CN208421140U - A kind of robot shelf depreciation cruising inspection system - Google Patents
A kind of robot shelf depreciation cruising inspection system Download PDFInfo
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- CN208421140U CN208421140U CN201821030883.0U CN201821030883U CN208421140U CN 208421140 U CN208421140 U CN 208421140U CN 201821030883 U CN201821030883 U CN 201821030883U CN 208421140 U CN208421140 U CN 208421140U
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Abstract
The utility model discloses a kind of robot shelf depreciation cruising inspection system, strong antijamming capability can accurately diagnose electric discharge type, and compact-sized, the various Partial Discharge Detections suitable for testing location environment complexity.The system includes: computer terminal, robot, partial discharge detection instrument and track；Wherein, robot has shell, movable device, alarm and mechanical arm；The movable device of robot is for mobile in orbit；Mechanical arm one end is arranged on shell, and partial discharge detection instrument is arranged on the other end；Robot is mobile according to preset track, partial discharge detector is controlled by mechanical arm, and Partial Discharge Detection is carried out to power equipment, and Partial Discharge Detection data are read and recorded by computer terminal, alarm is issued by the alarm being arranged on shell when data exception.
Description
Technical field
The utility model relates to Partial Discharge Detecting Technology field more particularly to a kind of robot shelf depreciation inspection systems
System.
Background technique
Shelf depreciation is a kind of pulsed discharge, it can inside and around power equipment space generate a series of sound, light,
Electrically and mechanically physical phenomenons and the chemical change such as vibration.These various physical and chemical changes generated with shelf depreciation are
It monitors power equipment built-in electrical insulation state and detection signal is provided.It, usually can be along with when occurring insulation defect in equipment under test
The generation of local discharge signal.By the detection and analysis to local discharge signal, judge inside equipment under test with the presence or absence of exhausted
Edge hidden danger prevents the further expansion of latent defect from causing heavy economic losses and casualties.
Dielectric strength and disruptive field intensity are all very high in Electric Power Equipment Insulation body, when shelf depreciation occurs to a very small extent
When, breakdown process quickly, will generate very steep pulse current, the rise time is less than 1ns, and stimulating frequency is up to number GHz's
Electromagnetic wave.Partial Discharge Detecting Technology first is that superfrequency (UHF) method, the basic principle is that by extra-high video sensor to electric power
The ultrahigh frequency electromagnetic wave signal generated when shelf depreciation in equipment is detected, so that the relevant information of shelf depreciation is obtained, it is real
Existing partial discharge monitoring.Since the corona interference at scene is concentrated mainly on 300MHz frequency range hereinafter, therefore superfrequency method can be effective
Ground avoids the corona interference at scene, sensitivity with higher and anti-interference ability, it can be achieved that shelf depreciation live detection, positioning
And the advantages that Classifcation of flaws.
Partial Discharge Detection is also based on ultrasonic wave progress.Power equipment can generate acoustic signals during discharge.
The frequency spectrum for the sound wave that electric discharge generates is very wide, can be from several kHz to several MHz, and wherein signal of the frequency lower than 20kHz can be by human ear
It hears, and the ultrasonic signal for being higher than this frequency must can just be received with ultrasonic sensor.According to the energy of electric discharge release
Relationship between amount and sound energy, represents the variation that shelf depreciation is released energy with the variation of ultrasonic signal acoustic pressure, passes through survey
The acoustic pressure for measuring ultrasonic signal, can deduce the power of electric discharge.
Partial Discharge Detection can also use high-frequency pulse current method.Shelf depreciation is all in positive and negative charge each time
With can supervene high-frequency pulse current, judge the power of shelf depreciation by measuring this pulsed current signal, measure this arteries and veins
The method of electric current is rushed pulse current method.This pulse electricity is measured from the down conductor of power equipment using High Frequency Current Sensor
Stream obtains the information such as discharge capacity and discharge phase, and processor is recycled to be diagnosed.It the advantage is that information is rich in pulse current
Richness provides basic foundation for diagnosis；There is higher measurement sensitivity for jump signal, be easy to find failure；With compared with subject to
True calibration method is convenient for quantitative test.
