CN116907657A - Multi-degree-of-freedom wireless temperature measurement inspection instrument for electric equipment - Google Patents
Multi-degree-of-freedom wireless temperature measurement inspection instrument for electric equipment Download PDFInfo
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- 238000009529 body temperature measurement Methods 0.000 title claims abstract description 31
- 238000007689 inspection Methods 0.000 title claims abstract description 30
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- 238000005253 cladding Methods 0.000 claims description 3
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/48—Thermography; Techniques using wholly visual means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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Abstract
The invention relates to the technical field of power equipment inspection, in particular to a multi-degree-of-freedom wireless temperature measurement inspection instrument for power equipment.
Description
Technical Field
The invention relates to the technical field of power equipment inspection, in particular to a multi-degree-of-freedom wireless temperature measurement inspection instrument for power equipment.
Background
The existing temperature measurement method for the power equipment mainly comprises modes of passive wireless, manual temperature measurement, unmanned aerial vehicle inspection, infrared temperature measurement and the like, wherein the infrared temperature measurement is widely applied to the temperature measurement of the power equipment by virtue of the characteristics of high efficiency, safety, convenience, wide monitoring range and the like.
With the annual increase of the electricity consumption of residents in China, the requirements of people on the reliability of the power system are higher and higher, and the stable operation of power equipment is crucial to the reliability of the power system. The electrical equipment is easy to overheat in certain positions due to the reasons of aging, overlarge contact resistance, overlarge load, poor heat dissipation effect and the like, so that the service life of the electrical equipment is shortened while the electrical equipment is in fault. In the process of monitoring the hot spot of the power equipment, the traditional manual inspection mode is adopted to monitor the temperature of the hot spot of the power equipment, so that the defects of low efficiency, untimely fault information feedback, poor real-time performance, potential safety hazard and the like are achieved; the adoption of the fixed temperature sensor can lead to equipment resource waste, and the sensor is not easy to install at some special positions, so that the field requirement cannot be met, the adoption of equipment such as an unmanned aerial vehicle, an intelligent vehicle and the like is relatively expensive in cost, the requirements on narrow space and paths are relatively high, and the indoor airtight staggered environment is poor in adaptation. Therefore, a monitoring device which can perform multi-degree-of-freedom wireless transmission and inspection on the electric equipment by using the electric equipment multi-degree-of-freedom wireless thermometer is needed. The equipment can carry out real-time temperature measurement and data transmission on a plurality of hot spots according to actual working condition requirements, so that the temperature of the electrical equipment is ensured not to exceed the limit. Therefore, the multi-degree-of-freedom wireless temperature measurement inspection method has important research significance and practical value for improving the real-time performance, reliability and sustainability of the temperature control of the power equipment.
In view of the above, the invention provides a multi-degree-of-freedom wireless temperature measurement inspection instrument, which is mainly used for solving the problem of hot spot temperature measurement inspection of power equipment, and carrying out temperature monitoring at any position through motion control of five degrees of freedom, and meanwhile, the equipment can carry out real-time online circulation temperature measurement on a plurality of hot spot temperatures.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom wireless temperature measurement inspection instrument for electric equipment, which solves the following technical problems:
how to solve the hot spot temperature measurement inspection of the power equipment, the equipment can carry out temperature monitoring at any position through motion control of five degrees of freedom, and meanwhile, the equipment can carry out real-time online circulation temperature measurement on a plurality of hot spot temperatures.
The aim of the invention can be achieved by the following technical scheme:
a multi-freedom wireless temperature measurement inspection instrument for electric equipment comprises:
the rotary table is provided with a measuring assembly, and the measuring assembly can horizontally rotate and vertically rotate through the rotary table;
the three-axis motion platform comprises an X axis, a Y axis and a Z axis, and the rotary table is arranged on the three-axis motion platform and can perform linear motion along the X axis, the Y axis and the Z axis;
the data processing unit establishes a space rectangular coordinate system in the range of the triaxial moving platform, three reference points are preset in the space rectangular coordinate system for each monitoring point, the distance sensor of the measuring assembly is matched with the preset three reference points to obtain the coordinates of each monitoring point in the space rectangular coordinate system, one of the three reference points is randomly selected as an observation point, and the longitudinal and transverse angles of the rotary table are determined according to the observation point and the coordinates of the corresponding monitoring point; acquiring a shortest path plan from all reference points in a space rectangular coordinate system according to a preset rule, wherein a monitoring point is a position needing to monitor the temperature in a patrol range;
and the controller is used for controlling the rotary table and the triaxial motion platform according to the shortest path planning and carrying out cycle monitoring by matching with the infrared thermal imaging sensor of the measuring assembly.
