CN106695883B - A kind of hot line robot vacuum circuit breaker detection method - Google Patents
A kind of hot line robot vacuum circuit breaker detection method Download PDFInfo
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- CN106695883B CN106695883B CN201611128458.0A CN201611128458A CN106695883B CN 106695883 B CN106695883 B CN 106695883B CN 201611128458 A CN201611128458 A CN 201611128458A CN 106695883 B CN106695883 B CN 106695883B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The present invention proposes a kind of hot line robot vacuum circuit breaker detection method.The mechanical arm of robot carries out mobile and Data Detection in response to controlling data, carrying portion discharge detector, electronics ultraviolet crack inspection instrument and thermal infrared imager around vacuum circuit breaker；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 vacuum circuit breaker, to form examining report.In the present invention, the mechanical arm of hot line robot carries out live detection to vacuum circuit breaker 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 vacuum circuit breaker detection method.
Background technique
Breaker is to cut-off, be closed and the normal current of Inhaul operation state, and can cut-off, close at the appointed time
The electrical equipment for closing, carrying defined abnormal current (such as short circuit current), is one of electrical equipment important in electric system,
Protection and control action are played in power grid, operating status will directly affect the stability and power supply reliability of entire electric system.
In longtime running, breaker is likely to occur nut loosening, insulator rupture, rubber ring aging variety of problems, final insulation system
It may be destroyed, need to detect and replace.
Vacuum circuit breaker refers to that the dielectric of contact gap after the arc-extinguishing medium and arc extinguishing of breaker is all high vacuum, fits
For frequent operation, has the advantages of arc-chutes do not have to maintenance.It the use of more widespread practice is earliest periodical prophylactic tria,
All kinds of parameters of breaker are detected i.e. under power failure.If but power failure area is larger, will cause the loss that can not be estimated, sternly
Ghost image rings the economic benefit and social benefit of power supply enterprise.Present numerous researchers are also in the online prison of actively research breaker
The method of survey, but this method needs that route is transformed, and can not be suitable for original route.
Summary of the invention
Present invention solves the technical problem that be to propose a kind of hot line robot vacuum circuit breaker live detection method,
This method can carry out live detection to vacuum circuit breaker, avoid operating personnel in live high voltage in case of constant power
The route bring of operation nearby 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 vacuum circuit breaker 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, electronics purple are installed in first mechanical arm, second mechanical arm and auxiliary mechanical arm end respectively
Outside line defectoscope and thermal infrared imager, and drive Partial discharge detector, electronics ultraviolet crack inspection instrument and thermal infrared imager
It is moved about in vacuum circuit breaker, the shelf depreciation situation of vacuum circuit breaker is obtained by Partial discharge detector, passes through electronics
Ultraviolet crack inspection instrument obtains the ultraviolet crack inspection figure of vacuum circuit breaker, and the infrared heat of vacuum circuit breaker is obtained by thermal infrared imager
As figure；Respective detection data is passed through communication system by Partial discharge detector, electronics ultraviolet crack inspection instrument and thermal infrared imager
System is sent to the data processing and control system of hot line robot in real time, and data processing and control system are according to detection data
Judge the working condition of vacuum circuit breaker.
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, electronics ultraviolet crack inspection instrument with
And after the detection data of thermal infrared imager, 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 vacuum circuit breaker.
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 first mechanical arm, second mechanical arm and auxiliary mechanical arm, and the video camera includes that binocular is taken the photograph
It is mechanical equipped with binocular camera, described first on the first mechanical arm, second mechanical arm and auxiliary mechanical arm as head
Livewire work is completed in arm, second mechanical arm and auxiliary mechanical arm cooperation, wherein and auxiliary mechanical arm is used for clamping operation object, the
One mechanical arm and second mechanical arm use power tool progress Job Operations；
The data processing and control system include the first industrial personal computer, the second industrial personal computer, at the second industrial personal computer Built-in Image
Device and livewire work action sequence library are managed,
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 is to working scene image
The relative positional relationship between mechanical arm and manipulating object obtained after being handled, the second industrial personal computer close depending on that relative position
The space path of action sequence planning mechanical arm corresponding to system and specific livewire work, and by the space road of the mechanical arm
Diameter data are sent to the 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 vacuum circuit breaker 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, and compared to the remote detection method for using sensor probe, it is more careful to have
Function；(3) present invention is using hot line robot compared to needing short distance insulating glove operation vacuum circuit breaker detection side
Method can from consider electric arc lead to the problem of when to human body burn and Danger Electric shock risk, falling from high altitude；(4) present invention is made using electrification
Industry robot is controlled by operator's rocking bar, operating personnel's labor intensity is required small, reduces that operation intensity is big people occurs
The case where to make mistakes, substantially increases the safety in 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 vacuum circuit breaker of the present invention.