Another detection method for local discharge can be carried out based on transient earth voltage.When shelf depreciation occurs, point of discharge
High-frequency current wave is generated, and is propagated to both direction；It is influenced by kelvin effect, current wave is focusing only on metal cabinet inner surface
It propagates, without being directed through；Junction is disconnected or insulate in metal, current wave is transferred to outer surface, and with electromagnetic wave
Freedom of entry space；Electromagnetic wave rising edge encounters outer metallic surface, generates transient state voltage-to-ground (Transient Earth
Voltage)；Transient state voltage-to-ground can measure its amplitude and discharge capacity with transient earth voltage sensor, it passes through single only electricity
Hold coupling type sensor to be detected in the grounded metal enclosure of tested equipment.Detector can detecte out due to shelf depreciation
Caused by transient voltage pulse signal, partial dis-charge activity each time is reflected by the amplitude and frequency of momentary voltage pulse
Power, to judge the operating condition of tested equipment.
In existing Partial Discharge Detecting Technology, for example, Authorization Notice No. is the Chinese utility model of CN207502667U
Patent discloses a kind of local discharge detection device, and detection unit is contacted with the shading ring of two disc insulators, to obtain
Partial discharge pulse's signal corresponding with two disc insulators.Existing Partial Discharge Detection scheme including the program is extremely
It has the following technical problems less: electric discharge type can not accurately be diagnosed, need by manually judging electric discharge type with experience；It is right
It is not in place in the processing of source signal, the interference of noise is caused to influence final discharge examination and type judgement；It is testing
In the complicated application of place and environment, sensor needs to pass signal back host with very long signal wire, causes device structure complicated
And hardware cost is higher.
Utility model content
One of the purpose of this utility model at least that, for how to overcome the above-mentioned problems of the prior art, provide
A kind of robot shelf depreciation cruising inspection system, strong antijamming capability can accurately diagnose electric discharge type, and compact-sized,
Various Partial Discharge Detections suitable for testing location environment complexity.
To achieve the goals above, the technical solution adopted in the utility model includes following aspects.
A kind of robot shelf depreciation cruising inspection system comprising: computer terminal, robot, partial discharge detection instrument and rail
Road；
Wherein, robot has shell, movable device, alarm and mechanical arm；The movable device of robot is used for
It is moved on track；Mechanical arm one end is arranged on shell, and partial discharge detection instrument is arranged on the other end；Robot is according to preset track
It is mobile, partial discharge detector is controlled by mechanical arm, Partial Discharge Detection is carried out to power equipment, and read simultaneously by computer terminal
Partial Discharge Detection data are recorded, alarm is issued by the alarm being arranged on shell when data exception.
Preferably, the computer terminal is arranged in the shell of robot directly to pass through cable and connect with partial discharge detection instrument
To obtain Partial Discharge Detection data and store；Or the locality outside robot is set with module by wireless communication
Wireless data communication is carried out with partial discharge detection instrument, to obtain Partial Discharge Detection data and store.
Preferably, the partial discharge tester includes transient earth voltage collector, ultrasonic sensor, metal approach sensing
Device and electricity inhale one or more of iron as test sensor；Also, test sensor is kept to visit when with measuring transient state
The metal shell parallel contact of head and tested power equipment passes through mechanical arm control office when robot runs to test position
The electricity suction iron put in tester is close together with making transient state collector and tested power equipment shell, then passes through sensor
Diagonal metal taps into sensor and determines whether parallel contact, and when not having parallel contact, movable device and mechanical arm are adjusted again
Whole angle simultaneously repeats aforesaid operations.
Preferably, the conditioning of the front end of two kinds of sensors and two kinds of sensors and detector are integrated by the partial discharge detection instrument
Together, instrument data will test by Ethernet and is sent to computer terminal.
