.Insulation bucket arm
Supporting leg is housed on car 1, supporting leg can launch, so as to support aerial lift device with insulated arm 1 and ground firm.On aerial lift device with insulated arm 1
Equipped with electromotor, so as to power to control room 2 and telescopic arm 3.
Telescopic arm 3 is provided with the driving means along telescopic direction, and operator can be by controlling driving means, so as to by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made up of insulant, for realizing robot platform 4 and control room 2
Insulation.In the present invention, telescopic arm 3 can have and be replaced by scissor-type lifting mechanism or other mechanisms.
As a kind of embodiment, the second industrial computer, display screen, the first main manipulator, the second master in control room 2, are provided with
Manipulator, auxiliary main manipulator and communication module etc..
Used as a kind of embodiment, robot platform 4 includes insulator 46, first mechanical arm 43, second mechanical arm 44, auxiliary
Help mechanical arm 42, the first industrial computer 48, binocular camera 45, full-view camera 41, depth camera 410, accumulator 49, special
Workbox 47, communication module.
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms is insulated with robot platform 4.
Accumulator 49 is the first industrial computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As 41, binocular camera 45, depth camera 410, communication module are powered.
Used as a kind of embodiment, binocular camera 45 1 has three, is separately mounted to first mechanical arm 43, the second machine
On the carpal joint 437 of tool arm 44 and auxiliary mechanical arm 42, it is responsible for the view data of Collecting operation scene, and view data is sent
To the second industrial computer.Binocular camera 45 is made up of two parallel industrial cameras of optical axis, and the distance between parallel optical axis are fixed.
Depth camera 410 is arranged on side of the robot platform 4 just to working scene, is responsible for the scape of Collecting operation scene
Depth of field data is sent to the second industrial computer by deep data.
Full-view camera 41 is arranged on the top of robot platform 4 by support, is responsible for the panorama sketch of Collecting operation scene
As data, view data is sent to into the second industrial computer, and shows that operating personnel can be supervised by panoramic picture over the display
Control working scene.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is provided with instrument quick change
Device.Mechanical arm obtains power tool to instrument fast replacing device used in tool box special 47 according to the type of job task.
In control room 2, the first main manipulator, the second main manipulator and auxiliary main manipulator are a kind of for artificial long-range
The operation device of operating robotic arm, they constitute principal and subordinate behaviour with first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Make relation.Mechanical arm and main manipulator have identical structure, and simply main manipulator dimensions is less than mechanical arm, in order to grasp
Make human users.Mechanical arm and main manipulator possess six joints, and there are photoelectric encoder acquisition angles data in each joint, respectively
The angle-data in six joints is sent to the second industrial computer by serial ports by the microcontroller of main manipulator.
Used as one embodiment of the invention, the mechanical arm is mechanism in six degree of freedom, including pedestal 431 rotates direction of principal axis
The waist joint 432 vertical with base plane, the shoulder joint 433 being connected with waist joint 432, the large arm being connected with shoulder joint 433
434, the elbow joint 435 being connected with large arm 434, the forearm 436 being connected with elbow joint 435, the carpal joint being connected with forearm 436
437, carpal joint 437 is made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；It is described
In mechanism in six degree of freedom, each joint is respectively provided with corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding
Device 31 is used for the angle-data for gathering each joint, and servo drive motor is used for the motion for controlling each joint；First industrial computer root
The movement angle in each joint is calculated according to the space path of the mechanical arm, control servo drive motor is according to the movement angle
The each joint motions of control machinery arm.
Used as a kind of embodiment, the data transfer between robot platform 4 and control room 2 passes through optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is used to realize light
The mutual conversion of the signal of telecommunication in optical signal and twisted-pair feeder in fibre, so as to robot platform 4 and control room 2 are realized in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, the optical signal that fiber optical transceiver is used to realizing in optical fiber with
The mutual conversion of the signal of telecommunication in twisted-pair feeder, so as to the electrical isolation of robot platform 4 and control room 2 is realized in communication.
