CN114777632A - Method for judging distance between crane and power transmission line based on electric field strength change rate - Google Patents
Method for judging distance between crane and power transmission line based on electric field strength change rate Download PDFInfo
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- CN114777632A CN114777632A CN202210716264.1A CN202210716264A CN114777632A CN 114777632 A CN114777632 A CN 114777632A CN 202210716264 A CN202210716264 A CN 202210716264A CN 114777632 A CN114777632 A CN 114777632A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/0864—Measuring electromagnetic field characteristics characterised by constructional or functional features
- G01R29/0878—Sensors; antennas; probes; detectors
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Abstract
The invention discloses a method for judging the distance between a crane and a power line based on the change rate of electric field strength, which comprises the following steps: installing an electric field sensor, a laser range finder, an inclinometer and an angle measuring instrument; measuring the height between a suspension arm of the crane and the horizontal plane through a laser range finder, and calculating the height variation of the suspension arm; measuring the lifting angle of the suspension arm through an inclinometer, measuring the rotation angle of the suspension arm through an angle measuring instrument, and calculating the rotation angle variation of the suspension arm; measuring the variation of the electric field intensity around the suspension arm through an electric field sensor; calculating the change rate of the electric field strength around the suspension arm; and judging the safe distance between the crane and the power transmission line according to the obtained electric field strength change rate. The method judges the distance between the suspension arm and the power transmission line by utilizing the rule that the electric field intensity is attenuated along with the increase of the distance, and can effectively improve the safety of crane operation and the safety level of the operation of the overhead power transmission line by measuring the change rate of the electric field intensity.
Description
Technical Field
The invention relates to a method for judging the distance between a crane and a transmission line, in particular to a method for judging the distance between the crane and the transmission line based on the change rate of electric field strength, and belongs to the technical field of measurement.
Background
When the crane is constructed near an overhead transmission line, an operator cannot accurately judge the distance relationship between the suspension arm and the transmission line, once the distance between the suspension arm and the overhead transmission line is too close, a discharge breakdown accident is very likely to happen, great personal injury is caused to a crane driver, and meanwhile, the safe and stable operation of the transmission line is influenced.
The following four methods are generally adopted in the prior art:
1) and (3) laser ranging method. Because the diameter of the overhead transmission line belongs to a small target, the laser ranging method cannot accurately aim at the target when aiming at the small target, and the effect is limited;
2) a binocular distance measurement method. The binocular ranging method needs calibration in advance due to the limitation of a binocular camera, the ranging range is limited, good precision is only achieved within the calibrated range, the precision is rapidly reduced after the ranging range exceeds the calibrated range, the method is greatly influenced by outdoor illumination, and the risk of failure is caused under the condition of strong illumination;
3) an ultrasonic ranging method. When the ultrasonic ranging method is used for a power transmission line, the reflecting surface is small, so that the ranging distance is limited, and the effective range cannot be reached when the method is applied to a higher power transmission line;
4) the electric field strength is measured. Because the overhead transmission line is distributed with an electric field, the distance between the suspension arm and the transmission line can be judged by a method for measuring the electric field intensity, but because the suspension arm of the crane is a metal object and has a complex structure, the output of the electric field value output by the sensor can be greatly interfered, so that the data error is large, and the distance cannot be accurately measured.
The closest prior art is disclosed as CN101825666B, a method for measuring the safety distance between a crane boom and an operating ultrahigh voltage transmission line, the method adopts a combination mode, and the distance between the crane boom and the transmission line is jointly judged by two detection modes of electric field intensity detection (measuring the electric field intensity) and laser ranging.
Disclosure of Invention
The present invention is directed to solving at least one of the above problems and to providing a method for determining a distance between a crane and a power line based on a change rate of an electric field strength.
The invention realizes the purpose through the following technical scheme: a method for judging a distance between a hoist and a power line based on a change rate of electric field strength, the method comprising the steps of:
the method comprises the following steps: an electric field sensor, a laser range finder, an inclinometer and an angle measuring instrument are arranged on the crane;
step two: measuring the height between the suspension arm of the crane and the horizontal plane through the laser range finder, and calculating the height variation of the suspension arm;
step three: measuring the lifting angle of the suspension arm through the inclinometer, measuring the rotation angle of the suspension arm through the angle measuring instrument, and calculating the rotation angle variation of the suspension arm;
step four: measuring the variation of the electric field intensity around the suspension arm through the electric field sensor;
step five: calculating the change rate of the electric field strength around the suspension arm;
step six: and judging the safety distance between the crane and the power transmission line according to the obtained electric field strength change rate.
