CN106695883A - Method of detecting vacuum circuit breaker of live operation robot - Google Patents

Method of detecting vacuum circuit breaker of live operation robot Download PDF

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Publication number
CN106695883A
CN106695883A CN201611128458.0A CN201611128458A CN106695883A CN 106695883 A CN106695883 A CN 106695883A CN 201611128458 A CN201611128458 A CN 201611128458A CN 106695883 A CN106695883 A CN 106695883A
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China
Prior art keywords
mechanical arm
joint
circuit breaker
vacuum circuit
arm
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CN201611128458.0A
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CN106695883B (en
Inventor
郭健
林立斌
郭毓
汤冯炜
苏鹏飞
吴巍
李光彦
黄颖
韩昊
韩昊一
吴禹均
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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Priority to CN201611128458.0A priority Critical patent/CN106695883B/en
Publication of CN106695883A publication Critical patent/CN106695883A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING 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
    • G01D21/00Measuring or testing not otherwise provided for
    • G01D21/02Measuring two or more variables by means not covered by a single other subclass

Abstract

The invention provides a method of detecting a vacuum circuit breaker of a live operation robot; mechanical arms of the robot carry a partial discharge detector, an electronic ultraviolet flaw detector and a thermal infrared imager to move around the vacuum circuit breaker and detect data; a data processing and control system processes the detection data of detection devices, compares the collected related index values with normal values in a database to judge working state of the vacuum circuit breaker so that a detection report is formed. In the invention, the mechanical arms of the live operation robot provides live detection for the vacuum circuit breaker through cranking or autonomous operation, the danger due to the operation of operation staff around a high-tension line is avoided, operation steps are simplified, and detection precision is improved.

Description

A kind of hot line robot vacuum circuit breaker detection method
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot vacuum circuit breaker detection method.
Background technology
Breaker be can cut-off, close and Inhaul operation state normal current, and can at the appointed time cut-off, close The electrical equipment of the abnormal current (such as short circuit current) of regulation is closed, carried, is one of important electrical equipment in power system, Protection and control action are played in power network, its running status will directly affect the stability and power supply reliability of whole power system. In longtime running, breaker is likely to occur nut loosening, insulator rupture, the aging variety of problems of rubber ring, final insulation system May be destroyed, it is necessary to detect and change.
Vacuum circuit breaker refer to breaker arc-extinguishing medium and arc extinguishing after the dielectric of contact gap be all high vacuum, fit For frequent operation, possess advantage of the arc-chutes without maintenance.The use of more widespread practice is earliest periodicity prophylactic tria, All kinds of parameters of breaker are detected i.e. under power down mode.If but power failure area is larger, can cause an immeasurable loss, sternly Ghost image rings the economic benefit and social benefit of power supply enterprise.Present numerous researchers are also in the online prison of actively research breaker The method of survey, but the method needs transformation circuit, it is impossible to suitable for original circuit.
The content of the invention
Present invention solves the technical problem that be to propose a kind of hot line robot vacuum circuit breaker live detection method, The method can carry out live detection in the case where not powering off to vacuum circuit breaker, it is to avoid operating personnel is in live high voltage The danger that circuit operation nearby brings, simplifies job step, and testing result is accurate relative to manual detection more science.
In order to solve the above-mentioned technical problem, the present invention provides a kind of hot line robot vacuum circuit breaker 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, electronics purple Outside line defectoscope and thermal infrared imager, and drive Partial discharge detector, electronics ultraviolet crack inspection instrument and thermal infrared imager Moved about in vacuum circuit breaker, the shelf depreciation situation of vacuum circuit breaker is obtained by Partial discharge detector, by electronics Ultraviolet crack inspection instrument obtains the ultraviolet crack inspection figure of vacuum circuit breaker, and the infrared heat of vacuum circuit breaker is obtained by thermal infrared imager As figure;Respective detection data is passed through communication system by Partial discharge detector, electronics ultraviolet crack inspection instrument and thermal infrared imager System is sent to data processing and the control system of hot line robot in real time, and data processing is with control system according to detection data Judge the working condition of vacuum circuit breaker.
