CN208999522U - The position detecting device of substation's shelf depreciation inspection positioning device - Google Patents
The position detecting device of substation's shelf depreciation inspection positioning device Download PDFInfo
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- CN208999522U CN208999522U CN201821505945.9U CN201821505945U CN208999522U CN 208999522 U CN208999522 U CN 208999522U CN 201821505945 U CN201821505945 U CN 201821505945U CN 208999522 U CN208999522 U CN 208999522U
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Abstract
The utility model belongs to insulation of electrical installation state inspection field, in particular to a kind of position detecting device of substation's shelf depreciation inspection positioning device, the position detecting device includes laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module, power module and ripple reflection unit；The laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module and power module form a set of integral device, the integral device is placed in the center of the aerial array of substation's shelf depreciation inspection positioning vehicle, and the ripple reflection unit is placed on substation inspection channel；The microprocessor module is connect with laser ranging module, three-dimensional electronic compass module, stepper motor module and shelf depreciation inspection positioning device respectively.The utility model can accurately measure the coordinate of each test point, so as to precise positioning Partial Discharge Sources.
Description
Technical field
The utility model belongs to insulation of electrical installation state inspection field, in particular to a kind of substation's shelf depreciation
The position detecting device of inspection positioning device.
Background technique
Shelf depreciation occurs inside insulation of electrical installation and supervenes ultrahigh-frequency signal.Shelf depreciation occurs to obtain
The position of electrical equipment, currently used method are to build aerial array, obtain multiple groups superfrequency using high speed acquisition equipment and believe
Number, it calculates the time delay between multiple groups signal and establishes Nonlinear System of Equations, obtain local put by solving the Nonlinear System of Equations
The position of power supply.Four groups of ultrahigh-frequency signals are obtained using four omnidirectional antennas, three groups of time delays is obtained through Time Delay Estimation Algorithms, establishes
Containing there are three the Nonlinear System of Equations of equation.Theoretically the three-dimensional seat of Partial Discharge Sources can be obtained by solving this equation group
Mark.But in practical application, since antenna distance measurement error each in aerial array, ultrahigh-frequency signal acquisition device sample rate limit
System, ultrahigh-frequency signal by factors such as noise pollutions are led to time-delay calculation result there are errors, and then can not obtain accurate three-dimensional
Coordinate.The actual running results show to be only capable of obtaining Partial Discharge Sources relative to monitoring point (antenna by solving Nonlinear System of Equations
Array center) two-dimensional directional.Currently, integral device is placed in inspection vehicle, people by the shelf depreciation positioning device of commercialization
Work drives to carry out multiple spot detection on substation inspection channel.For the accurate location for obtaining Partial Discharge Sources, it usually needs carry out
The measurement of multiple measuring points, to obtain multiple directions angle, multiple directions intersect the accurate location for obtaining Partial Discharge Sources.Therefore accurate
The coordinate for measuring each test point is the key that precise positioning Partial Discharge Sources.But current power transformation shelf depreciation inspection positioning
Device is not yet equipped with special test point coordinate measuring set.
Currently, widely used substation's infrared imaging crusing robot is often led with magnetic tracks navigation, inertial navigation, GPS
Boat and vision guided navigation.Track navigate need early period it is pre- be laid with track, not only efforts amount is larger but also can only rest in and overlays
It is marked with the position of label, does not meet the demand of Partial Discharge Detection；Inertial navigation needs that a large amount of unlimited signal is arranged in substation
R-T unit, stability are relatively poor；For the positioning accuracy of GPS navigation at 2-10 meters, error is larger and dangerous.Vision guided navigation by
Extraneous light intensity influence is very big, is not suitable for the navigation of open type substation.Therefore, it navigation device described above and is not suitable for
In substation's shelf depreciation inspection vehicle test point measurement of coordinates.
Summary of the invention
Aiming at the problems existing in the prior art, the utility model provides a kind of substation's shelf depreciation inspection positioning device
Position detecting device, the coordinate of each test point can be measured, accurately so as to precise positioning Partial Discharge Sources.
To achieve the goals above, the following technical solution is employed for the utility model:
The utility model provides a kind of position detecting device of substation's shelf depreciation inspection positioning device, the position inspection
Survey device include laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module, power module with
And ripple reflection unit；The laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module and
Power module forms a set of integral device, which is placed in the aerial array of substation's shelf depreciation inspection positioning vehicle
Center, the ripple reflection unit is placed on substation inspection channel；The microprocessor module respectively with laser ranging
Module, three-dimensional electronic compass module, stepper motor module are connected with shelf depreciation inspection positioning device；The power module is sharp
Ligh-ranging module, microprocessor module, stepper motor module and three-dimensional electronic compass module provide power supply.
Further, the center of the three-dimensional electronic compass module is overlapped with the measurement initial position of laser ranging module,
And the Laser emission direction of laser ranging module is consistent with 0 degree of direction of three-dimensional electronic compass module.
