An intelligent walking board monitoring device and method

Abstract

The present invention discloses an intelligent walking board monitoring device and method. A box body is fixedly nested with a box. A PCB control board is arranged inside the box. An installation frame is sleeved outside the box. The installation frame is fixed inside the box body. A support block is fixed inside the installation frame. A support rod is arranged on the support block. An IMU module is fixed on the support rod. At least one mounting seat is arranged on both sides of the installation frame. An RTK module is arranged on the mounting seat. An installation block is arranged on the box body. A long circular hole is arranged on the installation block. The intelligent walking board monitoring device and method provided by the present invention are fixed on the front of the walking board and move together with the walking board. It can understand the working state of the walking board in real time, has high safety, is small in size and fully enclosed and waterproof. It monitors and collects important information in the tensioning section of the overhead line construction, displays it to the commanders and operators in the tensioning field, and assists in the control decision-making of the conductor traction and deployment, improving the efficiency and safety of the overhead line construction.

Description

Technical Field

[0001] The present invention relates to an intelligent walking board monitoring device and method, belonging to the technical field of power system automation. Background Art

[0002] High-voltage transmission lines are very important in China's infrastructure construction. Using tensioning and pulling equipment for wire laying during the power wire laying process has now become an inevitable requirement for the construction regulations and implementation conditions of transmission lines. The wire laying construction requires a scientific and reasonable wiring plan to maintain the continuity of the entire power transmission system. However, during the actual wire laying process, it will be affected by various factors, such as encountering fog, strong wind, and rain, resulting in the overturning of the walking board, as well as the idling of the entire wire laying section and the increase in the human and material resources consumed for dealing with the walking board, reducing the construction efficiency of wire laying.

[0003] Therefore, during the power wire laying construction process, in order to ensure the safety, speed, and smoothness of the construction, the on-site command personnel want to monitor the real-time dynamics of the wire laying traction walking board and the balance pulley. This requires real-time monitoring of the position and attitude of the wire laying walking board through perceivable monitoring devices and management terminals to ensure accurate wire laying. Summary of the Invention

[0004] Objective: To overcome the problem in the prior art that during the existing wire laying process, the walking board is easily affected by various factors, resulting in the inability to determine the position and attitude of the walking board, the present invention provides an intelligent walking board monitoring device and method. By using a monitoring device fixed on the front of the walking board to move together with the walking board, the working state of the walking board can be understood in real time, with high safety, small size, and fully enclosed waterproofing.

[0005] Technical Solution: To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, an intelligent walking board monitoring device includes: a box body, a box body is nested and fixed with a box body, a PCB control board is arranged inside the box body, an installation frame is sleeved outside the box body, the installation frame is fixed inside the box body, a support block is fixed inside the installation frame, a support rod is arranged on the support block, an IMU module is fixed on the support rod, at least one mounting seat is arranged on both sides of the installation frame, and an RTK module is arranged on the mounting seat.

[0007] The PCB control board includes: a controller, the controller is respectively connected to a wireless communication module, an IMU module, an RTK module, and a power management module;

[0008] An antenna is arranged on the box body, the antenna is connected to the wireless communication module, a power switch is arranged on the box body, the power switch is connected to the power management module, a battery is arranged on one side of the box body, the battery is connected to the power management module; an installation block is arranged on the box body, and a long circular hole is arranged on the installation block.

[0009] As a preferred solution, it further includes a camera, which is arranged on the box body and connected to the controller.

[0010] As a preferred solution, the battery uses a detachable lithium battery.

[0011] As a preferred solution, the controller uses an ARM processor.

[0012] As a preferred solution, the box body includes an upper box body and a lower box body. Bolt mounting holes are provided at the edge of the upper box body, and bolt mounting seats are provided at the edge of the lower box body. Bolts pass through the bolt mounting holes and bolt mounting seats to further fix and seal the upper box body and the lower box body.

[0013] As a preferred solution, a wire passing hole is provided on the side of the box body.

[0014] As a preferred solution, the box body is made of aluminum alloy material with an IP67 waterproof structure.

