CN105762748A - Deicing platform for high-voltage line - Google Patents
Deicing platform for high-voltage line Download PDFInfo
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- CN105762748A CN105762748A CN201610120657.0A CN201610120657A CN105762748A CN 105762748 A CN105762748 A CN 105762748A CN 201610120657 A CN201610120657 A CN 201610120657A CN 105762748 A CN105762748 A CN 105762748A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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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
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
- G01B7/08—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness using capacitive means
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Abstract
The invention relates to a deicing platform for a high-voltage line, and the platform comprises an inductive conductor, a capacitance measurement circuit, a microprocessor, and a robot main body structure. The inductive conductor is arranged to be parallel to the high-voltage line. The capacitance measurement circuit is used for measuring the capacitance value between the inductive conductive and the high-voltage line. The microprocessor is used for determining the real-time ice thickness of the high-voltage line based on the capacitance value. The robot main body structure is connected with the microprocessor through a wireless communication link, and is used for controlling the deicing force for the high-voltage line based on the real-time ice layer of the high-voltage line. According to the invention, the platform can accurately detect the ice thickness of the high-voltage line, and can make a deicing strategy suitable for the ice thickness.
Description
The divisional application of patent that the present invention is application number is 2015109554125, the applying date is December in 2015 17 days, denomination of invention is " high-tension line deicing platform ".
Technical field
The present invention relates to high-tension line field, particularly relate to a kind of high-tension line deicing platform.
Background technology
The medium of power transmission electric network long-distance transport electric power is generally adopted high-tension line to improve the efficiency of electric power transmission, but, when temperature reaches subzero, water build-ups ice and circuit, steel tower and iron tower foundation will be produced destructive power, bring great inconvenience to the live and work of people, also cause huge loss for Regional Economic Development.Due to the particularity of high-tension line, at this moment adopt traditional manpower deicing mode again, except deicing efficiency is low, also easily cause casualties.
In prior art, a kind of scheme of high-tension line deicing is, when building power transmission electric network, for high-tension line " draping over one's shoulders " last layer super-hydrophobic coat " coat ", when meeting with cryogenic freezing sleet disaster, the anti-freeze icing ability of high-tension line will be substantially improved 50%-60%, occur thus reducing power system security accident.Although this mode has reached certain effect preventing from freezing, but owing to anti-freeze icing ability is after all limited, and all coating super-hydrophobic coat for whole piece high-tension line, Financial cost is very high.
In prior art, there is also some deicing control programs for the inspection robot of high-tension line, but owing to power transmission electric network equipment is too much, structure is complicated, high-tension line place environment is generally relatively more severe, and the structural design of robot own is unreasonable, cause that robot of the prior art deicing scheme is difficult to high volume applications, laboratory stage can only be rested on；Meanwhile, the disappearance of on-the-spot electronics ice sheet measurement device causes that deicing effect does not reach the requirement of power supply management department.
Therefore, need a kind of new high-tension line deicing platform, can to commonly using, carry out without the high-tension line of any process ice sheet detection and ice sheet elimination, mechanical deicing's mode is adopted to replace artificial deicing mode, while improving deicing efficiency, avoid power supply attendant to be hit by high-tension line, save substantial amounts of man power and material.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of high-tension line deicing platform based on capacitance measurement ice layer thickness, existing high-tension line is made without any process, adopt the mode that robot walks on high-tension line that whole piece high-tension line is carried out automatic de-icing, therebetween, the real-time ice layer thickness used for measuring high-tension line of sensor wire and capacitance measurement circuit, simultaneously while optimizing robot interior structure, in robot, increase deicing equipment carry out the self-adapting deicing based on real-time ice layer thickness, thus improve the efficiency that ice sheet eliminates.
According to an aspect of the present invention, provide a kind of high-tension line deicing platform based on capacitance measurement ice layer thickness, described platform includes sensor wire, capacitance measurement circuit, microprocessor and robot body's structure, sensor wire is parallel to high-tension line erection, capacitance measurement circuit is for measuring the capacitance between sensor wire and high-tension line, microprocessor for determining the real-time ice layer thickness of high-tension line based on capacitance, robot body's structure is connected by wireless communication link with microprocessor, for based on the real-time ice layer thickness of high-tension line to controlling dynamics to high-tension line deicing.