As a further technical solution of the present technical solution, the second step includes:
1) sampling the height of the suspension arm at the same time interval, wherein the change value of the two adjacent sampling heights is the height change quantity of the suspension arm;
a set is defined:
wherein:means that for the measured data, the difference between two adjacent height data is taken as the set of the variation of the obtained height data,respectively represent the 1 st, 2 nd, 3 rd and 4 th timesFirst, theBoom height measured at sub-sampling.
As a further technical solution of the present technical solution, the third step includes:
Wherein, the first and the second end of the pipe are connected with each other,1 st, 2 nd and 3 rd times, respectivelyFirst, theThe lifting angle of the suspension arm is measured during the secondary sampling,all data sets of lifting angles of the suspension arm are acquired;
wherein the content of the first and second substances,means that the measured data is subjected to a difference between two adjacent angle data as a set of angle data variations,respectively represent the 1 st, 2 nd, 3 rd and 4 th timesFirst, theAnd measuring the rotation angle of the suspension arm during secondary sampling.
As a further technical solution of the present technical solution, in the fourth step, the method includes:
2) a set is defined:
wherein, the first and the second end of the pipe are connected with each other,means that for the measured electric field intensity data, the difference between two adjacent electric field intensity data is taken as the collection of the variation of the obtained electric field intensity data,respectively represent the 1 st, 2 nd, 3 rd and 4 th timesFirst, theAnd (4) measuring the electric field intensity around the suspension arm in the sub-sampling process.
As a further technical solution of the present technical solution, the step five includes:
Rate of change of electric field strength with respect to displacement of boom in horizontal direction:
Wherein, the first and the second end of the pipe are connected with each other,the variable quantity of the displacement of the suspension arm in the horizontal direction is as follows:
is shown asThe height of the boom arm at the time of sub-sampling,denotes the firstThe lifting angle of the suspension arm during the secondary sampling,representation collectionTo (1)Group data, representingAngle data of sub-sampling andthe difference between the sub-sampled angle data,representation collectionOf the first group of data in (1),representation collectionToThe data of the group is composed of data,representation collectionTo (1)Group data, and。
the invention has the beneficial effects that: 1) the height variation of the suspension arm and the horizontal plane is measured by the laser distance meter, so that the electric field strength variation rate of the electric field strength around the suspension arm in the vertical direction can be obtained, and the safety distance between the suspension arm and the power transmission line in the vertical direction can be judged; 2) the angle change of the suspension arm in the horizontal direction is measured by the angle measuring instrument and the inclinometer, so that the electric field intensity change rate of the electric field intensity around the suspension arm in the horizontal direction can be obtained, and the safety distance between the suspension arm and the power transmission line in the horizontal direction can be judged; 3) the method judges the distance between the suspension arm and the power transmission line by utilizing the rule that the electric field intensity attenuates along with the increase of the distance, and can effectively improve the safety of crane operation and the safety level of the operation of the overhead power transmission line by measuring the change rate of the electric field intensity.
Drawings
FIG. 1 is a schematic flow chart according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a lifting angle and a lifting direction of a boom and an installation of a part of the device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a part of the apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic view illustrating a horizontal rotation of a boom according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a calculation of a horizontal distance between a suspension arm and a transmission line according to an embodiment of the present invention;
fig. 6 is a second schematic diagram illustrating calculation of the horizontal distance between the suspension arm and the transmission line according to the first embodiment of the invention;
in the figure: 1. the method comprises the following steps of firstly, 2, an inclinometer, 3, an angle measuring instrument, 4, a lifting direction of a suspension arm, 5, an electric field sensor, 6, a laser range finder, 7, a first horizontal direction rotating direction of the suspension arm, 8, a second horizontal direction rotating direction of the suspension arm, 9, a horizontal direction rotating motion track of the suspension arm, 10, the diameter of a circle formed by rotation, 11, a first horizontal position of the suspension arm, 12, a second horizontal position of the suspension arm, 13, a third horizontal position of the suspension arm, 14, a second horizontal rotating angle of the suspension arm, 15, a second horizontal rotating angle of the suspension arm, 16, an overhead transmission line, 17, the suspension arm, 18, a second lifting angle of the suspension arm, 19, a horizontal plane, 20, a radius of a running track of the suspension arm, 21 and a running track of the suspension arm in the horizontal direction.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A method for judging the distance between a crane and a power line based on the change rate of electric field strength comprises the following steps:
firstly, the method comprises the following steps: an electric field sensor, a laser range finder, an inclinometer and an angle measuring instrument are arranged on the crane.
