CN115560936A - Laser automatic detection device and detection method for looseness of tower bolt - Google Patents
Laser automatic detection device and detection method for looseness of tower bolt Download PDFInfo
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- CN115560936A CN115560936A CN202211182966.2A CN202211182966A CN115560936A CN 115560936 A CN115560936 A CN 115560936A CN 202211182966 A CN202211182966 A CN 202211182966A CN 115560936 A CN115560936 A CN 115560936A
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- 238000005259 measurement Methods 0.000 claims abstract description 48
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 16
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
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Abstract
The invention discloses a tower bolt looseness laser automatic detection device and a detection method, and the device comprises a laser vibration measurement unit, a rotary pitching platform and a mobile robot, wherein the laser vibration measurement unit is connected to the mobile robot through the rotary pitching platform, the laser vibration measurement unit is used for collecting vibration data, the laser vibration measurement unit is connected to a vibration analysis host through a wireless mode, the vibration analysis host is used for analyzing diagnosis of a tower connection state, and the device also comprises an excitation unit, the excitation unit is arranged at the bottom of a tower and used for exciting the whole tower. According to the invention, the optimal measurement point position is automatically calculated according to the position of the measured point, the problem that the laser vibration measurement accuracy is influenced by the measurement angle is solved while the automatic detection of the looseness of the tower bolt is realized, the detection method has a simple flow, excessive human interference is not needed, the detection efficiency and accuracy of the tower bolt connection state are improved, and reliable data are provided for the detection of the bolt connection state.
Description
Technical Field
The invention belongs to the technical field of tower bolt looseness detection, and relates to a tower bolt looseness laser automatic detection device.
Background
The pole tower is an important bearing body of the high-voltage transmission line, and whether the structure of the pole tower is reliable or not is related to the safety and stability of the transmission line. The bolt is the key subassembly of each partial structure of connecting the shaft tower, and the bolt can arouse the shaft tower after becoming flexible scheduling problem. Therefore, the electric power company needs to regularly inspect the bolt condition of the tower, and the traditional method judges the bolt loosening state of the tower by manually knocking and listening to sound and by experience, and is not intelligent. At present, the commonly used technical means mainly include four methods, i.e., a vibration detection method, an ultrasonic detection method, a voice recognition detection method, an image recognition detection method, and the like. The ultrasonic wave is suitable for detecting the loosening condition of a single bolt and is not suitable for detecting a large number of bolts such as poles and towers; the voice recognition detection method is non-contact measurement and can recognize whether the bolt is loosened or not, but under the outdoor environment, a voice signal generated by knocking is easily interfered by noise to influence a recognition result. The image recognition detection method needs image shooting, is easily missed or shielded due to the influence of a visual angle to influence a recognition result, has numerous iron tower bolts, takes long time for shooting and has large workload, and is not suitable for field rapid detection. The vibration detection method has two modes, firstly, the vibration sensor is installed for measurement, but the method needs climbing an iron tower in advance to install a plurality of sensors, and the installation is complicated. And the other method is measurement by a laser vibration meter, and the method is non-contact remote measurement, so that the method is very suitable for field detection of the transmission tower bolt. However, since vibration signals of a plurality of point positions of the tower need to be measured, technicians need to manually adjust the laser measuring devices to measure one by one, and automatic detection is not yet realized. In actual detection, because the angle formed by the laser beam and the surface of the object to be detected can influence the accuracy of measurement, the invention aims to integrate the laser vibration measuring device with the electric robot, and when different point positions are measured through program calculation, the position of the detecting device is detected under the condition of measuring the angle, and then an automatic detection program is designed to realize the automatic and accurate measurement of vibration data.
In summary, the existing laser vibration measuring device has low automation degree in the detection of the looseness of the tower bolt, the measurement precision is influenced by the angle relation between the laser beam and the surface of the measured object, the position and the angle of the laser vibration measuring device need to be adjusted manually, the operation is complex, the workload is large, the deviation of the manual operation precision is not easy to control, and the accurate measurement requirement of the field detection cannot be met.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a tower bolt looseness laser automatic detection device and a detection method, which aim to solve the technical problems in the prior art.
