CN108362983A - Substation areas of transformer station shelf depreciation space intelligent positioning device and method - Google Patents
Substation areas of transformer station shelf depreciation space intelligent positioning device and method Download PDFInfo
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- CN108362983A CN108362983A CN201810127914.2A CN201810127914A CN108362983A CN 108362983 A CN108362983 A CN 108362983A CN 201810127914 A CN201810127914 A CN 201810127914A CN 108362983 A CN108362983 A CN 108362983A
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- uhf antenna
- mechanical arm
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- transformer station
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1227—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials
Abstract
The invention discloses a kind of substation areas of transformer station shelf depreciation space intelligent positioning devices and method that belong to substation areas of transformer station Partial Discharge Detecting Technology field.UHF antenna group, Rotatable mechanism and the robot platform that the device is made of mechanical arm, four linking arms and four UHF antenna；Wherein, mechanical arm is fixed on by Rotatable mechanism on robot platform, and the linking arm of UHF antenna group is fixed on mechanical arm top by universal joint group, and can be unfolded in the form of an array；UHF antenna is placed in the strongest angle of ultrahigh-frequency signal by the UHF antenna being unfolded in the form of an array, for coordinating shelf depreciation point location of the robot platform to electrical equipment；Make mechanical arm, the UHF antenna group state initialization of device first, rotating mechanical arm, it finds and is in the strongest azimuth of signal and pitch angle, it is rotated to by four linking arms and UHF antenna is unfolded in the form of an array, the present invention solves the problems, such as substation areas of transformer station shelf depreciation space orientation inspection.
Description
Technical field
The invention belongs to substation areas of transformer station Partial Discharge Detecting Technology field, more particularly to a kind of substation areas of transformer station is locally put
Electric space intelligent positioning device and method.
Background technology
Substation contains numerous power transmission and transformation electrical equipments, once breaking down, can lead to power grid accident and extensive
Have a power failure, huge negative effect is brought to national economy and social stability.To ensure the safe and stable operation of electrical equipment, need
Substation Electric Equipment partial discharge position is found in time, is often used the shelf depreciation positioning system pair based on superfrequency method at present
Apparatus local discharge position is positioned.But shelf depreciation positioning method at this stage is not yet intelligently applied to substation
It stands in the inspection of domain, therefore detection speed is low, inefficient, seriously restricts the inspection work in substation.Therefore research and design
It is a set of to be matched with robot platform, realize the device and its positioning strategy of the autonomous inspection positioning of shelf depreciation in station for carrying
The efficiency of the Supreme People's Procuratorate's examining system is of great significance.
Recent domestic has carried out extensive research for shelf depreciation positioning in substation.Document《Substation's whole station
The development of equipment fault early-warning system》(high million beautiful etc.) and document《Local discharge of electrical equipment based on the detection of spatial electromagnetic wave
Positioning system》(Korea Spro deposits) is all by the fixed Partial Discharge Detection and positioning system on people's control vehicle-mounted formula mobile platform
Shelf depreciation positioning is carried out, the positioning system in document is difference lies in the present invention with the present invention can be certainly based on robot platform
Main, comprehensive, uninterrupted inspection, while the mechanical arm of device and linking arm reach positioning dress by the form of rotatable stretching, extension
Small target is set, to meet the requirement in substation to safe spacing.
In Chinese patent CN107171247A, Liu Ronghai's etc.《A kind of shelf depreciation crusing robot》In pass through locomotive
The Partial Discharge Detection probe for moving horizontally platform and being arranged on moving horizontally platform at the top of lifting arm and lifting arm on body
Realize the detection of shelf depreciation.In patent CN105717432A, field is beautiful equal《Shelf depreciation positioning device and method》Involved in
The fixed link being fixed on fixing bracket is determined by the perpendicular bisector intersection point that two directional aerials at fixed link both ends measure twice
Partial discharge position.In patent CN105445634A, Wang Wei's etc.《A kind of sterically defined device and method of shelf depreciation》In
By four antennas in plane to point of discharge coarse localization, after rearranging antenna, point of discharge is accurately positioned,
In conclusion the positioning device to the array format of sensor and array and mode method are goed deep at this stage
Research, but determined at present by adjusting the azimuth of mechanical arm and pitch angle by moveable platforms such as robots there is no a set of
The catch position of local discharge signal, and UHF antenna is unfolded in the form of an array in this position control linking arm, realize station
The sterically defined device of domain shelf depreciation and its strategy realize efficiently uninterrupted inspection in substation.