Further, the axis of rotation of the stepper motor module is overlapped with the center of three-dimensional electronic compass module.
Further, the ripple reflection unit uses laser reflection face.
Compared with prior art, the utility model has the advantage that
A kind of position detecting device of substation's shelf depreciation inspection positioning device of the utility model, utilizes laser ranging
Module, stepper motor module, three-dimensional electronic compass module and ripple reflection unit, realization, which is worked as, detects effective high-frequency signal
Afterwards, the coordinate of the test point is accurately measured.The measurement accuracy of laser ranging module and three-dimensional electronic compass module much higher than GPS,
The precision of inertial navigation, measurement result are more accurate.Laser ranging module uses a laser as ranging carrier, effectively overcomes environment
The influence of light intensity.
Detailed description of the invention
Fig. 1 is that a kind of structure of the position detecting device of substation's shelf depreciation inspection positioning device of the utility model is former
Manage block diagram；
Fig. 2 is that a kind of structure of the position detecting device of substation's shelf depreciation inspection positioning device of the utility model is shown
It is intended to；
Fig. 3 is the schematic top plan view of ripple reflection unit；
Fig. 4 is the schematic side view of ripple reflection unit；
Fig. 5 is a kind of applied field of the position detecting device of substation's shelf depreciation inspection positioning device of the utility model
Jing Tu；
Fig. 6 is the ripple normalized parameter schematic diagram of the single reflecting surface of ripple reflection unit；
Fig. 7 is the AVHRR NDVI result schematic diagram of ripple reflection unit.
Meaning representated by serial number in figure are as follows: 1. laser ranging modules, 2. microprocessor modules, 3. stepper motor modules,
4. three-dimensional electronic compass module, 5. power modules, 6. ripple reflection units, 7. shelf depreciation inspection positioning devices.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Embodiment one
As shown in Figure 1, a kind of position detecting device of substation's shelf depreciation inspection positioning device, the position detection dress
Set including laser ranging module 1, microprocessor module 2, stepper motor module 3, three-dimensional electronic compass module 4, power module 5 with
And ripple reflection unit 6；The laser ranging module 1, microprocessor module 2, stepper motor module 3, three-dimensional electronic compass mould
Block 4 and power module 5 form a set of integral device, which is placed in the day of substation's shelf depreciation inspection positioning vehicle
The center of linear array, the ripple reflection unit 6 are placed on substation inspection channel；The microprocessor module 2 respectively with
Laser ranging module 1, three-dimensional electronic compass module 4, stepper motor module 3 and shelf depreciation inspection positioning device 7 connect；It is described
Power module 5 is that laser ranging module 1, microprocessor module 2, stepper motor module 3 and three-dimensional electronic compass module 4 provide electricity
Source.
As shown in Fig. 2, the center of the three-dimensional electronic compass module 4 and the measurement initial position of laser ranging module 1 weight
It closes, and the Laser emission direction of laser ranging module 1 is consistent with 0 degree of direction of three-dimensional electronic compass module 4.The stepping electricity
The axis of rotation of machine module 3 is overlapped with the center of three-dimensional electronic compass module 4.
Preferably, 1 measurement accuracy of laser ranging module can carry out it by serial port less than 1 centimetre
Read-write Catrol.The stepper motor module 3 has driving circuit, can be by its action mode of Serial Port Control, minimum rotation
Angle is less than or equal to 0.9 degree.The three-dimensional electronic compass module 4 can realize self calibration by 360 ° of rotations, and azimuth is surveyed
Accuracy of measurement is less than 0.3 degree.Microprocessor module 2 has more than four serial ports, wherein three serial ports are respectively used to control
4 module of laser ranging module 1, stepper motor module 3 and three-dimensional electronic compass, the 4th serial port and shelf depreciation inspection position
Equipment 7 is communicated.As shown in Figure 3 and Figure 4, the ripple reflection unit 6 is anti-for the laser designed according to certain geometrical relationship
Penetrate face.