[0015] As a preferred solution, the wireless communication module uses a 2G, 4G or 5G module.

[0016] In a second aspect, an intelligent traversing board monitoring method includes the following steps:

[0017] The intelligent traversing board device collects the three-dimensional coordinate information of the traversing board, sends it to the remote ground terminal through the communication module, obtains the geographical location and height of the traversing board according to the three-dimensional coordinate information of the traversing board, compares the geographical location, height of the traversing board with the preset line parameters of the spanning tower, and displays the comparison results. Then, the traction force of the traversing board is controlled according to the comparison information.

[0018] The intelligent traversing board device collects the motion state of the traversing board, sends it to the remote ground terminal through the communication module, obtains the real-time speed, acceleration, elevation, roll angle, and tilt angle information of the traversing board according to the motion state of the traversing board, and displays it in real time on the remote ground terminal.

[0019] As a preferred solution, the preset line parameters of the spanning tower include: the spanning object, the safety height, the position of the traversing board, and the starting and ending positions.

[0020] As a preferred solution, when the height of the traversing board is lower than the safety height, the position of the traversing board does not meet the safety control distance, the order of the spanning objects is incorrect, or the motion state of the traversing board is abnormal, the remote ground terminal issues an alarm to timely adjust the traction force during the tension stringing process.

[0021] Beneficial effects: The intelligent traversing board monitoring device provided by the present invention integrates a control system, sensors, and a replaceable lithium battery module internally. In addition, a standard-definition pinhole probe can be optionally configured to achieve visualization.

[0022] The RTK antenna is adopted to accurately obtain the position of the traversing board and the accurate distances between the traversing board and the two towers; the IMU unit is adopted to accurately obtain the motion state and inclination state of the traversing board during the wire laying process.

[0023] In terms of structure, this device can withstand high temperatures and severe cold. The housing is made of aluminum alloy structure, which has good anti-impact and waterproof effects; it provides good protection for the internal electronic components of the intelligent traversing board monitoring device and effectively extends the service life of the intelligent traversing board monitoring device.

[0024] An intelligent traversing board monitoring method monitors and collects important information in the tensioning section of the overhead line construction, displays it to the tensioning field commanders and operators, and assists in the control decision-making of the conductor traction and laying, thereby improving the efficiency and safety of the overhead line construction. Brief Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of the intelligent traversing board monitoring device of the present invention.

[0026] Figure 2 It is a schematic structural diagram of the box body.

[0027] Figure 3 It is a schematic structural diagram of the box body and the mounting frame.

[0028] Figure 4 It is a schematic diagram of the framework of the PCB control board.

[0029] Figure 5 It is a schematic installation diagram of the traversing board and the intelligent traversing board monitoring device.

[0030] Figure 6 It is a schematic system diagram of the intelligent traversing board monitoring device.

[0031] Figure 7 It is a schematic flow diagram of the intelligent traversing board monitoring of the present invention. Detailed Embodiments

[0032] The following further illustrates the present invention with specific embodiments.

[0033] As Figure 1 shown, an intelligent traversing board monitoring device 01 includes: a box body 1, and the box body 1 includes: an upper box body 101 and a lower box body 102. As Figure 2 shown, a box body 2 is nested inside the lower box body 102. Installation columns 3 are arranged around the box body 2, and the box body 2 is fixed to the lower box body 102 through bolts. A PCB control board 4 is arranged inside the box body 2. A wire passing hole 5 is arranged on the side of the box body 2. A rib 6 is arranged on the top of the box body 2. An installation block 7 is also arranged on the side of the box body 2, and a first threaded hole 9 is also arranged on the installation block 7; As Figure 3As shown in the figure, an installation frame 10 is sleeved outside the box body 2. The bottom of the installation frame 10 is fixed on the lower box body 102 through installation ribs 11. A support block 12 is arranged on the rib 6. The support block 12 is fixed inside the installation frame 10. A support rod 13 is arranged on the support block 12. An IMU module 14 is fixed on the support rod 13. At least one installation seat 15 is arranged on both sides of the installation frame 10. An RTK module 16 is arranged on the installation seat 15. A second threaded hole 17 is further arranged on the side of the installation frame. Bolts pass through the first threaded hole 9 and the second threaded hole 17 to further fix the box body 2, the installation frame 10 and the lower box body 102.