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 for marking;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, electronics ultraviolet crack inspection instrument with And after the detection data of thermal infrared imager, according to the result that regime values in index of correlation numerical value and database is contrasted, first carry out Initial analysis;For the test point corresponding to abnormal index numerical value, first mechanical arm, second mechanical arm and auxiliary mechanical arm are taken Detected again with corresponding testing equipment;Data processing, according to the index of correlation numerical value for obtaining again, judges with control system The working condition of vacuum circuit breaker.
Further, the control data is the angle desired value of each joint of mechanical arm motion, and the angle desired value is by powered Work robot data processing and control system change number according to insulation bucket arm each joint angles of in-car main manipulator are arranged at Obtained 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 In in control room;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 desired value of each joint of mechanical arm motion;Hot line robot data PIAPACS uses Descartes according to each mechanical arm and the relative position and job task action sequence of manipulating object 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 desired 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 auxiliary mechanical arm, and the video camera is taken the photograph including binocular As head, binocular camera, first machinery are equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm Arm, second mechanical arm and auxiliary mechanical arm coordinate completion livewire work, wherein, auxiliary mechanical arm is used for clamping operation object, the One mechanical arm and second mechanical arm carry out Job Operations using power tool;
The data processing and control system include the first industrial computer, the second industrial computer, at the second industrial computer Built-in Image Reason device and 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 to working scene image Relative position relation between the mechanical arm and manipulating object that are obtained after being processed, the second industrial computer is closed according to the relative position Action sequence corresponding to system and specific livewire work plans the space path of mechanical arm, and by the space road of the mechanical arm Footpath data is activation gives the 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, rotate 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 wrist joint being connected with forearm, wrist joint is made up of three rotary joints, and respectively wrist pitching is closed Section, wrist swinging joint and wrist rotary joint;Each joint is respectively provided with corresponding orthogonal rotary coding in the mechanism in six degree of freedom Device and servo drive motor, orthogonal rotary encoder are used to gather the angle-data in each joint, and servo drive motor is used to control Make the motion in each joint;First industrial computer according to the desired value of 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 the feelings without load Mechanical arm under condition by hot line robot carries out live detection to vacuum circuit breaker, 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 carries out live detection operation instead of people, compared to the remote detection method with sensor probe, with more careful Function;(3) present invention using hot line robot compared to needing closely insulating glove operation vacuum circuit breaker detection side Method can be from considering burning and Danger Electric shock risk, falling from high altitude problem to human body during electric arc generation;(4) present invention uses powered work Industry robot is controlled by operating personnel's rocking bar, small for the requirement of operating personnel's labour intensity, reduces that operation intensity is big people occurs It is the situation of error, substantially increases the security in operation process, the generation of accident can be reduced to a certain extent.
Brief 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 operating environment schematic diagram of hot line robot live detection vacuum circuit breaker of the present invention.
Wherein, 100 is shaft tower, and 111 is wire, and 103 is cross-arm, and 130 is vacuum circuit breaker;1 is aerial lift device with insulated arm, 2 are Control room, 3 be telescopic arm, 4 be robot platform;46 is insulator, 43 is first mechanical arm, 44 is second mechanical arm, 42 are Auxiliary mechanical arm, 48 be the first industrial computer, 45 be binocular camera, 41 be full-view camera, 410 be depth camera, 49 be Battery, 47 are mechanical arm tool box special;431 is pedestal, 432 is waist joint, 433 is shoulder joint, 434 is large arm, 435 are Elbow joint, 436 be forearm, 437 be wrist joint.
Specific embodiment
It is readily appreciated that, according to technical scheme, in the case where connotation of the invention is not changed, this area Those skilled in the art can imagine various implementations of hot line robot vacuum circuit breaker live detection method of the present invention Mode.Therefore, detailed description below and accompanying drawing are only the exemplary illustrations to technical scheme, without that should regard For whole of the invention or it is considered as limitation or restriction to technical solution of the present invention.