Invention content
The object of the present invention is to provide a kind of substation areas of transformer station shelf depreciation space intelligent positioning device and methods, special
Sign is that the substation areas of transformer station shelf depreciation space intelligent positioning device includes：It is mechanical arm, UHF antenna group, rotatable
Mechanism and robot platform；Wherein, mechanical arm is fixed on by Rotatable mechanism on robot platform, the company of UHF antenna group
It connects arm and mechanical arm top is fixed on by universal joint group, and be unfolded in the form of an array；The superfrequency day being unfolded in the form of an array
UHF antenna is placed in the strongest angle of ultrahigh-frequency signal by line, for coordinating shelf depreciation of the robot platform to electrical equipment
Point location；The UHF antenna group is connected and composed by linking arm and UHF antenna；It is described by Universal rotary bearing and fixation
Seat composition.
The Rotatable mechanism make mechanical arm using robot platform direction of advance as starting point to Devices to test side from
180 ° of rotation.
The Rotatable mechanism can make mechanical arm in vertical plane from vertical direction to the level of the electrical equipment other side
Direction rotates 0-90 °.
The UHF antenna group includes first to fourth linking arm and first to fourth UHF antenna；Described first to
One end of 4th linking arm is connect with first to fourth UHF antenna respectively, the other end of first to fourth linking arm respectively with
The correspondence universal joint on mechanical arm top connects；Therefore first to fourth UHF antenna can be upward, downward in vertical direction
Rotation.
Second linking arm can be upward from the side close to the mechanical arm around the tie point with the mechanical arm top
It rotates to and is in collinear top position with the mechanical arm, first linking arm and the 4th linking arm can be around institutes
The tie point for stating mechanical arm top is rotated upwardly to from the side close to the mechanical arm in the plane vertical with the mechanical arm
In line；And respectively constitute " ⊥ " shape with the second linking arm and third linking arm.
When the UHF antenna group is located at initial position, first UHF antenna, the second UHF antenna and
Towards the direction of advance of robot platform, the signal of the third UHF antenna receives the signal receiving plane of four UHF antenna
Face is vertical with first UHF antenna, the second UHF antenna and the signal receiving plane of the 4th UHF antenna and upward,
After four linking arms in the UHF antenna group are rotated into array structure, first UHF antenna, the second spy
The signal receiving plane of high frequency antenna, third UHF antenna and the 4th UHF antenna is mutually parallel.
A kind of localization method of substation areas of transformer station shelf depreciation space intelligent positioning device, which is characterized in that using arrangement
Positioning device on robot platform makes the mechanical arm of device rotate 0-180 ° in the horizontal direction first, to find signal most
Letter after azimuth determines, after mechanical arm is rotated by 90 ° from the top down in the vertical plane that azimuth determines, is found in strong azimuth
Number strongest pitch angle after mechanical arm rotates to the strongest azimuth of signal and pitch angle, is rotated to solid by four linking arms
Positioning is set, and achievees the purpose that UHF antenna to be unfolded in the form of an array to position apparatus local discharge position in the position, tool
Body includes：
(1) mechanical arm, UHF antenna group state initialization；Adjust first connection of the UHF antenna group
Arm, the second linking arm, third linking arm and the 4th linking arm are rotated downwardly to the position close with the mechanical arm；Described in adjustment
The state of mechanical arm is vertical with robot platform upper surface, adjusts the azimuth of the mechanical arm and makes first linking arm end
The first UHF antenna signal receiving plane towards the direction of advance of robot platform, i.e. robot platform is towards electrical equipment
Direction；
(2) control machinery arm rotates to the strongest azimuth of signal in horizontal plane；The mechanical arm is in the rotatable knot
180 ° are rotated from robot platform direction of advance to electrical equipment side, while under the drive of structure using being fixed on described the
First UHF antenna of one linking arm lower end acquires signal, and the intensity of real-time ultrahigh-frequency signal and corresponding rotation
Angle is preserved by two-dimensional array；The mechanical arm is rotated under the drive of the rotary structure using itself as rotary shaft