[0034] As Figure 4 shown in the figure, the PCB control board 4 includes: a controller, and the controller is respectively connected to a wireless communication module, an IMU module, an RTK module, and a power management module. An antenna 18 is arranged on the box body 1. The antenna 18 is connected to the wireless communication module. A power switch 19 is arranged on the lower box body 102. The power switch 19 is connected to the power management module. A battery 20 is arranged on one side of the upper box body 101. The battery 20 is connected to the power management module.

[0035] An installation block 21 is arranged on the lower box body 102, and a long circular hole 22 is arranged on the installation block 21.

[0036] Bolt mounting holes 23 are arranged on the edge of the upper box body 101, and bolt mounting seats 24 are arranged on the edge of the lower box body 102. Bolts 25 pass through the bolt mounting holes 23 and the bolt mounting seats 24 to further fix and seal the upper box body 101 and the lower box body 102.

[0037] Embodiment 1:

[0038] Preferably, the RTK module is used to achieve high-precision positioning of the walking board. Using the Qianxun RTK solution, high-precision positioning can be achieved without building another base. The positioning accuracy is as follows:

[0039]

[0040] Preferably, the wireless communication module uses a 2G, 4G or 5G module to communicate with the ground control station through the antenna.

[0041] Preferably, the battery uses a detachable lithium battery to provide power for the entire device.

[0042] Preferably, the IMU module is used to detect the pose state of the walking board. The IMU module uses a high-precision sensor, and the specifications are as follows:

[0043] Measurement dimensions: acceleration: 3 dimensions, angular velocity: 3 dimensions, magnetic field: 3 dimensions, angle: 3 dimensions.

[0044] Range: Acceleration: ±6g, Angular velocity: ±2000° / s, Angle ±180°.

[0045] Stability: Acceleration: 0.01g, Angular velocity 0.05° / s.

[0046] Measurement error: 0.05° for X and Y axes, 1° for Z axis, magnetic field calibrated and not interfered by magnetic field.

[0047] Preferably, it further includes a camera, the camera is arranged on the box body, and the camera is connected to the controller.

[0048] Embodiment 2:

[0049] As Figure 5 shown, during the construction process of electric power wire stringing, in order to ensure the safety, speed and smoothness of the construction, the on-site commander wants to monitor the immediate dynamics of the wire stringing traction board and the balance pulley in real time. This requires real-time monitoring of the wire stringing board through a perceivable monitoring device and a management terminal. The monitoring device fixed on the front of the board in the present invention moves together with the board, has high safety, is small in size, is fully enclosed and waterproof, and an optional standard-definition pinhole probe can be configured to achieve visualization.

[0050] The box body is made of aluminum alloy with impact resistance and IP67 waterproof structure. The overall device can be used in an environment with a storage temperature of -35 - 70°C, a working temperature of -10 - 50°C, and a humidity of 20 - 95RH%. It weighs about 1 kg, and the device dimensions are: length * width * height = 18 cm * 15 cm * 7 cm.

[0051] As Figure 6 shown, when in use, the intelligent board monitoring device 01 is installed on the top of the board 02 through the mounting block 21. When working: the RTK module performs high-precision positioning on the device, and the IMU module measures the acceleration, angular velocity and tilt state of the device during the working process; the camera collects the on-site working conditions, and the controller in the PCB control board processes the data returned by the RTK module, the IMU module and the camera, and sends it to the cloud through the wireless module via 2G and 4G networks, and then transmits it to the ground control station through the cloud to achieve interactive communication and understand the wire stringing traction situation of the board in real time.

[0052] As Figure 7 shown, an intelligent board monitoring method includes the following steps:

[0053] The intelligent board device collects the three-dimensional coordinate information of the board, sends it to the remote ground terminal through the communication module, obtains the geographical location and height of the board according to the three-dimensional coordinate information of the board, compares the geographical location and height of the board with the preset line parameters of the crossing tower, and displays them, and controls the traction force of the board according to the comparison information.