Secondly, the method comprises the following steps: and measuring the height between the suspension arm of the crane and the horizontal plane through a laser range finder, and calculating the height variation of the suspension arm.
Specifically, the method comprises the following steps: 1) the laser range finder is used for measuring the distance between the suspension arm and the horizontal plane, the height of the suspension arm and the horizontal plane in the vertical direction and the height variation of the suspension arm;
2) sampling the height of the suspension arm at the same time interval, wherein the change value of the two adjacent sampling heights is the height change quantity of the suspension arm;
a set is defined:
wherein:the measured data is expressed by taking the difference between two adjacent height data as the collection of the variation of the obtained height data,respectively represent the 1 st, 2 nd, 3 rd and 4 th timesFirst, theAnd (4) measuring the height of the suspension arm in the sub-sampling process.
Thirdly, the method comprises the following steps: the lifting angle of the suspension arm is measured through the inclinometer, the rotation angle of the suspension arm is measured through the angle measuring instrument, and the rotation angle variation of the suspension arm is calculated.
1) The lifting angle of the suspension arm is measured by an inclination angle measuring instrument, and the data of the lifting angle of the suspension arm is sampledNext, define the set:
Wherein the content of the first and second substances,1 st, 2 nd and 3 rd times, respectivelyFirst, theThe lifting angle of the suspension arm is measured during the secondary sampling,all data sets of lifting angles of the suspension arm are acquired;
2) the rotation angle of the suspension arm is measured by an angle measuring instrument, and the data of the rotation angle of the suspension arm is sampledSecondly, respectively:,
3) defining a set:
wherein, the first and the second end of the pipe are connected with each other,means that the measured data is subjected to a difference between two adjacent angle data as a set of angle data variations,respectively represent the 1 st, 2 nd, 3 rd and 4 th timesFirst, theAnd measuring the rotation angle of the suspension arm during secondary sampling.
Fourthly: and measuring the variation of the electric field intensity around the suspension arm through an electric field sensor.
Specifically, the method comprises the following steps: 1) measuring the electric field intensity around the suspension arm by an electric field sensor at the same time interval;
3) a set is defined:
wherein, the first and the second end of the pipe are connected with each other,means that for the measured electric field intensity data, the difference between two adjacent electric field intensity data is taken as the collection of the variation of the obtained electric field intensity data,respectively represent the 1 st, 2 nd, 3 rd and 4 th timesFirst, theThe electric field strength around the boom measured at sub-sampling.
And fifthly, calculating the change rate of the electric field strength around the suspension arm.
Through calculating the electric field intensity around the suspension arm, the change rate of the electric field intensity around the suspension arm can be obtained by combining the height change amount in the vertical direction of the suspension arm and the displacement change amount in the horizontal direction.
Rate of change of electric field strength with respect to displacement of boom in horizontal direction:
Wherein, the first and the second end of the pipe are connected with each other,the variable quantity of the displacement of the suspension arm in the horizontal direction is as follows:
denotes the firstThe height of the boom arm at the time of sub-sampling,is shown asThe lifting angle of the suspension arm during the secondary sampling,representation collectionToGroup data, representingAngle data of sub-sampling andthe difference between the sub-sampled angle data,representation collectionOf the first group of data in (1),representation collectionToThe data for the group is either stored in the memory,representation collectionToGroup data, and。
sixth: and judging the safe distance between the crane and the power transmission line according to the obtained electric field strength change rate.