Preferably, the partial discharge detection instrument includes: that sensor, signal processing module, analog-digital converter ADC, scene can compile
Journey gate array FPGA, CPU and communication module；
Wherein, sensor is used to obtain detection signal from detected object, and is transmitted to signal processing module；Signal processing
Module includes amplifying circuit, filter circuit and peak-detector circuit, be respectively used to amplify detection signal, filter, with
And by input detection signal set of frequency ADC input range；ADC is used for according to the sampling clock from FPGA to inspection
It surveys signal and carries out number conversion to obtain digital signal, and be sent to FPGA；FPGA has cache unit and digital filter unit, point
Received digital signal Yong Yu not cached, digital filtering processing is carried out come the digital signal to caching according to control command；
CPU has parameter calculating module and result output module, and wherein parameter calculating module is used for according to from FPGA's
Data calculate the shelf depreciation numerical value for indicating shelf depreciation power；As a result output module is for exporting partial enlargement numerical value for aobvious
Show.
Preferably, the amplifying circuit includes sequentially connected voltage follower circuit, reverse amplification circuit and addition electricity
Road.
Preferably, in the voltage follower circuit, detection signal is same via the 9th resistance input second operational amplifier
Phase input terminal, and the inverting input terminal of operational amplifier is connected with its output end external circuit is isolated, and will test signal
It is sent to reverse amplification circuit.
Preferably, in the reverse amplification circuit, detection signal is via the 14th resistance input third operational amplifier
Inverting input terminal；The detection signal for being amplified to ADC input voltage range is transmitted to addition by the output end of third operational amplifier
Circuit, and inverting input terminal, the non-inverting input terminal ground connection of third operational amplifier are connected to via thirteenth resistor.
Preferably, in the add circuit, the detection signal by amplification inputs the 4th operation via twelfth resistor and puts
The reverse input end of big device；The reverse input end of four-operational amplifier is connect via the 17th resistance with reference voltage respectively,
It is connect via the 18th resistance with the output end of four-operational amplifier；The noninverting input of four-operational amplifier is grounded, the
The output end of four-operational amplifier is connect with filter circuit.
Preferably, in the filter circuit, detection signal inputs the first operation amplifier via the 8th resistance and 3rd resistor
The reverse input end of device；The reverse input end of first operational amplifier is via the 4th capacitance connection to its output end；First operation
The noninverting input of amplifier is grounded；The output end of first operational amplifier respectively via the 4th resistance and the second capacity earth,
The reverse input end of the 6th operational amplifier is connected to via second resistance and first resistor；6th operational amplifier it is reversed defeated
Enter end via the 6th capacitance connection to its output end；The noninverting input of 6th operational amplifier is grounded；6th operational amplifier
Output end respectively via the 6th resistance and third capacity earth, and be connected to peak-detector circuit.
In conclusion by adopting the above-described technical solution, the utility model at least has the advantages that
It is tested by using terminal plus intelligence sensor mode, terminal is using mobile phone based on android system or puts down
Plate, test software use APP mode, intelligence sensor both can single machine detection can also be with terminal On-line measurement.Detector terminal
Wireless communication mode is used with intelligence sensor, it is compact structure, easy to operate, light-weight, scene is very suitable to GIS
(Gas-insulatedMetal-enclosedSwitchgear, gas insulating metal closed type combined electrical apparatus) power distribution equipment is opened
Close the local discharge of electrical equipment defects detections such as cabinet, cable and transformer.Simultaneously because use wireless communication mode, into
When the equipment such as row GIS detect, detection position is narrow and bring is inconvenient the problems such as ascend a height is solved very well, alleviates inspection
The risk of labor intensity and fall arrest is surveyed, while improving detection efficiency.At the position to the operation that needs to ascend a height, pass through mechanical arm
Partial Discharge Detection work can be completed in connection wireless intelligence sensor.Detector provide superfrequency, ultrasonic wave, high-frequency current and
A variety of local discharge detecting functions such as transient earth voltage can carry out comprehensive status assessment to tested power equipment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram according to the robot shelf depreciation cruising inspection system of the utility model exemplary embodiment.
Fig. 2 is the structural schematic diagram according to the partial discharge detection instrument of the utility model exemplary embodiment.
Fig. 3 is the voltage follower circuit structural schematic diagram according to the utility model exemplary embodiment.
Fig. 4 is the reverse amplification circuit structural schematic diagram according to the utility model exemplary embodiment.
Fig. 5 is the add circuit structural schematic diagram according to the utility model exemplary embodiment.
Fig. 6 is the filter circuit construction schematic diagrame according to the utility model exemplary embodiment.
