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 PDF

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Publication number
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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suspension arm
electric field
data
angle
sampling
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Inventor
石一辉
何剑峰
王身丽
山智涛
冷伟明
王飞
王志高
常亮
程乾
段鹏
程绳
李君�
彭迅
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Hubei Chaoneng Electric Power Co ltd
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Hubei Chaoneng Electric Power Co ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/14Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22Measuring 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00Measuring distances in line of sight; Optical rangefinders
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00Measuring inclination, e.g. by clinometers, by levels
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01RMEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R29/00Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
    • G01R29/08Measuring electromagnetic field characteristics
    • G01R29/0864Measuring electromagnetic field characteristics characterised by constructional or functional features
    • G01R29/0878Sensors; antennas; probes; detectors

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
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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

Method for judging distance between crane and power line based on electric field strength change rate
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;
2) sampling is as follows
Figure 555713DEST_PATH_IMAGE001
And then, recording as:
Figure 12102DEST_PATH_IMAGE002
a set is defined:
Figure 377356DEST_PATH_IMAGE003
wherein:
Figure 235590DEST_PATH_IMAGE004
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,
Figure 785520DEST_PATH_IMAGE005
respectively represent the 1 st, 2 nd, 3 rd and 4 th times
Figure 604572DEST_PATH_IMAGE006
First, the
Figure 898150DEST_PATH_IMAGE007
Boom height measured at sub-sampling.
As a further technical solution of the present technical solution, the third step includes:
1) sampling data of the lift angle of the boom
Figure 486257DEST_PATH_IMAGE008
Next, define the set
Figure 207088DEST_PATH_IMAGE009
Figure 513436DEST_PATH_IMAGE010
Wherein, the first and the second end of the pipe are connected with each other,
Figure 610705DEST_PATH_IMAGE011
1 st, 2 nd and 3 rd times, respectively
Figure 53319DEST_PATH_IMAGE006
First, the
Figure 210631DEST_PATH_IMAGE012
The lifting angle of the suspension arm is measured during the secondary sampling,
Figure 863329DEST_PATH_IMAGE013
all data sets of lifting angles of the suspension arm are acquired;
2) data sampling of boom rotation angle
Figure 374076DEST_PATH_IMAGE008
Secondly, respectively:
Figure 795830DEST_PATH_IMAGE014
3) defining a set:
Figure 999409DEST_PATH_IMAGE015
wherein the content of the first and second substances,
Figure 873824DEST_PATH_IMAGE016
means that the measured data is subjected to a difference between two adjacent angle data as a set of angle data variations,
Figure 312896DEST_PATH_IMAGE014
respectively represent the 1 st, 2 nd, 3 rd and 4 th times
Figure 727172DEST_PATH_IMAGE006
First, the
Figure 226287DEST_PATH_IMAGE007
And 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:
1) sampling electric field strength around boom
Figure 587998DEST_PATH_IMAGE017
And then, recording as:
Figure 440547DEST_PATH_IMAGE018
2) a set is defined:
Figure 102473DEST_PATH_IMAGE019
wherein, the first and the second end of the pipe are connected with each other,
Figure 647855DEST_PATH_IMAGE020
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,
Figure 762441DEST_PATH_IMAGE018
respectively represent the 1 st, 2 nd, 3 rd and 4 th times
Figure 153102DEST_PATH_IMAGE006
First, the
Figure 669534DEST_PATH_IMAGE007
And (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 height of boom in vertical direction
Figure 385818DEST_PATH_IMAGE021
Figure 987700DEST_PATH_IMAGE022
Rate of change of electric field strength with respect to displacement of boom in horizontal direction
Figure 306686DEST_PATH_IMAGE023
Figure 552991DEST_PATH_IMAGE024
