CN201989150U - Control system of high-voltage live cleaning machine for transformer equipment - Google Patents
Control system of high-voltage live cleaning machine for transformer equipment Download PDFInfo
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- CN201989150U CN201989150U CN2011200132290U CN201120013229U CN201989150U CN 201989150 U CN201989150 U CN 201989150U CN 2011200132290 U CN2011200132290 U CN 2011200132290U CN 201120013229 U CN201120013229 U CN 201120013229U CN 201989150 U CN201989150 U CN 201989150U
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Abstract
The utility model relates to a control system of a high-voltage live cleaning machine for transformer equipment, which comprises an insulation platform data acquisition system, a vehicular control system and an operating floor control system. The insulation platform data acquisition system comprises a paw in-place sensor, a paw rotary sensor, a mechanical arm movement sensor, a platform rotary encoder, a height measurement potentiometer, an inclinometer and a camera, the paw in-place sensor, the paw rotary sensor and the mechanical arm movement sensor are mounted on an insulation support, the vehicular control system comprises a controller I which is connected with a wireless communication module I, a relay group, a counter, the platform rotary encoder and an A/D (analog/digital) module, the relay group is connected with a hydraulic valve group and corresponding pipelines, the A/D module is connected with the height measurement potentiometer and the inclinometer, a wireless image communication module I is connected with the camera, the operating floor control system comprises a controller II which is connected with a wireless communication module II and an operating floor, the controller II is further connected with a data display device, an industrial personal computer and a monitor, and the industrial personal computer and the monitor are connected with an image acquisition device and a wireless image communication module II.
Description
Technical field
The utility model relates to a kind of converting equipment hv live cleaning machine device control system.
Background technology
Transformer station's support insulator is owing to stay the open air, fills the air easily to be deposited on insulator surface in airborne industrial filth and natural filth and to form pollution layer, and these dunghills are subjected to infringements such as mist, light rain, very easily cause pollution flashover accident, therefore will regularly clean insulator.The charged dried cleaning equipment of domestic existing has portable flexible axle to connect electrification in high voltage cleaning bar and fork truck complete set type electrification in high voltage automatic sweeping machine etc., and the former need manually control the cleaning bar operation, and labour intensity is big, and it is low to be suitable for electric pressure, cleans highly low; The latter will lean on moving of fork truck to adjust cleaning direction and distance, inconvenient operation, and automation is relatively low.The livewire work robot that has come out, the overwhelming majority is used for the maintenance of saving from damage of general high voltage transmission line of electricity, little cleaning high tension shackle insulator that is specifically designed to.Though novel high voltage hotline cleaning robot occurred, its adopts scissor-type lifting mechanism to carry out porcelain insulator cleaning, the light truck solution as mobile vehicle, entire machine people comprises several parts such as mechanical system, hydraulic system, second control system, communication system, but its transmission problem and Network Management problem etc. in electromagnetic compatibility and anti-electromagnetic interference problem, high-voltage insulation issue, real-time problem, verification and error correction problem, safety issue, data and image still have problems.
The utility model content
The purpose of this utility model provides a kind of simple in structure, easy to use exactly for addressing the above problem, good reliability, the converting equipment hv live cleaning machine device control system of advantage such as antijamming capability is strong.
For achieving the above object, the utility model adopts following technical scheme:
A kind of converting equipment hv live cleaning machine device control system, it comprises insulated platform data collecting system, vehicle control syetem and operating desk control system; Wherein,
The insulated platform data collecting system comprises the paw that is installed on the insulating support to level sensor, paw rotary sensor, manipulator motion sensor, and they are connected with the controller I of vehicle control syetem by optical fiber; On robot car body, also distinguish mounting platform rotary encoder, elevation measurement potentiometer and dipmeter, video camera;
Vehicle control syetem comprises controller I, and it is connected with wireless communication module I; Controller I also is connected with the relay group, and the relay group is connected with hydraulic valve bank, and hydraulic valve bank then is connected with corresponding fluid pressure line; Controller I also is connected with counter, and counter is connected with the platform rotary encoder; Controller I also is connected with the A/D module, and the A/D module then is connected with dipmeter with the elevation measurement potentiometer; Also be provided with wireless image communication module I in vehicle control syetem, it is connected with video camera;
Described operating desk control system comprises controller II, and it is connected with wireless communication module II, and operating desk then is connected with controller II; Controller II also is connected with monitor with data presentation device and industrial computer simultaneously, and industrial computer then is connected with image collecting device with monitor, and image collecting device then is connected with wireless image communication module II.