Specific embodiment
With reference to the accompanying drawings and embodiments, the present invention will be further described in detail, so that the utility model
Objects, technical solutions and advantages are more clearly understood.It should be appreciated that specific embodiment described herein is only to explain this reality
With novel, it is not used to limit the utility model.
Fig. 1 shows the structural representation of the robot shelf depreciation cruising inspection system according to the utility model exemplary embodiment
Figure.The system of the embodiment specifically includes that computer terminal, robot, partial discharge detection instrument and track.
Wherein, robot has shell, movable device (such as wheel group, crawler belt etc.), alarm and mechanical arm；Robot
Movable device for mobile in orbit；Mechanical arm one end is arranged on shell, and partial discharge detection instrument is arranged on the other end；Machine
People is mobile according to preset track, controls partial discharge detector by mechanical arm and carries out Partial Discharge Detection to power equipment, and leads to
It crosses computer terminal and reads and record Partial Discharge Detection data, the alarm (example when data exception by being arranged on shell
Such as: LED light, display screen, loudspeaker, sound equipment) issue alarm.Wherein, computer terminal can be set in the shell of robot
It obtains Partial Discharge Detection data directly to be connect by cable with partial discharge detection instrument and stores, also can be set in robot
External locality carries out wireless data communication with module by wireless communication and partial discharge detection instrument, to obtain shelf depreciation inspection
Measured data simultaneously stores.
Computer terminal can record detection data simultaneously, provide long-term data trend mutation analysis, and data pass through net
Network is transmitted to computer terminal.Whole process is not necessarily to human intervention, only need to set monitoring time and alarm threshold value, and system is by whole day
It voluntarily works within 24 hours, finds to issue alarm when tested power equipment has electric discharge phenomena and test value is more than given threshold.
Fig. 2 shows the structural schematic diagrams according to the partial discharge detection instrument of the utility model exemplary embodiment.Partial discharge inspection
Surveying instrument includes sensor, signal processing module, analog-digital converter ADC, on-site programmable gate array FPGA, CPU and communication mould
Block.Specifically, ADC can be realized using ADS807 chip, and FPGA can use A3P060/125 chip, and CPU can be used
STM32F407 processor chips.
Wherein, sensor is used to obtain detection signal from detected object (such as various electrical equipments), and is transmitted to letter
Number processing module；Signal processing module includes amplifying circuit, filter circuit and peak-detector circuit, is respectively used to detection
Signal amplifies, filter and by the set of frequency of the detection signal of input ADC input range；ADC is used for according to next
Number conversion is carried out to obtain digital signal to detection signal from the sampling clock of FPGA, and is sent to FPGA；FPGA has caching
Unit and digital filter unit, be respectively used to cache received digital signal, according to control command come the digital signal to caching
Carry out digital filtering processing；
CPU has parameter calculating module and result output module, and wherein parameter calculating module is used for according to from FPGA's
Data calculate the shelf depreciation numerical value for indicating shelf depreciation power；As a result output module is for exporting partial enlargement numerical value for aobvious
Show.Specifically, as a result output module can directly be connect with display, to show to local discharging value；Alternatively, result
Output module is connect with communication module is sent to mobile terminal for partial enlargement numerical value.Wherein by communication module (for example,
The mobile radio telecommunications modules such as WIFI, GPRS/CDMA/WCDMA/EVDO, 3G/4G) it is realized and is surveyed using public radio communication network
Try data remote transmission.
Mobile terminal (for example, mobile phone, tablet computer, special digital terminal etc.) is by running corresponding APP, to be showed
Row information record of going forward side by side is tested in field.Further, it is possible to which the variation tendency of real-time display signal, can believe between intuitively comparing difference test point
Number difference, be convenient for shelf depreciation positioning judgement.Further, signal acquisition and frequency analysis can also be carried out, is shown
Show generation moment and the typical statistic spectrogram of the original waveform of discharge signal.
Intelligent diagnostics module can be set on mobile terminal or remote server, for accurately identify external disturbance and
The type of all kinds of shelf depreciations, such as the electric discharge of air gap bubble electric discharge, floating potential discharge, sharp-point conductor, creeping discharge and radar
Interference, mobile phone interference etc.；Also achieve the early warning and alarm of test data.Have data storage, playback and figure store function,
And examining report can be directly generated.