As shown in figure 5, what the position detecting device based on a kind of above-mentioned substation's shelf depreciation inspection positioning device was realized
Method for detecting position, comprising the following steps:
Step S101 establishes two-dimensional coordinate system in substation, selects certain point as coordinate origin.Under normal circumstances, it selects
Take substation inspection channel right-angled intersection be coordinate origin, select direct north for y-axis direction, select due east direction for
X-axis direction；
Ripple reflection unit 6 is placed in coordinate origin, the length of the single reflecting surface of ripple reflection unit 6 by step S102
Degree is no more than 1.5 meters, as shown in fig. 6, the ripple parameter M (n), n=0,1 of the record single reflecting surface of ripple reflection unit 6,2,
3 ..., n ..., N, N are ripple reflecting surface discretization points；The reflecting surface discretization points of 1.5 meters long of setting are P point；
Step S103 manually drives substation's shelf depreciation inspection positioning vehicle to carry out part in substation inspection channel and puts
The detection of electricity starts the measurement that the position detecting device carries out test point coordinate after detecting effective ultrahigh-frequency signal；
Step S104, setting three-dimensional electronic compass module 4 enter calibration procedure, and driving stepper motor carries out 360 degree rotation,
Complete the calibration of three-dimensional electronic compass module 4；
Step S105, driving stepper motor carry out 360 degree rotation, and angular velocity of rotation is 1 degrees second, and starts laser ranging
Module 1, it is continuous measurement pattern that its operating mode, which is arranged, and the ranging of a laser ranging module 1 output was read at interval of 0.1 second
As a result LiThe deflection θ exported with three-dimensional electronic compass module 4i, it is denoted as L (θi)；
Step S106 successively intercepts L (θi) in continuous Q point L (θi)~L (θi+Q) it is denoted as Lk(j), dynamic time warpping algorithm is utilized
Calculate Lk(j) with the minimum space distance of M (n), wherein 0≤j≤Q, specific calculating process is as follows:
Step S1061, first rejecting Lk(j) it is greater than 100 numerical value in, uses Lk(j) minimum value min (Lk(j)) substitution is picked
The point removed, as shown in fig. 7, then to Lk(j) it is normalized, shown in normalization processing method such as formula (1), Lk(J)norFor
Normalized result；
Step S1062 constructs Lk(j)norWith the Euclidean distance matrix D of M (n)j×n, as shown in formula (2), in formula
Step S1063 is planned according to formula (3) from d11To dJNBetween optimal path WP, wherein d11=dist [Lk(1)nor,
M(1)]；
Step S1064 calculates L according to formula (4), (5)k(j)norMinimum space distance between M (n), wherein H=max
(P,Q)；
Wh=d(hj)(hn)(5)；
Step S107 obtains 3600 minimum space distances by step 6 altogether, extracts the minimum value in 3600 groups, is denoted as L
(j)min, record the distance L of this group of data intermediate pointminWith corresponding angle, θmin, inspection vehicle antenna array is calculated according to formula (6)
The coordinate (x, y) at column center；
Finally, it should be noted that embodiment described above, only specific embodiment of the present utility model, to illustrate this
The technical solution of utility model, rather than its limitations, the protection scope of the utility model is not limited thereto, although referring to aforementioned
The utility model is described in detail in embodiment, those skilled in the art should understand that: it is any to be familiar with this skill
The technical staff in art field within the technical scope disclosed by the utility model, still can be to skill documented by previous embodiment
Art scheme modify or can readily occur in variation or equivalent replacement of some of the technical features；And these modifications,
Variation or replacement, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution
It encloses, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model is answered described is wanted with right
Subject to the protection scope asked.
Claims (4)
1. a kind of position detecting device of substation's shelf depreciation inspection positioning device, which is characterized in that the position detection dress
It sets including laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module, power module and wave
Line reflection unit；The laser ranging module, microprocessor module, stepper motor module, three-dimensional electronic compass module and power supply
Module forms a set of integral device, which is placed in the aerial array of substation's shelf depreciation inspection positioning vehicle
The heart, the ripple reflection unit are placed on substation inspection channel；The microprocessor module respectively with laser ranging module,
Three-dimensional electronic compass module, stepper motor module are connected with shelf depreciation inspection positioning device；The power module is Laser Measuring
Power supply is provided away from module, microprocessor module, stepper motor module and three-dimensional electronic compass module.
2. the position detecting device of substation's shelf depreciation inspection positioning device according to claim 1, which is characterized in that
The center of the three-dimensional electronic compass module is overlapped with the measurement initial position of laser ranging module, and laser ranging module is sharp
Light emitting direction is consistent with 0 degree of direction of three-dimensional electronic compass module.
3. the position detecting device of substation's shelf depreciation inspection positioning device according to claim 1, which is characterized in that
The axis of rotation of the stepper motor module is overlapped with the center of three-dimensional electronic compass module.
4. the position detecting device of substation's shelf depreciation inspection positioning device according to claim 1, which is characterized in that
The ripple reflection unit uses laser reflection face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821505945.9U CN208999522U (en) | 2018-09-14 | 2018-09-14 | The position detecting device of substation's shelf depreciation inspection positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821505945.9U CN208999522U (en) | 2018-09-14 | 2018-09-14 | The position detecting device of substation's shelf depreciation inspection positioning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208999522U true CN208999522U (en) | 2019-06-18 |
Family
ID=66800296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821505945.9U Active CN208999522U (en) | 2018-09-14 | 2018-09-14 | The position detecting device of substation's shelf depreciation inspection positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208999522U (en) |
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2018
- 2018-09-14 CN CN201821505945.9U patent/CN208999522U/en active Active
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