Wherein, the first and the second end of the pipe are connected with each other,
Figure 299230DEST_PATH_IMAGE025
the variable quantity of the displacement of the suspension arm in the horizontal direction is as follows:
Figure 998196DEST_PATH_IMAGE026
Figure 120872DEST_PATH_IMAGE027
is shown as
Figure 80738DEST_PATH_IMAGE028
The height of the boom arm at the time of sub-sampling,
Figure 138824DEST_PATH_IMAGE029
denotes the first
Figure 449720DEST_PATH_IMAGE030
The lifting angle of the suspension arm during the secondary sampling,
Figure 376087DEST_PATH_IMAGE031
representation collection
Figure 328475DEST_PATH_IMAGE032
To (1)
Figure 947676DEST_PATH_IMAGE033
Group data, representing
Figure 355654DEST_PATH_IMAGE034
Angle data of sub-sampling and
Figure 554554DEST_PATH_IMAGE035
the difference between the sub-sampled angle data,
Figure 489012DEST_PATH_IMAGE036
representation collection
Figure 154480DEST_PATH_IMAGE037
Of the first group of data in (1),
Figure 908809DEST_PATH_IMAGE038
representation collection
Figure 176980DEST_PATH_IMAGE039
To
Figure 965944DEST_PATH_IMAGE035
The data of the group is composed of data,
Figure 536734DEST_PATH_IMAGE040
representation collection
Figure 43939DEST_PATH_IMAGE041
To (1)
Figure 850221DEST_PATH_IMAGE042
Group data, and
Figure 634637DEST_PATH_IMAGE043
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;
3) the sample is taken as
Figure 500962DEST_PATH_IMAGE044
Next, note as:
Figure 229883DEST_PATH_IMAGE045
a set is defined:
Figure 246381DEST_PATH_IMAGE046
wherein:
Figure 9938DEST_PATH_IMAGE047
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,
Figure 656951DEST_PATH_IMAGE048
respectively represent the 1 st, 2 nd, 3 rd and 4 th times
Figure 404327DEST_PATH_IMAGE006
First, the
Figure 552412DEST_PATH_IMAGE007
And (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 sampled
Figure 45841DEST_PATH_IMAGE049
Next, define the set
Figure 253968DEST_PATH_IMAGE050
Figure 957482DEST_PATH_IMAGE051
Wherein the content of the first and second substances,
Figure 47273DEST_PATH_IMAGE052
1 st, 2 nd and 3 rd times, respectively
Figure 785422DEST_PATH_IMAGE006
First, the
Figure 39817DEST_PATH_IMAGE053
The lifting angle of the suspension arm is measured during the secondary sampling,
Figure 230627DEST_PATH_IMAGE054
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 sampled
Figure 986094DEST_PATH_IMAGE055
Secondly, respectively:
Figure 454115DEST_PATH_IMAGE056
3) defining a set:
Figure 4045DEST_PATH_IMAGE057
wherein, the first and the second end of the pipe are connected with each other,
Figure 682151DEST_PATH_IMAGE058
means that the measured data is subjected to a difference between two adjacent angle data as a set of angle data variations,
Figure 851095DEST_PATH_IMAGE056
respectively represent the 1 st, 2 nd, 3 rd and 4 th times
Figure 563837DEST_PATH_IMAGE006
First, the
Figure 284668DEST_PATH_IMAGE007
And 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;
2) sampling electric field strength around boom
Figure 591015DEST_PATH_IMAGE055
And then, recording as:
Figure 422705DEST_PATH_IMAGE059
3) a set is defined:
Figure 724374DEST_PATH_IMAGE060
wherein, the first and the second end of the pipe are connected with each other,
Figure 757052DEST_PATH_IMAGE061
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,
Figure 144171DEST_PATH_IMAGE062
respectively represent the 1 st, 2 nd, 3 rd and 4 th times
Figure 920497DEST_PATH_IMAGE006
First, the
Figure 342251DEST_PATH_IMAGE007
The 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 height of boom in vertical direction
Figure 404885DEST_PATH_IMAGE063
Figure 420245DEST_PATH_IMAGE064
Rate of change of electric field strength with respect to displacement of boom in horizontal direction
Figure 593738DEST_PATH_IMAGE065
Figure 135577DEST_PATH_IMAGE066
Wherein, the first and the second end of the pipe are connected with each other,
Figure 264987DEST_PATH_IMAGE067
the variable quantity of the displacement of the suspension arm in the horizontal direction is as follows:
Figure 892277DEST_PATH_IMAGE068
Figure 869460DEST_PATH_IMAGE069
denotes the first
Figure 406752DEST_PATH_IMAGE070
The height of the boom arm at the time of sub-sampling,
Figure 217713DEST_PATH_IMAGE071
is shown as
Figure 801141DEST_PATH_IMAGE072
The lifting angle of the suspension arm during the secondary sampling,
