CN106595762B - A kind of hot line robot strain insulator detection method - Google Patents
A kind of hot line robot strain insulator detection method Download PDFInfo
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- CN106595762B CN106595762B CN201611129574.4A CN201611129574A CN106595762B CN 106595762 B CN106595762 B CN 106595762B CN 201611129574 A CN201611129574 A CN 201611129574A CN 106595762 B CN106595762 B CN 106595762B
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The present invention proposes a kind of hot line robot strain insulator detection method.The mechanical arm of robot carries Partial discharge detector, insulator null detection instrument and current transformer and high-definition camera, infrared camera and electronics ultraviolet crack inspection instrument, mobile and Data Detection is carried out around strain insulator in response to controlling data；Data processing and control system handle the detection data of each detection device, the index of correlation numerical value of acquisition are compared with regime values in database, to judge the working condition of strain insulator, to form examining report.In the present invention, the mechanical arm of hot line robot carries out live detection to strain insulator by way of shaking operation or AUTONOMOUS TASK, operating personnel's danger brought by operation near the live high voltage route is avoided, job step is simplified, improves detection accuracy.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot strain insulator detection method.
Background technique
Strain insulator be it is the most universal in current electric system electric line, essential device is for pacifying
Increase the device of creepage distance between the conductor or conductor and ground potential component of different potentials.
With the development of power distribution network, strain insulator usage amount is huge.In general, strain insulator needs regularly artificial dimension
Shield, it is common practice to which interruption maintenance will cause the loss that can not be estimated, seriously affect power supply enterprise if power failure area is larger
Economic benefit and social benefit.Present numerous researchers also in the method for the actively on-line monitoring of research strain insulator,
But this method needs that route is transformed, and can not be suitable for original route.Strain insulator can also carry out artificial maintenance, operation people
Member will the operation near electrification in high voltage route, have some potential safety problems.
Summary of the invention
Present invention solves the technical problem that being to propose a kind of insulator charged detection method of hot line robot, the party
Method can carry out live detection to strain insulator, avoid operating personnel in live high voltage route in case of constant power
Neighbouring operation bring is dangerous, simplifies job step, and testing result is more scientific accurate relative to artificial detection.
In order to solve the above technical problem, the present invention provides a kind of hot line robot strain insulator detection method,
Hot line robot has the mechanical arm that is arranged on robot platform, including first mechanical arm, second mechanical arm and auxiliary
Mechanical arm is helped, first mechanical arm, second mechanical arm and auxiliary mechanical arm complete following work in response to control data:
Partial discharge detector, insulator are installed in first mechanical arm, second mechanical arm and auxiliary mechanical arm end respectively
Null detection instrument and current transformer；Each mechanical arm carries Partial discharge detector, insulator null detection instrument and electric current
Mutual inductor is moved near strain insulator string to be detected, is carried out comprehensive detection to strain insulator string, is obtained every
Data and the size of the exhausted insulator Leakage Current of strain insulator whether the Partial Discharge Data of strain insulator, exhausted insulator zero
Data；
First mechanical arm, second mechanical arm and auxiliary mechanical arm change the outfit respectively high-definition camera, infrared camera and
Electronics ultraviolet crack inspection instrument；Each mechanical arm carries high-definition camera, infrared camera and electronics ultraviolet crack inspection instrument to be checked
It surveys strain insulator string nearby to be moved, comprehensive detection is carried out to strain insulator string, obtain ultraviolet crack inspection figure, infrared
Thermal map and high-definition image；
Data processing and control system according to data whether the Partial Discharge Data, zero and Leakage Current data, with
And ultraviolet crack inspection figure, infrared chart and high-definition image, judge the working condition of strain insulator.
Further, before operation, clamping device is installed in first mechanical arm and second mechanical arm end, is clamped with clamping device
Insulation masking material carries out insulation masking to the electrical body of label；After operation, first mechanical arm and second mechanical arm end
Clamping device is installed in portion, and the insulation masking material being covered on electrical body is removed with clamping device.
Further, the data processing and control system obtain Partial discharge detector, insulator null detection instrument and
After the detection data of current transformer and high-definition camera, infrared camera and electronics ultraviolet crack inspection instrument, referred to according to correlation
Mark regime values comparison in numerical value and database as a result, first carrying out preliminary analysis；For inspection corresponding to abnormal index numerical value
Measuring point, first mechanical arm, second mechanical arm and auxiliary mechanical arm carry corresponding detection device and are detected again；Data processing
With control system according to the index of correlation numerical value obtained again, the working condition of strain insulator is judged.