The technical scheme adopted by the invention is as follows: the utility model provides a shaft tower bolt becomes flexible laser automatic checkout device, including laser vibration measuring unit, rotatory every single move platform and mobile robot, on the laser vibration measuring unit was connected to mobile robot through rotatory every single move platform, the laser vibration measuring unit was used for gathering vibration data, the laser vibration measuring unit is connected to the vibration analysis host computer through wireless mode, the vibration analysis host computer is used for the diagnosis of analysis shaft tower connection state, still include the excitation unit, the excitation unit is installed in the shaft tower bottom for carry out the excitation to whole shaft tower.
The mobile robot is provided with a main control circuit for controlling the mobile robot to fly and controlling the rotary pitching platform to pitch and rotate, a power supply and a shell, wherein the power supply and the shell are connected with the main control circuit, the main control circuit and the power supply are installed on the shell, and the main control circuit is also connected to the rotary pitching platform.
A detection method of a tower bolt looseness laser automatic detection device comprises the following steps: firstly, a mobile robot integrated with a laser vibration measurement unit is placed at 1 strut of a power transmission tower (close to the bottom end of the strut), an excitation unit is started to vibrate a tower, then a power supply of the laser vibration measurement unit is started, the type of a standard tower is set (for a known standard tower, a tower base can be set, the position coordinates of measured points are unified, field acquisition is facilitated), or coordinate data of n measured points of a special tower are set (a special tower can determine the coordinate information of the measured points through calculation in advance and is led into detection software), after the setting is finished, the laser vibration measurement unit automatically calculates the moving direction and the pitch angle according to the coordinate information of the measured points, then the mobile robot is controlled to walk and rotate a pitch platform, so that laser of the laser vibration measurement unit is aligned to a detection area near a bolt, vibration data acquisition is carried out, the single data acquisition time is 30s, and the acquired data are transmitted to a vibration analysis host computer to process, diagnose and output detection results; and repeating the next detection according to the set parameters until the detection times are consistent with the set number of the measurement point positions, and stopping the detection.
The method for calculating the moving azimuth and the pitch angle comprises the following steps: assuming that the included angles between four struts of the iron tower and the ground are all a, when the included angles between the laser beams and the surface of a measured point of the iron tower are b, the effect is optimal, the horizontal angle of the mobile robot is c, the c is negative when declination is negative, and the upward pitch is positive, and the pitch angle is a-b-c; when the length of the pillar angle between the measurement point x and the ground is known to be L2 and the height of the laser lens from the ground is known to be h, L3= h/sin a and L4= h/tan a are calculated by using a trigonometric function, and then (L1-L4)/sinb = (L2-L3)/sin (a-b) is known by using a triangular sine theorem, and L1= L4+ (L2-L3) sinb/sin (a-b) is obtained.
The value ranges of a and b are as follows: a is more than 80 degrees and less than 90 degrees, and b is more than 0 degrees and less than 90 degrees.
The invention has the beneficial effects that: compared with the prior art, the invention utilizes the advantages of the mobile robot and the laser vibration measurement device, is used for automatically calculating the optimal measurement point position according to the position of the measured point in the tower bolt loosening detection, realizes the automatic detection of the tower bolt loosening, solves the problem that the laser vibration measurement accuracy is influenced by the measurement angle, has simple detection method flow, does not need excessive human interference, has high automation degree, improves the detection efficiency and accuracy of the tower bolt connection state, and provides reliable data for the bolt connection state detection.
Drawings
FIG. 1 is a schematic diagram of the apparatus configuration;
FIG. 2 is a schematic view of the structure of the present invention installed on a tower;
FIG. 3 is a schematic diagram of a trigonometric function calculation model;
fig. 4 is a detection flow chart.
Detailed Description
The invention is further described below with reference to specific examples.