The minimum safety distance standard of the suspension arm and the overhead transmission line is definitely determined by the related requirement in 9.7 sections ' hoisting and transporting ' in GB 26859-2011 '. The relevant criteria are shown in the following table:
the electric field intensity change rate when the minimum safe distance is processed by 110KV is obtained by the following method:
1) establishing a model of the crane under the overhead transmission line by using three-dimensional modeling software Solidworks, and adjusting the distance between a suspension arm and a transmission line to be 5 m;
2) performing electric field simulation on the model by using Comsol simulation software to obtain the electric field intensity on the suspension arm at the moment;
3) adjusting the distance between the suspension arm and the power transmission line to be 4.9m in Solidworks, and simulating by using Comsol again to obtain the electric field intensityAdjusting the distance between the suspension arm and the transmission line to 5.1m in Solidworks, and obtaining the electric field intensity through Comsol simulationRepeating the above steps to obtainAndafter the electric field intensity is reduced;
4) the rate of change of the electric field strength of 110kV can be obtained by the following formula:
similarly, the change rate of the critical distance electric field strength at 220kV and 500kV can be obtained by the same method, and the calculation formulas are respectively as follows:
the following can be obtained by calculation: the 110kV is 600, the 220kV is 1200 and the 500kV is 2200; that is, when the measured change rate of the electric field strength is greater than the maximum rated change rate of the electric field strength of the corresponding transmission line, the crane (boom) exceeds the safe distance from the transmission line.
Example one
As shown in figures 1 and 2, the experimental site is a 110kV overhead transmission line, and the model of the crane is STC 160E.
Step 1: as shown in FIG. 3, an electric field sensor 5 is installed on the top of the boom of the crane for measuring the electric field strength around the boom, which is the model number EHP-50F developed by Narda, Germany; a laser distance measuring instrument 6 is arranged on the side surface of the top of the suspension arm of the crane and is used for measuring the height of the suspension arm, and the model is SW-LDS50A developed by Dada Wei company; as shown in fig. 2, an inclinometer 2 is installed on the side face of the suspension arm of the crane, and a KAPRO inclinometer with the model number of 393 is adopted to measure a first lifting angle 1 of the suspension arm; an angle measuring instrument 3 is arranged at the joint of a cab and a vehicle body, the rotating angle of the suspension arm is measured, and an electronic digital display angle gauge of HUICE (head-in-air electronic Power integration) is selected and used, and the model is DP-180360.
And 2, step: measuring the height of the boom and the horizontal plane by using a laser range finder 6, as shown in fig. 2, sampling height data in the lifting direction 4 of the boom at a sampling rate of 1M/s, calculating the height variation of the boom in the vertical direction, and obtaining a set:
And 3, step 3: measuring the lifting angle I1 of the suspension arm by using an inclination angle measuring instrument 2, measuring the horizontal rotation angle of the suspension arm by using an angle measuring instrument 3 as shown in figure 1, sampling the angle data at a sampling rate of 1M/s, and calculating the variation of the horizontal rotation angle of the suspension arm, wherein the horizontal rotation direction I7 and the horizontal rotation direction II are the rotation directions of the suspension arm in the horizontal direction as shown in figure 4, and the circle is the horizontal rotation motion track 9 of the suspension arm as shown in figure 5Above the circle is an overhead transmission line 16, resulting in a set of horizontal rotation angle variations of the boom:
And 4, step 4: the electric field intensity and the electric field intensity variation around the suspension arm are calculated through the electric field sensor 5, the electric field intensity data around the suspension arm are sampled at a sampling rate of 1M/s, and the electric field intensity variation is integrated as follows:
and 5: the rate of change of the electric field strength with respect to the distance is calculated. The rate of change of the electric field strength includes two aspects: firstly, the rate of change of the electric field strength relative to the height of the boom; secondly, the rate of change of the electric field strength relative to the displacement of the boom in the horizontal direction.