More specifically, described based in the high-tension line deicing platform of capacitance measurement ice layer thickness, including: 2 sensor wires, parallel and symmetry is erected at the both sides of high-tension line；Insulation triangular supports, between high-tension line and 2 sensor wires, is used for supporting fixing high-tension line and 2 sensor wires；Temperature compensation means, including 3 temperature sensors and 2 temperature compensatoies, 3 temperature sensors are separately positioned on high-tension line and the inside of 2 sensor wires, 2 temperature compensatoies are separately positioned on the inside of 2 sensor wires, the temperature of each temperature compensator temperature with high-tension line by comparing its corresponding sensor wire, the temperature of its corresponding sensor wire is compensated, and the temperature to ensure its corresponding sensor wire is identical with the temperature of high-tension line；Capacitance measurement circuit, is arranged in insulation triangular supports, for detecting high-tension line as a pole plate, 2 sensor wires as the capacitance of the capacitor of another pole plate；Microprocessor, is connected with capacitance measurement circuit, determines that the ice layer thickness of high-tension line is to export as real-time ice layer thickness based on capacitance；First frequency duplex communications interface, is arranged in insulation triangular supports, is connected with microprocessor, for the real-time ice layer thickness of wireless transmission；Flexible limit switch combination, including six flexible limit switches, for the distance of stretch out and draw back of restriction front vertical telescopic arm, front horizontal telescopic arm, middle part vertical telescopic arm, middle part horizontal extension arm, rear vertical telescopic arm and rear horizontal extension arm respectively；Control chamber moves limit switch, for limiting the displacement of control chamber；Robot body's structure, including front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control chamber；Front wheel structure is in above base plate, including front cutting tip, the anti-cutting plate in front, front drive motor and front road wheel, front cutting tip is for excising the ice sheet at high-tension line place, front, the anti-cutting plate in front is connected with front cutting tip, for being stuck in high-tension line when front cutting tip carries out cutting operation, realize the isolation of front cutting tip and high-tension line, front road wheel adopts plastic material, there is the circular groove adapted with high-tension line, front drive motor is connected respectively with front cutting tip and front road wheel, while providing cutting power for front cutting tip, walking power is provided for front road wheel；Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, it is in above base plate, including middle part drive motor and middle row travelling wheel composition, middle row travelling wheel adopts plastic material, there is the circular groove adapted with high-tension line, middle part drive motor is connected with middle row travelling wheel, for providing walking power for middle row travelling wheel；Rear wheel structure is in above base plate, including rear drive motor and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with high-tension line, rear drive motor is connected respectively with rear cutting tip and rear road wheel, while providing cutting power for rear cutting tip, provide walking power for rear road wheel；Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, including front carpal joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure and front vertical telescopic arm are connected by front carpal joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected by front horizontal telescopic arm with front shoulder joint, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected with Freescale MC9S12 chip to receive front vertical extension and contraction control signal, front horizontal telescopic arm is also electrically connected with Freescale MC9S12 chip to receive front horizontal extension and contraction control signal；Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, including middle part carpal joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure and middle part vertical telescopic arm are connected by middle part carpal joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected by middle part horizontal extension arm with middle part shoulder joint, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm also is electrically connected with Freescale MC9S12 chip to receive middle part vertical telescopic control signal, middle part horizontal extension arm also is electrically connected with Freescale MC9S12 chip to receive middle part horizontal extension control signal；Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, including rear carpal joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure and rear vertical telescopic arm are connected by rear carpal joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected by rear horizontal extension arm with rear shoulder joint, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected with Freescale MC9S12 chip to receive rear vertical extension and contraction control signal, rear horizontal extension arm is also electrically connected with Freescale MC9S12 chip to receive rear horizontal extension control signal；Brake minor structure includes brake shoes, brake guide frame and brake cylinder, and brake shoes is located behind high-tension line position, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for operating for the skidding of brake shoes；Gravity's center control minor structure is positioned