Described controller I is a Siemens S7-200 type, and described controller II adopts Siemens S7-226 type.
In the utility model, insulated platform data collecting system major function is the data acquisition of mechanical arm and power tool motion state.Because insulating requirements, the sensor of electric information can't use, also can't data be handed down from the insulated lift platform with lead, therefore adopt the carrier of optical fiber as Data transmission, whether first group of Fibre Optical Sensor arrives the signal generator of cleaning position as paw; The code-disc of second group of Fibre Optical Sensor links together with the hydraulic motor output shaft that drives the paw slew gear, and the rotating angle information of paw is passed to control system; The code-disc of the 3rd group of Fibre Optical Sensor links together with the driving hydraulic motor output shaft of the arm of operating machine, in order to the flexible distance of calculating operation mechanical arm and paw; Also have two groups of Fibre Optical Sensors to use as travel switch; be installed in the front and back of the arm of operating machine; fortuitous event or sweeping robot is shielded when out of control; the slew gear of insulated lift platform is owing to be installed on the car body; itself need not insulate, therefore the angle of revolution of feeding back the insulated lift platform with encoder.The height parameter of insulated lift platform can be pushed away by the height parameter of a joint fork arm, can realize the function of elevation measurement indirectly with being installed on bottom potentiometer joint fork arm gyroaxis place.
Vehicle control syetem is mainly realized the generation and the control of porcelain insulator cleaning track; The fast automatic leveling of mobile vehicle; The quick response of accident in the operation process; Realize the automatic centering control etc. of the porcelain insulator of local intelligence by vision system! Vision system comprises single camera vision system and intelligent console control.It finishes location to operand, tracking and according to the automatic control of feedback information to The Cloud Terrace, and the field monitoring of working condition.Whole system is used the controller of Siemens S7-200 series of PLC as subsystem, porcelain insulator cleaning track is 3 kinds of motions of revolution synthetic of the rectilinear motion of the revolution of insulated platform, the arm of operating machine and paw mechanism, control their motion respectively, generate the required track of porcelain insulator cleaning, the dipmeter that is installed on the vehicle body hanger feeds back to control system with the tilt parameters of support, system is the motion of four supporting leg oil cylinders of control automatically, the fast leveling vehicle body hanger makes the sweeping machine man-hour that a stable basis be arranged.The automatic centering control of porcelain insulator detects servo-controlled method by automatic vision centering and realizes.The video camera that is installed on the car body platform afterbody The Cloud Terrace at first absorbs image scene, by image pick-up card collection in the industrial computer and image recognition of delivery system core and handling procedure, further finish the automatic identification and the location of porcelain vase, the outer corner difference of output porcelain vase center and porcelain vase central shaft and cleaning arm, thereby guide platform adjustment, make the center of the axle center of paw, finally realize the automatic centering of porcelain insulator by porcelain vase.