Used as a kind of embodiment, the second industrial computer can complete following task：
Set up action sequence storehouse.Advance is acting sequences by every livewire work Task-decomposing, and composition action sequence storehouse is deposited
Storage is planned for robotic arm path in the second industrial computer.
Set up manipulating object model library.The threedimensional model of the manipulating object involved by pre-production items livewire work task
And Model of Target Recognition, for example, in kind according to devices such as power tower bar, electric wire, strain insulator, isolation switch, spark gaps, system
Make threedimensional model and Model of Target Recognition, for hot line robot automatic identification manipulating object, build working scene three-dimensional
Virtual scene.
Set up mechanical arm and specific purpose tool model library.The threedimensional model and target of pre-production mechanical arm and specific purpose tool is known
Other model, for example, spanner etc. builds working scene three-dimensional virtual scene automatically for hot line robot, plans mechanical arm
Space path.
Obtain view data.Obtain the data message of panoramic picture, depth image and binocular image.
Recognized according to view data and track operative goalies.
Angle, angular velocity and the angular acceleration data of main manipulator are obtained, angle, angular velocity and the angle for obtaining mechanical arm adds
Speed data.
Dependent image data is processed and is calculated, obtained mechanical arm position, obtained the position of manipulating object, obtained machine
Relative position between tool arm and manipulating object, and the space path of mechanical arm is planned according to relative position and job task.
Manipulating object three-dimensional scenic is built according to view data, according to arm angle information and manipulating object three-dimensional scenic
The relative position of mechanical arm and manipulating object is obtained, and the space path of mechanical arm is planned according to relative position and job task.
Dependent image data is processed and is calculated, built 3D dummy activity scenes, send display to show, operator
According to 3D dummy activity scene monitoring operation process.Compared with panoramic picture, 3D dummy activities scene is comprehensive and depth image is believed
Breath and binocular image information, to the phase between robotic arm and manipulating object, between mechanical arm, between manipulating object and working environment
Judgement to position is more accurate, and is not in visual dead angle.Therefore, operator carry out operation by 3D dummy activities scene
Monitoring, performance accuracy are higher, can prevent collision from occurring, improve safety.Meanwhile, 3D dummy activity scenes are displayed in control
On display in room 2, away from mechanical arm operation field, the personal safety of people operating personnel is improve.
Used as a kind of embodiment, the first industrial computer can complete following task：
The angle information in each joint of main manipulator sent according to the second industrial computer, the motion in each joint of control machinery arm.
The space path data of the mechanical arm of the second industrial computer transmission are obtained, according to the action sequence of job task, is resolved
Go out the angle-data quantity of motion in each joint of mechanical arm, and each joint motions of control machinery arm.
In the present invention, first mechanical arm and second mechanical arm cooperate, can be with the sequence of operation of apish two handss
Complete livewire work.In view of motility, a strong auxiliary mechanical arm can be further added by, now, auxiliary mechanical arm is specially taken charge of
The big actions of power such as device clamping, first mechanical arm and second mechanical arm then carry out related service operation.
The combination of the different task completed according to the second industrial computer and the first industrial computer, hot line robot of the present invention was both
Operation can remotely be shaken to complete livewire work by operating personnel, autonomous livewire work can be carried out again.Carry out it is powered
Before operation, operating personnel first passes through observation panoramic picture, and robot platform 4 is moved near manipulating object.
If selection manually remotely shakes operation, 3D is built according to number of images and depth image by the second industrial computer virtual
Working scene simultaneously send display to show, operating personnel is by 3D dummy activity scene monitoring operating process, manual by main operation
The action of mechanical arm processed, to complete livewire work.In the process, after operating personnel changes main manipulator attitude, main manipulator
In the photoelectric encoder in each joint gather each joint angles, the microcontroller of each main manipulator is by serial ports by the angle in each joint
Degrees of data is sent to the second industrial computer.Second industrial computer is using the angle-data in main manipulator each joint as each joint angle of mechanical arm
The expected value of degree is sent to the first industrial computer, and the first industrial computer is respectively closed by servomotor controller tool arm according to angle expected value
The motion of section, has completed livewire work.