Parameter calculating module is used to calculate the power of shelf depreciation according to the detection data that FPGA is sent in CPU, and can
Superfrequency (UHF), contact ultrasonic (AE), air type ultrasonic wave (AA), transient earth voltage are used with further setting
(TEV), five kinds of detection modules of high-frequency current (HFCT), user can be by mobile terminals according to different types of high voltage electric equipment
Design feature and testing requirements select suitable detection technique to be combined to detect to shelf depreciation, to reach most
Good detection effect.
Wherein, superfrequency detection module, for the power equipments such as GIS, cable, switchgear to be implemented with the electrification of shelf depreciation
Detection；Contact ultrasonic detection module, for the power equipments such as GIS, transformer implement shelf depreciation live detection and
The positioning of local discharge signal；Transient earth voltage and air type ultrasound examination module, for the power equipments such as switchgear office
The live detection of portion's electric discharge；High-frequency current detection module, the partial discharge for power equipments such as power transformer, reactor, cables
Live detection.
Partial discharge tester in above-described embodiment has multiple sensors, such as transient earth voltage collector, ultrasonic wave pass
Sensor, metal proximity sensor, small power electric inhale iron.It needs to keep test sensor probe and tested electric power when with measuring transient state
The metal shell parallel contact of equipment is inhaled iron by electricity and is acquired with making transient state when robot arm runs to test position
Device and tested power equipment shell are close together, and then tap into sensor by the diagonal metal of sensor and determine whether in parallel
Contact, when not having parallel contact, executing agency will readjust angle and repeat aforesaid operations.
Transient earth voltage detection can single or continuous trigger acquisition, have amplitude Characteristics detection, shelf depreciation umber of pulse
The detection of the severity of detection and shelf depreciation；The local discharge signal frequency range 3MHz of transient earth voltage test~
100MHz, to amplitude range 0dBmV~60dBmV of induction signal, resolution ratio 0.3dBmV.
Air type ultrasound examination has amplitude Characteristics detection, cycle detection, PRPS: the pulse train of phase explanation, just
It is that each partial discharge pulse with phase identification is shown according to time order and function, time order and function is generally according to place week
Phase processing；PRPD: phase-resolved shelf depreciation exactly shows each partial discharge pulse with phase identification according to phase
It shows and, discharge information does not have temporal information, belongs to the PRPS information superposition in a period of time；In air type ultrasonic test
Frequency of heart 40kHz, corresponding signal amplitude range 0dBuV~60dBuV, resolution ratio 0.3dBuV.
Partial discharge detection instrument has interior synchronization, wired synchronization and wireless synchronization function, and wired synchronization and wireless synchronization may be selected
Voltage, function of current synchronize and refer to that taking certain phase fixed point of tested power equipment place phase to trigger a pulse signal sends
To the arteries and veins for generating one with (ordinary circumstance is defaulted as 50Hz) of tested power equipment identical frequency inside tester or tester
Signal is rushed come synchronous with the signal collected, so that the same-phase point for reaching each period is distributed on PRPD figure, it is tested to set
If standby have electric discharge phenomena ordinary circumstance to will appear in sinusoidal wave crest or trough, the result tested in this way will be consolidated on PRPD figure
It is duplicate at fixed phase biggish record occur, it is also beneficial to exclude environmental disturbances signal or other power noises letter in this way
Number, noise signal is usually irregular into normal distribution, and reaction is rambling on map.Outer synchrotransmitter voltage
Synchronism detection channel voltage test scope 10V~400V, testing current channel current test scope 10mA~10A.
Partial discharge detection instrument has intelligent diagnostics function, can accurately identify the type of external disturbance and all kinds of shelf depreciations, example
Such as air gap bubble electric discharge, floating potential discharge, sharp-point conductor electric discharge, creeping discharge and radar chaff, mobile phone interference；Partial discharge inspection
It surveys instrument to be integrated together the conditioning of the front end of two kinds of sensors and two kinds of sensors and detector, instrument number will test by Ethernet
According to quickly computer terminal is sent to, data volume is about in 10KB/S.