To azimuthal angle corresponding to ultrahigh-frequency signal most strength；
(3) control machinery arm rotates to the strongest pitch angle of signal in vertical plane and controls UHF antenna group with array shape
Formula is unfolded；The mechanical arm is from the position vertical with robot platform to electrical equipment institute under the drive of the rotary structure
It is rotated by 90 ° in the horizontal position of the other side, while utilizing first superfrequency day for being fixed on first linking arm lower end
Line acquires signal, while the intensity of real-time ultrahigh-frequency signal being preserved with corresponding angle by two-dimensional array；The machine
Tool arm rotates to the pitch angle corresponding to ultrahigh-frequency signal most strength under the drive of the rotary structure in vertical plane
Angle, four linking arms of the UHF antenna group rotate to the shape for making four UHF antenna be launched into array
Formula；
(4) local discharge of electrical equipment position three dimensional space coordinate is calculated；By the mechanical arm brachium, the mechanical arm rotation
Turn azimuth, pitch angle calculate coordinate of the mechanical arm top in robot platform three-dimensional coordinate system；By the machine
The coordinate on tool arm top calculates in the UHF antenna group each UHF antenna in robot platform three dimensional space coordinate
Coordinate in system；The local discharge of electrical equipment position is calculated in robot by the three dimensional space coordinate of the UHF antenna
Coordinate in platform three-dimensional coordinate system；By local discharge of electrical equipment position in robot platform three-dimensional coordinate system
Coordinate transformation to the three-dimensional coordinate system of substation areas of transformer station in.
The beneficial effects of the invention are as follows realize based on robot platform to the real-time, quick, efficient of on-site electrical equipment
Partial discharge position detection is carried out, and then solves and not yet realizes that the autonomous inspection of substation areas of transformer station shelf depreciation is fixed by robot platform
The problem of position.
Description of the drawings
Fig. 1 is the schematic diagram of substation areas of transformer station shelf depreciation space positioning apparatus structure.
Fig. 2 is the schematic diagram of substation areas of transformer station shelf depreciation space positioning apparatus after the expansion of UHF antenna group.
Fig. 3 is the positioning flow schematic diagram of substation areas of transformer station shelf depreciation space positioning apparatus.
Specific implementation mode
The present invention provides a kind of substation areas of transformer station shelf depreciation space intelligent positioning device and methods, with reference to implementation
The present invention is clearly and completely described in example and attached drawing.
Embodiment 1
Fig. 1, Fig. 2 are a kind of substation areas of transformer station substation areas of transformer station shelf depreciation of shelf depreciation space intelligent positioning device spaces
The schematic diagram of intelligent positioner.
Device includes as depicted in figs. 1 and 2：Mechanical arm, UHF antenna group, Rotatable mechanism and robot platform；Its
In, mechanical arm 10 is fixed on robot platform 13 by the Rotatable mechanism being made of Universal rotary bearing 11 and fixed seat 12
On, UHF antenna group include the first linking arm 5 one end and the first UHF antenna 1 connection, the second linking arm 6 one end and
Second UHF antenna 2 connection, one end of third linking arm 7 and third UHF antenna 3 connection, the 4th linking arm 8 one end
It is connected with the 4th UHF antenna 4；The other end of first to fourth linking arm Universal connector corresponding with 10 top of mechanical arm respectively
First 9 connection；Therefore first to fourth UHF antenna can vertical direction upwards, rotate down.The UHF antenna group
Linking arm mechanical arm top is fixed on by universal joint group, and be unfolded in the form of an array；That is unfolded in the form of an array is extra-high
UHF antenna is placed in the strongest azimuthal angle of ultrahigh-frequency signal by frequency antenna, for coordinating robot platform to electrically setting
Standby shelf depreciation point location.Therefore the Rotatable mechanism makes mechanical arm 10 in the horizontal plane with 13 side of advance of robot platform
To being starting point to 0-180 ° of side spinning where Devices to test；And can make mechanical arm 10 in vertical plane from vertical direction to
The electrical equipment other side rotates 0-90 °.
