CN109849017A - A kind of transformer substation robot hangs dismounting ground wire control system and control method - Google Patents
A kind of transformer substation robot hangs dismounting ground wire control system and control method Download PDFInfo
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Abstract
The invention discloses a kind of transformer substation robots to hang dismounting ground wire control system and control method, it includes host computer, and host computer is torn monitoring module open and be electrically connected with platform information acquisition module, multiple degrees of freedom work jibs module, visual identity module, ground line extension respectively；It solves automatic hanging earthing conductor device of the existing technology, mainly instructs operator to operate by the image information of camera；It is required that operator has higher technical level；And the problems such as surface personnel instructs work only by the pictorial information of the camera on manipulator, and reference information is very little, and security risk is bigger.
Description
Technical field
The invention belongs to station technology more particularly to a kind of transformer substation robot hang dismounting ground wire control system and
Control method.
Background technique
In substation equipment power failure upkeep operation, in order to guarantee that operating equipment is not charged, need to install operating equipment
It connects wires, when operation is completed, ground line is removed.Installing ground line is one of the technical measures for guaranteeing electric power safety work,
It is to work on all electrical equipments of power failure or brownout, it is necessary to which an important content of completion is protection staff
The reliable and secure measure sent a telegram here suddenly is prevented in job site, is the important guarantee of personal safety and equipment safety.In substation
In hanging earthing conductor operation, since the height of hitch point is higher, while being grounded all compared with long, sectional area is big, from great, with manpower
It is big by standard trolley operation difficulty, it is high to the physical fitness requirement of operator, and overhead hung is torn eyes to be leaned on open and is observed, and is difficult to complete
Work needs site operation personnel station to operate on double ladder or on framework sometimes, but shakes during extension, dismounting ground wire
Dynamic severity, there are biggish security risks for manual work.A kind of substation high-altitude of CN 105490193 A patent disclosure from
Dynamic hanging earthing conductor device, can tear work open from the extension that terrestrial operation is grounded line by camera, solve operator's
Safety problem, but complexity is only needed by the accurate movement that manually remote operation completes mechanical arm by the camera on manipulator
Operation, it is very little that there are reference informations, and security risk is bigger etc., it is desirable that operator has higher technical level.
At present, it would be highly desirable to a kind of mounting platform or device that can replace artificial progress ground wire hitching occur, pass through control
Job platform and corresponding mechanical device realize the identification of high-altitude route, the close control system for tearing function open with ground line extension automatically
System.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of transformer substation robot hangs dismounting ground wire monitoring system and monitoring
Method mainly instructs to grasp by the image information of camera to solve automatic hanging earthing conductor device of the existing technology
Make personnel's operation；It is required that operator has higher technical level；And surface personnel is only by manipulator
The problems such as pictorial information of camera instructs work, and reference information is very little, and security risk is bigger.
The technical scheme is that
A kind of transformer substation robot extension dismounting ground wire control system, it includes host computer, and host computer is acquired with platform information respectively
Module, multiple degrees of freedom work jibs module, visual identity module, ground line, which are hung, tears monitoring module electrical connection open.
The platform information acquisition module includes the first obliquity sensor group, the first absolute value encoder, supersonic sensing
Device group, magnetic field sensor and current sensor；The first obliquity sensor group, the first absolute value encoder group, ultrasonic wave pass
Sensor group, magnetic field sensor and current sensor are connect with host computer respectively；First absolute value encoder group is located at turn around respectively
At device, job platform rotation and at multi-degree-of-freemechanical mechanical arm rotation；Obliquity sensor group is located at hoistable platform pitching
On mechanism surface and multiple degrees of freedom work jibs upper and lower arms；Displacement sensor is draw-wire displacement sensor, and band absolute value is compiled
Code device, is located at telescopic device motor；Magnetic field sensor is located at the side of job platform；Ultrasonic sensor group is located at more
The upside of freedom degree work jibs leading portion, left and right side, laser sensor are located at the intermediate position of upper arm.
Multiple degrees of freedom work jibs module includes the second obliquity sensor, the second absolute value encoder and force snesor, difference
It is connect with host computer.
Visual identity module includes CCD camera, and CCD camera and host computer are wirelessly connected；It is mounted on work jibs gripper side
Face.