If selecting AUTONOMOUS TASK, calculated according to number of images and depth image by the second industrial computer and obtain manipulating object
Relative position relation and mechanical arm between, then carries out mechanical arm space path according to the action sequence corresponding to job task
Planning, and space path is sent to into the first industrial computer, the first industrial computer calculates the angle that each joint of mechanical arm needs to rotate
Expected value of the data as each joint angles of mechanical arm, by the motion in each joint of servomotor controller tool arm, has completed band
Electric operation.
The process detected to strain insulator using above-mentioned hot line robot is：
First, the preparatory stage
Staff carries out the operation of hot line robot detection strain insulator string 110 and prepares, inspection meteorological condition,
Verification shaft tower number, arranges safety barrier, working signal and related warning mark in working site, using Insulation Resistance Tester
Insulating tool to using carries out surface insulation resistance detection, and resistance is not less than 700 megaohms.
Aerial lift device with insulated arm driver sails aerial lift device with insulated arm 1 into shaft tower 100 neighbouring position and arranges scene.Job position has
Body is to treat the neighbouring position of operation shaft tower 100 and avoid nearby electric lines of force and barrier, it is to avoid is parked on raceway groove cover plate, insulate
1 supporting leg of bucket arm vehicle order is first to stretch out horizontal support legs, then stretches out vertical leg, and it is in all around level to support to place rear vehicle.
In control room 2, operator are according to the real scene image shown on display, operation operation rocking bar control telescopic arm 3, by robot
Platform 4 is moved near job position.The reality that operator are returned according to binocular camera on mechanical arm 45 in control room 2
Scape image is marked to the electrical body in job area in the insulating safety distances.
2nd, sessions
First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 complete following work in response to control data：
Clamping device is installed in first mechanical arm 43 and 44 end of second mechanical arm, with clamping device clamping insulation masking material
Insulation masking is carried out to the electrical body of labelling.Insulation masking material such as insulating sheath, epoxy glass fabric etc..First mechanical arm 43 with
Second mechanical arm 44 and auxiliary mechanical arm 42 are moved to above mechanical arm tool box special 47, then carry Partial Discharge Detection
Instrument 107, insulator null detection instrument summation current transformer are moved around strain insulator to be detected 110, using local
Discharge detector 107, insulator null detection instrument summation current transformer are detected to strain insulator 110.Partial discharge detector
107th, the shelf depreciation situation of the every insulator that insulator null detection instrument and current mutual inductor special are just obtained, insulator zero
Value whether and Leakage Current size data by communication system return in real time the data processing of hot line robot with
Control system, be for example returned on robot platform 4 the first industrial computer 48 or control room 2 in the second industrial computer.
First mechanical arm 43, second mechanical arm 44 are moved to above mechanical arm tool box special 47.First mechanical arm 43 with
Second mechanical arm 44, auxiliary mechanical arm 42 are changed the outfit high-definition camera 105 respectively, infrared camera 106, electronics ultraviolet crack inspection
Instrument.First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 carry high-definition camera 105, infrared camera 106 and electricity
Sub- ultraviolet crack inspection instrument is moved around strain insulator string to be detected 110, using high-definition camera 10, infrared camera
106 and electronics ultraviolet crack inspection instrument strain insulator string 110 is detected.High-definition camera 105,106 and of infrared camera
The high-definition image of the every insulator for obtaining, infrared chart and ultraviolet crack inspection diagram data are passed through by electronics ultraviolet crack inspection instrument
Communication system returns to the data processing of hot line robot and control system, for example, be returned to the of on robot platform 4
The second industrial computer and display in one industrial computer 48, control room 2.
Earlier figures picture and data can send display to show by data processing and control system.