Further, the control data are the angle desired value of each joint of mechanical arm movement, and the angle desired value is by charging
Work robot data processing and control system are according to each joint angles variation number of the main manipulator for being set to insulation bucket arm car
It is obtained according to resolving；Main manipulator includes the first main manipulator, the second main manipulator and auxiliary main manipulator；First main manipulator,
Second main manipulator and auxiliary main manipulator are corresponding with first mechanical arm, second mechanical arm and auxiliary mechanical arm respectively, constitute master
From operative relationship.
Further, control room is provided on the aerial lift device with insulated arm, the data processing and control system include the first work
Control machine, the second industrial personal computer, display screen and main manipulator, the second industrial personal computer Built-in Image processor, display screen and main manipulator position
In in control room；The working scene image of the video camera acquisition is sent to the second industrial personal computer, and image processor is to working scene
The 3D dummy activity scene that image obtains after being handled, and display is sent to show.
Further, the control data are the angle desired value of each joint of mechanical arm movement；Hot line robot data
Processing and control systems use Descartes according to the relative position and job task action sequence of each mechanical arm and manipulating object
Space path planing method cooks up the space path of each mechanical arm, then calculates each joint of mechanical arm according to space path and transports
Dynamic angle desired value.
Further, the hot line robot, including aerial lift device with insulated arm, the robot being mounted on aerial lift device with insulated arm are flat
Platform, the mechanical arm being mounted on robot platform；The mechanical arm includes that first mechanical arm, second mechanical arm and auxiliary are mechanical
Arm, the video camera include binocular camera, equipped with double on the first mechanical arm, second mechanical arm and auxiliary mechanical arm
Livewire work is completed in mesh camera, the first mechanical arm, second mechanical arm and auxiliary mechanical arm cooperation, wherein auxiliary is mechanical
Arm is used for clamping operation object, first mechanical arm and second mechanical arm and carries out Job Operations using power tool；At the data
Reason and control system include the first industrial personal computer, the second industrial personal computer, and the second industrial personal computer Built-in Image processor and livewire work act
Sequence library is previously stored with the corresponding action sequence data of every livewire work in livewire work action sequence library；It is described
The working scene image of video camera acquisition is sent to the second industrial personal computer, and image processor obtains after handling working scene image
Mechanical arm and manipulating object between relative positional relationship, the second industrial personal computer relationship and specific band depending on that relative position
Action sequence corresponding to electric operation plans the space path of mechanical arm, and the space path data of the mechanical arm are sent to
First industrial personal computer；First industrial personal computer calculates the control data according to the space path of the mechanical arm.
Further, the mechanical arm or main manipulator are mechanism in six degree of freedom, including pedestal, rotary axis direction and pedestal
The vertical waist joint of plane, the shoulder joint being connect with waist joint, the large arm being connect with shoulder joint, the elbow joint being connect with large arm,
The forearm connecting with elbow joint, the wrist joint connecting with forearm, wrist joint are made of three rotary joints, and respectively wrist pitching is closed
Section, wrist swinging joint and wrist rotary joint；Each joint all has corresponding orthogonal rotary coding in the mechanism in six degree of freedom
Device and servo drive motor, orthogonal rotary encoder are used to acquire the angle-data in each joint, and servo drive motor is for controlling
Make the movement in each joint；First industrial personal computer passes through control servo drive motor control according to the desired value of each joint angles of mechanical arm
System presses each joint motions of mechanical arm.
Compared with prior art, the present invention its remarkable advantage is: (1) present invention can not power off the feelings without load
Live detection is carried out to strain insulator by the mechanical arm of hot line robot under condition, avoids the negative shadow of power failure bring
It rings, power off time is greatly reduced, improve power supply reliability, alleviate electricity consumption and complain contradiction；(2) present invention uses livewire work machine
Device people replaces people to carry out live detection operation, has function more abundant compared to distant place observation；(3) present invention uses band
Electric Work robot compared to need short distance insulating glove operation strain insulator detection method can from consider electric arc produce
When raw to human body burn and Danger Electric shock risk, falling from high altitude problem；(4) present invention is using hot line robot by operator
Rocking bar control, requires operating personnel's labor intensity small, reduces that operation intensity is big to be occurred the case where human error, mentioning significantly
Safety in high operation process, can reduce the generation of accident to a certain extent.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of embodiment of hot line robot of the present invention；
Fig. 2 is the system composition block diagram of aerial lift device with insulated arm in the present invention；
Fig. 3 is the structural schematic diagram of robot platform in the present invention；
Fig. 4 is the structural schematic diagram of mechanical arm in the present invention.
