CN210998738U - Probe location laminating system is put in GIS inspection robot supersound office - Google Patents
Probe location laminating system is put in GIS inspection robot supersound office Download PDFInfo
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- CN210998738U CN210998738U CN201921971910.9U CN201921971910U CN210998738U CN 210998738 U CN210998738 U CN 210998738U CN 201921971910 U CN201921971910 U CN 201921971910U CN 210998738 U CN210998738 U CN 210998738U
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Abstract
The utility model discloses an ultrasonic partial discharge probe positioning and laminating system of a GIS detection robot, which comprises an ultrasonic partial discharge detection probe, wherein the ultrasonic partial discharge detection probe is arranged at the front end of a mechanical arm of a mobile robot trolley, the robot trolley is provided with a laser radar, a GPS antenna and a pan-tilt camera for image recognition and measurement marks, the front end of the mechanical arm is provided with a self-adaptive clamping device, the self-adaptive clamping device comprises a chassis base, a spherical hinge base is fixedly arranged at the center of the chassis base, one end of a connecting rod is connected with the spherical hinge of the spherical hinge base, the other end of the connecting rod is provided with a balance frame, an elastic column is arranged on the balance frame, the ultrasonic partial discharge detection probe is fixedly arranged on the elastic column, the utility model discloses an ultrasonic partial discharge probe positioning and laminating system based on the mechanical arm, the self-adaptive clamp and visual positioning guidance, the GIS ultrasonic partial discharge detection probe can automatically and well contact with a detected part, and the pressure is appropriate.
Description
Technical Field
The utility model relates to a GIS inspection robot's supersound office is put probe location laminating system.
Background
Compared with conventional equipment, the GIS has the advantages of small occupied area, compact structure, good electromagnetic compatibility, safe and reliable operation and the like, and the GIS is more and more widely applied to a power system. But the structure is complex and the requirement on manufacturing quality is high; the maintenance time is long, the influence of the power failure range is large, the maintenance process requirement is very fine, and the maintenance quality problem can be caused by carelessness. Partial discharges may occur to various degrees within a GIS due to latent insulation defects occurring during manufacturing or long-term operation, which may cause insulation degradation. To ensure the safe operation of the GIS, the local discharge detection work of the GIS equipment must be strengthened and valued.
The partial discharge is a phenomenon in which, in an insulation system of an electric power equipment, a crack, an air gap, a pin-shaped protrusion, a freely movable metal fine particle, a fixed fine particle, or a floating potential body around them, a contact failure between conductors, or the like is caused in an insulation system of the electric power equipment, and thus, electric discharge or electric leakage occurs in a partial region of the electric power equipment. The GIS equipment can produce the sound wave during partial discharge, consequently can detect the inside partial discharge trouble of GIS equipment through surveying the sound wave signal on the GIS shell. A commonly used ultrasonic detection method is to receive an ultrasonic signal by a sensor attached to the outside of a metal housing and convert the ultrasonic signal into an electrical signal to detect the magnitude, frequency characteristics, and the like of a discharge signal. The ultrasonic positioning method has good sensitivity and high positioning accuracy. But the effective range is small, a plurality of positions need to be detected, and manual operation is heavy and the safety is poor when the device is applied on site.
In recent years, the application of robot technology in substation inspection is more and more extensive. However, the items detected by the inspection of the robot up to now mainly include optical detection such as visible light camera shooting, infrared thermography detection, ultraviolet detection and other non-contact detection. And for GIS equipment, important partial discharge detection items such as ultrasonic waves and ultrahigh frequency partial discharge detection are still developed regularly by technicians. The detection work not only occupies a large amount of human resources, but also has great influence on the detection result by the technical level of detection personnel, the detection is performed by adopting a robot instead of a human, and the problem that how to accurately position and attach the ultrasonic partial discharge probe to the detected part still needs to be solved.
Disclosure of Invention
The utility model aims at providing a GIS inspection robot supersound office is put probe location laminating system.