Data processing and control system according to the Partial Discharge Data, null value whether data and Leakage Current data, with
And ultraviolet crack inspection figure, infrared chart and high-definition image, judge the working condition of strain insulator.For the accuracy of detection,
Strain insulator can be implemented twice or repeated detection, for example：The data processing is obtaining shelf depreciation with control system
Detector 107, insulator null detection instrument summation current transformer, and high-definition camera 105, infrared camera 106 and electronics
After the detection data of ultraviolet crack inspection instrument, according to index of correlation numerical value and the result of regime values contrast in data base, first carry out
Preliminary analyses；For the test point corresponding to abnormal index numerical value, first mechanical arm 43, second mechanical arm 44 and Aided Machine
Arm 42 carries corresponding testing equipment and is detected again；Data processing is with control system according to the index of correlation number for obtaining again
Value, judges the working condition of strain insulator.
After detection is finished, first mechanical arm 43 is moved to above mechanical arm tool box special 47 with second mechanical arm 44, and
Clamping device is installed.First mechanical arm 43 and the clamping insulation masking material of second mechanical arm 44, insulate to labelling electrical body
Masking is removed.
The current transformer can be using electronic type punching annular transformer.
Ultraviolet crack inspection figure mainly checks 110 working condition lower surface shelf depreciation of strain insulator string and phenomenon of deteriorating；
Infrared Thermogram mainly checks strain insulator string 110 whether there is heat condition when working；High-definition image mainly checks that strain insulator insulate
Substring 110 goes here and there whether have the phenomenons such as crackle, trachoma, and whether the angle between its axis of strain insulator string 110 and ground meets
Require.
If finding zero resistance insulator when strain insulator is detected piecewise using insulator null detection instrument, should confirm 2- repeatedly
3 times.The Leakage Current of measurement insulator is to detect pollution severity of insulators degree.
Claims (8)
1. a kind of hot line robot strain insulator detection method, it is characterised in that hot line robot has and arranges
Mechanical arm on robot platform, including first mechanical arm, second mechanical arm and auxiliary mechanical arm, first mechanical arm,
Two mechanical arms and auxiliary mechanical arm complete following work in response to control data：
First mechanical arm, second mechanical arm and auxiliary mechanical arm end are respectively mounted Partial discharge detector, insulator null value
Tester and current transformer；Each mechanical arm carries Partial discharge detector, insulator null detection instrument and Current Mutual Inductance
Device is moved near strain insulator string to be detected, and comprehensive detection is carried out to strain insulator string, obtains every strain insulator
The big decimal of the Partial Discharge Data of insulator, exhausted insulator null value whether data and the exhausted insulator Leakage Current of strain insulator
According to；
First mechanical arm, second mechanical arm and auxiliary mechanical arm are changed the outfit high-definition camera, infrared camera and electronics respectively
Ultraviolet crack inspection instrument；Each mechanical arm carries high-definition camera, infrared camera and electronics ultraviolet crack inspection instrument to be detected resistance to
Open and move near insulator chain, comprehensive detection is carried out to strain insulator string, obtain ultraviolet crack inspection figure, infrared chart
And high-definition image；
Data processing and control system are according to the Partial Discharge Data, null value whether data and Leakage Current data, Yi Jizi
Outside line defectogram, infrared chart and high-definition image, judge the working condition of strain insulator.
2. strain insulator detection method as claimed in claim 1, it is characterised in that before operation, first mechanical arm and second
Clamping device is installed in mechanical arm end, carries out insulation masking to the electrical body of labelling with clamping device clamping insulation masking material；
After operation is finished, clamping device is installed in first mechanical arm and second mechanical arm end, is covered in clamping device removing powered
Insulation masking material on body.
