A power substation pipe horizontal lifting collaborative control system based on internet of things

Abstract

The present application relates to a kind of based on the horizontal promotion coordination control system of transformer substation pipe mother of Internet of Things, belong to transformer substation bus equipment technical field, including steel wire rope, further include: winch module: with steel wire rope connection;Tension sensor module: for real-time acquisition pipe mother body lifting process the tension data of steel wire rope;Inclination sensor module: for real-time acquisition pipe mother body in the angle data of lifting process;Wireless transmission module: for receiving and transmission data and control instruction;Central control system: for generating control instruction according to received tension data and angle data.The present application is received by the setting of central control system, i.e. multiple tension node and inclination node data can be realized, and in combination with the intelligent control of central control system, control command is issued to multiple winch module, real-time dynamic adjustment the rope winding speed of each lifting point electric winch, the horizontal promotion of pipe mother has been realized.

Description

TECHNICAL FIELD

[0001] The application relates to a transformer substation busbar horizontal lifting collaborative control system based on Internet of Things, and belongs to the technical field of transformer substation busbar equipment. BACKGROUND

[0002] In a transformer substation project, a busbar is an important connecting wire for connecting transformer substation equipment, can play a role of current conduction in a large-current direct-current deicing device, and guarantees the operation safety of a power transmission and transformation system. With the rapid development of power grid construction in China, how to improve the work efficiency during busbar lifting construction is an urgent problem to be solved in power construction. At present, during the lifting of the busbar, the speed of the steel wire rope of the winch at multiple lifting points of the busbar is mainly observed by manual observation, and the speed of the winch is manually adjusted to guarantee synchronous lifting, so the following problems may occur during the lifting of the busbar: one winch operator and one tail rope collector are needed for each lifting point, more workers need to be arranged for operation and tail rope collection as the number of lifting points increases, and communication and coordination among the workers are difficult during construction; and when the length of the busbar is relatively long, it is difficult to guarantee the force balance of each lifting point, and the busbar is easily bent, so the flatness of the busbar cannot be guaranteed.

[0003] A suspension type busbar synchronous lifting system is disclosed in the Chinese utility model patent with the publication number CN202094562U, a framework beam is arranged above multiple winches, winch lines of the winches pass through fixed pulleys and movable pulleys on the framework beam in sequence and are hung on busbar clamp lifting rings at the end of an insulator string, hooks matched with the busbar clamp are arranged on the movable pulleys; the winch is an electric winch; the insulator string is a V-shaped insulator string; the number of the winches is two or four; and the busbar clamp lifting ring is a U-shaped ring.

[0004] The above reference example utilizes multiple winches to realize multi-point synchronous lifting through winch lines, and improves the lifting accuracy, but cannot monitor and adjust the tension during lifting, cannot find problems in the lifting process in time, and may cause the busbar to be bent due to excessive tension during lifting, the steel wire rope to be broken, and the like, so improvement is urgently needed. SUMMARY

[0005] In order to overcome the shortcomings that it is difficult to guarantee the force balance of each lifting point and it is difficult to cooperate with lifting during the lifting of the existing busbar, the application designs a transformer substation busbar horizontal lifting collaborative control system based on Internet of Things, through the setting of a central control system, multiple tension nodes and inclination node data can be received, control commands can be issued to multiple winch modules in combination with intelligent control of the central control system, the rope winding speed of each lifting point electric winch can be dynamically adjusted in real time, and the horizontal lifting of the busbar is realized.

[0006] In order to achieve the above object, the present application adopts the following technical solutions:

[0007] A power substation pipe bus horizontal lifting collaborative control system based on the Internet of Things, comprising a steel wire for hoisting a pipe bus body, and further comprising:

[0008] A winch module connected with the steel wire for driving the steel wire to lift the pipe bus body;

[0009] A tension sensor module connected with the steel wire for collecting real-time tension data of the steel wire during lifting of the pipe bus body;

[0010] An inclination sensor module horizontally installed on the pipe bus body for collecting real-time angle data of the pipe bus body during lifting;

[0011] A wireless transmission module in communication connection with the tension sensor module, the inclination sensor module and the winch module for receiving and transmitting data and control instructions;

[0012] A central control system in communication connection with the wireless transmission module for generating control instructions according to the received tension data and angle data, and sending the control instructions to the winch module through the wireless transmission module, and the winch module adjusting the posture of the pipe bus body after receiving the control instructions.