It includes infrared sensor, close to switch, limit switch and pressure sensor that ground line, which is hung and tears monitoring module open, described red
Outer sensor is parallelly mounted to ground line and hangs dismantling device line inlet both ends, for detecting target line centering situation；It is close to open
Pass, which is installed on, to hang in dismantling device line inlet, for detecting whether target line enters；Limit switch is installed on ground line extension and tears open
Between the mobile clamping plate of device and strap；Pressure sensor be installed on target line contact point, judge ground line hang whether
Reliably.
A kind of transformer substation robot hangs the control method of dismounting ground wire control system, it includes:
Step 1 carries out data classification from different operation heights for different voltage class, and driving mobile platform is to suitably
Job position, driving hoistable platform reach the corresponding operation height of the voltage class, each sensor are kept to transport in lifting process
Row, host computer persistently obtain elevating mechanism pitch angle, telescopic device tip displacement distance and rotating device rotation by optical fiber
Gyration reaches specified altitude assignment and starts end image collecting function；
Step 2, end image collecting function grab the realization of side binocular CCD camera by being set to robotic, pass through wireless WIFI
To host computer send ambient image, enable host computer to obtain aerial work information, by image procossing to high-altitude route into
Row identification and ranging are made by wireless WIFI to multiple degrees of freedom after obtaining the spatial position of target line with automatic or remote control mode
Industry arm controller issues control command and ground line is made to hang dismantling device close to target line, and it is logical that ground line hangs dismantling device monitoring module
It crosses the infrared sensor information that wireless WIFI is returned and judges target line centering situation, pass through wireless WIFI after the completion of confirmation centering
Control command driving multiple degrees of freedom work jibs are issued to multiple degrees of freedom operation arm controller to act so that target line is by being grounded
It hangs dismounting posting port and enters device clamp mouth, judge whether target line enters clamp mouth by the information returned close to switch,
Driving ground line, which hangs motor at the mobile clamping plate screw rod of dismantling device, to be kept mobile clamping plate mobile to strap and clamps target line
In clamp mouth, clamping degree situation is returned to by force snesor, is controlled finally by wireless WIFI to multiple degrees of freedom work jibs
Device issues control command and gripper is made to unclamp ground line extension dismantling device, completes the mounting of ground line.
The invention has the advantages that:
(1) transformer substation robot of the present invention hangs dismounting ground wire control system automatically, and manpower can be replaced to hang the operation of dismounting ground wire,
The activity duration is greatly shortened, operational security and reliability are improved；
(2) present invention use multi-sensor fusion technology, be grounded line hang tear open be automatically brought into operation, improve ground line hang tears operation open
Automation and intelligent level；
(3) earth wire of the present invention hangs dismantling device clamp position process real time on-line monitoring, is grounded wire clamp line mouth and falls off report
It is alert, it automatically records ground line installing, remove the time, guarantee that the safety of other work carries out.
It solves automatic hanging earthing conductor device of the existing technology, is mainly instructed by the image information of camera
Operator's operation；It is required that operator has higher technical level；And surface personnel is only by manipulator
The pictorial information of camera instruct work, the problems such as reference information is very little, and security risk is bigger.
Detailed description of the invention
Fig. 1 is control system overall schematic of the present invention；
Fig. 2 is control system composition schematic diagram of the present invention；
Fig. 3 is the method for the present invention flow diagram.
Specific embodiment
Transformer substation robot of the present invention hangs dismounting ground wire control system, and with reference to Fig. 1, the transformer substation robot of the present embodiment is hung
Dismounting ground wire control system mainly includes with lower component:
Mobile platform, hoistable platform, job platform, multiple degrees of freedom work jibs, ground line hang dismantling device, image collecting device；
The transformer substation robot of the present embodiment hangs dismounting ground wire control system, specifically includes for the walking operations in substation
Mobile platform is used for installation exercise tool, the job platform that can be rotated is used for for adjusting the hoistable platform of operation height
Clamping ground line hangs the multiple degrees of freedom work jibs of dismantling device and the ground line for clamping target line hangs dismantling device；
The mobile platform uses crawler-type mobile chassis structure, by chassis, track frame, left and right running motor, driving wheel, holds
Roller, crawler belt, tension buffer device and four hydraulic legs of two sides composition, can realize Various Complex road in substation
Condition accessible motion；
The hoistable platform is using folding retractable mixing lifting, mainly by principal arm, upper arm, telescopic arm and chain telescopic device etc.