In a preferred embodiment, above-mentioned amplifying circuit may include sequentially connected voltage follower circuit, reversed amplification
Circuit and add circuit.Fig. 3 shows the voltage follower circuit structural representation according to the utility model exemplary embodiment
Figure.In the voltage follower circuit, detection signal inputs the non-inverting input terminal of second operational amplifier U2 via the 9th resistance R9, and
And the inverting input terminal of operational amplifier U2 is connected with its output end external circuit is isolated, and be will test signal and be sent to reversely
Amplifying circuit.
Fig. 4 shows the reverse amplification circuit structural schematic diagram according to the utility model exemplary embodiment.This is reversely put
In big circuit, detection signal inputs the inverting input terminal of third operational amplifier U3 via the 14th resistance R14；Third operation is put
The detection signal for amplifying (such as reversed 10 times of amplification) to ADC input voltage range is transmitted to addition electricity by the output end of big device U3
Road, and inverting input terminal, the non-inverting input terminal ground connection of third operational amplifier U3 are connected to via thirteenth resistor R13.
Fig. 5 shows the add circuit structural schematic diagram according to the utility model exemplary embodiment.In the add circuit,
Detection signal by amplification inputs the reverse input end of four-operational amplifier U4 via twelfth resistor R12；4th operation
The reverse input end of amplifier U4 is connect via the 17th resistance R17 with reference voltage VERF respectively, via the 18th resistance R18
It is connect with the output end of four-operational amplifier U4；The noninverting input of four-operational amplifier U4 is grounded, the 4th operation amplifier
The output end of device U4 is connect with filter circuit.
Fig. 6 shows the filter circuit construction schematic diagrame according to the utility model exemplary embodiment.In the filter circuit,
Detect the reverse input end that signal inputs the first operational amplifier U1 via the 8th resistance R8 and 3rd resistor R3；First operation is put
The reverse input end of big device U1 is connected to its output end via the 4th capacitor C4；The noninverting input of first operational amplifier U1 connects
Ground；The output end of first operational amplifier U1 is grounded via the 4th resistance R4 and the second capacitor C2 respectively, via second resistance R2
The reverse input end of the 6th operational amplifier U6 is connected to first resistor R1；The reverse input end of 6th operational amplifier U6 passes through
Its output end is connected to by the 6th capacitor C6；The noninverting input of 6th operational amplifier U6 is grounded；6th operational amplifier U6
Output end be grounded respectively via the 6th resistance R6 and third capacitor C3, and be connected to peak-detector circuit.
Wherein, the corresponding filter circuit of superfrequency detection module is set as low-frequency range 500MHz-700MHz, high band
Tri- bandpass filtering structures of 1.1GHz-1.3GHz, full frequency band 300MHz-1.5GHz.Contact ultrasonic detection module is corresponding
Filter circuit is set as the bandpass filtering structure of 10KHz, 20KHz, 30KHz high pass and the combination of 100KHz, 200KHz low pass.Transient state
The corresponding filter circuit of ground voltage detection module is set as the bandpass filtering structure of 1MHz-100MHz.High-frequency current detection module
Corresponding filter circuit is set as tri- bandpass filtering structures of 1MHz-30MHz, 1MHz-5MHz, 5MHz-10MHz.Wherein, for
High-frequency signal, operational amplifier can use AD8065 high speed amplifier chip.
In above-described embodiment, by using software and hardware frequency-selective filtering technology, ambient noise is effectively filtered out, such as radio carries
The background noises such as wave；The interference signal for not meeting signal strength characteristics is filtered out using pulse authentication technique；Using phase spy
Sign authentication technique filters out the interference signal of any phase point or phase section.
Mobile terminal or the display directly being connect with CPU, for real-time display measured signal variation tendency and put
Electric strong and weak, offer shelf depreciation tendency chart；Superfrequency detection can set detection bandwidth and frequency filtering, and superfrequency detection provides
The PRPS pulse train of explanation (phase), PRPS,Map, and amplitude tendency chart is provided.Ultrasound examination has continuous detection
Mode, phase detection mode (PRPD), pulse detection mode (TOF), time domain waveform detection pattern, and can provide PRPS map and
Amplitude trend map.Superfrequency, which detects, can set detection bandwidth and frequency filtering, superfrequency detection offer PRPS,Map, and
Amplitude tendency chart is provided.Transient earth voltage detection provides shelf depreciation peak detection, provides the detection of recurrent pulse number and part is put
Electric repetitive rate (discharge severity) detection.