[0013] Further, the tension sensor module comprises a plurality of sensor nodes, each of which comprises:

[0014] A tension sensor body for collecting real-time tension data of the steel wire during lifting of the pipe bus body and converting the collected tension data into a differential voltage signal at the mv level;

[0015] A circuit measurement module electrically connected with the tension sensor body for modulating the differential voltage signal and calculating the actual tension value;

[0016] A wireless transmission sub-module one electrically connected with the circuit measurement module and in communication connection with the wireless transmission module for transmitting the tension value to the central control system.

[0017] Further, the inclination sensor module comprises a plurality of inclination monitoring nodes, each of which comprises:

[0018] An inclination sensor body for collecting real-time angle data of the pipe bus body during lifting of the pipe bus body, the angle data comprising a pitch angle and a roll angle;

[0019] A wireless transmission sub-module two electrically connected with the inclination sensor body and in communication connection with the wireless transmission module for transmitting the angle data to the central control system.

[0020] Further, the inclination sensor module further comprises a level meter for calibrating whether the installation of the inclination sensor on the pipe body is horizontal.

[0021] Further, the winching machine module comprises a plurality of lifting nodes, each of which is arranged along the length direction of the pipe body, and each of the lifting nodes comprises:

[0022] Electric winching machine: connected with the steel wire rope for driving the steel wire rope to lift the pipe body;

[0023] Frequency converter: electrically connected with the electric winching machine, for changing the output power of the electric winching machine by changing the power supply frequency of the electric winching machine;

[0024] Wireless transmission submodule three: electrically connected with the frequency converter and communicatively connected with the wireless transmission module, for receiving and transmitting the control instruction.

[0025] Further, the wireless transmission module comprises:

[0026] Dial switch: communicatively connected with the central control system and the wireless transmission submodule three of each lifting node respectively, for giving the wireless transmission submodule three of each lifting node different ID addresses, and the central control system is communicatively connected with the wireless transmission submodule three of each lifting node with different addresses at different times by taking the ID addresses as the marks.

[0027] Further, the central control module comprises:

[0028] Control module: for generating a control instruction according to pipe state information, wherein the pipe state information comprises the tension data and the angle data;

[0029] Flat panel display module: for displaying the pipe state information;

[0030] Wireless transmission submodule four: electrically connected with the control module and the flat panel display module respectively and communicatively connected with the wireless transmission module, for receiving data and transmitting the control instruction.

[0031] Further, the circuit measurement module comprises:

[0032] Operational amplifier circuit module: electrically connected with the tension sensor body, for amplifying the differential voltage signal of the mv level output by the tension sensor body;

[0033] AD conversion module: electrically connected with the operational amplifier circuit module, for AD converting the amplified differential voltage signal;

[0034] Single-chip microcomputer module: electrically connected with the AD conversion module, for calculating the actual tension value according to the differential voltage signal output by the AD conversion module and the range and sensitivity of the tension sensor body.

[0035] Furthermore, the lifting node also includes a pair of columns and pulleys respectively connected to the two columns. The mother pipe body is arranged between the two pulleys, and the two pulleys are connected to the mother pipe body through wire ropes. The free ends of the two wire ropes are connected to the electric capstan after passing around the pulleys, and the tension sensor module is provided on the wire ropes between the two pulleys and the mother pipe body.

[0036] Furthermore, the tension sensor body includes a steel column, both ends of the steel column are provided with through holes for connecting steel wire ropes, and a strain sensing sheet for converting stress signals into electrical signals is embedded in the middle of the steel column.