Fig. 5 is the method for the present invention flow chart.
Fig. 6 is the operating environment schematic diagram of hot line robot live detection strain insulator of the present invention.
Wherein, 100 be shaft tower, and 111 be conducting wire, and 103 be cross-arm, and 110 be strain insulator string；1 is aerial lift device with insulated arm, 2
It is telescopic arm for control room, 3,4 is robot platform；46 it is insulator, 43 be first mechanical arm, 44 is second mechanical arm, 42
It is the first industrial personal computer for auxiliary mechanical arm, 48,45 be binocular camera, 41 be full-view camera, 410 is depth camera, 49
It is mechanical arm tool box special for battery, 47；431 it is pedestal, 432 be waist joint, 433 be shoulder joint, 434 is large arm, 435
It is forearm for elbow joint, 436,437 is wrist joint.
Specific embodiment
It is readily appreciated that, technical solution according to the present invention, in the case where not changing connotation of the invention, this field
Those skilled in the art can imagine the numerous embodiments of the insulator charged detection method of hot line robot of the present invention.
Therefore, following specific embodiments and attached drawing are only the exemplary illustrations to technical solution of the present invention, and are not to be construed as this
The whole of invention is considered as limitation or restriction to technical solution of the present invention.
In conjunction with attached drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its
In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1,3 end of telescopic arm connects robot platform 4, robot platform 4 with
Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 is for operator's driving, so that robot platform 4 is transported operation field.Insulation bucket arm
Supporting leg is housed, supporting leg can be unfolded, thus by the firm support of aerial lift device with insulated arm 1 and ground on vehicle 1.On aerial lift device with insulated arm 1
Equipped with generator, to power to control room 2 and telescopic arm 3.
Telescopic arm 3 is equipped with the driving device along telescopic direction, and operator can be by controlling driving device, thus by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made of insulating material, for realizing robot platform 4 and control room 2
Insulation.In the present invention, telescopic arm 3 can have by scissor-type lifting mechanism or the replacement of other mechanisms.
As an implementation, the second industrial personal computer, display screen, the first main manipulator, the second master are provided in control room 2
Manipulator, auxiliary main manipulator and communication module etc..
As an implementation, robot platform 4 include insulator 46, it is first mechanical arm 43, second mechanical arm 44, auxiliary
Help mechanical arm 42, the first industrial personal computer 48, binocular camera 45, full-view camera 41, depth camera 410, battery 49, dedicated
Tool box 47, communication module.
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms and robot platform 4 are insulated.
Battery 49 is the first industrial personal computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As head 41, binocular camera 45, depth camera 410, communication module power supply.
As an implementation, there are three binocular camera 45 has altogether, first mechanical arm 43, the second machine are separately mounted to
On the wrist joint 437 of tool arm 44 and auxiliary mechanical arm 42, it is responsible for the image data of Collecting operation scene, and image data is sent
To the second industrial personal computer.Binocular camera 45 is made of two parallel industrial cameras of optical axis, and the distance between parallel optical axis is fixed.
Depth camera 410 is mounted on the side of 4 face working scene of robot platform, is responsible for the scape of Collecting operation scene
Depth of field data is sent to the second industrial personal computer by deep data.
Full-view camera 41 is mounted on the top of robot platform 4 by bracket, is responsible for the panorama sketch of Collecting operation scene
As data, image data is sent to the second industrial personal computer, and show that operating personnel can supervise by panoramic picture over the display
Control working scene.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is equipped with tool quick change
Device.Mechanical arm obtains power tool using tool fast replacing device into tool box special 47 according to the type of job task.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of for artificial long-range in control room 2
The operating device of operating robotic arm, they and first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 constitute principal and subordinate behaviour
Make relationship.Mechanical arm and main manipulator structure having the same, only main manipulator dimensions is smaller than mechanical arm, in order to grasp
Make personnel's operation.Mechanical arm and main manipulator are gathered around there are six joint, and there are photoelectric encoder acquisition angles data in each joint, respectively
The angle-data in six joints is sent to the second industrial personal computer by serial ports by the microcontroller of main manipulator.