In order to realize the purpose, the technical scheme of the utility model is that:
an ultrasonic partial discharge probe positioning and attaching system of a GIS detection robot comprises an ultrasonic partial discharge detection probe, wherein the ultrasonic partial discharge detection probe is arranged at the front end of a mechanical arm of a mobile robot trolley, the mechanical arm can be bent and steered in multiple angles, a pressure sensor is arranged at the front end of the mechanical arm, a laser radar, a GPS antenna and a pan-tilt camera for image recognition and measurement marks are arranged on the robot trolley, a controller is arranged in the robot trolley and is wirelessly connected with a detection control server at the far end, a self-adaptive clamping device is arranged at the front end of the mechanical arm and is fixed on the self-adaptive clamping device, the self-adaptive clamping device comprises a chassis base, the chassis base is used for being connected with the mechanical arm of the mobile robot trolley, a spherical hinge base is fixedly arranged at the center of the chassis base, one end of a connecting rod is connected with the spherical hinge of the spherical hinge base, the other end of the connecting rod is supported and provided with a balance frame, an elastic column is arranged on the balance frame, the ultrasonic partial discharge detection probe is fixed on the elastic column, at least three adjustable elastic balance connecting rods are arranged on the circumference of the balance frame at equal intervals and are connected with the chassis base, the elastic balance connecting rods are used for realizing state flexible deformation of the balance frame, and in an initial state, the elastic balance connecting rods are adjusted to enable the connecting rod to be perpendicular to the plane of the chassis base and enable the balance frame to be parallel to the plane of the chassis base.
The scheme is further as follows: the elastic balance connecting rod comprises an upper connecting rod, a lower connecting rod and a telescopic spring column, the lower end of the upper connecting rod and the upper end of the lower connecting rod are connected to two ends of the spring column through positive and negative screw threads, the upper end of the upper connecting rod is connected with a balance frame, the lower end of the lower connecting rod is connected with a chassis base, and the spring column can be rotated to enable the connecting rod to be perpendicular to the plane of the chassis base and enable the balance frame to be parallel to the plane of the chassis base to be adjusted.
The scheme is further as follows: the balancing frame is a cross balancing shaft frame, the number of the elastic balancing connecting rods is four, and the four elastic balancing connecting rods are connected with the outer end of the cross balancing shaft and obliquely connected to the chassis base from the balancing frame outwards.
The scheme is further as follows: the elastic column is a bolt column spring, the bolt column spring is formed by sleeving a spring between two bolt columns, and the outer ends of the two bolt columns are respectively in threaded connection with the ultrasonic partial discharge detection probe and the balance frame.
The scheme is further as follows: the elastic column is an elastic rubber insulating column, and the ultrasonic partial discharge detection probe is fixed on the rubber insulating column through bonding.
The scheme is further as follows: the camera is a binocular stereo camera.
Compared with the prior art, the utility model has the advantages that:
1. the utility model discloses on traditional ultrasonic testing method basis, designed the supersound office based on arm, self-adaptation holder and visual positioning guide and put probe location laminating system for GIS ultrasonic wave partial discharge test probe can be automatic with surveyed the position good contact, and pressure is appropriate.
2. The adoption of the humanoid arm mechanical arm structure can accurately realize the up-and-down, front-and-back, rotation and other movements, allows the ultrasonic probe to be tightly attached to the GIS cavity, reduces the gap between the surface of the GIS cavity and the detection head, reduces the loss of ultrasonic waves in the air, and improves the detection accuracy.
3. The manual test is often accompanied with a plurality of uncertain factors, the data of the accurate test point can not be acquired during acquisition due to the fatigue of people and other conditions, the binocular stereo camera is used for marker identification, high-precision digital position information is obtained, the three-dimensional space coordinates of the markers can be identified with high precision, and the positioning is accurate.
4. The robot still has some uncertain factors influenced by surrounding environments such as electromagnetic waves, weather and the like in the using process, and errors caused by the environment, an algorithm and hardware factors of the robot can be made up by adopting the self-adaptive fitting system for fitting.
5. The robot is provided with a three-dimensional laser radar and a differential GPS navigation system, and can easily deal with various complex scenes through interaction between the two systems, so that high-precision map construction and navigation are completed.