The UHF antenna being unfolded in the form of an array as shown in Figure 2, first linking arm 5 can around with the mechanical arm
The universal joint 9 on 10 tops close to the side of mechanical arm 10 from being rotated upwardly to and being in collinear with the mechanical arm 10
Orientation is set, and first linking arm 5 and the 4th linking arm 8 can be around the connections of the universal joint 9 on 10 top of the mechanical arm
Point is rotated upwardly in the plane vertical with mechanical arm in line from the side close to mechanical arm；And with the second linking arm 6 and
Third linking arm 7 respectively constitutes " ⊥ " shape.
When the UHF antenna group is located at initial position, the first UHF antenna 1, the second UHF antenna 2 and the 4th
The signal receiving plane of UHF antenna 4 is parallel with the direction of advance of robot platform 13；The signal of third UHF antenna 3 receives
Face is vertical with the first UHF antenna 1, the second UHF antenna 2 and the signal receiving plane of the 4th UHF antenna 4 and upward；Institute
State after four in UHF antenna group linking arms are rotated into array structure, the first UHF antenna 1, the second UHF antenna 2,
The signal receiving plane of third UHF antenna 3 and the 4th UHF antenna 4 is mutually parallel.
After the mechanical arm and the expansion of UHF antenna group, the height of whole device meets substation and is wanted to height limitation
It asks, whole device meets requirement of the substation to minimum spacing at a distance from equipment.
Embodiment 2
Fig. 3 show the positioning flow schematic diagram of substation areas of transformer station shelf depreciation space positioning apparatus.The flow illustrates
The step of can be carried out by the computer system of one group of executable instruction, still, can be to be different under practical executive condition
Sequence herein executes；It is as shown in the figure that steps are as follows：
Step S101, mechanical arm and UHF antenna group state initialization；Including：Adjust UHF antenna group first connects
It connects arm 5, the second linking arm 6, third linking arm 7 and the 4th linking arm 8 and is rotated downwardly to the position close with mechanical arm 10；And it will
Mechanical arm 10 is adjusted to the state vertical with 13 upper surface of robot platform, then adjusts the azimuth of mechanical arm, makes the first connection
The signal receiving plane of first UHF antenna 1 of 5 end of arm is vertical with the direction of advance of robot platform 10, mechanical arm and extra-high
Effect after frequency antenna sets state initialization is as shown in Figure 1.
Step S102, mechanical arm rotate to the strongest azimuth of signal in horizontal plane, and the Rotatable mechanism 11 is with motivation
Tool arm 10 using itself as rotary shaft in horizontal plane from inceptive direction to 180 ° of electrical equipment side spinning so that first connects
180 ° of the 1 inswept equipment of the first UHF antenna on 5 top of arm is connect, the first UHF antenna 1 acquires signal, and real-time superfrequency
The intensity of signal is preserved with corresponding azimuthal angle by two-dimensional array；I.e. Rotatable mechanism 11 drives mechanical arm 10
Rotate to angle azimuthal corresponding to ultrahigh-frequency signal most strength in horizontal plane.
Step S103, mechanical arm rotate the strongest pitch angle of signal in vertical plane；The Rotatable mechanism 11 is with motivation
It is rotated from vertical position to 90 ° of ranges of the equipment other side in 10 vertical plane determined by azimuth of tool arm, while first is special
High frequency antenna 1 acquires signal, and the intensity of real-time ultrahigh-frequency signal is preserved down with corresponding rotation angle by two-dimensional array
Come；I.e. mechanical arm 10 rotates to the angle of the pitch angle corresponding to ultrahigh-frequency signal most strength in vertical plane.