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, on aerial lift device with insulated arm 1 set up control room 2 and telescopic arm 3, the end of telescopic arm 3 connection robot platform 4, robot platform 4 with Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 is available for operating personnel to drive, so as to robot platform 4 is transported into operation field.Insulation bucket arm Supporting leg is housed, supporting leg can launch on car 1, so as to aerial lift device with insulated arm 1 and ground are consolidated into support.On aerial lift device with insulated arm 1 Equipped with generator, so as to be powered to control room 2 and telescopic arm 3.
Telescopic arm 3 is provided with along the drive device of telescopic direction, and operating personnel can be by controlling drive device, so as to by machine Device people platform 4 is elevated to operation height.The telescopic arm 3 is made up of insulating materials, 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 implementation method, the second industrial computer, display screen, the first main manipulator, the second master are provided with control room 2 Manipulator, auxiliary main manipulator and communication module etc..
Used as a kind of implementation method, 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, battery 49, special Tool box 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.
Battery 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 first 41, binocular camera 45, depth camera 410, communication module are powered.
Used as a kind of implementation method, binocular camera 45 1 has three, is separately mounted to first mechanical arm 43, the second machine On the wrist 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 robot platform 4 just to the side of working scene, is responsible for the scape of Collecting operation scene Deep data, the second industrial computer is sent to by depth of field 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 the second industrial computer, and show 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 according in the type of job task to tool box special 47 using instrument fast replacing device.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of for artificial long-range in control room 2 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 smaller 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 the microcontroller of main manipulator by serial ports.
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 wrist joint being connected with forearm 436 437, wrist joint 437 is made up of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint;It is described Each joint is respectively provided with corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding in mechanism in six degree of freedom Device 31 is used to gather the angle-data in each joint, and servo drive motor is used to control the motion in 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 Each joint motions of control machinery arm.
Used as a kind of implementation method, 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 electric signal in optical signal and twisted-pair feeder in fibre, so as to realize robot platform 4 and control room 2 in communication Electrical isolation.Communication module in control room 2 is fiber optical transceiver, the optical signal that fiber optical transceiver is used to realize in optical fiber with The mutual conversion of the electric signal in twisted-pair feeder, so as to realize the electrical isolation of robot platform 4 and control room 2 in communication.
Used as a kind of implementation method, the second industrial computer can complete following task:
Set up action sequence storehouse.It is in advance acting sequences by every livewire work Task-decomposing, composition action sequence storehouse is deposited Storage is planned in the second industrial computer for robotic arm path.
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, system in kind according to devices such as power tower bar, electric wire, vacuum circuit breaker, isolation switch, arresters 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 are known Other model, for example, spanner etc., working scene three-dimensional virtual scene is built for hot line robot automatically, 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 tracking operative goals.
Angle, angular speed and the angular acceleration data of main manipulator are obtained, angle, angular speed and the angle for obtaining mechanical arm add 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, operating personnel 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 operating environment Judgement to position is more accurate, and is not in visual dead angle.Therefore, operating personnel carry out operation by 3D dummy activities scene Monitoring, performance accuracy is higher, can prevent collision from occurring, and improves security.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 implementation method, 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 amount of exercise 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 hands Complete livewire work.In view of flexibility, 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 Can remotely shake operation 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.
It is virtual according to number of images and depth image structure 3D by the second industrial computer if selection manually remotely shakes operation Working scene simultaneously send display to show, operating personnel is manual by main operation by 3D dummy activity scene monitoring operating process 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 each joint of main manipulator as each joint angle of mechanical arm The desired value of degree is sent to the first industrial computer, and the first industrial computer is respectively closed according to angle desired value by servomotor controller tool arm The motion of section, has completed livewire work.
If selection 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 the first industrial computer, the first industrial computer calculates the angle that each joint of mechanical arm needs to rotate Data, by the motion in each joint of servomotor controller tool arm, have completed band as the desired value of each joint angles of mechanical arm Electric operation.