Composition；
Multiple degrees of freedom work jibs module include the second obliquity sensor, the second absolute value encoder and force snesor, respectively with it is upper
Position machine connection.
It is equipped with platform information acquisition module in the mobile platform and hoistable platform, in multiple degrees of freedom work jibs end
Gripper side is equipped with visual identity module, hangs to hang on dismantling device equipped with ground line in the ground line and tears monitoring module open, described
Mobile platform, hoistable platform and multiple degrees of freedom work jibs are equipped with driving device.
Described image acquisition device and ground line hang tear open monitoring module pass through wireless WIFI realize it is logical with host computer
Letter, the motion module and platform information acquisition module are communicated with controller by serial ports realization.
Platform information acquisition module include the first obliquity sensor group, the first absolute value encoder, ultrasonic sensor group,
Magnetic field sensor and current sensor；The first obliquity sensor group, the first absolute value encoder group, ultrasonic sensor
Group, magnetic field sensor and current sensor are connect with host computer wherein respectively, and the platform information acquisition module includes being used for
The horizontal ruler of record mobile platform horizontality, first for recording hoistable platform slewing equipment and job platform activity point of view
Absolute value encoder group, the first obliquity sensor group for measuring each joint pitch angle of hoistable platform are gone up and down for measuring
The displacement sensor of mounted platform telescoping device distance of stretch out and draw back and for guarantee platform insulation safety, for measuring each turning joint and band
The magnetic field sensor and current sensor of distance between electric equipment；
First absolute value encoder group is located at turn around device, at job platform rotation and at multi-degree-of-freemechanical mechanical arm rotation；
The first obliquity sensor group is located on hoistable platform luffing mechanism surface and multiple degrees of freedom work jibs upper and lower arms；
Institute's displacement sensors are draw-wire displacement sensor, and band absolute value encoder is located at telescopic device motor；
The magnetic field sensor is located at the side of job platform, and ultrasonic sensor is located at the upper of multiple degrees of freedom work jibs leading portion
Side, left and right side, laser sensor are located at the intermediate position of upper arm.
The sensor is exported by RS485, is turned optical fiber by converter and is sent into host computer.
The visual identity module is image collecting device, grabs side binocular CCD camera reality by being set to robotic
It is existing, ambient image is sent to host computer by wireless WIFI, host computer is enabled to obtain the aerial work within the scope of certain distance
Industry information carries out identification and ranging to high-altitude route by image procossing, obtain behind the spatial position of target line with automatic or
Remote control mode by wireless WIFI to multiple degrees of freedom operation arm controller issue control command make ground line hang dismantling device close to
Target line.
It includes infrared sensor, close to switch, limit switch and pressure sensor that ground line, which is hung and tears monitoring module open, described red
Outer sensor is parallelly mounted to ground line and hangs dismantling device line inlet both ends, for detecting target line centering situation；It is close to open
Pass, which is installed on, to hang in dismantling device line inlet, for detecting whether target line enters；Limit switch is installed on ground line extension and tears open
Between the mobile clamping plate of device and strap；Pressure sensor be installed on target line contact point, judge ground line hang whether
Reliably.
Above-mentioned ground line is hung each sensor of dismantling device monitoring module and is connect by intelligent wireless digital transmission unit with host computer
Receiving apparatus realizes data transmission；
Drive dynamic control device, including mobile platform mobile mechanism motor drive module, hoistable platform slewing equipment drive module, liter
Mounted platform telescoping device drive module, hoistable platform elevation mount drive module, each link drive module of multiple degrees of freedom work jibs drop
And ground line hangs the mobile clamping plate drive module of dismantling device；
The control method of dismounting ground wire control system is hung by a kind of robot, comprising:
Data classification, driving mobile platform to suitable operation position are carried out from different operation heights for different voltage class
It sets, driving hoistable platform reaches the corresponding operation height of the voltage class, and each sensor is kept to run in lifting process, upper
Machine persistently obtains elevating mechanism pitch angle, telescopic device tip displacement distance and rotating device by optical fiber and rotates angle.
It reaches specified altitude assignment and starts end image collecting function.