Step S104, UHF antenna group are unfolded in the form of an array；The size of the UHF antenna array meets different
Requirement in substation for height and with equipment spacing, the form of UHF antenna array need to meet wanting for high position precision
It asks.Second linking arm 6 is around the tie point being connect with the universal joint 9 on 10 top of mechanical arm, from close to the one of mechanical arm 10
Side is rotated upwardly to is in collinear top position with mechanical arm 10；First linking arm 5, third linking arm 7 and
Four linking arms 8 are rotated up around the tie point being connect with the universal joint 9 on 10 top of mechanical arm from close to the side of mechanical arm 10
Into the plane vertical with mechanical arm 10, and 5 and the 4th linking arm 8 of postrotational first linking arm is on the same line, and with
Second linking arm 6 constitutes " ⊥ " font, and 7 and first linking arm 5 of postrotational third linking arm, the second linking arm 6 and the 4th connect
It is vertical to connect the plane that arm 8 collectively forms, and the first UHF antenna 1, the second UHF antenna 2,3 and of third UHF antenna
The signal receiving plane of 4th UHF antenna 4 is mutually parallel, and the UHF antenna group rotates to certain azimuth and pitch angle
Afterwards, the effect after array expansion is as shown in Figure 2；
Step S105 calculates local discharge of electrical equipment position three dimensional space coordinate, first by mechanical arm brachium, the machine
Azimuth that tool arm rotates to, pitch angle calculate coordinate of the mechanical arm top in robot platform three-dimensional coordinate system；
Then by the coordinate on the mechanical arm top, each UHF antenna is calculated in the UHF antenna group in robot platform
Coordinate in three-dimensional coordinate system；Then the electrical equipment part is calculated by the three dimensional space coordinate of the UHF antenna
Coordinate of the discharge position in robot platform three-dimensional coordinate system, finally by local discharge of electrical equipment position in robot
In coordinate transformation to the three-dimensional coordinate system of substation areas of transformer station in platform three-dimensional coordinate system.
In conjunction with above-mentioned steps S101-S105, such as in embodiment, it is assumed that robot platform reaches certain position in substation
Afterwards, coordinate of the robot platform (i.e. the junction of mechanical arm and Rotatable mechanism) in domain three dimensional space coordinate of standing is (x0,y0,
z0), it is assumed that the rectangular coordinate system of robot platform is using the intersection point of robot platform and mechanical arm as origin (0,0,0), robot
The direction of advance of platform is positive direction of the x-axis, and sensing equipment side is positive direction of the y-axis, is vertically upward z-axis positive direction, mechanical arm,
First linking arm, the second linking arm, third linking arm and the 4th linking arm arm lengths be all l, the azimuth of mechanical arm rotation
For α, pitch angle β.
Coordinate of the so described mechanical arm top in robot platform three-dimensional coordinate system be：
(-lsinβcosα,-lsinβsinα,lcosβ)；
Coordinate of the first antenna in robot platform three-dimensional coordinate system be：
(x1,y1,z1)=(- 2lsin β cos α, -2lsin β sin α, 2lcos β)；
Coordinate of second antenna in robot platform three-dimensional coordinate system be：
(x2,y2,z2)=(- lsin β cos α+lsin α ,-lsin β sin α-lcos α, lcos β)
Coordinate of the third antenna in robot platform three-dimensional coordinate system be：
(x3,y3,z3)=(- lsin β cos α-lsin α ,-lsin β sin α+lcos α, lcos β)
Coordinate of 4th antenna in robot platform three-dimensional coordinate system be：
(x4,y4,z4)=(- lsin β cos α-lcos β cos α ,-lsin β sin α-lcos β sin α, lcos β-lsin β)
If coordinate of the Partial Discharge Sources in robot platform three-dimensional coordinate system is (x, y, z), according to electromagnetic wave
Propagating characteristic can list equation group (1)
In formula：C=3108M/s is the light velocity, t0i(i=1,2,3,4) it is the electromagnetic transmission of Partial Discharge Sources to each biography
The time of sensor, L1-L4It is discharge source respectively to the distance of four UHF antenna；Partial Discharge Sources are obtained after (1) formula of solution to exist
Coordinate (x, y, z) in robot platform three-dimensional coordinate system.
Coordinate (x, y, the z) reduction of Partial Discharge Sources in robot platform three-dimensional coordinate system is arrived at a station domain three-dimensional space
Between result in coordinate system be：(x+x0,y+y0,z+z0), wherein (x0, y0, z0) robot platform is represented in station domain three dimensions
Coordinate in coordinate system.
Claims (7)
1. a kind of substation areas of transformer station shelf depreciation space intelligent positioning device, which is characterized in that the substation areas of transformer station is locally put
Electric space intelligent positioning device includes：Mechanical arm, UHF antenna group, Rotatable mechanism and robot platform；Wherein, mechanical arm
It is fixed on robot platform by Rotatable mechanism, the linking arm of UHF antenna group is fixed on machinery by universal joint group
Arm top, and be unfolded in the form of an array；UHF antenna is placed in ultrahigh-frequency signal by the UHF antenna being unfolded in the form of an array
Strongest angle, for coordinating shelf depreciation point location of the robot platform to electrical equipment；The UHF antenna group is by even
It connects arm and UHF antenna connects and composes；The Rotatable mechanism is made of Universal rotary bearing and fixed seat.