As a further technical scheme of the invention: the process of acquiring the coordinates of each monitoring point in the space rectangular coordinate system comprises the following steps:
for one monitoring point, the controller respectively moves the rotating platform loaded with the distance sensor to three reference points through the triaxial moving platform;
respectively measuring the linear distances from the three reference points to the monitoring points;
solving the coordinates of the monitoring point according to the linear distance and the coordinates of the three reference points;
judging the relation between the obtained monitoring point coordinate number and the total number of all the monitoring point coordinates, if the obtained monitoring point coordinate number is smaller than the total number of all the monitoring point coordinates, solving the monitoring points without obtaining the coordinates until all the monitoring coordinates are obtained.
As a further technical scheme of the invention: the process of determining the aspect angle of the rotary table includes:
randomly selecting one of the three reference points as an observation point, setting the observation point as a new coordinate origin, and constructing a spherical coordinate system according to the selected observation point and the monitoring result;
acquiring an included angle theta of a connection line of the monitoring point and the observation point relative to the z axis of the spherical coordinate system and an included angle of a projection of the connection line on an xy plane and the x axis
Angle theta and angle thetaThe vertical and horizontal angles of the rotary table are respectively.
As a further technical scheme of the invention: the preset rule comprises the following steps:
acquiring all observation point combinations, wherein the observation point combinations are sets of selecting one of three reference points corresponding to each monitoring point as an observation point;
obtaining a corresponding shortest path for each observation point combination through a path planning algorithm;
and comparing the sizes of all the shortest paths, and taking the smallest one as the shortest path planning.
As a further technical scheme of the invention: the structure of the triaxial motion platform comprises:
x axis: the device comprises a pair of first sliding rails, wherein sliding blocks are arranged on the first sliding rails, a first transmission device for driving the sliding blocks to move is arranged on the first sliding rails, and a pair of first sliding rails are provided with a coupler and a connecting rod;
y axis: the device comprises a horizontal second slide rail, wherein a motor fixing bracket is connected onto the second slide rail in a sliding manner, and a first transmission device for driving the motor fixing bracket to move is arranged on the second slide rail;
and Z axis: the sliding block is connected to the third sliding rail in a sliding mode, and a first transmission device for driving the sliding block to move is arranged on the third sliding rail.
As a further technical scheme of the invention: the rotary table includes:
the motor fixing support is internally provided with a motor, the motor fixing support is provided with a disc which is coaxially connected with an output shaft of the motor and horizontally arranged, the disc is connected with an inverted T-shaped fixing plate, the inverted T-shaped fixing plate is provided with a second transmission device, the side face of the inverted T-shaped fixing plate is rotationally connected with an L-shaped externally-hung fixing plate, the L-shaped externally-hung fixing plate is connected with an externally-hung plate, the externally-hung plate is provided with a measuring assembly, and the second transmission device drives the L-shaped externally-hung fixing plate to rotate in a vertical plane.
As a further technical scheme of the invention: two nut openings are reserved from top to bottom in the middle of the inverted T-shaped fixing plate and used for assembling two pulleys, the two pulleys are connected together through a second transmission device to form a groove-shaped opening with a large upper part and a small lower part, and rotation in the vertical direction is achieved through rotation of driving equipment on the left side of the inverted T-shaped fixing plate and pulleys below the inverted T-shaped fixing plate.
As a further technical scheme of the invention: the preset mode of the reference point comprises the following steps:
the reference point is arranged on a straight line connecting line which is shortest in distance from the origin of the space rectangular coordinate system and between the reference point and the monitoring point, and no obstacle exists.