As one embodiment of the invention, the mechanical arm is mechanism in six degree of freedom, including pedestal 431, rotary axis direction
The waist joint 432 vertical with base plane, the shoulder joint 433 being connect with waist joint 432, the large arm being connect with shoulder joint 433
434, the elbow joint 435 being connect with large arm 434, the forearm 436 being connect with elbow joint 435, the wrist joint being connect with forearm 436
437, wrist joint 437 is made of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；It is described
Each joint all has corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding in mechanism in six degree of freedom
Device 31 is used to acquire the angle-data in each joint, and servo drive motor is used to control the movement in each joint；First industrial personal computer root
The movement angle in each joint is calculated according to the space path of the mechanical arm, controls servo drive motor according to the movement angle
Control each joint motions of mechanical arm.
As an implementation, the data between robot platform 4 and control room 2 are transmitted through optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is for realizing light
The mutual conversion of the electric signal in optical signal and twisted pair in fibre, to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, fiber optical transceiver for realizing in optical fiber optical signal with
The mutual conversion of electric signal in twisted pair, to realize the electrical isolation of robot platform 4 and control room 2 in communication.
As an implementation, the second industrial personal computer can complete following task:
Establish action sequence library.It is in advance acting sequences by every livewire work Task-decomposing, forms action sequence library, deposit
Storage is planned in the second industrial personal computer for robotic arm path.
Establish manipulating object model library.The threedimensional model of manipulating object involved in pre-production items livewire work task
And Model of Target Recognition, for example, according to the devices such as electric power tower bar, electric wire, strain insulator, isolation switch, arrester material object, system
Make threedimensional model and Model of Target Recognition, be used for hot line robot automatic identification manipulating object, building working scene is three-dimensional
Virtual scene.
Establish mechanical arm and specific purpose tool model library.The threedimensional model and target of pre-production mechanical arm and specific purpose tool are known
Other model plans mechanical arm for example, spanner etc., working scene three-dimensional virtual scene is constructed for hot line robot automatically
Space path.
Obtain image data.Obtain the data information of panoramic picture, depth image and binocular image.
Operative goals are identified and tracked according to image data.
Angle, angular speed and the angular acceleration data of main manipulator are obtained, angle, angular speed and the angle for obtaining mechanical arm add
Speed data.
Dependent image data is handled and is calculated, mechanical arm position is obtained, obtains the position of manipulating object, obtains machine
Relative position between tool arm and manipulating object, and the space path with job task planning mechanical arm depending on the relative position.
Manipulating object three-dimensional scenic is constructed according to image data, according to arm angle information and manipulating object three-dimensional scenic
The relative position of mechanical arm and manipulating object is obtained, and the space path with job task planning mechanical arm depending on the relative position.
Dependent image data is handled and is calculated, 3D dummy activity scene is constructed, send display to show, operator
According to 3D dummy activity scene monitoring operation process.Compared with panoramic picture, 3D dummy activity scene is comprehensive and depth image is believed
Breath and binocular image information, to the phase between robotic arm and manipulating object, between mechanical arm, between manipulating object and operating environment
It is more accurate to the judgement of position, and there is no visual dead angles.Therefore, operator carries out operation by 3D dummy activity scene
Monitoring, operation precision is higher, can prevent collision, improve safety.Meanwhile 3D dummy activity scene is shown in control
On display in room 2, far from mechanical arm operation field, the personal safety of people operating personnel is improved.
As an implementation, the first industrial personal computer can complete following task:
According to the angle information in each joint of main manipulator that the second industrial personal computer is sent, the movement in each joint of mechanical arm is controlled.
The space path data for obtaining the mechanical arm of the second industrial personal computer transmission are resolved according to the action sequence of job task
The angle-data amount of exercise in each joint of mechanical arm out, and control each joint motions of mechanical arm.
In the present invention, first mechanical arm and second mechanical arm cooperate, can be with the sequence of operation of apish two hands
Complete livewire work.In view of flexibility, it can be further added by a strong auxiliary mechanical arm, at this point, auxiliary mechanical arm is specially taken charge of
The big movement of powers, first mechanical arm and the second mechanical arms such as device clamping then carry out related service operation.