at below base plate, adopting control chamber is the weighing device that center of gravity regulates, cylinder and three-position electromagnetic valve is regulated including center of gravity, center of gravity regulates cylinder and regulates offer power for center of gravity, and three-position electromagnetic valve controls the position of centre of gravity of robot body's structure by the relative distance between regulable control case and base plate；nullControl chamber is positioned at below base plate，Including shell and panel，Described panel is integrated with Freescale MC9S12 chip and the second frequency duplex communications interface，Second frequency duplex communications interface is connected with the power supply management server of far-end，For receiving the wireless control directives of power supply management server wireless transmission，Freescale MC9S12 chip also with the second frequency duplex communications interface、Front drive motor、Middle part drive motor and rear drive motor connect respectively，For resolving wireless control directives to determine and to export front vertical extension and contraction control signal、Front horizontal extension and contraction control signal、Middle part vertical telescopic control signal、Middle part horizontal extension control signal、Rear vertical extension and contraction control signal or rear horizontal extension control signal，It is additionally operable to resolve wireless control directives to determine front drive motor、The drive control signal of middle part drive motor or rear drive motor；Wherein, the real-time ice layer thickness that Freescale MC9S12 chip sends also by second frequency duplex communications interface the first frequency duplex communications interface, send front with forwards drive motor and cut ice control instruction, control the cutting dynamics of front cutting tip.
More specifically, described based on, in the high-tension line deicing platform of capacitance measurement ice layer thickness, also including: ultrasonic listening sensor, it is positioned on front wheel mechanism, it is electrically connected with Ling Yang SPCE061A chip, for detecting and export the obstacle distance at high-tension line place, front.
More specifically, described based in the high-tension line deicing platform of capacitance measurement ice layer thickness: microprocessor is AT89C51 single-chip microcomputer.
More specifically, described based in the high-tension line deicing platform of capacitance measurement ice layer thickness: AT89C51 single-chip microcomputer is arranged in insulation triangular supports.
More specifically, described based on, in the high-tension line deicing platform of capacitance measurement ice layer thickness, also including: brake limit switch, for limiting the braking distance of brake shoes.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the high-tension line deicing platform based on capacitance measurement ice layer thickness illustrated according to an embodiment of the present invention.
Fig. 2 is the block diagram of the temperature compensation means of the high-tension line deicing platform based on capacitance measurement ice layer thickness illustrated according to an embodiment of the present invention
Accompanying drawing labelling: 1 sensor wire；2 capacitance measurement circuits；3 microprocessors；4 robot body's structures；5 first temperature sensors；6 second temperature sensors；7 three-temperature sensors；8 first temperature compensatoies；9 second temperature compensatoies
Detailed description of the invention
Below with reference to accompanying drawings the embodiment based on the high-tension line deicing platform of capacitance measurement ice layer thickness of the present invention is described in detail.
Along with expanding economy, various countries are increasing to the demand of electric power, and electrical equipment is also continuously increased, and transmission line of electricity distribution is increasingly wider, in long-distance transmission, are most commonly used that high-tension line transmission of electricity, and its efficiency of transmission surpasses other transmission means.
But, in winter, often there is the situation that high-tension line freezes.This phenomenon is mainly determined by meteorology, because the change of meteorology causes the temperature of air, humidity cold and heat air convection current to define this comprehensive physical phenomenon, is especially mainly in mountain area and the knob in the north.Serious ice and snow accident can cause that high-tension line mechanical performance sharply declines, and even results in power failure and situation of causing danger.The safe and stable operation of the ice and snow accident serious threat power supply grid often sent out,
At present, the process of the high-tension line ice condition in power transmission electric network is generally adopted manual type or high-tension line pretreatment mode, but, the former expends substantial amounts of manpower and materials, and deicing efficiency is not high, and deicing risk factor is high, the latter's Financial cost is high, it is important to the ability overcoming icing is also limited.Also have some robots at present in the technical scheme remotely controlling online deicing, but, owing to existing robot architecture is not reasonable, still not adapting to the high-tension line environment of complexity, be still required for substantial amounts of manpower intervention, integrated cost is also significantly high.The more important thing is, lacking effective high-tension line ice layer thickness automatic checkout equipment in prior art, this is the important threshold of high-tension line automatic de-icing.