Figure 582016DEST_PATH_IMAGE073
representation collection
Figure 973814DEST_PATH_IMAGE074
To
Figure 814731DEST_PATH_IMAGE075
Group data, representing
Figure 885455DEST_PATH_IMAGE076
Angle data of sub-sampling and
Figure 79807DEST_PATH_IMAGE077
the difference between the sub-sampled angle data,
Figure 450746DEST_PATH_IMAGE078
representation collection
Figure 196985DEST_PATH_IMAGE079
Of the first group of data in (1),
Figure 895950DEST_PATH_IMAGE080
representation collection
Figure 18627DEST_PATH_IMAGE081
To
Figure 244072DEST_PATH_IMAGE082
The data for the group is either stored in the memory,
Figure 302158DEST_PATH_IMAGE083
representation collection
Figure 347474DEST_PATH_IMAGE084
To
Figure 8263DEST_PATH_IMAGE085
Group data, and
Figure 229160DEST_PATH_IMAGE086
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:
Figure 317201DEST_PATH_IMAGE087
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 intensity
Figure 849814DEST_PATH_IMAGE088
Adjusting the distance between the suspension arm and the transmission line to 5.1m in Solidworks, and obtaining the electric field intensity through Comsol simulation
Figure 452309DEST_PATH_IMAGE089
Repeating the above steps to obtain
Figure 652346DEST_PATH_IMAGE090
And
Figure 786656DEST_PATH_IMAGE091
after 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:
Figure 806564DEST_PATH_IMAGE092
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:
Figure 340314DEST_PATH_IMAGE093
Figure 4644DEST_PATH_IMAGE094
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
Figure 434489DEST_PATH_IMAGE095
Figure 207273DEST_PATH_IMAGE096
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
Figure 888921DEST_PATH_IMAGE097
Figure 797971DEST_PATH_IMAGE098
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:
Figure 664296DEST_PATH_IMAGE099
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.
1) Rate of change of electric field strength with respect to boom height
Figure 268584DEST_PATH_IMAGE100
Figure 144136DEST_PATH_IMAGE101
2) Rate of change of electric field strength with respect to displacement of boom in horizontal direction
Figure 642113DEST_PATH_IMAGE102
Figure 820285DEST_PATH_IMAGE103
Figure 36502DEST_PATH_IMAGE104
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 angle
Figure 325532DEST_PATH_IMAGE104
The following proportional relationship can be obtained:
Figure 943596DEST_PATH_IMAGE105
circumference of circle formed by rotation
Figure 151723DEST_PATH_IMAGE106
Can be calculated from the following formula:
Figure 855237DEST_PATH_IMAGE107
wherein, in the step (A),
Figure 947958DEST_PATH_IMAGE108
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.
Diameter of circle formed by rotation
Figure 420527DEST_PATH_IMAGE108
Can be obtained by the following formula:
Figure 799556DEST_PATH_IMAGE109
then the user can use the device to make a visual display,
Figure 128382DEST_PATH_IMAGE110
comprises the following steps:
Figure 618269DEST_PATH_IMAGE111
Figure 351870DEST_PATH_IMAGE112
is shown as
Figure 636221DEST_PATH_IMAGE113
The height of the boom arm at the time of sub-sampling,
Figure 579906DEST_PATH_IMAGE114
denotes the first
Figure 748850DEST_PATH_IMAGE113
The lifting angle of the suspension arm during the secondary sampling,
Figure 196012DEST_PATH_IMAGE115
representation collection
Figure 916843DEST_PATH_IMAGE116
To
Figure 957612DEST_PATH_IMAGE113
Group data, representing
Figure 789301DEST_PATH_IMAGE117
Angle data of sub-sampling and
Figure 622128DEST_PATH_IMAGE113
the difference between the sub-sampled angle data.
When the temperature is higher than the set temperature
Figure 389227DEST_PATH_IMAGE118
Figure 776346DEST_PATH_IMAGE119
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;
2) sampling is as follows
Figure 716501DEST_PATH_IMAGE001
And then, recording as:
Figure 510145DEST_PATH_IMAGE002
a set is defined:
Figure 145526DEST_PATH_IMAGE003
wherein:
Figure 567280DEST_PATH_IMAGE004
representing the difference between two adjacent height data of the measured data as a set of the obtained height data variation;
Figure 505280DEST_PATH_IMAGE002
respectively represent the 1 st, 2 nd, 3 rd and 4 th times
Figure 645274DEST_PATH_IMAGE005
First, the
Figure 84346DEST_PATH_IMAGE006
And (4) measuring the height of the suspension arm in the sub-sampling process.