According to the combination for the different task that the second industrial personal computer and the first industrial personal computer are completed, hot line robot of the present invention was both
Operation can be carried out remotely shaking by operating personnel to complete livewire work, and autonomous livewire work can be carried out.It is being charged
Before operation, operating personnel first passes through observation panoramic picture, and robot platform 4 is moved near manipulating object.
It is virtual according to number of images and depth image building 3D by the second industrial personal computer if selection manually remotely shakes operation
Working scene simultaneously send display to show, operating personnel passes through main operation manual control by 3D dummy activity scene monitoring operating process
The movement of mechanical arm processed, to complete livewire work.In the process, after operating personnel changes main manipulator posture, main manipulator
In the photoelectric encoder in each joint acquire each joint angles, the microcontroller of each main manipulator is by serial ports by the angle in each joint
Degree evidence is sent to the second industrial personal computer.Second industrial personal computer is using the angle-data in each joint of main manipulator as each joint angle of mechanical arm
The desired value of degree is sent to the first industrial personal computer, and the first industrial personal computer is respectively closed according to angle desired value by servomotor controller tool arm
The movement of section, is completed livewire work.
If selecting AUTONOMOUS TASK, is calculated by the second industrial personal computer according to number of images and depth image and obtain manipulating object
Then relative positional relationship between mechanical arm carries out mechanical arm space path according to action sequence corresponding to job task
Planning, and space path is sent to the first industrial personal computer, the first industrial personal computer calculates the angle that each joint of mechanical arm needs to rotate
Band is completed by the movement in each joint of servomotor controller tool arm in desired value of the data as each joint angles of mechanical arm
Electric operation.
The process that strain insulator is detected using above-mentioned hot line robot are as follows:
One, the preparation stage
The operation that staff carries out hot line robot detection strain insulator string 110 prepares, inspection meteorological condition,
Shaft tower number is checked, safety barrier, working signal and related warning mark are set in working site, using Insulation Resistance Tester
Surface insulation resistance detection is carried out to the insulating tool used, resistance value is not less than 700 megaohms.
Aerial lift device with insulated arm 1 is driven into 100 neighbouring position of shaft tower and arranges scene by aerial lift device with insulated arm driver.Job position tool
Body is to position near operation shaft tower 100 and to avoid nearby power line and barrier, avoids being parked on channel cover board, insulate
Bucket arm vehicle 1 supporting leg sequence is first to stretch out horizontal support legs, then stretch out vertical leg, and it is in horizontal for supporting to place rear vehicle all around.
Operator is according to the real scene image shown on display in control room 2, and operation operation rocking bar controls telescopic arm 3, by robot
Platform 4 is moved near job position.The reality that operator returns according to binocular camera 45 on mechanical arm in control room 2
The electrical body in job area in insulating safety distances is marked in scape image.
Two, sessions
First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 complete following work in response to control data:
Clamping device is installed in first mechanical arm 43 and 44 end of second mechanical arm, clamps insulation masking material with clamping device
Insulation masking is carried out to the electrical body of label.Insulate masking material such as insulating sheath, epoxy glass fabric etc..First mechanical arm 43 with
Second mechanical arm 44 and auxiliary mechanical arm 42 are moved to 47 top of mechanical arm tool box special, then carry Partial Discharge Detection
Instrument 107, insulator null detection instrument and current transformer are moved around strain insulator 110 to be detected, use part
Discharge detector 107, insulator null detection instrument and current transformer detect strain insulator 110.Partial discharge detector
107, the shelf depreciation situation for the every insulator that insulator null detection instrument and current mutual inductor special just obtain, insulator zero
Whether value and the size data of Leakage Current by communication system return in real time the data processing of hot line robot with
Control system, such as the second industrial personal computer being returned on robot platform 4 the first industrial personal computer 48 or control room 2.
First mechanical arm 43, second mechanical arm 44 are moved to 47 top of mechanical arm tool box special.First mechanical arm 43 with
Second mechanical arm 44, auxiliary mechanical arm 42 change the outfit high-definition camera 105 respectively, infrared camera 106, electronics ultraviolet crack inspection
Instrument.First mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 carry high-definition camera 105, infrared camera 106 and electricity
Sub- ultraviolet crack inspection instrument is moved around strain insulator string 110 to be detected, uses high-definition camera 10, infrared camera
106 and electronics ultraviolet crack inspection instrument strain insulator string 110 is detected.High-definition camera 105,106 and of infrared camera
Electronics ultraviolet crack inspection instrument passes through the high-definition image, infrared chart and ultraviolet crack inspection diagram data of every obtained insulator
Communication system returns to the data processing and control system of hot line robot, such as is returned to the of on robot platform 4
The second industrial personal computer and display in one industrial personal computer 48, control room 2.