In order to overcome above-mentioned deficiency, the present invention has built a kind of high-tension line deicing platform based on capacitance measurement ice layer thickness, adopt the collaborative operation of sensor wire, capacitance measurement circuit, microprocessor, electronically accurately detect the ice layer thickness of on-the-spot high-tension line, optimize robot architecture simultaneously, introduce adaptive deicing equipment, so that remotely deicing controls to be possibly realized.
Fig. 1 is the block diagram of the high-tension line deicing platform based on capacitance measurement ice layer thickness illustrated according to an embodiment of the present invention, described platform includes sensor wire, capacitance measurement circuit, microprocessor and robot body's structure, sensor wire is parallel to high-tension line erection, capacitance measurement circuit is for measuring the capacitance between sensor wire and high-tension line, microprocessor for determining the real-time ice layer thickness of high-tension line based on capacitance, robot body's structure is connected by wireless communication link with microprocessor, for based on the real-time ice layer thickness of high-tension line to controlling dynamics to high-tension line deicing.
Then, continue the concrete structure based on the high-tension line deicing platform of capacitance measurement ice layer thickness of the present invention is further detailed.
Described platform includes: 2 sensor wires, parallel and symmetry is erected at the both sides of high-tension line；Insulation triangular supports, between high-tension line and 2 sensor wires, is used for supporting fixing high-tension line and 2 sensor wires.
As shown in Figure 2, described platform includes: temperature compensation means, including 3 temperature sensors and 2 temperature compensatoies, i.e. the first temperature sensor, second temperature sensor, three-temperature sensor, first temperature compensator and the second temperature compensator, first temperature sensor, second temperature sensor, three-temperature sensor is separately positioned on high-tension line and the inside of 2 sensor wires, first temperature compensator and the second temperature compensator are separately positioned on the inside of 2 sensor wires, the temperature of each temperature compensator temperature with high-tension line by comparing its corresponding sensor wire, the temperature of its corresponding sensor wire is compensated, temperature to ensure its corresponding sensor wire is identical with the temperature of high-tension line.
Described platform includes: capacitance measurement circuit, is arranged in insulation triangular supports, for detecting high-tension line as a pole plate, 2 sensor wires as the capacitance of the capacitor of another pole plate；Microprocessor, is connected with capacitance measurement circuit, determines that the ice layer thickness of high-tension line is to export as real-time ice layer thickness based on capacitance.
Described platform includes: the first frequency duplex communications interface, is arranged in insulation triangular supports, is connected with microprocessor, for the real-time ice layer thickness of wireless transmission；Flexible limit switch combination, including six flexible limit switches, for the distance of stretch out and draw back of restriction front vertical telescopic arm, front horizontal telescopic arm, middle part vertical telescopic arm, middle part horizontal extension arm, rear vertical telescopic arm and rear horizontal extension arm respectively；Control chamber moves limit switch, for limiting the displacement of control chamber.
Described platform includes: robot body's structure, including front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control chamber.
Front wheel structure is in above base plate, including front cutting tip, the anti-cutting plate in front, front drive motor and front road wheel, front cutting tip is for excising the ice sheet at high-tension line place, front, the anti-cutting plate in front is connected with front cutting tip, for being stuck in high-tension line when front cutting tip carries out cutting operation, realize the isolation of front cutting tip and high-tension line, front road wheel adopts plastic material, there is the circular groove adapted with high-tension line, front drive motor is connected respectively with front cutting tip and front road wheel, while providing cutting power for front cutting tip, walking power is provided for front road wheel.
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, it is in above base plate, including middle part drive motor and middle row travelling wheel composition, middle row travelling wheel adopts plastic material, there is the circular groove adapted with high-tension line, middle part drive motor is connected with middle row travelling wheel, for providing walking power for middle row travelling wheel.
Rear wheel structure is in above base plate, including rear drive motor and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with high-tension line, rear drive motor is connected respectively with rear cutting tip and rear road wheel, while providing cutting power for rear cutting tip, provide walking power for rear road wheel.
Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, including front carpal joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure and front vertical telescopic arm are connected by front carpal joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected by front horizontal telescopic arm with front shoulder joint, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected with Freescale MC9S12 chip to receive front vertical extension and contraction control signal, front horizontal telescopic arm is also electrically connected with Freescale MC9S12 chip to receive front horizontal extension and contraction control signal.
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, including middle part carpal joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure and middle part vertical telescopic arm are connected by middle part carpal joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected by middle part horizontal extension arm with middle part shoulder joint, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm also is electrically connected with Freescale MC9S12 chip to receive middle part vertical telescopic control signal, middle part horizontal extension arm also is electrically connected with Freescale MC9S12 chip to receive middle part horizontal extension control signal.
Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, including rear carpal joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure and rear vertical telescopic arm are connected by rear carpal joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected by rear horizontal extension arm with rear shoulder joint, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected with Freescale MC9S12 chip to receive rear vertical extension and contraction control signal, rear horizontal extension arm is also electrically connected with Freescale MC9S12 chip to receive rear horizontal extension control signal.
Brake minor structure includes brake shoes, brake guide frame and brake cylinder, and brake shoes is located behind high-tension line position, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for operating for the skidding of brake shoes.
Gravity's center control minor structure is positioned at below base plate, adopting control chamber is the weighing device that center of gravity regulates, cylinder and three-position electromagnetic valve is regulated including center of gravity, center of gravity regulates cylinder and regulates offer power for center of gravity, and three-position electromagnetic valve controls the position of centre of gravity of robot body's structure by the relative distance between regulable control case and base plate.
Control chamber is positioned at below base plate, including shell and panel, described panel is integrated with Freescale MC9S12 chip and the second frequency duplex communications interface, second frequency duplex communications interface is connected with the power supply management server of far-end, for receiving the wireless control directives of power supply management server wireless transmission.
Freescale MC9S12 chip is also connected respectively with the second frequency duplex communications interface, front drive motor, middle part drive motor and rear drive motor, for resolving wireless control directives to determine and to export front vertical extension and contraction control signal, front horizontal extension and contraction control signal, middle part vertical telescopic control signal, middle part horizontal extension control signal, rear vertical extension and contraction control signal or rear horizontal extension control signal, it is additionally operable to resolve wireless control directives to determine the drive control signal of front drive motor, middle part drive motor or rear drive motor.
Wherein, the real-time ice layer thickness that Freescale MC9S12 chip sends also by second frequency duplex communications interface the first frequency duplex communications interface, send front with forwards drive motor and cut ice control instruction, control the cutting dynamics of front cutting tip.
Alternatively, in described high-tension line deicing platform, also include: ultrasonic listening sensor, be positioned on front wheel mechanism, be electrically connected with Ling Yang SPCE061A chip, for detecting and export the obstacle distance at high-tension line place, front；Microprocessor is AT89C51 single-chip microcomputer；AT89C51 single-chip microcomputer is arranged in insulation triangular supports；And also include: brake limit switch, for limiting the braking distance of brake shoes.
It addition, limit switch is also known as lead limit switch, for controlling stroke and the position limitation protection of plant equipment.In actual production, lead limit switch is arranged on prearranged position, when the module impact stroke switch being loaded on manufacturing machine moving component, the contact action of lead limit switch, it is achieved the switching of circuit.Therefore, limit switch is a kind of electrical equipment switching circuit according to the travel position of moving component, and its action principle is similar with button.Limit switch is widely used in all kinds of lathe and hoisting machinery, in order to control its stroke, to carry out terminal position limitation protection.In the control circuit of elevator, also utilize lead limit switch control switch the speed of gate, automatic opening and closing door spacing, the upper and lower position limitation protection of car.
Limit switch is exactly the electric switch of the limit of sports record position limiting plant equipment.This switch has contact and contactless.The comparison of contact is directly perceived, on the moving component of plant equipment, installs limit switch, and the fixing point moved corresponding thereto is installed the block of extreme position or contrary installation site.When the mechanical contact of limit switch runs into block, having cut off (or changing) control circuit, machinery runs with regard to out of service or change.Due to the inertia motion of machinery, this travel switch has certain " overtravel " to protect switch without damage.