The acquisition function of the end image grabs the realization of side binocular CCD camera by being set to robotic, by wireless
WIFI sends ambient image to host computer, enables host computer to obtain the aerial work information within the scope of certain distance, passes through
Image procossing carries out identification and ranging to high-altitude route, is passed through after obtaining the spatial position of target line with automatic or remote control mode
Wireless WIFI issues control command to multiple degrees of freedom operation arm controller and ground line is made to hang dismantling device close to target line, ground connection
Line hangs the infrared sensor information that dismantling device monitoring module is returned by wireless WIFI and judges target line centering situation, confirmation pair
In after the completion of by wireless WIFI to multiple degrees of freedom operation arm controller issue control command drive multiple degrees of freedom work jibs act
So that target line, which hangs dismounting posting port by ground line, enters device clamp mouth, target is judged by the information returned close to switch
Whether route enters clamp mouth, and driving ground line, which hangs motor at the mobile clamping plate screw rod of dismantling device, moves mobile clamping plate to strap
It is dynamic and target line is clamped in clamp mouth, clamping degree situation is returned to by force snesor, finally by wireless WIFI to
Multiple degrees of freedom operation arm controller issues control command and gripper is made to unclamp ground line extension dismantling device, completes the extension of ground line
It connects.
Claims (6)
1. a kind of transformer substation robot hangs dismounting ground wire control system, it includes host computer, it is characterised in that: host computer respectively with
Platform information acquisition module, multiple degrees of freedom work jibs module, visual identity module, ground line, which are hung, tears monitoring module electrical connection open.
2. a kind of transformer substation robot according to claim 1 hangs dismounting ground wire control system, it is characterised in that: described flat
Station information acquisition module includes the first obliquity sensor group, the first absolute value encoder, ultrasonic sensor group, magnetic field sensor
And current sensor；The first obliquity sensor group, the first absolute value encoder group, ultrasonic sensor group, magnetic field sensing
Device and current sensor are connect with host computer respectively；First absolute value encoder group is located at turn around device, job platform rotation respectively
Turn at place and multi-degree-of-freemechanical mechanical arm rotation；Obliquity sensor group be located at hoistable platform luffing mechanism surface and mostly freely
It spends in work jibs upper and lower arms；Displacement sensor is draw-wire displacement sensor, and band absolute value encoder is located at telescopic device
At motor；Magnetic field sensor is located at the side of job platform；Ultrasonic sensor group is located at multiple degrees of freedom work jibs leading portion
Upside, left and right side, laser sensor is located at the intermediate position of upper arm.
3. a kind of transformer substation robot according to claim 1 hangs dismounting ground wire control system, it is characterised in that: mostly freely
Spending work jibs module includes the second obliquity sensor, the second absolute value encoder and force snesor, is connect respectively with host computer.
4. a kind of transformer substation robot according to claim 1 hangs dismounting ground wire control system, it is characterised in that: vision is known
Other module includes CCD camera, and CCD camera and host computer are wirelessly connected；It is mounted on work jibs gripper side.
5. a kind of transformer substation robot according to claim 1 hangs dismounting ground wire control system, it is characterised in that: ground line
It includes that infrared sensor, close switch, limit switch and pressure sensor, the infrared sensor are pacified in parallel that extension, which tears monitoring module open,
Dismantling device line inlet both ends are hung loaded on ground line, for detecting target line centering situation；Extension dismounting is installed on close to switch
It sets in line inlet, for detecting whether target line enters；Limit switch be installed on ground line hang the mobile clamping plate of dismantling device with
Between strap；Pressure sensor be installed on target line contact point, judge whether ground line is hung reliable.