Aforementioned image and data can send display to show by data processing and control system.
Data processing and control system according to data whether the Partial Discharge Data, zero and Leakage Current data, with
And ultraviolet crack inspection figure, infrared chart and high-definition image, judge the working condition of strain insulator.For the accuracy of detection,
Strain insulator can be implemented twice or repeated detection, such as: the data processing and control system are obtaining shelf depreciation
Detector 107, insulator null detection instrument and current transformer and high-definition camera 105, infrared camera 106 and electronics
After the detection data of ultraviolet crack inspection instrument, according to index of correlation numerical value in database regime values compare as a result, first carrying out
Preliminary analysis；For test point corresponding to abnormal index numerical value, first mechanical arm 43, second mechanical arm 44 and auxiliary are mechanical
Arm 42 carries corresponding detection device and is detected again；Data processing and control system are according to the index of correlation number obtained again
Value, judges the working condition of strain insulator.
After detection, first mechanical arm 43 and second mechanical arm 44 are moved to 47 top of mechanical arm tool box special, and
Clamping device is installed.First mechanical arm 43 and the clamping insulation masking material of second mechanical arm 44, insulate to label electrical body
Masking is removed.
Electronic type punching annular mutual inductor can be used in the current transformer.
Ultraviolet crack inspection figure mainly checks 110 working condition lower surface shelf depreciation of strain insulator string and phenomenon of deteriorating；
Infrared Thermogram mainly checks that whether there is or not heat conditions when strain insulator string 110 works；High-definition image mainly checks that strain insulator insulate
Whether the string of substring 110 has phenomena such as crackle, trachoma, and whether the angle between its axis of strain insulator string 110 and ground meets
It is required that.
Zero resistance insulator is found when if detecting strain insulator piecewise using insulator null detection instrument, should confirm 2- repeatedly
3 times.The Leakage Current for measuring insulator is to detect pollution severity of insulators degree.
Claims (4)
1. a kind of hot line robot strain insulator detection method, which is characterized in that hot line robot has setting
Mechanical arm on robot platform, including first mechanical arm, second mechanical arm and auxiliary mechanical arm, first mechanical arm,
Two mechanical arms and auxiliary mechanical arm are in response to the following work of control data completion:
Partial discharge detector, insulator zero are installed in first mechanical arm, second mechanical arm and auxiliary mechanical arm end respectively
Tester and current transformer；Each mechanical arm carries Partial discharge detector, insulator null detection instrument and Current Mutual Inductance
Device is moved near strain insulator string to be detected, is carried out comprehensive detection to strain insulator string, is obtained every strain insulator
The big decimal of data and the exhausted insulator Leakage Current of strain insulator whether the Partial Discharge Data of insulator, exhausted insulator zero
According to；
First mechanical arm, second mechanical arm and auxiliary mechanical arm change the outfit high-definition camera, infrared camera and electronics respectively
Ultraviolet crack inspection instrument；Each mechanical arm carries high-definition camera, infrared camera and electronics ultraviolet crack inspection instrument to be detected resistance to
It opens insulator chain nearby to be moved, comprehensive detection is carried out to strain insulator string, obtains ultraviolet crack inspection figure, infrared chart
And high-definition image；
Data processing and control system are according to data whether the Partial Discharge Data, zero and Leakage Current data, Yi Jizi
Outside line defectogram, infrared chart and high-definition image judge the working condition of strain insulator；
The control data are the angle desired value of each joint of mechanical arm movement；Hot line robot data processing and control system
System uses cartesian space path planning according to the relative position and job task action sequence of each mechanical arm and manipulating object
Method cooks up the space path of each mechanical arm, then it is expected according to the angle that space path calculates each joint of mechanical arm movement
Value；
The hot line robot, including aerial lift device with insulated arm, the robot platform being mounted on aerial lift device with insulated arm, are mounted on machine
Mechanical arm on device people's platform；
The mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and video camera includes binocular camera, described
Equipped with binocular camera, the first mechanical arm, the second machinery on first mechanical arm, second mechanical arm and auxiliary mechanical arm
Livewire work is completed in arm and auxiliary mechanical arm cooperation, wherein auxiliary mechanical arm is used for clamping operation object, first mechanical arm and the
Two mechanical arms carry out Job Operations using power tool；
The data processing and control system include the first industrial personal computer, the second industrial personal computer, the second industrial personal computer Built-in Image processor
With livewire work action sequence library,
The corresponding action sequence data of every livewire work are previously stored in livewire work action sequence library；
The working scene image of the video camera acquisition is sent to the second industrial personal computer, and image processor carries out working scene image
The relative positional relationship between mechanical arm and manipulating object obtained after processing, the second industrial personal computer depending on that relative position relationship with
And the space path of the planning mechanical arm of action sequence corresponding to specific livewire work, and by the space path number of the mechanical arm
According to being sent to the first industrial personal computer；
First industrial personal computer calculates the control data according to the space path of the mechanical arm.