Adopt the high-tension line deicing platform based on capacitance measurement ice layer thickness of the present invention, cannot to the technical problem of whole piece high-tension line automatic de-icing for prior art, adopt to optimize structure and carry the robot of self-adapting deicing equipment and carry out line walking, increase electronics ice sheet detection equipment and improve the precision of on-the-spot ice sheet detection, additionally, introduce frequency duplex communications link to ensure the efficiency of on-scene communication, thus the automatic de-icing to whole piece high-tension line can be completed under remotely simple control.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above and technical solution of the present invention is made many possible variations and modification, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within the scope of technical solution of the present invention protection.
Claims (2)
1. the high-tension line deicing platform based on capacitance measurement ice layer thickness, described platform includes sensor wire, capacitance measurement circuit, microprocessor and robot body's structure, sensor wire is parallel to high-tension line erection, capacitance measurement circuit is for measuring the capacitance between sensor wire and high-tension line, microprocessor for determining the real-time ice layer thickness of high-tension line based on capacitance, robot body's structure is connected by wireless communication link with microprocessor, is used for the dynamics to controlling high-tension line deicing of the real-time ice layer thickness based on high-tension line.
2. the high-tension line deicing platform based on capacitance measurement ice layer thickness as claimed in claim 1, it is characterised in that described platform includes:
2 sensor wires, parallel and symmetry is erected at the both sides of high-tension line；
Insulation triangular supports, between high-tension line and 2 sensor wires, is used for supporting fixing high-tension line and 2 sensor wires；
Temperature compensation means, including 3 temperature sensors and 2 temperature compensatoies, 3 temperature sensors are separately positioned on high-tension line and the inside of 2 sensor wires, 2 temperature compensatoies are separately positioned on the inside of 2 sensor wires, the temperature of each temperature compensator temperature with high-tension line by comparing its corresponding sensor wire, the temperature of its corresponding sensor wire is compensated, and the temperature to ensure its corresponding sensor wire is identical with the temperature of high-tension line；
Capacitance measurement circuit, is arranged in insulation triangular supports, for detecting high-tension line as a pole plate, 2 sensor wires as the capacitance of the capacitor of another pole plate；
Microprocessor, is connected with capacitance measurement circuit, determines that the ice layer thickness of high-tension line is to export as real-time ice layer thickness based on capacitance；
First frequency duplex communications interface, is arranged in insulation triangular supports, is connected with microprocessor, for the real-time ice layer thickness of wireless transmission；
Flexible limit switch combination, including six flexible limit switches, for the distance of stretch out and draw back of restriction front vertical telescopic arm, front horizontal telescopic arm, middle part vertical telescopic arm, middle part horizontal extension arm, rear vertical telescopic arm and rear horizontal extension arm respectively；
Control chamber moves limit switch, for limiting the displacement of control chamber；
Robot body's structure, including front wheel structure, middle wheel structure, rear wheel structure, brake minor structure, front Pneumatic extension minor structure, the pneumatic dilaton structure in rear, middle part Pneumatic extension minor structure, base plate, gravity's center control minor structure and control chamber；
Front wheel structure is in above base plate, including front cutting tip, the anti-cutting plate in front, front drive motor and front road wheel, front cutting tip is for excising the ice sheet at high-tension line place, front, the anti-cutting plate in front is connected with front cutting tip, for being stuck in high-tension line when front cutting tip carries out cutting operation, realize the isolation of front cutting tip and high-tension line, front road wheel adopts plastic material, there is the circular groove adapted with high-tension line, front drive motor is connected respectively with front cutting tip and front road wheel, while providing cutting power for front cutting tip, walking power is provided for front road wheel；
Middle wheel structure is arranged in the middle of front wheel structure and wheel structure, it is in above base plate, including middle part drive motor and middle row travelling wheel composition, middle row travelling wheel adopts plastic material, there is the circular groove adapted with high-tension line, middle part drive motor is connected with middle row travelling wheel, for providing walking power for middle row travelling wheel；
Rear wheel structure is in above base plate, including rear drive motor and rear road wheel, rear road wheel adopts plastic material, there is the circular groove adapted with high-tension line, rear drive motor is connected respectively with rear cutting tip and rear road wheel, while providing cutting power for rear cutting tip, provide walking power for rear road wheel；