The process detected to vacuum circuit breaker using above-mentioned hot line robot is:
First, the preparatory stage
The operation that staff carries out hot line robot detection vacuum circuit breaker prepares, and checks meteorological condition, verification Shaft tower number, safety barrier, working signal and related warning mark are set in working site.Using Insulation Resistance Tester to To insulating tool carry out surface insulation resistance detection, 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 power line and barrier, it is to avoid is parked on raceway groove cover plate, insulate The supporting leg of bucket arm vehicle 1 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. Operating personnel are according to the real scene image shown on display, operation operation rocking bar control telescopic arm 3, by robot in control room 2 Platform 4 is moved near job position.The reality that operating personnel return according to binocular camera on mechanical arm 45 in control room 2 Scape image is marked to the electrical body in job area in 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 the end of second mechanical arm 44, and insulation masking material is clamped with clamping device Electrical body to marking carries out insulation masking.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 move to the top of mechanical arm tool box special 47, and change the outfit Partial discharge detector 107th, electronics ultraviolet crack inspection instrument 131 and thermal infrared imager 106, first mechanical arm 43 and second mechanical arm 44 and auxiliary machine Tool arm 42 drives Partial discharge detector 107, electronics ultraviolet crack inspection instrument 131 and thermal infrared imager 106 in vacuum to be detected Breaker 130 is moved about;The shelf depreciation situation of vacuum circuit breaker 130 can be obtained by Partial discharge detector 107, electricity Sub- ultraviolet crack inspection instrument 131 can obtain the ultraviolet crack inspection figure of tested vacuum circuit breaker 120, can by thermal infrared imager 106 To obtain vacuum circuit breaker Infrared Thermogram;Partial discharge detector 107, electronics ultraviolet crack inspection instrument 131 and infrared thermal imagery Above-mentioned detection data is sent to instrument 106 data processing and the control system of hot line robot in real time by communication system, For example it is returned to the second industrial computer on robot platform 4 the first industrial computer 48 or control room 2.Data processing and control Infrared Thermogram and ultraviolet crack inspection figure can also be sent display to show by system.These are detected number by data processing with control system Contrasted according to regime values in database, to judge the working condition of vacuum circuit breaker, so as to form detection and analysis report. Infrared Thermogram is mainly checked no defective under the working condition of vacuum circuit breaker 130;Ultraviolet crack inspection figure mainly checks that vacuum is broken The working condition lower surface shelf depreciation of road device 130 and phenomenon of deteriorating;Partial Discharge Detection situation mainly checks vacuum circuit breaker 130 It is no under working condition to have Insulation Problems.
For the accuracy of detection, vacuum circuit breaker can be implemented twice or repeated detection, for example:The data processing With control system after shelf depreciation situation, ultraviolet crack inspection figure and vacuum circuit breaker Infrared Thermogram is obtained, according to correlation Index value and the result of regime values contrast in database, first carry out initial analysis;For corresponding to abnormal index numerical value Test point, first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 carry corresponding testing equipment and are detected again; Data processing, according to the index of correlation numerical value for obtaining again, judges the working condition of vacuum circuit breaker with control system.
After detection is finished, first mechanical arm 43 moves to the top of 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 mark electrical body Masking is removed.
The inventive method can be in the case where not powered off, and the controllers in operating room are grasped by controlling isomorphism mechanical arm The mechanical arm for making hot line robot carries out live detection to vacuum circuit breaker, it is to avoid operating personnel is in live high voltage circuit The danger that neighbouring operation brings, job step is simplified relative to artificial live detection operation.Various specialty detections are carried to pass Sensor, testing result is accurate relative to manual detection more science.
The present invention carries out the on-line checking of vacuum circuit breaker using hot line robot, largely avoids circuit The negative effect that power failure brings, is greatly reduced power off time, improves power supply reliability, alleviates electricity consumption and complains contradiction.
