CN110571703A - foreign matter remover and foreign matter removing method for overhead line - Google Patents

foreign matter remover and foreign matter removing method for overhead line Download PDF

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Publication number
CN110571703A
CN110571703A CN201910778204.0A CN201910778204A CN110571703A CN 110571703 A CN110571703 A CN 110571703A CN 201910778204 A CN201910778204 A CN 201910778204A CN 110571703 A CN110571703 A CN 110571703A
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CN
China
Prior art keywords
laser
foreign matter
ultrasonic sensor
overhead line
camera
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Granted
Application number
CN201910778204.0A
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Chinese (zh)
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CN110571703B (en
Inventor
罗湖
常军
张海鹏
陈亚东
袁林涛
刘宝娟
侯驰骋
姚明哲
孙延东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
Zaozhuang Power Supply Co of State Grid Shandong Electric Power Co Ltd
Original Assignee
State Grid Corp of China SGCC
Zaozhuang Power Supply Co of State Grid Shandong Electric Power Co Ltd
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Application filed by State Grid Corp of China SGCC, Zaozhuang Power Supply Co of State Grid Shandong Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201910778204.0A priority Critical patent/CN110571703B/en
Publication of CN110571703A publication Critical patent/CN110571703A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools, brushes, or analogous members
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Abstract

The invention discloses an overhead line foreign matter cleaner and a foreign matter cleaning method, wherein the overhead line foreign matter cleaner comprises a main controller, a servo turntable, a visual positioning device, a laser emission device and an ultrasonic sensor, wherein the visual positioning device, the laser emission device and the ultrasonic sensor are arranged on the servo turntable; the visual positioning device is used for positioning the position of a foreign body on an overhead line, the ultrasonic sensor is used for detecting the spacing distance between the cleaner and the foreign body on the power transmission line, the main controller is used for setting the laser emission power of the laser emission device according to the spacing distance, the camera, the ultrasonic sensor and the position relation between the camera and the ultrasonic sensor are arranged, the accurate control of the direction of laser emission and the control of the emission power are realized, the laser power can be quantitatively controlled by detecting the distance between the foreign body and the cleaner, the power of the emitted laser is prevented from damaging the power transmission line due to overhigh power, and the foreign body cleaning efficiency is ensured.