2) Rate of change of electric field strength with respect to displacement of boom in horizontal direction:
For the variation of the displacement of the suspension arm in the horizontal direction, the calculation mode is as follows: as can be seen from FIG. 5, the included angle between the boom horizontal position I11 and the boom horizontal position II 12 is the boom horizontal rotation angle 14, and the included angle between the boom horizontal position II 12 and the boom horizontal position III 13 is the boom horizontal rotation angle 15, so that the boom moves the same distance on the horizontal plane when the boom rotates the same angle, and then it can be seen from FIG. 5 and FIG. 6 that the boom moves the same distance on the horizontal plane when the boom rotates the same angleThe following proportional relationship can be obtained:
circumference of circle formed by rotationCan be calculated from the following formula:wherein, in the step (A),the diameter 10 of the circle formed for rotation;
as shown in FIG. 6, the included angle formed by the boom 17 and the horizontal plane 19 is the second boom lifting angle 18, the horizontal boom movement track 21 is a circle, and the radius of the circle is the distance from the top end of the boom to the center of the circle, which is the radius 20 of the boom movement track.
is shown asThe height of the boom arm at the time of sub-sampling,denotes the firstThe lifting angle of the suspension arm during the secondary sampling,representation collectionToGroup data, representingAngle data of sub-sampling andthe difference between the sub-sampled angle data.
When the temperature is higher than the set temperature,When one of the values is larger than 600, the boom is close to the power transmission line.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (5)
1. A method for judging the distance between a crane and a power line based on the change rate of electric field strength is characterized by comprising the following steps:
the method comprises the following steps: an electric field sensor, a laser range finder, an inclinometer and an angle measuring instrument are arranged on a crane;
step two: measuring the height between a suspension arm of the crane and the horizontal plane through the laser range finder, and calculating the height variation of the suspension arm;
step three: measuring the lifting angle of the suspension arm through the inclinometer, measuring the rotation angle of the suspension arm through the angle measuring instrument, and calculating the rotation angle variation of the suspension arm;
step four: measuring the variation of the electric field intensity around the suspension arm through the electric field sensor;
step five: calculating the change rate of the electric field strength around the suspension arm;
step six: and judging the safe distance between the crane and the power transmission line according to the obtained electric field strength change rate.
2. The method of claim 1, wherein the second step comprises:
1) sampling the height of the suspension arm at the same time interval, wherein the change value of the two adjacent sampling heights is the height change quantity of the suspension arm;
a set is defined:
3. The method of claim 2, wherein the third step comprises:
Wherein the content of the first and second substances,1 st, 2 nd, 3 rd, 4 th times, respectivelyFirst, theThe lifting angle of the suspension arm is measured during the secondary sampling,all data sets of lifting angles of the suspension arm are acquired;
3) defining a set:
wherein, the first and the second end of the pipe are connected with each other,representing a set of angle data variation obtained by taking the difference between two adjacent angle data for the measured data;respectively represent the 1 st, 2 nd, 3 rd and 4 th timesFirst, theAnd measuring the rotation angle of the suspension arm during sub-sampling.
4. The method of claim 3, wherein the fourth step comprises:
2) a set is defined:
wherein, the first and the second end of the pipe are connected with each other,indicating that the difference between two adjacent field strength data is used as the variation of the obtained field strength dataA set of chemical quantities;respectively represent the 1 st, 2 nd, 3 rd and 4 th timesFirst, theThe electric field strength around the boom measured at sub-sampling.
5. The method of claim 4, wherein the step five comprises:
Rate of change of electric field strength with respect to displacement of boom in horizontal direction:
Wherein the content of the first and second substances,the variable quantity of the displacement of the suspension arm in the horizontal direction is as follows:
is shown asThe height of the boom arm at the time of sub-sampling,is shown asThe lifting angle of the suspension arm during the secondary sampling,representation collectionTo (1)Group data, representingAngle data of sub-sampling andthe difference between the sub-sampled angle data,representation collectionOf the first group of data in (1),representation collectionToThe data of the group is composed of data,representation collectionTo (1)Group data of, and。
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CN113903154A (en) * | 2021-10-20 | 2022-01-07 | 广东电网有限责任公司惠州供电局 | Alarm method and system for preventing touch on power transmission line |
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JP2011076301A (en) * | 2009-09-30 | 2011-04-14 | Chugoku Electric Power Co Inc:The | Device for preventing operators from approaching charger and system for avoiding danger |
CN104977930A (en) * | 2015-05-15 | 2015-10-14 | 国家电网公司 | High-voltage double circuit transmission line unmanned aerial vehicle tour inspection and obstacle avoidance method based on electric field intensity change rate |
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