As a further technical scheme of the invention: the origin of the space rectangular coordinate system is arranged at the angular point position of the monitoring space.
As a further technical scheme of the invention: the three preset reference points are respectively selected on x, y and z axes of a space rectangular coordinate system.
The invention has the beneficial effects that:
(1) According to the invention, through the cooperation of the rotary table and the triaxial moving platform, for any monitoring point needing to be measured in an indoor space, the distance measurement can be carried out through the laser distance measuring instrument, the space coordinates can be obtained, then the shortest path of the monitoring point meeting the conditions is calculated through the path planning algorithm, the shortest path planning is carried out, namely, under the condition that the running speed of equipment is constant, the shortest path planning enables the transfer process time of a measuring assembly between the monitoring points to be shortest, the optimal path of cyclic monitoring is obtained, the monitoring efficiency is improved, and the advantages of wide monitoring range, high instantaneity and low manufacturing cost are achieved through the combination of the multiaxial moving platform and the path planning algorithm.
(2) According to the invention, countless schemes of space point connection are converted into a limited shortest path and calculated by means of arrangement and combination of limiting conditions, so that the transfer process time of the final measuring assembly between the monitoring points is shortest.
(3) According to the invention, the origin of the space rectangular coordinate system is arranged at the corner point position of the monitoring space, namely the corner, and the preset three reference points are respectively selected on the x, y and z axes of the space rectangular coordinate system, so that the path of the measurement assembly passing through the closed space in the moving process can be reduced as far as possible, and meanwhile, the reference points are selected on the x, y and z axes, so that the distance from the origin of the space rectangular coordinate system to the reference point can be conveniently and artificially judged, unnecessary equipment is reduced, the use cost is reduced, and the monitoring efficiency and the working safety coefficient are improved, and meanwhile, the method is more convenient and quick.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a multiple degree of freedom temperature monitor of the present invention;
FIG. 2 is a flow chart of spatial scaling and path planning in accordance with the present invention;
FIG. 3 is a schematic diagram of the spherical coordinates between the monitoring point and the reference point according to the present invention.
Reference numerals illustrate:
1. a slide rail; 2. a coupling; 3. a connecting rod; 4. a support base; 5. a motor fixing seat; 6. a motor; 7. a foot margin; 8. a first transmission; 9. a slide block; 10. reinforcing ribs; 11. a motor fixing bracket; 12. a disc; 13. an inverted T-shaped fixing plate; 14. a pulley; 15. a second transmission; 16. l-shaped externally hung fixing plates; 17. a cladding plate; 18. an infrared thermal imaging sensor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-3, in one embodiment, a multi-degree of freedom wireless temperature measurement inspection apparatus for an electrical device is provided, including:
the rotary table is provided with a measuring assembly, and the measuring assembly can horizontally rotate and vertically rotate through the rotary table;
the three-axis motion platform comprises an X axis, a Y axis and a Z axis, and the rotary table is arranged on the three-axis motion platform and can perform linear motion along the X axis, the Y axis and the Z axis;
the data processing unit establishes a space rectangular coordinate system in the range of the triaxial moving platform, three reference points are preset in the space rectangular coordinate system for each monitoring point, the distance sensor of the measuring assembly is matched with the preset three reference points to obtain the coordinates of each monitoring point in the space rectangular coordinate system, one of the three reference points is randomly selected as an observation point, and the longitudinal and transverse angles of the rotary table are determined according to the observation point and the coordinates of the corresponding monitoring point; acquiring a shortest path plan from all reference points in a space rectangular coordinate system according to a preset rule, wherein a monitoring point is a position needing to monitor the temperature in a patrol range;
the process of acquiring the coordinates of each monitoring point in the space rectangular coordinate system comprises the following steps:
for one monitoring point, the controller respectively moves the rotating platform loaded with the distance sensor to three reference points through the triaxial moving platform;
respectively measuring the linear distances from the three reference points to the monitoring points;
solving the coordinates of the monitoring point according to the linear distance and the coordinates of the three reference points;
judging the relation between the obtained monitoring point coordinate number and the total number of all the monitoring point coordinates, if the obtained monitoring point coordinate number is smaller than the total number of all the monitoring point coordinates, solving the monitoring points without obtaining the coordinates until all the monitoring coordinates are obtained.