The present invention will be described in detail with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the adaptive clamping device of the present invention;
FIG. 3 is a schematic view of the elastic balance link structure of the present invention;
FIG. 4 is a schematic view of the structure of the elastic column of the present invention;
fig. 5 is a schematic view of a GIS cavity.
Detailed Description
The utility model provides a GIS inspection robot supersound office is put probe location laminating system, as shown in figure 1 and figure 2, GIS inspection robot supersound office is put probe location laminating system and is put 1 including the supersound office, the detection probe is put by the supersound office comprises contact head, signal transmission ware and contact bottom triplex, the sensor is put in the contact head place office, convert acoustic signal into the signal of telecommunication, utilize local amplification filter circuit, through signal transmission ware, pass to bottom collecting ring, the rethread wire is drawn forth and is passed to signal collection station, realize ultrasonic signal and detect, the probe is a ripe existing product technology. The ultrasonic partial discharge detection probe is arranged at the front end of a mechanical arm 201 of a mobile robot trolley 2, the mechanical arm is provided with a plurality of rotating nodes which can bend and turn in multiple angles, the front end of the mechanical arm is provided with a pressure sensor 202 for sensing the touch pressure of a probe, the robot trolley 2 is provided with a laser radar 203, a GPS antenna 204 and a pan-tilt camera 205 for image recognition and measurement marks, the camera is a binocular stereo camera, the robot trolley is provided with a controller 206, the controller controls and drives various parts carried by the robot and receives the information of the sensors, the information of the ultrasonic partial discharge detection probe 1 is received, the information is directly processed or sent to a detection control server 207 at the far end and receives a control signal of the detection control server 207, the controller 206 is wirelessly connected with the detection control server 207 at the far end, wherein the front end of the mechanical arm is provided with an adaptive clamping device 3, the ultrasonic partial discharge detection probe is fixed on the self-adaptive clamping device, as shown in fig. 2, the self-adaptive clamping device comprises a chassis base 301, the chassis base 301 is used for connecting with a mechanical arm of a mobile robot trolley, a spherical hinge base 302 is arranged and fixed at the center of the chassis base, one end of a connecting rod 303 is connected with the spherical hinge base in a spherical hinge manner or universal rotation manner, the other end of the connecting rod is supported and provided with a balance frame 304, an elastic column 305 is arranged on the balance frame 304, the ultrasonic partial discharge detection probe is fixed on the elastic column, at least three adjustable elastic balance connecting rods 306 are arranged on the circumference of the balance frame at equal intervals and connected with the chassis base, the elastic balance connecting rods 306 are used for realizing the state flexible deformation of the balance frame, and under the initial state that the probe 1 is attached, the elastic balance connecting rods are adjusted to be perpendicular to the plane of the chassis base, and making the balance frame parallel to the chassis base plane.
In an embodiment, as shown in fig. 3, the elastic balance connecting rod includes an upper connecting rod 306-1, a lower connecting rod 306-2 and a retractable spring column 306-3, the retractable spring column 306-3 is composed of springs fixedly connected between the upper column and the lower column, the upper column and the lower column are respectively provided with a positive screw hole and a negative screw hole, the lower end of the upper connecting rod 306-1 and the upper end of the lower connecting rod 306-2 are connected to two ends of the spring column through the positive screw hole and the negative screw hole, the upper end of the upper connecting rod is connected to a balance frame, the lower end of the lower connecting rod is connected to a chassis base, the length of the elastic balance connecting rod can be elastically changed by rotating the spring column, and further, the connecting rod can be perpendicular to the chassis base plane, and the balance frame can be adjusted.
In the examples: as shown in fig. 2, the balance frame 304 is a cross balance square shaft frame, the cross balance square shaft has four ends, and therefore, the elastic balance connecting rods 306 have four ends, and the four elastic balance connecting rods 306 are connected to the outer ends of the cross balance shaft and obliquely connected to the chassis base from the balance frame to the outside, so that the adaptive clamping device 3 has better stability.
In the examples: the elastic column 305 is a bolt column spring, as shown in fig. 4, the bolt column spring is formed by sleeving a spring 305-3 between two bolt columns 305-1 and 305-2, and the outer ends of the two bolt columns are respectively in threaded connection with the ultrasonic partial discharge detection probe and the balance frame. Or the elastic column is an elastic rubber insulating column, and the ultrasonic partial discharge detection probe is fixed on the rubber insulating column through bonding.