Front Pneumatic extension minor structure is between front wheel structure and base plate, for front wheel structure is connected to base plate, including front carpal joint, front vertical telescopic arm, front elbow joint, front horizontal telescopic arm and front shoulder joint, front wheel structure and front vertical telescopic arm are connected by front carpal joint, front vertical telescopic arm is connected with front elbow joint, front elbow joint is connected by front horizontal telescopic arm with front shoulder joint, front shoulder joint is connected with base plate, front vertical telescopic arm is also electrically connected with Freescale MC9S12 chip to receive front vertical extension and contraction control signal, front horizontal telescopic arm is also electrically connected with Freescale MC9S12 chip to receive front horizontal extension and contraction control signal；
Middle part Pneumatic extension minor structure is between middle wheel structure and base plate, for middle wheel structure is connected to base plate, including middle part carpal joint, middle part vertical telescopic arm, middle part elbow joint, middle part horizontal extension arm and middle part shoulder joint, middle wheel structure and middle part vertical telescopic arm are connected by middle part carpal joint, middle part vertical telescopic arm is connected with middle part elbow joint, middle part elbow joint is connected by middle part horizontal extension arm with middle part shoulder joint, middle part shoulder joint is connected with base plate, middle part vertical telescopic arm also is electrically connected with Freescale MC9S12 chip to receive middle part vertical telescopic control signal, middle part horizontal extension arm also is electrically connected with Freescale MC9S12 chip to receive middle part horizontal extension control signal；
Rear pneumatic dilaton structure is between rear wheel structure and base plate, for rear wheel structure is connected to base plate, including rear carpal joint, rear vertical telescopic arm, rear elbow joint, rear horizontal extension arm and rear shoulder joint, rear wheel structure and rear vertical telescopic arm are connected by rear carpal joint, rear vertical telescopic arm is connected with rear elbow joint, rear elbow joint is connected by rear horizontal extension arm with rear shoulder joint, rear shoulder joint is connected with base plate, rear vertical telescopic arm is also electrically connected with Freescale MC9S12 chip to receive rear vertical extension and contraction control signal, rear horizontal extension arm is also electrically connected with Freescale MC9S12 chip to receive rear horizontal extension control signal；
Brake minor structure includes brake shoes, brake guide frame and brake cylinder, and brake shoes is located behind high-tension line position, and brake guide frame is connected respectively with brake shoes and brake cylinder, provides power for operating for the skidding of brake shoes；
Gravity's center control minor structure is positioned at below base plate, adopting control chamber is the weighing device that center of gravity regulates, cylinder and three-position electromagnetic valve is regulated including center of gravity, center of gravity regulates cylinder and regulates offer power for center of gravity, and three-position electromagnetic valve controls the position of centre of gravity of robot body's structure by the relative distance between regulable control case and base plate；
nullControl chamber is positioned at below base plate，Including shell and panel，Described panel is integrated with Freescale MC9S12 chip and the second frequency duplex communications interface，Second frequency duplex communications interface is connected with the power supply management server of far-end，For receiving the wireless control directives of power supply management server wireless transmission，Freescale MC9S12 chip also with the second frequency duplex communications interface、Front drive motor、Middle part drive motor and rear drive motor connect respectively，For resolving wireless control directives to determine and to export front vertical extension and contraction control signal、Front horizontal extension and contraction control signal、Middle part vertical telescopic control signal、Middle part horizontal extension control signal、Rear vertical extension and contraction control signal or rear horizontal extension control signal，It is additionally operable to resolve wireless control directives to determine front drive motor、The drive control signal of middle part drive motor or rear drive motor；
Wherein, the real-time ice layer thickness that Freescale MC9S12 chip sends also by second frequency duplex communications interface the first frequency duplex communications interface, send front with forwards drive motor and cut ice control instruction, control the cutting dynamics of front cutting tip；
AT89C51 single-chip microcomputer is arranged in insulation triangular supports；
Brake limit switch, for limiting the braking distance of brake shoes.
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| CN201610120657.0A CN105762748A (en) | 2015-12-17 | 2015-12-17 | Deicing platform for high-voltage line |
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Application publication date: 20160713 |