Example 1: as shown in fig. 1-4, a tower bolt looseness laser automatic detection device comprises a laser vibration measurement unit 1, a rotary pitching platform 2 and a mobile robot 3, wherein the laser vibration measurement unit 1 is connected to the mobile robot 3 through the rotary pitching platform 2, the laser vibration measurement unit 1 is used for collecting vibration data, the laser vibration measurement unit is connected to a vibration analysis host computer in a wireless mode, the vibration analysis host computer is used for analyzing diagnosis of a tower connection state, and the tower bolt looseness laser automatic detection device further comprises an excitation unit, and the excitation unit is installed at the bottom of a tower and used for exciting the whole tower.
The main control circuit 4 for controlling the flying of the mobile robot and controlling the pitching rotation of the rotary pitching platform 2 is arranged on the mobile robot 3, the power supply 5 and the shell are connected with the main control circuit 4, the main control circuit 4 and the power supply 5 are installed on the shell, the control circuit is further connected to the rotary pitching platform, the power supply provides power for the mobile robot, the rotary pitching platform and the laser vibration measurement unit, the main control circuit 4 controls the rotary pitching platform to adjust the angle, the laser vibration measurement unit is controlled to collect vibration data, the vibration data collected by the laser vibration measurement unit can be transmitted to the vibration analysis host machine to be processed and analyzed in a wireless communication or network cable mode, and the diagnosis of the connection state of the tower is realized by combining an algorithm.
The mobile robot 3 is provided with an inclination angle sensor, the inclination angle sensor is used for measuring the levelness of the mobile robot 3, the inclination angle sensor realizes error compensation of a pitch angle, and the pitching control is more accurate.
Example 2: as shown in fig. 2-4, a detection method of a laser automatic detection device for tower bolt looseness includes: firstly, a mobile robot integrated with a laser vibration measurement unit is placed at 1 strut of a power transmission tower (close to the bottom end of the strut), an excitation unit is started to vibrate a tower, then a power supply of the laser vibration measurement unit is started, a standard tower type is set (for a known standard tower, a tower base can be set, position coordinates of measured points are unified, field acquisition is facilitated), or coordinate data of n measured points of a special tower are set (a special tower can determine coordinate information of the measured points through calculation in advance and lead the coordinate information into detection software), after the setting is finished, the laser vibration measurement unit automatically calculates a moving direction and a pitch angle according to the coordinate information of the measured points, and then the mobile robot is controlled to walk and rotate a pitching platform to pitch, so that laser of the laser vibration measurement unit is aligned to a detection area near a bolt, vibration data acquisition is carried out, the single data acquisition time is 30s, and the acquired data are transmitted to a vibration analysis host to process, diagnose and output detection results (the looseness is judged according to the vibration data during installation, and if the vibration data are larger than a set value; and repeating the next detection according to the set parameters until the detection times are consistent with the set number of the measurement point positions, and stopping the detection.
The method for calculating the moving direction and the pitch angle (namely the method for calculating the included angle between the light beam and the surface of the measured object) comprises the following steps: assuming that the included angles between four struts of the iron tower and the ground are all a, when the included angles between the laser beams and the surface of a measured point of the iron tower are b, the effect is optimal, the horizontal angle of the mobile robot is c, the c is negative when declination is negative, and the upward pitch is positive, and the pitch angle is a-b-c; when the length of the pillar angle between the measurement point x and the ground is known to be L2 and the height of the laser lens from the ground is known to be h, L3= h/sin a and L4= h/tan a are calculated by using a trigonometric function, and then (L1-L4)/sinb = (L2-L3)/sin (a-b) is known by using a triangular sine theorem, and L1= L4+ (L2-L3) sinb/sin (a-b) is obtained.
The value ranges of the a and the b are as follows: a is more than 80 degrees and less than 90 degrees, and b is more than 0 degrees and less than 90 degrees.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and therefore, the scope of the present invention should be determined by the scope of the claims.