The spherical hinge seat and the telescopic spring column in the embodiment jointly form a first angle adjusting unit, the balance frame and the elastic column jointly form a second angle adjusting unit, when the mechanical arm is close to a GIS cavity, the second angle adjusting unit can enable the ultrasonic probe to be tightly attached to a surface detection point of the GIS cavity, the second angle adjusting unit stretches and retracts in space to drive the first angle adjusting unit to perform steering motion, so that the angle of the ultrasonic partial discharge probe is adjusted, and the first angle adjusting unit adopts a spherical hinge to provide enough spatial freedom in order to ensure that the normal direction of a stress surface of the balance frame is automatically consistent with the normal direction of a force bearing surface of a driven part.
And a spring pin in the angle adjusting unit II is in threaded connection with the balance frame and is in threaded connection with the GIS ultrasonic partial discharge probe. When the probe contacts the tank body, the bolt column is extruded, the spring is compressed, and the bolt column can move up and down along the bushing to buffer; when the probe leaves the tank body, the bolt column restores the original shape to play a positioning role.
The following is a GIS detection robot ultrasonic partial discharge probe positioning and fitting method realized according to the above embodiment, firstly, transformer substation GIS cavity coordinates are input into a controller, then the robot trolley is moved to the front of a GIS cavity of the transformer substation through the laser radar of the robot and RTK GPS navigation positioning control, the GIS cavity is shown in figure 4, A and B in the figure are respectively positioning marks of measured points, the positioning mark of the detection point is identified by a pan-tilt camera of the robot, the mechanical arm is started to move the ultrasonic partial discharge detection probe to the positioning mark, wherein, after the pan-tilt camera recognizes the positioning mark of the detection point, the center point coordinate of the mark is determined through image processing, and then starting the mechanical arm to move the ultrasonic partial discharge detection probe to the positioning mark to be attached to the central point coordinate, acquiring a bonding pressure value, and completing positioning and bonding according to a preset pressure threshold value.
The coordinate of the central point of the fixed mark is obtained by carrying a binocular stereo camera on a mobile robot platform, identifying the marker through a target identification algorithm by using image processing, and then determining the coordinate of the central point, wherein the robot trolley enables a mechanical arm of the ultrasonic probe to be close to the marker, and the GIS tank body is detected. Firstly, a circle is planned to be selected as a marker for a marker identified by an image, but in a real scene, a camera is difficult to capture a real circle, and the circle is also a special ellipse, so that an ellipse identification algorithm is provided for identifying the marker, and the algorithm idea and the specific steps are as follows: firstly, converting an image into operations such as a gray-scale image, binarization, edge detection and the like, finally obtaining a binarized edge, and storing point coordinates on the edge image into an array. Then, the distance from each point in the image to the edge point of the ellipse is calculated, and the maximum distance value of each point is stored, the corresponding point in the maximum distance values of all the points is the center (x, y) of the ellipse, and the maximum distance is the parameter a. Finally, the obtained parameters x, y and a are substituted into an ellipse equation to obtain a function with theta as an independent variable and b as a dependent variable. Since θ has a value ranging from 0 to 180 °, the minimum value of b is obtained by substituting one by one. At this time, five parameters of the ellipse can be obtained, and the spatial position of the ellipse is determined. After the relative positions of the target point and the camera are obtained, the trolley platform is moved to a proper position, and the calibration point is located within the working range of the mechanical arm. And the motion planning library carries out real-time planning, calculates the inverse solution required by the mechanical arm end effector to reach the target point, gives an instruction to the mechanical arm and completes the task of the ultrasonic probe to reach the target position.