Wherein, 100 be shaft tower, and 111 be conducting wire, and 103 be cross-arm, and 130 be vacuum circuit breaker；1 it is aerial lift device with insulated arm, 2 is
Control room, 3 be telescopic arm, 4 be robot platform；46 it is insulator, 43 be first mechanical arm, 44 be second mechanical arm, 42 is
Auxiliary mechanical arm, 48 be the first industrial personal computer, 45 be binocular camera, 41 be full-view camera, 410 be depth camera, 49 be
Battery, 47 are mechanical arm tool box special；431 it is pedestal, 432 be waist joint, 433 be shoulder joint, 434 be large arm, 435 is
Elbow joint, 436 be forearm, 437 be 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 a variety of implementations of hot line robot vacuum circuit breaker live detection method of the present invention
Mode.Therefore, following specific embodiments and attached drawing are only the exemplary illustrations to technical solution of the present invention, without that should regard
For whole of the invention or it 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, vacuum circuit breaker, 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 vacuum circuit breaker 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 vacuum circuit breaker prepares, and checks meteorological condition, verification
Safety barrier, working signal and related warning mark is arranged in working site in shaft tower number.Using Insulation Resistance Tester to
The insulating tool arrived carries out surface insulation resistance detection, and 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, and change the outfit Partial discharge detector
107, electronics ultraviolet crack inspection instrument 131 and thermal infrared imager 106, first mechanical arm 43 and second mechanical arm 44 and auxiliary machine
Tool arm 42 drives Partial discharge detector 107, electronics ultraviolet crack inspection instrument 131 and thermal infrared imager 106 in vacuum to be detected
Breaker 130 moves about；The shelf depreciation situation of vacuum circuit breaker 130 can be obtained by Partial discharge detector 107, electricity
Sub- ultraviolet crack inspection instrument 131 can obtain the ultraviolet crack inspection figure of tested vacuum circuit breaker 120, can by thermal infrared imager 106
To obtain vacuum circuit breaker Infrared Thermogram；Partial discharge detector 107, electronics ultraviolet crack inspection instrument 131 and infrared thermal imagery
Above-mentioned detection data is sent to the data processing and control system of hot line robot by instrument 106 in real time by communication system,
Such as it is returned to the second industrial personal computer on robot platform 4 the first industrial personal computer 48 or control room 2.Data processing and control
Infrared Thermogram and ultraviolet crack inspection figure can also be sent display to show by system.Data processing and control system are by these testing numbers
It is compared according to regime values in database, to judge the working condition of vacuum circuit breaker, to form detection and analysis report.
Infrared Thermogram is mainly checked no defective under 130 working condition of vacuum circuit breaker；Ultraviolet crack inspection figure mainly checks that vacuum is disconnected
130 working condition lower surface shelf depreciation of road device and phenomenon of deteriorating；Partial Discharge Detection situation mainly checks vacuum circuit breaker 130
It is no under working condition to have Insulation Problems.
For the accuracy of detection, vacuum circuit breaker can be implemented twice or repeated detection, such as: the data processing
With control system after obtaining shelf depreciation situation, ultraviolet crack inspection figure and vacuum circuit breaker Infrared Thermogram, according to correlation
Regime values comparison as a result, first carrying out preliminary analysis in index value and database；For corresponding to abnormal index numerical value
Test point, first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42 carry corresponding detection device and are detected again；
Data processing and control system judge the working condition of vacuum circuit breaker according to the index of correlation numerical value obtained again.
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.
The method of the present invention can operate indoor controllers and pass through control isomorphism mechanical arm behaviour in case of constant power
The mechanical arm for making hot line robot carries out live detection to vacuum circuit breaker, avoids operating personnel in live high voltage route
Neighbouring operation bring is dangerous, simplifies job step relative to artificial live detection operation.A variety of profession detections are carried to pass
Sensor, testing result are more scientific accurate relative to artificial detection.
The present invention carries out the on-line checking of vacuum circuit breaker using hot line robot, largely avoids route
The negative effect of power failure bring, is greatly reduced power off time, improves power supply reliability, alleviates electricity consumption and complains contradiction.
The present invention replaces people to carry out detection operation using hot line robot, compared to the detection method of distant surveillance
With function more abundant；Compared to need short distance insulating glove operation vacuum circuit breaker detection method can from consider
When electric arc is led to the problem of to human body burn and Danger Electric shock risk, falling from high altitude, do not have that the big appearance of operation intensity is artificial to lose more
Accidentally the case where, the safety in operation process is substantially increased, the generation of accident can be reduced to a certain extent.