[0054] The intelligent traversing board device collects the motion state of the traversing board and sends it to the remote ground terminal through the communication module. The real-time speed, acceleration, elevation, roll angle, and inclination angle information of the traversing board are obtained based on the motion state of the traversing board and displayed on the remote ground terminal in real time.

[0055] Furthermore, the preset line parameters for crossing the tower include: the crossing object, the safety height, the position of the traversing board, the starting and ending positions.

[0056] Furthermore, when the height of the traversing board is lower than the safety height, the position of the traversing board does not meet the safety control distance, the order of the crossing objects is incorrect, or the motion state of the traversing board is abnormal, the remote ground terminal issues an alarm to timely adjust the traction force during the tension stringing process.

[0057] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent walking board monitoring device, characterized in that: It includes: A box body, the box body includes: an upper box body and a lower box body. A box body is nested inside the lower box body. Installation columns are arranged around the box body. The box body is fixed to the lower box body by bolts through the installation columns. A PCB control board is arranged inside the box body. A wire passing hole is arranged on the side of the box body. Ribs are arranged on the top of the box body. An installation block is also arranged on the side of the box body. A first threaded hole is also arranged on the installation block; An installation frame is sleeved outside the box body. The bottom of the installation frame is fixed to the lower box body through installation ribs. Support blocks are arranged on the ribs. The support blocks are fixed inside the installation frame. A support rod is arranged on the support block. An IMU module is fixed on the support rod. At least one installation seat is arranged on both sides of the installation frame. An RTK module is arranged on the installation seat. A second threaded hole is also arranged on the side of the installation frame. Bolts pass through the first threaded hole and the second threaded hole to further fix the box body, the installation frame and the lower box body together; The PCB control board includes: a controller, and the controller is respectively connected to a wireless communication module, an IMU module, an RTK module, and a power management module; An antenna is arranged on the box body, and the antenna is connected to the wireless communication module. A power switch is arranged on the lower box body, and the power switch is connected to the power management module. A battery is arranged on one side of the upper box body, and the battery is connected to the power management module; An installation block is arranged on the lower box body, and a long circular hole is arranged on the installation block; Bolt installation holes are arranged on the edge of the upper box body, and bolt installation seats are arranged on the edge of the lower box body. Bolts pass through the bolt installation holes and the bolt installation seats to further fix and seal the upper box body and the lower box body; The RTK module is used to achieve high-precision positioning of the walking board; The wireless communication module uses a 2G, 4G or 5G module to communicate with the ground control station through the antenna; The battery uses a detachable lithium battery; The IMU module is used to detect the pose state of the walking board; It further includes a camera, and the camera is arranged on the box body and is connected to the controller.

2. The monitoring method of an intelligent walking board monitoring device according to claim 1, characterized in that: It includes the following steps: The intelligent walking board device collects the three-dimensional coordinate information of the walking board, sends it to the remote ground terminal through the communication module, obtains the geographical location and height of the walking board according to the three-dimensional coordinate information of the walking board, compares the geographical location and height of the walking board with the preset line parameters of the crossing tower, and displays them, and controls the traction force of the walking board according to the comparison information; The intelligent walking board device collects the motion state of the walking board, sends it to the remote ground terminal through the communication module, obtains the real-time speed, acceleration, elevation, roll angle, and tilt angle information of the walking board according to the motion state of the walking board, and displays them in real time on the remote ground terminal.

3. The monitoring method according to claim 2, characterized in that: The preset line parameters of the crossing tower include: crossing objects, safety height, walking board position, starting and ending positions.

4. The monitoring method according to claim 2, characterized in that: When the height of the traversing board is lower than the safe height, the position of the traversing board does not meet the safe control distance, the order of the crossing objects is incorrect, or the motion state of the traversing board is abnormal, the remote ground terminal issues an alarm and adjusts the traction force in the tension stringing process in a timely manner.

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