[0037] Compared with the prior art, the present invention has the following characteristics and beneficial effects:

[0038] 1. In the present invention, each data detection unit and control unit adopts the form of a wireless node, and each wireless node realizes the interaction of data and instructions with the central control system through a wireless transmission module; the use of wireless nodes can make the modules more integrated, avoid the complex wiring problems when using wired connections, and is more conducive to the operation of on-site construction personnel, thereby improving the efficiency of pipe mother construction.

[0039] 2. In the present invention, a central control system is used to network multiple nodes, and a different ID address is set for each node by changing the binary code value of the dip switch. The central control system uses the ID address as a mark to determine the source of the data and issue instructions to the designated node; and when a node is damaged and needs to be replaced, it is only necessary to set the binary code value of the new node dip switch to the same as the original code value to complete the networking, which is convenient and fast, and helps to improve work efficiency.

[0040] 3. In the present invention, the sensor node combines the tension sensor body, circuit measurement module and wireless transmission sub-module together, thereby improving the aggregation degree of the sensor nodes. At the same time, in order to adapt to the on-site construction environment, the tension sensor body adopts a steel column structure. When the pipe mother is lifted to the designated construction position, the tension sensor body can be easily removed, and the wear of the steel wire rope during the lifting process of the pipe mother can be reduced.

[0041] 4. In the present invention, by setting up the inclination sensor module, during the preparatory stage of the pipe mother construction, whether the inclination monitoring node is installed horizontally determines whether the angle data measured subsequently can correctly reflect the posture of the pipe mother. At the same time, by setting up the level meter, it can be used to calibrate and indicate whether the node is installed horizontally, further improving the stability of the pipe mother construction and ensuring safety during the lifting process.

[0042] 5、The winch module with speed regulation function is adopted in the application, so as to avoid the defect that the speed of the winch is adjusted manually in the prior art, and the electric winch can respond to the instruction of the central control system through the setting of the frequency converter and the wireless transmission submodule, so that the coordinated lifting of the pipe bus can be realized through the coordinated speed regulation of multiple electric winches.

[0043] 6、The centralized control mode is adopted in the application, so that the user can realize the reception of the data of multiple tension nodes and inclination angle nodes through a central control system, and the central control system can issue control commands to multiple frequency conversion winch nodes, so as to dynamically adjust the rope winding speed of each lifting point electric winch in real time, realize the lifting of the pipe bus, and effectively guarantee the lifting posture of the pipe bus and prevent the pipe bus from being bent. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is the overall installation schematic diagram of the application;

[0045] Figure 2 is the cooperation lifting schematic diagram of the tension sensor module and the winch module of the application;

[0046] Figure 3 is the connection block diagram of the application;

[0047] Figure 4 is the structural schematic diagram of the tension sensor body of the application;

[0048] Figure 5 is the working flow chart of the sensor node of the application;

[0049] Figure 6 is the working flow chart of the inclination angle monitoring node of the application;

[0050] Figure 7 is the working flow chart of the lifting node of the application.

[0051] Wherein the reference signs are: 1, tension sensor module; 101, steel column; 102, power supply battery; 103, installation box; 104, strain sensing sheet; 105, through hole; 106, circuit measurement module; 2, electric winch; 3, frequency converter; 4, inclination angle sensor module; 5, pulley; 6, central control system; 7, steel wire rope; 8, wireless transmission module; 9, pipe bus body. DETAILED DESCRIPTION

[0052] The application will be described in more detail below in combination with the embodiments.

[0053] In the embodiment, the transformer substation pipe bus horizontal lifting cooperative control system based on the Internet of Things is applied to the lifting of the pipe bus body 9.

[0054] Please refer toFigures 1 to 4 The power transformation station pipe bus horizontal lifting collaborative control system based on the Internet of Things of the embodiment comprises a steel wire rope 7 for hoisting a pipe bus body 9, and further comprises:

[0055] A winch module connected with the steel wire rope 7 for driving the steel wire rope 7 to lift the pipe bus body 9;

[0056] A tension sensor module 1 connected with the steel wire rope 7 for collecting tension data of the steel wire rope 7 in real time during lifting of the pipe bus body 9;

[0057] An inclination sensor module 4 horizontally installed on the pipe bus body 9 for collecting angle data of the pipe bus body 9 in real time during lifting of the pipe bus body 9;

[0058] A wireless transmission module 8 in communication connection with the tension sensor module 1, the inclination sensor module 4 and the winch module for receiving and transmitting data and control instructions;

[0059] A central control system 6 in communication connection with the wireless transmission module 8 for generating control instructions according to the received tension data and angle data, and sending the control instructions to the winch module through the wireless transmission module 8, and the winch module adjusting the posture of the pipe bus body 9 after receiving the control instructions.