2. substation areas of transformer station shelf depreciation space intelligent positioning device according to claim 1, which is characterized in that described to revolve
Rotation mechanism makes mechanical arm using robot platform direction of advance be starting point to 180 ° of Devices to test side spinning.
3. substation areas of transformer station shelf depreciation space intelligent positioning device according to claim 1, which is characterized in that described to revolve
Rotation mechanism can make mechanical arm rotate 0-90 ° to the horizontal direction of electrical equipment side from vertical direction in vertical plane.
4. substation areas of transformer station shelf depreciation space intelligent positioning device according to claim 1, which is characterized in that described extra-high
Frequency antenna sets include first to fourth linking arm and first to fourth UHF antenna；One end of first to fourth linking arm
It is connect respectively with first to fourth UHF antenna, the other end of first to fourth linking arm is corresponding with mechanical arm top respectively
Universal joint connects；Therefore first to fourth UHF antenna can vertical direction upwards, rotate down.
5. substation areas of transformer station shelf depreciation space intelligent positioning device according to claim 4, which is characterized in that described second
Linking arm can be rotated upwardly to and the machinery around the tie point with the mechanical arm top from the side close to the mechanical arm
Arm is in collinear top position, and first linking arm and the 4th linking arm can be around the companies on the mechanical arm top
Contact is rotated upwardly in the plane vertical with the mechanical arm in line from the side close to the mechanical arm；And with second
Linking arm and third linking arm respectively constitute " ⊥ " shape.
6. substation areas of transformer station shelf depreciation space intelligent positioning device according to claim 1, which is characterized in that described extra-high
When frequency antenna sets are located at initial position, first UHF antenna, the second UHF antenna and the 4th UHF antenna letter
Number receiving plane is parallel with the direction of advance of robot platform, and the signal receiving plane of the third UHF antenna is special with described first
The signal receiving plane of high frequency antenna, the second UHF antenna and the 4th UHF antenna is vertical and upward, the UHF antenna
After four linking arms in group are rotated into array structure, first UHF antenna, the second UHF antenna, third are special
High frequency antenna and the signal receiving plane of the 4th UHF antenna are mutually parallel.
7. the localization method of substation areas of transformer station shelf depreciation space intelligent positioning device, feature described in a kind of claim 1 exist
In, using the positioning device being arranged on robot platform, the mechanical arm of device is made to rotate 0-180 ° in the horizontal direction first, with
The strongest azimuth of signal is found, after azimuth determines, mechanical arm rotates 0- from the top down in the vertical plane that azimuth determines
After 90 °, the strongest pitch angle of signal is found, after mechanical arm rotates to the strongest azimuth of signal and pitch angle, passes through four companies
It connects arm and rotates to fixed position, reach and in the position UHF antenna is unfolded in the form of an array to determine apparatus local discharge position
The purpose of position, specifically includes：
(1) mechanical arm, UHF antenna group state initialization；Adjust the UHF antenna group first linking arm,
Two linking arms, third linking arm and the 4th linking arm are rotated downwardly to the position close with the mechanical arm；Adjust the machinery
The state of arm is vertical with robot platform upper surface, adjusts the azimuth of the mechanical arm and makes the of first linking arm end
Direction of advance of the signal receiving plane of one UHF antenna towards robot platform；
(2) control machinery arm rotates to the strongest azimuth of signal in horizontal plane, and the mechanical arm is in the rotary structure
180 ° are rotated from robot platform direction of advance to electrical equipment side under drive, while being connected using being fixed on described first
First UHF antenna acquisition signal of arm lower end is connect, and the intensity of real-time ultrahigh-frequency signal and corresponding rotation angle
It is preserved by two-dimensional array；The mechanical arm rotates to spy under the drive of the rotary structure using itself as rotary shaft
Azimuthal angle corresponding to high-frequency signal most strength；
(3) control machinery arm rotates to the strongest pitch angle of signal in vertical plane and controls UHF antenna group and opens up in the form of an array
It opens；It is another where the mechanical arm from the position to electrical equipment vertical with robot platform under the drive of the rotary structure
The horizontal position of side is rotated by 90 °, while being adopted using first UHF antenna for being fixed on first linking arm lower end
Collect signal, while the intensity of real-time ultrahigh-frequency signal being preserved with corresponding angle by two-dimensional array；The mechanical arm
Under the drive of the rotary structure, the angle of the pitch angle corresponding to ultrahigh-frequency signal most strength is rotated in vertical plane
Degree, four linking arms of the UHF antenna group rotate to the shape for making four UHF antenna be launched into array
Formula；
(4) local discharge of electrical equipment position three dimensional space coordinate is calculated；By the mechanical arm brachium, the mechanical arm rotation
Azimuth, pitch angle calculate coordinate of the mechanical arm top in robot platform three-dimensional coordinate system；By the mechanical arm
The coordinate on top calculates in the UHF antenna group each UHF antenna in robot platform three-dimensional coordinate system
Coordinate；The local discharge of electrical equipment position is calculated in robot platform by the three dimensional space coordinate of the UHF antenna
Coordinate in three-dimensional coordinate system；By seat of the local discharge of electrical equipment position in robot platform three-dimensional coordinate system
Mark is transformed into the three-dimensional coordinate system of substation areas of transformer station.