Description

Foreign matter remover and foreign matter removing method for overhead line
Technical Field
The disclosure relates to the technical field related to power transmission line maintenance, in particular to an overhead line foreign matter remover and a foreign matter removing method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
electric power plays an important role in daily life of people, the stability of an electric power system directly influences the life and production of people, and the safe operation of a power grid is very important. The transmission and distribution of electricity are important links in an electric power system, wherein the distribution points of the transmission lines are diversified and wide, the environment is severe, the terrain is complex, and the winding of foreign matters is often found in the operation and maintenance process to influence the safe operation of a power grid.
In order to ensure the stability of a power grid, foreign matters on a transmission line need to be removed in an electrified manner under a general condition, and the project with the highest safety risk in the electrified operation of the foreign matters is removed in an electrified manner. The inventor finds that the traditional method for removing the foreign matters wound on the overhead line is mainly manually removed, most of the foreign matters are removed by using an insulating trolley, a rope or a rope ladder to be close to the power transmission line, or removed by tools such as an insulating rod, a wire control device or a remote control device, and the method has the defects of poor safety, high operation difficulty, environmental restriction and the like, and is more difficult to remove the foreign matters on the power transmission line in remote areas such as mountain forests.
Disclosure of Invention
The invention aims to solve the problems and provides an overhead line foreign matter cleaner and a foreign matter cleaning method.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
one or more embodiments provide an overhead line foreign matter cleaner, which comprises a main controller, a servo turntable, a visual positioning device, a laser emission device and an ultrasonic sensor, wherein the visual positioning device, the laser emission device and the ultrasonic sensor are arranged on the servo turntable; the visual positioning device is used for positioning the position of the foreign matter on the overhead line, the ultrasonic sensor is used for detecting the spacing distance between the cleaner and the foreign matter on the power transmission line, and the main controller is used for setting the laser emission power of the laser emission device according to the spacing distance.
further, the laser emitting device comprises a laser and a laser collimator, which are connected by an optical fiber.
further, the visual positioning device comprises a camera and a first controller which are electrically connected with each other, the first controller is electrically connected with the main controller, the camera collects images of the power transmission line and sends the images to the first controller, the first controller processes the collected images to generate position information of the foreign matters and sends the position information to the main controller, and the main controller adjusts the servo turntable according to specific positions of the foreign matters, so that the laser emitting device is aligned to the foreign matters.
Further, the visual positioning device, the laser emitting device and the ultrasonic sensor are arranged in parallel at fixed relative positions.
further, servo revolving stage includes angle adjustment portion and fixed plate for the diaxon revolving stage, the fixed plate detachable sets up on angle adjustment portion, angle adjustment portion's adjustment includes pitch angle adjustment and rotation regulation.
Furthermore, a slide rail is arranged on the fixing plate, and the visual positioning device, the ultrasonic sensor and the laser emitting device are sequentially fixed according to the direction of the slide rail.
Further, set up the base on the fixed plate, through fixed ultrasonic sensor of base, vision positioner and laser emitter, including pulley, fixed plate and slip motor, the fixed plate is used for fixed ultrasonic sensor, camera and laser collimator, and the pulley is mutually supported and has self-locking function with the slide rail, fixes the base in the slide rail.
the foreign matter removing method based on the overhead line foreign matter remover comprises the following steps:
Step 1, arranging a camera and a laser collimator on a base in parallel at a fixed relative distance in the direction of a slide rail;
Step 2, the camera collects images, processes the collected images and identifies the position of the foreign body;
step 3, adjusting the foreign matter to the central position of the camera image, wherein the current position of the camera is position A;
step 4, moving the base to move the laser collimator to the position A;
And 5, emitting laser beams and removing foreign matters.
Further, the step 1 further includes a step of arranging an ultrasonic sensor at an intermediate position between the camera and the laser collimator, and setting a corresponding relationship between a distance from the foreign object to the remover and the emitted laser power.
further, after step 3 is executed and before step 4 is executed, the method further comprises the following steps:
Moving the base to move the ultrasonic sensor to a position A;
collecting the distance from the foreign matters to the remover;
And setting the size of the laser emission power according to the corresponding relation between the distance from the foreign matter to the eliminator and the emitted laser power.
compared with the prior art, the beneficial effect of this disclosure is:
This is disclosed through setting up laser instrument, camera and ultrasonic sensor and the position relation between the same, has realized the accurate control of direction and the control of transmitted power of laser emission, through detecting the distance between foreign matter and the duster, can the power of quantitative control laser, avoids the too high power of transmitted laser to damage transmission line, guarantees the efficiency that the foreign matter was clear away simultaneously.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure.
FIG. 1 is a schematic illustration of a configuration of a scavenger according to one or more embodiments;
FIG. 2 is a block diagram of the construction of a purger of the present disclosure;
wherein: 1. visual positioning device, 2, ultrasonic sensor, 3, laser emission device, 4, adjustment portion, 4-1, first rotating part, 4-2, second rotating part, 5, fixed plate, 6, base, 6-1, pulley, 6-2, fixed plate, 7, slide rail.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
it should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments in the present disclosure may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.
In the technical solutions disclosed in one or more embodiments, as shown in fig. 1 and 2, an overhead line foreign matter remover comprises a main controller, a servo turntable, and a visual positioning device 1, a laser emitting device 3 and an ultrasonic sensor 2 which are arranged on the servo turntable, wherein the main controller is respectively connected with the ultrasonic sensor 2, the visual positioning device 1 and the laser emitting device 3; the visual positioning device 1 is used for positioning the position of a foreign body on an overhead line, the ultrasonic sensor 2 is used for detecting the distance between the cleaner and the foreign body on the power transmission line, and the main controller sets the laser emission power of the laser emission device 3 according to the distance.