[0060] Further, the tension sensor module 1 comprises a plurality of sensor nodes, each of the sensor nodes comprising:

[0061] A tension sensor body for collecting tension data of the steel wire rope 7 in real time during lifting of the pipe bus body 9 and converting the collected tension data into a differential voltage signal of an mv level;

[0062] A circuit measurement module 106 in electrical connection with the tension sensor body for modulating the differential voltage signal and calculating an actual tension value;

[0063] A wireless transmission sub-module one in electrical connection with the circuit measurement module 106 and in communication connection with the wireless transmission module 8 for transmitting the tension value to the central control system 6.

[0064] Further, the inclination sensor module 4 comprises a plurality of inclination monitoring nodes, each of the inclination monitoring nodes comprising:

[0065] An inclination sensor body for collecting angle data of the pipe bus body 9 in real time during lifting of the pipe bus body 9, the angle data comprising a pitch angle and a roll angle;

[0066] A wireless transmission sub-module two in electrical connection with the inclination sensor body and in communication connection with the wireless transmission module 8 for transmitting the angle data to the central control system 6.

[0067] Particularly, the tilt sensor module 4 further comprises a power supply battery 102 for power supply, and the power data of the power supply battery 102 is uploaded to the central control system 6 by the wireless transmission sub-module two to realize monitoring and ensure the stability of operation.

[0068] Further, the tilt sensor module 4 further comprises a level meter for calibrating whether the installation of the tilt sensor on the pipe body is horizontal.

[0069] Further, the winch module comprises a plurality of lifting nodes arranged along the length direction of the pipe body 9, and each lifting node comprises:

[0070] The electric winch 2 is in driving connection with the steel wire rope 7 and is used to drive the steel wire rope 7 to lift the pipe body 9;

[0071] The frequency converter 3 is in electrical connection with the electric winch 2 and is used to change the output power of the electric winch 2 by changing the power supply frequency of the electric winch 2;

[0072] The wireless transmission sub-module three is in electrical connection with the frequency converter 3 and is in communication connection with the wireless transmission module 8 and is used to receive and transmit control instructions.

[0073] Further, the wireless transmission module 8 comprises:

[0074] The dial switch is in communication connection with the central control system 6 and the wireless transmission sub-module three of each lifting node respectively and is used to give the wireless transmission sub-module three of each lifting node different ID addresses, and the central control system 6 is in communication connection with the wireless transmission sub-module three of each lifting node with different addresses at different times according to the ID addresses as the marks.

[0075] Further, the central control module comprises:

[0076] The control module is used to generate control instructions according to the pipe body state information, and the pipe body state information comprises tension data and angle data;

[0077] The flat panel display module is used to display the pipe body state information;

[0078] The wireless transmission sub-module four is in electrical connection with the control module and the flat panel display module respectively and is in communication connection with the wireless transmission module 8 and is used to receive data and transmit control instructions.

[0079] Further, the circuit measurement module 106 comprises:

[0080] The operational amplifier circuit module is in electrical connection with the tension sensor body and is used to amplify the differential voltage signal of the mv level output by the tension sensor body;

[0081] An AD conversion module is electrically connected with the operational amplifier circuit module, and is used for AD conversion of the amplified differential voltage signal;

[0082] A single-chip microcomputer module is electrically connected with the AD conversion module, and is used for calculating the actual tension value according to the differential voltage signal output by the AD conversion module and the range and sensitivity of the tension sensor body.