2. strain insulator detection method as described in claim 1, which is characterized in that before operation, first mechanical arm and second
Clamping device is installed in mechanical arm end, clamps insulation masking material with clamping device and carries out insulation masking to the electrical body of label；
After operation, clamping device is installed in first mechanical arm and second mechanical arm end, is covered on electrification with clamping device removing
Insulation masking material on body.
3. strain insulator detection method as described in claim 1, which is characterized in that the data processing and control system are obtaining
Obtain Partial discharge detector, insulator null detection instrument and current transformer and high-definition camera, infrared camera and electronics
After the detection data of ultraviolet crack inspection instrument, according to index of correlation numerical value in database regime values compare as a result, first carrying out
Preliminary analysis；For test point corresponding to abnormal index numerical value, first mechanical arm, second mechanical arm and auxiliary mechanical arm are taken
It is detected again with corresponding detection device；Data processing and control system are according to the index of correlation numerical value obtained again, judgement
The working condition of strain insulator.
4. the strain insulator detection method as described in claims 1 to 3 any one, which is characterized in that the mechanical arm or
Main manipulator is mechanism in six degree of freedom, including pedestal, and the rotary axis direction waist joint vertical with base plane is connect with waist joint
Shoulder joint, the large arm connecting with shoulder joint, the elbow joint connecting with large arm, the forearm connecting with elbow joint connect with forearm
Wrist joint, wrist joint is made of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；Institute
It states each joint in mechanism in six degree of freedom and all has corresponding orthogonal rotary encoder and servo drive motor, orthogonal rotary coding
Device is used to acquire the angle-data in each joint, and servo drive motor is used to control the movement in each joint；
It is each to press mechanical arm by control servo drive motor control according to the desired value of each joint angles of mechanical arm for first industrial personal computer
Joint motions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611129574.4A CN106595762B (en) | 2016-12-09 | 2016-12-09 | A kind of hot line robot strain insulator detection method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611129574.4A CN106595762B (en) | 2016-12-09 | 2016-12-09 | A kind of hot line robot strain insulator detection method |
Publications (2)
| Publication Number | Publication Date |
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| CN106595762A CN106595762A (en) | 2017-04-26 |
| CN106595762B true CN106595762B (en) | 2019-10-18 |
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| CN108462108A (en) * | 2018-04-11 | 2018-08-28 | 南京理工大学 | A kind of hot line robot strain insulator replacing options based on force feedback master ＆ slave control |
| CN108527305A (en) * | 2018-04-11 | 2018-09-14 | 南京理工大学 | A kind of hot line robot force feedback master-slave control method and system based on virtual reality technology |
| CN110116976A (en) * | 2019-06-13 | 2019-08-13 | 中建七局安装工程有限公司 | A kind of mechanical arm platform automating high altitude operation |
| CN110146796A (en) * | 2019-06-17 | 2019-08-20 | 贵州电网有限责任公司 | A kind of simulation test device and its test method of Zero resistance insulator string heat generation characteristic |
| CN110888361A (en) * | 2019-11-27 | 2020-03-17 | 武汉里得电力科技股份有限公司 | Hot-line work tool management system and method with tool flaw detection function |
| CN112285502A (en) * | 2020-10-26 | 2021-01-29 | 国网江苏省电力有限公司电力科学研究院 | GIS/GIL equipment state detection device |
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