the laser emitting device comprises a laser and a laser collimator, wherein the laser and the laser collimator are connected through an optical fiber. The laser of the embodiment can adopt a fiber laser or a carbon dioxide laser, the wavelength range of the selected fiber laser is about 1080nm, and the power density range can be set to be 20-30W/cm2. The distance between the cleaner for removing foreign matters and the power transmission line is approximately within 100 meters, the corresponding relation between the emission power and the distance L can be set in sections, and the range set by the optical fiber laser selected in the embodiment is shown in Table 1.
TABLE 1
The visual positioning device 1 is used for detecting whether foreign matters exist on the power transmission line, and in some embodiments, the visual positioning device may include a camera and a first controller electrically connected to each other, the first controller is electrically connected to the main controller, the camera collects images of the power transmission line and sends the images to the first controller, and the first controller processes the collected images, generates position information of the foreign matters, and sends the position information to the main controller. The main controller adjusts the servo turntable according to the specific position of the foreign matter, so that the laser emitting device is aligned to the foreign matter.
The servo rotary table can be specifically a diaxon revolving stage, includes angle adjustment portion 4 and fixed plate 5, fixed plate 5 detachable sets up on angle adjustment portion 4, angle adjustment portion 4's adjustment is including can carrying out pitch angle adjustment and rotation regulation. The fixed plate 5 is provided with a slide rail 7, and the visual positioning device 1, the ultrasonic sensor 2 and the laser emitting device 3 are sequentially fixed according to the direction of the slide rail 7. The visual positioning device 1, the ultrasonic sensor 2 and the laser emitting device 3 are fixed in sequence according to the direction of the slide rail, namely, after the three devices are fixed, the connecting line of the fixed positions is parallel to the slide rail 7.
one implementation structure of the adjusting part 4 may include a bracket on which the first rotating part 4-1 is transversely disposed, the second rotating part 4-2 is connected to a main shaft of the first rotating part 4-1, and the fixing plate is fixedly disposed on a rotating shaft of the second rotating part 4-2. The first rotating part 4-1 is used for adjusting the pitch angle, and the second rotating part 4-2 can drive the fixing plate 5 to rotate. The first rotating member and the second rotating member may be embodied as a rotating electric machine or as a rotating cylinder.
As a way of implementation, the visual positioning device 1, the ultrasonic sensor 2 and the laser emitting device 3 may be arranged in parallel at fixed relative positions, specifically in this embodiment, the ultrasonic sensor, the camera and the laser collimator are arranged in parallel at fixed relative positions. The fixed relative position means that the relative position relationship of the three is fixed and invariable, including relative distance and angle.
in this embodiment, the ultrasonic sensor, the camera and the laser collimator may be arranged in the slide rail 7 through the base 6 in the direction of the slide rail 7. The fixed base comprises a pulley 6-1, a fixed plate 6-2 and a sliding motor, the pulley 6-1 and the sliding rail 7 are matched with each other and have a self-locking function, the pulley 6-1 and the sliding rail 7 can slide relatively under the action of the sliding motor, and the base 6 is reliably fixed in the sliding rail 7 when the sliding motor does not work. The fixed plate is used for fixing the camera, the ultrasonic sensor and the laser collimator, and the sliding motor drives the pulley 6-1 to slide in the sliding rail.
The working process of the device is as follows: the device of this embodiment is portable device, and line maintenance person places the duster is fixed near transmission line, sets up the detection direction of device in there is the position of foreign matter, and starting drive begins work, at first rotates servo revolving stage, and the camera gathers the image information of foreign matter, and first controller is handled the image, and whether discernment exists the foreign matter, adjusts the revolving stage again and adjusts the foreign matter at camera lens's center, and the camera is in position A on the fixed plate this moment. As shown in fig. 1, the camera of the visual positioning device 1, the ultrasonic sensor and the emitting end of the laser collimator of the laser device are arranged in sequence, and the arrangement direction is parallel to the slide rail 7. Starting a sliding motor to drive the pulley 6-1 to slide in the sliding rail at a set distance, so that the ultrasonic sensor moves to a position A, and the approximate distance between the foreign matters and the fixing plate is collected; and the sliding motor is started again to drive the pulley 6-1 to slide in the sliding rail at the set distance, so that the laser emitting device 3 moves to the position A, and the laser is emitted according to the set laser power at the approximate distance to remove the foreign matters.
The embodiment also provides a foreign matter removing method based on the remover, which comprises the following steps:
Step 1, arranging a camera and a laser collimator on a base in parallel at a fixed relative distance in the direction of a slide rail;
step 2, the camera collects images, processes the collected images and identifies the position of the foreign body;
Step 3, adjusting the foreign matter to the central position of the camera image, wherein the current position of the camera is position A;
step 4, moving the base to move the laser collimator to the position A;
And 5, emitting laser beams and removing foreign matters.
As a further improvement, the step 1 further comprises the step of arranging an ultrasonic sensor at the middle position between the camera and the laser collimator, and the corresponding relation between the distance from the foreign matter to the eliminator and the power of the emitted laser.
Further, after step 3 is executed and before step 4 is executed, the method further comprises the following steps:
Moving the base to move the ultrasonic sensor to a position A;
collecting the distance from the foreign matters to the remover;
And setting the size of the laser emission power according to the corresponding relation between the distance from the foreign matter to the eliminator and the emitted laser power.
By detecting the distance between the foreign matter and the cleaner, the power of the laser can be quantitatively controlled, the power of the emitted laser is prevented from being too high to damage a power transmission line, and meanwhile, the foreign matter cleaning efficiency is ensured.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims (10)