The operating desk control system mainly realizes the functions such as straighforward operation, IMAQ and supervision of robot.The operating desk control system can be surpassing beyond the 20m distance far away, by wireless telecommunication system, and the exercises of straighforward operation sweeping robot.Radio receiving transmitting module transfers to the image information of the place ahead camera acquisition in the industrial computer of operating desk and handles, with the motion of control robot.Be installed on the working condition of the real-time display device people of display on the operating desk, observe on the one hand working condition and cleaning effect, the people can get involved control to sweeping robot immediately when the discovery fortuitous event on the other hand.System adopts the controller of PLC as onboard subsystem, receive the action command of PLC on the operating desk control system, therefore the communication problem is divided into two parts, and a part is the communication between host computer and the PLC, and another part is that PLC passes through the communication of wireless communication module between mutual.Between upper industrial computer and PLC, because what system adopted is Siemens S7-226 type, it has two RS485 communication ports, and upper industrial computer communication port is RS232, so adopt the stube cable of the PC/PPI programming cable of Siemens Company's special use as upper and lower computer, realize the conversion of RS232 and RS485, and had the jamproof function of isolation.The port RS485 that PLC carries adopts half duplex communication, sends data and receives data with two data lines TXD and RXD, does not have the hardware handshaking signal in the communication, thereby can only adopt the communication modes of software handshake to keep the synchronous of transfer of data.Communication realizes by a pair of wireless communication module between upper industrial computer and the PLC.Because RS485 communication port working method is semiduplex mode, so wireless module SA68D21DL also be semiduplex mode, receives/sends out the output contact that switches by PLC and control.
For realizing the wireless telecommunications of reciprocity multinode, adopted AX.25 as home control network communication protocol.Select the above baud rate of 9600bps, and add certain time-delay, the transmitting-receiving that can effectively be in harmonious proportion is switched and data transmit between the assignment problem of time.Aspect data transmission credibility, at first the start byte and the end byte of each Frame of sending are checked, and contrasting data piece byte number, can remove most interference; Secondly in Frame, added frame check, and adopted the cyclic redundancy check (CRC) on the engineering, further to the data error correction of testing, with remove the front check in accidental interfering signal of leaking.Because wireless module itself and extraneous interference, wireless module can't be discerned first three byte of every frame data, therefore to data signals transmitted, add the previous video frames of three bytes, previous video frames sends together in company with Frame, both realize receive-after-transmit time delay indirectly, reduced the bit error rate again, guaranteed the stability that Frame receives.
The beneficial effects of the utility model are: whole system is terse, reliable, and when working under the forceful electric power magnetic environment in high voltage place, the communication bit error rate of actual measurement is less than 10
-5, satisfy system requirements far away.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Wherein, 1. insulated platform data collecting system, 11. paws are to level sensor, 12. the paw rotary sensor, 13. manipulator motion sensors, 14. optical fiber, 15. the platform rotary encoder, 16. elevation measurement potentiometers, 17. dipmeters, 18. video camera, 2. vehicle control syetem, 21. controller I, 22. wireless communication module I, 23. relay groups, 24. hydraulic valve bank, 25. counter, 26.A/D module, 27. wireless image communication module I, 3. operating desk control system, 31. controller II, 32. wireless communication module II, 33. operating desks, 34. data presentation device, 35. industrial computer and monitor, 36. image collecting devices, 37. wireless image communication module II.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
Among Fig. 1, it comprises insulated platform data collecting system 1, vehicle control syetem 2 and operating desk control system; Wherein,
Insulated platform data collecting system 1 comprises the paw that is installed on the insulating support to level sensor 11, paw rotary sensor 12, manipulator motion sensor 13, and they are connected with the controller I of vehicle control syetem 2 by optical fiber 14; On robot car body, also distinguish mounting platform rotary encoder 15, elevation measurement potentiometer 16 and dipmeter 17, video camera 18;
Vehicle control syetem 2 comprises controller I21, and it is connected with wireless communication module I22; Controller I21 also is connected with relay group 23, and relay group 23 is connected with hydraulic valve bank 24, and 24 of hydraulic valve bank are connected with corresponding fluid pressure line; Controller I21 also is connected with counter 25, and counter 25 is connected with platform rotary encoder 15; Controller I21 also is connected with A/ D module 26, and 26 of A/D modules are connected with dipmeter 17 with elevation measurement potentiometer 16; Also be provided with wireless image communication module I27 in vehicle control syetem 2, it is connected with video camera 18;
Described operating desk control system 3 comprises controller II31, and it is connected with wireless communication module II32, and 33 on operating desk is connected with controller II31; Simultaneously controller II31 also is connected with monitor 35 with data presentation device 34 and industrial computer, and 35 of industrial computer and monitors are connected with image collecting device 36, and 36 of image collecting devices are connected with wireless image communication module II37.