Claims (6)
1. An ultrasonic partial discharge probe positioning and attaching system of a GIS detection robot comprises an ultrasonic partial discharge detection probe, wherein the ultrasonic partial discharge detection probe is arranged at the front end of a mechanical arm of a mobile robot trolley, the mechanical arm can be bent and steered in multiple angles, a pressure sensor is arranged at the front end of the mechanical arm, a laser radar, a GPS antenna and a pan-tilt camera for image recognition and measurement marks are arranged on the robot trolley, a controller is arranged in the robot trolley, the controller is wirelessly connected with a detection control server at the far end, and the system is characterized in that a self-adaptive clamping device is arranged at the front end of the mechanical arm, the ultrasonic partial discharge detection probe is fixed on the self-adaptive clamping device, the self-adaptive clamping device comprises a chassis base, the chassis base is used for being connected with the mechanical arm of the mobile robot trolley, a spherical hinge base is fixedly arranged at the center of the chassis base, one end of a connecting rod is connected with the spherical hinge of the spherical, the other end of the connecting rod is supported and provided with a balance frame, an elastic column is arranged on the balance frame, the ultrasonic partial discharge detection probe is fixed on the elastic column, at least three adjustable elastic balance connecting rods are arranged on the circumference of the balance frame at equal intervals and are connected with the chassis base, the elastic balance connecting rods are used for realizing state flexible deformation of the balance frame, and in an initial state, the elastic balance connecting rods are adjusted to enable the connecting rod to be perpendicular to the plane of the chassis base and enable the balance frame to be parallel to the plane of the chassis base.
2. The GIS detection robot ultrasonic partial discharge probe positioning and attaching system according to claim 1, wherein the elastic balance connecting rod comprises an upper connecting rod, a lower connecting rod and a telescopic spring column, the lower end of the upper connecting rod and the upper end of the lower connecting rod are connected to two ends of the spring column through positive and negative screw ports, the upper end of the upper connecting rod is connected with the balance frame, the lower end of the lower connecting rod is connected with the chassis base, and the connecting rod can be perpendicular to the plane of the chassis base by rotating the spring column, so that the balance frame is parallel to the plane of the chassis base to be adjusted.
3. The GIS detection robot ultrasonic partial discharge probe positioning and attaching system according to claim 1 or 2, wherein the balance frame is a cross balance shaft frame, the number of the elastic balance connecting rods is four, and the four elastic balance connecting rods are connected with the outer end of the cross balance shaft and obliquely connected to the chassis base from the balance frame outwards.
4. The GIS detection robot ultrasonic partial discharge probe positioning and attaching system according to claim 1, wherein the elastic column is a bolt column spring, the bolt column spring is formed by sleeving a spring between two bolt columns, and the outer ends of the two bolt columns are respectively in threaded connection with the ultrasonic partial discharge detection probe and the balance frame.
5. The GIS detection robot ultrasonic partial discharge probe positioning and attaching system according to claim 1, wherein the elastic column is an elastic rubber insulating column, and the ultrasonic partial discharge detection probe is fixed on the rubber insulating column by bonding.
6. The GIS detection robot ultrasonic partial discharge probe positioning and attaching system according to claim 1, wherein the camera is a binocular stereo camera.
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| CN201921971910.9U CN210998738U (en) | 2019-11-15 | 2019-11-15 | Probe location laminating system is put in GIS inspection robot supersound office |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774294A (en) * | 2019-11-15 | 2020-02-11 | 国家电网有限公司 | Positioning and laminating system and method for ultrasonic partial discharge probe of GIS detection robot |
| CN117665505A (en) * | 2023-11-30 | 2024-03-08 | 上海吴淞电气实业有限公司 | GTU test equipment, test method and device thereof and storage medium |
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- 2019-11-15 CN CN201921971910.9U patent/CN210998738U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774294A (en) * | 2019-11-15 | 2020-02-11 | 国家电网有限公司 | Positioning and laminating system and method for ultrasonic partial discharge probe of GIS detection robot |
| CN110774294B (en) * | 2019-11-15 | 2024-02-27 | 国家电网有限公司 | GIS detection robot ultrasonic partial discharge probe positioning and attaching system and method |
| CN117665505A (en) * | 2023-11-30 | 2024-03-08 | 上海吴淞电气实业有限公司 | GTU test equipment, test method and device thereof and storage medium |
| CN117665505B (en) * | 2023-11-30 | 2024-05-03 | 上海吴淞电气实业有限公司 | GTU test equipment, test method and device thereof and storage medium |
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