1. Overhead line foreign matter duster, characterized by: the device comprises a main controller, a servo turntable, a visual positioning device, a laser emission device and an ultrasonic sensor, wherein the visual positioning device, the laser emission device and the ultrasonic sensor are arranged on the servo turntable; the visual positioning device is used for positioning the position of the foreign matter on the overhead line, the ultrasonic sensor is used for detecting the spacing distance between the cleaner and the foreign matter on the power transmission line, and the main controller is used for setting the laser emission power of the laser emission device according to the spacing distance.
2. the overhead line foreign matter remover as claimed in claim 1, wherein: the laser emitting device comprises a laser and a laser collimator, wherein the laser and the laser collimator are connected through an optical fiber.
3. the overhead line foreign matter remover as claimed in claim 1, wherein: the visual positioning device comprises a camera and a first controller which are electrically connected with each other, the first controller is electrically connected with a main controller, the camera collects images of the power transmission line and sends the images to the first controller, the first controller processes the collected images to generate position information of the foreign matters and sends the position information to the main controller, and the main controller adjusts the servo turntable according to specific positions of the foreign matters, so that the laser emitting device is aligned to the foreign matters.
4. the overhead line foreign matter remover as claimed in claim 1, wherein: the visual positioning device, the laser emitting device and the ultrasonic sensor are arranged in parallel at fixed relative positions.
5. The overhead line foreign matter remover as claimed in claim 1, wherein: the servo rotary table comprises an angle adjusting portion and a fixing plate for the two-axis rotary table, the fixing plate is detachably arranged on the angle adjusting portion, and the angle adjusting portion is adjusted in a pitching angle mode and rotated.
6. The overhead line foreign matter remover as claimed in claim 5, wherein: the fixed plate is provided with a slide rail, and the visual positioning device, the ultrasonic sensor and the laser emitting device are sequentially fixed according to the direction of the slide rail.
7. The overhead line foreign matter remover as claimed in claim 6, wherein: set up the base on the fixed plate, through fixed ultrasonic sensor of base, vision positioner and laser emitter, including pulley, fixed plate and slip motor, the fixed plate is used for fixed ultrasonic sensor, camera and laser collimator, and the pulley is mutually supported and has self-locking function with the slide rail, fixes the base in the slide rail.
8. a foreign matter removing method based on the overhead line foreign matter remover as set forth in any one of claims 1 to 7, comprising the steps of:
Step 1, arranging a camera and a laser collimator on a base in parallel at a fixed relative distance in the direction of a slide rail;
Step 2, the camera collects images, processes the collected images and identifies the position of the foreign body;
Step 3, adjusting the foreign matter to the central position of the camera image, wherein the current position of the camera is position A;
Step 4, moving the base to move the laser collimator to the position A;
and 5, emitting laser beams and removing foreign matters.
9. A method for removing foreign matter according to claim 8, wherein said step 1 further comprises a step of disposing an ultrasonic sensor at an intermediate position between the camera and the laser collimator, and a corresponding relationship between a distance of the foreign matter from the remover and a power of the emitted laser.
10. A foreign matter removal method according to claim 8, further comprising, after performing step 3 and before performing step 4:
Moving the base to move the ultrasonic sensor to a position A;
Collecting the distance from the foreign matters to the remover;
and setting the size of the laser emission power according to the corresponding relation between the distance from the foreign matter to the eliminator and the emitted laser power.
CN201910778204.0A 2019-08-22 2019-08-22 Foreign matter remover and foreign matter removing method for overhead line Active CN110571703B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111169308A (en) * 2020-01-15 2020-05-19 安徽科创生产力促进中心有限公司 Fill electric pile with top surface cleaning device
CN112382972A (en) * 2020-10-23 2021-02-19 国网山东省电力公司鱼台县供电公司 Foreign matter removing system and method for power transmission line

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CN108767738A (en) * 2018-06-16 2018-11-06 南京理工大学 Laser removes foreign matter device and removes matter method manually
CN108899799A (en) * 2018-06-16 2018-11-27 南京理工大学 Reflection-type laser removes foreign matter device and removes matter method manually
CN109787148A (en) * 2019-02-20 2019-05-21 中国电子科技集团公司第十一研究所 Laser obstacle eliminating system

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US4818990A (en) * 1987-09-11 1989-04-04 Fernandes Roosevelt A Monitoring system for power lines and right-of-way using remotely piloted drone
CN104377590A (en) * 2014-11-18 2015-02-25 湖北三江航天红峰控制有限公司 Method and device for removing high voltage transmission line foreign matter by means of laser electrification
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Publication number Priority date Publication date Assignee Title
CN111169308A (en) * 2020-01-15 2020-05-19 安徽科创生产力促进中心有限公司 Fill electric pile with top surface cleaning device
CN111169308B (en) * 2020-01-15 2021-07-30 安徽科创生产力促进中心有限公司 Fill electric pile with top surface cleaning device
CN112382972A (en) * 2020-10-23 2021-02-19 国网山东省电力公司鱼台县供电公司 Foreign matter removing system and method for power transmission line

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