Described controller I21 is a Siemens S7-200 type, and described controller II31 adopts Siemens S7-226 type.
Claims (2)
1. a converting equipment hv live cleaning machine device control system is characterized in that it comprises insulated platform data collecting system, vehicle control syetem and operating desk control system; Wherein, the insulated platform data collecting system comprises the paw that is installed on the insulating support to level sensor, paw rotary sensor, manipulator motion sensor, and they are connected with the controller I of vehicle control syetem by optical fiber; On robot car body, also distinguish mounting platform rotary encoder, elevation measurement potentiometer and dipmeter, video camera;
Vehicle control syetem comprises controller I, and it is connected with wireless communication module I; Controller I also is connected with the relay group, and the relay group is connected with hydraulic valve bank, and hydraulic valve bank then is connected with corresponding fluid pressure line; Controller I also is connected with counter, and counter is connected with the platform rotary encoder; Controller I also is connected with the A/D module, and the A/D module then is connected with dipmeter with the elevation measurement potentiometer; Also be provided with wireless image communication module I in vehicle control syetem, it is connected with video camera;
Described operating desk control system comprises controller II, and it is connected with wireless communication module II, and operating desk then is connected with controller II; Controller II also is connected with monitor with data presentation device and industrial computer simultaneously, and industrial computer then is connected with image collecting device with monitor, and image collecting device then is connected with wireless image communication module II.
2. converting equipment hv live cleaning machine device control system as claimed in claim 1 is characterized in that described controller I is a Siemens S7-200 type, and described controller II adopts Siemens S7-226 type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200132290U CN201989150U (en) | 2011-01-17 | 2011-01-17 | Control system of high-voltage live cleaning machine for transformer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200132290U CN201989150U (en) | 2011-01-17 | 2011-01-17 | Control system of high-voltage live cleaning machine for transformer equipment |
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| Publication Number | Publication Date |
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| CN201989150U true CN201989150U (en) | 2011-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011200132290U Expired - Fee Related CN201989150U (en) | 2011-01-17 | 2011-01-17 | Control system of high-voltage live cleaning machine for transformer equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615646A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Master-slave hydraulic mechanical arm controller |
| CN103085055A (en) * | 2013-01-29 | 2013-05-08 | 山东电力集团公司电力科学研究院 | Hot-line repair robot position feedback master system |
| CN105045157A (en) * | 2014-09-10 | 2015-11-11 | 山东鲁能智能技术有限公司 | System for controlling transformer substation live washing robot and method |
| CN107544313A (en) * | 2017-10-24 | 2018-01-05 | 广东电网有限责任公司东莞供电局 | Remote control live working device for high-voltage live equipment place |
-
2011
- 2011-01-17 CN CN2011200132290U patent/CN201989150U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615646A (en) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | Master-slave hydraulic mechanical arm controller |
| CN102615646B (en) * | 2012-04-01 | 2014-07-09 | 山东鲁能智能技术有限公司 | Master-slave hydraulic mechanical arm controller |
| CN103085055A (en) * | 2013-01-29 | 2013-05-08 | 山东电力集团公司电力科学研究院 | Hot-line repair robot position feedback master system |
| CN103085055B (en) * | 2013-01-29 | 2016-06-22 | 山东电力集团公司电力科学研究院 | Hot-line repair robot position feedback master system |
| CN105045157A (en) * | 2014-09-10 | 2015-11-11 | 山东鲁能智能技术有限公司 | System for controlling transformer substation live washing robot and method |
| CN105045157B (en) * | 2014-09-10 | 2018-10-16 | 山东鲁能智能技术有限公司 | Substation's living water washing robot control system and method |
| CN107544313A (en) * | 2017-10-24 | 2018-01-05 | 广东电网有限责任公司东莞供电局 | Remote control live working device for high-voltage live equipment place |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110928 Termination date: 20120117 |