[0083] From the above description, it can be known that the tension sensor body outputs a differential voltage signal of the mv level after being deformed under stress, the operational amplifier circuit module filters and amplifies the differential signal, the AD conversion module AD converts the amplified differential voltage signal, and then the single-chip microcomputer module calculates the actual tension value in combination with the specification parameters of the tension sensor body, and further sends the tension data to the central control system 6 through the wireless transmission submodule.

[0084] Further, the lifting node further comprises a pair of vertical columns and pulleys 5 connected with the two vertical columns respectively, the pipe body 9 is arranged between the two pulleys 5, and the two pulleys 5 are connected with the pipe body 9 through steel wires 7, and the free ends of the two steel wires 7 are both drivingly connected with the electric winch 2 after passing through the pulleys 5, and the steel wire 7 between the two pulleys 5 and the pipe body 9 is provided with the tension sensor module 1.

[0085] In the embodiment, four lifting nodes are arranged, and the four lifting nodes are uniformly arranged along the length direction of the pipe body 9.

[0086] Further, the tension sensor body comprises a steel column 101, the steel column 101 is provided with through holes 105 for connecting the steel wires 7 at both ends, and a strain sensing sheet 104 for converting a stress signal into an electric signal is embedded at the middle position of the steel column 101.

[0087] In particular, the steel column 101 is further fixed with a mounting box 103, the mounting box 103 is provided with a power supply battery 102 and a circuit measurement module 106 inside, and the circuit measurement module 106 is powered by the power supply battery 102;

[0088] The power data of the power supply battery 102 is transmitted to the central control system 6 by the circuit measurement module 106, so as to facilitate real-time monitoring of the power of the power supply battery 102.

[0089] The working principle of the present application is that each sensor node and each inclination monitoring node collects the angle data of the pipe body 9 in the lifting process and the tension data of the steel wire rope 7 at each lifting point in real time, and sends the data to the central control system 6 through the corresponding wireless transmission submodule, the central control system 6 analyzes the received data and issues control instructions to the winching module, and the frequency converter 3 of the winching module changes the power supply frequency of the electric winching machine 2 after receiving the control instructions, so as to change the output power of the electric winching machine 2, that is, the speed of the electric winching machine 2, and then the same tension of each lifting node is controlled, so that the synchronous lifting of the pipe body 9 is realized.

[0090] Please refer to Figure 5 When the sensor node is started and works, the tension sensor body will output a differential signal of mv level after being deformed under stress, the operational amplifier circuit module will amplify the differential signal for AD conversion by the AD conversion module, and the tension value corresponding to the voltage value can be calculated according to the range and sensitivity of the tension sensor body; the tension value calculated by the sensor node is updated in real time, and when the central control system 6 receives the data upload instruction, the sensor node sends the latest tension data to the central control system 6.

[0091] Please refer to Figure 6 After the sensor node is started and works, the inclination sensor body will continuously send data to the wireless communication submodule two through the serial port, the wireless communication submodule two extracts the angle data by identifying the packet header and stores it in the cache array, and the angle data in the array is updated in real time; when the central control system 6 receives the data upload instruction, the inclination monitoring node sends the latest angle data to the central control system 6.

[0092] Please refer to Figure 7 The frequency converter 3 is connected in series with the electric winching machine 2, adopts the principle of three-phase motor frequency conversion speed regulation, realizes the speed control of the motor by changing the frequency of the input power of the electric winching machine 2, and when the lifting node receives the control instruction issued by the central control system 6, the frequency converter 3 issues the instruction to control the electric winching machine 2, so as to realize the start-stop, forward-reverse rotation and speed change of the electric winching machine 2.

[0093] In the description of the present application, it should be pointed out that the terms "inner", "outer", "upper" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0094] In the description of the application, it should be noted that unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0095] Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor belong to the scope of protection of the present application.