3. strain insulator detection method as claimed in claim 1, it is characterised in that the data processing is being obtained with control system
Obtain Partial discharge detector, insulator null detection instrument summation current transformer, and high-definition camera, infrared camera and electronics
After the detection data of ultraviolet crack inspection instrument, according to index of correlation numerical value and the result of regime values contrast in data base, first carry out
Preliminary analyses；For the test point corresponding to abnormal index numerical value, first mechanical arm, second mechanical arm and auxiliary mechanical arm are taken
Detected with corresponding testing equipment again；Data processing, is judged according to the index of correlation numerical value for obtaining again with control system
The working condition of strain insulator.
4. strain insulator detection method as claimed in claim 1, it is characterised in that the control data is each joint of mechanical arm
The angle expected value of motion, the angle expected value is by hot line robot data processing and control system according to being arranged at insulation
The each joint angles delta data of the in-car main manipulator of arm is resolved and is obtained；Main manipulator includes the first main manipulator, the second master
Manipulator and auxiliary main manipulator；First main manipulator, the second main manipulator and auxiliary main manipulator respectively with first mechanical arm,
Second mechanical arm is corresponding with auxiliary mechanical arm, constitutes master-slave operation relation.
5. strain insulator detection method as claimed in claim 4, it is characterised in that control is provided with the aerial lift device with insulated arm
Room, the data processing and control system include the first industrial computer, the second industrial computer, display screen and main manipulator, the second industry control
It is indoor that machine Built-in Image processor, display screen and main manipulator are located at control；The working scene image of the camera acquisition is sent out
The second industrial computer is given, the 3D dummy activity scenes that image processor is obtained after processing to working scene image, and send display
Device shows.
6. strain insulator detection method as claimed in claim 1, it is characterised in that the control data is each joint of mechanical arm
The angle expected value of motion；Hot line robot data processing and control system are relative with manipulating object according to each mechanical arm
Position and job task action sequence, cook up the space path of each mechanical arm using cartesian space paths planning method,
Then the angle expected value of each joint of mechanical arm motion is calculated according to space path.
7. strain insulator detection method as claimed in claim 6, it is characterised in that the hot line robot, including it is exhausted
Edge bucket arm vehicle, the robot platform being mounted on aerial lift device with insulated arm, the mechanical arm on robot platform；
The mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and the video camera includes binocular camera,
Binocular camera be equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm, the first mechanical arm, second
Mechanical arm and auxiliary mechanical arm cooperation complete livewire work, wherein, auxiliary mechanical arm is used for clamping operation object, first mechanical arm
Job Operations are carried out using power tool with second mechanical arm；
The data processing and control system include the first industrial computer, the second industrial computer, the second industrial computer Built-in Image processor
With livewire work action sequence storehouse,
The corresponding action sequence data of every livewire work are previously stored with the livewire work action sequence storehouse；
The working scene image of the camera acquisition is sent to the second industrial computer, and image processor is carried out to working scene image
Relative position relation between the mechanical arm obtained after process and manipulating object, the second industrial computer according to the relative position relation with
And concrete action sequence corresponding to livewire work plans the space path of mechanical arm, and by the space path number of the mechanical arm
According to being sent to the first industrial computer；
First industrial computer calculates the control data according to the space path of the mechanical arm.
8. the strain insulator detection method as described in claim 1 to 7, it is characterised in that the mechanical arm or main manipulator
For mechanism in six degree of freedom, including pedestal, rotate the direction of principal axis waist joint vertical with base plane, the shoulder joint being connected with waist joint
Section, the large arm being connected with shoulder joint, the elbow joint being connected with large arm, the forearm being connected with elbow joint, the wrist being connected with forearm are closed
Section, carpal joint are made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；Described six certainly
Corresponding orthogonal rotary encoder and servo drive motor are respectively provided with by each joint in degree mechanism, orthogonal rotary encoder is used for
The angle-data in each joint is gathered, servo drive motor is used for the motion for controlling each joint；
Expected value of first industrial computer according to each joint angles of mechanical arm, presses mechanical arm by control servo drive motor control each
Joint motions.
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| CN112285502A (en) * | 2020-10-26 | 2021-01-29 | 国网江苏省电力有限公司电力科学研究院 | GIS/GIL equipment state detection device |
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