3. The method of claim 2, wherein the third step comprises:
1) sampling data of the lift angle of the boom
Figure 498622DEST_PATH_IMAGE001
Next, define the set
Figure 997737DEST_PATH_IMAGE007
Figure 234814DEST_PATH_IMAGE008
Wherein the content of the first and second substances,
Figure 477576DEST_PATH_IMAGE009
1 st, 2 nd, 3 rd, 4 th times, respectively
Figure 749289DEST_PATH_IMAGE005
First, the
Figure 153726DEST_PATH_IMAGE001
The lifting angle of the suspension arm is measured during the secondary sampling,
Figure 268312DEST_PATH_IMAGE007
all data sets of lifting angles of the suspension arm are acquired;
2) data sampling of boom rotation angle
Figure 658973DEST_PATH_IMAGE001
Secondly, respectively:
Figure 175405DEST_PATH_IMAGE010
3) defining a set:
Figure 750743DEST_PATH_IMAGE011
wherein, the first and the second end of the pipe are connected with each other,
Figure 227992DEST_PATH_IMAGE012
representing a set of angle data variation obtained by taking the difference between two adjacent angle data for the measured data;
Figure 546978DEST_PATH_IMAGE010
respectively represent the 1 st, 2 nd, 3 rd and 4 th times
Figure 793282DEST_PATH_IMAGE005
First, the
Figure 539522DEST_PATH_IMAGE006
And measuring the rotation angle of the suspension arm during sub-sampling.
4. The method of claim 3, wherein the fourth step comprises:
1) sampling electric field strength around a boom
Figure 363121DEST_PATH_IMAGE001
Next, note as:
Figure 361164DEST_PATH_IMAGE013
2) a set is defined:
Figure 586609DEST_PATH_IMAGE014
wherein, the first and the second end of the pipe are connected with each other,
Figure 503749DEST_PATH_IMAGE015
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;
Figure 690011DEST_PATH_IMAGE016
respectively represent the 1 st, 2 nd, 3 rd and 4 th times
Figure 350800DEST_PATH_IMAGE005
First, the
Figure 165172DEST_PATH_IMAGE006
The 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 height of boom in vertical direction
Figure 518793DEST_PATH_IMAGE017
Figure 923842DEST_PATH_IMAGE018
Rate of change of electric field strength with respect to displacement of boom in horizontal direction
Figure 653901DEST_PATH_IMAGE019
Figure 322779DEST_PATH_IMAGE020
Wherein the content of the first and second substances,
Figure 722668DEST_PATH_IMAGE021
the variable quantity of the displacement of the suspension arm in the horizontal direction is as follows:
Figure 742576DEST_PATH_IMAGE022
Figure 745167DEST_PATH_IMAGE023
is shown as
Figure 534132DEST_PATH_IMAGE024
The height of the boom arm at the time of sub-sampling,
Figure 104922DEST_PATH_IMAGE025
is shown as
Figure 612126DEST_PATH_IMAGE024
The lifting angle of the suspension arm during the secondary sampling,
Figure 418408DEST_PATH_IMAGE026
representation collection
Figure 202825DEST_PATH_IMAGE027
To (1)
Figure 803570DEST_PATH_IMAGE024
Group data, representing
Figure 798071DEST_PATH_IMAGE028
Angle data of sub-sampling and
Figure 142465DEST_PATH_IMAGE024
the difference between the sub-sampled angle data,
Figure 46967DEST_PATH_IMAGE029
representation collection
Figure 818614DEST_PATH_IMAGE030
Of the first group of data in (1),
Figure 300411DEST_PATH_IMAGE031
representation collection
Figure 323862DEST_PATH_IMAGE032
To
Figure 207504DEST_PATH_IMAGE033
The data of the group is composed of data,
Figure 415631DEST_PATH_IMAGE034
representation collection
Figure 994511DEST_PATH_IMAGE035
To (1)
Figure 680708DEST_PATH_IMAGE033
Group data of, and
Figure 418857DEST_PATH_IMAGE036
CN202210716264.1A 2022-06-23 2022-06-23 Method for judging distance between crane and power transmission line based on electric field strength change rate Pending CN114777632A (en)

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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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