Specifically, the starting position of the space center of the triaxial moving platform is taken as the origin of a coordinate system, three reference points A, B and C are selected through specified coordinates, and the sliding block 9 is driven to move from the X axis, the Y axis and the Z axis to reach the coordinate positions respectively.
Distance d measured by laser distance meter reaching point A coordinate 1 Returning to the origin O of the spatial coordinate system. Then sequentially measuring the distance d 2 ，d 3 . The execution sequence is A-O-B-O-C;
there are three spatially known points: a (x) 1 ,y 1 ,z 1 )，B(x 2 ,y 2 ,z 2 )，C(x 3 ,y 3 ,z 3 ) Unknown point to be measured: d (x) 4 ,y 4 ,z 4 ). The distance calculation formula is as follows:
d in 1 ，d 2 ，d 3 The distance between the three-axis space known point and the unknown point to be measured is measured by a laser ranging sensor, and as the known quantity, the unknown coordinate of the D point can be solved by the formula (1).
The process of determining the aspect angle of the rotary table includes:
randomly selecting one of the three reference points as an observation point, setting the observation point as a new coordinate origin, and constructing a spherical coordinate system according to the selected observation point and the monitoring result;
acquiring an included angle theta of a connection line of the monitoring point and the observation point relative to the z axis of the spherical coordinate system and an included angle of a projection of the connection line on an xy plane and the x axisIncluded angle θ and included angle>The longitudinal and transverse angles of the rotary table are respectively;
specifically, referring to fig. 2, after the X, Y, and Z three-axis motions are completed, the two-degree-of-freedom motion of the turntable is performed. Optionally one of the three points A, B and C is a motion point of the inspection instrument and is set as a new origin 0 (xi, yi, zi) of coordinates, and a spherical coordinate, an included angle theta and an included angle are constructed with a monitoring point i (x 4, y4, z 4)The longitudinal and transverse angles of the rotary table are respectively;
since the distance between the two points is known, r in the spherical coordinates is known to be the distance d between any selected point and the monitoring point i Then only theta andthese two angles are all right, their calculation method is as follows:
the two angles are correspondingly the transverse and longitudinal adjustment angles of the rotary table, and the single motion control of the inspection instrument on the corresponding monitoring point can be completed by matching with the triaxial motion coordinates, so that the temperature image acquisition is realized.
The controller controls the rotary table and the triaxial motion platform according to the shortest path planning, and is matched with the infrared thermal imaging sensor of the measuring assembly to carry out cycle monitoring, and the controller is in communication connection with the data processing unit through a wireless transmission module, wherein the wireless transmission module is composed of a Wi-FiBluetooth module, so that data transmission can be realized, and the data of the wireless transmission module can be transmitted to a PC end.
The data processing unit transmits the data read from the infrared thermal imager 18 to the PC end by using the wireless module, and after the PC end receives the data, the data can be displayed, stored and processed later, and relevant parameters and control instructions in the monitoring process can be set through keys and the PC end.
Through the technical scheme: in the embodiment, a scheme of performing wireless temperature measurement and inspection on an indoor space in an indoor airtight staggered environment is provided, specifically, through the cooperation of a rotary table and a triaxial motion platform, for any monitoring point needing temperature measurement in the indoor space, distance measurement can be performed through a laser range finder to obtain space coordinates, then a path planning algorithm is used for calculating the shortest path of the monitoring point meeting the condition, and shortest path planning is performed, wherein the shortest path planning is the optimal path planning with known arbitrary node distance in the closed space, namely, under the condition that the running speed of equipment is constant, the shortest path planning enables the time of a transfer process between the monitoring points of a measuring assembly to be the shortest, the optimal path of cyclic monitoring is obtained, and the method has the advantages of wide monitoring range, high instantaneity and low manufacturing cost through the combination of the multiaxial motion platform and the path planning algorithm.