May be arranged as except interior synchronize using electric current or voltage source signal, by wireless except through CPU
Synchronizer and 2.4G module receive synch command, realize wireless outer synchronous.
The above, the only detailed description of specific embodiment of the present invention, rather than limitations of the present invention.
Those skilled in the technology concerned in the case where not departing from the principle and range of the utility model, the various replacements made,
Modification and improvement should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of robot shelf depreciation cruising inspection system, which is characterized in that the system comprises: computer terminal, robot, partial discharge
Detector and track；
Wherein, robot has shell, movable device, alarm and mechanical arm；The movable device of robot is used in track
Upper movement；Mechanical arm one end is arranged on shell, and partial discharge detection instrument is arranged on the other end；Robot is moved according to preset track
It is dynamic, partial discharge detector is controlled by mechanical arm, Partial Discharge Detection is carried out to power equipment, and read and remember by computer terminal
Partial Discharge Detection data are recorded, alarm is issued by the alarm being arranged on shell when data exception.
2. system according to claim 1, which is characterized in that the computer terminal is arranged in the shell of robot with direct
It is connect by cable with partial discharge detection instrument to obtain Partial Discharge Detection data and store；Or the spy outside robot is set
Determine place and wireless data communication is carried out with module by wireless communication and partial discharge detection instrument, to obtain Partial Discharge Detection data simultaneously
Storage.
3. system according to claim 1, which is characterized in that the partial discharge detection instrument includes transient earth voltage collector, surpasses
Sonic sensor, metal proximity sensor and electricity inhale one or more of iron as test sensor；Also, it measures
Transient state when keep test sensor probe and tested power equipment metal shell parallel contact, when robot runs to test
When position, it is tight come with making transient state collector and tested power equipment shell that the electricity suction iron in partial discharge tester is controlled by mechanical arm
It sticks together, sensor is then tapped by the diagonal metal of sensor and determines whether parallel contact, when there is no parallel contact,
Movable device and mechanical arm readjust angle and repeat aforesaid operations.
4. system according to claim 1, which is characterized in that the partial discharge detection instrument is by two kinds of sensors and two kinds of sensors
Front end conditioning and detector be integrated together, instrument data will test by Ethernet and be sent to computer terminal.
5. system according to claim 1, which is characterized in that the partial discharge detection instrument includes: sensor, signal processing mould
Block, analog-digital converter ADC, on-site programmable gate array FPGA, CPU and communication module；
Wherein, sensor is used to obtain detection signal from detected object, and is transmitted to signal processing module；Signal processing module
Including amplifying circuit, filter circuit and peak-detector circuit, it is respectively used to that detection signal is amplified, filtered and incited somebody to action
Input range of the set of frequency of the detection signal of input in ADC；ADC is used to believe detection according to the sampling clock from FPGA
Number number conversion is carried out to obtain digital signal, and be sent to FPGA；FPGA has cache unit and digital filter unit, uses respectively
Digital filtering processing is carried out in the received digital signal of caching, according to control command come the digital signal to caching；
CPU has parameter calculating module and result output module, and wherein parameter calculating module is used for according to the data from FPGA
Calculate the shelf depreciation numerical value for indicating shelf depreciation power；As a result output module is for exporting partial enlargement numerical value for display.
6. system according to claim 5, which is characterized in that the amplifying circuit includes sequentially connected voltage follow electricity
Road, reverse amplification circuit and add circuit.
7. system according to claim 6, which is characterized in that in the voltage follower circuit, detection signal is via the 9th electricity
Resistance input second operational amplifier non-inverting input terminal, and the inverting input terminal of operational amplifier connect with its output end with every
From external circuit, and it will test signal and be sent to reverse amplification circuit.