Claims (5)
1. a kind of hot line robot vacuum circuit breaker 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, electronics ultraviolet light are installed in first mechanical arm, second mechanical arm and auxiliary mechanical arm end respectively
Defectoscope and thermal infrared imager, and drive Partial discharge detector, electronics ultraviolet crack inspection instrument and thermal infrared imager true
Empty proximity to circuit breakers is mobile, and the shelf depreciation situation of vacuum circuit breaker is obtained by Partial discharge detector, ultraviolet by electronics
Line defectoscope obtains the ultraviolet crack inspection figure of vacuum circuit breaker, and the infrared thermal imagery of vacuum circuit breaker is obtained by thermal infrared imager
Figure；Respective detection data is passed through communication system by Partial discharge detector, electronics ultraviolet crack inspection instrument and thermal infrared imager
It is sent to the data processing and control system of hot line robot in real time, data processing and control system are sentenced according to detection data
The working condition of disconnected vacuum circuit breaker；
The data processing and control system are obtaining Partial discharge detector, electronics ultraviolet crack inspection instrument and thermal infrared imager
Detection data after, according in index of correlation numerical value and database regime values comparison 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 carry corresponding detection and set
It is standby to be detected again；Data processing and control system judge vacuum circuit breaker according to the index of correlation numerical value obtained again
Working condition；
The control data are the angle desired value of each joint of mechanical arm movement, and the angle desired value is by hot line robot number
It is resolved and is obtained according to each joint angles delta data of the main manipulator for being set to insulation bucket arm car according to processing and control systems；It is main
Manipulator includes the first main manipulator, the second main manipulator and auxiliary main manipulator；First main manipulator, the second main manipulator and
It assists main manipulator corresponding with first mechanical arm, second mechanical arm and auxiliary mechanical arm respectively, constitutes master-slave operation relationship；
Control room is provided on the aerial lift device with insulated arm, the data processing and control system include the first industrial personal computer, the second work
Control machine, display screen and main manipulator, the second industrial personal computer Built-in Image processor, display screen and main manipulator are located in control room；
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
3D dummy activity scene, and display is sent to show.
2. vacuum circuit breaker 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. vacuum circuit breaker detection method as described in claim 1, which is characterized in that the control data are each joint of mechanical arm
The angle desired value of movement；Hot line robot data processing and control system are opposite according to each mechanical arm and manipulating object
Position and job task action sequence, the space path of each mechanical arm is cooked up using cartesian space paths planning method,
Then the angle desired value of each joint of mechanical arm movement is calculated according to space path.
4. vacuum circuit breaker detection method as described in claim 1, which is characterized in that the hot line robot, including it is exhausted
Edge bucket arm vehicle, the robot platform being mounted on aerial lift device with insulated arm, the mechanical arm being mounted on robot platform；
The mechanical arm includes first mechanical arm, second mechanical arm and auxiliary mechanical arm, and the video camera includes binocular camera,
Equipped with binocular camera, the first mechanical arm, second on the first mechanical arm, second mechanical arm and auxiliary mechanical arm
Livewire work is completed in mechanical arm and auxiliary mechanical arm cooperation, wherein auxiliary mechanical arm is used for clamping operation object, first mechanical arm
Job Operations are carried out using power tool with second mechanical arm；
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.
5. any one vacuum circuit breaker detection method as described in Claims 1-4, which is characterized in that the mechanical arm or master
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 are connect with forearm
Wrist joint, wrist joint are 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 and servo drive motor, orthogonal rotary encoder in mechanism in six degree of freedom
For acquiring the angle-data in each joint, servo drive motor is used to control the movement in each joint；First industrial personal computer is according to machine
The desired value of each joint angles of tool arm presses each joint motions of mechanical arm by control servo drive motor control.
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| CN108297068A (en) * | 2018-04-11 | 2018-07-20 | 南京理工大学 | A kind of hot line robot specific purpose tool replacing options based on force feedback master ＆ slave control |
| CN108436938A (en) * | 2018-04-26 | 2018-08-24 | 深圳供电局有限公司 | High tension switchgear inspection robot end effector |
| CN108714883B (en) * | 2018-06-08 | 2021-03-16 | 国网智能科技股份有限公司 | Transformer substation live overhaul autonomous operation robot platform |
| CN110026962A (en) * | 2019-04-12 | 2019-07-19 | 云南电力试验研究院(集团)有限公司 | A kind of intelligence nondestructive detection system |
| CN114581741B (en) * | 2022-05-09 | 2022-07-15 | 广东电网有限责任公司佛山供电局 | Circuit breaker testing robot wiring positioning method and device based on image enhancement |
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