The present invention carries out detection operation using hot line robot instead of people, compared to the detection method of distant surveillance With more abundant function;Compared to need closely insulating glove operation vacuum circuit breaker detection method can from consider Burning and Danger Electric shock risk, falling from high altitude problem to human body when electric arc is produced, the operation intensity artificial mistake of big appearance is not had more Situation, substantially increases the security in operation process by mistake, and the generation of accident can be reduced to a certain extent.

Claims (8)

1. a kind of hot line robot vacuum circuit breaker detection method, it is characterised in that hot line robot has and sets 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, electronics ultraviolet Defectoscope and thermal infrared imager, and Partial discharge detector, electronics ultraviolet crack inspection instrument and thermal infrared imager are driven true Empty proximity to circuit breakers movement, the shelf depreciation situation of vacuum circuit breaker is obtained by Partial discharge detector, ultraviolet by electronics Line defectoscope obtains the ultraviolet crack inspection figure of vacuum circuit breaker, and the infrared thermal imagery of vacuum circuit breaker is obtained by thermal infrared imager Figure;Respective detection data is passed through communication system by Partial discharge detector, electronics ultraviolet crack inspection instrument and thermal infrared imager Data processing and the control system of hot line robot are sent in real time, and data processing is sentenced with control system according to detection data The working condition of disconnected vacuum circuit breaker.
2. vacuum circuit breaker 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, and clamp insulation masking material with clamping device carries out insulation masking to the electrical body for marking; 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. vacuum circuit breaker detection method as claimed in claim 1, it is characterised in that the data processing is being obtained with control system After obtaining the detection data of Partial discharge detector, electronics ultraviolet crack inspection instrument and thermal infrared imager, according to index of correlation numerical value The result contrasted with regime values in database, first carries out initial analysis;For the test point corresponding to abnormal index numerical value, the One mechanical arm, second mechanical arm and auxiliary mechanical arm carry corresponding testing equipment and are detected again;Data processing and control System judges the working condition of vacuum circuit breaker according to the index of correlation numerical value for obtaining again.
4. vacuum circuit breaker detection method as claimed in claim 1, it is characterised in that the control data is each joint of mechanical arm The angle desired value of motion, the angle desired value is by hot line robot data processing and control system according to being arranged at insulation Each joint angles delta data of main manipulator in bucket arm vehicle is resolved and 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. vacuum circuit breaker 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 Machine Built-in Image processor, display screen and main manipulator are located in control room;The working scene image hair of the camera acquisition The second industrial computer is given, the 3D dummy activity scenes that image processor is obtained after processing working scene image, and send display Device shows.
6. vacuum circuit breaker detection method as claimed in claim 1, it is characterised in that the control data is each joint of mechanical arm The angle desired 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, the space path of each mechanical arm is cooked up using cartesian space paths planning method, Then the angle desired value that each joint of mechanical arm is moved is calculated according to space path.
7. vacuum circuit breaker detection method as claimed in claim 6, it is characterised in that the hot line robot, including it is exhausted Edge bucket arm vehicle, is mounted in the robot platform 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, the first mechanical arm, second are equipped with the first mechanical arm, second mechanical arm and auxiliary mechanical arm Mechanical arm and auxiliary mechanical arm coordinate completion livewire work, wherein, auxiliary mechanical arm is used for clamping operation object, first mechanical arm With second mechanical arm Job Operations are carried out using power tool;
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 and manipulating object that are obtained after treatment, the second industrial computer according to the relative position relation with And the action sequence corresponding to specific 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 vacuum circuit breaker detection method as described in claim 1 to 7, it is characterised in that the mechanical arm or main manipulator It is mechanism in six degree of freedom, including pedestal, the rotation 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 is closed Section, wrist joint is 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 spending each joint in mechanism, orthogonal rotary encoder is used for The angle-data in each joint is gathered, servo drive motor is used to control the motion in each joint;First industrial computer is according to mechanical arm The desired value of each joint angles, is controlled by each joint motions of mechanical arm by controlling servo drive motor.
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