8. system according to claim 6, which is characterized in that in the reverse amplification circuit, detect signal via the 14th
The inverting input terminal of resistance input third operational amplifier；The output end of third operational amplifier will be amplified to ADC input voltage
The detection signal of range is transmitted to add circuit, and is connected to inverting input terminal, third operational amplifier via thirteenth resistor
Non-inverting input terminal ground connection.
9. system according to claim 6, which is characterized in that in the add circuit, detection signal by amplification via
The reverse input end of twelfth resistor input four-operational amplifier；The reverse input end of four-operational amplifier is respectively via
17 resistance are connect with reference voltage, are connect via the 18th resistance with the output end of four-operational amplifier；4th operation is put
The noninverting input ground connection of big device, the output end of four-operational amplifier are connect with filter circuit.
10. system according to claim 5, which is characterized in that in the filter circuit, detection signal via the 8th resistance and
3rd resistor inputs the reverse input end of the first operational amplifier；The reverse input end of first operational amplifier is via the 4th capacitor
It is connected to its output end；The noninverting input of first operational amplifier is grounded；The output end of first operational amplifier respectively via
4th resistance and the second capacity earth are connected to the reversed input of the 6th operational amplifier via second resistance and first resistor
End；The reverse input end of 6th operational amplifier is via the 6th capacitance connection to its output end；6th operational amplifier it is in the same direction
Input end grounding；The output end of 6th operational amplifier is connected to peak value respectively via the 6th resistance and third capacity earth
Detecting circuit.
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| CN201821030883.0U CN208421140U (en) | 2018-06-29 | 2018-06-29 | A kind of robot shelf depreciation cruising inspection system |
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| CN201821030883.0U CN208421140U (en) | 2018-06-29 | 2018-06-29 | A kind of robot shelf depreciation cruising inspection system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109725241A (en) * | 2019-02-25 | 2019-05-07 | 重庆大学 | Channel cable detection early warning system based on Internet of Things |
| CN110687370A (en) * | 2019-09-11 | 2020-01-14 | 中国电力科学研究院有限公司 | Method and device for testing induction discharge anti-interference capability of power transmission live working robot |
| CN111175619A (en) * | 2019-12-31 | 2020-05-19 | 浙江黑卡电气有限公司 | Ultrasonic partial discharge signal conditioning method based on digital-analog hybrid processing |
| CN113848412A (en) * | 2021-10-19 | 2021-12-28 | 中国三峡建工(集团)有限公司 | Intelligent dry-type air-core reactor running state on-line monitoring auxiliary system |
| CN114878994A (en) * | 2022-07-11 | 2022-08-09 | 杭州世创电子技术股份有限公司 | Partial discharge signal detection method and system based on space ultrahigh frequency sensor |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109725241A (en) * | 2019-02-25 | 2019-05-07 | 重庆大学 | Channel cable detection early warning system based on Internet of Things |
| CN109725241B (en) * | 2019-02-25 | 2023-12-12 | 重庆大学 | Channel cable detection early warning system based on Internet of things |
| CN110687370A (en) * | 2019-09-11 | 2020-01-14 | 中国电力科学研究院有限公司 | Method and device for testing induction discharge anti-interference capability of power transmission live working robot |
| CN111175619A (en) * | 2019-12-31 | 2020-05-19 | 浙江黑卡电气有限公司 | Ultrasonic partial discharge signal conditioning method based on digital-analog hybrid processing |
| CN111175619B (en) * | 2019-12-31 | 2022-06-24 | 浙江黑卡电气有限公司 | Ultrasonic partial discharge signal conditioning method based on digital-analog hybrid processing |
| CN113848412A (en) * | 2021-10-19 | 2021-12-28 | 中国三峡建工(集团)有限公司 | Intelligent dry-type air-core reactor running state on-line monitoring auxiliary system |
| CN114878994A (en) * | 2022-07-11 | 2022-08-09 | 杭州世创电子技术股份有限公司 | Partial discharge signal detection method and system based on space ultrahigh frequency sensor |
| CN114878994B (en) * | 2022-07-11 | 2022-09-27 | 杭州世创电子技术股份有限公司 | Partial discharge signal detection method and system based on space ultrahigh frequency sensor |
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