Claims (6)
1. The utility model provides a not hard up laser automatic checkout device of shaft tower bolt which characterized in that: including laser vibration measurement unit (1), rotatory every single move platform (2) and mobile robot (3), laser vibration measurement unit (1) is connected to mobile robot (3) through rotatory every single move platform (2) on, laser vibration measurement unit (1) is used for gathering vibration data, laser vibration measurement unit is connected to the vibration analysis host computer through wireless mode, the vibration analysis host computer is used for the diagnosis of analysis shaft tower connection status, still include the excitation unit, the excitation unit is installed in the shaft tower bottom, be used for exciting to whole shaft tower.
2. The laser automatic detection device for tower bolt looseness of claim 1, wherein: the mobile robot (3) is provided with a main control circuit for controlling the flying of the mobile robot and controlling the pitching rotation of the rotary pitching platform (2), a power supply and a shell which are connected with the main control circuit, the main control circuit and the power supply are installed on the shell, and the main control circuit is also connected to the rotary pitching platform (2).
3. The automatic laser detection device for tower bolt looseness of claim 1, characterized in that: the mobile robot (3) is provided with an inclination angle sensor, and the inclination angle sensor is used for measuring the levelness of the mobile robot (3).
4. The detection method of the automatic laser detection device for the tower bolt looseness according to any one of claims 1 to 3, wherein the detection method comprises the following steps: the method comprises the following steps: firstly, a mobile robot integrated with a laser vibration measurement unit is placed at 1 support column of a power transmission tower, an excitation unit is started to vibrate the tower, then a power supply of the laser vibration measurement unit is started, the type of a standard tower is set, or coordinate data of n measured points of a special tower are set, after the setting is finished, the laser vibration measurement unit automatically calculates a moving azimuth and a pitch angle according to the coordinate information of the measured points, secondly, the mobile robot is controlled to walk and a rotating pitch platform is controlled to rotate and pitch, so that laser of the laser vibration measurement unit is aligned to a detection area near a bolt, vibration data acquisition is carried out, the single data acquisition time is 30s, and the acquired data is transmitted to a vibration analysis host computer to process, diagnose and output a detection result; and repeating the next detection according to the set parameters until the detection times are consistent with the set number of the measurement point positions, and stopping the detection.
5. The detection method of the automatic laser detection device for the looseness of the tower bolt, according to claim 4, is characterized in that: the method for calculating the moving azimuth and the pitch angle comprises the following steps: assuming that the included angles between four struts of the iron tower and the ground are all a, when the included angles between the laser beams and the surface of a measured point of the iron tower are b, the effect is optimal, the horizontal angle of the mobile robot is c, the c is negative when declination is negative, and the upward pitch is positive, and the pitch angle is a-b-c; when the length of the pillar angle between the measurement point x and the ground is known to be L2 and the height of the laser lens from the ground is known to be h, L3= h/sin a and L4= h/tan a are calculated by using a trigonometric function, and then (L1-L4)/sinb = (L2-L3)/sin (a-b) is known by using a triangular sine theorem, and L1= L4+ (L2-L3) sinb/sin (a-b) is obtained.
6. The detection method of the automatic laser detection device for the tower bolt looseness according to claim 5, wherein the method comprises the following steps: the value ranges of a and b are as follows: a is more than 80 degrees and less than 90 degrees, and b is more than 0 degrees and less than 90 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211182966.2A CN115560936A (en) | 2022-09-27 | 2022-09-27 | Laser automatic detection device and detection method for looseness of tower bolt |
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| CN202211182966.2A CN115560936A (en) | 2022-09-27 | 2022-09-27 | Laser automatic detection device and detection method for looseness of tower bolt |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116448360A (en) * | 2023-03-20 | 2023-07-18 | 南京宁太电气有限公司 | Vibration detection device and detection method for power transmission tower |
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- 2022-09-27 CN CN202211182966.2A patent/CN115560936A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116448360A (en) * | 2023-03-20 | 2023-07-18 | 南京宁太电气有限公司 | Vibration detection device and detection method for power transmission tower |
| CN116448360B (en) * | 2023-03-20 | 2024-04-02 | 南京宁太电气有限公司 | Vibration detection device and detection method for power transmission tower |
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