It should be noted that the specific process of cycle monitoring includes:
the measuring assembly moving according to the path planning sequentially monitors the equal time length of a plurality of monitoring points by means of the infrared thermal imaging sensor 18;
comparing the temperature generated in the monitoring process of a certain monitoring point with the standard temperature, and giving an alarm when the monitored temperature exceeds the safety temperature;
for the monitored temperature below the safe temperature, the temperature is calculated by the formula
Obtaining a change coefficient mu and combining the change coefficient mu with a preset threshold value [ mu ] 1 ,μ 2 ]Comparing, if the change coefficient mu is smaller than [ mu ] 1 ,μ 2 ]Judging that the temperature of the monitoring point is too fast; if the change coefficient mu is [ mu ] 1 ,μ 2 ]Judging that the temperature change speed of the monitoring point is normal; if the change coefficient mu is greater than [ mu ] 1 ,μ 2 ]Judging that the temperature rising speed of the monitoring point is too high; for the two conditions of too high temperature reduction speed and too high temperature rising speed of the monitoring point, increasing the monitoring time length of the monitoring point in the next inspection process according to the preset time, recording the increasing times of the monitoring time, and then obtaining a new change coefficient by the data generated in the process of the prolonged monitoring time length through a formula (3) again, wherein in the monitoring process of increasing the monitoring time, if the new change coefficient belongs to [ mu ] 1 ,μ 2 ]And in the whole process, if the monitoring time length of a certain point is longer than a preset time length, an alarm is sent, wherein F (t) is the time-dependent change relation of the temperature of the monitoring point in the monitoring process, F (t) is the time-dependent change relation of the temperature in the corresponding time period of the last monitoring cycle extracted from the historical data, and 0-t is the monitoring time length.
The preset rules comprise:
acquiring all observation point combinations, wherein the observation point combinations are sets of selecting one of three reference points corresponding to each monitoring point as an observation point;
obtaining a corresponding shortest path for each observation point combination through a path planning algorithm, wherein the path planning algorithm is preferably a traveler problem solving algorithm (TSP problem), is an optimal path planning algorithm with known arbitrary node distance in a closed space, and belongs to the prior art and is not described in detail;
and comparing the distance between all the shortest paths, and taking the shortest one as the shortest path planning.
Through the technical scheme: and (3) converting countless schemes of the space point connection lines into a limited shortest path and calculating in a mode of arranging and combining the limiting conditions, so that the transfer process time of the final measuring assembly between the monitoring points is shortest.
The structure of the triaxial motion platform comprises:
x axis: the device comprises a pair of first slide rails 1, wherein a sliding block 9 is arranged on the first slide rails 1, a first transmission device 8 for driving the sliding block 9 to move is arranged on the first slide rails 1, and a pair of first slide rails 1 are provided with a coupler 2 and a connecting rod 3;
y axis: the device comprises a horizontal second slide rail, wherein a motor fixing bracket 11 is connected to the second slide rail in a sliding manner, and a first transmission device 8 for driving the motor fixing bracket 11 to move is arranged on the second slide rail;
and Z axis: the device comprises a vertical third sliding rail, wherein a sliding block is connected onto the third sliding rail in a sliding way, and a first transmission device 8 for driving the sliding block to move is arranged on the third sliding rail;
the first transmission device 8 comprises a supporting seat 4, a motor fixing seat 5 and a motor 6, wherein the supporting seat 4 is fixed at the tail end of the first sliding rail 1, the motor fixing seat 5 is fixed on the supporting seat 4, the motor 6 for providing power for the first transmission device 8 is fixed on the motor fixing seat 5, the motor 6 drives a screw rod assembly arranged in the first sliding rail 1 to drive a sliding block 9 to move, and preferably, a reinforcing rib 10 is arranged above the sliding block 9 to improve the connection strength.
The rotary table includes:
the motor fixing support 11 is internally provided with a motor, the motor fixing support 11 is provided with a disc 12 which is coaxially connected with an output shaft of the motor and horizontally arranged, the disc 12 is connected with an inverted T-shaped fixing plate 13, the inverted T-shaped fixing plate 13 is provided with a second transmission device, the side face of the inverted T-shaped fixing plate 13 is rotationally connected with an L-shaped externally-hung fixing plate 16, the L-shaped externally-hung fixing plate 16 is connected with an externally-hung plate 17, the externally-hung plate 17 is provided with a measuring assembly, and the second transmission device drives the L-shaped externally-hung fixing plate to rotate in a vertical plane.