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| CN201810127914.2A CN108362983B (en) | 2018-02-08 | 2018-02-08 | Intelligent positioning device and method for substation area partial discharge space of transformer substation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810127914.2A CN108362983B (en) | 2018-02-08 | 2018-02-08 | Intelligent positioning device and method for substation area partial discharge space of transformer substation |
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| CN108362983B CN108362983B (en) | 2020-05-26 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521336A (en) * | 2018-11-23 | 2019-03-26 | 重庆大学 | The automatic monitoring and positioning method of substation's shelf depreciation and system based on crusing robot |
| CN110108993A (en) * | 2019-05-31 | 2019-08-09 | 国网青海省电力公司检修公司 | A kind of multiband three-dimensional joint test method for power equipment shelf depreciation |
| CN110154001A (en) * | 2019-06-17 | 2019-08-23 | 清华大学 | Positioning robot |
| CN110977926A (en) * | 2019-12-06 | 2020-04-10 | 长沙理工大学 | Partial discharge positioning method, system and medium for cable tunnel inspection robot |
| CN114878994A (en) * | 2022-07-11 | 2022-08-09 | 杭州世创电子技术股份有限公司 | Partial discharge signal detection method and system based on space ultrahigh frequency sensor |
| US11513142B2 (en) * | 2017-07-20 | 2022-11-29 | State Grid Jiangxi Electric Power Company Limited Research Institute | Live detection method and apparatus for a high-voltage switch cabinet |
| CN116930665A (en) * | 2023-09-13 | 2023-10-24 | 合肥航太电物理技术有限公司 | Airplane electrostatic discharge radio frequency noise testing equipment and method |
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| US11513142B2 (en) * | 2017-07-20 | 2022-11-29 | State Grid Jiangxi Electric Power Company Limited Research Institute | Live detection method and apparatus for a high-voltage switch cabinet |
| CN109521336A (en) * | 2018-11-23 | 2019-03-26 | 重庆大学 | The automatic monitoring and positioning method of substation's shelf depreciation and system based on crusing robot |
| CN110108993A (en) * | 2019-05-31 | 2019-08-09 | 国网青海省电力公司检修公司 | A kind of multiband three-dimensional joint test method for power equipment shelf depreciation |
| CN110154001A (en) * | 2019-06-17 | 2019-08-23 | 清华大学 | Positioning robot |
| CN110977926A (en) * | 2019-12-06 | 2020-04-10 | 长沙理工大学 | Partial discharge positioning method, system and medium for cable tunnel inspection robot |
| CN114878994A (en) * | 2022-07-11 | 2022-08-09 | 杭州世创电子技术股份有限公司 | Partial discharge signal detection method and system based on space ultrahigh frequency sensor |
| CN114878994B (en) * | 2022-07-11 | 2022-09-27 | 杭州世创电子技术股份有限公司 | Partial discharge signal detection method and system based on space ultrahigh frequency sensor |
| CN116930665A (en) * | 2023-09-13 | 2023-10-24 | 合肥航太电物理技术有限公司 | Airplane electrostatic discharge radio frequency noise testing equipment and method |
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