6. a kind of transformer substation robot as described in claim 1 hangs the control method of dismounting ground wire control system, it includes:
Step 1 carries out data classification from different operation heights for different voltage class, and driving mobile platform is to suitably
Job position, driving hoistable platform reach the corresponding operation height of the voltage class, each sensor are kept to transport in lifting process
Row, host computer persistently obtain elevating mechanism pitch angle, telescopic device tip displacement distance and rotating device rotation by optical fiber
Gyration reaches specified altitude assignment and starts end image collecting function；
Step 2, end image collecting function grab the realization of side binocular CCD camera by being set to robotic, pass through wireless WIFI
To host computer send ambient image, enable host computer to obtain aerial work information, by image procossing to high-altitude route into
Row identification and ranging are made by wireless WIFI to multiple degrees of freedom after obtaining the spatial position of target line with automatic or remote control mode
Industry arm controller issues control command and ground line is made to hang dismantling device close to target line, and it is logical that ground line hangs dismantling device monitoring module
It crosses the infrared sensor information that wireless WIFI is returned and judges target line centering situation, pass through wireless WIFI after the completion of confirmation centering
Control command driving multiple degrees of freedom work jibs are issued to multiple degrees of freedom operation arm controller to act so that target line is by being grounded
It hangs dismounting posting port and enters device clamp mouth, judge whether target line enters clamp mouth by the information returned close to switch,
Driving ground line, which hangs motor at the mobile clamping plate screw rod of dismantling device, to be kept mobile clamping plate mobile to strap and clamps target line
In clamp mouth, clamping degree situation is returned to by force snesor, is controlled finally by wireless WIFI to multiple degrees of freedom work jibs
Device issues control command and gripper is made to unclamp ground line extension dismantling device, completes the mounting of ground line.
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Cited By (8)
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| CN110509280A (en) * | 2019-09-11 | 2019-11-29 | 哈尔滨工程大学 | A kind of multi-freedom parallel connection crawl robot control system and its control method |
| CN112467422A (en) * | 2020-11-20 | 2021-03-09 | 山东建筑大学 | Multi-degree-of-freedom remote control type ground wire hanging and dismounting device |
| CN112975974A (en) * | 2021-03-02 | 2021-06-18 | 上海雅跃智能科技有限公司 | BIM-based intelligent monitoring robot system and control method |
| CN113725763A (en) * | 2021-09-01 | 2021-11-30 | 国网江苏省电力有限公司扬州供电分公司 | Intelligent operation and maintenance auxiliary system for hanging grounding wire and working method thereof |
| CN113752274A (en) * | 2021-09-13 | 2021-12-07 | 广西电网有限责任公司电力科学研究院 | High-voltage safety auxiliary ground wire dismounting robot system |
| CN114530790A (en) * | 2022-01-12 | 2022-05-24 | 衢州光明电力工程有限公司带电作业分公司 | Vertical double-loop branch lapping operation control method for operating robot |
| CN114709636A (en) * | 2022-04-06 | 2022-07-05 | 国网江苏省电力有限公司扬州供电分公司 | Transformer substation is with automatic robot device who installs and removes earth connection |
| CN115026837A (en) * | 2022-07-25 | 2022-09-09 | 武汉科技大学 | High-altitude operation robot and remote control method and remote control system thereof |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509280A (en) * | 2019-09-11 | 2019-11-29 | 哈尔滨工程大学 | A kind of multi-freedom parallel connection crawl robot control system and its control method |
| CN112467422A (en) * | 2020-11-20 | 2021-03-09 | 山东建筑大学 | Multi-degree-of-freedom remote control type ground wire hanging and dismounting device |
| CN112975974A (en) * | 2021-03-02 | 2021-06-18 | 上海雅跃智能科技有限公司 | BIM-based intelligent monitoring robot system and control method |
| CN113725763A (en) * | 2021-09-01 | 2021-11-30 | 国网江苏省电力有限公司扬州供电分公司 | Intelligent operation and maintenance auxiliary system for hanging grounding wire and working method thereof |
| CN113752274A (en) * | 2021-09-13 | 2021-12-07 | 广西电网有限责任公司电力科学研究院 | High-voltage safety auxiliary ground wire dismounting robot system |
| CN114530790A (en) * | 2022-01-12 | 2022-05-24 | 衢州光明电力工程有限公司带电作业分公司 | Vertical double-loop branch lapping operation control method for operating robot |
| CN114530790B (en) * | 2022-01-12 | 2023-12-15 | 衢州光明电力工程有限公司带电作业分公司 | Vertical double-loop branch line lap joint operation control method of operation robot |
| CN114709636A (en) * | 2022-04-06 | 2022-07-05 | 国网江苏省电力有限公司扬州供电分公司 | Transformer substation is with automatic robot device who installs and removes earth connection |
| CN114709636B (en) * | 2022-04-06 | 2023-12-19 | 国网江苏省电力有限公司扬州供电分公司 | Robot device for automatically assembling and disassembling grounding wire for transformer substation |
| CN115026837A (en) * | 2022-07-25 | 2022-09-09 | 武汉科技大学 | High-altitude operation robot and remote control method and remote control system thereof |
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