Claims

1. A coordinated control system for horizontal lifting of a substation pipe mother based on the Internet of Things, including a steel wire rope for lifting the pipe mother body, characterized by: Also includes: Capstan module: connected to the wire rope to drive the wire rope to lift the pipe body; Tension sensor module: connected to the wire rope, used to collect real-time tension data of the wire rope during the lifting process of the pipe mother body; Inclination sensor module: horizontally installed on the pipe mother body, used to collect the angle data of the pipe mother body in real time during the lifting process; Wireless transmission module: communicates with the tension sensor module, tilt sensor module and capstan module to receive and transmit data and control instructions; Central control system: Communicates with the wireless transmission module, generates control instructions based on the received tension data and angle data, and sends the control instructions to the capstan grinder module through the wireless transmission module. The capstan grinder module adjusts the posture of the pipe mother body after receiving the control instructions; The tension sensor module includes a plurality of sensor nodes, each of which includes: Tension sensor body: used to collect the tension data of the wire rope during the lifting process of the pipe body in real time and convert the collected tension data into a differential voltage signal at the mV level; Circuit measurement module: electrically connected to the tension sensor body, used to modulate the differential voltage signal and calculate the actual tension value; Wireless transmission submodule 1: electrically connected to the circuit measurement module and communicatively connected to the wireless transmission module, for transmitting the tension value to the central control system; The tilt sensor module includes a plurality of tilt monitoring nodes, each of which includes: Inclination sensor body: used to collect angle data of the tube body in real time during the lifting process, including pitch angle and roll angle; Wireless transmission submodule 2: electrically connected to the tilt sensor body and communicatively connected to the wireless transmission module, for transmitting the angle data to the central control system; The capstan module includes several lifting nodes, each of which is arranged along the length direction of the pipe body. The lifting nodes include: Electric capstan: connected to the wire rope transmission, used to drive the wire rope to lift the pipe mother body; Frequency converter: electrically connected to the electric capstan, used to change the output power of the electric capstan by changing the power supply frequency of the electric capstan; Wireless transmission submodule three: electrically connected to the frequency converter and communicatively connected to the wireless transmission module, for receiving and transmitting the control instructions; The wireless transmission module includes: DIP switch: respectively connected to the central control system and the wireless transmission submodule 3 of each lifting node, used to assign a different ID address to the wireless transmission submodule 3 of each lifting node. The central control system uses the ID address as a marker to communicate with the wireless transmission submodule 3 of each lifting node at a different address in a time-sharing manner; The circuit measurement module includes: Operational amplifier circuit module: electrically connected to the tension sensor body, used to amplify the mV-level differential voltage signal output by the tension sensor body; AD conversion module: electrically connected to the operational amplifier circuit module, used to perform AD conversion on the amplified differential voltage signal; Single chip microcomputer module: electrically connected to the AD conversion module, used to calculate the actual tension value according to the differential voltage signal output by the AD conversion module and the range and sensitivity of the tension sensor body.

2. The IoT-based coordinated control system for substation motherboard level lifting according to claim 1 is characterized by: The tilt sensor module further comprises a level for calibrating whether the tilt sensor is installed horizontally on the mother tube body.

3. The IoT-based coordinated control system for substation motherboard level lifting according to claim 1 is characterized by: The central control system includes: A control module is configured to generate a control instruction according to the tube mother status information, wherein the tube mother status information includes the tension data and the angle data; Flat panel display module: used to display the mother tube status information; Wireless transmission submodule 4: electrically connected to the control module and the flat panel display module respectively, and communicatively connected to the wireless transmission module, for receiving data and transmitting control instructions.

4. The IoT-based coordinated control system for substation motherboard level lifting according to claim 1 is characterized by: The lifting node also includes a pair of columns and pulleys connected to the two columns respectively. The mother pipe body is arranged between the two pulleys, and the two pulleys are connected to the mother pipe body through steel wire ropes. The free ends of the two steel wire ropes are connected to the electric capstan after passing around the pulleys. The tension sensor module is provided on the steel wire ropes between the two pulleys and the mother pipe body.

5. The Internet of Things-based coordinated control system for substation motherboard level lifting according to claim 1 is characterized by: The tension sensor body includes a strain sensing sheet for converting stress signals into electrical signals. The strain sensing sheet is embedded in the middle of a steel column. Through holes for connecting steel wire ropes are provided at both ends of the steel column.

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