Two nut openings are reserved on the upper side and the lower side of the adding plate in the middle of the inverted T-shaped fixing plate 13 and used for assembling two pulleys 14, the two pulleys 14 are connected together through a second transmission device 15 to form a groove-shaped opening with a large upper part and a small lower part, and rotation in the vertical direction is achieved through rotation of driving equipment on the left side of the inverted T-shaped fixing plate 13 and rotation of the pulleys 14 below.
The preset mode of the reference point comprises the following steps:
the reference point is arranged on a straight line connecting line which is shortest in distance from the origin of the space rectangular coordinate system and between the reference point and the monitoring point, and no obstacle exists.
The origin of the space rectangular coordinate system is arranged at the angular point position of the monitoring space, and three preset reference points are respectively selected on the x, y and z axes of the space rectangular coordinate system.
Through the technical scheme: according to the technical scheme provided by the embodiment, a large number of barriers exist in the closed space, the origin of the space rectangular coordinate system is arranged at the corner point position of the monitoring space, namely the corner, and meanwhile, three preset reference points are respectively selected on the x, y and z axes of the space rectangular coordinate system, so that the path of the measuring assembly passing through the closed space in the moving process can be reduced as far as possible, meanwhile, the reference points are selected on the x, y and z axes, so that the distance from the origin of the space rectangular coordinate system to the reference point can be conveniently and artificially judged, unnecessary equipment is reduced, the use cost is reduced, and the monitoring efficiency and the working safety coefficient are improved.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (10)
1. The utility model provides an electric power equipment multi freedom wireless temperature measurement inspection appearance which characterized in that includes:
the rotary table is provided with a measuring assembly, and the measuring assembly can horizontally rotate and vertically rotate through the rotary table;
the three-axis motion platform comprises an X axis, a Y axis and a Z axis, and the rotary table is arranged on the three-axis motion platform and can perform linear motion along the X axis, the Y axis and the Z axis;
the data processing unit establishes a space rectangular coordinate system in the range of the triaxial moving platform, three reference points are preset in the space rectangular coordinate system for each monitoring point, the distance sensor of the measuring assembly is matched with the preset three reference points to obtain the coordinates of each monitoring point in the space rectangular coordinate system, one of the three reference points is randomly selected as an observation point, and the longitudinal and transverse angles of the rotary table are determined according to the observation point and the coordinates of the corresponding monitoring point; acquiring a shortest path plan from all reference points in a space rectangular coordinate system according to a preset rule, wherein a monitoring point is a position needing to monitor the temperature in a patrol range;
and the controller is used for controlling the rotary table and the triaxial motion platform according to the shortest path planning and carrying out cycle monitoring by matching with the infrared thermal imaging sensor of the measuring assembly.
2. The multi-degree of freedom wireless temperature measurement inspection instrument of claim 1, wherein the process of obtaining the coordinates of each monitoring point in the space rectangular coordinate system comprises the following steps:
for one monitoring point, the controller respectively moves the rotating platform loaded with the distance sensor to three reference points through the triaxial moving platform;
respectively measuring the linear distances from the three reference points to the monitoring points;
solving the coordinates of the monitoring point according to the linear distance and the coordinates of the three reference points;
judging the relation between the obtained monitoring point coordinate number and the total number of all the monitoring point coordinates, if the obtained monitoring point coordinate number is smaller than the total number of all the monitoring point coordinates, solving the monitoring points without obtaining the coordinates until all the monitoring coordinates are obtained.
3. The multi-degree of freedom wireless temperature measurement inspection instrument for electrical equipment of claim 2, wherein the process of determining the longitudinal and transverse angles of the rotary table comprises:
randomly selecting one of the three reference points as an observation point, setting the observation point as a new coordinate origin, and constructing a spherical coordinate system according to the selected observation point and the monitoring result;
acquiring an included angle theta of a connection line of the monitoring point and the observation point relative to the z axis of the spherical coordinate system and an included angle of a projection of the connection line on an xy plane and the x axis
Angle theta and angle thetaThe vertical and horizontal angles of the rotary table are respectively.
4. The multi-degree of freedom wireless temperature measurement inspection instrument for electrical equipment according to claim 1, wherein the preset rules comprise:
acquiring all observation point combinations, wherein the observation point combinations are sets of selecting one of three reference points corresponding to each monitoring point as an observation point;
obtaining a corresponding shortest path for each observation point combination through a path planning algorithm;
and comparing the sizes of all the shortest paths, and taking the smallest one as the shortest path planning.
5. The multi-degree-of-freedom wireless temperature measurement inspection instrument of claim 1, wherein the structure of the triaxial motion platform comprises:
x axis: the device comprises a pair of first sliding rails (1), wherein sliding blocks (9) are arranged on the first sliding rails (1), a first transmission device (8) for driving the sliding blocks (9) to move is arranged on the first sliding rails (1), and a pair of first sliding rails (1) are provided with a coupler (2) and a connecting rod (3);
y axis: the device comprises a horizontal second slide rail, wherein a motor fixing bracket (11) is connected onto the second slide rail in a sliding manner, and a first transmission device (8) for driving the motor fixing bracket (11) to move is arranged on the second slide rail;
and Z axis: the sliding block is connected to the third sliding rail in a sliding mode, and a first transmission device (8) used for driving the sliding block to move is arranged on the third sliding rail.
6. The multi-degree of freedom wireless temperature measurement inspection instrument of claim 1 wherein the rotary table comprises:
the motor fixing support (11), be provided with the motor in the motor fixing support (11), be equipped with on the motor fixing support (11) with motor output shaft coaxial coupling and disc (12) that the level set up, be connected with on disc (12) and fall T type fixed plate (13), be provided with second transmission on falling T type fixed plate (13), it is connected with outer fixed plate (16) of L type to fall T type fixed plate (13) side rotation, is connected with cladding (17) on outer fixed plate (16) of L type, is provided with measuring assembly on cladding (17), second transmission drive outer fixed plate of L type rotates in vertical face.
7. The multi-degree-of-freedom wireless temperature measurement inspection instrument for the electric equipment according to claim 6 is characterized in that two nut ports are reserved on the upper side and the lower side of an adding plate in the middle of an inverted T-shaped fixing plate (13) and used for assembling two pulleys (14), the two pulleys (14) are connected together through a second transmission device (15) to form a groove port with a large upper part and a small lower part, and the rotation in the vertical direction is realized through the rotation of driving equipment on the left side of the inverted T-shaped fixing plate (13) and the rotation of a pulley (14) below.
8. The multi-degree-of-freedom wireless temperature measurement inspection instrument for electric equipment according to claim 1, wherein the preset mode of the reference point comprises:
the reference point is arranged on a straight line connecting line which is shortest in distance from the origin of the space rectangular coordinate system and between the reference point and the monitoring point, and no obstacle exists.
9. The multi-degree-of-freedom wireless temperature measurement inspection instrument for electric equipment according to claim 1, wherein an origin of the space rectangular coordinate system is arranged at a corner point of a monitoring space.
10. The multi-degree-of-freedom wireless temperature measurement inspection instrument for electric equipment according to claim 9, wherein the three preset reference points are selected on x, y and z axes of a space rectangular coordinate system respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310855311.5A CN116907657A (en) | 2023-07-13 | 2023-07-13 | Multi-degree-of-freedom wireless temperature measurement inspection instrument for electric equipment |
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| CN202310855311.5A CN116907657A (en) | 2023-07-13 | 2023-07-13 | Multi-degree-of-freedom wireless temperature measurement inspection instrument for electric equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117249863A (en) * | 2023-11-15 | 2023-12-19 | 山东尚邦建设集团有限公司 | Intelligent building door and window curtain wall information acquisition system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117249863A (en) * | 2023-11-15 | 2023-12-19 | 山东尚邦建设集团有限公司 | Intelligent building door and window curtain wall information acquisition system |
| CN117249863B (en) * | 2023-11-15 | 2024-01-26 | 山东尚邦建设集团有限公司 | Intelligent building door and window curtain wall information acquisition system |
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